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H7: fix CAN RX delay (#1446)

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This commit is contained in:
Adeeb Shihadeh
2023-06-06 18:48:19 -07:00
committed by GitHub
parent a4ed5bb943
commit bf2c007103
1 changed files with 71 additions and 73 deletions
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144
board/drivers/fdcan.h
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@@ -134,85 +134,83 @@ void can_rx(uint8_t can_number) {
FDCAN_GlobalTypeDef *CANx = CANIF_FROM_CAN_NUM(can_number);
uint8_t bus_number = BUS_NUM_FROM_CAN_NUM(can_number);
// Rx FIFO 0 new message
if((CANx->IR & FDCAN_IR_RF0N) != 0) {
CANx->IR |= FDCAN_IR_RF0N;
while((CANx->RXF0S & FDCAN_RXF0S_F0FL) != 0) {
can_health[can_number].total_rx_cnt += 1U;
// Clear all new messages from Rx FIFO 0
CANx->IR |= FDCAN_IR_RF0N;
while((CANx->RXF0S & FDCAN_RXF0S_F0FL) != 0) {
can_health[can_number].total_rx_cnt += 1U;
// can is live
pending_can_live = 1;
// can is live
pending_can_live = 1;
// get the index of the next RX FIFO element (0 to FDCAN_RX_FIFO_0_EL_CNT - 1)
uint8_t rx_fifo_idx = (uint8_t)((CANx->RXF0S >> FDCAN_RXF0S_F0GI_Pos) & 0x3F);
// get the index of the next RX FIFO element (0 to FDCAN_RX_FIFO_0_EL_CNT - 1)
uint8_t rx_fifo_idx = (uint8_t)((CANx->RXF0S >> FDCAN_RXF0S_F0GI_Pos) & 0x3F);
// Recommended to offset get index by at least +1 if RX FIFO is in overwrite mode and full (datasheet)
if((CANx->RXF0S & FDCAN_RXF0S_F0F) == FDCAN_RXF0S_F0F) {
rx_fifo_idx = ((rx_fifo_idx + 1U) >= FDCAN_RX_FIFO_0_EL_CNT) ? 0U : (rx_fifo_idx + 1U);
can_health[can_number].total_rx_lost_cnt += 1U; // At least one message was lost
}
uint32_t RxFIFO0SA = FDCAN_START_ADDRESS + (can_number * FDCAN_OFFSET);
CANPacket_t to_push;
canfd_fifo *fifo;
// getting address
fifo = (canfd_fifo *)(RxFIFO0SA + (rx_fifo_idx * FDCAN_RX_FIFO_0_EL_SIZE));
to_push.returned = 0U;
to_push.rejected = 0U;
to_push.extended = (fifo->header[0] >> 30) & 0x1U;
to_push.addr = ((to_push.extended != 0U) ? (fifo->header[0] & 0x1FFFFFFFU) : ((fifo->header[0] >> 18) & 0x7FFU));
to_push.bus = bus_number;
to_push.data_len_code = ((fifo->header[1] >> 16) & 0xFU);
bool canfd_frame = ((fifo->header[1] >> 21) & 0x1U);
bool brs_frame = ((fifo->header[1] >> 20) & 0x1U);
uint8_t data_len_w = (dlc_to_len[to_push.data_len_code] / 4U);
data_len_w += ((dlc_to_len[to_push.data_len_code] % 4U) > 0U) ? 1U : 0U;
for (unsigned int i = 0; i < data_len_w; i++) {
WORD_TO_BYTE_ARRAY(&to_push.data[i*4U], fifo->data_word[i]);
}
can_set_checksum(&to_push);
// forwarding (panda only)
int bus_fwd_num = safety_fwd_hook(bus_number, to_push.addr);
if (bus_fwd_num != -1) {
CANPacket_t to_send;
to_send.returned = 0U;
to_send.rejected = 0U;
to_send.extended = to_push.extended;
to_send.addr = to_push.addr;
to_send.bus = to_push.bus;
to_send.data_len_code = to_push.data_len_code;
(void)memcpy(to_send.data, to_push.data, dlc_to_len[to_push.data_len_code]);
can_set_checksum(&to_send);
can_send(&to_send, bus_fwd_num, true);
can_health[can_number].total_fwd_cnt += 1U;
}
safety_rx_invalid += safety_rx_hook(&to_push) ? 0U : 1U;
ignition_can_hook(&to_push);
current_board->set_led(LED_BLUE, true);
rx_buffer_overflow += can_push(&can_rx_q, &to_push) ? 0U : 1U;
// Enable CAN FD and BRS if CAN FD message was received
if (!(bus_config[can_number].canfd_enabled) && (canfd_frame)) {
bus_config[can_number].canfd_enabled = true;
}
if (!(bus_config[can_number].brs_enabled) && (brs_frame)) {
bus_config[can_number].brs_enabled = true;
}
// update read index
CANx->RXF0A = rx_fifo_idx;
// Recommended to offset get index by at least +1 if RX FIFO is in overwrite mode and full (datasheet)
if((CANx->RXF0S & FDCAN_RXF0S_F0F) == FDCAN_RXF0S_F0F) {
rx_fifo_idx = ((rx_fifo_idx + 1U) >= FDCAN_RX_FIFO_0_EL_CNT) ? 0U : (rx_fifo_idx + 1U);
can_health[can_number].total_rx_lost_cnt += 1U; // At least one message was lost
}
uint32_t RxFIFO0SA = FDCAN_START_ADDRESS + (can_number * FDCAN_OFFSET);
CANPacket_t to_push;
canfd_fifo *fifo;
// getting address
fifo = (canfd_fifo *)(RxFIFO0SA + (rx_fifo_idx * FDCAN_RX_FIFO_0_EL_SIZE));
to_push.returned = 0U;
to_push.rejected = 0U;
to_push.extended = (fifo->header[0] >> 30) & 0x1U;
to_push.addr = ((to_push.extended != 0U) ? (fifo->header[0] & 0x1FFFFFFFU) : ((fifo->header[0] >> 18) & 0x7FFU));
to_push.bus = bus_number;
to_push.data_len_code = ((fifo->header[1] >> 16) & 0xFU);
bool canfd_frame = ((fifo->header[1] >> 21) & 0x1U);
bool brs_frame = ((fifo->header[1] >> 20) & 0x1U);
uint8_t data_len_w = (dlc_to_len[to_push.data_len_code] / 4U);
data_len_w += ((dlc_to_len[to_push.data_len_code] % 4U) > 0U) ? 1U : 0U;
for (unsigned int i = 0; i < data_len_w; i++) {
WORD_TO_BYTE_ARRAY(&to_push.data[i*4U], fifo->data_word[i]);
}
can_set_checksum(&to_push);
// forwarding (panda only)
int bus_fwd_num = safety_fwd_hook(bus_number, to_push.addr);
if (bus_fwd_num != -1) {
CANPacket_t to_send;
to_send.returned = 0U;
to_send.rejected = 0U;
to_send.extended = to_push.extended;
to_send.addr = to_push.addr;
to_send.bus = to_push.bus;
to_send.data_len_code = to_push.data_len_code;
(void)memcpy(to_send.data, to_push.data, dlc_to_len[to_push.data_len_code]);
can_set_checksum(&to_send);
can_send(&to_send, bus_fwd_num, true);
can_health[can_number].total_fwd_cnt += 1U;
}
safety_rx_invalid += safety_rx_hook(&to_push) ? 0U : 1U;
ignition_can_hook(&to_push);
current_board->set_led(LED_BLUE, true);
rx_buffer_overflow += can_push(&can_rx_q, &to_push) ? 0U : 1U;
// Enable CAN FD and BRS if CAN FD message was received
if (!(bus_config[can_number].canfd_enabled) && (canfd_frame)) {
bus_config[can_number].canfd_enabled = true;
}
if (!(bus_config[can_number].brs_enabled) && (brs_frame)) {
bus_config[can_number].brs_enabled = true;
}
// update read index
CANx->RXF0A = rx_fifo_idx;
}
// Error handling
bool error_irq = ((CANx->IR & (FDCAN_IR_PED | FDCAN_IR_PEA | FDCAN_IR_EW | FDCAN_IR_EP | FDCAN_IR_ELO | FDCAN_IR_BO | FDCAN_IR_TEFL | FDCAN_IR_RF0L)) != 0);
update_can_health_pkt(can_number, error_irq);