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Enable CAN FD support (#772)

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* enable CAN FD

* ...
This commit is contained in:
Igor Biletskyy
2021-11-15 16:27:16 -08:00
committed by GitHub
parent 9aed87df7f
commit c8b48ec23a
4 changed files with 26 additions and 5 deletions
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10
board/drivers/can_common.h
View File

@@ -10,6 +10,8 @@ typedef struct {
uint8_t can_num_lookup;
uint32_t can_speed;
uint32_t can_data_speed;
bool canfd_enabled;
bool brs_enabled;
} bus_config_t;
#define CAN_BUS_NUM_MASK 0x3FU
@@ -163,10 +165,10 @@ void can_clear(can_ring *q) {
// Helpers
// Panda: Bus 0=CAN1 Bus 1=CAN2 Bus 2=CAN3
bus_config_t bus_config[] = {
{ .bus_lookup = 0U, .can_num_lookup = 0U, .can_speed = 5000U, .can_data_speed = 5000U },
{ .bus_lookup = 1U, .can_num_lookup = 1U, .can_speed = 5000U, .can_data_speed = 5000U },
{ .bus_lookup = 2U, .can_num_lookup = 2U, .can_speed = 5000U, .can_data_speed = 5000U },
{ .bus_lookup = 0xFFU, .can_num_lookup = 0xFFU, .can_speed = 333U, .can_data_speed = 333U },
{ .bus_lookup = 0U, .can_num_lookup = 0U, .can_speed = 5000U, .can_data_speed = 5000U, .canfd_enabled = false, .brs_enabled = false },
{ .bus_lookup = 1U, .can_num_lookup = 1U, .can_speed = 5000U, .can_data_speed = 5000U, .canfd_enabled = false, .brs_enabled = false },
{ .bus_lookup = 2U, .can_num_lookup = 2U, .can_speed = 5000U, .can_data_speed = 5000U, .canfd_enabled = false, .brs_enabled = false },
{ .bus_lookup = 0xFFU, .can_num_lookup = 0xFFU, .can_speed = 333U, .can_data_speed = 333U, .canfd_enabled = false, .brs_enabled = false },
};
#define CAN_MAX 3U

2
board/drivers/fdcan.h
View File

@@ -61,7 +61,7 @@ void process_can(uint8_t can_number) {
fifo = (canfd_fifo *)(TxFIFOSA + (tx_index * FDCAN_TX_FIFO_EL_SIZE));
fifo->header[0] = (to_send.extended << 30) | ((to_send.extended != 0) ? (to_send.addr) : (to_send.addr << 18));
fifo->header[1] = (to_send.data_len_code << 16); // | (1U << 21) | (1U << 20) to enable CAN FD , enable BRS
fifo->header[1] = (to_send.data_len_code << 16) | (bus_config[can_number].canfd_enabled << 21) | (bus_config[can_number].brs_enabled << 20);
uint8_t data_len_w = (dlc_to_len[to_send.data_len_code] / 4U);
data_len_w += ((dlc_to_len[to_send.data_len_code] % 4) > 0) ? 1U : 0U;

10
board/main.c
View File

@@ -600,10 +600,20 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
if (setup->b.wValue.w < CAN_MAX) {
// TODO: add sanity check, ideally check if value is correct(from array of correct values)
bus_config[setup->b.wValue.w].can_data_speed = setup->b.wIndex.w;
bus_config[setup->b.wValue.w].canfd_enabled = (setup->b.wIndex.w >= bus_config[setup->b.wValue.w].can_speed) ? true : false;
bus_config[setup->b.wValue.w].brs_enabled = (setup->b.wIndex.w > bus_config[setup->b.wValue.w].can_speed) ? true : false;
bool ret = can_init(CAN_NUM_FROM_BUS_NUM(setup->b.wValue.w));
UNUSED(ret);
}
break;
// **** 0xfa: check if CAN FD and BRS are enabled
case 0xfa:
if (setup->b.wValue.w < CAN_MAX) {
resp[0] = bus_config[setup->b.wValue.w].canfd_enabled;
resp[1] = bus_config[setup->b.wValue.w].brs_enabled;
resp_len = 2;
}
break;
default:
puts("NO HANDLER ");
puth(setup->b.bRequest);

9
python/__init__.py
View File

@@ -584,6 +584,15 @@ class Panda(object):
def set_can_data_speed_kbps(self, bus, speed):
self._handle.controlWrite(Panda.REQUEST_OUT, 0xf9, bus, int(speed * 10), b'')
# CAN FD and BRS status
def get_canfd_status(self, bus):
dat = self._handle.controlRead(Panda.REQUEST_IN, 0xfa, bus, 0, 2)
if dat:
a = struct.unpack("BB", dat)
return (a[0], a[1])
else:
return (None, None)
def set_uart_baud(self, uart, rate):
self._handle.controlWrite(Panda.REQUEST_OUT, 0xe4, uart, int(rate / 300), b'')