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CAN bus: adjust SJW and time quanta to SAE 2284-3 (#1061) 

* adjust clocks and tq

* debug console keyboard interrupt

* MISRA
This commit is contained in:
Igor Biletskyy 2022-09-12 14:31:22 -07:00 committed by GitHub
parent ac21dbe551
commit 15eda6a7c9
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GPG Key ID: 4AEE18F83AFDEB23
4 changed files with 16 additions and 12 deletions
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2
board/stm32fx/clock.h
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@ -4,7 +4,7 @@ void clock_init(void) {
while ((RCC->CR & RCC_CR_HSERDY) == 0);
// divide things
register_set(&(RCC->CFGR), RCC_CFGR_HPRE_DIV1 | RCC_CFGR_PPRE2_DIV2 | RCC_CFGR_PPRE1_DIV4, 0xFF7FFCF3U);
register_set(&(RCC->CFGR), RCC_CFGR_HPRE_DIV1 | RCC_CFGR_PPRE2_DIV2 | RCC_CFGR_PPRE1_DIV2, 0xFF7FFCF3U);
// 16mhz crystal
register_set(&(RCC->PLLCFGR), RCC_PLLCFGR_PLLQ_2 | RCC_PLLCFGR_PLLM_3 | RCC_PLLCFGR_PLLN_6 | RCC_PLLCFGR_PLLN_5 | RCC_PLLCFGR_PLLSRC_HSE, 0x7F437FFFU);

20
board/stm32fx/llbxcan.h
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@ -1,9 +1,10 @@
// this is needed for 1 mbps support
#define CAN_QUANTA 8U
#define CAN_SEQ1 6 // roundf(quanta * 0.875f) - 1;
#define CAN_SEQ2 1 // roundf(quanta * 0.125f);
// SAE 2284-3 : minimum 16 tq, SJW 3, sample point at 81.3%
#define CAN_QUANTA 16U
#define CAN_SEQ1 12U
#define CAN_SEQ2 3U
#define CAN_SJW 3U
#define CAN_PCLK 24000U
#define CAN_PCLK 48000U
// 333 = 33.3 kbps
// 5000 = 500 kbps
#define can_speed_to_prescaler(x) (CAN_PCLK / CAN_QUANTA * 10U / (x))
@ -32,9 +33,10 @@ bool llcan_set_speed(CAN_TypeDef *CAN_obj, uint32_t speed, bool loopback, bool s
if(ret){
// set time quanta from defines
register_set(&(CAN_obj->BTR), ((CAN_BTR_TS1_0 * (CAN_SEQ1-1)) |
(CAN_BTR_TS2_0 * (CAN_SEQ2-1)) |
(can_speed_to_prescaler(speed) - 1U)), 0xC37F03FFU);
register_set(&(CAN_obj->BTR), ((CAN_BTR_TS1_0 * (CAN_SEQ1-1U)) |
(CAN_BTR_TS2_0 * (CAN_SEQ2-1U)) |
(CAN_BTR_SJW_0 * (CAN_SJW-1U)) |
(can_speed_to_prescaler(speed) - 1U)), 0xC37F03FFU);
// silent loopback mode for debugging
if (loopback) {
@ -97,7 +99,7 @@ bool llcan_init(CAN_TypeDef *CAN_obj) {
register_clear_bits(&(CAN_obj->FMR), CAN_FMR_FINIT);
// enable certain CAN interrupts
register_set_bits(&(CAN_obj->IER), CAN_IER_TMEIE | CAN_IER_FMPIE0 | CAN_IER_WKUIE);
register_set_bits(&(CAN_obj->IER), CAN_IER_TMEIE | CAN_IER_FMPIE0 | CAN_IER_WKUIE | CAN_IER_ERRIE | CAN_IER_BOFIE);
if (CAN_obj == CAN1) {
NVIC_EnableIRQ(CAN1_TX_IRQn);

4
board/stm32h7/llfdcan.h
View File

@ -108,7 +108,7 @@ bool llcan_set_speed(FDCAN_GlobalTypeDef *CANx, uint32_t speed, uint32_t data_sp
uint8_t sp = CAN_SP_NOMINAL;
uint8_t seg1 = CAN_SEG1(tq, sp);
uint8_t seg2 = CAN_SEG2(tq, sp);
uint8_t sjw = seg2;
uint8_t sjw = MIN(127U, seg2);
CANx->NBTP = (((sjw & 0x7FU)-1U)<<FDCAN_NBTP_NSJW_Pos) | (((seg1 & 0xFFU)-1U)<<FDCAN_NBTP_NTSEG1_Pos) | (((seg2 & 0x7FU)-1U)<<FDCAN_NBTP_NTSEG2_Pos) | (((prescaler & 0x1FFU)-1U)<<FDCAN_NBTP_NBRP_Pos);
@ -121,7 +121,7 @@ bool llcan_set_speed(FDCAN_GlobalTypeDef *CANx, uint32_t speed, uint32_t data_sp
tq = CAN_QUANTA(data_speed, prescaler);
seg1 = CAN_SEG1(tq, sp);
seg2 = CAN_SEG2(tq, sp);
sjw = seg2;
sjw = MIN(15U, seg2);
CANx->DBTP = (((sjw & 0xFU)-1U)<<FDCAN_DBTP_DSJW_Pos) | (((seg1 & 0x1FU)-1U)<<FDCAN_DBTP_DTSEG1_Pos) | (((seg2 & 0xFU)-1U)<<FDCAN_DBTP_DTSEG2_Pos) | (((prescaler & 0x1FU)-1U)<<FDCAN_DBTP_DBRP_Pos);

2
tests/debug_console.py
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@ -44,6 +44,8 @@ if __name__ == "__main__":
if claim:
panda.serial_write(port_number, ln)
time.sleep(0.01)
except KeyboardInterrupt:
break
except Exception:
print("panda disconnected!")
time.sleep(0.5)