mirror of https://github.com/FOME-Tech/fome-fw.git
Merge remote-tracking branch 'origin/master' into openblt-can
This commit is contained in:
Matthew Kennedy
commit
2abe1a3937
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@ -0,0 +1,192 @@
|
|||
// This file contains just CAN bit timing configs for various MCUs and bitrates
|
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|
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#include "pch.h"
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||||
|
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#if EFI_PROD_CODE
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|
||||
// Values below calculated with http://www.bittiming.can-wiki.info/
|
||||
// Pick ST micro bxCAN
|
||||
// Clock rate of 42mhz for f4, 54mhz for f7, 80mhz for h7
|
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#ifdef STM32F4XX
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// These have an 85.7% sample point
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#define CAN_BTR_50 (CAN_BTR_SJW(0) | CAN_BTR_BRP(59) | CAN_BTR_TS1(10) | CAN_BTR_TS2(1))
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#define CAN_BTR_83 (CAN_BTR_SJW(0) | CAN_BTR_BRP(35) | CAN_BTR_TS1(10) | CAN_BTR_TS2(1))
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#define CAN_BTR_100 (CAN_BTR_SJW(0) | CAN_BTR_BRP(29) | CAN_BTR_TS1(10) | CAN_BTR_TS2(1))
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#define CAN_BTR_125 (CAN_BTR_SJW(0) | CAN_BTR_BRP(23) | CAN_BTR_TS1(10) | CAN_BTR_TS2(1))
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#define CAN_BTR_250 (CAN_BTR_SJW(0) | CAN_BTR_BRP(11) | CAN_BTR_TS1(10) | CAN_BTR_TS2(1))
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#define CAN_BTR_500 (CAN_BTR_SJW(0) | CAN_BTR_BRP(5) | CAN_BTR_TS1(10) | CAN_BTR_TS2(1))
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#define CAN_BTR_1k0 (CAN_BTR_SJW(0) | CAN_BTR_BRP(2) | CAN_BTR_TS1(10) | CAN_BTR_TS2(1))
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#elif defined(STM32F7XX)
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// These have an 88.9% sample point
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#define CAN_BTR_50 (CAN_BTR_SJW(0) | CAN_BTR_BRP(59) | CAN_BTR_TS1(14) | CAN_BTR_TS2(1))
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#define CAN_BTR_83 (CAN_BTR_SJW(0) | CAN_BTR_BRP(35) | CAN_BTR_TS1(14) | CAN_BTR_TS2(1))
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#define CAN_BTR_100 (CAN_BTR_SJW(0) | CAN_BTR_BRP(29) | CAN_BTR_TS1(14) | CAN_BTR_TS2(1))
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#define CAN_BTR_125 (CAN_BTR_SJW(0) | CAN_BTR_BRP(23) | CAN_BTR_TS1(14) | CAN_BTR_TS2(1))
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#define CAN_BTR_250 (CAN_BTR_SJW(0) | CAN_BTR_BRP(11) | CAN_BTR_TS1(14) | CAN_BTR_TS2(1))
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#define CAN_BTR_500 (CAN_BTR_SJW(0) | CAN_BTR_BRP(5) | CAN_BTR_TS1(14) | CAN_BTR_TS2(1))
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#define CAN_BTR_1k0 (CAN_BTR_SJW(0) | CAN_BTR_BRP(2) | CAN_BTR_TS1(14) | CAN_BTR_TS2(1))
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#elif defined(STM32H7XX)
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// FDCAN driver has different bit timing registers (yes, different format)
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// for the arbitration and data phases
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// 66% sample point, not ideal but best we can do without changing CAN clock
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#define CAN_NBTP_50 0x061F1F10
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#define CAN_DBTP_50 0x001F2003
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// 86.7% sample point
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#define CAN_NBTP_83 0x061F1803
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#define CAN_DBTP_83 0x001F1833
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// 88.0% sample point
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#define CAN_NBTP_100 0x061F1402
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#define CAN_DBTP_100 0x001F1423
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// 85.0% sample point
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#define CAN_NBTP_125 0x061F0F02
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#define CAN_DBTP_125 0x001F0F23
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// These have an 87.5% sample point
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#define CAN_NBTP_250 0x06130C01
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#define CAN_DBTP_250 0x00130C13
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#define CAN_NBTP_500 0x06090C01
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#define CAN_DBTP_500 0x00090C13
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#define CAN_NBTP_1k0 0x06040C01
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#define CAN_DBTP_1k0 0x00040C13
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#else
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#error Please define CAN BTR settings for your MCU!
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#endif
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/*
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* 500KBaud
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* automatic wakeup
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* automatic recover from abort mode
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* See section 22.7.7 on the STM32 reference manual.
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*
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* 29 bit would be CAN_TI0R_EXID (?) but we do not mention it here
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* CAN_TI0R_STID "Standard Identifier or Extended Identifier"? not mentioned as well
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||||
*/
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#if defined(STM32F4XX) || defined(STM32F7XX)
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static const CANConfig canConfig50 = {
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.mcr = CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP,
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.btr = CAN_BTR_50
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};
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static const CANConfig canConfig83 = {
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.mcr = CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP,
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.btr = CAN_BTR_83
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};
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static const CANConfig canConfig100 = {
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.mcr = CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP,
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.btr = CAN_BTR_100
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};
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static const CANConfig canConfig125 = {
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.mcr = CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP,
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.btr = CAN_BTR_125
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};
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static const CANConfig canConfig250 = {
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.mcr = CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP,
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.btr = CAN_BTR_250
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};
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static const CANConfig canConfig500 = {
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.mcr = CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP,
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.btr = CAN_BTR_500
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};
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static const CANConfig canConfig1000 = {
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CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP,
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CAN_BTR_1k0 };
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#elif defined(STM32H7XX)
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static const CANConfig canConfig50 = {
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.NBTP = CAN_NBTP_50,
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.DBTP = CAN_DBTP_50,
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.CCCR = 0,
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.TEST = 0,
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.RXGFC = 0,
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};
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static const CANConfig canConfig83 = {
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.NBTP = CAN_NBTP_83,
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.DBTP = CAN_DBTP_83,
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.CCCR = 0,
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.TEST = 0,
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.RXGFC = 0,
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};
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static const CANConfig canConfig100 = {
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.NBTP = CAN_NBTP_100,
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.DBTP = CAN_DBTP_100,
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.CCCR = 0,
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.TEST = 0,
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.RXGFC = 0,
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};
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static const CANConfig canConfig125 = {
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.NBTP = CAN_NBTP_125,
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.DBTP = CAN_DBTP_125,
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.CCCR = 0,
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.TEST = 0,
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.RXGFC = 0,
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};
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static const CANConfig canConfig250 = {
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.NBTP = CAN_NBTP_250,
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.DBTP = CAN_DBTP_250,
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.CCCR = 0,
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.TEST = 0,
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.RXGFC = 0,
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};
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static const CANConfig canConfig500 = {
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.NBTP = CAN_NBTP_500,
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.DBTP = CAN_DBTP_500,
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.CCCR = 0,
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.TEST = 0,
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.RXGFC = 0,
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};
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|
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static const CANConfig canConfig1000 = {
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.NBTP = CAN_NBTP_1k0,
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.DBTP = CAN_DBTP_1k0,
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.CCCR = 0,
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.TEST = 0,
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.RXGFC = 0,
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};
|
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#endif
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|
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#else // not EFI_PROD_CODE
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||||
// Nothing to actually set for the simulator's CAN config.
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// It's impossible to set CAN bitrate from userspace, so we can't set it.
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static const CANConfig canConfig50;
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static const CANConfig canConfig83;
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static const CANConfig canConfig100;
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static const CANConfig canConfig125;
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static const CANConfig canConfig250;
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static const CANConfig canConfig500;
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static const CANConfig canConfig1000;
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#endif
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const CANConfig* findCanConfig(can_baudrate_e rate) {
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switch (rate) {
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case B50KBPS:
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return &canConfig50;
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case B83KBPS:
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return &canConfig83;
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case B100KBPS:
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return &canConfig100;
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case B125KBPS:
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return &canConfig125;
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case B250KBPS:
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return &canConfig250;
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case B1MBPS:
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return &canConfig1000;
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case B500KBPS:
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default:
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return &canConfig500;
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}
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}
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@ -24,175 +24,6 @@
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static bool isCanEnabled = false;
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#if EFI_PROD_CODE
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||||
|
||||
// Values below calculated with http://www.bittiming.can-wiki.info/
|
||||
// Pick ST micro bxCAN
|
||||
// Clock rate of 42mhz for f4, 54mhz for f7, 80mhz for h7
|
||||
#ifdef STM32F4XX
|
||||
// These have an 85.7% sample point
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||||
#define CAN_BTR_50 (CAN_BTR_SJW(0) | CAN_BTR_BRP(59) | CAN_BTR_TS1(10) | CAN_BTR_TS2(1))
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#define CAN_BTR_83 (CAN_BTR_SJW(0) | CAN_BTR_BRP(35) | CAN_BTR_TS1(10) | CAN_BTR_TS2(1))
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#define CAN_BTR_100 (CAN_BTR_SJW(0) | CAN_BTR_BRP(29) | CAN_BTR_TS1(10) | CAN_BTR_TS2(1))
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#define CAN_BTR_125 (CAN_BTR_SJW(0) | CAN_BTR_BRP(23) | CAN_BTR_TS1(10) | CAN_BTR_TS2(1))
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#define CAN_BTR_250 (CAN_BTR_SJW(0) | CAN_BTR_BRP(11) | CAN_BTR_TS1(10) | CAN_BTR_TS2(1))
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#define CAN_BTR_500 (CAN_BTR_SJW(0) | CAN_BTR_BRP(5) | CAN_BTR_TS1(10) | CAN_BTR_TS2(1))
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#define CAN_BTR_1k0 (CAN_BTR_SJW(0) | CAN_BTR_BRP(2) | CAN_BTR_TS1(10) | CAN_BTR_TS2(1))
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#elif defined(STM32F7XX)
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// These have an 88.9% sample point
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#define CAN_BTR_50 (CAN_BTR_SJW(0) | CAN_BTR_BRP(59) | CAN_BTR_TS1(14) | CAN_BTR_TS2(1))
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#define CAN_BTR_83 (CAN_BTR_SJW(0) | CAN_BTR_BRP(35) | CAN_BTR_TS1(14) | CAN_BTR_TS2(1))
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#define CAN_BTR_100 (CAN_BTR_SJW(0) | CAN_BTR_BRP(29) | CAN_BTR_TS1(14) | CAN_BTR_TS2(1))
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#define CAN_BTR_125 (CAN_BTR_SJW(0) | CAN_BTR_BRP(23) | CAN_BTR_TS1(14) | CAN_BTR_TS2(1))
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#define CAN_BTR_250 (CAN_BTR_SJW(0) | CAN_BTR_BRP(11) | CAN_BTR_TS1(14) | CAN_BTR_TS2(1))
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#define CAN_BTR_500 (CAN_BTR_SJW(0) | CAN_BTR_BRP(5) | CAN_BTR_TS1(14) | CAN_BTR_TS2(1))
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#define CAN_BTR_1k0 (CAN_BTR_SJW(0) | CAN_BTR_BRP(2) | CAN_BTR_TS1(14) | CAN_BTR_TS2(1))
|
||||
#elif defined(STM32H7XX)
|
||||
// FDCAN driver has different bit timing registers (yes, different format)
|
||||
// for the arbitration and data phases
|
||||
|
||||
// 66% sample point, not ideal but best we can do without changing CAN clock
|
||||
#define CAN_NBTP_50 0x061F1F10
|
||||
#define CAN_DBTP_50 0x001F2003
|
||||
|
||||
// 86.7% sample point
|
||||
#define CAN_NBTP_83 0x061F1803
|
||||
#define CAN_DBTP_83 0x001F1833
|
||||
|
||||
// 88.0% sample point
|
||||
#define CAN_NBTP_100 0x061F1402
|
||||
#define CAN_DBTP_100 0x001F1423
|
||||
|
||||
// 85.0% sample point
|
||||
#define CAN_NBTP_125 0x061F0F02
|
||||
#define CAN_DBTP_125 0x001F0F23
|
||||
|
||||
// These have an 87.5% sample point
|
||||
#define CAN_NBTP_250 0x06130C01
|
||||
#define CAN_DBTP_250 0x00130C13
|
||||
|
||||
#define CAN_NBTP_500 0x06090C01
|
||||
#define CAN_DBTP_500 0x00090C13
|
||||
|
||||
#define CAN_NBTP_1k0 0x06040C01
|
||||
#define CAN_DBTP_1k0 0x00040C13
|
||||
#else
|
||||
#error Please define CAN BTR settings for your MCU!
|
||||
#endif
|
||||
|
||||
/*
|
||||
* 500KBaud
|
||||
* automatic wakeup
|
||||
* automatic recover from abort mode
|
||||
* See section 22.7.7 on the STM32 reference manual.
|
||||
*
|
||||
* 29 bit would be CAN_TI0R_EXID (?) but we do not mention it here
|
||||
* CAN_TI0R_STID "Standard Identifier or Extended Identifier"? not mentioned as well
|
||||
*/
|
||||
#if defined(STM32F4XX) || defined(STM32F7XX)
|
||||
static const CANConfig canConfig50 = {
|
||||
.mcr = CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP,
|
||||
.btr = CAN_BTR_50
|
||||
};
|
||||
|
||||
static const CANConfig canConfig83 = {
|
||||
.mcr = CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP,
|
||||
.btr = CAN_BTR_83
|
||||
};
|
||||
|
||||
static const CANConfig canConfig100 = {
|
||||
.mcr = CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP,
|
||||
.btr = CAN_BTR_100
|
||||
};
|
||||
|
||||
static const CANConfig canConfig125 = {
|
||||
.mcr = CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP,
|
||||
.btr = CAN_BTR_125
|
||||
};
|
||||
|
||||
static const CANConfig canConfig250 = {
|
||||
.mcr = CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP,
|
||||
.btr = CAN_BTR_250
|
||||
};
|
||||
|
||||
static const CANConfig canConfig500 = {
|
||||
.mcr = CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP,
|
||||
.btr = CAN_BTR_500
|
||||
};
|
||||
|
||||
static const CANConfig canConfig1000 = {
|
||||
CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP,
|
||||
CAN_BTR_1k0 };
|
||||
#elif defined(STM32H7XX)
|
||||
static const CANConfig canConfig50 = {
|
||||
.NBTP = CAN_NBTP_50,
|
||||
.DBTP = CAN_DBTP_50,
|
||||
.CCCR = 0,
|
||||
.TEST = 0,
|
||||
.RXGFC = 0,
|
||||
};
|
||||
|
||||
static const CANConfig canConfig83 = {
|
||||
.NBTP = CAN_NBTP_83,
|
||||
.DBTP = CAN_DBTP_83,
|
||||
.CCCR = 0,
|
||||
.TEST = 0,
|
||||
.RXGFC = 0,
|
||||
};
|
||||
|
||||
static const CANConfig canConfig100 = {
|
||||
.NBTP = CAN_NBTP_100,
|
||||
.DBTP = CAN_DBTP_100,
|
||||
.CCCR = 0,
|
||||
.TEST = 0,
|
||||
.RXGFC = 0,
|
||||
};
|
||||
|
||||
static const CANConfig canConfig125 = {
|
||||
.NBTP = CAN_NBTP_125,
|
||||
.DBTP = CAN_DBTP_125,
|
||||
.CCCR = 0,
|
||||
.TEST = 0,
|
||||
.RXGFC = 0,
|
||||
};
|
||||
|
||||
static const CANConfig canConfig250 = {
|
||||
.NBTP = CAN_NBTP_250,
|
||||
.DBTP = CAN_DBTP_250,
|
||||
.CCCR = 0,
|
||||
.TEST = 0,
|
||||
.RXGFC = 0,
|
||||
};
|
||||
|
||||
static const CANConfig canConfig500 = {
|
||||
.NBTP = CAN_NBTP_500,
|
||||
.DBTP = CAN_DBTP_500,
|
||||
.CCCR = 0,
|
||||
.TEST = 0,
|
||||
.RXGFC = 0,
|
||||
};
|
||||
|
||||
static const CANConfig canConfig1000 = {
|
||||
.NBTP = CAN_NBTP_1k0,
|
||||
.DBTP = CAN_DBTP_1k0,
|
||||
.CCCR = 0,
|
||||
.TEST = 0,
|
||||
.RXGFC = 0,
|
||||
};
|
||||
#endif
|
||||
|
||||
#else // not EFI_PROD_CODE
|
||||
// Nothing to actually set for the simulator's CAN config.
|
||||
// It's impossible to set CAN bitrate from userspace, so we can't set it.
|
||||
static const CANConfig canConfig50;
|
||||
static const CANConfig canConfig83;
|
||||
static const CANConfig canConfig100;
|
||||
static const CANConfig canConfig125;
|
||||
static const CANConfig canConfig250;
|
||||
static const CANConfig canConfig500;
|
||||
static const CANConfig canConfig1000;
|
||||
#endif
|
||||
|
||||
class CanRead final : protected ThreadController<UTILITY_THREAD_STACK_SIZE> {
|
||||
public:
|
||||
CanRead(size_t index)
|
||||
|
|
@ -314,26 +145,6 @@ void startCanPins() {
|
|||
#endif // EFI_PROD_CODE
|
||||
}
|
||||
|
||||
static const CANConfig * findConfig(can_baudrate_e rate) {
|
||||
switch (rate) {
|
||||
case B50KBPS:
|
||||
return &canConfig50;
|
||||
case B83KBPS:
|
||||
return &canConfig83;
|
||||
case B100KBPS:
|
||||
return &canConfig100;
|
||||
case B125KBPS:
|
||||
return &canConfig125;
|
||||
case B250KBPS:
|
||||
return &canConfig250;
|
||||
case B1MBPS:
|
||||
return &canConfig1000;
|
||||
case B500KBPS:
|
||||
default:
|
||||
return &canConfig500;
|
||||
}
|
||||
}
|
||||
|
||||
void initCan() {
|
||||
addConsoleAction("caninfo", canInfo);
|
||||
|
||||
|
|
@ -360,8 +171,8 @@ void initCan() {
|
|||
}
|
||||
|
||||
// Generate configs based on baud rate
|
||||
auto config1 = findConfig(engineConfiguration->canBaudRate);
|
||||
auto config2 = findConfig(engineConfiguration->can2BaudRate);
|
||||
auto config1 = findCanConfig(engineConfiguration->canBaudRate);
|
||||
auto config2 = findCanConfig(engineConfiguration->can2BaudRate);
|
||||
|
||||
// Initialize peripherals
|
||||
if (device1) {
|
||||
|
|
|
|||
|
|
@ -15,6 +15,8 @@ void setCanVss(int type);
|
|||
|
||||
#if EFI_CAN_SUPPORT
|
||||
|
||||
const CANConfig* findCanConfig(can_baudrate_e rate);
|
||||
|
||||
void stopCanPins();
|
||||
void startCanPins();
|
||||
bool getIsCanEnabled(void);
|
||||
|
|
|
|||
|
|
@ -20,6 +20,7 @@ HW_LAYER_DRIVERS =
|
|||
|
||||
HW_LAYER_DRIVERS_CPP = \
|
||||
$(DRIVERS_DIR)/can/can_hw.cpp \
|
||||
$(DRIVERS_DIR)/can/can_config.cpp \
|
||||
$(DRIVERS_DIR)/serial/serial_hw.cpp \
|
||||
$(DRIVERS_DIR)/gpio/tle6240.cpp \
|
||||
$(DRIVERS_DIR)/gpio/tle8888.cpp \
|
||||
|
|
|
|||
Loading…
Reference in New Issue