mirror of https://github.com/FOME-Tech/fome-fw.git
add 50/83.3/125kbit CAN (#5072)
* fix CAN * add 83/125 too * bump config version
This commit is contained in:
Matthew Kennedy
GitHub
parent
8e37975a21
commit
cfe0aeef29
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@ -567,10 +567,13 @@ typedef enum __attribute__ ((__packed__)) {
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} gppwm_channel_e;
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typedef enum __attribute__ ((__packed__)) {
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B100KBPS = 0, // 100kbps
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B250KBPS = 1, // 250kbps
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B500KBPS = 2, // 500kbps
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B1MBPS = 3, // 1Mbps
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B50KBPS = 0, // 50kbps
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B83KBPS = 1, // 83.33kbps
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B100KBPS = 2, // 100kbps
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B125KBPS = 3, // 125kbps
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B250KBPS = 4, // 250kbps
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B500KBPS = 5, // 500kbps
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B1MBPS = 6, // 1Mbps
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} can_baudrate_e;
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typedef enum __attribute__ ((__packed__)) {
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@ -31,30 +31,50 @@ static bool isCanEnabled = false;
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// 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_100 (CAN_BTR_SJW(0) | CAN_BTR_BRP(30) | CAN_BTR_TS1(15) | CAN_BTR_TS2(2))
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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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// These have an 87.5% sample point
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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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#define CAN_NBTP_100 0x00310C01
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#define CAN_DBTP_100 0x00310C13
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#define CAN_NBTP_250 0x00130C01
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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 0x00090C01
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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 0x00040C01
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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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@ -70,11 +90,26 @@ static bool isCanEnabled = false;
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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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@ -89,6 +124,22 @@ 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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@ -97,6 +148,14 @@ static const CANConfig canConfig100 = {
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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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@ -125,7 +184,10 @@ static const CANConfig canConfig1000 = {
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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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@ -260,15 +322,18 @@ void startCanPins() {
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static const CANConfig * findConfig(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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break;
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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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break;
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case B1MBPS:
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return &canConfig1000;
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break;
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case B500KBPS:
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default:
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return &canConfig500;
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@ -93,7 +93,7 @@
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! Any time an incompatible change is made to the configuration format stored in flash,
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! update this string to the current date! It is required to also update TS_SIGNATURE above
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! when this happens.
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#define FLASH_DATA_VERSION 10019
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#define FLASH_DATA_VERSION 10020
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! this offset is part of console compatibility mechanism, please DO NOT change this offset
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#define TS_FILE_VERSION_OFFSET 124
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@ -1192,8 +1192,8 @@ int16_t tps2Max;Full throttle#2. tpsMax value as 10 bit ADC value. Not Voltage!\
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float throttlePedalSecondaryUpVoltage;;"voltage", 1, 0, -6, 6, 2
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float throttlePedalSecondaryWOTVoltage;Pedal in the floor;"voltage", 1, 0, -6, 6, 2
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#define can_baudrate_e_enum "100kbps", "250kbps", "500kbps", "1Mbps"
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custom can_baudrate_e 1 bits, U08, @OFFSET@, [0:1], @@can_baudrate_e_enum@@
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#define can_baudrate_e_enum "50kbps", "83.33kbps", "100kbps", "125kbps", "250kbps", "500kbps", "1Mbps"
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custom can_baudrate_e 1 bits, U08, @OFFSET@, [0:2], @@can_baudrate_e_enum@@
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can_baudrate_e canBaudRate; set can_baudrate
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#define ve_override_e_enum "None", "MAP", "TPS"
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