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fix can (#872)

This commit is contained in:
Matthew Kennedy 2019-07-06 01:54:02 -07:00 committed by rusefi
parent 59f550c051
commit 30e73099da
1 changed files with 27 additions and 20 deletions
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45
firmware/hw_layer/can_hw.cpp
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@ -32,37 +32,44 @@ static bool isCanEnabled = false;
static LoggingWithStorage logger("CAN driver");
static THD_WORKING_AREA(canTreadStack, UTILITY_THREAD_STACK_SIZE);
// Values below calculated with http://www.bittiming.can-wiki.info/
// Pick ST micro bxCAN
// Clock rate of 42mhz for f4, 54mhz for f7
#ifdef STM32F4XX
// These have an 85.7% sample point
#define CAN_BTR_250 (CAN_BTR_SJW(0) | CAN_BTR_BRP(11) | CAN_BTR_TS1(10) | CAN_BTR_TS2(1))
#define CAN_BTR_500 (CAN_BTR_SJW(0) | CAN_BTR_BRP(5) | CAN_BTR_TS1(10) | CAN_BTR_TS2(1))
#define CAN_BTR_1k0 (CAN_BTR_SJW(0) | CAN_BTR_BRP(2) | CAN_BTR_TS1(10) | CAN_BTR_TS2(1))
#elif defined(STM32F7XX)
// These have an 88.9% sample point
#define CAN_BTR_250 (CAN_BTR_SJW(0) | CAN_BTR_BRP(11) | CAN_BTR_TS1(14) | CAN_BTR_TS2(1))
#define CAN_BTR_500 (CAN_BTR_SJW(0) | CAN_BTR_BRP(5) | CAN_BTR_TS1(14) | CAN_BTR_TS2(1))
#define CAN_BTR_1k0 (CAN_BTR_SJW(0) | CAN_BTR_BRP(2) | CAN_BTR_TS1(14) | CAN_BTR_TS2(1))
#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.
*
* speed = 42000000 / (BRP + 1) / (1 + TS1 + 1 + TS2 + 1)
* 42000000 / 7 / 12 = 500000
*
* 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
*/
static const CANConfig canConfig500 = {
CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP,
CAN_BTR_SJW(0) | CAN_BTR_TS2(1) | CAN_BTR_TS1(8) | CAN_BTR_BRP(6) };
/*
* speed = 42000000 / (BRP + 1) / (1 + TS1 + 1 + TS2 + 1)
* 42000000 / 7 / 6 = 1000000
*
*/
static const CANConfig canConfig1000 = {
CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP,
CAN_BTR_SJW(0) | CAN_BTR_TS2(1) | CAN_BTR_TS1(2) | CAN_BTR_BRP(6) };
// 42000000 / 14 / 12 = 250000
// todo: validate this
static const CANConfig canConfig250 = {
CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP,
CAN_BTR_SJW(0) | CAN_BTR_TS2(1) | CAN_BTR_TS1(8) | CAN_BTR_BRP(13) };
CAN_BTR_250 };
static const CANConfig canConfig500 = {
CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP,
CAN_BTR_500 };
static const CANConfig canConfig1000 = {
CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP,
CAN_BTR_1k0 };
static CANRxFrame rxBuffer;