enable CAN on H7 (#2393)

* enable

* guard correctly

* h7 bit timing

* allow longer frames

* allow data smaller than maximum

* mcu temperature

* typo

* tx message

* testing

* check for CAN or FDCAN

* don't need that any more

* h7 bitrate config

* undo testing

* h7-ify msg tx

* comment

* break out SID/EID macros

* guard differently

* update ChibiOS

Co-authored-by: Matthew Kennedy <makenne@microsoft.com>

firmware/ChibiOS

@@ -1 +1 @@
-Subproject commit 6b0f623d023ed984c586f8979c10bbf11807e121
+Subproject commit 948b015c9c491295d088d0db4b209b3a37b1a524

firmware/config/stm32h7ems/efifeatures.h

@@ -11,9 +11,6 @@
 #undef EFI_MC33816
 #define EFI_MC33816 FALSE
 
-#undef EFI_CAN_SUPPORT
-#define EFI_CAN_SUPPORT FALSE
-
 #undef EFI_CJ125
 #define EFI_CJ125 FALSE
 

firmware/controllers/bench_test.cpp

@@ -257,7 +257,7 @@ private:
 		}
 
 		if (widebandUpdatePending) {
-#if EFI_WIDEBAND_FIRMWARE_UPDATE && HAL_USE_CAN
+#if EFI_WIDEBAND_FIRMWARE_UPDATE && EFI_CAN_SUPPORT
 			updateWidebandFirmware(logger);
 #endif
 			widebandUpdatePending = false;

firmware/controllers/can/can.h

@@ -35,3 +35,12 @@ public:
 	CanWrite();
 	void PeriodicTask(efitime_t nowNt) override;
 };
+
+// We need these helpers because the frame layout is different on STM32H7
+#ifdef STM32H7XX
+#define CAN_SID(f) ((f).std.SID)
+#define CAN_EID(f) ((f).ext.EID)
+#else
+#define CAN_SID(f) ((f).SID)
+#define CAN_EID(f) ((f).EID)
+#endif

firmware/controllers/can/can_rx.cpp

@@ -64,7 +64,7 @@ bool acceptCanRx(int sid DECLARE_ENGINE_PARAMETER_SUFFIX) {
  * this build-in CAN sniffer is very basic but that's our CAN sniffer
  */
 static void printPacket(const CANRxFrame &rx, Logging *logger) {
-	bool accept = acceptCanRx(rx.SID);
+	bool accept = acceptCanRx(CAN_SID(rx));
 	if (!accept) {
 		return;
 	}
@@ -72,8 +72,8 @@ static void printPacket(const CANRxFrame &rx, Logging *logger) {
 	// only print info if we're in can debug mode
 
 	// internet people use both hex and decimal to discuss packed IDs, for usability it's better to print both right here
-	scheduleMsg(logger, "CAN_rx %x %d %x, %x %x %x %x %x %x %x %x", rx.SID,
+	scheduleMsg(logger, "CAN_rx %x %d %x, %x %x %x %x %x %x %x %x", CAN_SID(rx),
-			rx.SID, rx.DLC, rx.data8[0], rx.data8[1], rx.data8[2], rx.data8[3],
+			CAN_SID(rx), rx.DLC, rx.data8[0], rx.data8[1], rx.data8[2], rx.data8[3],
 			rx.data8[4], rx.data8[5], rx.data8[6], rx.data8[7]);
 
 }
@@ -108,7 +108,7 @@ void processCanRxMessage(const CANRxFrame &frame, Logging *logger,
 	processCanRxVss(frame, nowNt);
 
 #if EFI_CANBUS_SLAVE
-	if (frame.EID == CONFIG(verboseCanBaseAddress) + CAN_SENSOR_1_OFFSET) {
+	if (CAN_EID(frame) == CONFIG(verboseCanBaseAddress) + CAN_SENSOR_1_OFFSET) {
 		int16_t mapScaled = *reinterpret_cast<const int16_t*>(&frame.data8[0]);
 		canMap = mapScaled / (1.0 * PACK_MULT_PRESSURE);
 	} else
@@ -119,7 +119,7 @@ void processCanRxMessage(const CANRxFrame &frame, Logging *logger,
 
 #if EFI_WIDEBAND_FIRMWARE_UPDATE
 	// Bootloader acks with address 0x727573 aka ascii "rus"
-	if (frame.EID == 0x727573) {
+	if (CAN_EID(frame) == 0x727573) {
 		handleWidebandBootloaderAck();
 	}
 #endif

firmware/controllers/can/can_vss.cpp

@@ -82,7 +82,7 @@ void processCanRxVss(const CANRxFrame& frame, efitick_t nowNt) {
     }
 
     //filter it we need to process the can message or not
-    if ( frame.SID != filterCanID ) {
+    if (CAN_SID(frame) != filterCanID ) {
         return;
     }
 

firmware/controllers/can/obd2.cpp

@@ -27,6 +27,7 @@
 #include "os_access.h"
 #include "engine.h"
 #include "obd2.h"
+#include "can.h"
 #include "can_msg_tx.h"
 #include "vehicle_speed.h"
 #include "map.h"
@@ -195,7 +196,7 @@ static void handleDtcRequest(int numCodes, int *dtcCode) {
 
 #if HAL_USE_CAN
 void obdOnCanPacketRx(const CANRxFrame& rx) {
-	if (rx.SID != OBD_TEST_REQUEST) {
+	if (CAN_SID(rx) != OBD_TEST_REQUEST) {
 		return;
 	}
 

firmware/controllers/can/wideband_bootloader.cpp

@@ -1,6 +1,6 @@
 #include "global.h"
 
-#if EFI_WIDEBAND_FIRMWARE_UPDATE && HAL_USE_CAN
+#if EFI_WIDEBAND_FIRMWARE_UPDATE && EFI_CAN_SUPPORT
 
 #include "ch.h"
 #include "can_msg_tx.h"

firmware/controllers/sensors/can_sensor.h

@@ -32,7 +32,7 @@ public:
 	void showInfo(Logging* logger, const char* sensorName) const override;
 
 	CanSensorBase* processFrame(const CANRxFrame& frame, efitick_t nowNt) {
-		if (frame.EID == m_eid) {
+		if (CAN_EID(frame) == m_eid) {
 			decodeFrame(frame, nowNt);
 		}
 

firmware/hw_layer/drivers/can/can_hw.cpp

@@ -36,7 +36,7 @@ static LoggingWithStorage logger("CAN driver");
 
 // Values below calculated with http://www.bittiming.can-wiki.info/
 // Pick ST micro bxCAN
-// Clock rate of 42mhz for f4, 54mhz for f7
+// Clock rate of 42mhz for f4, 54mhz for f7, 80mhz for h7
 #ifdef STM32F4XX
 // These have an 85.7% sample point
 #define CAN_BTR_100 (CAN_BTR_SJW(0) | CAN_BTR_BRP(29) | CAN_BTR_TS1(10) | CAN_BTR_TS2(1))
@@ -49,6 +49,21 @@ static LoggingWithStorage logger("CAN driver");
 #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))
+#elif defined(STM32H7XX)
+// These have an 87.5% sample point
+// FDCAN driver has different bit timing registers (yes, different format)
+// for the arbitration and data phases
+#define CAN_NBTP_100 0x00310C01
+#define CAN_DBTP_100 0x00310C13
+
+#define CAN_NBTP_250 0x00130C01
+#define CAN_DBTP_250 0x00130C13
+
+#define CAN_NBTP_500 0x00090C01
+#define CAN_DBTP_500 0x00090C13
+
+#define CAN_NBTP_1k0 0x00040C01
+#define CAN_DBTP_1k0 0x00040C13
 #else
 #error Please define CAN BTR settings for your MCU!
 #endif
@@ -62,7 +77,7 @@ static LoggingWithStorage logger("CAN driver");
  * 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 canConfig100 = {
 CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP,
 CAN_BTR_100 };
@@ -78,6 +93,39 @@ 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 canConfig100 = {
+	CAN_NBTP_100,
+	CAN_DBTP_100,
+	0, // CCCR
+	0, // TEST
+	0,
+};
+
+static const CANConfig canConfig250 = {
+	CAN_NBTP_250,
+	CAN_DBTP_250,
+	0, // CCCR
+	0, // TEST
+	0,
+};
+
+static const CANConfig canConfig500 = {
+	CAN_NBTP_500,
+	CAN_DBTP_500,
+	0, // CCCR
+	0, // TEST
+	0,
+};
+
+static const CANConfig canConfig1000 = {
+	CAN_NBTP_1k0,
+	CAN_DBTP_1k0,
+	0, // CCCR
+	0, // TEST
+	0,
+};
+#endif
 
 static const CANConfig *canConfig = &canConfig500;
 
@@ -212,6 +260,8 @@ void initCan(void) {
 		break;
 	}
 
+	startCanPins();
+
 	// Initialize hardware
 #if STM32_CAN_USE_CAN2
 	// CAN1 is required for CAN2
@@ -236,8 +286,6 @@ void initCan(void) {
 	if (CONFIG(canReadEnabled)) {
 		canRead.Start();
 	}
-
-	startCanPins();
 }
 
 #endif /* EFI_CAN_SUPPORT */

firmware/hw_layer/drivers/can/can_msg_tx.cpp

@@ -11,6 +11,7 @@
 #include "global.h"
 
 #if EFI_CAN_SUPPORT
+#include "can.h"
 #include "can_msg_tx.h"
 #include "engine_configuration.h"
 
@@ -27,10 +28,24 @@ extern int canWriteNotOk;
 }
 
 CanTxMessage::CanTxMessage(uint32_t eid, uint8_t dlc, bool isExtended) {
+#ifndef STM32H7XX
+	// ST bxCAN device
 	m_frame.IDE = isExtended ? CAN_IDE_EXT : CAN_IDE_STD;
-	m_frame.EID = eid;
 	m_frame.RTR = CAN_RTR_DATA;
+#else /* if STM32H7XX */
+	// Bosch M_CAN FDCAN device
+	m_frame.common.XTD = isExtended;
+	m_frame.common.RTR = 0;
+#endif
+
+	if (isExtended) {
+		CAN_EID(m_frame) = eid;
+	} else {
+		CAN_SID(m_frame) = eid;
+	}
+
 	m_frame.DLC = dlc;
+
 	memset(m_frame.data8, 0, sizeof(m_frame.data8));
 }
 
@@ -43,7 +58,7 @@ CanTxMessage::~CanTxMessage() {
 	}
 
 	if (CONFIG(debugMode) == DBG_CAN) {
-		scheduleMsg(&sharedLogger, "Sending CAN message: SID %x/%x %x %x %x %x %x %x %x %x", m_frame.SID, m_frame.DLC,
+		scheduleMsg(&sharedLogger, "Sending CAN message: SID %x/%x %x %x %x %x %x %x %x %x", CAN_SID(m_frame), m_frame.DLC,
 				m_frame.data8[0], m_frame.data8[1],
 				m_frame.data8[2], m_frame.data8[3],
 				m_frame.data8[4], m_frame.data8[5],

firmware/hw_layer/drivers/can/can_msg_tx.h

@@ -74,11 +74,11 @@ template <typename TData>
 class CanTxTyped final : public CanTxMessage
 {
 #if EFI_CAN_SUPPORT
-	static_assert(sizeof(TData) == sizeof(CANTxFrame::data8));
+	static_assert(sizeof(TData) <= sizeof(CANTxFrame::data8));
 #endif // EFI_CAN_SUPPORT
 
 public:
-	explicit CanTxTyped(uint32_t eid) : CanTxMessage(eid) { }
+	explicit CanTxTyped(uint32_t eid) : CanTxMessage(eid, sizeof(TData)) { }
 
 #if EFI_CAN_SUPPORT
 	/**

firmware/hw_layer/ports/stm32/stm32_common.cpp

@@ -774,11 +774,11 @@ bool isValidCanRxPin(brain_pin_e pin) {
 }
 
 CANDriver * detectCanDevice(brain_pin_e pinRx, brain_pin_e pinTx) {
-#if STM32_CAN_USE_CAN1
+#if STM32_CAN_USE_CAN1 || STM32_CAN_USE_FDCAN1
    if (isValidCan1RxPin(pinRx) && isValidCan1TxPin(pinTx))
       return &CAND1;
 #endif
-#if STM32_CAN_USE_CAN2
+#if STM32_CAN_USE_CAN2 || STM32_CAN_USE_FDCAN2
    if (isValidCan2RxPin(pinRx) && isValidCan2TxPin(pinTx))
       return &CAND2;
 #endif

firmware/hw_layer/ports/stm32/stm32h7/cfg/mcuconf.h

@@ -239,7 +239,7 @@
 /*
  * CAN driver system settings.
  */
-#define STM32_CAN_USE_FDCAN1                FALSE
+#define STM32_CAN_USE_FDCAN1                TRUE
 #define STM32_CAN_USE_FDCAN2                FALSE
 
 /*