Kwabena/mimxrt can#142
Open
kwagyeman wants to merge 22 commits into
Open
Conversation
Ports may need the raw bitrate and not the derived bitrate brp for set-up of the hardware. Signed-off-by: robert-hh <robert@hammelrath.com>
Based on original work by Kwabena W. Agyeman. Signed-off-by: robert-hh <robert@hammelrath.com>
First version, working to some extent: - create CAN - init() - deinit() - send() - cancel_send() - get_counters() - get_timings() - state() - recv() - restart() - irq handlers (TX irq is missing) All port specific functions are implemented, but not all of them are tested, and some aspects still need consideration. Open topics: - Filter masks. - TX IRQ. Maybe not useful. - Get the number of FIFO elements instead just a single flag. - Use the timing settings from init(). - Consider, if the actual value of RFFN is appropriate (25 TXMB and 128 Filters). Maybe more TXMB's - Add setting for the other boards. - More TESTING, espcially with other boards. Signed-off-by: robert-hh <robert@hammelrath.com>
Of course only for the boards that support CAN. Moved CAN1 at Teensy to Pins A8 and A9. Added a CAN pinout section to the documentation. Signed-off-by: robert-hh <robert@hammelrath.com>
Supporting filter masks now matches the documentation. Signed-off-by: robert-hh <robert@hammelrath.com>
Add a conditional compile to either use the timing parameters as provided by calculate_brp() or use the timing values as determined by the NXP library. In that case, report back the final settings for the object print. Provide C constants for the min/max values of the timing parameters. Signed-off-by: robert-hh <robert@hammelrath.com>
- Use a single setting to define the number of filters and TX MBs. The number of filters is set in machine_can_port_init() to CAN_IDFILTERNUM_MAX, and then RFFN and the number of TX MBs are derived from that number. At the moment it's 128 Filter and 25 TX MBs. Another reasonable number would be 64 filters as there are 64 filter masks and 41 TX MBs. - Remove code duplication, especially the port's print function. The common print function is good and provides more information. Signed-off-by: robert-hh <robert@hammelrath.com>
Not just a single write of the abort command. Step 3 of the instructions is omitted, because the IFLAG is never set. It returns True if the message was waiting for transmission or is actually being transmitted when calling, and False, when no message is waiting or is transferred. The code cannot tell the difference between a pending message and a message being transferred. So it may happen that can.cancel_send() returns True, but the message is transmitted. Finally, the CS field of the MB is set to the initial state. Signed-off-by: robert-hh <robert@hammelrath.com>
Switching between modes requires to call can.deinit() before a new call to can.init(). Calling can.deinit() will clear the device including the filters, but must not clear the CAN object. That is deferred until soft reset. MP_CAN_MODE_SILENT only receives acknowledged messages. Signed-off-by: robert-hh <robert@hammelrath.com>
These were define with default values, but port specific values can be used instead. Signed-off-by: robert-hh <robert@hammelrath.com>
Signed-off-by: robert-hh <robert@hammelrath.com>
tests/multi-extmod: - Test 4: Use a hard IRQ avoiding event loss. - Test 5: Count the result of can.cancel_send() instead of the non-supported IRQ_TX_FAILED event. - Test 8: Add some dummy print statements expected by the test script for situations which cannot be handled by MIMXRT. Change irq handler to deal either with RX or TX. tests/tests/extmod_hardware/machine_can_instances.py: - Set the mode to CAN.MODE_SILENT_LOOPBACK. Signed-off-by: robert-hh <robert@hammelrath.com>
- The approach does not stop with fail at the first non-empty MB with a matching ID, but keeps scanning for a free MB with a higher index number and therefore lower priority. - If CAN_MSG_FLAG_UNORDERED is set, allow to pick the first unused MB if the MB with the matching ID is busy. - Add MACROs to make can_find_txmb() better readable. Signed-off-by: robert-hh <robert@hammelrath.com>
Changes: - Add a TX interrupt. - Do not enable Warning and overflow interrupts for IRQ_RX, avoiding additional calls of the IRQ handler. - Add flags for bus state interrupts. - The recv() code is slightly shortened with the assumption, the data buffer for a received message is always sufficiently large. That applies most likely to send() as well, but it's out of scope for machine_can. Comments: - The handling of interrupts follows the scheme, that the respective interrupt is disabled in the handler, if it was triggered. The flags telling which interrupt happened stay enabled, such that they can be reported by can.irq().flags(). - Reading a message or defining the trigger (re-)enables the RX IRQ. - The IRQ_TX interrupt happens when any message have been successfully sent. At the moment there is not feedback which message of possibly many in the TX queue. - Call can.irq().flags() repeatedly to get the message indexes of all transmitted messages. These are coded in the upper 16 bits of the value returned by can.irq().flags() (as documented). - The IRQ_TX interrupt for a MMB is enabled when sending a message or when can.irq().flags() is called. Signed-off-by: robert-hh <robert@hammelrath.com>
Make it consistent to the documentation. The code now counts and the errors when state transitions happen to a more severe state and triggers an callback if requested. A state IRQ is to be signalled for every bus state change. Not all bus state changes cause a dedicated hardware interrupt. In that case the state change will only be noticed during processing of another event, like general bus error, RX, TX, .... Consider the value of CAN_TX_QUEUE_LEN depending on the value of FSL_FEATURE_FLEXCAN_HAS_ERRATA_5829. Signed-off-by: robert-hh <robert@hammelrath.com>
Signed-off-by: robert-hh <robert@hammelrath.com>
- Declare local functions as "static". - Use named constants for numbers when possible - Put the IRQ handler into RAM - Clarify comments Signed-off-by: robert-hh <robert@hammelrath.com>
Making it a little bit more efficient with MIMXRT. Signed-off-by: robert-hh <robert@hammelrath.com>
Signed-off-by: robert-hh <robert@hammelrath.com>
That way, a port can do the internal update of the filter set at once. Signed-off-by: robert-hh <robert@hammelrath.com>
If instance0 starts too quickly before instance1, it could "babble"
enough messages onto the bus without ACK that it goes into Error
Passive. Once in Error Passive, it has to leave an extra 8 bit times
("Suspend Transmission Time") after each message to allow other nodes
to communicate. This prevents the test from working as designed.
This work was funded through GitHub Sponsors.
Signed-off-by: Angus Gratton <angus@redyak.com.au>
Signed-off-by: Kwabena W. Agyeman <kwagyeman@live.com>
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
2 participants
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
Adds support for machine.CAN with the RT1060. Tested and works on the OpenMV Cam RT1062.