stm32_can.cpp

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/**
 * @file    stm32_common_can.cpp
 * @brief   Low level common STM32 code
 *
 * @date Mar 28, 2019
 * @author Andrey Belomutskiy, (c) 2012-2020
 */
 
#include "pch.h"
 
#if EFI_CAN_SUPPORT
 
 
// 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
 
// CAN_BTR_SJW(n), where n = SJW - 1
// CAN_BTR_BRP(n), where n = prescaler - 1
// CAN_BTR_TS1(n), where n = Seg 1 - 1
// CAN_BTR_TS2(n), where n = Seg 2 - 1
 
#ifdef STM32F4XX
// Clock 42 MHz
#define CAN_BTR_33  (CAN_BTR_SJW(0) | CAN_BTR_BRP(139)| CAN_BTR_TS1(6)  | CAN_BTR_TS2(0)) // sampling point at 88.9%
// These have an 85.7% sample point
#define CAN_BTR_50  (CAN_BTR_SJW(0) | CAN_BTR_BRP(59) | CAN_BTR_TS1(10) | CAN_BTR_TS2(1))
#define CAN_BTR_83  (CAN_BTR_SJW(0) | CAN_BTR_BRP(35) | CAN_BTR_TS1(10) | CAN_BTR_TS2(1))
#define CAN_BTR_100 (CAN_BTR_SJW(0) | CAN_BTR_BRP(29) | CAN_BTR_TS1(10) | CAN_BTR_TS2(1))
#define CAN_BTR_125 (CAN_BTR_SJW(0) | CAN_BTR_BRP(23) | CAN_BTR_TS1(10) | CAN_BTR_TS2(1))
#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_666 (CAN_BTR_SJW(0) | CAN_BTR_BRP(2)  | CAN_BTR_TS1(15) | CAN_BTR_TS2(3)) // sampling point 81.0%
#define CAN_BTR_1k0 (CAN_BTR_SJW(0) | CAN_BTR_BRP(2)  | CAN_BTR_TS1(10) | CAN_BTR_TS2(1))
 
#elif defined(STM32F7XX)
// Clock 54 MHz
// These have an 88.9% sample point
#define CAN_BTR_33  (CAN_BTR_SJW(0) | CAN_BTR_BRP(179)| CAN_BTR_TS1(6)  | CAN_BTR_TS2(0))
#define CAN_BTR_50  (CAN_BTR_SJW(0) | CAN_BTR_BRP(59) | CAN_BTR_TS1(14) | CAN_BTR_TS2(1))
#define CAN_BTR_83  (CAN_BTR_SJW(0) | CAN_BTR_BRP(35) | CAN_BTR_TS1(14) | CAN_BTR_TS2(1))
#define CAN_BTR_100 (CAN_BTR_SJW(0) | CAN_BTR_BRP(29) | CAN_BTR_TS1(14) | CAN_BTR_TS2(1))
#define CAN_BTR_125 (CAN_BTR_SJW(0) | CAN_BTR_BRP(23) | CAN_BTR_TS1(14) | CAN_BTR_TS2(1))
#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_666 (CAN_BTR_SJW(0) | CAN_BTR_BRP(8)  | CAN_BTR_TS1(6)  | CAN_BTR_TS2(0))
#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
 
static_assert(STM32_FDCANCLK == 80'000'000, "CANFD baudrates calculated for 80MHz clock!");
 
constexpr uint32_t CAN_NBTP_H7(uint32_t sjw, uint32_t prescaler, uint32_t seg1, uint32_t seg2) {
    return ((sjw-1)<<24) | ((prescaler-1)<<16) | ((seg1-1)<<8) | (seg2-1);
}
constexpr uint32_t CAN_DBTP_H7(uint32_t sjw, uint32_t prescaler, uint32_t seg1, uint32_t seg2) {
    return ((prescaler-1) << 16) | ((seg1-1) << 8) | ((seg2-1)<<4) | (sjw-1);
}
 
// 87.5% sample point
#define CAN_NBTP_33 0x06950c01
#define CAN_DBTP_33 0x00950D03   // TODO: validate!
 
// 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 CAN_NBTP_H7(7, 10, 13, 2)
#define CAN_DBTP_500 CAN_DBTP_H7(4, 10, 13, 2)
static_assert(CAN_NBTP_500 == 0x06090C01);
static_assert(CAN_DBTP_500 == 0x00090C13);
 
#define CAN_NBTP_1k0 CAN_NBTP_H7(7, 5, 13, 2)
#define CAN_DBTP_1k0 CAN_DBTP_H7(4, 5, 13, 2)
static_assert(CAN_NBTP_1k0 == 0x06040C01);
static_assert(CAN_DBTP_1k0 == 0x00040C13);
 
// 86.7% sample point
#define CAN_NBTP_666 CAN_NBTP_H7(7, 8, 12, 2)
#define CAN_DBTP_666 CAN_DBTP_H7(4, 8, 12, 2)
 
#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)
 
#define STM32FxMCR (CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP)
 
static const CANConfig canConfig33 = {
   .mcr = STM32FxMCR,
   .btr = CAN_BTR_33
};
 
static const CANConfig canConfig50 = {
   .mcr = STM32FxMCR,
   .btr = CAN_BTR_50
};
 
static const CANConfig canConfig83 = {
   .mcr = STM32FxMCR,
   .btr = CAN_BTR_83
};
 
static const CANConfig canConfig100 = {
   .mcr = STM32FxMCR,
   .btr = CAN_BTR_100
};
 
static const CANConfig canConfig125 = {
   .mcr = STM32FxMCR,
   .btr = CAN_BTR_125
};
 
static const CANConfig canConfig250 = {
   .mcr = STM32FxMCR,
   .btr = CAN_BTR_250
};
 
static const CANConfig canConfig500 = {
   .mcr = STM32FxMCR,
   .btr = CAN_BTR_500
};
 
static const CANConfig canConfig666 = {
   .mcr = STM32FxMCR,
   .btr = CAN_BTR_666
};
 
static const CANConfig canConfig1000 = {
    .mcr = STM32FxMCR,
   .btr = CAN_BTR_1k0
};
 
#elif defined(STM32H7XX)
static const CANConfig canConfig33 = {
   .op_mode = OPMODE_CAN,
   .NBTP = CAN_NBTP_33,
   .DBTP = CAN_DBTP_33,
   .TDCR = 0,
   .CCCR = 0,
   .TEST = 0,
   .RXGFC = 0,
};
 
static const CANConfig canConfig50 = {
   .op_mode = OPMODE_CAN,
   .NBTP = CAN_NBTP_50,
   .DBTP = CAN_DBTP_50,
   .TDCR = 0,
   .CCCR = 0,
   .TEST = 0,
   .RXGFC = 0,
};
 
static const CANConfig canConfig83 = {
   .op_mode = OPMODE_CAN,
   .NBTP = CAN_NBTP_83,
   .DBTP = CAN_DBTP_83,
   .TDCR = 0,
   .CCCR = 0,
   .TEST = 0,
   .RXGFC = 0,
};
 
static const CANConfig canConfig100 = {
   .op_mode = OPMODE_CAN,
   .NBTP = CAN_NBTP_100,
   .DBTP = CAN_DBTP_100,
   .TDCR = 0,
   .CCCR = 0,
   .TEST = 0,
   .RXGFC = 0,
};
 
static const CANConfig canConfig125 = {
   .op_mode = OPMODE_CAN,
   .NBTP = CAN_NBTP_125,
   .DBTP = CAN_DBTP_125,
   .TDCR = 0,
   .CCCR = 0,
   .TEST = 0,
   .RXGFC = 0,
};
 
static const CANConfig canConfig250 = {
   .op_mode = OPMODE_CAN,
   .NBTP = CAN_NBTP_250,
   .DBTP = CAN_DBTP_250,
   .TDCR = 0,
   .CCCR = 0,
   .TEST = 0,
   .RXGFC = 0,
};
 
static const CANConfig canConfig500 = {
   .op_mode = OPMODE_CAN,
   .NBTP = CAN_NBTP_500,
   .DBTP = CAN_DBTP_500,
   .TDCR = 0,
   .CCCR = 0,
   .TEST = 0,
   .RXGFC = 0,
};
 
static const CANConfig canConfig666 = {
   .op_mode = OPMODE_CAN,
   .NBTP = CAN_NBTP_666,
   .DBTP = CAN_DBTP_666,
   .TDCR = 0,
   .CCCR = 0,
   .TEST = 0,
   .RXGFC = 0,
};
 
static const CANConfig canConfig1000 = {
   .op_mode = OPMODE_CAN,
   .NBTP = CAN_NBTP_1k0,
   .DBTP = CAN_DBTP_1k0,
   .TDCR = 0,
   .CCCR = 0,
   .TEST = 0,
   .RXGFC = 0,
};
#endif
 
static bool isValidCan1RxPin(brain_pin_e pin) {
    return pin == Gpio::A11 || pin == Gpio::B8 || pin == Gpio::D0;
}
 
static bool isValidCan1TxPin(brain_pin_e pin) {
    return pin == Gpio::A12 || pin == Gpio::B9 || pin == Gpio::D1;
}
 
static bool isValidCan2RxPin(brain_pin_e pin) {
    return pin == Gpio::B5 || pin == Gpio::B12;
}
 
static bool isValidCan2TxPin(brain_pin_e pin) {
    return pin == Gpio::B6 || pin == Gpio::B13;
}
 
#if STM32_CAN_USE_CAN3
// this is about STM32F413
static bool isValidCan3RxPin(brain_pin_e pin) {
    return pin == Gpio::A8 || pin == Gpio::B3;
}
 
static bool isValidCan3TxPin(brain_pin_e pin) {
    return pin == Gpio::A15 || pin == Gpio::B4;
}
#elif STM32_CAN_USE_FDCAN3
// STM32H723
// See different AF for PD12/PD13 vs PF6/PF7 and PG9/PG10
static bool isValidCan3RxPin(brain_pin_e pin) {
    return pin == Gpio::D12 /* || pin == Gpio::F6 || pin == Gpio::G10 */;
}
 
static bool isValidCan3TxPin(brain_pin_e pin) {
    return pin == Gpio::D13 /* || pin == Gpio::F7 || pin == Gpio::G9 */;
}
#else
static __attribute__((unused)) bool isValidCan3RxPin(brain_pin_e) {
    return false;
}
 
static __attribute__((unused)) bool isValidCan3TxPin(brain_pin_e) {
    return false;
}
#endif
 
bool isValidCanTxPin(brain_pin_e pin) {
    // Note: different AF for CAN3 and CANFD3, so check for CAN1/CANFD1 and CAN2/CANFD2 only
    // see startCanPins()
    return isValidCan1TxPin(pin) || isValidCan2TxPin(pin) /* || isValidCan3TxPin(pin) */;
}
 
bool isValidCanRxPin(brain_pin_e pin) {
    return isValidCan1RxPin(pin) || isValidCan2RxPin(pin) /* || isValidCan3RxPin(pin) */;
}
 
CANDriver* detectCanDevice(brain_pin_e pinRx, brain_pin_e pinTx) {
    if (pinRx == Gpio::Unassigned || pinTx == Gpio::Unassigned) {
        return nullptr;
    }
#if STM32_CAN_USE_CAN1 || STM32_CAN_USE_FDCAN1
   if (isValidCan1RxPin(pinRx) && isValidCan1TxPin(pinTx))
      return &CAND1;
#endif
#if STM32_CAN_USE_CAN2 || STM32_CAN_USE_FDCAN2
   if (isValidCan2RxPin(pinRx) && isValidCan2TxPin(pinTx))
      return &CAND2;
#endif
#if STM32_CAN_USE_CAN3 || STM32_CAN_USE_FDCAN3
   if (isValidCan3RxPin(pinRx) && isValidCan3TxPin(pinTx))
      return &CAND3;
#endif
   criticalError("invalid CAN pins tx %s and rx %s", hwPortname(pinTx), hwPortname(pinRx));
   return nullptr;
}
 
const CANConfig * findCanConfig(can_baudrate_e rate) {
   switch (rate) {
   case B33KBPS:
      return &canConfig33;
   case B50KBPS:
      return &canConfig50;
   case B83KBPS:
      return &canConfig83;
   case B100KBPS:
      return &canConfig100;
   case B125KBPS:
      return &canConfig125;
   case B250KBPS:
      return &canConfig250;
   case B666KBPS:
      return &canConfig666;
   case B1MBPS:
      return &canConfig1000;
   case B500KBPS:
   default:
      return &canConfig500;
   }
}
 
void canHwInfo(CANDriver* cand) {
   if (cand == NULL)
      return;
 
   if (cand->state != CAN_READY) {
      efiPrintf("Interface is not ready");
      return;
   }
 
#if STM32_CAN_USE_CAN1 || STM32_CAN_USE_CAN2
   if (cand->can == NULL) {
      efiPrintf("No device assigned!");
   }
 
   uint32_t esr = cand->can->ESR;
   efiPrintf("Receive error counter %ld", (esr >> 24) & 0xff);
   efiPrintf("Transmit error counter %ld", (esr >> 16) & 0xff);
   efiPrintf("Last error %ld", (esr >> 4) & 0x7);
   efiPrintf("Flags: %s %s %s",
      (esr & 0x4) ? "BOFF" : "",
      (esr & 0x2) ? "EPVF" : "",
      (esr & 0x1) ? "EWGF" : "");
#endif
}
 
#endif /* EFI_CAN_SUPPORT */