diff options
| author | David Crocker <dcrocker@eschertech.com> | 2021-01-13 12:05:29 +0300 |
|---|---|---|
| committer | David Crocker <dcrocker@eschertech.com> | 2021-01-13 12:05:29 +0300 |
| commit | 36eb4fe0cbdb55bf62d33e6743a8740853e783cd (patch) | |
| tree | 5fd8d63a151347a8102e824c25f809b030eefc46 /src/Hardware/SAME70 | |
| parent | 783e1a943539f157e0dcc0bd4089c67c8b3ba720 (diff) | |
Added support for CAN time sync message Tx delay on SAME70
Diffstat (limited to 'src/Hardware/SAME70')
| -rw-r--r-- | src/Hardware/SAME70/CanDriver.cpp | 14 | ||||
| -rw-r--r-- | src/Hardware/SAME70/CanDriver.h | 2 |
2 files changed, 11 insertions, 5 deletions
diff --git a/src/Hardware/SAME70/CanDriver.cpp b/src/Hardware/SAME70/CanDriver.cpp index e519e4be..f25d60f2 100644 --- a/src/Hardware/SAME70/CanDriver.cpp +++ b/src/Hardware/SAME70/CanDriver.cpp @@ -58,7 +58,7 @@ /** Range: 1..16 */ #define CONF_MCAN0_TX_FIFO_QUEUE_NUM 8 /** Range: 1..32 */ -#define CONF_MCAN0_TX_EVENT_FIFO 8 +#define CONF_MCAN0_TX_EVENT_FIFO 16 /** Range: 1..128 */ #define CONF_MCAN0_RX_STANDARD_ID_FILTER_NUM 1 /** Range: 1..64 */ @@ -74,7 +74,7 @@ /** Range: 1..16 */ #define CONF_MCAN1_TX_FIFO_QUEUE_NUM 8 /** Range: 1..32 */ -#define CONF_MCAN1_TX_EVENT_FIFO 8 +#define CONF_MCAN1_TX_EVENT_FIFO 16 /** Range: 1..128 */ #define CONF_MCAN1_RX_STANDARD_ID_FILTER_NUM 1 /** Range: 1..64 */ @@ -250,8 +250,12 @@ static void _mcan_set_configuration(Mcan *hw, mcan_config *config) noexcept hw->MCAN_CCCR |= MCAN_CCCR_CSR; } +#if 1 // DC + hw->MCAN_TSCC = MCAN_TSCC_TSS_EXT_TIMESTAMP; // use external timestamp counter +#else hw->MCAN_TSCC = MCAN_TSCC_TCP(config->timestamp_prescaler) | MCAN_TSCC_TSS_TCP_INC; +#endif hw->MCAN_TOCC = MCAN_TOCC_TOP(config->timeout_period) | config->timeout_mode | config->timeout_enable; @@ -682,7 +686,7 @@ status_code mcan_get_tx_event_fifo_element(struct mcan_module *const module_inst } // Send extended CAN message in FD mode using a dedicated transmit buffer. The transmit buffer must already be free. -status_code mcan_fd_send_ext_message_no_wait(mcan_module *const module_inst, uint32_t id_value, const uint8_t *data, size_t dataLength, uint32_t whichTxBuffer, bool bitRateSwitch) noexcept +status_code mcan_fd_send_ext_message_no_wait(mcan_module *const module_inst, uint32_t id_value, const uint8_t *data, size_t dataLength, uint32_t whichTxBuffer, bool bitRateSwitch, uint8_t marker) noexcept { const uint32_t dlc = (dataLength <= 8) ? dataLength : (dataLength <= 24) ? ((dataLength + 3) >> 2) + 6 @@ -692,7 +696,9 @@ status_code mcan_fd_send_ext_message_no_wait(mcan_module *const module_inst, uin tx_element.T1.reg = MCAN_TX_ELEMENT_T1_DLC(dlc) | MCAN_TX_ELEMENT_T1_EFC | MCAN_TX_ELEMENT_T1_FDF - | ((bitRateSwitch) ? MCAN_TX_ELEMENT_T1_BRS : 0); + | MCAN_TX_ELEMENT_T1_MM(marker) + | ((bitRateSwitch) ? MCAN_TX_ELEMENT_T1_BRS : 0) + | ((marker != 0) ? MCAN_TX_ELEMENT_T1_EFC : 0); memcpy(tx_element.data, data, dataLength); diff --git a/src/Hardware/SAME70/CanDriver.h b/src/Hardware/SAME70/CanDriver.h index 20b20b27..9c6647f5 100644 --- a/src/Hardware/SAME70/CanDriver.h +++ b/src/Hardware/SAME70/CanDriver.h @@ -691,7 +691,7 @@ void mcan_enable_test_mode(mcan_module *const module_inst) noexcept; void mcan_disable_test_mode(mcan_module *const module_inst) noexcept; // Send extended CAN message in FD mode using a dedicated transmit buffer. The transmit buffer must already be free. -status_code mcan_fd_send_ext_message_no_wait(mcan_module *const module_inst, uint32_t id_value, const uint8_t *data, size_t dataLength, uint32_t whichTxBuffer, bool bitRateSwitch) noexcept; +status_code mcan_fd_send_ext_message_no_wait(mcan_module *const module_inst, uint32_t id_value, const uint8_t *data, size_t dataLength, uint32_t whichTxBuffer, bool bitRateSwitch, uint8_t marker) noexcept; // Wait for a specified buffer to become free. If it's still not free after the timeout, cancel the pending transmission. // Return true if we cancelled the pending transmission. |