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[FlexCAN] Fix TX drop apache#2792 and correctly set CAN timings to no…
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…n-zeroed registers
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@PetervdPerk-NXP
PetervdPerk-NXP committed Feb 26, 2021
1 parent 04fc5e3 commit b1eeb47
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Showing 4 changed files with 163 additions and 41 deletions.
3 changes: 3 additions & 0 deletions arch/arm/src/kinetis/hardware/kinetis_flexcan.h
View file
Expand Up @@ -125,6 +125,7 @@
#define KINETIS_CAN0_RXIMR13 (KINETIS_CAN0_BASE+KINETIS_CAN_RXIMR13_OFFSET)
#define KINETIS_CAN0_RXIMR14 (KINETIS_CAN0_BASE+KINETIS_CAN_RXIMR14_OFFSET)
#define KINETIS_CAN0_RXIMR15 (KINETIS_CAN0_BASE+KINETIS_CAN_RXIMR15_OFFSET)
#define KINETIS_CAN0_RXIMR_COUNT 16 /* Individual Mask Registers Count */

/* Register Bit Definitions *************************************************************************/

Expand Down Expand Up @@ -178,6 +179,8 @@
#define CAN_CTRL1_CLKSRC (1 << 13) /* Bit 13: CAN Engine Clock Source */
#define CAN_CTRL1_ERRMSK (1 << 14) /* Bit 14: Error Mask */
#define CAN_CTRL1_BOFFMSK (1 << 15) /* Bit 15: Bus Off Mask */
#define CAN_CTRL1_TIMINGMSK (0xFFFF << 16)
/* Bits 16-31: Timing Mask */
#define CAN_CTRL1_PSEG2_SHIFT (16) /* Bits 16-18: Phase Segment 2 */
#define CAN_CTRL1_PSEG2_MASK (7 << CAN_CTRL1_PSEG2_SHIFT)
#define CAN_CTRL1_PSEG2(x) (((uint32_t)(((uint32_t)(x)) << 16)) & 0x70000)
Expand Down
102 changes: 80 additions & 22 deletions arch/arm/src/kinetis/kinetis_flexcan.c
View file
Expand Up @@ -76,8 +76,8 @@
#define FLAGEFF (1 << 31) /* Extended frame format */
#define FLAGRTR (1 << 30) /* Remote transmission request */

#define RXMBCOUNT 5
#define TXMBCOUNT 2
#define RXMBCOUNT 11
#define TXMBCOUNT 5
#define TOTALMBCOUNT RXMBCOUNT + TXMBCOUNT

#define IFLAG1_RX ((1 << RXMBCOUNT)-1)
Expand Down Expand Up @@ -506,12 +506,16 @@ static void kinetis_setfreeze(uint32_t base, uint32_t freeze);
static uint32_t kinetis_waitmcr_change(uint32_t base,
uint32_t mask,
uint32_t target_state);
static uint32_t kinetis_waitesr2_change(uint32_t base,
uint32_t mask,
uint32_t target_state);

/* Interrupt handling */

static void kinetis_receive(FAR struct kinetis_driver_s *priv,
uint32_t flags);
static void kinetis_txdone(FAR void *arg);
static void kinetis_txdone_work(FAR void *arg);
static void kinetis_txdone(FAR struct kinetis_driver_s *priv);

static int kinetis_flexcan_interrupt(int irq, FAR void *context,
FAR void *arg);
Expand Down Expand Up @@ -637,6 +641,7 @@ static int kinetis_transmit(FAR struct kinetis_driver_s *priv)
if (mbi == TXMBCOUNT)
{
nwarn("No TX MB available mbi %i\r\n", mbi);
NETDEV_TXERRORS(&priv->dev);
return 0; /* No transmission for you! */
}

Expand Down Expand Up @@ -797,6 +802,8 @@ static int kinetis_txpoll(struct net_driver_s *dev)
{
if (!devif_loopback(&priv->dev))
{
kinetis_txdone(priv);

/* Send the packet */

kinetis_transmit(priv);
Expand All @@ -805,9 +812,14 @@ static int kinetis_txpoll(struct net_driver_s *dev)
* not, return a non-zero value to terminate the poll.
*/

if (kinetis_txringfull(priv))
if ((getreg32(priv->base + KINETIS_CAN_ESR2_OFFSET) &
(CAN_ESR2_IMB | CAN_ESR2_VPS)) ==
(CAN_ESR2_IMB | CAN_ESR2_VPS))
{
return -EBUSY;
if (kinetis_txringfull(priv))
{
return -EBUSY;
}
}
}
}
Expand Down Expand Up @@ -962,7 +974,7 @@ static void kinetis_receive(FAR struct kinetis_driver_s *priv,
* Function: kinetis_txdone
*
* Description:
* An interrupt was received indicating that the last TX packet(s) is done
* Check transmit interrupt flags and clear them
*
* Input Parameters:
* priv - Reference to the driver state structure
Expand All @@ -971,14 +983,12 @@ static void kinetis_receive(FAR struct kinetis_driver_s *priv,
* None
*
* Assumptions:
* Global interrupts are disabled by the watchdog logic.
* We are not in an interrupt context so that we can lock the network.
* None
*
****************************************************************************/

static void kinetis_txdone(FAR void *arg)
static void kinetis_txdone(FAR struct kinetis_driver_s *priv)
{
FAR struct kinetis_driver_s *priv = (FAR struct kinetis_driver_s *)arg;
uint32_t flags;
uint32_t mbi;
uint32_t mb_bit;
Expand Down Expand Up @@ -1009,13 +1019,38 @@ static void kinetis_txdone(FAR void *arg)

mb_bit <<= 1;
}
}

/****************************************************************************
* Function: kinetis_txdone_work
*
* Description:
* An interrupt was received indicating that the last TX packet(s) is done
*
* Input Parameters:
* priv - Reference to the driver state structure
*
* Returned Value:
* None
*
* Assumptions:
* Global interrupts are disabled by the watchdog logic.
* We are not in an interrupt context so that we can lock the network.
*
****************************************************************************/

static void kinetis_txdone_work(FAR void *arg)
{
FAR struct kinetis_driver_s *priv = (FAR struct kinetis_driver_s *)arg;

kinetis_txdone(priv);

/* There should be space for a new TX in any event. Poll the network for
* new XMIT data
*/

net_lock();
devif_poll(&priv->dev, kinetis_txpoll);
devif_timer(&priv->dev, 0, kinetis_txpoll);
net_unlock();
}

Expand Down Expand Up @@ -1071,7 +1106,7 @@ static int kinetis_flexcan_interrupt(int irq, FAR void *context,
flags = getreg32(priv->base + KINETIS_CAN_IMASK1_OFFSET);
flags &= ~(IFLAG1_TX);
putreg32(flags, priv->base + KINETIS_CAN_IMASK1_OFFSET);
work_queue(CANWORK, &priv->irqwork, kinetis_txdone, priv, 0);
work_queue(CANWORK, &priv->irqwork, kinetis_txdone_work, priv, 0);
}
}

Expand Down Expand Up @@ -1172,6 +1207,26 @@ static void kinetis_setenable(uint32_t base, uint32_t enable)
kinetis_waitmcr_change(base, CAN_MCR_LPMACK, 1);
}

static uint32_t kinetis_waitesr2_change(uint32_t base, uint32_t mask,
uint32_t target_state)
{
const uint32_t timeout = 1000;
uint32_t wait_ack;

for (wait_ack = 0; wait_ack < timeout; wait_ack++)
{
uint32_t state = (getreg32(base + KINETIS_CAN_ESR2_OFFSET) & mask);
if (state == target_state)
{
return true;
}

up_udelay(10);
}

return false;
}

static void kinetis_setfreeze(uint32_t base, uint32_t freeze)
{
uint32_t regval;
Expand Down Expand Up @@ -1331,7 +1386,9 @@ static void kinetis_txavail_work(FAR void *arg)
* packet.
*/

if (!kinetis_txringfull(priv))
if (kinetis_waitesr2_change(priv->base,
(CAN_ESR2_IMB | CAN_ESR2_VPS),
(CAN_ESR2_IMB | CAN_ESR2_VPS)))
{
/* No, there is space for another transfer. Poll the network for
* new XMIT data.
Expand Down Expand Up @@ -1485,7 +1542,7 @@ static int kinetis_ioctl(struct net_driver_s *dev, int cmd,
#endif /* CONFIG_NETDEV_IOCTL */

/****************************************************************************
* Function: kinetis_initalize
* Function: kinetis_initialize
*
* Description:
* Initialize FLEXCAN device
Expand Down Expand Up @@ -1530,6 +1587,9 @@ static int kinetis_initialize(struct kinetis_driver_s *priv)

#ifndef CONFIG_NET_CAN_CANFD
regval = getreg32(priv->base + KINETIS_CAN_CTRL1_OFFSET);

regval &= ~(CAN_CTRL1_TIMINGMSK); /* Reset timings */

regval |= CAN_CTRL1_PRESDIV(priv->arbi_timing.presdiv) | /* Prescaler divisor factor */
CAN_CTRL1_PROPSEG(priv->arbi_timing.propseg) | /* Propagation segment */
CAN_CTRL1_PSEG1(priv->arbi_timing.pseg1) | /* Phase buffer segment 1 */
Expand All @@ -1538,8 +1598,7 @@ static int kinetis_initialize(struct kinetis_driver_s *priv)
putreg32(regval, priv->base + KINETIS_CAN_CTRL1_OFFSET);

#else
regval = getreg32(priv->base + KINETIS_CAN_CBT_OFFSET);
regval |= CAN_CBT_BTF | /* Enable extended bit timing
regval = CAN_CBT_BTF | /* Enable extended bit timing
* configurations for CAN-FD for setting up
* separately nominal and data phase */
CAN_CBT_EPRESDIV(priv->arbi_timing.presdiv) | /* Prescaler divisor factor */
Expand All @@ -1555,8 +1614,7 @@ static int kinetis_initialize(struct kinetis_driver_s *priv)
regval |= CAN_MCR_FDEN;
putreg32(regval, priv->base + KINETIS_CAN_MCR_OFFSET);

regval = getreg32(priv->base + KINETIS_CAN_FDCBT_OFFSET);
regval |= CAN_FDCBT_FPRESDIV(priv->data_timing.presdiv) | /* Prescaler divisor factor of 1 */
regval = CAN_FDCBT_FPRESDIV(priv->data_timing.presdiv) | /* Prescaler divisor factor of 1 */
CAN_FDCBT_FPROPSEG(priv->data_timing.propseg) | /* Propagation
* segment (only register that doesn't add 1) */
CAN_FDCBT_FPSEG1(priv->data_timing.pseg1) | /* Phase buffer segment 1 */
Expand All @@ -1566,9 +1624,7 @@ static int kinetis_initialize(struct kinetis_driver_s *priv)

/* Additional CAN-FD configurations */

regval = getreg32(priv->base + KINETIS_CAN_FDCTRL_OFFSET);

regval |= CAN_FDCTRL_FDRATE | /* Enable bit rate switch in data phase of frame */
regval = CAN_FDCTRL_FDRATE | /* Enable bit rate switch in data phase of frame */
CAN_FDCTRL_TDCEN | /* Enable transceiver delay compensation */
CAN_FDCTRL_TDCOFF(5) | /* Setup 5 cycles for data phase sampling delay */
CAN_FDCTRL_MBDSR0(3); /* Setup 64 bytes per message buffer (7 MB's) */
Expand All @@ -1588,7 +1644,7 @@ static int kinetis_initialize(struct kinetis_driver_s *priv)

putreg32(0x0, priv->base + KINETIS_CAN_RXFGMASK_OFFSET);

for (i = 0; i < TOTALMBCOUNT; i++)
for (i = 0; i < KINETIS_CAN0_RXIMR_COUNT; i++)
{
putreg32(0, priv->base + KINETIS_CAN_RXIMR_OFFSET(i));
}
Expand Down Expand Up @@ -1873,6 +1929,8 @@ int kinetis_caninitialize(int intf)

ninfo("callbacks done\r\n");

kinetis_initialize(priv);

kinetis_ifdown(&priv->dev);

/* Register the device with the OS so that socket IOCTLs can be performed */
Expand Down
2 changes: 2 additions & 0 deletions arch/arm/src/s32k1xx/hardware/s32k1xx_flexcan.h
View file
Expand Up @@ -103,6 +103,7 @@
# define S32K1XX_CAN_RXIMR29_OFFSET 0x08f4 /* R29 Individual Mask Registers */
# define S32K1XX_CAN_RXIMR30_OFFSET 0x08f8 /* R30 Individual Mask Registers */
# define S32K1XX_CAN_RXIMR31_OFFSET 0x08fc /* R31 Individual Mask Registers */
#define S32K1XX_CAN_RXIMR_COUNT 32 /* Individual Mask Registers Count */

#define S32K1XX_CAN_CTRL1_PN_OFFSET 0x0b00 /* Pretended Networking Control 1 register */
#define S32K1XX_CAN_CTRL2_PN_OFFSET 0x0b04 /* Pretended Networking Control 2 register */
Expand Down Expand Up @@ -387,6 +388,7 @@
#define CAN_CTRL1_CLKSRC (1 << 13) /* Bit 13: CAN Engine Clock Source */
#define CAN_CTRL1_ERRMSK (1 << 14) /* Bit 14: Error Mask */
#define CAN_CTRL1_BOFFMSK (1 << 15) /* Bit 15: Bus Off Mask */
#define CAN_CTRL1_TIMINGMSK (0xFFFF << 16)
#define CAN_CTRL1_PSEG2(x) (((uint32_t)(((uint32_t)(x)) << 16)) & 0x70000)
#define CAN_CTRL1_PSEG1(x) (((uint32_t)(((uint32_t)(x)) << 19)) & 0x380000)
#define CAN_CTRL1_RJW(x) (((uint32_t)(((uint32_t)(x)) << 22)) & 0xC00000)
Expand Down

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