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[imxrt] Fix FlexCAN tx dropping frames
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@PetervdPerk-NXP @acassis
PetervdPerk-NXP authored and acassis committed Feb 2, 2021
1 parent 5447f28 commit 2243769
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Showing 2 changed files with 76 additions and 19 deletions.
86 changes: 70 additions & 16 deletions arch/arm/src/imxrt/imxrt_flexcan.c
View file
Expand Up @@ -78,8 +78,8 @@
#define FLAGEFF (1 << 31) /* Extended frame format */
#define FLAGRTR (1 << 30) /* Remote transmission request */

#define RXMBCOUNT 5
#define TXMBCOUNT 2
#define RXMBCOUNT 10
#define TXMBCOUNT 4
#define TOTALMBCOUNT RXMBCOUNT + TXMBCOUNT

#define IFLAG1_RX ((1 << RXMBCOUNT)-1)
Expand Down Expand Up @@ -473,12 +473,16 @@ static void imxrt_setfreeze(uint32_t base, uint32_t freeze);
static uint32_t imxrt_waitmcr_change(uint32_t base,
uint32_t mask,
uint32_t target_state);
static uint32_t imxrt_waitesr2_change(uint32_t base,
uint32_t mask,
uint32_t target_state);

/* Interrupt handling */

static void imxrt_receive(FAR struct imxrt_driver_s *priv,
uint32_t flags);
static void imxrt_txdone(FAR void *arg);
static void imxrt_txdone_work(FAR void *arg);
static void imxrt_txdone(FAR struct imxrt_driver_s *priv);

static int imxrt_flexcan_interrupt(int irq, FAR void *context,
FAR void *arg);
Expand Down Expand Up @@ -604,6 +608,7 @@ static int imxrt_transmit(FAR struct imxrt_driver_s *priv)
if (mbi == TXMBCOUNT)
{
nwarn("No TX MB available mbi %" PRIi32 "\r\n", mbi);
NETDEV_TXERRORS(&priv->dev);
return 0; /* No transmission for you! */
}

Expand Down Expand Up @@ -764,6 +769,8 @@ static int imxrt_txpoll(struct net_driver_s *dev)
{
if (!devif_loopback(&priv->dev))
{
imxrt_txdone(priv);

/* Send the packet */

imxrt_transmit(priv);
Expand All @@ -772,9 +779,14 @@ static int imxrt_txpoll(struct net_driver_s *dev)
* not, return a non-zero value to terminate the poll.
*/

if (imxrt_txringfull(priv))
if ((getreg32(priv->base + IMXRT_CAN_ESR2_OFFSET) &
(CAN_ESR2_IMB | CAN_ESR2_VPS)) ==
(CAN_ESR2_IMB | CAN_ESR2_VPS))
{
return -EBUSY;
if (!imxrt_txringfull(priv))
{
return -EBUSY;
}
}
}
}
Expand Down Expand Up @@ -929,23 +941,18 @@ static void imxrt_receive(FAR struct imxrt_driver_s *priv,
* Function: imxrt_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
*
* 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.
* None.
*
****************************************************************************/

static void imxrt_txdone(FAR void *arg)
static void imxrt_txdone(FAR struct imxrt_driver_s *priv)
{
FAR struct imxrt_driver_s *priv = (FAR struct imxrt_driver_s *)arg;
uint32_t flags;
uint32_t mbi;
uint32_t mb_bit;
Expand Down Expand Up @@ -976,13 +983,38 @@ static void imxrt_txdone(FAR void *arg)

mb_bit <<= 1;
}
}

/****************************************************************************
* Function: imxrt_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 imxrt_txdone_work(FAR void *arg)
{
FAR struct imxrt_driver_s *priv = (FAR struct imxrt_driver_s *)arg;

imxrt_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, imxrt_txpoll);
devif_timer(&priv->dev, 0, imxrt_txpoll);
net_unlock();
}

Expand Down Expand Up @@ -1038,7 +1070,7 @@ static int imxrt_flexcan_interrupt(int irq, FAR void *context,
flags = getreg32(priv->base + IMXRT_CAN_IMASK1_OFFSET);
flags &= ~(IFLAG1_TX);
putreg32(flags, priv->base + IMXRT_CAN_IMASK1_OFFSET);
work_queue(CANWORK, &priv->irqwork, imxrt_txdone, priv, 0);
work_queue(CANWORK, &priv->irqwork, imxrt_txdone_work, priv, 0);
}
}

Expand Down Expand Up @@ -1189,6 +1221,26 @@ static uint32_t imxrt_waitfreezeack_change(uint32_t base,
return imxrt_waitmcr_change(base, CAN_MCR_FRZACK, target_state);
}

static uint32_t imxrt_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 + IMXRT_CAN_ESR2_OFFSET) & mask);
if (state == target_state)
{
return true;
}

up_udelay(10);
}

return false;
}

/****************************************************************************
* Function: imxrt_ifup
*
Expand Down Expand Up @@ -1293,7 +1345,9 @@ static void imxrt_txavail_work(FAR void *arg)
* packet.
*/

if (!imxrt_txringfull(priv))
if (imxrt_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
9 changes: 6 additions & 3 deletions net/devif/devif_poll.c
View file
Expand Up @@ -266,11 +266,14 @@ static int devif_poll_can_connections(FAR struct net_driver_s *dev,
{
/* Perform the packet TX poll */

can_poll(dev, can_conn);
if (dev == can_conn->dev)
{
can_poll(dev, can_conn);

/* Call back into the driver */
/* Call back into the driver */

bstop = callback(dev);
bstop = callback(dev);
}
}

return bstop;
Expand Down

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