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drivers: can: mcux: flexcan: fix prop_seg for enhanced bit timing #99844

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drivers: can: mcux: flexcan: fix prop_seg for enhanced bit timing #99844

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24 changes: 11 additions & 13 deletions drivers/can/can_mcux_flexcan.c
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Original file line number Diff line number Diff line change
Expand Up @@ -309,17 +309,15 @@ static int mcux_flexcan_start(const struct device *dev)
timing.rJumpwidth = data->timing.sjw - 1U;
timing.phaseSeg1 = data->timing.phase_seg1 - 1U;
timing.phaseSeg2 = data->timing.phase_seg2 - 1U;
#if (defined(FSL_FEATURE_FLEXCAN_HAS_ENHANCED_BIT_TIMING_REG) && \
FSL_FEATURE_FLEXCAN_HAS_ENHANCED_BIT_TIMING_REG)
/* No propagation segment configuration, so prop_seg must be 0 */
timing.propSeg = data->timing.prop_seg;
#else
timing.propSeg = data->timing.prop_seg - 1U;
#endif
FLEXCAN_SetTimingConfig(base, &timing);

#ifdef CONFIG_CAN_MCUX_FLEXCAN_FD
if (config->flexcan_fd) {
#if (defined(FSL_FEATURE_FLEXCAN_HAS_ENHANCED_BIT_TIMING_REG) && \
FSL_FEATURE_FLEXCAN_HAS_ENHANCED_BIT_TIMING_REG)
/* No propagation segment configuration, so prop_seg must be 0 */
timing.propSeg = data->timing.prop_seg;
#endif
timing.fpreDivider = data->timing_data.prescaler - 1U;
timing.frJumpwidth = data->timing_data.sjw - 1U;
timing.fphaseSeg1 = data->timing_data.phase_seg1 - 1U;
Expand All @@ -335,6 +333,7 @@ static int mcux_flexcan_start(const struct device *dev)
}
#endif /* CONFIG_CAN_MCUX_FLEXCAN_FD */

FLEXCAN_SetTimingConfig(base, &timing);
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@henrikbrixandersen henrikbrixandersen Nov 24, 2025

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Why was this moved? Looks like the data phase timing is now applied to the arbitration phase as well?

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@william-tang914 william-tang914 Nov 24, 2025

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FLEXCAN_SetTimingConfig is only applied to the arbitration phase.
If not moved, need to invoke it again after timing.propSeg = data->timing.prop_seg;.

#if (defined(FSL_FEATURE_FLEXCAN_HAS_ENHANCED_BIT_TIMING_REG) && \
	     FSL_FEATURE_FLEXCAN_HAS_ENHANCED_BIT_TIMING_REG)
		/* No propagation segment configuration, so prop_seg must be 0 */
		timing.propSeg = data->timing.prop_seg;
		FLEXCAN_SetTimingConfig(base, &timing);
#endif

data->common.started = true;

return 0;
Expand Down Expand Up @@ -1262,20 +1261,19 @@ static int mcux_flexcan_init(const struct device *dev)
flexcan_config.enableListenOnlyMode = true;

flexcan_config.timingConfig.rJumpwidth = data->timing.sjw - 1U;
#if (defined(FSL_FEATURE_FLEXCAN_HAS_ENHANCED_BIT_TIMING_REG) && \
FSL_FEATURE_FLEXCAN_HAS_ENHANCED_BIT_TIMING_REG)
/* No propagation segment configuration, so prop_seg must be 0 */
flexcan_config.timingConfig.propSeg = data->timing.prop_seg;
#else
flexcan_config.timingConfig.propSeg = data->timing.prop_seg - 1U;
#endif
flexcan_config.timingConfig.phaseSeg1 = data->timing.phase_seg1 - 1U;
flexcan_config.timingConfig.phaseSeg2 = data->timing.phase_seg2 - 1U;

base = get_base(dev);

#ifdef CONFIG_CAN_MCUX_FLEXCAN_FD
if (config->flexcan_fd) {
#if (defined(FSL_FEATURE_FLEXCAN_HAS_ENHANCED_BIT_TIMING_REG) && \
FSL_FEATURE_FLEXCAN_HAS_ENHANCED_BIT_TIMING_REG)
/* No propagation segment configuration, so prop_seg must be 0 */
flexcan_config.timingConfig.propSeg = data->timing.prop_seg;
#endif
flexcan_config.timingConfig.frJumpwidth = data->timing_data.sjw - 1U;
flexcan_config.timingConfig.fpropSeg = data->timing_data.prop_seg;
flexcan_config.timingConfig.fphaseSeg1 = data->timing_data.phase_seg1 - 1U;
Expand Down