This is an automated email from the ASF dual-hosted git repository.
gnutt pushed a commit to branch SocketCAN
in repository https://gitbox.apache.org/repos/asf/incubator-nuttx.git
commit 6cf410331d1e2e2b13a7dfc0e1dfca612954deae
Author: Peter van der Perk <peter.vanderp...@nxp.com>
AuthorDate: Wed Feb 19 17:46:37 2020 +0100
Added GPIO code to test SocketCAN performance
---
arch/arm/src/s32k1xx/s32k1xx_flexcan.c | 94 ++++++++++++++++------------------
1 file changed, 43 insertions(+), 51 deletions(-)
diff --git a/arch/arm/src/s32k1xx/s32k1xx_flexcan.c
b/arch/arm/src/s32k1xx/s32k1xx_flexcan.c
index 74a21b8..7046050 100644
--- a/arch/arm/src/s32k1xx/s32k1xx_flexcan.c
+++ b/arch/arm/src/s32k1xx/s32k1xx_flexcan.c
@@ -115,20 +115,19 @@
# error "Need at least one RX buffer"
#endif*/
-#define S32K1XX_FLEXCAN_FIRST_TX_MB 10
-
#define MaskStdID 0x000007FF;
#define MaskExtID 0x1FFFFFFF;
//Fixme nice variables/constants
-#define NumMBinFiFoAndFilters 10 //FIXME
-#define NumTxMesgBuffers 6
-#define HWMaxMB 16
-#define TXMBMask (0b111111 << NumMBinFiFoAndFilters)
+#define RxMBCount 10
+#define TxMBCount 6
+#define TotalMBcount RxMBCount + TxMBCount
+#define TXMBMask (((1 << TxMBCount)-1) << RxMBCount)
#define CAN_FIFO_NE (1 << 5)
#define CAN_FIFO_OV (1 << 6)
#define CAN_FIFO_WARN (1 << 7)
+#define FIFO_IFLAG1 CAN_FIFO_NE | CAN_FIFO_WARN | CAN_FIFO_OV
static int peak_tx_mailbox_index_ = 0;
@@ -449,12 +448,12 @@ static int s32k1xx_transmit(FAR struct s32k1xx_driver_s
*priv)
struct can_frame *frame = (struct can_frame*)priv->dev.d_buf;
- /*printf("CAN id: %i dlc: %i", frame->can_id, frame->can_dlc);
+ /*ninfo("CAN id: %i dlc: %i", frame->can_id, frame->can_dlc);
for(int i = 0; i < frame->can_dlc; i++){
- printf(" %02X", frame->data[i]);
+ ninfo(" %02X", frame->data[i]);
}
- printf("\r\n");*/
+ ninfo("\r\n");*/
/* Attempt to write frame */
uint32_t mbi = 0;
@@ -463,9 +462,9 @@ static int s32k1xx_transmit(FAR struct s32k1xx_driver_s
*priv)
mbi = (getreg32(S32K1XX_CAN0_ESR2) & CAN_ESR2_LPTM_MASK) >>
CAN_ESR2_LPTM_SHIFT;
}
- uint32_t mb_bit = 1 << (NumMBinFiFoAndFilters + mbi);
+ uint32_t mb_bit = 1 << (RxMBCount + mbi);
- while (mbi < NumTxMesgBuffers)
+ while (mbi < TxMBCount)
{
if (priv->tx[mbi].CS.code != CAN_TXMB_DATAORREMOTE)
@@ -477,7 +476,7 @@ static int s32k1xx_transmit(FAR struct s32k1xx_driver_s
*priv)
mbi++;
}
- if (mbi == NumTxMesgBuffers)
+ if (mbi == TxMBCount)
{
return 0; // No transmission for you!
}
@@ -502,7 +501,8 @@ static int s32k1xx_transmit(FAR struct s32k1xx_driver_s
*priv)
//cs.rtr = frame.isRemoteTransmissionRequest();
cs.dlc = frame->can_dlc;
- //FIXME endian swap instruction or somekind
+
+ //FIXME endian swap instruction or somekind takes 1.5us right now
mb->data.b0 = frame->data[0];
mb->data.b1 = frame->data[1];
mb->data.b2 = frame->data[2];
@@ -522,6 +522,9 @@ static int s32k1xx_transmit(FAR struct s32k1xx_driver_s
*priv)
txi.abort_on_error = (flags & uavcan::CanIOFlagAbortOnError) != 0;
txi.pending = TxItem::busy;*/
+
+ s32k1xx_gpiowrite(PIN_PORTD | PIN31, 0);
+
mb->CS = cs; // Go.
uint32_t regval;
@@ -641,7 +644,7 @@ static inline void s32k1xx_dispatch(FAR struct
s32k1xx_driver_s *priv)
static void s32k1xx_receive(FAR struct s32k1xx_driver_s *priv)
{
#warning Missing logic
- printf("FLEXCAN: receive\r\n");
+ ninfo("FLEXCAN: receive\r\n");
}
/****************************************************************************
@@ -673,14 +676,14 @@ static void s32k1xx_txdone(FAR struct s32k1xx_driver_s
*priv)
/* Process TX completions */
- uint32_t mb_bit = 1 << NumMBinFiFoAndFilters;
- for(uint32_t mbi = 0; tx_iflags && mbi < NumTxMesgBuffers; mbi++)
+ uint32_t mb_bit = 1 << RxMBCount;
+ for(uint32_t mbi = 0; tx_iflags && mbi < TxMBCount; mbi++)
{
if (tx_iflags & mb_bit)
{
putreg32(mb_bit, S32K1XX_CAN0_IFLAG1);
tx_iflags &= ~mb_bit;
- const bool txok = priv->tx[mbi].CS.code != CAN_TXMB_ABORT;
+ //const bool txok = priv->tx[mbi].CS.code != CAN_TXMB_ABORT;
//handleTxMailboxInterrupt(mbi, txok, utc_usec);
}
mb_bit <<= 1;
@@ -734,8 +737,9 @@ static int s32k1xx_flexcan_interrupt(int irq, FAR void
*context, FAR void *arg)
{
#warning Missing logic
+ ninfo("FLEXCAN INT %i\r\n", irq);
+
FAR struct s32k1xx_driver_s *priv = &g_flexcan[0];
- uint32_t FIFO_IFLAG1 = CAN_FIFO_NE | CAN_FIFO_WARN | CAN_FIFO_OV;
uint32_t flags;
flags = getreg32(S32K1XX_CAN0_IFLAG1);
flags &= FIFO_IFLAG1;
@@ -773,7 +777,7 @@ static int s32k1xx_flexcan_interrupt(int irq, FAR void
*context, FAR void *arg)
static void s32k1xx_txtimeout_work(FAR void *arg)
{
#warning Missing logic
- printf("FLEXCAN: tx timeout work\r\n");
+ ninfo("FLEXCAN: tx timeout work\r\n");
}
/****************************************************************************
@@ -798,7 +802,7 @@ static void s32k1xx_txtimeout_work(FAR void *arg)
static void s32k1xx_txtimeout_expiry(int argc, uint32_t arg, ...)
{
#warning Missing logic
- printf("FLEXCAN: tx timeout expiry\r\n");
+ ninfo("FLEXCAN: tx timeout expiry\r\n");
}
/****************************************************************************
@@ -821,7 +825,7 @@ static void s32k1xx_txtimeout_expiry(int argc, uint32_t
arg, ...)
static void s32k1xx_poll_work(FAR void *arg)
{
#warning Missing logic
- //printf("FLEXCAN: poll work\r\n");
+ //ninfo("FLEXCAN: poll work\r\n");
FAR struct s32k1xx_driver_s *priv = (FAR struct s32k1xx_driver_s
*)arg;
@@ -941,11 +945,14 @@ static int s32k1xx_ifup(struct net_driver_s *dev)
uint32_t regval;
#warning Missing logic
- printf("FLEXCAN: test ifup\r\n");
+ ninfo("FLEXCAN: test ifup\r\n");
/* initialize CAN device */
//FIXME we only support a single can device for now
+ //TEST GPIO tming
+ s32k1xx_pinconfig(PIN_PORTD | PIN31 | GPIO_OUTPUT);
+
regval = getreg32(S32K1XX_CAN0_MCR);
regval |= CAN_MCR_MDIS;
@@ -964,7 +971,7 @@ static int s32k1xx_ifup(struct net_driver_s *dev)
regval = getreg32(S32K1XX_CAN0_MCR);
regval |= CAN_MCR_RFEN | CAN_MCR_SLFWAK | CAN_MCR_WRNEN | CAN_MCR_SRXDIS
| CAN_MCR_IRMQ | CAN_MCR_AEN |
- (((HWMaxMB - 1) << CAN_MCR_MAXMB_SHIFT) & CAN_MCR_MAXMB_MASK);
+ (((TotalMBcount - 1) << CAN_MCR_MAXMB_SHIFT) &
CAN_MCR_MAXMB_MASK);
putreg32(regval, S32K1XX_CAN0_MCR);
regval = CAN_CTRL2_RRS | CAN_CTRL2_EACEN | CAN_CTRL2_RFFN_16MB; //FIXME TASD
@@ -974,7 +981,7 @@ static int s32k1xx_ifup(struct net_driver_s *dev)
s32k1xx_setfreeze(1);
if(!s32k1xx_waitfreezeack_change(1))
{
- printf("FLEXCAN: freeze fail\r\n");
+ ninfo("FLEXCAN: freeze fail\r\n");
return -1;
}
@@ -1035,50 +1042,35 @@ static int s32k1xx_ifup(struct net_driver_s *dev)
#endif
- /* Filtering catchall */
- putreg32(0, S32K1XX_CAN0_RXFGMASK);
/* Iniatilize all MB rx and tx */
- /*for(int i = 0; i < HWMaxMB; i++)
+ for(int i = 0; i < TotalMBcount; i++)
{
+ ninfo("MB %i %p\r\n", i, &priv->rx[i]);
+ ninfo("MB %i %p\r\n", i, &priv->rx[i].ID.w);
priv->rx[i].CS.cs = 0x0;
priv->rx[i].ID.w = 0x0;
priv->rx[i].data.l = 0x0;
priv->rx[i].data.h = 0x0;
- }*/
+ }
+
+ /* Filtering catchall */
+ putreg32(0x0, S32K1XX_CAN0_RXFGMASK);
- //FIXME max mb
- for(int i = 0; i < HWMaxMB; i++)
+ for(int i = 0; i < TotalMBcount; i++)
{
putreg32(0,S32K1XX_CAN0_RXIMR(i));
}
- putreg32(0,S32K1XX_CAN0_RXIMR0);
- putreg32(0,S32K1XX_CAN0_RXIMR1);
- putreg32(0,S32K1XX_CAN0_RXIMR2);
- putreg32(0,S32K1XX_CAN0_RXIMR3);
- putreg32(0,S32K1XX_CAN0_RXIMR4);
- putreg32(0,S32K1XX_CAN0_RXIMR5);
- putreg32(0,S32K1XX_CAN0_RXIMR6);
- putreg32(0,S32K1XX_CAN0_RXIMR7);
- putreg32(0,S32K1XX_CAN0_RXIMR8);
- putreg32(0,S32K1XX_CAN0_RXIMR9);
- putreg32(0,S32K1XX_CAN0_RXIMR10);
- putreg32(0,S32K1XX_CAN0_RXIMR11);
- putreg32(0,S32K1XX_CAN0_RXIMR12);
- putreg32(0,S32K1XX_CAN0_RXIMR13);
- putreg32(0,S32K1XX_CAN0_RXIMR14);
- putreg32(0,S32K1XX_CAN0_RXIMR15);
-
- putreg32(CAN_IFLAG1(1) | TXMBMask, S32K1XX_CAN0_IFLAG1); //FIXME dynamic MXMB
- putreg32(CAN_IFLAG1(1), S32K1XX_CAN0_IMASK1);
+ putreg32(FIFO_IFLAG1 | TXMBMask, S32K1XX_CAN0_IFLAG1);
+ putreg32(FIFO_IFLAG1, S32K1XX_CAN0_IMASK1);
/* Exit freeze mode */
s32k1xx_setfreeze(0);
if(!s32k1xx_waitfreezeack_change(0))
{
- printf("FLEXCAN: unfreeze fail\r\n");
+ ninfo("FLEXCAN: unfreeze fail\r\n");
return -1;
}
@@ -1381,7 +1373,7 @@ int s32k1xx_netinitialize(int intf)
priv->txtimeout = wd_create(); /* Create TX timeout timer */
priv->rx = (struct MbRx *)(S32K1XX_CAN0_MB);
priv->tx = (struct MbTx *)(S32K1XX_CAN0_MB + (sizeof(struct MbRx)
- * S32K1XX_FLEXCAN_FIRST_TX_MB)
);
+ * RxMBCount) );
/* Put the interface in the down state. This usually amounts to resetting
* the device and/or calling s32k1xx_ifdown().
