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Merge pull request #2588 from cschuhen/feature/fdcan_buffered

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Add FDCAN Buffered mode.
This commit is contained in:
Dario Nieuwenhuis
2024-02-23 00:07:05 +01:00
committed by GitHub
parent 2cceeab564 3f93105e9f
commit 9c918f6474
22 changed files with 5103 additions and 1045 deletions
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1
tests/stm32/Cargo.toml
View File

@@ -69,6 +69,7 @@ cortex-m-rt = "0.7.0"
embedded-hal = "0.2.6"
embedded-hal-1 = { package = "embedded-hal", version = "1.0" }
embedded-hal-async = { version = "1.0" }
embedded-can = { version = "0.4" }
micromath = "2.0.0"
panic-probe = { version = "0.3.0", features = ["print-defmt"] }
rand_core = { version = "0.6", default-features = false }

111
tests/stm32/src/bin/fdcan.rs
View File

@@ -36,7 +36,7 @@ fn options() -> TestOptions {
c.rcc.fdcan_clock_source = rcc::FdCanClockSource::HSE;
TestOptions {
config: c,
max_latency: Duration::from_micros(3800),
max_latency: Duration::from_micros(1200),
second_fifo_working: false,
}
}
@@ -53,12 +53,12 @@ fn options() -> TestOptions {
c.rcc.fdcan_clock_source = rcc::FdCanClockSource::HSE;
TestOptions {
config: c,
max_latency: Duration::from_micros(5500),
max_latency: Duration::from_micros(1200),
second_fifo_working: false,
}
}
#[cfg(any(feature = "stm32g491re"))]
#[cfg(any(feature = "stm32g491re", feature = "stm32g431cb"))]
fn options() -> TestOptions {
info!("G4 config");
TestOptions {
@@ -75,14 +75,14 @@ async fn main(_spawner: Spawner) {
let options = options();
let peripherals = embassy_stm32::init(options.config);
let mut can = can::Fdcan::new(peripherals.FDCAN1, peripherals.PB8, peripherals.PB9, Irqs);
let mut can = can::FdcanConfigurator::new(peripherals.FDCAN1, peripherals.PB8, peripherals.PB9, Irqs);
// 250k bps
can.set_bitrate(250_000);
can.can.set_extended_filter(
can::filter::ExtendedFilterSlot::_0,
can::filter::ExtendedFilter::accept_all_into_fifo1(),
can.set_extended_filter(
can::fd::filter::ExtendedFilterSlot::_0,
can::fd::filter::ExtendedFilter::accept_all_into_fifo1(),
);
let mut can = can.into_internal_loopback_mode();
@@ -91,31 +91,21 @@ async fn main(_spawner: Spawner) {
let mut i: u8 = 0;
loop {
let tx_frame = can::TxFrame::new(
can::TxFrameHeader {
len: 1,
frame_format: can::FrameFormat::Standard,
id: can::StandardId::new(0x123).unwrap().into(),
bit_rate_switching: false,
marker: None,
},
&[i],
)
.unwrap();
let tx_frame = can::frame::ClassicFrame::new_standard(0x123, &[i; 1]).unwrap();
info!("Transmitting frame...");
let tx_ts = Instant::now();
can.write(&tx_frame).await;
let envelope = can.read().await.unwrap();
let (frame, timestamp) = can.read().await.unwrap();
info!("Frame received!");
// Check data.
assert!(i == envelope.data()[0], "{} == {}", i, envelope.data()[0]);
assert!(i == frame.data()[0], "{} == {}", i, frame.data()[0]);
info!("loopback time {}", envelope.header.time_stamp);
info!("loopback frame {=u8}", envelope.data()[0]);
let latency = envelope.timestamp.saturating_duration_since(tx_ts);
info!("loopback time {}", timestamp);
info!("loopback frame {=u8}", frame.data()[0]);
let latency = timestamp.saturating_duration_since(tx_ts);
info!("loopback latency {} us", latency.as_micros());
// Theoretical minimum latency is 55us, actual is usually ~80us
@@ -143,47 +133,26 @@ async fn main(_spawner: Spawner) {
// in each FIFO so make sure we write enough to fill them both up before reading.
for i in 0..3 {
// Try filling up the RX FIFO0 buffers with standard packets
let tx_frame = can::TxFrame::new(
can::TxFrameHeader {
len: 1,
frame_format: can::FrameFormat::Standard,
id: can::StandardId::new(0x123).unwrap().into(),
bit_rate_switching: false,
marker: None,
},
&[i],
)
.unwrap();
let tx_frame = can::frame::ClassicFrame::new_standard(0x123, &[i; 1]).unwrap();
info!("Transmitting frame {}", i);
can.write(&tx_frame).await;
}
for i in 3..max_buffered {
// Try filling up the RX FIFO0 buffers with extended packets
let tx_frame = can::TxFrame::new(
can::TxFrameHeader {
len: 1,
frame_format: can::FrameFormat::Standard,
id: can::ExtendedId::new(0x1232344).unwrap().into(),
bit_rate_switching: false,
marker: None,
},
&[i],
)
.unwrap();
let tx_frame = can::frame::ClassicFrame::new_extended(0x1232344, &[i; 1]).unwrap();
info!("Transmitting frame {}", i);
can.write(&tx_frame).await;
}
// Try and receive all 6 packets
for i in 0..max_buffered {
let envelope = can.read().await.unwrap();
match envelope.header.id {
can::Id::Extended(id) => {
info!("Extended received! {:x} {} {}", id.as_raw(), envelope.data()[0], i);
let (frame, _ts) = can.read().await.unwrap();
match frame.id() {
embedded_can::Id::Extended(id) => {
info!("Extended received! {:x} {} {}", id.as_raw(), frame.data()[0], i);
}
can::Id::Standard(id) => {
info!("Standard received! {:x} {} {}", id.as_raw(), envelope.data()[0], i);
embedded_can::Id::Standard(id) => {
info!("Standard received! {:x} {} {}", id.as_raw(), frame.data()[0], i);
}
}
}
@@ -192,48 +161,26 @@ async fn main(_spawner: Spawner) {
let (mut tx, mut rx) = can.split();
for i in 0..3 {
// Try filling up the RX FIFO0 buffers with standard packets
let tx_frame = can::TxFrame::new(
can::TxFrameHeader {
len: 1,
frame_format: can::FrameFormat::Standard,
id: can::StandardId::new(0x123).unwrap().into(),
bit_rate_switching: false,
marker: None,
},
&[i],
)
.unwrap();
let tx_frame = can::frame::ClassicFrame::new_standard(0x123, &[i; 1]).unwrap();
info!("Transmitting frame {}", i);
tx.write(&tx_frame).await;
}
for i in 3..max_buffered {
// Try filling up the RX FIFO0 buffers with extended packets
let tx_frame = can::TxFrame::new(
can::TxFrameHeader {
len: 1,
frame_format: can::FrameFormat::Standard,
id: can::ExtendedId::new(0x1232344).unwrap().into(),
bit_rate_switching: false,
marker: None,
},
&[i],
)
.unwrap();
let tx_frame = can::frame::ClassicFrame::new_extended(0x1232344, &[i; 1]).unwrap();
info!("Transmitting frame {}", i);
tx.write(&tx_frame).await;
}
// Try and receive all 6 packets
for i in 0..max_buffered {
let envelope = rx.read().await.unwrap();
match envelope.header.id {
can::Id::Extended(id) => {
info!("Extended received! {:x} {} {}", id.as_raw(), envelope.data()[0], i);
let (frame, _ts) = rx.read().await.unwrap();
match frame.id() {
embedded_can::Id::Extended(id) => {
info!("Extended received! {:x} {} {}", id.as_raw(), frame.data()[0], i);
}
can::Id::Standard(id) => {
info!("Standard received! {:x} {} {}", id.as_raw(), envelope.data()[0], i);
embedded_can::Id::Standard(id) => {
info!("Standard received! {:x} {} {}", id.as_raw(), frame.data()[0], i);
}
}
}