diff --git a/components/driver/can.c b/components/driver/can.c index 5290128b3..0e63905bb 100644 --- a/components/driver/can.c +++ b/components/driver/can.c @@ -43,12 +43,26 @@ #define CAN_RESET_FLAG(var, mask) ((var) &= ~(mask)) #define CAN_TAG "CAN" +/* + * Baud Rate Prescaler Divider config/values. The BRP_DIV bit is located in the + * CAN interrupt enable register, and is only available in ESP32 Revision 2 or + * later. Setting this bit will cause the APB clock to be prescaled (divided) by + * a factor 2, before having the BRP applied. This will allow for lower bit rates + * to be achieved. + */ +#define BRP_DIV_EN_THRESH 128 //A BRP config value large this this will need to enable brp_div +#define BRP_DIV_EN_BIT 0x10 //Bit mask for brp_div in the interrupt register +//When brp_div is enabled, the BRP config value must be any multiple of 4 between 132 and 256 +#define BRP_CHECK_WITH_DIV(brp) ((brp) >= 132 && (brp) <= 256 && ((brp) & 0x3) == 0) +//When brp_div is disabled, the BRP config value must be any even number between 2 to 128 +#define BRP_CHECK_NO_DIV(brp) ((brp) >= 2 && (brp) <= 128 && ((brp) & 0x1) == 0) + //Driver default config/values #define DRIVER_DEFAULT_EWL 96 //Default Error Warning Limit value #define DRIVER_DEFAULT_TEC 0 //TX Error Counter starting value #define DRIVER_DEFAULT_REC 0 //RX Error Counter starting value #define DRIVER_DEFAULT_CLKOUT_DIV 14 //APB CLK divided by two -#define DRIVER_DEFAULT_INTERRUPTS 0xE7 //Exclude data overrun +#define DRIVER_DEFAULT_INTERRUPTS 0xE7 //Exclude data overrun (bit[3]) and brp_div (bit[4]) #define DRIVER_DEFAULT_ERR_PASS_CNT 128 //Error counter threshold for error passive //Command Bit Masks @@ -200,7 +214,7 @@ static inline void can_config_bus_timing(uint32_t brp, uint32_t sjw, uint32_t ts - SJW (1 to 4) is number of T_scl to shorten/lengthen for bit synchronization - TSEG_1 (1 to 16) is number of T_scl in a bit time before sample point - TSEG_2 (1 to 8) is number of T_scl in a bit time after sample point - - triple_sampling will cause each bit time to be sampled 3 times*/ + - triple_sampling will cause each bit time to be sampled 3 times */ can_bus_tim_0_reg_t timing_reg_0; can_bus_tim_1_reg_t timing_reg_1; timing_reg_0.baud_rate_prescaler = (brp / 2) - 1; @@ -636,6 +650,12 @@ esp_err_t can_driver_install(const can_general_config_t *g_config, const can_tim CAN_CHECK(g_config->rx_queue_len > 0, ESP_ERR_INVALID_ARG); CAN_CHECK(g_config->tx_io >= 0 && g_config->tx_io < GPIO_NUM_MAX, ESP_ERR_INVALID_ARG); CAN_CHECK(g_config->rx_io >= 0 && g_config->rx_io < GPIO_NUM_MAX, ESP_ERR_INVALID_ARG); +#if (CONFIG_ESP32_REV_MIN >= 2) + //ESP32 revision 2 or later chips have a brp_div bit. Check that the BRP config value is valid when brp_div is enabled or disabled + CAN_CHECK(BRP_CHECK_WITH_DIV(t_config->brp) || BRP_CHECK_NO_DIV(t_config->brp), ESP_ERR_INVALID_ARG); +#else + CAN_CHECK(BRP_CHECK_NO_DIV(t_config->brp), ESP_ERR_INVALID_ARG); +#endif esp_err_t ret; can_obj_t *p_can_obj_dummy; @@ -692,8 +712,14 @@ esp_err_t can_driver_install(const can_general_config_t *g_config, const can_tim /* Note: REC is allowed to increase even in reset mode. Listen only mode will freeze REC. The desired mode will be set when can_start() is called. */ can_config_mode(CAN_MODE_LISTEN_ONLY); +#if (CONFIG_ESP32_REV_MIN >= 2) + //If the BRP config value is large enough, the brp_div bit must be enabled to achieve the same effective baud rate prescaler + can_config_interrupts((t_config->brp > BRP_DIV_EN_THRESH) ? DRIVER_DEFAULT_INTERRUPTS | BRP_DIV_EN_BIT : DRIVER_DEFAULT_INTERRUPTS); + can_config_bus_timing((t_config->brp > BRP_DIV_EN_THRESH) ? t_config->brp/2 : t_config->brp, t_config->sjw, t_config->tseg_1, t_config->tseg_2, t_config->triple_sampling); +#else can_config_interrupts(DRIVER_DEFAULT_INTERRUPTS); can_config_bus_timing(t_config->brp, t_config->sjw, t_config->tseg_1, t_config->tseg_2, t_config->triple_sampling); +#endif can_config_error(DRIVER_DEFAULT_EWL, DRIVER_DEFAULT_REC, DRIVER_DEFAULT_TEC); can_config_acceptance_filter(f_config->acceptance_code, f_config->acceptance_mask, f_config->single_filter); can_config_clk_out(g_config->clkout_divider); diff --git a/components/driver/include/driver/can.h b/components/driver/include/driver/can.h index 8c1d4200f..0eb432097 100644 --- a/components/driver/include/driver/can.h +++ b/components/driver/include/driver/can.h @@ -45,7 +45,13 @@ extern "C" { * The following initializer macros offer commonly found bit rates. * * @note These timing values are based on the assumption APB clock is at 80MHz + * @note The 20K, 16K and 12.5K bit rates are only available from ESP32 Revision 2 onwards */ +#if (CONFIG_ESP32_REV_MIN >= 2) +#define CAN_TIMING_CONFIG_12_5KBITS() {.brp = 256, .tseg_1 = 16, .tseg_2 = 8, .sjw = 3, .triple_sampling = false} +#define CAN_TIMING_CONFIG_16KBITS() {.brp = 200, .tseg_1 = 16, .tseg_2 = 8, .sjw = 3, .triple_sampling = false} +#define CAN_TIMING_CONFIG_20KBITS() {.brp = 200, .tseg_1 = 15, .tseg_2 = 4, .sjw = 3, .triple_sampling = false} +#endif #define CAN_TIMING_CONFIG_25KBITS() {.brp = 128, .tseg_1 = 16, .tseg_2 = 8, .sjw = 3, .triple_sampling = false} #define CAN_TIMING_CONFIG_50KBITS() {.brp = 80, .tseg_1 = 15, .tseg_2 = 4, .sjw = 3, .triple_sampling = false} #define CAN_TIMING_CONFIG_100KBITS() {.brp = 40, .tseg_1 = 15, .tseg_2 = 4, .sjw = 3, .triple_sampling = false} @@ -153,7 +159,8 @@ typedef struct { * @note Macro initializers are available for this structure */ typedef struct { - uint8_t brp; /**< Baudrate prescaler (APB clock divider, even number from 2 to 128) */ + uint32_t brp; /**< Baudrate prescaler (i.e., APB clock divider) can be any even number from 2 to 128. + For ESP32 Rev 2 or later, multiples of 4 from 132 to 256 are also supported */ uint8_t tseg_1; /**< Timing segment 1 (Number of time quanta, between 1 to 16) */ uint8_t tseg_2; /**< Timing segment 2 (Number of time quanta, 1 to 8) */ uint8_t sjw; /**< Synchronization Jump Width (Max time quanta jump for synchronize from 1 to 4) */ diff --git a/components/soc/esp32/include/soc/can_struct.h b/components/soc/esp32/include/soc/can_struct.h index 3a7912bd4..e19196454 100644 --- a/components/soc/esp32/include/soc/can_struct.h +++ b/components/soc/esp32/include/soc/can_struct.h @@ -93,7 +93,7 @@ typedef union { uint32_t tx: 1; /* IER.1 Transmit Interrupt Enable */ uint32_t err_warn: 1; /* IER.2 Error Interrupt Enable */ uint32_t data_overrun: 1; /* IER.3 Data Overrun Interrupt Enable */ - uint32_t reserved1: 1; /* Internal Reserved (Wake-up not supported) */ + uint32_t brp_div: 1; /* THIS IS NOT AN INTERRUPT. brp_div will prescale BRP by 2. Only available on ESP32 Revision 2 or later. Reserved otherwise */ uint32_t err_passive: 1; /* IER.5 Error Passive Interrupt Enable */ uint32_t arb_lost: 1; /* IER.6 Arbitration Lost Interrupt Enable */ uint32_t bus_err: 1; /* IER.7 Bus Error Interrupt Enable */ diff --git a/docs/en/api-reference/peripherals/can.rst b/docs/en/api-reference/peripherals/can.rst index d24cbd7f6..ce190de6a 100644 --- a/docs/en/api-reference/peripherals/can.rst +++ b/docs/en/api-reference/peripherals/can.rst @@ -168,7 +168,7 @@ The operating bit rate of the CAN controller is configured using the :cpp:type:` 2. **Timing Segment 1** consists of 1 to 16 time quanta before sample point 3. **Timing Segment 2** consists of 1 to 8 time quanta after sample point -The **Baudrate Prescaler** is used to determine the period of each time quanta by dividing the CAN controller's source clock (80 MHz APB clock). The ``brp`` can be **any even number from 2 to 128**. +The **Baudrate Prescaler** is used to determine the period of each time quanta by dividing the CAN controller's source clock (80 MHz APB clock). The ``brp`` can be **any even number from 2 to 128**. If the ESP32 is a revision 2 or later chip, the ``brp`` will also support **any multiple of 4 from 132 to 256**, and can be enabled by setting the :ref:`CONFIG_ESP32_REV_MIN` to revision 2 or higher. .. packetdiag:: ../../../_static/diagrams/can/can_bit_timing.diag :caption: Bit timing configuration for 500kbit/s given BRP = 8 @@ -183,6 +183,9 @@ The **Synchronization Jump Width** is used to determined the maximum number of t Bit timing **macro initializers** are also available for commonly used CAN bus bit rates. The following macro initializers are provided by the CAN driver. + - ``CAN_TIMING_CONFIG_12_5KBITS()`` + - ``CAN_TIMING_CONFIG_16KBITS()`` + - ``CAN_TIMING_CONFIG_20KBITS()`` - ``CAN_TIMING_CONFIG_25KBITS()`` - ``CAN_TIMING_CONFIG_50KBITS()`` - ``CAN_TIMING_CONFIG_100KBITS()`` @@ -192,6 +195,10 @@ Bit timing **macro initializers** are also available for commonly used CAN bus b - ``CAN_TIMING_CONFIG_800KBITS()`` - ``CAN_TIMING_CONFIG_1MBITS()`` +.. note:: + The macro initializers for 12.5K, 16K, and 20K bit rates are only available + for ESP32 revision 2 or later. + Acceptance Filter ^^^^^^^^^^^^^^^^^