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During the data phase of a FDCAN transmission only one node is transmitting, all others are receivers. The length of the bus line has no impact. When transmitting via pin FDCAN_TX the protocol controller receives the transmitted data from its local CAN transceiver via pin FDCAN_RX. The received data is delayed by the CAN transceiver loop delay. If this delay is greater than TSEG1 (time segment before sample point), a bit error is detected. Without transceiver delay compensation, the bit rate in the data phase of a FDCAN frame is limited by the transceiver's loop delay. Since this parameter is related to the transceiver used, there cannot be a default value, and it must be explicitly defined with the configuration variable CONFIG_FDCAN_DEVICE_TRANSCEIVER_LOOP_DELAY. Signed-off-by: Gilles DOFFE <gilles.doffe@rtone.fr>
59 lines
1.6 KiB
C
59 lines
1.6 KiB
C
/*
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* Copyright (C) 2016-2018 OTA keys S.A.
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*
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* This file is subject to the terms and conditions of the GNU Lesser
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* General Public License v2.1. See the file LICENSE in the top level
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* directory for more details.
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*/
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/**
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* @ingroup sys_auto_init
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* @{
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* @file
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* @brief initializes periph_can devices
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*
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* @author Vincent Dupont <vincent@otakeys.com>
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* @}
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*/
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#include "periph/can.h"
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#include "can/device.h"
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#include "can_params.h"
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#include "periph_conf.h"
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#define CANDEV_NUMOF (ARRAY_SIZE(candev_params))
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#ifndef CANDEV_STACKSIZE
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#define CANDEV_STACKSIZE (THREAD_STACKSIZE_DEFAULT + THREAD_EXTRA_STACKSIZE_PRINTF)
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#endif
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#ifndef CANDEV_BASE_PRIORITY
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#define CANDEV_BASE_PRIORITY (THREAD_PRIORITY_MAIN - CANDEV_NUMOF - 2)
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#endif
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static candev_dev_t candev_dev[CANDEV_NUMOF];
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static char _can_stacks[CANDEV_NUMOF][CANDEV_STACKSIZE];
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static can_t candev[CANDEV_NUMOF];
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void auto_init_periph_can(void) {
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for (size_t i = 0; i < CANDEV_NUMOF; i++) {
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can_init(&candev[i], &candev_conf[i]);
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candev_dev[i].dev = (candev_t *)&candev[i];
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candev_dev[i].name = candev_params[i].name;
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#ifdef MODULE_CAN_TRX
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candev_dev[i].trx = candev_params[i].trx;
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#endif
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#ifdef MODULE_CAN_PM
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candev_dev[i].rx_inactivity_timeout = candev_params[i].rx_inactivity_timeout;
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candev_dev[i].tx_wakeup_timeout = candev_params[i].tx_wakeup_timeout;
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#endif
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#ifdef MODULE_FDCAN
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candev_dev[i].loop_delay = candev_params[i].loop_delay;
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#endif
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can_device_init(_can_stacks[i], CANDEV_STACKSIZE, CANDEV_BASE_PRIORITY + i,
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candev_params[i].name, &candev_dev[i]);
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}
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}
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