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Merge pull request #3 from vntarasov/gmlan 

Single-wire GMLAN support
master
George Hotz 2017-05-08 21:31:53 -07:00 committed by GitHub
parent be7d2ee397 aca6c129de
commit fd32382840
3 changed files with 38 additions and 11 deletions
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16
board/can.h
View File

@ -26,11 +26,19 @@ void can_init(CAN_TypeDef *CAN) {
CAN->MCR = CAN_MCR_TTCM | CAN_MCR_INRQ;
while((CAN->MSR & CAN_MSR_INAK) != CAN_MSR_INAK);
// PCLK = 24000000, 500000 is 48 clocks
// from http://www.bittiming.can-wiki.ino/
CAN->BTR = 0x001c0002;
// http://www.bittiming.can-wiki.info/
// PCLK = 24 MHz
uint32_t pclk = 24000;
uint32_t num_time_quanta = 16;
// loopback mode for debugging
// 500 kbps
uint32_t prescaler = pclk / num_time_quanta / 500;
// seg 1: 13 time quanta, seg 2: 2 time quanta
CAN->BTR = (CAN_BTR_TS1_0 * 12) |
CAN_BTR_TS2_0 | (prescaler - 1);
// silent loopback mode for debugging
#ifdef CAN_LOOPBACK_MODE
CAN->BTR |= CAN_BTR_SILM | CAN_BTR_LBKM;
#endif

18
board/gpio.h
View File

@ -36,7 +36,12 @@ void periph_init() {
}
void set_can2_mode(int use_gmlan) {
uint32_t speed;
// http://www.bittiming.can-wiki.info/#bxCAN
// 24 MHz, sample point at 87.5%
uint32_t pclk = 24000;
uint32_t num_time_quanta = 16;
uint32_t prescaler;
// connects to CAN2 xcvr or GMLAN xcvr
if (use_gmlan) {
@ -60,10 +65,10 @@ void set_can2_mode(int use_gmlan) {
GPIOB->MODER |= GPIO_MODER_MODER14_0 | GPIO_MODER_MODER15_0;
// 83.3 kbps
//speed = 0x001c0011;
// prescaler = pclk / num_time_quanta * 10 / 833;
// 33.3 kbps
speed = 0x001c002d;
prescaler = pclk / num_time_quanta * 10 / 333;
} else {
// disable GMLAN
GPIOB->MODER &= ~(GPIO_MODER_MODER12_1 | GPIO_MODER_MODER13_1);
@ -73,7 +78,8 @@ void set_can2_mode(int use_gmlan) {
GPIOB->MODER |= GPIO_MODER_MODER5_1 | GPIO_MODER_MODER6_1;
GPIOB->AFR[0] |= GPIO_AF9_CAN2 << (5*4) | GPIO_AF9_CAN2 << (6*4);
speed = 0x001c0002;
// 500 kbps
prescaler = pclk / num_time_quanta / 500;
}
// init
@ -81,7 +87,9 @@ void set_can2_mode(int use_gmlan) {
while((CAN2->MSR & CAN_MSR_INAK) != CAN_MSR_INAK);
// set speed
CAN2->BTR = speed;
// seg 1: 13 time quanta, seg 2: 2 time quanta
CAN2->BTR = (CAN_BTR_TS1_0 * 12) |
CAN_BTR_TS2_0 | (prescaler - 1);
// running
CAN2->MCR = CAN_MCR_TTCM;

15
lib/panda.py
View File

@ -132,7 +132,13 @@ class Panda(object):
def can_send_many(self, arr):
snds = []
for addr, _, dat, bus in arr:
snd = struct.pack("II", ((addr << 21) | 1), len(dat) | (bus << 4)) + dat
transmit = 1
extended = 4
if addr >= 0x800:
rir = (addr << 3) | transmit | extended
else:
rir = (addr << 21) | transmit
snd = struct.pack("II", rir, len(dat) | (bus << 4)) + dat
snd = snd.ljust(0x10, '\x00')
snds.append(snd)
@ -152,7 +158,12 @@ class Panda(object):
for j in range(0, len(dat), 0x10):
ddat = dat[j:j+0x10]
f1, f2 = struct.unpack("II", ddat[0:8])
ret.append((f1 >> 21, f2>>16, ddat[8:8+(f2&0xF)], (f2>>4)&0xf))
extended = 4
if f1 & extended:
address = f1 >> 3
else:
address = f1 >> 21
ret.append((address, f2>>16, ddat[8:8+(f2&0xF)], (f2>>4)&0xf))
return ret
dat = ""
while 1: