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官网: CAN with Flexible Data Rate (CAN FD) (xilinx.com)
特征:
支持8Mb/s的CANFD多达 3 个数据位发送器延迟补偿(TDC, transmitter delay compensation)32-deep T… 文章目录 前言测试用的硬件连接Vivado 配置Vitis MicroBlaze CANFD 代码测试代码测试截图Github Link 前言
官网: CAN with Flexible Data Rate (CAN FD) (xilinx.com)
特征:
支持8Mb/s的CANFD多达 3 个数据位发送器延迟补偿(TDC, transmitter delay compensation)32-deep TX FIFO, 2 * 64-deep RX FIFO, 32 ID Filter接收支持 顺序(Sequential)模式 和 邮箱(Mailbox)模式Bus-Off 恢复模式: 自动恢复 或 用户干预的自动恢复
参考:
How to configure CAN/CANFD clocks and identify the CAN nodes (xilinx.com)canfd 默认文档和示例路径: C:\Xilinx\Vitis\2023.2\data\embeddedsw\XilinxProcessorIPLib\drivers\canfd_v2_8
本文仅作学习交流使用.
测试用的硬件连接
硬件:
FPGA: xc7a35tfgg484-2时钟: 50MHz, 有源, 单端, 3V3, 引脚Y18复位: 低电平复位, 3V3, 引脚F20UART: TX G16, RX G15CANFD: TX F16, RX E17
Vivado 配置
如图: 时钟:
clk_out1, 160MHz, can_clk_x2, 也是其它组件的时钟clk_out2, 80MHz, can_clk, 是CAN和CANFD配置的主时钟低电平复位
调试串口:
9600 or 115200 bps
时钟的配置截图 CANFD的配置, 收发FIFO Depth都是32, 接收使用顺序模式, 不用FIFO1 可适当减少RX FIFO-0 Depth以减少RAM消耗. 含MicroBlaze 64K, 一路CANFD, 没有使用任何外部RAM的消耗如下(xc7a35tfgg484-2): Vitis MicroBlaze CANFD 代码
初始化:
查找并初始化已有CANFD配置进入配置模式, 配置位速率, 采样点, TDC, 滤波器, 关闭BRS设置收发错误事件回调, 使能中断进入正常模式注意在C文件中编译, 不然Cpp中 XSetupInterruptSystem 会报错 error: invalid conversion from void (*)(void*) to void* [-fpermissive]
参考代码如下:
int bsp_canfd_init(XCanFd *InstancePtr, uint32_t BaseAddress, uint32_t BaudRate,float SamplePoint, uint32_t FastBaudRate,float FastSamplePoint) {XCanFd_Config *ConfigPtr XCanFd_LookupConfig(BaseAddress);if (ConfigPtr NULL) {bsp_canfd_debug_printf(Error: XCanFd_LookupConfig returned NULL\n);return -1;} else {bsp_canfd_debug_printf(XCanFd_Config:\n);bsp_canfd_debug_printf( BaseAddress: 0x%08X\n, ConfigPtr-BaseAddress);bsp_canfd_debug_printf( Rx_Mode: %s\n,ConfigPtr-Rx_Mode ? Mailbox : Sequential);bsp_canfd_debug_printf( NumofRxMbBuf: %d\n, ConfigPtr-NumofRxMbBuf);bsp_canfd_debug_printf( NumofTxBuf: %d\n, ConfigPtr-NumofTxBuf);bsp_canfd_debug_printf( IntrId: %d\n, ConfigPtr-IntrId);bsp_canfd_debug_printf( IntrParent: 0x%08X\n, ConfigPtr-IntrParent);}int Status XCanFd_CfgInitialize(InstancePtr, ConfigPtr, ConfigPtr-BaseAddress);if (Status ! XST_SUCCESS) {bsp_canfd_debug_printf(Error: XCanFd_CfgInitialize returned %d\n, Status);return -2;} else {bsp_canfd_debug_printf(XCanFd_CfgInitialize: Success\n);}// config modeXCanFd_EnterMode(InstancePtr, XCANFD_MODE_CONFIG);while (XCanFd_GetMode(InstancePtr) ! XCANFD_MODE_CONFIG);bsp_canfd_debug_printf(XCanFd_EnterMode: XCANFD_MODE_CONFIG\n);// 80MHz / (3 1) 20MHz, 20MHz / (1 (30 1) (7 1)) 500KHz// XCanFd_SetBitTiming(InstancePtr, 8, 7, 30);XCanFd_SetBaudRatePrescaler(InstancePtr, 0x3);u16 total_tq 20000000 / BaudRate;u16 tseg1 (u16)(SamplePoint * total_tq) - 2;u8 tseg2 (u8)(total_tq - tseg1 - 3);u8 sjw tseg2 1;XCanFd_SetBitTiming(InstancePtr, sjw, tseg2, tseg1);// 80MHz, 80 / (1 (30 1) (7 1)) 2MHz// XCanFd_SetFBitTiming(InstancePtr, 8, 7, 30);XCanFd_SetFBaudRatePrescaler(InstancePtr, 0x0);u16 ftotal_tq 80000000 / FastBaudRate;u8 ftseg1 (u8)(FastSamplePoint * ftotal_tq) - 2;u8 ftseg2 (u8)(ftotal_tq - ftseg1 - 3);u8 fsjw ftseg2 1;XCanFd_SetFBitTiming(InstancePtr, fsjw, ftseg2, ftseg1);// TDC, 0~31// XCanFd_Set_Tranceiver_Delay_Compensation(InstancePtr, 0x3);XCanFd_SetBitRateSwitch_DisableNominal(InstancePtr);bsp_canfd_debug_printf(XCanFd: %d0.%d, %d0.%d\n, BaudRate,(int)(SamplePoint * 1000), FastBaudRate,(int)(FastSamplePoint * 1000));if (XCANFD_GET_RX_MODE(InstancePtr) 0) {bsp_canfd_debug_printf(RX_MODE Sequential Filter: XCANFD_AFR_UAF_ALL_MASK\n);XCanFd_AcceptFilterDisable(InstancePtr, XCANFD_AFR_UAF_ALL_MASK);XCanFd_AcceptFilterEnable(InstancePtr, XCANFD_AFR_UAF_ALL_MASK);} else {bsp_canfd_debug_printf(RX_MODE Mailbox Filter: Need to be implemented\n);}XCanFd_SetHandler(InstancePtr, XCANFD_HANDLER_SEND, (void *)SendHandler,(void *)InstancePtr);XCanFd_SetHandler(InstancePtr, XCANFD_HANDLER_RECV, (void *)RecvHandler,(void *)InstancePtr);XCanFd_SetHandler(InstancePtr, XCANFD_HANDLER_ERROR, (void *)ErrorHandler,(void *)InstancePtr);XCanFd_SetHandler(InstancePtr, XCANFD_HANDLER_EVENT, (void *)EventHandler,(void *)InstancePtr);Status XSetupInterruptSystem(InstancePtr, XCanFd_IntrHandler, ConfigPtr-IntrId,ConfigPtr-IntrParent, XINTERRUPT_DEFAULT_PRIORITY);if (Status ! XST_SUCCESS) {bsp_canfd_debug_printf(Error: XSetupInterruptSystem returned %d\n,Status);return 1;} else {bsp_canfd_debug_printf(XSetupInterruptSystem: Success\n);}XCanFd_InterruptEnable(InstancePtr, XCANFD_IXR_ALL);XCanFd_EnterMode(InstancePtr, XCANFD_MODE_NORMAL);while (XCanFd_GetMode(InstancePtr) ! XCANFD_MODE_NORMAL);bsp_canfd_debug_printf(XCanFd_EnterMode: XCANFD_MODE_NORMAL\n);return 0;
}发送套用Linux SocketCAN接口, 毕竟这个用的人多, 易于理解. 因为发送FIFO深度为32, 所以, 正常情况下连发32帧无需插入延时, 也无需自己处理发送队列, 这已经够大部分情况使用了.
int bsp_canfd_send(XCanFd *InstancePtr, struct canfd_frame *frame) {bool is_extended frame-can_id CAN_EFF_FLAG ? true : false;bool is_remote frame-can_id CAN_RTR_FLAG ? true : false;bool is_fd frame-flags CANFD_FDF ? true : false;bool is_brs frame-flags CANFD_BRS ? true : false;bool is_esi frame-flags CANFD_ESI ? true : false;u32 TxFrame[CANFD_MTU];TxFrame[0] XCanFd_CreateIdValue(CAN_SFF_MASK (is_extended ? ((frame-can_id CAN_EFF_MASK) 18): frame-can_id),is_extended ? 1 : (u32)is_remote, (u32)is_extended,(u32)is_extended ? (frame-can_id 0x3FFFF) : 0,is_extended ? (u32)is_remote : 0);if ((!is_fd) (!is_brs)) {TxFrame[1] XCanFd_CreateDlcValue(frame-len);} else {if (is_brs) {TxFrame[1] XCanFd_Create_CanFD_Dlc_BrsValue(XCanFd_GetLen2Dlc(frame-len));} else {TxFrame[1] XCanFd_Create_CanFD_DlcValue(XCanFd_GetLen2Dlc(frame-len));}}u8 *FramePtr (u8 *)(TxFrame[2]);for (int i 0; i frame-len; i) {FramePtr[i] frame-data[i];}u32 TxBufferNumber;int status XCanFd_Send(InstancePtr, TxFrame, TxBufferNumber);if (status XST_FIFO_NO_ROOM) {bsp_canfd_debug_printf(Error: XCanFd_Send returned XST_FIFO_NO_ROOM\n);return -1;}if (status ! XST_SUCCESS) {bsp_canfd_debug_printf(Error: XCanFd_Send returned %d\n, status);return -2;}return 0;
}接收的示例, 类似 candump:
标准帧是%03X打印, 扩展帧是%08X打印.远程帧打R, 数据帧打DCANFD打F且长度为[%02d], Classic CAN打-且数据长度为[%d]开启了BRS打B, 否则打-ESI 暂不关心当然这里打印接收只是用于测试, 实际不要在中断中阻塞打印
static void RecvHandler(void *CallBackRef) {XCanFd *CanPtr (XCanFd *)CallBackRef;int Status;u32 RxFrame[CANFD_MTU];/* Check for the design 1 - MailBox 0 - Sequential */if (XCANFD_GET_RX_MODE(CanPtr) 1) {Status XCanFd_Recv_Mailbox(CanPtr, RxFrame);} else {Status XCanFd_Recv_Sequential(CanPtr, RxFrame);}u32 id1 (RxFrame[0] (u32)XCANFD_IDR_ID1_SHIFT) (u32)0x7FF;u32 is_extended (RxFrame[0] (u32)XCANFD_IDR_IDE_SHIFT) (u32)0x1;u32 id2 (RxFrame[0] (u32)XCANFD_IDR_ID2_SHIFT) (u32)0x3FFFF;u32 is_remote is_extended? (RxFrame[0] 0x01): ((RxFrame[0] (u32)XCANFD_IDR_SRR_SHIFT) (u32)0x1);/* Get the Dlc inthe form of bytes */u32 len XCanFd_GetDlc2len(RxFrame[1] XCANFD_DLCR_DLC_MASK, EDL_CANFD);if (Status ! XST_SUCCESS) {bsp_canfd_debug_printf(Error: XCanFd_Recv returned %d\n, Status);return;}u32 is_brs RxFrame[1] XCANFD_DLCR_BRS_MASK ? 1 : 0;u32 is_fdf RxFrame[1] XCANFD_DLCR_EDL_MASK ? 1 : 0;// bsp_canfd_debug_printf(%08X , RxFrame[0]);u8 *FramePtr (u8 *)(RxFrame[2]);if (is_extended) {bsp_canfd_debug_printf(%08X , id1 18 | id2);} else {bsp_canfd_debug_printf(%03X , id1);}if (is_remote) {bsp_canfd_debug_printf(R [%d], len);} else {bsp_canfd_debug_printf(D );if (is_fdf) {bsp_canfd_debug_printf(F );} else {bsp_canfd_debug_printf(- );}if (is_brs) {bsp_canfd_debug_printf(B );} else {bsp_canfd_debug_printf(- );}if ((!is_fdf) (!is_brs)) {bsp_canfd_debug_printf([%d] , len);} else {bsp_canfd_debug_printf([%02d] , len);}for (int i 0; i len; i) {bsp_canfd_debug_printf(%02X , FramePtr[i]);}}bsp_canfd_debug_printf(\n);
}测试代码
如下:
位速率 500K80%, 4M80%, 如果出现收发不正常, 可能需要微调初始化中的TDC, 检查CAN收发器以及终端电阻对数据帧远程帧, CAN或CANFD或CANFD BRS都做了测试连续发送32帧
int main() {xil_printf(\n);XCanFd CanFd0;int Status bsp_canfd_init(CanFd0, XPAR_CANFD_0_BASEADDR, 500000, 0.8, 4000000, 0.8);if (Status ! 0) {xil_printf(Error: bsp_canfd_init returned %d\n, Status);return -1;}for (int i 0; i 4; i) {struct canfd_frame frame {.can_id 0x123,.len 8,.flags 0,.__res0 0,.__res1 0,.data {0x00, 0x01, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0x08, 0x09,0x0A, 0x0B, 0x0C, 0x0D, 0x0E, 0x0F, 0x10, 0x11, 0x12, 0x13,0x14, 0x15, 0x16, 0x17, 0x18, 0x19, 0x1A, 0x1B, 0x1C, 0x1D,0x1E, 0x1F, 0x20, 0x21, 0x22, 0x23, 0x24, 0x25, 0x26, 0x27,0x28, 0x29, 0x2A, 0x2B, 0x2C, 0x2D, 0x2E, 0x2F, 0x30, 0x31,0x32, 0x33, 0x34, 0x35, 0x36, 0x37, 0x38, 0x39, 0x3A, 0x3B,0x3C, 0x3D, 0x3E, 0x3F},};// std canframe.can_id 0x123;frame.len 8;frame.flags 0;int Status bsp_canfd_send(CanFd0, frame);// std can remoteframe.can_id 0x124 | CAN_RTR_FLAG;frame.len 8;frame.flags 0;Status | bsp_canfd_send(CanFd0, frame);// std can fdframe.can_id 0x125;frame.len 64;frame.flags CANFD_FDF;Status | bsp_canfd_send(CanFd0, frame);// std can fd brsframe.can_id 0x126;frame.len 64;frame.flags CANFD_FDF | CANFD_BRS;Status | bsp_canfd_send(CanFd0, frame);// ext canframe.can_id 0x12345678 | CAN_EFF_FLAG;frame.len 8;frame.flags 0;Status | bsp_canfd_send(CanFd0, frame);// ext can remoteframe.can_id 0x12345679 | CAN_EFF_FLAG | CAN_RTR_FLAG;frame.len 8;frame.flags 0;Status | bsp_canfd_send(CanFd0, frame);// ext can fdframe.can_id 0x1234567A | CAN_EFF_FLAG;frame.len 64;frame.flags CANFD_FDF;Status | bsp_canfd_send(CanFd0, frame);// ext can fd brsframe.can_id 0x1234567B | CAN_EFF_FLAG;frame.len 64;frame.flags CANFD_FDF | CANFD_BRS;Status | bsp_canfd_send(CanFd0, frame);if (Status ! 0) {xil_printf(Error: bsp_canfd_send %d returned %d\n, i, Status);return -1;}}while (1) {}return 0;
}测试截图
设置: MCU连续发出的32帧报文: 逻辑分析仪上可以看出来两帧之间卡着标准的3 ITM来的 出现BRS时的情况, 左边500K, 右边4M CAN分析仪向FPGA发送测试: Github Link
domain_controller_orin_x2_tc397/axi_canfd_microblaze at main · weifengdq/domain_controller_orin_x2_tc397 (github.com)
