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LPC11C24 fixes and some debug output to bit rate detection routine

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This commit is contained in:
Pavel Kirienko
2015-10-12 02:37:13 +03:00
parent 851b0c7c29
commit fc2a4527d3
1 changed files with 30 additions and 5 deletions
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libuavcan_drivers/lpc11c24/driver/src/can.cpp
+30 -5
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@@ -156,6 +156,9 @@ BitTimingSettings computeBitTimings(std::uint32_t bitrate)
CanDriver CanDriver::self;
#if __GNUC__
__attribute__((optimize(1)))
#endif
uavcan::uint32_t CanDriver::detectBitRate(void (*idle_callback)())
{
static constexpr uavcan::uint32_t BitRatesToTry[] =
@@ -168,6 +171,8 @@ uavcan::uint32_t CanDriver::detectBitRate(void (*idle_callback)())
const auto ListeningDuration = uavcan::MonotonicDuration::fromMSec(1050);
NVIC_DisableIRQ(CAN_IRQn);
LPC_SYSCTL->PRESETCTRL |= (1 << RESET_CAN0);
Chip_Clock_EnablePeriphClock(SYSCTL_CLOCK_CAN);
for (auto bitrate : BitRatesToTry)
@@ -183,16 +188,24 @@ uavcan::uint32_t CanDriver::detectBitRate(void (*idle_callback)())
{
CriticalSectionLocker locker;
c_can::CAN.CNTL = c_can::CNTL_INIT | c_can::CNTL_DAR | c_can::CNTL_CCE | c_can::CNTL_TEST;
c_can::CAN.CNTL = c_can::CNTL_INIT | c_can::CNTL_CCE | c_can::CNTL_TEST;
c_can::CAN.BT = bit_timings.canbtr;
c_can::CAN.CLKDIV = bit_timings.canclkdiv;
c_can::CAN.TEST = c_can::TEST_SILENT | (unsigned(c_can::TestTx::HighRecessive) << c_can::TEST_TX_SHIFT);
c_can::CAN.BRPE = 0;
c_can::CAN.BT = bit_timings.canbtr;
c_can::CAN.TEST = c_can::TEST_SILENT;
c_can::CAN.STAT = (unsigned(c_can::StatLec::Unused) << c_can::STAT_LEC_SHIFT);
c_can::CAN.CNTL = c_can::CNTL_DAR | c_can::CNTL_TEST;
c_can::CAN.CNTL = c_can::CNTL_TEST;
}
// TODO THIS IS TEMPORARY, REMOVE LATER
if (c_can::CAN.BT != bit_timings.canbtr)
{
Chip_UART_SendBlocking(LPC_USART, "BT\r\n", 4);
}
// Listening
@@ -205,7 +218,19 @@ uavcan::uint32_t CanDriver::detectBitRate(void (*idle_callback)())
idle_callback();
}
if ((c_can::CAN.STAT >> c_can::STAT_LEC_SHIFT) == unsigned(c_can::StatLec::NoError))
const auto LastErrorCode = (c_can::CAN.STAT >> c_can::STAT_LEC_SHIFT) & c_can::STAT_LEC_MASK;
// TODO THIS IS TEMPORARY, REMOVE LATER
if (LastErrorCode != unsigned(c_can::StatLec::Unused) &&
LastErrorCode != unsigned(c_can::StatLec::NoError))
{
const char txt[] = { 'E', char('0' + LastErrorCode), ' ',
'R', (((c_can::CAN.STAT & c_can::STAT_RXOK) != 0) ? '1' : '0'),
'\r', '\n' };
Chip_UART_SendBlocking(LPC_USART, txt, sizeof(txt));
}
if (LastErrorCode == unsigned(c_can::StatLec::NoError))
{
match_detected = true;
break;