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H7: CAN core reset on no ACK and high transmit error counter #1502

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merged 2 commits into from
Jul 15, 2023
Merged

H7: CAN core reset on no ACK and high transmit error counter #1502

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briskspirit Jul 12, 2023
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briskspirit Jul 15, 2023
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18 changes: 11 additions & 7 deletions board/drivers/fdcan.h
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Original file line number Diff line number Diff line change
Expand Up @@ -17,6 +17,8 @@ uint8_t can_irq_number[3][2] = {
{ FDCAN3_IT0_IRQn, FDCAN3_IT1_IRQn },
};

#define CAN_ACK_ERROR 3U

bool can_set_speed(uint8_t can_number) {
bool ret = true;
FDCAN_GlobalTypeDef *CANx = CANIF_FROM_CAN_NUM(can_number);
Expand Down Expand Up @@ -68,20 +70,22 @@ void update_can_health_pkt(uint8_t can_number, uint32_t ir_reg) {


if (ir_reg != 0U) {
// Clear error interrupts
CANx->IR |= (FDCAN_IR_PED | FDCAN_IR_PEA | FDCAN_IR_EP | FDCAN_IR_BO | FDCAN_IR_RF0L);
can_health[can_number].total_error_cnt += 1U;
// Check for RX FIFO overflow
if ((ir_reg & (FDCAN_IR_RF0L)) != 0) {
can_health[can_number].total_rx_lost_cnt += 1U;
}
// Reset CAN core when CEL couter reaches at least 100 errors
if (((ir_reg & (FDCAN_IR_PED | FDCAN_IR_PEA)) != 0) && (((ecr_reg & FDCAN_ECR_CEL) >> FDCAN_ECR_CEL_Pos) >= 100U)) {
// While multiplexing between buses 1 and 3 we are getting ACK errors that overwhelm CAN core
// By resseting CAN core when no ACK is detected for a while(until TEC counter reaches 127) it can recover faster
if (((can_health[can_number].last_error == CAN_ACK_ERROR) || (can_health[can_number].last_data_error == CAN_ACK_ERROR)) && (can_health[can_number].transmit_error_cnt > 127U)) {
can_health[can_number].can_core_reset_cnt += 1U;
can_health[can_number].total_tx_lost_cnt += (FDCAN_TX_FIFO_EL_CNT - (FDCAN_TXFQS_TFFL & FDCAN_TXFQS_TFFL_Msk)); // TX FIFO msgs will be lost after reset
can_health[can_number].total_tx_lost_cnt += (FDCAN_TX_FIFO_EL_CNT - (CANx->TXFQS & FDCAN_TXFQS_TFFL)); // TX FIFO msgs will be lost after reset
llcan_clear_send(CANx);
}
// Clear error interrupts
CANx->IR |= (FDCAN_IR_PED | FDCAN_IR_PEA | FDCAN_IR_EP | FDCAN_IR_BO | FDCAN_IR_RF0L);
}
EXIT_CRITICAL();
}
EXIT_CRITICAL();
}

// ***************************** CAN *****************************
Expand Down