FW 3.32: Configurable CAN baud rate

CHANGELOG

@@ -1,3 +1,6 @@
+=== FW 3.32 ===
+* Added CAN-bus baud rate setting.
+
 === FW 3.31 ===
 * Option to decrease temperature limits during acceleration to still have braking torque left.
 * Added PID speed control mode to ADC app.

appconf/appconf_default.h

@@ -36,6 +36,9 @@
 #ifndef APPCONF_SEND_CAN_STATUS_RATE_HZ
 #define APPCONF_SEND_CAN_STATUS_RATE_HZ		500
 #endif
+#ifndef APPCONF_CAN_BAUD_RATE
+#define APPCONF_CAN_BAUD_RATE				CAN_BAUD_500K
+#endif
 
 // The default app is UART in case the UART port is used for
 // firmware updates.

applications/app.c

@@ -23,6 +23,7 @@
 #include "hw.h"
 #include "nrf_driver.h"
 #include "rfhelp.h"
+#include "comm_can.h"
 
 // Private variables
 static app_configuration appconf;
@@ -49,6 +50,10 @@ void app_set_configuration(app_configuration *conf) {
 		nrf_driver_stop();
 	}
 
+#if CAN_ENABLE
+	comm_can_set_baud(conf->can_baud_rate);
+#endif
+
 #ifdef APP_CUSTOM_TO_USE
 	app_custom_stop();
 #endif

comm_can.c

@@ -62,12 +62,13 @@ static thread_t *process_tp;
  */
 static const CANConfig cancfg = {
 		CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP,
-		CAN_BTR_SJW(0) | CAN_BTR_TS2(1) |
-		CAN_BTR_TS1(8) | CAN_BTR_BRP(6)
+		CAN_BTR_SJW(3) | CAN_BTR_TS2(2) |
+		CAN_BTR_TS1(9) | CAN_BTR_BRP(5)
 };
 
 // Private functions
 static void send_packet_wrapper(unsigned char *data, unsigned int len);
+static void set_timing(int brp, int ts1, int ts2);
 
 // Function pointers
 static void(*sid_callback)(uint32_t id, uint8_t *data, uint8_t len) = 0;
@@ -101,6 +102,16 @@ void comm_can_init(void) {
 			cancom_process_thread, NULL);
 }
 
+void comm_can_set_baud(CAN_BAUD baud) {
+	switch (baud) {
+	case CAN_BAUD_125K:	set_timing(15, 14, 4); break;
+	case CAN_BAUD_250K:	set_timing(7, 14, 4); break;
+	case CAN_BAUD_500K:	set_timing(5, 9, 2); break;
+	case CAN_BAUD_1M:	set_timing(2, 9, 2); break;
+	default: break;
+	}
+}
+
 static THD_FUNCTION(cancom_read_thread, arg) {
 	(void)arg;
 	chRegSetThreadName("CAN");
@@ -567,3 +578,12 @@ can_status_msg *comm_can_get_status_msg_id(int id) {
 static void send_packet_wrapper(unsigned char *data, unsigned int len) {
 	comm_can_send_buffer(rx_buffer_last_id, data, len, true);
 }
+
+static void set_timing(int brp, int ts1, int ts2) {
+	brp &= 0b1111111111;
+	ts1 &= 0b1111;
+	ts2 &= 0b111;
+
+	CANDx.can->BTR = CAN_BTR_SJW(3) | CAN_BTR_TS2(ts2) |
+		CAN_BTR_TS1(ts1) | CAN_BTR_BRP(brp);
+}

comm_can.h

@@ -28,6 +28,7 @@
 
 // Functions
 void comm_can_init(void);
+void comm_can_set_baud(CAN_BAUD baud);
 void comm_can_transmit_eid(uint32_t id, uint8_t *data, uint8_t len);
 void comm_can_transmit_sid(uint32_t id, uint8_t *data, uint8_t len);
 void comm_can_send_buffer(uint8_t controller_id, uint8_t *data, unsigned int len, bool send);

commands.c

@@ -528,6 +528,7 @@ void commands_process_packet(unsigned char *data, unsigned int len) {
 		appconf.timeout_brake_current = buffer_get_float32_auto(data, &ind);
 		appconf.send_can_status = data[ind++];
 		appconf.send_can_status_rate_hz = buffer_get_uint16(data, &ind);
+		appconf.can_baud_rate = data[ind++];
 
 		appconf.app_to_use = data[ind++];
 
@@ -926,6 +927,7 @@ void commands_send_appconf(COMM_PACKET_ID packet_id, app_configuration *appconf)
 	buffer_append_float32_auto(send_buffer, appconf->timeout_brake_current, &ind);
 	send_buffer[ind++] = appconf->send_can_status;
 	buffer_append_uint16(send_buffer, appconf->send_can_status_rate_hz, &ind);
+	send_buffer[ind++] = appconf->can_baud_rate;
 
 	send_buffer[ind++] = appconf->app_to_use;
 

conf_general.c

@@ -87,6 +87,7 @@ void conf_general_get_default_app_configuration(app_configuration *conf) {
 	conf->timeout_brake_current = APPCONF_TIMEOUT_BRAKE_CURRENT;
 	conf->send_can_status = APPCONF_SEND_CAN_STATUS;
 	conf->send_can_status_rate_hz = APPCONF_SEND_CAN_STATUS_RATE_HZ;
+	conf->can_baud_rate = APPCONF_CAN_BAUD_RATE;
 
 	conf->app_to_use = APPCONF_APP_TO_USE;
 

conf_general.h

@@ -22,7 +22,7 @@
 
 // Firmware version
 #define FW_VERSION_MAJOR		3
-#define FW_VERSION_MINOR		31
+#define FW_VERSION_MINOR		32
 
 #include "datatypes.h"
 

datatypes.h

@@ -126,6 +126,13 @@ typedef enum {
 	DEBUG_SAMPLING_SEND_LAST_SAMPLES
 } debug_sampling_mode;
 
+typedef enum {
+	CAN_BAUD_125K = 0,
+	CAN_BAUD_250K,
+	CAN_BAUD_500K,
+	CAN_BAUD_1M
+} CAN_BAUD;
+
 typedef struct {
 	// Switching and drive
 	mc_pwm_mode pwm_mode;
@@ -414,6 +421,7 @@ typedef struct {
 	float timeout_brake_current;
 	bool send_can_status;
 	uint32_t send_can_status_rate_hz;
+	CAN_BAUD can_baud_rate;
 
 	// Application to use
 	app_use app_to_use;

main.c

@@ -204,6 +204,10 @@ int main(void) {
 	commands_init();
 	comm_usb_init();
 
+#if CAN_ENABLE
+	comm_can_init();
+#endif
+
 	app_configuration appconf;
 	conf_general_read_app_configuration(&appconf);
 	app_set_configuration(&appconf);
@@ -227,10 +231,6 @@ int main(void) {
 	timeout_init();
 	timeout_configure(appconf.timeout_msec, appconf.timeout_brake_current);
 
-#if CAN_ENABLE
-	comm_can_init();
-#endif
-
 #if WS2811_ENABLE
 	ws2811_init();
 #if !WS2811_TEST