/* can-calc-bit-timing.c: Calculate CAN bit timing parameters
*
* Copyright (C) 2008 Wolfgang Grandegger <wg@grandegger.com>
+ * Copyright (C) 2016 Marc Kleine-Budde <mkl@pengutronix.de>
*
* Derived from:
* can_baud.c - CAN baudrate calculation
* Copyright 2005 Stanislav Marek
* email:pisa@cmp.felk.cvut.cz
*
- * This software is released under the GPL-License.
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * any later version.
*/
#include <errno.h>
#include <getopt.h>
+#include <limits.h>
+#include <stdbool.h>
#include <stdint.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <linux/types.h>
+#include <linux/can/netlink.h>
-/* seems not to be defined in errno.h */
-#ifndef ENOTSUPP
-#define ENOTSUPP 524 /* Operation is not supported */
-#endif
+/* imported from kernel */
-/* usefull defines */
-#define ARRAY_SIZE(arr) (sizeof(arr) / sizeof((arr)[0]))
-
-#define do_div(a,b) a = (a) / (b)
+/**
+ * abs - return absolute value of an argument
+ * @x: the value. If it is unsigned type, it is converted to signed type first.
+ * char is treated as if it was signed (regardless of whether it really is)
+ * but the macro's return type is preserved as char.
+ *
+ * Return: an absolute value of x.
+ */
+#define abs(x) __abs_choose_expr(x, long long, \
+ __abs_choose_expr(x, long, \
+ __abs_choose_expr(x, int, \
+ __abs_choose_expr(x, short, \
+ __abs_choose_expr(x, char, \
+ __builtin_choose_expr( \
+ __builtin_types_compatible_p(typeof(x), char), \
+ (char)({ signed char __x = (x); __x<0?-__x:__x; }), \
+ ((void)0)))))))
+
+#define __abs_choose_expr(x, type, other) __builtin_choose_expr( \
+ __builtin_types_compatible_p(typeof(x), signed type) || \
+ __builtin_types_compatible_p(typeof(x), unsigned type), \
+ ({ signed type __x = (x); __x < 0 ? -__x : __x; }), other)
-#define abs(x) ({ \
- long __x = (x); \
- (__x < 0) ? -__x : __x; \
- })
+/*
+ * min()/max()/clamp() macros that also do
+ * strict type-checking.. See the
+ * "unnecessary" pointer comparison.
+ */
+#define min(x, y) ({ \
+ typeof(x) _min1 = (x); \
+ typeof(y) _min2 = (y); \
+ (void) (&_min1 == &_min2); \
+ _min1 < _min2 ? _min1 : _min2; })
+
+#define max(x, y) ({ \
+ typeof(x) _max1 = (x); \
+ typeof(y) _max2 = (y); \
+ (void) (&_max1 == &_max2); \
+ _max1 > _max2 ? _max1 : _max2; })
/**
* clamp - return a value clamped to a given range with strict typechecking
* @val: current value
- * @min: minimum allowable value
- * @max: maximum allowable value
+ * @lo: lowest allowable value
+ * @hi: highest allowable value
*
- * This macro does strict typechecking of min/max to make sure they are of the
+ * This macro does strict typechecking of lo/hi to make sure they are of the
* same type as val. See the unnecessary pointer comparisons.
*/
-#define clamp(val, min, max) ({ \
- typeof(val) __val = (val); \
- typeof(min) __min = (min); \
- typeof(max) __max = (max); \
- (void) (&__val == &__min); \
- (void) (&__val == &__max); \
- __val = __val < __min ? __min: __val; \
- __val > __max ? __max: __val; })
+#define clamp(val, lo, hi) min((typeof(val))max(val, lo), hi)
+
+# define do_div(n,base) ({ \
+ uint32_t __base = (base); \
+ uint32_t __rem; \
+ __rem = ((uint64_t)(n)) % __base; \
+ (n) = ((uint64_t)(n)) / __base; \
+ __rem; \
+ })
+
+/* */
+
+#define ARRAY_SIZE(arr) (sizeof(arr) / sizeof((arr)[0]))
/* we don't want to see these prints */
-#define dev_err(dev, format, arg...) do { } while (0)
-#define dev_warn(dev, format, arg...) do { } while (0)
+#define netdev_err(dev, format, arg...) do { } while (0)
+#define netdev_warn(dev, format, arg...) do { } while (0)
/* define in-kernel-types */
typedef __u64 u64;
typedef __u32 u32;
-
-/*
- * CAN bit-timing parameters
- *
- * For futher information, please read chapter "8 BIT TIMING
- * REQUIREMENTS" of the "Bosch CAN Specification version 2.0"
- * at http://www.semiconductors.bosch.de/pdf/can2spec.pdf.
- */
-struct can_bittiming {
- __u32 bitrate; /* Bit-rate in bits/second */
- __u32 sample_point; /* Sample point in one-tenth of a percent */
- __u32 tq; /* Time quanta (TQ) in nanoseconds */
- __u32 prop_seg; /* Propagation segment in TQs */
- __u32 phase_seg1; /* Phase buffer segment 1 in TQs */
- __u32 phase_seg2; /* Phase buffer segment 2 in TQs */
- __u32 sjw; /* Synchronisation jump width in TQs */
- __u32 brp; /* Bit-rate prescaler */
+struct calc_ref_clk {
+ __u32 clk; /* CAN system clock frequency in Hz */
+ char *name;
};
-/*
- * CAN harware-dependent bit-timing constant
- *
- * Used for calculating and checking bit-timing parameters
- */
-struct can_bittiming_const {
- char name[16]; /* Name of the CAN controller hardware */
- __u32 tseg1_min; /* Time segement 1 = prop_seg + phase_seg1 */
- __u32 tseg1_max;
- __u32 tseg2_min; /* Time segement 2 = phase_seg2 */
- __u32 tseg2_max;
- __u32 sjw_max; /* Synchronisation jump width */
- __u32 brp_min; /* Bit-rate prescaler */
- __u32 brp_max;
- __u32 brp_inc;
-
- /* added for can-calc-bit-timing utility */
- __u32 ref_clk; /* CAN system clock frequency in Hz */
- void (*printf_btr)(struct can_bittiming *bt, int hdr);
-};
+struct calc_bittiming_const {
+ struct can_bittiming_const bittiming_const;
-/*
- * CAN clock parameters
- */
-struct can_clock {
- __u32 freq; /* CAN system clock frequency in Hz */
+ const struct calc_ref_clk ref_clk[16];
+ void (*printf_btr)(struct can_bittiming *bt, bool hdr);
};
-
/*
* minimal structs, just enough to be source level compatible
*/
struct can_priv {
- const struct can_bittiming_const *bittiming_const;
struct can_clock clock;
};
return (void *)&dev->priv;
}
-static void print_usage(char* cmd)
+static void print_usage(char *cmd)
{
printf("Usage: %s [options] [<CAN-contoller-name>]\n"
"\tOptions:\n"
exit(EXIT_FAILURE);
}
-static void printf_btr_sja1000(struct can_bittiming *bt, int hdr)
+static void printf_btr_sja1000(struct can_bittiming *bt, bool hdr)
{
uint8_t btr0, btr1;
}
}
-static void printf_btr_at91(struct can_bittiming *bt, int hdr)
+static void printf_btr_at91(struct can_bittiming *bt, bool hdr)
{
if (hdr) {
printf("%10s", "CAN_BR");
}
}
-static void printf_btr_flexcan(struct can_bittiming *bt, int hdr)
+static void printf_btr_flexcan(struct can_bittiming *bt, bool hdr)
{
if (hdr) {
printf("%10s", "CAN_CTRL");
}
}
-static void printf_btr_mcp251x(struct can_bittiming *bt, int hdr)
+static void printf_btr_mcp251x(struct can_bittiming *bt, bool hdr)
{
uint8_t cnf1, cnf2, cnf3;
if (hdr) {
printf("CNF1 CNF2 CNF3");
} else {
- cnf1 = ((bt->sjw - 1) << 6) | bt->brp;
+ cnf1 = ((bt->sjw - 1) << 6) | (bt->brp - 1);
cnf2 = 0x80 | ((bt->phase_seg1 - 1) << 3) | (bt->prop_seg - 1);
cnf3 = bt->phase_seg2 - 1;
printf("0x%02x 0x%02x 0x%02x", cnf1, cnf2, cnf3);
}
}
-static struct can_bittiming_const can_calc_consts[] = {
- {
- .name = "sja1000",
- .tseg1_min = 1,
- .tseg1_max = 16,
- .tseg2_min = 1,
- .tseg2_max = 8,
- .sjw_max = 4,
- .brp_min = 1,
- .brp_max = 64,
- .brp_inc = 1,
-
- .ref_clk = 8000000,
- .printf_btr = printf_btr_sja1000,
- },
- {
- .name = "mscan",
- .tseg1_min = 4,
- .tseg1_max = 16,
- .tseg2_min = 2,
- .tseg2_max = 8,
- .sjw_max = 4,
- .brp_min = 1,
- .brp_max = 64,
- .brp_inc = 1,
-
- .ref_clk = 32000000,
- .printf_btr = printf_btr_sja1000,
- },
- {
- .name = "mscan",
- .tseg1_min = 4,
- .tseg1_max = 16,
- .tseg2_min = 2,
- .tseg2_max = 8,
- .sjw_max = 4,
- .brp_min = 1,
- .brp_max = 64,
- .brp_inc = 1,
-
- .ref_clk = 33000000,
- .printf_btr = printf_btr_sja1000,
- },
- {
- .name = "mscan",
- .tseg1_min = 4,
- .tseg1_max = 16,
- .tseg2_min = 2,
- .tseg2_max = 8,
- .sjw_max = 4,
- .brp_min = 1,
- .brp_max = 64,
- .brp_inc = 1,
-
- .ref_clk = 33300000,
- .printf_btr = printf_btr_sja1000,
- },
+static void printf_btr_ti_hecc(struct can_bittiming *bt, bool hdr)
+{
+ if (hdr) {
+ printf("%10s", "CANBTC");
+ } else {
+ uint32_t can_btc;
+
+ can_btc = (bt->phase_seg2 - 1) & 0x7;
+ can_btc |= ((bt->phase_seg1 + bt->prop_seg - 1)
+ & 0xF) << 3;
+ can_btc |= ((bt->sjw - 1) & 0x3) << 8;
+ can_btc |= ((bt->brp - 1) & 0xFF) << 16;
+
+ printf("0x%08x", can_btc);
+ }
+}
+
+#define RCAR_CAN_BCR_TSEG1(x) (((x) & 0x0f) << 20)
+#define RCAR_CAN_BCR_BPR(x) (((x) & 0x3ff) << 8)
+#define RCAR_CAN_BCR_SJW(x) (((x) & 0x3) << 4)
+#define RCAR_CAN_BCR_TSEG2(x) ((x) & 0x07)
+
+static void printf_btr_rcar_can(struct can_bittiming *bt, bool hdr)
+{
+ if (hdr) {
+ printf("%10s", "CiBCR");
+ } else {
+ uint32_t bcr;
+
+ bcr = RCAR_CAN_BCR_TSEG1(bt->phase_seg1 + bt->prop_seg - 1) |
+ RCAR_CAN_BCR_BPR(bt->brp - 1) |
+ RCAR_CAN_BCR_SJW(bt->sjw - 1) |
+ RCAR_CAN_BCR_TSEG2(bt->phase_seg2 - 1);
+
+ printf("0x%08x", bcr << 8);
+ }
+}
+
+static struct calc_bittiming_const can_calc_consts[] = {
{
- .name = "mscan",
- .tseg1_min = 4,
- .tseg1_max = 16,
- .tseg2_min = 2,
- .tseg2_max = 8,
- .sjw_max = 4,
- .brp_min = 1,
- .brp_max = 64,
- .brp_inc = 1,
-
- .ref_clk = 33333333,
+ .bittiming_const = {
+ .name = "sja1000",
+ .tseg1_min = 1,
+ .tseg1_max = 16,
+ .tseg2_min = 1,
+ .tseg2_max = 8,
+ .sjw_max = 4,
+ .brp_min = 1,
+ .brp_max = 64,
+ .brp_inc = 1,
+ },
+ .ref_clk = {
+ { .clk = 8000000, },
+ },
.printf_btr = printf_btr_sja1000,
- },
- {
- .name = "mscan",
- .tseg1_min = 4,
- .tseg1_max = 16,
- .tseg2_min = 2,
- .tseg2_max = 8,
- .sjw_max = 4,
- .brp_min = 1,
- .brp_max = 64,
- .brp_inc = 1,
-
- .ref_clk = 66660000, /* mpc5121 */
+ }, {
+ .bittiming_const = {
+ .name = "mscan",
+ .tseg1_min = 4,
+ .tseg1_max = 16,
+ .tseg2_min = 2,
+ .tseg2_max = 8,
+ .sjw_max = 4,
+ .brp_min = 1,
+ .brp_max = 64,
+ .brp_inc = 1,
+ },
+ .ref_clk = {
+ { .clk = 32000000, },
+ { .clk = 33000000, },
+ { .clk = 33300000, },
+ { .clk = 33333333, },
+ { .clk = 66660000, .name = "mpc5121", },
+ { .clk = 66666666, .name = "mpc5121" },
+ },
.printf_btr = printf_btr_sja1000,
- },
- {
- .name = "at91",
- .tseg1_min = 4,
- .tseg1_max = 16,
- .tseg2_min = 2,
- .tseg2_max = 8,
- .sjw_max = 4,
- .brp_min = 2,
- .brp_max = 128,
- .brp_inc = 1,
-
- .ref_clk = 100000000,
- .printf_btr = printf_btr_at91,
- },
- {
- .name = "at91",
- .tseg1_min = 4,
- .tseg1_max = 16,
- .tseg2_min = 2,
- .tseg2_max = 8,
- .sjw_max = 4,
- .brp_min = 2,
- .brp_max = 128,
- .brp_inc = 1,
-
- /* real world clock as found on the ronetix PM9263 */
- .ref_clk = 99532800,
+ }, {
+ .bittiming_const = {
+ .name = "at91",
+ .tseg1_min = 4,
+ .tseg1_max = 16,
+ .tseg2_min = 2,
+ .tseg2_max = 8,
+ .sjw_max = 4,
+ .brp_min = 2,
+ .brp_max = 128,
+ .brp_inc = 1,
+ },
+ .ref_clk = {
+ { .clk = 99532800, .name = "ronetix PM9263", },
+ { .clk = 100000000, },
+ },
.printf_btr = printf_btr_at91,
- },
- {
- .name = "flexcan",
- .tseg1_min = 4,
- .tseg1_max = 16,
- .tseg2_min = 2,
- .tseg2_max = 8,
- .sjw_max = 4,
- .brp_min = 1,
- .brp_max = 256,
- .brp_inc = 1,
-
- .ref_clk = 24000000, /* mx28 */
- .printf_btr = printf_btr_flexcan,
- },
- {
- .name = "flexcan",
- .tseg1_min = 4,
- .tseg1_max = 16,
- .tseg2_min = 2,
- .tseg2_max = 8,
- .sjw_max = 4,
- .brp_min = 1,
- .brp_max = 256,
- .brp_inc = 1,
-
- .ref_clk = 49875000,
- .printf_btr = printf_btr_flexcan,
- },
- {
- .name = "flexcan",
- .tseg1_min = 4,
- .tseg1_max = 16,
- .tseg2_min = 2,
- .tseg2_max = 8,
- .sjw_max = 4,
- .brp_min = 1,
- .brp_max = 256,
- .brp_inc = 1,
-
- .ref_clk = 66000000,
+ }, {
+ .bittiming_const = {
+ .name = "flexcan",
+ .tseg1_min = 4,
+ .tseg1_max = 16,
+ .tseg2_min = 2,
+ .tseg2_max = 8,
+ .sjw_max = 4,
+ .brp_min = 1,
+ .brp_max = 256,
+ .brp_inc = 1,
+ },
+ .ref_clk = {
+ { .clk = 24000000, .name = "mx28" },
+ { .clk = 30000000, .name = "mx6" },
+ { .clk = 49875000, },
+ { .clk = 66000000, },
+ { .clk = 66500000, },
+ { .clk = 66666666, },
+ { .clk = 83368421, .name = "vybrid" },
+ },
.printf_btr = printf_btr_flexcan,
- },
- {
- .name = "flexcan",
- .tseg1_min = 4,
- .tseg1_max = 16,
- .tseg2_min = 2,
- .tseg2_max = 8,
- .sjw_max = 4,
- .brp_min = 1,
- .brp_max = 256,
- .brp_inc = 1,
-
- .ref_clk = 66500000,
- .printf_btr = printf_btr_flexcan,
- },
- {
- .name = "mcp251x",
- .tseg1_min = 3,
- .tseg1_max = 16,
- .tseg2_min = 2,
- .tseg2_max = 8,
- .sjw_max = 4,
- .brp_min = 1,
- .brp_max = 64,
- .brp_inc = 1,
-
- .ref_clk = 8000000,
- .printf_btr = printf_btr_mcp251x,
- },
- {
- .name = "mcp251x",
- .tseg1_min = 3,
- .tseg1_max = 16,
- .tseg2_min = 2,
- .tseg2_max = 8,
- .sjw_max = 4,
- .brp_min = 1,
- .brp_max = 64,
- .brp_inc = 1,
-
- .ref_clk = 16000000,
+ }, {
+ .bittiming_const = {
+ .name = "mcp251x",
+ .tseg1_min = 3,
+ .tseg1_max = 16,
+ .tseg2_min = 2,
+ .tseg2_max = 8,
+ .sjw_max = 4,
+ .brp_min = 1,
+ .brp_max = 64,
+ .brp_inc = 1,
+ },
+ .ref_clk = {
+ { .clk = 8000000, },
+ { .clk = 16000000, },
+ },
.printf_btr = printf_btr_mcp251x,
+ }, {
+ .bittiming_const = {
+ .name = "ti_hecc",
+ .tseg1_min = 1,
+ .tseg1_max = 16,
+ .tseg2_min = 1,
+ .tseg2_max = 8,
+ .sjw_max = 4,
+ .brp_min = 1,
+ .brp_max = 256,
+ .brp_inc = 1,
+ },
+ .ref_clk = {
+ { .clk = 13000000, },
+ },
+ .printf_btr = printf_btr_ti_hecc,
+ }, {
+ .bittiming_const = {
+ .name = "rcar_can",
+ .tseg1_min = 4,
+ .tseg1_max = 16,
+ .tseg2_min = 2,
+ .tseg2_max = 8,
+ .sjw_max = 4,
+ .brp_min = 1,
+ .brp_max = 1024,
+ .brp_inc = 1,
+ },
+ .ref_clk = {
+ { .clk = 65000000, },
+ },
+ .printf_btr = printf_btr_rcar_can,
},
};
};
#define CAN_CALC_MAX_ERROR 50 /* in one-tenth of a percent */
+#define CAN_CALC_SYNC_SEG 1
+/*
+ * Bit-timing calculation derived from:
+ *
+ * Code based on LinCAN sources and H8S2638 project
+ * Copyright 2004-2006 Pavel Pisa - DCE FELK CVUT cz
+ * Copyright 2005 Stanislav Marek
+ * email: pisa@cmp.felk.cvut.cz
+ *
+ * Calculates proper bit-timing parameters for a specified bit-rate
+ * and sample-point, which can then be used to set the bit-timing
+ * registers of the CAN controller. You can find more information
+ * in the header file linux/can/netlink.h.
+ */
static int can_update_spt(const struct can_bittiming_const *btc,
- int sampl_pt, int tseg, int *tseg1, int *tseg2)
+ unsigned int spt_nominal, unsigned int tseg,
+ unsigned int *tseg1_ptr, unsigned int *tseg2_ptr,
+ unsigned int *spt_error_ptr)
{
- *tseg2 = tseg + 1 - (sampl_pt * (tseg + 1)) / 1000;
- if (*tseg2 < btc->tseg2_min)
- *tseg2 = btc->tseg2_min;
- if (*tseg2 > btc->tseg2_max)
- *tseg2 = btc->tseg2_max;
- *tseg1 = tseg - *tseg2;
- if (*tseg1 > btc->tseg1_max) {
- *tseg1 = btc->tseg1_max;
- *tseg2 = tseg - *tseg1;
+ unsigned int spt_error, best_spt_error = UINT_MAX;
+ unsigned int spt, best_spt = 0;
+ unsigned int tseg1, tseg2;
+ int i;
+
+ for (i = 0; i <= 1; i++) {
+ tseg2 = tseg + CAN_CALC_SYNC_SEG - (spt_nominal * (tseg + CAN_CALC_SYNC_SEG)) / 1000 - i;
+ tseg2 = clamp(tseg2, btc->tseg2_min, btc->tseg2_max);
+ tseg1 = tseg - tseg2;
+ if (tseg1 > btc->tseg1_max) {
+ tseg1 = btc->tseg1_max;
+ tseg2 = tseg - tseg1;
+ }
+
+ spt = 1000 * (tseg + CAN_CALC_SYNC_SEG - tseg2) / (tseg + CAN_CALC_SYNC_SEG);
+ spt_error = abs(spt_nominal - spt);
+
+ if ((spt <= spt_nominal) && (spt_error < best_spt_error)) {
+ best_spt = spt;
+ best_spt_error = spt_error;
+ *tseg1_ptr = tseg1;
+ *tseg2_ptr = tseg2;
+ }
}
- return 1000 * (tseg + 1 - *tseg2) / (tseg + 1);
+
+ if (spt_error_ptr)
+ *spt_error_ptr = best_spt_error;
+
+ return best_spt;
}
-static int can_calc_bittiming(struct net_device *dev, struct can_bittiming *bt)
+static int can_calc_bittiming(struct net_device *dev, struct can_bittiming *bt,
+ const struct can_bittiming_const *btc)
{
struct can_priv *priv = netdev_priv(dev);
- const struct can_bittiming_const *btc = priv->bittiming_const;
- long rate = 0;
- long best_error = 1000000000, error = 0;
- int best_tseg = 0, best_brp = 0, brp = 0;
- int tsegall, tseg = 0, tseg1 = 0, tseg2 = 0;
- int spt_error = 1000, spt = 0, sampl_pt;
+ unsigned int rate; /* current bitrate */
+ unsigned int rate_error; /* difference between current and nominal value */
+ unsigned int best_rate_error = UINT_MAX;
+ unsigned int spt_error; /* difference between current and nominal value */
+ unsigned int best_spt_error = UINT_MAX;
+ unsigned int spt_nominal; /* nominal sample point */
+ unsigned int best_tseg = 0; /* current best value for tseg */
+ unsigned int best_brp = 0; /* current best value for brp */
+ unsigned int brp, tsegall, tseg, tseg1, tseg2;
u64 v64;
- if (!priv->bittiming_const)
- return -ENOTSUPP;
-
- /* Use CIA recommended sample points */
+ /* Use CiA recommended sample points */
if (bt->sample_point) {
- sampl_pt = bt->sample_point;
+ spt_nominal = bt->sample_point;
} else {
if (bt->bitrate > 800000)
- sampl_pt = 750;
+ spt_nominal = 750;
else if (bt->bitrate > 500000)
- sampl_pt = 800;
+ spt_nominal = 800;
else
- sampl_pt = 875;
+ spt_nominal = 875;
}
/* tseg even = round down, odd = round up */
for (tseg = (btc->tseg1_max + btc->tseg2_max) * 2 + 1;
tseg >= (btc->tseg1_min + btc->tseg2_min) * 2; tseg--) {
- tsegall = 1 + tseg / 2;
+ tsegall = CAN_CALC_SYNC_SEG + tseg / 2;
+
/* Compute all possible tseg choices (tseg=tseg1+tseg2) */
brp = priv->clock.freq / (tsegall * bt->bitrate) + tseg % 2;
- /* chose brp step which is possible in system */
+
+ /* choose brp step which is possible in system */
brp = (brp / btc->brp_inc) * btc->brp_inc;
if ((brp < btc->brp_min) || (brp > btc->brp_max))
continue;
+
rate = priv->clock.freq / (brp * tsegall);
- error = bt->bitrate - rate;
+ rate_error = abs(bt->bitrate - rate);
+
/* tseg brp biterror */
- if (error < 0)
- error = -error;
- if (error > best_error)
+ if (rate_error > best_rate_error)
continue;
- best_error = error;
- if (error == 0) {
- spt = can_update_spt(btc, sampl_pt, tseg / 2,
- &tseg1, &tseg2);
- error = sampl_pt - spt;
- if (error < 0)
- error = -error;
- if (error > spt_error)
- continue;
- spt_error = error;
- }
+
+ /* reset sample point error if we have a better bitrate */
+ if (rate_error < best_rate_error)
+ best_spt_error = UINT_MAX;
+
+ can_update_spt(btc, spt_nominal, tseg / 2, &tseg1, &tseg2, &spt_error);
+ if (spt_error > best_spt_error)
+ continue;
+
+ best_spt_error = spt_error;
+ best_rate_error = rate_error;
best_tseg = tseg / 2;
best_brp = brp;
- if (error == 0)
+
+ if (rate_error == 0 && spt_error == 0)
break;
}
- if (best_error) {
+ if (best_rate_error) {
/* Error in one-tenth of a percent */
- error = (best_error * 1000) / bt->bitrate;
- if (error > CAN_CALC_MAX_ERROR) {
- dev_err(dev->dev.parent,
- "bitrate error %ld.%ld%% too high\n",
- error / 10, error % 10);
+ rate_error = (best_rate_error * 1000) / bt->bitrate;
+ if (rate_error > CAN_CALC_MAX_ERROR) {
+ netdev_err(dev,
+ "bitrate error %ld.%ld%% too high\n",
+ rate_error / 10, rate_error % 10);
return -EDOM;
- } else {
- dev_warn(dev->dev.parent, "bitrate error %ld.%ld%%\n",
- error / 10, error % 10);
}
+ netdev_warn(dev, "bitrate error %ld.%ld%%\n",
+ rate_error / 10, rate_error % 10);
}
/* real sample point */
- bt->sample_point = can_update_spt(btc, sampl_pt, best_tseg,
- &tseg1, &tseg2);
+ bt->sample_point = can_update_spt(btc, spt_nominal, best_tseg,
+ &tseg1, &tseg2, NULL);
- v64 = (u64)best_brp * 1000000000UL;
+ v64 = (u64)best_brp * 1000 * 1000 * 1000;
do_div(v64, priv->clock.freq);
bt->tq = (u32)v64;
bt->prop_seg = tseg1 / 2;
bt->phase_seg1 = tseg1 - bt->prop_seg;
bt->phase_seg2 = tseg2;
- bt->sjw = 1;
+
+ /* check for sjw user settings */
+ if (!bt->sjw || !btc->sjw_max) {
+ bt->sjw = 1;
+ } else {
+ /* bt->sjw is at least 1 -> sanitize upper bound to sjw_max */
+ if (bt->sjw > btc->sjw_max)
+ bt->sjw = btc->sjw_max;
+ /* bt->sjw must not be higher than tseg2 */
+ if (tseg2 < bt->sjw)
+ bt->sjw = tseg2;
+ }
+
bt->brp = best_brp;
/* real bit-rate */
- bt->bitrate = priv->clock.freq / (bt->brp * (tseg1 + tseg2 + 1));
+ bt->bitrate = priv->clock.freq / (bt->brp * (CAN_CALC_SYNC_SEG + tseg1 + tseg2));
return 0;
}
return sampl_pt;
}
-static void print_bit_timing(const struct can_bittiming_const *btc,
- __u32 bitrate, __u32 sample_point, __u32 ref_clk,
- int quiet)
+static void print_bit_timing(const struct calc_bittiming_const *btc,
+ const struct calc_ref_clk *ref_clk,
+ unsigned int bitrate_nominal,
+ unsigned int spt_nominal,
+ bool quiet)
{
struct net_device dev = {
- .priv.bittiming_const = btc,
- .priv.clock.freq = ref_clk,
+ .priv.clock.freq = ref_clk->clk,
};
struct can_bittiming bt = {
- .bitrate = bitrate,
- .sample_point = sample_point,
+ .bitrate = bitrate_nominal,
+ .sample_point = spt_nominal,
};
long rate_error, spt_error;
if (!quiet) {
- printf("Bit timing parameters for %s with %.6f MHz ref clock\n"
+ printf("Bit timing parameters for %s%s%s%s with %.6f MHz ref clock\n"
"nominal real Bitrt nom real SampP\n"
"Bitrate TQ[ns] PrS PhS1 PhS2 SJW BRP Bitrate Error SampP SampP Error ",
- btc->name,
- ref_clk / 1000000.0);
+ btc->bittiming_const.name,
+ ref_clk->name ? " (" : "",
+ ref_clk->name ? ref_clk->name : "",
+ ref_clk->name ? ")" : "",
+ ref_clk->clk / 1000000.0);
- btc->printf_btr(&bt, 1);
+ btc->printf_btr(&bt, true);
printf("\n");
}
- if (can_calc_bittiming(&dev, &bt)) {
- printf("%7d ***bitrate not possible***\n", bitrate);
+ if (can_calc_bittiming(&dev, &bt, &btc->bittiming_const)) {
+ printf("%7d ***bitrate not possible***\n", bitrate_nominal);
return;
}
/* get nominal sample point */
- if (!sample_point)
- sample_point = get_cia_sample_point(bitrate);
+ if (!spt_nominal)
+ spt_nominal = get_cia_sample_point(bitrate_nominal);
- rate_error = abs((__s32)(bitrate - bt.bitrate));
- spt_error = abs((__s32)(sample_point - bt.sample_point));
+ rate_error = abs(bitrate_nominal - bt.bitrate);
+ spt_error = abs(spt_nominal - bt.sample_point);
printf("%7d "
"%6d %3d %4d %4d "
"%3d %3d "
"%7d %4.1f%% "
"%4.1f%% %4.1f%% %4.1f%% ",
- bitrate,
+ bitrate_nominal,
bt.tq, bt.prop_seg, bt.phase_seg1, bt.phase_seg2,
bt.sjw, bt.brp,
bt.bitrate,
- 100.0 * rate_error / bitrate,
+ 100.0 * rate_error / bitrate_nominal,
- sample_point / 10.0,
+ spt_nominal / 10.0,
bt.sample_point / 10.0,
- 100.0 * spt_error / sample_point);
+ 100.0 * spt_error / spt_nominal);
- btc->printf_btr(&bt, 0);
+ btc->printf_btr(&bt, false);
printf("\n");
}
unsigned int i;
for (i = 0; i < ARRAY_SIZE(can_calc_consts); i++)
- printf("%s\n", can_calc_consts[i].name);
+ printf("%s\n", can_calc_consts[i].bittiming_const.name);
}
int main(int argc, char *argv[])
{
- __u32 bitrate = 0;
- __u32 opt_ref_clk = 0, ref_clk;
- int sampl_pt = 0;
- int quiet = 0;
- int list = 0;
+ __u32 bitrate_nominal = 0;
+ struct calc_ref_clk opt_ref_clk = {
+ .name = "cmd-line",
+ };
+ const struct calc_ref_clk *ref_clk;
+ unsigned int spt_nominal = 0;
+ bool quiet = false, list = false, found = false;
char *name = NULL;
- unsigned int i, j;
- int opt, found = 0;
+ unsigned int i, j, k;
+ int opt;
- const struct can_bittiming_const *btc = NULL;
+ const struct calc_bittiming_const *btc;
- while ((opt = getopt(argc, argv, "b:c:lps:")) != -1) {
+ while ((opt = getopt(argc, argv, "b:c:lqs:")) != -1) {
switch (opt) {
case 'b':
- bitrate = atoi(optarg);
+ bitrate_nominal = atoi(optarg);
break;
case 'c':
- opt_ref_clk = atoi(optarg);
+ opt_ref_clk.clk = strtoul(optarg, NULL, 10);
break;
case 'l':
- list = 1;
+ list = true;
break;
case 'q':
- quiet = 1;
+ quiet = true;
break;
case 's':
- sampl_pt = atoi(optarg);
+ spt_nominal = strtoul(optarg, NULL, 10);
break;
default:
exit(EXIT_SUCCESS);
}
- if (sampl_pt && (sampl_pt >= 1000 || sampl_pt < 100))
+ if (spt_nominal && (spt_nominal >= 1000 || spt_nominal < 100))
print_usage(argv[0]);
for (i = 0; i < ARRAY_SIZE(can_calc_consts); i++) {
- if (name && strcmp(can_calc_consts[i].name, name))
+ if (name && strcmp(can_calc_consts[i].bittiming_const.name, name))
continue;
- found = 1;
+ found = true;
btc = &can_calc_consts[i];
- if (opt_ref_clk)
- ref_clk = opt_ref_clk;
- else
- ref_clk = btc->ref_clk;
-
- if (bitrate) {
- print_bit_timing(btc, bitrate, sampl_pt, ref_clk, quiet);
- } else {
- for (j = 0; j < ARRAY_SIZE(common_bitrates); j++)
- print_bit_timing(btc, common_bitrates[j],
- sampl_pt, ref_clk, j);
+ for (j = 0; j < ARRAY_SIZE(btc->ref_clk); j++) {
+ if (opt_ref_clk.clk)
+ ref_clk = &opt_ref_clk;
+ else
+ ref_clk = &btc->ref_clk[j];
+
+ if (!ref_clk->clk)
+ break;
+
+ if (bitrate_nominal) {
+ print_bit_timing(btc, ref_clk, bitrate_nominal,
+ spt_nominal, quiet);
+ } else {
+ for (k = 0; k < ARRAY_SIZE(common_bitrates); k++)
+ print_bit_timing(btc, ref_clk,
+ common_bitrates[k],
+ spt_nominal, k);
+ }
+ printf("\n");
+
+ if (opt_ref_clk.clk)
+ break;
}
- printf("\n");
}
if (!found) {
projects / can-utils.git / blobdiff