struct clk *bus_clk;
struct clk *can_clk;
struct xcan_timepoint ref_timepoint;
+ u16 prevhwts;
};
/* CAN Bittiming constants as per Xilinx CAN specs */
set reference point (ref_ktime, ref_ts) = (frame_ktime, frame_ts) ??? cummulative loss of precision ? meybe not
*/
-static ktime_t xcan_timestamp2ktime(struct xcan_priv *priv, u16 ts, struct net_device *netdev)
+static ktime_t xcan_timestamp2ktime(struct xcan_priv *priv, u16 ts, struct net_device *netdev, u32 *tmdiffns)
{
- u32 bitrate = priv->can.bittiming.bitrate; // TODO: I once saw a function for this ...
+ u32 bitrate = priv->can.clock.freq;//priv->can.bittiming.bitrate; // TODO: I once saw a function for this ...
struct xcan_timepoint *ref = &priv->ref_timepoint;
- ktime_t now_ktime = ktime_get();
+ //ktime_t now_ktime = ktime_get();
ktime_t frame_ktime;
+ ktime_t now_ktime;
+
int corr = 0;
+ now_ktime = ktime_get();
+
if (ktime_equal(ref->ktime, ns_to_ktime(0))) {
- netdev_dbg(netdev, "TS: settings reference %hu = %llu; bitrate = %u", ts, ktime_to_ns(now_ktime), bitrate);
+ //netdev_dbg(netdev, "TS: settings reference %hu = %llu; bitrate = %u", ts, ktime_to_ns(now_ktime), bitrate);
ref->ktime = now_ktime;
ref->ts = ts;
frame_ktime = now_ktime;
+ *tmdiffns = 0;
+ //netdev_warn(netdev, "TS: sync");
} else {
u16 tsdelta = (ts - ref->ts) & 0xFFFF;
#define TS2NS(ts) ({ u64 tmp = (ts) * (u64)1000000000; do_div(tmp, bitrate); tmp; })
+ // nrollovers = nowdelta / rollover_ns
+ // nrollovers = nowdelta / (65536 * 1000000000 / bitrate)
+ // nrollovers = nowdelta * bitrate / (65536 * 1000000000)
s64 rollover_ns = TS2NS(65536);
ktime_t nowdelta = ktime_sub(now_ktime, ref->ktime);
u32 nrollovers = ktime_divns(nowdelta, rollover_ns);
+ //u32 nrollovers = ktime_divns(ns_to_ktime(ktime_to_ns(nowdelta) * bitrate), 65536 * 1000000000ULL);
//netdev_dbg(netdev, "TS: rollover_ns = %lld, tsdelta = %hu, nowdelta = %llu, nrollovers = %u",
// rollover_ns, tsdelta, ktime_to_ns(nowdelta), nrollovers);
- frame_ktime = ktime_add_ns(ref->ktime, nrollovers * rollover_ns + TS2NS(tsdelta));
+
+ // nrollovers * rollover_ns + TS2NS(tsdelta)
+ // nrollovers * (65536 * 1000000000 / bitrate) + (tsdelta * 1000000000 / bitrate)
+ // (nrollovers * 65536 + tsdelta) * 1000000000 / bitrate;
+ //frame_ktime = ktime_add_ns(ref->ktime, nrollovers * rollover_ns + TS2NS(tsdelta));
+ frame_ktime = ktime_add_ns(ref->ktime, div_u64(((u64)nrollovers * 65536 + tsdelta) * 1000000000, bitrate));
if (ktime_after(frame_ktime, now_ktime)) {
frame_ktime = ktime_sub_ns(frame_ktime, rollover_ns);
corr = 1;
}
- netdev_dbg(netdev, "TS: now_ktime - frame_ktime = %lld%s", ktime_to_ns(ktime_sub(now_ktime, frame_ktime)), corr ? ", corr" : "");
+ /*netdev_warn(netdev, "TS: ftime = %llu, delay = %lld us%s; hwtime = %hu, hwdiff = %hu, nrollovers = %u, "
+ "tsdelta = %hu, bitrate = %u, ref->ktime = %llu, ref->ts = %hu, now_ktime = %llu",
+ ktime_to_ns(frame_ktime),
+ ktime_to_us(ktime_sub(now_ktime, frame_ktime)),
+ corr ? ", corr" : "",
+ ts,
+ ts - priv->prevhwts,
+ nrollovers, tsdelta, bitrate, ref->ktime, ref->ts, now_ktime);*/
+
+ priv->prevhwts = ts;
+ *tmdiffns = ktime_to_ns(ktime_sub(now_ktime, frame_ktime)) & 0xFFFFFFFF;
#undef TS2NS
}
return frame_ktime;
struct sk_buff *skb;
struct skb_shared_hwtstamps *hwts;
u32 id_xcan, dlc_reg, dlc, rawts, data[2] = {0, 0};
- ktime_t ts;
+ ktime_t ts, now_ktime;
+ u32 tmdiffns;
+
+ //netdev_warn(ndev, "DBG: xcan_rx, %llu", ktime_to_ns(ktime_get()));
skb = alloc_can_skb(ndev, &cf);
if (unlikely(!skb)) {
hwts = skb_hwtstamps(skb);
memset(hwts, 0, sizeof(*hwts));
rawts = le32_to_cpu(xcan_get_timestamp(dlc_reg));
- ts = xcan_timestamp2ktime(priv, rawts, ndev);
+ ts = xcan_timestamp2ktime(priv, rawts, ndev, &tmdiffns);
hwts->hwtstamp = ts;
- netdev_dbg(ndev, "Frame timestamp: dlc 0x%08x, raw 0x%04hx = %hu, transformed %lld ns",
- dlc_reg, rawts, rawts, ktime_to_ns(ts));
+ //netdev_dbg(ndev, "Frame timestamp: dlc 0x%08x, raw 0x%04hx = %hu, transformed %lld ns",
+ // dlc_reg, rawts, rawts, ktime_to_ns(ts));
/* Change Xilinx CAN ID format to socketCAN ID format */
if (id_xcan & XCAN_IDR_IDE_MASK) {
/* DW1/DW2 must always be read to remove message from RXFIFO */
data[0] = priv->read_reg(priv, XCAN_RXFIFO_DW1_OFFSET);
data[1] = priv->read_reg(priv, XCAN_RXFIFO_DW2_OFFSET);
+ data[1] = tmdiffns; // DBG
if (!(cf->can_id & CAN_RTR_FLAG)) {
/* Change Xilinx CAN data format to socketCAN data format */
u32 isr, ier;
int work_done = 0;
+ //netdev_warn(ndev, "DBG: xcan_rx_poll");
isr = priv->read_reg(priv, XCAN_ISR_OFFSET);
while ((isr & XCAN_IXR_RXNEMP_MASK) && (work_done < quota)) {
- if (isr & XCAN_IXR_RXOK_MASK) {
+ //if (isr & XCAN_IXR_RXOK_MASK) {
priv->write_reg(priv, XCAN_ICR_OFFSET,
XCAN_IXR_RXOK_MASK);
work_done += xcan_rx(ndev);
- } else {
+ /*} else {
priv->write_reg(priv, XCAN_ICR_OFFSET,
XCAN_IXR_RXNEMP_MASK);
break;
- }
+ }*/
priv->write_reg(priv, XCAN_ICR_OFFSET, XCAN_IXR_RXNEMP_MASK);
isr = priv->read_reg(priv, XCAN_ISR_OFFSET);
}
/* Get the interrupt status from Xilinx CAN */
isr = priv->read_reg(priv, XCAN_ISR_OFFSET);
+ //netdev_warn(ndev, "DBG: xcan_interrupt: ISR = 0x%08x, IER = 0x%08x", isr, priv->read_reg(priv, XCAN_IER_OFFSET));
if (!isr)
return IRQ_NONE;
ier &= ~(XCAN_IXR_RXNEMP_MASK | XCAN_IXR_RXOK_MASK);
priv->write_reg(priv, XCAN_IER_OFFSET, ier);
napi_schedule(&priv->napi);
+ //xcan_rx_poll(&priv->napi, 64);
}
return IRQ_HANDLED;
}
</spirit:views>
<spirit:ports>
<spirit:port>
- <spirit:name>CAN2_RXD</spirit:name>
+ <spirit:name>LED</spirit:name>
<spirit:wire>
- <spirit:direction>in</spirit:direction>
+ <spirit:direction>out</spirit:direction>
+ <spirit:vector>
+ <spirit:left>7</spirit:left>
+ <spirit:right>0</spirit:right>
+ </spirit:vector>
</spirit:wire>
</spirit:port>
<spirit:port>
- <spirit:name>CAN3_RXD</spirit:name>
+ <spirit:name>KEY</spirit:name>
<spirit:wire>
<spirit:direction>in</spirit:direction>
+ <spirit:vector>
+ <spirit:left>3</spirit:left>
+ <spirit:right>0</spirit:right>
+ </spirit:vector>
</spirit:wire>
</spirit:port>
<spirit:port>
- <spirit:name>CAN4_RXD</spirit:name>
+ <spirit:name>SW</spirit:name>
<spirit:wire>
<spirit:direction>in</spirit:direction>
+ <spirit:vector>
+ <spirit:left>7</spirit:left>
+ <spirit:right>0</spirit:right>
+ </spirit:vector>
</spirit:wire>
</spirit:port>
<spirit:port>
- <spirit:name>CAN1_TXD</spirit:name>
- <spirit:wire>
- <spirit:direction>out</spirit:direction>
- </spirit:wire>
- </spirit:port>
- <spirit:port>
- <spirit:name>CAN2_TXD</spirit:name>
+ <spirit:name>CAN4_TXD</spirit:name>
<spirit:wire>
<spirit:direction>out</spirit:direction>
</spirit:wire>
</spirit:wire>
</spirit:port>
<spirit:port>
- <spirit:name>CAN4_TXD</spirit:name>
+ <spirit:name>CAN2_TXD</spirit:name>
<spirit:wire>
<spirit:direction>out</spirit:direction>
</spirit:wire>
</spirit:port>
<spirit:port>
- <spirit:name>CAN1_RXD</spirit:name>
+ <spirit:name>CAN1_TXD</spirit:name>
<spirit:wire>
- <spirit:direction>in</spirit:direction>
+ <spirit:direction>out</spirit:direction>
</spirit:wire>
</spirit:port>
<spirit:port>
</spirit:wire>
</spirit:port>
<spirit:port>
- <spirit:name>LED</spirit:name>
+ <spirit:name>CAN1_RXD</spirit:name>
<spirit:wire>
- <spirit:direction>out</spirit:direction>
- <spirit:vector>
- <spirit:left>7</spirit:left>
- <spirit:right>0</spirit:right>
- </spirit:vector>
+ <spirit:direction>in</spirit:direction>
</spirit:wire>
</spirit:port>
<spirit:port>
- <spirit:name>KEY</spirit:name>
+ <spirit:name>CAN2_RXD</spirit:name>
<spirit:wire>
<spirit:direction>in</spirit:direction>
- <spirit:vector>
- <spirit:left>3</spirit:left>
- <spirit:right>0</spirit:right>
- </spirit:vector>
</spirit:wire>
</spirit:port>
<spirit:port>
- <spirit:name>SW</spirit:name>
+ <spirit:name>CAN3_RXD</spirit:name>
+ <spirit:wire>
+ <spirit:direction>in</spirit:direction>
+ </spirit:wire>
+ </spirit:port>
+ <spirit:port>
+ <spirit:name>CAN4_RXD</spirit:name>
<spirit:wire>
<spirit:direction>in</spirit:direction>
- <spirit:vector>
- <spirit:left>7</spirit:left>
- <spirit:right>0</spirit:right>
- </spirit:vector>
</spirit:wire>
</spirit:port>
</spirit:ports>
<spirit:configurableElementValue spirit:referenceId="PCW_QSPI_PERIPHERAL_FREQMHZ">200</spirit:configurableElementValue>
<spirit:configurableElementValue spirit:referenceId="PCW_SDIO_PERIPHERAL_FREQMHZ">50</spirit:configurableElementValue>
<spirit:configurableElementValue spirit:referenceId="PCW_UART_PERIPHERAL_FREQMHZ">50</spirit:configurableElementValue>
+ <spirit:configurableElementValue spirit:referenceId="PCW_CAN_PERIPHERAL_FREQMHZ">20</spirit:configurableElementValue>
<spirit:configurableElementValue spirit:referenceId="PCW_FPGA0_PERIPHERAL_FREQMHZ">100</spirit:configurableElementValue>
<spirit:configurableElementValue spirit:referenceId="PCW_FPGA1_PERIPHERAL_FREQMHZ">100</spirit:configurableElementValue>
<spirit:configurableElementValue spirit:referenceId="PCW_FPGA2_PERIPHERAL_FREQMHZ">33.333333</spirit:configurableElementValue>
<spirit:internalPortReference spirit:componentRef="sja1000_0" spirit:portRef="s00_axi_aclk"/>
<spirit:internalPortReference spirit:componentRef="sja1000_1" spirit:portRef="can_clk"/>
<spirit:internalPortReference spirit:componentRef="sja1000_1" spirit:portRef="s00_axi_aclk"/>
+ <spirit:internalPortReference spirit:componentRef="can_crossbar_0" spirit:portRef="s00_axi_aclk"/>
<spirit:internalPortReference spirit:componentRef="processing_system7_0_axi_periph" spirit:portRef="ACLK"/>
<spirit:internalPortReference spirit:componentRef="processing_system7_0_axi_periph" spirit:portRef="S00_ACLK"/>
<spirit:internalPortReference spirit:componentRef="processing_system7_0_axi_periph" spirit:portRef="M00_ACLK"/>
<spirit:internalPortReference spirit:componentRef="processing_system7_0_axi_periph" spirit:portRef="M01_ACLK"/>
<spirit:internalPortReference spirit:componentRef="processing_system7_0_axi_periph" spirit:portRef="M02_ACLK"/>
<spirit:internalPortReference spirit:componentRef="processing_system7_0_axi_periph" spirit:portRef="M03_ACLK"/>
- <spirit:internalPortReference spirit:componentRef="can_crossbar_0" spirit:portRef="s00_axi_aclk"/>
</spirit:adHocConnection>
<spirit:adHocConnection>
<spirit:name>processing_system7_0_FCLK_RESET0_N</spirit:name>
<spirit:internalPortReference spirit:componentRef="rst_processing_system7_0_100M" spirit:portRef="peripheral_aresetn"/>
<spirit:internalPortReference spirit:componentRef="sja1000_0" spirit:portRef="s00_axi_aresetn"/>
<spirit:internalPortReference spirit:componentRef="sja1000_1" spirit:portRef="s00_axi_aresetn"/>
+ <spirit:internalPortReference spirit:componentRef="can_crossbar_0" spirit:portRef="s00_axi_aresetn"/>
<spirit:internalPortReference spirit:componentRef="processing_system7_0_axi_periph" spirit:portRef="S00_ARESETN"/>
<spirit:internalPortReference spirit:componentRef="processing_system7_0_axi_periph" spirit:portRef="M00_ARESETN"/>
<spirit:internalPortReference spirit:componentRef="processing_system7_0_axi_periph" spirit:portRef="M01_ARESETN"/>
<spirit:internalPortReference spirit:componentRef="processing_system7_0_axi_periph" spirit:portRef="M02_ARESETN"/>
<spirit:internalPortReference spirit:componentRef="processing_system7_0_axi_periph" spirit:portRef="M03_ARESETN"/>
- <spirit:internalPortReference spirit:componentRef="can_crossbar_0" spirit:portRef="s00_axi_aresetn"/>
</spirit:adHocConnection>
<spirit:adHocConnection>
<spirit:name>rst_processing_system7_0_100M_interconnect_aresetn</spirit:name>
<spirit:library>BlockDiagram/top_imp/processing_system7_0_axi_periph_imp</spirit:library>
<spirit:name>m03_couplers_imp</spirit:name>
<spirit:version>1.00.a</spirit:version>
+ <spirit:componentInstances>
+ <spirit:componentInstance>
+ <spirit:instanceName>auto_pc</spirit:instanceName>
+ <spirit:componentRef spirit:library="ip" spirit:name="axi_protocol_converter" spirit:vendor="xilinx.com" spirit:version="2.1"/>
+ <spirit:configurableElementValues>
+ <spirit:configurableElementValue spirit:referenceId="bd:xciName">top_auto_pc_2</spirit:configurableElementValue>
+ <spirit:configurableElementValue spirit:referenceId="SI_PROTOCOL">AXI4</spirit:configurableElementValue>
+ <spirit:configurableElementValue spirit:referenceId="MI_PROTOCOL">AXI4LITE</spirit:configurableElementValue>
+ </spirit:configurableElementValues>
+ </spirit:componentInstance>
+ </spirit:componentInstances>
<spirit:interconnections/>
- <spirit:adHocConnections/>
+ <spirit:adHocConnections>
+ <spirit:adHocConnection>
+ <spirit:name>S_ACLK_1</spirit:name>
+ <spirit:externalPortReference spirit:portRef="S_ACLK"/>
+ <spirit:internalPortReference spirit:componentRef="auto_pc" spirit:portRef="aclk"/>
+ </spirit:adHocConnection>
+ <spirit:adHocConnection>
+ <spirit:name>S_ARESETN_1</spirit:name>
+ <spirit:externalPortReference spirit:portRef="S_ARESETN"/>
+ <spirit:internalPortReference spirit:componentRef="auto_pc" spirit:portRef="aresetn"/>
+ </spirit:adHocConnection>
+ </spirit:adHocConnections>
<spirit:hierConnections>
- <spirit:hierConnection spirit:interfaceRef="M_AXI/m03_couplers_to_m03_couplers">
- <spirit:activeInterface spirit:busRef="S_AXI" spirit:componentRef="./m03_couplers_to_m03_couplers"/>
+ <spirit:hierConnection spirit:interfaceRef="M_AXI/auto_pc_to_m03_couplers">
+ <spirit:activeInterface spirit:busRef="M_AXI" spirit:componentRef="auto_pc"/>
+ </spirit:hierConnection>
+ <spirit:hierConnection spirit:interfaceRef="S_AXI/m03_couplers_to_auto_pc">
+ <spirit:activeInterface spirit:busRef="S_AXI" spirit:componentRef="auto_pc"/>
</spirit:hierConnection>
</spirit:hierConnections>
</spirit:design>
<spirit:library>BlockDiagram/top_imp/processing_system7_0_axi_periph_imp</spirit:library>
<spirit:name>m02_couplers_imp</spirit:name>
<spirit:version>1.00.a</spirit:version>
+ <spirit:componentInstances>
+ <spirit:componentInstance>
+ <spirit:instanceName>auto_pc</spirit:instanceName>
+ <spirit:componentRef spirit:library="ip" spirit:name="axi_protocol_converter" spirit:vendor="xilinx.com" spirit:version="2.1"/>
+ <spirit:configurableElementValues>
+ <spirit:configurableElementValue spirit:referenceId="bd:xciName">top_auto_pc_1</spirit:configurableElementValue>
+ <spirit:configurableElementValue spirit:referenceId="SI_PROTOCOL">AXI4</spirit:configurableElementValue>
+ <spirit:configurableElementValue spirit:referenceId="MI_PROTOCOL">AXI4LITE</spirit:configurableElementValue>
+ </spirit:configurableElementValues>
+ </spirit:componentInstance>
+ </spirit:componentInstances>
<spirit:interconnections/>
- <spirit:adHocConnections/>
+ <spirit:adHocConnections>
+ <spirit:adHocConnection>
+ <spirit:name>S_ACLK_1</spirit:name>
+ <spirit:externalPortReference spirit:portRef="S_ACLK"/>
+ <spirit:internalPortReference spirit:componentRef="auto_pc" spirit:portRef="aclk"/>
+ </spirit:adHocConnection>
+ <spirit:adHocConnection>
+ <spirit:name>S_ARESETN_1</spirit:name>
+ <spirit:externalPortReference spirit:portRef="S_ARESETN"/>
+ <spirit:internalPortReference spirit:componentRef="auto_pc" spirit:portRef="aresetn"/>
+ </spirit:adHocConnection>
+ </spirit:adHocConnections>
<spirit:hierConnections>
- <spirit:hierConnection spirit:interfaceRef="M_AXI/m02_couplers_to_m02_couplers">
- <spirit:activeInterface spirit:busRef="S_AXI" spirit:componentRef="./m02_couplers_to_m02_couplers"/>
+ <spirit:hierConnection spirit:interfaceRef="M_AXI/auto_pc_to_m02_couplers">
+ <spirit:activeInterface spirit:busRef="M_AXI" spirit:componentRef="auto_pc"/>
+ </spirit:hierConnection>
+ <spirit:hierConnection spirit:interfaceRef="S_AXI/m02_couplers_to_auto_pc">
+ <spirit:activeInterface spirit:busRef="S_AXI" spirit:componentRef="auto_pc"/>
</spirit:hierConnection>
</spirit:hierConnections>
</spirit:design>
<spirit:library>BlockDiagram/top_imp/processing_system7_0_axi_periph_imp</spirit:library>
<spirit:name>m00_couplers_imp</spirit:name>
<spirit:version>1.00.a</spirit:version>
+ <spirit:componentInstances>
+ <spirit:componentInstance>
+ <spirit:instanceName>auto_pc</spirit:instanceName>
+ <spirit:componentRef spirit:library="ip" spirit:name="axi_protocol_converter" spirit:vendor="xilinx.com" spirit:version="2.1"/>
+ <spirit:configurableElementValues>
+ <spirit:configurableElementValue spirit:referenceId="bd:xciName">top_auto_pc_0</spirit:configurableElementValue>
+ <spirit:configurableElementValue spirit:referenceId="SI_PROTOCOL">AXI4</spirit:configurableElementValue>
+ <spirit:configurableElementValue spirit:referenceId="MI_PROTOCOL">AXI4LITE</spirit:configurableElementValue>
+ </spirit:configurableElementValues>
+ </spirit:componentInstance>
+ </spirit:componentInstances>
<spirit:interconnections/>
- <spirit:adHocConnections/>
+ <spirit:adHocConnections>
+ <spirit:adHocConnection>
+ <spirit:name>S_ACLK_1</spirit:name>
+ <spirit:externalPortReference spirit:portRef="S_ACLK"/>
+ <spirit:internalPortReference spirit:componentRef="auto_pc" spirit:portRef="aclk"/>
+ </spirit:adHocConnection>
+ <spirit:adHocConnection>
+ <spirit:name>S_ARESETN_1</spirit:name>
+ <spirit:externalPortReference spirit:portRef="S_ARESETN"/>
+ <spirit:internalPortReference spirit:componentRef="auto_pc" spirit:portRef="aresetn"/>
+ </spirit:adHocConnection>
+ </spirit:adHocConnections>
<spirit:hierConnections>
- <spirit:hierConnection spirit:interfaceRef="M_AXI/m00_couplers_to_m00_couplers">
- <spirit:activeInterface spirit:busRef="S_AXI" spirit:componentRef="./m00_couplers_to_m00_couplers"/>
+ <spirit:hierConnection spirit:interfaceRef="M_AXI/auto_pc_to_m00_couplers">
+ <spirit:activeInterface spirit:busRef="M_AXI" spirit:componentRef="auto_pc"/>
+ </spirit:hierConnection>
+ <spirit:hierConnection spirit:interfaceRef="S_AXI/m00_couplers_to_auto_pc">
+ <spirit:activeInterface spirit:busRef="S_AXI" spirit:componentRef="auto_pc"/>
</spirit:hierConnection>
</spirit:hierConnections>
</spirit:design>
<spirit:instanceName>auto_pc</spirit:instanceName>
<spirit:componentRef spirit:library="ip" spirit:name="axi_protocol_converter" spirit:vendor="xilinx.com" spirit:version="2.1"/>
<spirit:configurableElementValues>
- <spirit:configurableElementValue spirit:referenceId="bd:xciName">top_auto_pc_0</spirit:configurableElementValue>
+ <spirit:configurableElementValue spirit:referenceId="bd:xciName">top_auto_pc_3</spirit:configurableElementValue>
<spirit:configurableElementValue spirit:referenceId="SI_PROTOCOL">AXI3</spirit:configurableElementValue>
- <spirit:configurableElementValue spirit:referenceId="MI_PROTOCOL">AXI4LITE</spirit:configurableElementValue>
+ <spirit:configurableElementValue spirit:referenceId="MI_PROTOCOL">AXI4</spirit:configurableElementValue>
</spirit:configurableElementValues>
</spirit:componentInstance>
</spirit:componentInstances>