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FlexCAN_T4FDTimings.tpp
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FlexCAN_T4FDTimings.tpp
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#include <FlexCAN_T4.h>
#include "imxrt_flexcan.h"
#include "Arduino.h"
FCTPFD_FUNC bool FCTPFD_OPT::setBaudRateAdvanced(CANFD_timings_t config, uint8_t nominal_choice, uint8_t flexdata_choice, FLEXCAN_RXTX listen_only) {
return setBaudRate(config, nominal_choice, flexdata_choice, listen_only, 1);
}
FCTPFD_FUNC bool FCTPFD_OPT::setBaudRate(CANFD_timings_t config, FLEXCAN_RXTX listen_only) {
return setBaudRate(config, 1, 1, listen_only, 0);
}
FCTPFD_FUNC bool FCTPFD_OPT::setBaudRate(CANFD_timings_t config, uint8_t nominal_choice, uint8_t flexdata_choice, FLEXCAN_RXTX listen_only, bool advanced) {
uint32_t result = 0, result_old = 0;
double results[10][12] = { { 0 } , { 0 } };
double baudrate = config.baudrate, propdelay = config.propdelay, bus_length = config.bus_length, req_smp = config.sample;
double cpi_clock = config.clock;
baudrate /= 1000;
double ratio = cpi_clock * 1000 / baudrate;
double nbt_min = 8, nbt_max = 129, propseg_max = 64, propseg = 0, pseg_1, pseg_2;
propdelay = (propdelay * 2) + (bus_length * 10);
uint32_t ipt = 2;
double temp = 0, pseg1 = 32, pseg2 = 32, rjw = 16, prescaler_min = 1, prescaler_max = 1024;
if ( advanced ) Serial.println("\n\n #########################################################################################################################################");
if ( advanced ) Serial.println(" #\t\t\t\t\t\t\t\t*** CAN NOMINAL CONFIGURATION ***\t\t\t\t\t #");
if ( advanced ) Serial.println(" #########################################################################################################################################\n");
for ( uint32_t prescaler = prescaler_min; prescaler < prescaler_max; prescaler++ ) {
temp = ratio / prescaler;
for ( double nbt = nbt_min; nbt < nbt_max; nbt++ ) {
if ( temp == nbt ) {
propseg = ceil(propdelay / 1000 * cpi_clock / prescaler);
if ( propseg <= propseg_max ) {
for ( double pseg = 1; pseg <= pseg1; pseg++ ) {
if ( req_smp != 0 ) {
pseg_1 = round((nbt * req_smp / 100) - 1 - propseg);
pseg_2 = nbt - 1 - propseg - pseg_1;
if ( pseg_2 >= ipt && pseg_2 <= pseg2 && pseg_1 > 0 && pseg_1 <= pseg1 ) {
result = result_old + 1;
rjw = ( pseg_2 <= rjw ) ? pseg_2 : rjw;
double error = (double) rjw / 20 / nbt * 100;
double error1 = (double)( ( pseg_1 <= pseg_2 ) ? pseg_1 : pseg_2 ) / 2 / (13 * nbt - pseg_2) * 100;
double sclk = (cpi_clock / prescaler);
double tq = (1000 / (cpi_clock / prescaler));
double smp = 100 - pseg_2 / nbt * 100;
results[result - 1][0] = prescaler;
results[result - 1][1] = sclk;
results[result - 1][2] = tq;
results[result - 1][3] = nbt;
results[result - 1][4] = propseg;
results[result - 1][5] = pseg_1;
results[result - 1][6] = pseg_2;
results[result - 1][7] = rjw;
results[result - 1][8] = (error <= error1) ? error : error1;
results[result - 1][9] = smp;
if ( advanced ) Serial.print(" Prescaler Sclk(MHz) Tq(ns) NBT(#Tq) Propseg(#Tq) Pseg1(#Tq) Pseg2(#Tq) RJW(#Tq) ?f(%) Sample Point(%) CBT Register\n");
if ( advanced ) Serial.printf(" %2u)", result);
if ( advanced ) Serial.printf(" %4u", prescaler);
if ( advanced ) Serial.printf(" %6.2f", sclk);
if ( advanced ) Serial.printf(" %7.2f", tq);
if ( advanced ) Serial.printf(" %2u", (uint32_t)nbt);
if ( advanced ) Serial.printf(" %2u", (uint32_t)propseg);
if ( advanced ) Serial.printf(" %2u", (uint32_t)pseg_1);
if ( advanced ) Serial.printf(" %2u", (uint32_t)pseg_2);
if ( advanced ) Serial.printf(" %2u", (uint32_t)rjw);
if ( advanced ) Serial.printf(" %6.2f", ((error <= error1) ? error : error1));
if ( advanced ) Serial.printf(" %6.2f", smp);
uint32_t cbt = ((uint32_t)(results[result - 1][4] - 1) << 10); // EPROPSEG
cbt |= ((uint32_t)(results[result - 1][6] - 1) << 0); // EPSEG2
cbt |= ((uint32_t)(results[result - 1][5] - 1) << 5); // EPSEG1
cbt |= ((uint32_t)(results[result - 1][7] - 1) << 16); // ERJW
cbt |= ((uint32_t)(results[result - 1][0] - 1) << 21); // EPRESDIV
cbt |= (1UL << 31); // BTF /* use CBT register instead of CTRL1 for FD */
if ( advanced ) Serial.printf(" 0x%8.08X",cbt);
if ( advanced ) Serial.printf("\n\t%8s%s%.2f%s%u%s%.2f%s", "", "*** Arbitration phase bit time = ", (results[result - 1][2] * results[result - 1][3] / 1000), "us (", (int)results[result - 1][3], "Tq, Tq=", results[result - 1][2], ")\n");
if ( advanced ) Serial.printf("\t%8s%s%.2f%s", "", "a) Sync: ", results[result - 1][2], "ns\t");
if ( advanced ) Serial.printf("%8s%s%.2f%s", "", "b) Propseg: ", results[result - 1][2] * results[result - 1][4], "ns\t");
if ( advanced ) Serial.printf("%8s%s%.2f%s", "", "c) Pseg1: ", results[result - 1][2] * results[result - 1][5], "ns\t");
if ( advanced ) Serial.printf("%8s%s%.2f%s", "", "d) Pseg2: ", results[result - 1][2] * results[result - 1][6], "ns\n");
uint32_t scale = (uint32_t)ceil(results[result - 1][2]);
char _sync[(scale*124/1000) + 1] = "";
for ( uint32_t i = 0; i < (scale*149/1200) + 1; i++ ) _sync[i] = 'a';
_sync[(scale*124/1000)] = '\0';
scale = (uint32_t)ceil(results[result - 1][2] * results[result - 1][4]);
char _prop[(scale*124/1000) + 1] = "";
for ( uint32_t i = 0; i < (scale*149/1200) + 1; i++ ) _prop[i] = 'b';
_prop[(scale*124/1000)] = '\0';
scale = (uint32_t)ceil(results[result - 1][2] * results[result - 1][5]);
char _pseg1[(scale*124/1000) + 1] = "";
for ( uint32_t i = 0; i < (scale*149/1200) + 1; i++ ) _pseg1[i] = 'c';
_pseg1[(scale*124/1000)] = '\0';
scale = (uint32_t)ceil(results[result - 1][2] * results[result - 1][6]);
char _pseg2[(scale*124/1000) + 1] = "";
for ( uint32_t i = 0; i < (scale*149/1200) + 1; i++ ) _pseg2[i] = 'd';
_pseg2[(scale*124/1000)] = '\0';
if ( advanced ) Serial.printf("%9s%s%-s%s%-s%s%-s%s%-s", "[", _sync, "|", _prop, "|", _pseg1, "|", _pseg2, "]\n");
if ( advanced ) Serial.printf("%8s%-s%-s%-s%-s%-s%-s", "", "|________________________", "|________________________", "|________________________", "|________________________", "|________________________", "|________________________|");
if ( advanced ) Serial.printf("\n%8s%u%*s%u%*s%u%*s%u%*s%u%*s%u%*s%u%s", "", 0, 23, "", 200, 22, "", 400, 22, "", 600, 22, "", 800, 22, "", 1000, 22, "", 1200, "(ns)\n\n\n");
}
if ( result == result_old ) {
pseg = nbt - 1 - propseg;
if ( pseg == 3 && ipt == 2 ) {
result = result + 1;
double error = (double) rjw / 20 / nbt * 100;
double error1 = ( ( pseg_1 <= pseg_2 ) ? (double)pseg_1 : (double)pseg_2 ) / 2 / (13 * nbt - pseg_2) * 100;
double sclk = (cpi_clock / prescaler);
double tq = (1000 / (cpi_clock / prescaler));
double smp = 100 - 2 / nbt * 100;
results[result - 1][0] = prescaler;
results[result - 1][1] = sclk;
results[result - 1][2] = tq;
results[result - 1][3] = nbt;
results[result - 1][4] = propseg;
results[result - 1][5] = 1;
results[result - 1][6] = 2;
results[result - 1][7] = 1;
results[result - 1][8] = (error <= error1) ? error : error1;
results[result - 1][9] = smp;
if ( advanced ) Serial.print(" Prescaler Sclk(MHz) Tq(ns) NBT(#Tq) Propseg(#Tq) Pseg1(#Tq) Pseg2(#Tq) RJW(#Tq) ?f(%) Sample Point(%) CBT Register\n");
if ( advanced ) Serial.printf(" %2u)", result);
if ( advanced ) Serial.printf(" %4u", prescaler);
if ( advanced ) Serial.printf(" %6.2f", sclk);
if ( advanced ) Serial.printf(" %7.2f", tq);
if ( advanced ) Serial.printf(" %2u", (uint32_t)nbt);
if ( advanced ) Serial.printf(" %2u", (uint32_t)propseg);
if ( advanced ) Serial.printf(" %2u", (uint32_t)1);
if ( advanced ) Serial.printf(" %2u", (uint32_t)2);
if ( advanced ) Serial.printf(" %2u", (uint32_t)1);
if ( advanced ) Serial.printf(" %6.2f", ((error <= error1) ? error : error1));
if ( advanced ) Serial.printf(" %6.2f", smp);
uint32_t cbt = ((uint32_t)(results[result - 1][4] - 1) << 10); // EPROPSEG
cbt |= ((uint32_t)(results[result - 1][6] - 1) << 0); // EPSEG2
cbt |= ((uint32_t)(results[result - 1][5] - 1) << 5); // EPSEG1
cbt |= ((uint32_t)(results[result - 1][7] - 1) << 16); // ERJW
cbt |= ((uint32_t)(results[result - 1][0] - 1) << 21); // EPRESDIV
cbt |= (1UL << 31); // BTF /* use CBT register instead of CTRL1 for FD */
if ( advanced ) Serial.printf(" 0x%8.08X",cbt);
if ( advanced ) Serial.printf("\n\t%8s%s%.2f%s%u%s%.2f%s", "", "*** Arbitration phase bit time = ", (results[result - 1][2] * results[result - 1][3] / 1000), "us (", (int)results[result - 1][3], "Tq, Tq=", results[result - 1][2], ")\n");
if ( advanced ) Serial.printf("\t%8s%s%.2f%s", "", "a) Sync: ", results[result - 1][2], "ns\t");
if ( advanced ) Serial.printf("%8s%s%.2f%s", "", "b) Propseg: ", results[result - 1][2] * results[result - 1][4], "ns\t");
if ( advanced ) Serial.printf("%8s%s%.2f%s", "", "c) Pseg1: ", results[result - 1][2] * results[result - 1][5], "ns\t");
if ( advanced ) Serial.printf("%8s%s%.2f%s", "", "d) Pseg2: ", results[result - 1][2] * results[result - 1][6], "ns\n");
uint32_t scale = (uint32_t)ceil(results[result - 1][2]);
char _sync[(scale*124/1000) + 1] = "";
for ( uint32_t i = 0; i < (scale*149/1200) + 1; i++ ) _sync[i] = 'a';
_sync[(scale*124/1000)] = '\0';
scale = (uint32_t)ceil(results[result - 1][2] * results[result - 1][4]);
char _prop[(scale*124/1000) + 1] = "";
for ( uint32_t i = 0; i < (scale*149/1200) + 1; i++ ) _prop[i] = 'b';
_prop[(scale*124/1000)] = '\0';
scale = (uint32_t)ceil(results[result - 1][2] * results[result - 1][5]);
char _pseg1[(scale*124/1000) + 1] = "";
for ( uint32_t i = 0; i < (scale*149/1200) + 1; i++ ) _pseg1[i] = 'c';
_pseg1[(scale*124/1000)] = '\0';
scale = (uint32_t)ceil(results[result - 1][2] * results[result - 1][6]);
char _pseg2[(scale*124/1000) + 1] = "";
for ( uint32_t i = 0; i < (scale*149/1200) + 1; i++ ) _pseg2[i] = 'd';
_pseg2[(scale*124/1000)] = '\0';
if ( advanced ) Serial.printf("%9s%s%-s%s%-s%s%-s%s%-s", "[", _sync, "|", _prop, "|", _pseg1, "|", _pseg2, "]\n");
if ( advanced ) Serial.printf("%8s%-s%-s%-s%-s%-s%-s", "", "|________________________", "|________________________", "|________________________", "|________________________", "|________________________", "|________________________|");
if ( advanced ) Serial.printf("\n%8s%u%*s%u%*s%u%*s%u%*s%u%*s%u%*s%u%s", "", 0, 23, "", 200, 22, "", 400, 22, "", 600, 22, "", 800, 22, "", 1000, 22, "", 1200, "(ns)\n\n\n");
}
if ( pseg > (ipt + 1) && pseg <= (pseg1 * 2) ) {
if ( (uint32_t)pseg % 2 != 0 ) propseg++;
pseg = (nbt - 1 - propseg) / 2;
result = result + 1;
rjw = ( pseg <= rjw ) ? pseg : rjw;
double pseg_val = nbt - 1 - propseg - pseg;
double error = (double)rjw / 20 / nbt * 100;
double error1 = (((pseg <= pseg_val) ? (double)pseg : (double)pseg_val ) / 2 / (13 * nbt - pseg_val) * 100);
double sclk = (cpi_clock / prescaler);
double tq = (1000 / (cpi_clock / prescaler));
double smp = 100 - pseg / nbt * 100;
results[result - 1][0] = prescaler;
results[result - 1][1] = sclk;
results[result - 1][2] = tq;
results[result - 1][3] = nbt;
results[result - 1][4] = propseg;
results[result - 1][5] = pseg;
results[result - 1][6] = pseg_val;
results[result - 1][7] = rjw;
results[result - 1][8] = (error <= error1) ? error : error1;
results[result - 1][9] = smp;
if ( advanced ) Serial.print(" Prescaler Sclk(MHz) Tq(ns) NBT(#Tq) Propseg(#Tq) Pseg1(#Tq) Pseg2(#Tq) RJW(#Tq) ?f(%) Sample Point(%) CBT Register\n");
if ( advanced ) Serial.printf(" %2u)", result);
if ( advanced ) Serial.printf(" %4u", prescaler);
if ( advanced ) Serial.printf(" %6.2f", sclk);
if ( advanced ) Serial.printf(" %7.2f", tq);
if ( advanced ) Serial.printf(" %2u", (uint32_t)nbt);
if ( advanced ) Serial.printf(" %2u", (uint32_t)propseg);
if ( advanced ) Serial.printf(" %2u", (uint32_t)pseg);
if ( advanced ) Serial.printf(" %2u", (uint32_t)pseg_val);
if ( advanced ) Serial.printf(" %2u", (uint32_t)rjw);
if ( advanced ) Serial.printf(" %6.2f", ((error <= error1) ? error : error1));
if ( advanced ) Serial.printf(" %6.2f", smp);
uint32_t cbt = ((uint32_t)(results[result - 1][4] - 1) << 10); // EPROPSEG
cbt |= ((uint32_t)(results[result - 1][6] - 1) << 0); // EPSEG2
cbt |= ((uint32_t)(results[result - 1][5] - 1) << 5); // EPSEG1
cbt |= ((uint32_t)(results[result - 1][7] - 1) << 16); // ERJW
cbt |= ((uint32_t)(results[result - 1][0] - 1) << 21); // EPRESDIV
cbt |= (1UL << 31); // BTF /* use CBT register instead of CTRL1 for FD */
if ( advanced ) Serial.printf(" 0x%8.08X",cbt);
if ( advanced ) Serial.printf("\n\t%8s%s%.2f%s%u%s%.2f%s", "", "*** Arbitration phase bit time = ", (results[result - 1][2] * results[result - 1][3] / 1000), "us (", (int)results[result - 1][3], "Tq, Tq=", results[result - 1][2], ")\n");
if ( advanced ) Serial.printf("\t%8s%s%.2f%s", "", "a) Sync: ", results[result - 1][2], "ns\t");
if ( advanced ) Serial.printf("%8s%s%.2f%s", "", "b) Propseg: ", results[result - 1][2] * results[result - 1][4], "ns\t");
if ( advanced ) Serial.printf("%8s%s%.2f%s", "", "c) Pseg1: ", results[result - 1][2] * results[result - 1][5], "ns\t");
if ( advanced ) Serial.printf("%8s%s%.2f%s", "", "d) Pseg2: ", results[result - 1][2] * results[result - 1][6], "ns\n");
uint32_t scale = (uint32_t)ceil(results[result - 1][2]);
char _sync[(scale*124/1000) + 1] = "";
for ( uint32_t i = 0; i < (scale*149/1200) + 1; i++ ) _sync[i] = 'a';
_sync[(scale*124/1000)] = '\0';
scale = (uint32_t)ceil(results[result - 1][2] * results[result - 1][4]);
char _prop[(scale*124/1000) + 1] = "";
for ( uint32_t i = 0; i < (scale*149/1200) + 1; i++ ) _prop[i] = 'b';
_prop[(scale*124/1000)] = '\0';
scale = (uint32_t)ceil(results[result - 1][2] * results[result - 1][5]);
char _pseg1[(scale*124/1000) + 1] = "";
for ( uint32_t i = 0; i < (scale*149/1200) + 1; i++ ) _pseg1[i] = 'c';
_pseg1[(scale*124/1000)] = '\0';
scale = (uint32_t)ceil(results[result - 1][2] * results[result - 1][6]);
char _pseg2[(scale*124/1000) + 1] = "";
for ( uint32_t i = 0; i < (scale*149/1200) + 1; i++ ) _pseg2[i] = 'd';
_pseg2[(scale*124/1000)] = '\0';
if ( advanced ) Serial.printf("%9s%s%-s%s%-s%s%-s%s%-s", "[", _sync, "|", _prop, "|", _pseg1, "|", _pseg2, "]\n");
if ( advanced ) Serial.printf("%8s%-s%-s%-s%-s%-s%-s", "", "|________________________", "|________________________", "|________________________", "|________________________", "|________________________", "|________________________|");
if ( advanced ) Serial.printf("\n%8s%u%*s%u%*s%u%*s%u%*s%u%*s%u%*s%u%s", "", 0, 23, "", 200, 22, "", 400, 22, "", 600, 22, "", 800, 22, "", 1000, 22, "", 1200, "(ns)\n\n\n");
}
}
result_old = result;
break;
}
}
}
}
}
}
if ( advanced ) Serial.println("\n\n\n");
if ( nominal_choice && flexdata_choice ) {
if ( nominal_choice > result ) {
if ( advanced ) Serial.println("\n\t*** ERROR: Nominal rate selection out of bounds!\n");
return 0;
}
uint32_t cbt = ((uint32_t)(results[nominal_choice - 1][4] - 1) << 10); // EPROPSEG
cbt |= ((uint32_t)(results[nominal_choice - 1][6] - 1) << 0); // EPSEG2
cbt |= ((uint32_t)(results[nominal_choice - 1][5] - 1) << 5); // EPSEG1
cbt |= ((uint32_t)(results[nominal_choice - 1][7] - 1) << 16); // ERJW
cbt |= ((uint32_t)(results[nominal_choice - 1][0] - 1) << 21); // EPRESDIV
cbt |= (1UL << 31); // BTF
uint32_t fdcbt_setting = setBaudRateFD(config, flexdata_choice, advanced);
if ( fdcbt_setting ) { // SET BOTH CBT AND FDCBT HERE
FLEXCAN_EnterFreezeMode();
setClock(config.clock);
if ( listen_only == LISTEN_ONLY ) {
FLEXCANb_CBT(_bus) &= ~(1UL << 31); /* clear BTE bit to edit CTRL1 register */
FLEXCANb_CTRL1(_bus) |= FLEXCAN_CTRL_LOM;
}
else {
FLEXCANb_CBT(_bus) &= ~(1UL << 31); /* clear BTE bit to edit CTRL1 register */
FLEXCANb_CTRL1(_bus) &= ~FLEXCAN_CTRL_LOM;
}
FLEXCANb_CBT(_bus) = cbt;
FLEXCANb_FDCBT(_bus) = fdcbt_setting;
if ( advanced ) Serial.print("CTRL1: 0x");
if ( advanced ) Serial.println(FLEXCANb_CTRL1(_bus),HEX);
if ( advanced ) Serial.print("CBT: 0x");
if ( advanced ) Serial.println(FLEXCANb_CBT(_bus),HEX);
if ( advanced ) Serial.print("FDCBT: 0x");
if ( advanced ) Serial.println(FLEXCANb_FDCBT(_bus) ,HEX);
if ( advanced ) Serial.print("FDCTRL: 0x");
if ( advanced ) Serial.println(FLEXCANb_FDCTRL(_bus) ,HEX);
FLEXCAN_ExitFreezeMode();
return 1;
}
else return 0;
}
else setBaudRateFD(config, 0, advanced); /* continue list printout for FD */
while ( Serial.read() != 'c' );
return 1;
}
FCTPFD_FUNC uint32_t FCTPFD_OPT::setBaudRateFD(CANFD_timings_t config, uint32_t flexdata_choice, bool advanced) {
uint32_t result = 0, result_old = 0;
double results[10][12] = { { 0 } , { 0 } };
double baudrate = config.baudrateFD, propdelay = config.propdelay, req_smp = config.sample;
double cpi_clock = config.clock;
baudrate /= 1000;
double ratio = cpi_clock * 1000 / baudrate;
double nbt_min = 5, nbt_max = 48, propseg_max = 32, propseg = 0, pseg_1, pseg_2;
uint32_t tdcen = 0, ipt = 2;
double temp = 0, ppsegmin, ppsegmax, pseg1 = 8, pseg2 = 8, rjw = 8, prescaler_min = 1, prescaler_max = 1024;
if ( advanced ) Serial.println(" ####################################################################################################################################################");
if ( advanced ) Serial.println(" #\t\t\t\t\t\t\t\t*** CAN FLEXDATA CONFIGURATION ***\t\t\t\t\t\t #");
if ( advanced ) Serial.println(" ####################################################################################################################################################\n");
for ( uint32_t prescaler = prescaler_min; prescaler < prescaler_max; prescaler++ ) {
temp = ratio / prescaler;
for ( double nbt = nbt_min; nbt < nbt_max; nbt++ ) {
if ( temp == nbt ) {
propseg = ceil(propdelay / 1000 * cpi_clock / prescaler);
tdcen = 0;
if ( propseg >= (nbt - 2)) { // finished with debug
ppsegmax = nbt - 3;
ppsegmin = nbt - 1 - pseg1 - pseg2;
if ( ppsegmin < 1 ) ppsegmin = 1;
propseg = round((ppsegmax - ppsegmin) / 2);
tdcen = 1;
}
if ( propseg <= propseg_max ) {
for ( double pseg = 1; pseg <= pseg1; pseg++ ) {
pseg_1 = round((nbt * req_smp / 100) - 1 - propseg);
pseg_2 = nbt - 1 - propseg - pseg_1;
if ( pseg_2 >= ipt && pseg_2 <= pseg2 && pseg_1 > 0 && pseg_1 <= pseg1 ) {
result = result_old + 1;
rjw = ( pseg_2 <= rjw ) ? pseg_2 : rjw;
double sclk = (cpi_clock / prescaler);
double tq = (1000 / (cpi_clock / prescaler));
double smp = 100 - pseg_2 / nbt * 100;
double tdcoff_val = (!tdcen) ? 0 : cpi_clock / (2 * baudrate / 1000);
results[result - 1][0] = prescaler;
results[result - 1][1] = sclk;
results[result - 1][2] = tq;
results[result - 1][3] = nbt;
results[result - 1][4] = propseg;
results[result - 1][5] = pseg_1;
results[result - 1][6] = pseg_2;
results[result - 1][7] = rjw;
results[result - 1][8] = tdcen;
results[result - 1][9] = tdcoff_val;
results[result - 1][10] = smp;
if ( advanced ) Serial.print(" Prescaler Sclk(MHz) Tq(ns) NBT(#Tq) Propseg(#Tq) Pseg1(#Tq) Pseg2(#Tq) RJW(#Tq) TDCEN TDCOFF Sample Point(%) FDCBT Register\n");
if ( advanced ) Serial.printf(" %2u)", result);
if ( advanced ) Serial.printf(" %4u", prescaler);
if ( advanced ) Serial.printf(" %6.2f", sclk);
if ( advanced ) Serial.printf(" %7.2f", tq);
if ( advanced ) Serial.printf(" %2u", (uint32_t)nbt);
if ( advanced ) Serial.printf(" %2u", (uint32_t)propseg);
if ( advanced ) Serial.printf(" %2u", (uint32_t)pseg_1);
if ( advanced ) Serial.printf(" %2u", (uint32_t)pseg_2);
if ( advanced ) Serial.printf(" %2u", (uint32_t)rjw);
if ( advanced ) Serial.printf(" %2u", (uint32_t)tdcen);
if ( advanced ) Serial.printf(" %4.2f", tdcoff_val);
if ( advanced ) Serial.printf(" %6.2f", smp);
uint32_t fdcbt = 0;
fdcbt |= ((uint32_t)(results[result - 1][6] - 1) << 0); // FPSEG2
fdcbt |= ((uint32_t)(results[result - 1][5] - 1) << 5); // FPSEG1
fdcbt |= ((uint32_t)(results[result - 1][4] - 0) << 10); // FPROPSEG
fdcbt |= ((uint32_t)(results[result - 1][7] - 1) << 16); // FRJW
fdcbt |= ((uint32_t)(results[result - 1][0] - 1) << 20); // FPRESDIV
if ( advanced ) Serial.printf(" 0x%8.08X",fdcbt);
if ( advanced ) Serial.printf("\n\t%8s%s%.2f%s%u%s%.2f%s", "", "*** Data phase bit time = ", (results[result - 1][2] * results[result - 1][3] / 1000), "us (", (int)results[result - 1][3], "Tq, Tq=", results[result - 1][2], ")\n");
if ( advanced ) Serial.printf("\t%8s%s%.2f%s", "", "a) Sync: ", results[result - 1][2], "ns\t");
if ( advanced ) Serial.printf("%8s%s%.2f%s", "", "b) Propseg: ", results[result - 1][2] * results[result - 1][4], "ns\t");
if ( advanced ) Serial.printf("%8s%s%.2f%s", "", "c) Pseg1: ", results[result - 1][2] * results[result - 1][5], "ns\t");
if ( advanced ) Serial.printf("%8s%s%.2f%s", "", "d) Pseg2: ", results[result - 1][2] * results[result - 1][6], "ns\n");
uint32_t scale = (uint32_t)ceil(results[result - 1][2]);
char _sync[(scale*124/1000) + 1] = "";
for ( uint32_t i = 0; i < (scale*149/1200) + 1; i++ ) _sync[i] = 'a';
_sync[(scale*124/1000)] = '\0';
scale = (uint32_t)ceil(results[result - 1][2] * results[result - 1][4]);
char _prop[(scale*124/1000) + 1] = "";
for ( uint32_t i = 0; i < (scale*149/1200) + 1; i++ ) _prop[i] = 'b';
_prop[(scale*124/1000)] = '\0';
scale = (uint32_t)ceil(results[result - 1][2] * results[result - 1][5]);
char _pseg1[(scale*124/1000) + 1] = "";
for ( uint32_t i = 0; i < (scale*149/1200) + 1; i++ ) _pseg1[i] = 'c';
_pseg1[(scale*124/1000)] = '\0';
scale = (uint32_t)ceil(results[result - 1][2] * results[result - 1][6]);
char _pseg2[(scale*124/1000) + 1] = "";
for ( uint32_t i = 0; i < (scale*149/1200) + 1; i++ ) _pseg2[i] = 'd';
_pseg2[(scale*124/1000)] = '\0';
if ( advanced ) Serial.printf("%9s%s%-s%s%-s%s%-s%s%-s", "[", _sync, "|", _prop, "|", _pseg1, "|", _pseg2, "]\n");
if ( advanced ) Serial.printf("%8s%-s%-s%-s%-s%-s%-s", "", "|________________________", "|________________________", "|________________________", "|________________________", "|________________________", "|________________________|");
if ( advanced ) Serial.printf("\n%8s%u%*s%u%*s%u%*s%u%*s%u%*s%u%*s%u%s", "", 0, 23, "", 200, 22, "", 400, 22, "", 600, 22, "", 800, 22, "", 1000, 22, "", 1200, "(ns)\n\n\n");
}
if ( result == result_old ) {
pseg = nbt - 1 - propseg;
if ( pseg == 3 && ipt == 2 ) {
result = result + 1;
double sclk = (cpi_clock / prescaler);
double tq = (1000 / (cpi_clock / prescaler));
double smp = 100 - 2 / nbt * 100;
double tdcoff_val = (!tdcen) ? 0 : cpi_clock / (2 * baudrate / 1000);
results[result - 1][0] = prescaler;
results[result - 1][1] = sclk;
results[result - 1][2] = tq;
results[result - 1][3] = nbt;
results[result - 1][4] = propseg;
results[result - 1][5] = 1;
results[result - 1][6] = 2;
results[result - 1][7] = 1;
results[result - 1][8] = tdcen;
results[result - 1][9] = tdcoff_val;
results[result - 1][10] = smp;
if ( advanced ) Serial.print(" Prescaler Sclk(MHz) Tq(ns) NBT(#Tq) Propseg(#Tq) Pseg1(#Tq) Pseg2(#Tq) RJW(#Tq) TDCEN TDCOFF Sample Point(%) FDCBT Register\n");
if ( advanced ) Serial.printf(" %2u)", result);
if ( advanced ) Serial.printf(" %4u", prescaler);
if ( advanced ) Serial.printf(" %6.2f", sclk);
if ( advanced ) Serial.printf(" %7.2f", tq);
if ( advanced ) Serial.printf(" %2u", (uint32_t)nbt);
if ( advanced ) Serial.printf(" %2u", (uint32_t)propseg);
if ( advanced ) Serial.printf(" %2u", (uint32_t)1);
if ( advanced ) Serial.printf(" %2u", (uint32_t)2);
if ( advanced ) Serial.printf(" %2u", (uint32_t)1);
if ( advanced ) Serial.printf(" %2u", (uint32_t)tdcen);
if ( advanced ) Serial.printf(" %4.2f", tdcoff_val);
if ( advanced ) Serial.printf(" %6.2f", smp);
uint32_t fdcbt = 0;
fdcbt |= ((uint32_t)(results[result - 1][6] - 1) << 0); // FPSEG2
fdcbt |= ((uint32_t)(results[result - 1][5] - 1) << 5); // FPSEG1
fdcbt |= ((uint32_t)(results[result - 1][4] - 0) << 10); // FPROPSEG
fdcbt |= ((uint32_t)(results[result - 1][7] - 1) << 16); // FRJW
fdcbt |= ((uint32_t)(results[result - 1][0] - 1) << 20); // FPRESDIV
if ( advanced ) Serial.printf(" 0x%8.08X",fdcbt);
if ( advanced ) Serial.printf("\n\t%8s%s%.2f%s%u%s%.2f%s", "", "*** Data phase bit time = ", (results[result - 1][2] * results[result - 1][3] / 1000), "us (", (int)results[result - 1][3], "Tq, Tq=", results[result - 1][2], ")\n");
if ( advanced ) Serial.printf("\t%8s%s%.2f%s", "", "a) Sync: ", results[result - 1][2], "ns\t");
if ( advanced ) Serial.printf("%8s%s%.2f%s", "", "b) Propseg: ", results[result - 1][2] * results[result - 1][4], "ns\t");
if ( advanced ) Serial.printf("%8s%s%.2f%s", "", "c) Pseg1: ", results[result - 1][2] * results[result - 1][5], "ns\t");
if ( advanced ) Serial.printf("%8s%s%.2f%s", "", "d) Pseg2: ", results[result - 1][2] * results[result - 1][6], "ns\n");
uint32_t scale = (uint32_t)ceil(results[result - 1][2]);
char _sync[(scale*124/1000) + 1] = "";
for ( uint32_t i = 0; i < (scale*149/1200) + 1; i++ ) _sync[i] = 'a';
_sync[(scale*124/1000)] = '\0';
scale = (uint32_t)ceil(results[result - 1][2] * results[result - 1][4]);
char _prop[(scale*124/1000) + 1] = "";
for ( uint32_t i = 0; i < (scale*149/1200) + 1; i++ ) _prop[i] = 'b';
_prop[(scale*124/1000)] = '\0';
scale = (uint32_t)ceil(results[result - 1][2] * results[result - 1][5]);
char _pseg1[(scale*124/1000) + 1] = "";
for ( uint32_t i = 0; i < (scale*149/1200) + 1; i++ ) _pseg1[i] = 'c';
_pseg1[(scale*124/1000)] = '\0';
scale = (uint32_t)ceil(results[result - 1][2] * results[result - 1][6]);
char _pseg2[(scale*124/1000) + 1] = "";
for ( uint32_t i = 0; i < (scale*149/1200) + 1; i++ ) _pseg2[i] = 'd';
_pseg2[(scale*124/1000)] = '\0';
if ( advanced ) Serial.printf("%9s%s%-s%s%-s%s%-s%s%-s", "[", _sync, "|", _prop, "|", _pseg1, "|", _pseg2, "]\n");
if ( advanced ) Serial.printf("%8s%-s%-s%-s%-s%-s%-s", "", "|________________________", "|________________________", "|________________________", "|________________________", "|________________________", "|________________________|");
if ( advanced ) Serial.printf("\n%8s%u%*s%u%*s%u%*s%u%*s%u%*s%u%*s%u%s", "", 0, 23, "", 200, 22, "", 400, 22, "", 600, 22, "", 800, 22, "", 1000, 22, "", 1200, "(ns)\n\n\n");
}
if ( pseg > (ipt + 1) && pseg <= (pseg1 * 2) ) {
if ( (uint32_t)pseg % 2 != 0 ) propseg++;
pseg = (nbt - 1 - propseg) / 2;
result++;
rjw = ( pseg <= rjw ) ? pseg : rjw;
double sclk = (cpi_clock / prescaler);
double tq = (1000 / (cpi_clock / prescaler));
double smp = 100 - pseg / nbt * 100;
double tdcoff_val = (!tdcen) ? 0 : cpi_clock / (2 * baudrate / 1000);
results[result - 1][0] = prescaler;
results[result - 1][1] = sclk;
results[result - 1][2] = tq;
results[result - 1][3] = nbt;
results[result - 1][4] = propseg;
results[result - 1][5] = pseg;
results[result - 1][6] = pseg;
results[result - 1][7] = rjw;
results[result - 1][8] = tdcen;
results[result - 1][9] = tdcoff_val;
results[result - 1][10] = smp;
if ( advanced ) Serial.print(" Prescaler Sclk(MHz) Tq(ns) NBT(#Tq) Propseg(#Tq) Pseg1(#Tq) Pseg2(#Tq) RJW(#Tq) TDCEN TDCOFF Sample Point(%) FDCBT Register\n");
if ( advanced ) Serial.printf(" %2u)", result);
if ( advanced ) Serial.printf(" %4u", prescaler);
if ( advanced ) Serial.printf(" %6.2f", sclk);
if ( advanced ) Serial.printf(" %7.2f", tq);
if ( advanced ) Serial.printf(" %2u", (uint32_t)nbt);
if ( advanced ) Serial.printf(" %2u", (uint32_t)propseg);
if ( advanced ) Serial.printf(" %2u", (uint32_t)pseg);
if ( advanced ) Serial.printf(" %2u", (uint32_t)pseg);
if ( advanced ) Serial.printf(" %2u", (uint32_t)rjw);
if ( advanced ) Serial.printf(" %2u", (uint32_t)tdcen);
if ( advanced ) Serial.printf(" %4.2f", tdcoff_val);
if ( advanced ) Serial.printf(" %6.2f", smp);
uint32_t fdcbt = 0;
fdcbt |= ((uint32_t)(results[result - 1][6] - 1) << 0); // FPSEG2
fdcbt |= ((uint32_t)(results[result - 1][5] - 1) << 5); // FPSEG1
fdcbt |= ((uint32_t)(results[result - 1][4] - 0) << 10); // FPROPSEG
fdcbt |= ((uint32_t)(results[result - 1][7] - 1) << 16); // FRJW
fdcbt |= ((uint32_t)(results[result - 1][0] - 1) << 20); // FPRESDIV
if ( advanced ) Serial.printf(" 0x%8.08X",fdcbt);
if ( advanced ) Serial.printf("\n\t%8s%s%.2f%s%u%s%.2f%s", "", "*** Data phase bit time = ", (results[result - 1][2] * results[result - 1][3] / 1000), "us (", (int)results[result - 1][3], "Tq, Tq=", results[result - 1][2], ")\n");
if ( advanced ) Serial.printf("\t%8s%s%.2f%s", "", "a) Sync: ", results[result - 1][2], "ns\t");
if ( advanced ) Serial.printf("%8s%s%.2f%s", "", "b) Propseg: ", results[result - 1][2] * results[result - 1][4], "ns\t");
if ( advanced ) Serial.printf("%8s%s%.2f%s", "", "c) Pseg1: ", results[result - 1][2] * results[result - 1][5], "ns\t");
if ( advanced ) Serial.printf("%8s%s%.2f%s", "", "d) Pseg2: ", results[result - 1][2] * results[result - 1][6], "ns\n");
uint32_t scale = (uint32_t)ceil(results[result - 1][2]);
char _sync[(scale*124/1000) + 1] = "";
for ( uint32_t i = 0; i < (scale*149/1200) + 1; i++ ) _sync[i] = 'a';
_sync[(scale*124/1000)] = '\0';
scale = (uint32_t)ceil(results[result - 1][2] * results[result - 1][4]);
char _prop[(scale*124/1000) + 1] = "";
for ( uint32_t i = 0; i < (scale*149/1200) + 1; i++ ) _prop[i] = 'b';
_prop[(scale*124/1000)] = '\0';
scale = (uint32_t)ceil(results[result - 1][2] * results[result - 1][5]);
char _pseg1[(scale*124/1000) + 1] = "";
for ( uint32_t i = 0; i < (scale*149/1200) + 1; i++ ) _pseg1[i] = 'c';
_pseg1[(scale*124/1000)] = '\0';
scale = (uint32_t)ceil(results[result - 1][2] * results[result - 1][6]);
char _pseg2[(scale*124/1000) + 1] = "";
for ( uint32_t i = 0; i < (scale*149/1200) + 1; i++ ) _pseg2[i] = 'd';
_pseg2[(scale*124/1000)] = '\0';
if ( advanced ) Serial.printf("%9s%s%-s%s%-s%s%-s%s%-s", "[", _sync, "|", _prop, "|", _pseg1, "|", _pseg2, "]\n");
if ( advanced ) Serial.printf("%8s%-s%-s%-s%-s%-s%-s", "", "|________________________", "|________________________", "|________________________", "|________________________", "|________________________", "|________________________|");
if ( advanced ) Serial.printf("\n%8s%u%*s%u%*s%u%*s%u%*s%u%*s%u%*s%u%s\n\n\n\n", "", 0, 23, "", 200, 22, "", 400, 22, "", 600, 22, "", 800, 22, "", 1000, 22, "", 1200, "(ns)\n\n\n");
}
}
result_old = result;
break;
}
}
}
}
}
if ( flexdata_choice ) {
if ( flexdata_choice > result ) {
if ( advanced ) Serial.println("\n\t*** ERROR: FD rate selection out of bounds!\n");
return 0;
}
uint32_t fdcbt = 0;
fdcbt |= ((uint32_t)(results[flexdata_choice - 1][6] - 1) << 0); // FPSEG2
fdcbt |= ((uint32_t)(results[flexdata_choice - 1][5] - 1) << 5); // FPSEG1
fdcbt |= ((uint32_t)(results[flexdata_choice - 1][4] - 0) << 10); // FPROPSEG
fdcbt |= ((uint32_t)(results[flexdata_choice - 1][7] - 1) << 16); // FRJW
fdcbt |= ((uint32_t)(results[flexdata_choice - 1][0] - 1) << 20); // FPRESDIV
FLEXCANb_FDCTRL(_bus) = (FLEXCANb_FDCTRL(_bus) & 0xFFFF60FF); /* clear TDC values */
if ( ((uint32_t)(results[flexdata_choice - 1][8])) ) { /* enable TDC if available */
FLEXCANb_FDCTRL(_bus) |= (1UL << 15) | (((uint32_t)(results[flexdata_choice - 1][9])) << 8);
}
return fdcbt;
}
return 0;
}