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Continue work on Device config

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mrumel 2022-06-17 11:35:24 -04:00
parent 4851bfc50a
commit 11deae5454
2 changed files with 273 additions and 222 deletions
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.gitignore vendored
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@ -6,3 +6,4 @@ dist
__pycache__ __pycache__
*.egg-info *.egg-info
_build _build
.idea

86
src/TCAN4550-py/tcan4550.py
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@ -1,14 +1,15 @@
import ctypes import ctypes
from enum import Enum from enum import Enum
uint8_t = ctypes.c_uint8 uint8_t = ctypes.c_uint8
uint16_t = ctypes.c_uint16 uint16_t = ctypes.c_uint16
uint32_t = ctypes.c_uint32 uint32_t = ctypes.c_uint32
import spidev import spidev
class TCAN4550: class TCAN4550:
def __init__(self, bus: int, device: int) -> None: def __init__(self, bus: int, device: int) -> None:
# SPI initialization # SPI initialization
self.spi = spidev.SpiDev(bus, device) self.spi = spidev.SpiDev(bus, device)
self.spi.max_speed_hz = 2000000 self.spi.max_speed_hz = 2000000
@ -16,36 +17,75 @@ class TCAN4550:
self.spi.mode = 0b00 self.spi.mode = 0b00
self.spi.cshigh = True self.spi.cshigh = True
# TCAN device initialization # TCAN device initialization
# Begin by clearing any potential SPI errors # Begin by clearing any potential SPI errors
self.TCAN_clearSPIerr() self.TCAN_clearSPIerr()
self.dev_ie = TCAN4550_device_interrupt_enable() self.dev_ie = TCAN4x5x_device_interrupt_enable()
self.dev_ie = 0x0 # Initialize to 0 to all bits are set to 0. self.dev_ie = 0x0 # Initialize to 0 to all bits are set to 0.
self.TCAN_configure_interrupt_enable(self.dev_ie) # Disable all non-MCAN related interrupts for simplicity self.TCAN_configure_interrupt_enable(self.dev_ie) # Disable all non-MCAN related interrupts for simplicity
self.dev_ir = TCAN4550_device_interrupt() self.dev_ir = TCAN4x5x_Device_Interrupts()
self.dev.ir = 0x0 # Setup a new MCAN IR object for easy interrupt checking self.dev_ir = 0x0 # Setup a new MCAN IR object for easy interrupt checking
self.TCAN_read_interrupts(self.dev_ir) # Request that the struct be updated with current DEVICE (not MCAN) interrupt values self.TCAN_read_interrupts(
self.dev_ir) # Request that the struct be updated with current DEVICE (not MCAN) interrupt values
if self.dev_ir.b.PWRON:
self.TCAN4x5x_Device_ClearInterrupts(self.dev_ir)
# Configure the CAN bus speeds # Configure the CAN bus speeds
self.TCANNomTiming = TCAN4550_MCAN_nominal_timing_simple() # 500k arbitration with a 40 MHz crystal ((40E6 / 2) / (32 + 8) = 500E3) self.TCANNomTiming = TCAN4x5x_MCAN_Nominal_Timing_Simple() # 500k arbitration with a 40 MHz crystal ((40E6 / 2) / (32 + 8) = 500E3)
self.TCANNomTiming = 0x0 self.TCANNomTiming = 0x0
self.TCANNomTiming.NominalBitRatePrescaler = 2 self.TCANNomTiming.NominalBitRatePrescaler = 2
self.TCANNomTiming.NominalTqBeforeSamplePoint = 32 self.TCANNomTiming.NominalTqBeforeSamplePoint = 32
self.TCANNomTiming.NominalTqAfterSamplePoint = 8 self.TCANNomTiming.NominalTqAfterSamplePoint = 8
self.TCANDataTiming = TCAN4550_MCAN_nominal_timing_simple() # 2 Mbps CAN FD with a 40 MHz crystal (40E6 / (15 + 5) = 2E6) self.TCANDataTiming = TCAN4x5x_MCAN_Nominal_Timing_Simple() # 2 Mbps CAN FD with a 40 MHz crystal (40E6 / (15 + 5) = 2E6)
self.TCANDataTiming = 0x0 self.TCANDataTiming = 0x0
self.TCANDataTiming.DataBitRatePrescaler = 1; self.TCANDataTiming.DataBitRatePrescaler = 1
self.TCANDataTiming.DataTqBeforeSamplePoint = 15; self.TCANDataTiming.DataTqBeforeSamplePoint = 15
self.TCANDataTiming.DataTqAfterSamplePoint = 5; self.TCANDataTiming.DataTqAfterSamplePoint = 5
# Configure the MCAN core settings
self.cccrConfig = TCAN4x5x_MCAN_CCCR_Config()
self.cccrConfig = 0x0 # Remember to initialize to 0, or you'll get random garbage!
self.cccrConfig.b.FDOE = 1 # CAN FD mode enable
self.cccrConfig.b.BRSE = 1 # CAN FD Bit rate switch enable
# Configure the default CAN packet filtering settings
self.gfc = TCAN4x5x_MCAN_Global_Filter_Configuration()
self.gfc.b.RRFE = 1 # Reject remote frames (TCAN4x5x doesn't support this)
self.gfc.b.RRFS = 1 # Reject remote frames (TCAN4x5x doesn't support this)
self.gfc.b.ANFE = TCAN4x5x_GFC_NO_MATCH_BEHAVIOR.TCAN4x5x_GFC_ACCEPT_INTO_RXFIFO0.value # Default behavior if incoming message doesn't match a filter is to accept into RXFIO0 for extended ID messages (29 bit IDs)
self.gfc.b.ANFS = TCAN4x5x_GFC_NO_MATCH_BEHAVIOR.TCAN4x5x_GFC_ACCEPT_INTO_RXFIFO0.value # Default behavior if incoming message doesn't match a filter is to accept into RXFIO0 for standard ID messages (11 bit IDs)
'''
In the next configuration block, we will set the MCAN core up to have:
- 1 SID filter element
- 1 XID Filter element
- 5 RX FIFO 0 elements
- RX FIFO 0 supports data payloads up to 64 bytes
- RX FIFO 1 and RX Buffer will not have any elements, but we still set their data payload sizes, even though it's not required
- No TX Event FIFOs
- 2 Transmit buffers supporting up to 64 bytes of data payload
'''
self.MRAMConfiguration = TCAN4x5x_MRAM_Config()
self.MRAMConfiguration = 0x0
self.MRAMConfiguration.XIDNumElements = 1 # Extended ID number of elements, you MUST have a filter written to MRAM for each element defined
self.MRAMConfiguration.SIDNumElements = 1 # Standard ID number of elements, you MUST have a filter written to MRAM for each element defined
self.MRAMConfiguration.Rx0NumElements = 5 # RX0 Number of elements
self.MRAMConfiguration.Rx0ElementSize = TCAN4x5x_MRAM_Element_Data_Size.MRAM_64_Byte_Data # RX0 data payload size
self.MRAMConfiguration.Rx1NumElements = 0 # RX1 number of elements
self.MRAMConfiguration.Rx1ElementSize = TCAN4x5x_MRAM_Element_Data_Size.MRAM_64_Byte_Data # RX1 data payload size
self.MRAMConfiguration.RxBufNumElements = 0 # RX buffer number of elements
self.MRAMConfiguration.RxBufElementSize = TCAN4x5x_MRAM_Element_Data_Size.MRAM_64_Byte_Data # RX buffer data payload size
self.MRAMConfiguration.TxEventFIFONumElements = 0 # TX Event FIFO number of elements
self.MRAMConfiguration.TxBufferNumElements = 2 # TX buffer number of elements
self.MRAMConfiguration.TxBufferElementSize = TCAN4x5x_MRAM_Element_Data_Size.MRAM_64_Byte_Data # TX buffer data payload size
def TCAN4x5x_Device_ClearInterrupts(self, ir):
pass
def TCAN_clearSPIerr(self) -> None: def TCAN_clearSPIerr(self) -> None:
pass pass
@ -54,7 +94,6 @@ class TCAN4550:
return True return True
def TCAN_read_interrupts(self, ir) -> bool: def TCAN_read_interrupts(self, ir) -> bool:
return True return True
def TCAN_write_32(self, address, data) -> None: def TCAN_write_32(self, address, data) -> None:
@ -63,7 +102,6 @@ class TCAN4550:
def TCAN_write(self, data, address, no_words) -> None: def TCAN_write(self, data, address, no_words) -> None:
pass pass
def TCAN_read_32(self, address, data) -> uint32_t: def TCAN_read_32(self, address, data) -> uint32_t:
return 0 return 0
@ -71,13 +109,12 @@ class TCAN4550:
return 0 return 0
class TCAN4x5x_GFC_NO_MATCH_BEHAVIOR(Enum): # No Comments provided in original file class TCAN4x5x_GFC_NO_MATCH_BEHAVIOR(Enum): # No Comments provided in original file
TCAN4x5x_GFC_ACCEPT_INTO_RXFIFO0 = 0, TCAN4x5x_GFC_ACCEPT_INTO_RXFIFO0 = 0,
TCAN4x5x_GFC_ACCEPT_INTO_RXFIFO1 = 1, TCAN4x5x_GFC_ACCEPT_INTO_RXFIFO1 = 1,
TCAN4x5x_GFC_REJECT = 2 TCAN4x5x_GFC_REJECT = 2
class TCAN4x5x_MRAM_Element_Data_Size(Enum): class TCAN4x5x_MRAM_Element_Data_Size(Enum):
# 8 bytes of data payload # 8 bytes of data payload
MRAM_8_Byte_Data = 0, MRAM_8_Byte_Data = 0,
@ -103,6 +140,7 @@ class TCAN4x5x_MRAM_Element_Data_Size(Enum):
# 64 bytes of data payload # 64 bytes of data payload
MRAM_64_Byte_Data = 0x7 MRAM_64_Byte_Data = 0x7
class TCAN4x5x_MCAN_Data_Timing_Simple(ctypes.Structure): class TCAN4x5x_MCAN_Data_Timing_Simple(ctypes.Structure):
_fields_ = [ _fields_ = [
# Prescaler value, interpreted as 1:x # Prescaler value, interpreted as 1:x
@ -118,6 +156,7 @@ class TCAN4x5x_MCAN_Data_Timing_Simple(ctypes.Structure):
("DataTqAfterSamplePoint", uint8_t, 5) ("DataTqAfterSamplePoint", uint8_t, 5)
] ]
class TCAN4x5x_MCAN_Data_Timing_Raw(ctypes.Structure): class TCAN4x5x_MCAN_Data_Timing_Raw(ctypes.Structure):
_fields_ = [ _fields_ = [
# DBRP: The prescaler value from the MCAN system clock. Interpreted by MCAN as the value is this field + 1 # DBRP: The prescaler value from the MCAN system clock. Interpreted by MCAN as the value is this field + 1
@ -145,6 +184,7 @@ class TCAN4x5x_MCAN_Data_Timing_Raw(ctypes.Structure):
("TDCFilter", uint8_t, 7) ("TDCFilter", uint8_t, 7)
] ]
class TCAN4x5x_MCAN_Nominal_Timing_Simple(ctypes.Structure): class TCAN4x5x_MCAN_Nominal_Timing_Simple(ctypes.Structure):
_fields_ = [ _fields_ = [
# NBRP: The prescaler value from the MCAN system clock. Value interpreted as 1:x # NBRP: The prescaler value from the MCAN system clock. Value interpreted as 1:x
@ -160,6 +200,7 @@ class TCAN4x5x_MCAN_Nominal_Timing_Simple(ctypes.Structure):
("NominalTqAfterSamplePoint", uint8_t, 8) ("NominalTqAfterSamplePoint", uint8_t, 8)
] ]
class TCAN4x5x_MCAN_Nominal_Timing_Raw(ctypes.Structure): class TCAN4x5x_MCAN_Nominal_Timing_Raw(ctypes.Structure):
_fields_ = [ _fields_ = [
# NBRP: The prescaler value from the MCAN system clock. Interpreted by MCAN as the value is this field + 1 # NBRP: The prescaler value from the MCAN system clock. Interpreted by MCAN as the value is this field + 1
@ -179,6 +220,7 @@ class TCAN4x5x_MCAN_Nominal_Timing_Raw(ctypes.Structure):
("NominalSyncJumpWidth", uint8_t, 7) ("NominalSyncJumpWidth", uint8_t, 7)
] ]
class TCAN4x5x_MRAM_Config(ctypes.Structure): class TCAN4x5x_MRAM_Config(ctypes.Structure):
_fields_ = [ _fields_ = [
# ************************ # ************************
@ -232,10 +274,9 @@ class TCAN4x5x_MRAM_Config(ctypes.Structure):
# TX Buffers element size: The number of bytes for the TX Buffers (data payload) # TX Buffers element size: The number of bytes for the TX Buffers (data payload)
("TxBufferElementSize", TCAN4x5x_MRAM_Element_Data_Size, 3) ("TxBufferElementSize", TCAN4x5x_MRAM_Element_Data_Size, 3)
] ]
class TCAN4x5x_MCAN_Interrupt_Enable_bits(ctypes.Structure): class TCAN4x5x_MCAN_Interrupt_Enable_bits(ctypes.Structure):
_fields_ = [ _fields_ = [
# IE[0] RF0NE: Rx FIFO 0 new message # IE[0] RF0NE: Rx FIFO 0 new message
@ -332,10 +373,12 @@ class TCAN4x5x_MCAN_Interrupt_Enable_bits(ctypes.Structure):
("reserved", uint8_t, 2) ("reserved", uint8_t, 2)
] ]
class TCAN4x5x_MCAN_Interrupt_Enable(ctypes.Union): class TCAN4x5x_MCAN_Interrupt_Enable(ctypes.Union):
_fields_ = [("b", TCAN4x5x_MCAN_Interrupt_Enable_bits), _fields_ = [("b", TCAN4x5x_MCAN_Interrupt_Enable_bits),
("word", uint32_t)] ("word", uint32_t)]
class TCAN4x5x_MCAN_Interrupts_bits(ctypes.Structure): class TCAN4x5x_MCAN_Interrupts_bits(ctypes.Structure):
_fields_ = [ _fields_ = [
# IR[0] RF0N: Rx FIFO 0 new message # IR[0] RF0N: Rx FIFO 0 new message
@ -432,10 +475,12 @@ class TCAN4x5x_MCAN_Interrupts_bits(ctypes.Structure):
("reserved", uint8_t, 1) ("reserved", uint8_t, 1)
] ]
class TCAN4x5x_MCAN_Interrupts(ctypes.Union): class TCAN4x5x_MCAN_Interrupts(ctypes.Union):
_fields_ = [("b", TCAN4x5x_MCAN_Interrupts_bits), _fields_ = [("b", TCAN4x5x_MCAN_Interrupts_bits),
("words", uint32_t)] ("words", uint32_t)]
class TCAN4x5x_MCAN_RX_Header(ctypes.Structure): class TCAN4x5x_MCAN_RX_Header(ctypes.Structure):
_fields_ = [ _fields_ = [
# CAN ID received # CAN ID received
@ -472,6 +517,7 @@ class TCAN4x5x_MCAN_RX_Header(ctypes.Structure):
("ANMF", uint8_t, 1) ("ANMF", uint8_t, 1)
] ]
class TCAN4x5x_Device_Interrupts_bits(ctypes.Structure): class TCAN4x5x_Device_Interrupts_bits(ctypes.Structure):
_fields_ = { _fields_ = {
# DEV_IR[0] VTWD: Global Voltage, Temp, or Watchdog (if equipped) Interrupt # DEV_IR[0] VTWD: Global Voltage, Temp, or Watchdog (if equipped) Interrupt
@ -571,6 +617,7 @@ class TCAN4x5x_Device_Interrupts_bits(ctypes.Structure):
("CANBUSNORM", uint8_t, 1) ("CANBUSNORM", uint8_t, 1)
} }
class TCAN4x5x_Device_Interrupts(ctypes.Union): class TCAN4x5x_Device_Interrupts(ctypes.Union):
_fields_ = [("b", TCAN4x5x_Device_Interrupts_bits), _fields_ = [("b", TCAN4x5x_Device_Interrupts_bits),
("word", uint32_t)] ("word", uint32_t)]
@ -625,12 +672,12 @@ class TCAN4x5x_MCAN_CCCR_Config_bits(ctypes.Structure):
("NISO", uint8_t, 1) ("NISO", uint8_t, 1)
] ]
class TCAN4x5x_MCAN_CCCR_Config(ctypes.Union): class TCAN4x5x_MCAN_CCCR_Config(ctypes.Union):
_fields_ = [("b", TCAN4x5x_MCAN_CCCR_Config_bits), _fields_ = [("b", TCAN4x5x_MCAN_CCCR_Config_bits),
("word", uint32_t)] ("word", uint32_t)]
class TCAN4x5x_MCAN_Global_Filter_Configuration_bits(ctypes.Structure): class TCAN4x5x_MCAN_Global_Filter_Configuration_bits(ctypes.Structure):
_fields_ = [ _fields_ = [
# GFC[0] : Reject Remote Frames for Extended IDs # GFC[0] : Reject Remote Frames for Extended IDs
@ -656,6 +703,8 @@ class TCAN4x5x_MCAN_Global_Filter_Configuration_bits(ctypes.Structure):
# Reserved # Reserved
("reserved", uint32_t, 26) ("reserved", uint32_t, 26)
] ]
class TCAN4x5x_MCAN_Global_Filter_Configuration(ctypes.Union): class TCAN4x5x_MCAN_Global_Filter_Configuration(ctypes.Union):
_fields_ = [("b", TCAN4x5x_MCAN_Global_Filter_Configuration_bits), _fields_ = [("b", TCAN4x5x_MCAN_Global_Filter_Configuration_bits),
("word", uint32_t)] ("word", uint32_t)]
@ -739,6 +788,7 @@ class TCAN4x5x_device_interrupt_enable_bits(ctypes.BigEndianStructure):
("CANBUSNORMEN", uint8_t, 1) ("CANBUSNORMEN", uint8_t, 1)
] ]
class TCAN4x5x_device_interrupt_enable(ctypes.Union): class TCAN4x5x_device_interrupt_enable(ctypes.Union):
_fields_ = [("b", TCAN4x5x_device_interrupt_enable_bits), _fields_ = [("b", TCAN4x5x_device_interrupt_enable_bits),
("word", uint32_t)] ("word", uint32_t)]