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drivers: can: mcan: enable transmitter delay compensation when possible

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Enable Transmitter Delay Compensation whenever the data phase timing
parameters allow it.

Fixes: #70447

Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
This commit is contained in:
Henrik Brix Andersen 2024-03-10 18:28:18 +01:00 committed by Fabio Baltieri
parent a3631264d1
commit bfad7bc00e
1 changed files with 19 additions and 0 deletions
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19
drivers/can/can_mcan.c
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@ -225,8 +225,10 @@ unlock:
#ifdef CONFIG_CAN_FD_MODE
int can_mcan_set_timing_data(const struct device *dev, const struct can_timing *timing_data)
{
const uint8_t tdco_max = FIELD_GET(CAN_MCAN_TDCR_TDCO, CAN_MCAN_TDCR_TDCO);
struct can_mcan_data *data = dev->data;
uint32_t dbtp = 0U;
uint8_t tdco;
int err;
if (data->common.started) {
@ -240,6 +242,23 @@ int can_mcan_set_timing_data(const struct device *dev, const struct can_timing *
FIELD_PREP(CAN_MCAN_DBTP_DTSEG2, timing_data->phase_seg2 - 1UL) |
FIELD_PREP(CAN_MCAN_DBTP_DBRP, timing_data->prescaler - 1UL);
if (timing_data->prescaler == 1U || timing_data->prescaler == 2U) {
/* TDC can only be enabled if DBRP = { 0, 1 } */
dbtp |= CAN_MCAN_DBTP_TDC;
/* Set TDC offset for correct location of the Secondary Sample Point (SSP) */
tdco = CAN_CALC_TDCO(timing_data, 0U, tdco_max);
LOG_DBG("TDC enabled, using TDCO %u", tdco);
err = can_mcan_write_reg(dev, CAN_MCAN_TDCR, FIELD_PREP(CAN_MCAN_TDCR_TDCO, tdco));
if (err != 0) {
goto unlock;
}
} else {
LOG_DBG("TDC cannot be enabled, prescaler value %u too high",
timing_data->prescaler);
}
err = can_mcan_write_reg(dev, CAN_MCAN_DBTP, dbtp);
if (err != 0) {
goto unlock;