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framework-arduinoteensy-cxx20
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PlatformIO package of the Teensy core framework compatible with GCC 10 & C++20
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framework-arduinoteensy-cxx20/libraries/FlexCAN_T4/FlexCAN_T4FDTimings.tpp

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  1. #include <FlexCAN_T4.h>

  2. #include "imxrt_flexcan.h"

  3. #include "Arduino.h"

  4. 

  5. FCTPFD_FUNC bool FCTPFD_OPT::setBaudRateAdvanced(CANFD_timings_t config, uint8_t nominal_choice, uint8_t flexdata_choice, FLEXCAN_RXTX listen_only) {

  6.   return setBaudRate(config, nominal_choice, flexdata_choice, listen_only, 1);

  7. }

  8. 

  9. FCTPFD_FUNC bool FCTPFD_OPT::setBaudRate(CANFD_timings_t config, FLEXCAN_RXTX listen_only) {

  10.   return setBaudRate(config, 1, 1, listen_only, 0);

  11. }

  12. 

  13. FCTPFD_FUNC bool FCTPFD_OPT::setBaudRate(CANFD_timings_t config, uint8_t nominal_choice, uint8_t flexdata_choice, FLEXCAN_RXTX listen_only, bool advanced) {

  14.   uint32_t result = 0, result_old = 0;

  15.   double results[10][12] = { { 0 } , { 0 } };

  16. 

  17.   double baudrate = config.baudrate, propdelay = config.propdelay, bus_length = config.bus_length, req_smp = config.sample;

  18.   double cpi_clock = config.clock;

  19. 

  20.   baudrate /= 1000;

  21.   double ratio = cpi_clock * 1000 / baudrate;

  22.   double nbt_min = 8, nbt_max = 129, propseg_max = 64, propseg = 0, pseg_1, pseg_2;

  23. 

  24.   propdelay = (propdelay * 2) + (bus_length * 10);

  25.   uint32_t ipt = 2;

  26.   double temp = 0, pseg1 = 32, pseg2 = 32, rjw = 16, prescaler_min = 1, prescaler_max = 1024;

  27. 

  28.   if ( advanced ) Serial.println("\n\n      #########################################################################################################################################");

  29.   if ( advanced ) Serial.println("      #\t\t\t\t\t\t\t\t*** CAN NOMINAL CONFIGURATION ***\t\t\t\t\t      #");

  30.   if ( advanced ) Serial.println("      #########################################################################################################################################\n");

  31.   for ( uint32_t prescaler = prescaler_min; prescaler < prescaler_max; prescaler++ ) {

  32.     temp = ratio / prescaler;

  33.     for ( double nbt = nbt_min; nbt < nbt_max; nbt++ ) {

  34.       if ( temp == nbt ) {

  35.         propseg = ceil(propdelay / 1000 * cpi_clock / prescaler);

  36.         if ( propseg <= propseg_max ) {

  37.           for ( double pseg = 1; pseg <= pseg1; pseg++ ) {

  38.             if ( req_smp != 0 ) {

  39.               pseg_1 = round((nbt * req_smp / 100) - 1 - propseg);

  40.               pseg_2 = nbt - 1 - propseg - pseg_1;

  41.               if ( pseg_2 >= ipt && pseg_2 <= pseg2 && pseg_1 > 0 && pseg_1 <= pseg1 ) {

  42.                 result = result_old + 1;

  43.                 rjw = ( pseg_2 <= rjw ) ? pseg_2 : rjw;

  44.                 double error = (double) rjw / 20 / nbt * 100;

  45.                 double error1 = (double)( ( pseg_1 <= pseg_2 ) ? pseg_1 : pseg_2 ) / 2 / (13 * nbt - pseg_2) * 100;

  46.                 double sclk = (cpi_clock / prescaler);

  47.                 double tq = (1000 / (cpi_clock / prescaler));

  48.                 double smp = 100 - pseg_2 / nbt * 100;

  49.                 results[result - 1][0] = prescaler;

  50.                 results[result - 1][1] = sclk;

  51.                 results[result - 1][2] = tq;

  52.                 results[result - 1][3] = nbt;

  53.                 results[result - 1][4] = propseg;

  54.                 results[result - 1][5] = pseg_1;

  55.                 results[result - 1][6] = pseg_2;

  56.                 results[result - 1][7] = rjw;

  57.                 results[result - 1][8] = (error <= error1) ? error : error1;

  58.                 results[result - 1][9] = smp;

  59.                 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");

  60.                 if ( advanced ) Serial.printf("  %2u)", result);

  61.                 if ( advanced ) Serial.printf("      %4u", prescaler);

  62.                 if ( advanced ) Serial.printf("     %6.2f", sclk);

  63.                 if ( advanced ) Serial.printf("   %7.2f", tq);

  64.                 if ( advanced ) Serial.printf("     %2u", (uint32_t)nbt);

  65.                 if ( advanced ) Serial.printf("          %2u", (uint32_t)propseg);

  66.                 if ( advanced ) Serial.printf("             %2u", (uint32_t)pseg_1);

  67.                 if ( advanced ) Serial.printf("            %2u", (uint32_t)pseg_2);

  68.                 if ( advanced ) Serial.printf("          %2u", (uint32_t)rjw);

  69.                 if ( advanced ) Serial.printf("    %6.2f", ((error <= error1) ? error : error1));

  70.                 if ( advanced ) Serial.printf("       %6.2f", smp);

  71.                 uint32_t cbt = ((uint32_t)(results[result - 1][4] - 1) << 10); // EPROPSEG

  72.                 cbt |= ((uint32_t)(results[result - 1][6] - 1) << 0); // EPSEG2

  73.                 cbt |= ((uint32_t)(results[result - 1][5] - 1) << 5); // EPSEG1

  74.                 cbt |= ((uint32_t)(results[result - 1][7] - 1) << 16); // ERJW

  75.                 cbt |= ((uint32_t)(results[result - 1][0] - 1) << 21); // EPRESDIV

  76.                 cbt |= (1UL << 31); // BTF /* use CBT register instead of CTRL1 for FD */

  77.                 if ( advanced ) Serial.printf("            0x%8.08X",cbt);

  78. 

  79.                 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");

  80.                 if ( advanced ) Serial.printf("\t%8s%s%.2f%s", "", "a) Sync: ", results[result - 1][2], "ns\t");

  81.                 if ( advanced ) Serial.printf("%8s%s%.2f%s", "", "b) Propseg: ", results[result - 1][2] * results[result - 1][4], "ns\t");

  82.                 if ( advanced ) Serial.printf("%8s%s%.2f%s", "", "c) Pseg1: ", results[result - 1][2] * results[result - 1][5], "ns\t");

  83.                 if ( advanced ) Serial.printf("%8s%s%.2f%s", "", "d) Pseg2: ", results[result - 1][2] * results[result - 1][6], "ns\n");

  84. 

  85.                 uint32_t scale = (uint32_t)ceil(results[result - 1][2]);

  86.                 char _sync[(scale*124/1000) + 1] = "";

  87.                 for ( uint32_t i = 0; i < (scale*149/1200) + 1; i++ ) _sync[i] = 'a';

  88.                 _sync[(scale*124/1000)] = '\0';

  89. 

  90.                 scale = (uint32_t)ceil(results[result - 1][2] * results[result - 1][4]);

  91.                 char _prop[(scale*124/1000) + 1] = "";

  92.                 for ( uint32_t i = 0; i < (scale*149/1200) + 1; i++ ) _prop[i] = 'b';

  93.                 _prop[(scale*124/1000)] = '\0';

  94. 

  95.                 scale = (uint32_t)ceil(results[result - 1][2] * results[result - 1][5]);

  96.                 char _pseg1[(scale*124/1000) + 1] = "";

  97.                 for ( uint32_t i = 0; i < (scale*149/1200) + 1; i++ ) _pseg1[i] = 'c';

  98.                 _pseg1[(scale*124/1000)] = '\0';

  99. 

  100.                 scale = (uint32_t)ceil(results[result - 1][2] * results[result - 1][6]);

  101.                 char _pseg2[(scale*124/1000) + 1] = "";

  102.                 for ( uint32_t i = 0; i < (scale*149/1200) + 1; i++ ) _pseg2[i] = 'd';

  103.                 _pseg2[(scale*124/1000)] = '\0';

  104. 

  105.                 if ( advanced ) Serial.printf("%9s%s%-s%s%-s%s%-s%s%-s", "[", _sync, "|", _prop, "|", _pseg1, "|", _pseg2, "]\n");

  106.                 if ( advanced ) Serial.printf("%8s%-s%-s%-s%-s%-s%-s", "", "|________________________", "|________________________", "|________________________", "|________________________", "|________________________", "|________________________|");

  107.                 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");

  108.               }

  109.               if ( result == result_old ) {

  110.                 pseg = nbt - 1 - propseg;

  111.                 if ( pseg == 3 && ipt == 2 ) {

  112.                   result = result + 1;

  113.                   double error = (double) rjw / 20 / nbt * 100;

  114.                   double error1 = ( ( pseg_1 <= pseg_2 ) ? (double)pseg_1 : (double)pseg_2 ) / 2 / (13 * nbt - pseg_2) * 100;

  115.                   double sclk = (cpi_clock / prescaler);

  116.                   double tq = (1000 / (cpi_clock / prescaler));

  117.                   double smp = 100 - 2 / nbt * 100;

  118.                   results[result - 1][0] = prescaler;

  119.                   results[result - 1][1] = sclk;

  120.                   results[result - 1][2] = tq;

  121.                   results[result - 1][3] = nbt;

  122.                   results[result - 1][4] = propseg;

  123.                   results[result - 1][5] = 1;

  124.                   results[result - 1][6] = 2;

  125.                   results[result - 1][7] = 1;

  126.                   results[result - 1][8] = (error <= error1) ? error : error1;

  127.                   results[result - 1][9] = smp;

  128.                   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");

  129.                   if ( advanced ) Serial.printf("  %2u)", result);

  130.                   if ( advanced ) Serial.printf("      %4u", prescaler);

  131.                   if ( advanced ) Serial.printf("     %6.2f", sclk);

  132.                   if ( advanced ) Serial.printf("   %7.2f", tq);

  133.                   if ( advanced ) Serial.printf("     %2u", (uint32_t)nbt);

  134.                   if ( advanced ) Serial.printf("          %2u", (uint32_t)propseg);

  135.                   if ( advanced ) Serial.printf("             %2u", (uint32_t)1);

  136.                   if ( advanced ) Serial.printf("            %2u", (uint32_t)2);

  137.                   if ( advanced ) Serial.printf("          %2u", (uint32_t)1);

  138.                   if ( advanced ) Serial.printf("    %6.2f", ((error <= error1) ? error : error1));

  139.                   if ( advanced ) Serial.printf("       %6.2f", smp);

  140.                   uint32_t cbt = ((uint32_t)(results[result - 1][4] - 1) << 10); // EPROPSEG

  141.                   cbt |= ((uint32_t)(results[result - 1][6] - 1) << 0); // EPSEG2

  142.                   cbt |= ((uint32_t)(results[result - 1][5] - 1) << 5); // EPSEG1

  143.                   cbt |= ((uint32_t)(results[result - 1][7] - 1) << 16); // ERJW

  144.                   cbt |= ((uint32_t)(results[result - 1][0] - 1) << 21); // EPRESDIV

  145.                   cbt |= (1UL << 31); // BTF /* use CBT register instead of CTRL1 for FD */

  146.                   if ( advanced ) Serial.printf("            0x%8.08X",cbt);

  147. 

  148.                   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");

  149.                   if ( advanced ) Serial.printf("\t%8s%s%.2f%s", "", "a) Sync: ", results[result - 1][2], "ns\t");

  150.                   if ( advanced ) Serial.printf("%8s%s%.2f%s", "", "b) Propseg: ", results[result - 1][2] * results[result - 1][4], "ns\t");

  151.                   if ( advanced ) Serial.printf("%8s%s%.2f%s", "", "c) Pseg1: ", results[result - 1][2] * results[result - 1][5], "ns\t");

  152.                   if ( advanced ) Serial.printf("%8s%s%.2f%s", "", "d) Pseg2: ", results[result - 1][2] * results[result - 1][6], "ns\n");

  153. 

  154.                   uint32_t scale = (uint32_t)ceil(results[result - 1][2]);

  155.                   char _sync[(scale*124/1000) + 1] = "";

  156.                   for ( uint32_t i = 0; i < (scale*149/1200) + 1; i++ ) _sync[i] = 'a';

  157.                   _sync[(scale*124/1000)] = '\0';

  158. 

  159.                   scale = (uint32_t)ceil(results[result - 1][2] * results[result - 1][4]);

  160.                   char _prop[(scale*124/1000) + 1] = "";

  161.                   for ( uint32_t i = 0; i < (scale*149/1200) + 1; i++ ) _prop[i] = 'b';

  162.                   _prop[(scale*124/1000)] = '\0';

  163. 

  164.                   scale = (uint32_t)ceil(results[result - 1][2] * results[result - 1][5]);

  165.                   char _pseg1[(scale*124/1000) + 1] = "";

  166.                   for ( uint32_t i = 0; i < (scale*149/1200) + 1; i++ ) _pseg1[i] = 'c';

  167.                   _pseg1[(scale*124/1000)] = '\0';

  168. 

  169.                   scale = (uint32_t)ceil(results[result - 1][2] * results[result - 1][6]);

  170.                   char _pseg2[(scale*124/1000) + 1] = "";

  171.                   for ( uint32_t i = 0; i < (scale*149/1200) + 1; i++ ) _pseg2[i] = 'd';

  172.                   _pseg2[(scale*124/1000)] = '\0';

  173. 

  174.                   if ( advanced ) Serial.printf("%9s%s%-s%s%-s%s%-s%s%-s", "[", _sync, "|", _prop, "|", _pseg1, "|", _pseg2, "]\n");

  175.                   if ( advanced ) Serial.printf("%8s%-s%-s%-s%-s%-s%-s", "", "|________________________", "|________________________", "|________________________", "|________________________", "|________________________", "|________________________|");

  176.                   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");

  177.                 }

  178.                 if ( pseg > (ipt + 1) && pseg <= (pseg1 * 2) ) {

  179.                   if ( (uint32_t)pseg % 2 != 0 ) propseg++;

  180.                   pseg = (nbt - 1 - propseg) / 2;

  181.                   result = result + 1;

  182.                   rjw = ( pseg <= rjw ) ? pseg : rjw;

  183.                   double pseg_val = nbt - 1 - propseg - pseg;

  184.                   double error = (double)rjw / 20 / nbt * 100;

  185.                   double error1 = (((pseg <= pseg_val) ? (double)pseg : (double)pseg_val ) / 2 / (13 * nbt - pseg_val) * 100);

  186.                   double sclk = (cpi_clock / prescaler);

  187.                   double tq = (1000 / (cpi_clock / prescaler));

  188.                   double smp = 100 - pseg / nbt * 100;

  189.                   results[result - 1][0] = prescaler;

  190.                   results[result - 1][1] = sclk;

  191.                   results[result - 1][2] = tq;

  192.                   results[result - 1][3] = nbt;

  193.                   results[result - 1][4] = propseg;

  194.                   results[result - 1][5] = pseg;

  195.                   results[result - 1][6] = pseg_val;

  196.                   results[result - 1][7] = rjw;

  197.                   results[result - 1][8] = (error <= error1) ? error : error1;

  198.                   results[result - 1][9] = smp;

  199.                   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");

  200.                   if ( advanced ) Serial.printf("  %2u)", result);

  201.                   if ( advanced ) Serial.printf("      %4u", prescaler);

  202.                   if ( advanced ) Serial.printf("     %6.2f", sclk);

  203.                   if ( advanced ) Serial.printf("   %7.2f", tq);

  204.                   if ( advanced ) Serial.printf("     %2u", (uint32_t)nbt);

  205.                   if ( advanced ) Serial.printf("          %2u", (uint32_t)propseg);

  206.                   if ( advanced ) Serial.printf("             %2u", (uint32_t)pseg);

  207.                   if ( advanced ) Serial.printf("            %2u", (uint32_t)pseg_val);

  208.                   if ( advanced ) Serial.printf("          %2u", (uint32_t)rjw);

  209.                   if ( advanced ) Serial.printf("    %6.2f", ((error <= error1) ? error : error1));

  210.                   if ( advanced ) Serial.printf("       %6.2f", smp);

  211.                   uint32_t cbt = ((uint32_t)(results[result - 1][4] - 1) << 10); // EPROPSEG

  212.                   cbt |= ((uint32_t)(results[result - 1][6] - 1) << 0); // EPSEG2

  213.                   cbt |= ((uint32_t)(results[result - 1][5] - 1) << 5); // EPSEG1

  214.                   cbt |= ((uint32_t)(results[result - 1][7] - 1) << 16); // ERJW

  215.                   cbt |= ((uint32_t)(results[result - 1][0] - 1) << 21); // EPRESDIV

  216.                   cbt |= (1UL << 31); // BTF /* use CBT register instead of CTRL1 for FD */

  217.                   if ( advanced ) Serial.printf("            0x%8.08X",cbt);

  218. 

  219.                   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");

  220.                   if ( advanced ) Serial.printf("\t%8s%s%.2f%s", "", "a) Sync: ", results[result - 1][2], "ns\t");

  221.                   if ( advanced ) Serial.printf("%8s%s%.2f%s", "", "b) Propseg: ", results[result - 1][2] * results[result - 1][4], "ns\t");

  222.                   if ( advanced ) Serial.printf("%8s%s%.2f%s", "", "c) Pseg1: ", results[result - 1][2] * results[result - 1][5], "ns\t");

  223.                   if ( advanced ) Serial.printf("%8s%s%.2f%s", "", "d) Pseg2: ", results[result - 1][2] * results[result - 1][6], "ns\n");

  224. 

  225.                   uint32_t scale = (uint32_t)ceil(results[result - 1][2]);

  226.                   char _sync[(scale*124/1000) + 1] = "";

  227.                   for ( uint32_t i = 0; i < (scale*149/1200) + 1; i++ ) _sync[i] = 'a';

  228.                   _sync[(scale*124/1000)] = '\0';

  229. 

  230.                   scale = (uint32_t)ceil(results[result - 1][2] * results[result - 1][4]);

  231.                   char _prop[(scale*124/1000) + 1] = "";

  232.                   for ( uint32_t i = 0; i < (scale*149/1200) + 1; i++ ) _prop[i] = 'b';

  233.                   _prop[(scale*124/1000)] = '\0';

  234. 

  235.                   scale = (uint32_t)ceil(results[result - 1][2] * results[result - 1][5]);

  236.                   char _pseg1[(scale*124/1000) + 1] = "";

  237.                   for ( uint32_t i = 0; i < (scale*149/1200) + 1; i++ ) _pseg1[i] = 'c';

  238.                   _pseg1[(scale*124/1000)] = '\0';

  239. 

  240.                   scale = (uint32_t)ceil(results[result - 1][2] * results[result - 1][6]);

  241.                   char _pseg2[(scale*124/1000) + 1] = "";

  242.                   for ( uint32_t i = 0; i < (scale*149/1200) + 1; i++ ) _pseg2[i] = 'd';

  243.                   _pseg2[(scale*124/1000)] = '\0';

  244. 

  245.                   if ( advanced ) Serial.printf("%9s%s%-s%s%-s%s%-s%s%-s", "[", _sync, "|", _prop, "|", _pseg1, "|", _pseg2, "]\n");

  246.                   if ( advanced ) Serial.printf("%8s%-s%-s%-s%-s%-s%-s", "", "|________________________", "|________________________", "|________________________", "|________________________", "|________________________", "|________________________|");

  247.                   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");

  248.                 }

  249.               }

  250.               result_old = result;

  251.               break;

  252.             }

  253.           }

  254.         }

  255.       }

  256.     }

  257.   }

  258.   if ( advanced ) Serial.println("\n\n\n");

  259.   if ( nominal_choice && flexdata_choice ) {

  260.     if ( nominal_choice > result ) {

  261.       if ( advanced ) Serial.println("\n\t*** ERROR: Nominal rate selection out of bounds!\n");

  262.       return 0;

  263.     }

  264.     uint32_t cbt = ((uint32_t)(results[nominal_choice - 1][4] - 1) << 10); // EPROPSEG

  265.     cbt |= ((uint32_t)(results[nominal_choice - 1][6] - 1) << 0); // EPSEG2

  266.     cbt |= ((uint32_t)(results[nominal_choice - 1][5] - 1) << 5); // EPSEG1

  267.     cbt |= ((uint32_t)(results[nominal_choice - 1][7] - 1) << 16); // ERJW

  268.     cbt |= ((uint32_t)(results[nominal_choice - 1][0] - 1) << 21); // EPRESDIV

  269.     cbt |= (1UL << 31); // BTF

  270.     uint32_t fdcbt_setting = setBaudRateFD(config, flexdata_choice, advanced);

  271.     if ( fdcbt_setting ) { // SET BOTH CBT AND FDCBT HERE

  272.       FLEXCAN_EnterFreezeMode();

  273.       setClock(config.clock);

  274.       if ( listen_only == LISTEN_ONLY ) {

  275.         FLEXCANb_CBT(_bus) &= ~(1UL << 31); /* clear BTE bit to edit CTRL1 register */

  276.         FLEXCANb_CTRL1(_bus) |= FLEXCAN_CTRL_LOM;

  277.       }

  278.       else {

  279.         FLEXCANb_CBT(_bus) &= ~(1UL << 31); /* clear BTE bit to edit CTRL1 register */

  280.         FLEXCANb_CTRL1(_bus) &= ~FLEXCAN_CTRL_LOM;

  281.       }

  282.       FLEXCANb_CBT(_bus) = cbt;

  283.       FLEXCANb_FDCBT(_bus) = fdcbt_setting;

  284.       if ( advanced ) Serial.print("CTRL1: 0x");

  285.       if ( advanced ) Serial.println(FLEXCANb_CTRL1(_bus),HEX);

  286.       if ( advanced ) Serial.print("CBT: 0x");

  287.       if ( advanced ) Serial.println(FLEXCANb_CBT(_bus),HEX);

  288.       if ( advanced ) Serial.print("FDCBT: 0x");

  289.       if ( advanced ) Serial.println(FLEXCANb_FDCBT(_bus) ,HEX);

  290.       if ( advanced ) Serial.print("FDCTRL: 0x");

  291.       if ( advanced ) Serial.println(FLEXCANb_FDCTRL(_bus) ,HEX);

  292.       FLEXCAN_ExitFreezeMode();

  293.       return 1;

  294.     }

  295.     else return 0;

  296.   }

  297.   else setBaudRateFD(config, 0, advanced); /* continue list printout for FD */

  298.   while ( Serial.read() != 'c' );

  299.   return 1;

  300. }

  301. 

  302. FCTPFD_FUNC uint32_t FCTPFD_OPT::setBaudRateFD(CANFD_timings_t config, uint32_t flexdata_choice, bool advanced) {

  303.   uint32_t result = 0, result_old = 0;

  304.   double results[10][12] = { { 0 } , { 0 } };

  305. 

  306.   double baudrate = config.baudrateFD, propdelay = config.propdelay, req_smp = config.sample;

  307.   double cpi_clock = config.clock;

  308. 

  309.   baudrate /= 1000;

  310.   double ratio = cpi_clock * 1000 / baudrate;

  311.   double nbt_min = 5, nbt_max = 48, propseg_max = 32, propseg = 0, pseg_1, pseg_2;

  312.   uint32_t tdcen = 0, ipt = 2;

  313.   double temp = 0, ppsegmin, ppsegmax, pseg1 = 8, pseg2 = 8, rjw = 8, prescaler_min = 1, prescaler_max = 1024;

  314.   if ( advanced ) Serial.println("      ####################################################################################################################################################");

  315.   if ( advanced ) Serial.println("      #\t\t\t\t\t\t\t\t*** CAN FLEXDATA CONFIGURATION ***\t\t\t\t\t\t         #");

  316.   if ( advanced ) Serial.println("      ####################################################################################################################################################\n");

  317.   for ( uint32_t prescaler = prescaler_min; prescaler < prescaler_max; prescaler++ ) {

  318.     temp = ratio / prescaler;

  319.     for ( double nbt = nbt_min; nbt < nbt_max; nbt++ ) {

  320.       if ( temp == nbt ) {

  321.         propseg = ceil(propdelay / 1000 * cpi_clock / prescaler);

  322.         tdcen = 0;

  323.         if ( propseg >= (nbt - 2)) { // finished with debug

  324.           ppsegmax = nbt - 3;

  325.           ppsegmin = nbt - 1 - pseg1 - pseg2;

  326.           if ( ppsegmin < 1 ) ppsegmin = 1;

  327.           propseg = round((ppsegmax - ppsegmin) / 2);

  328.           tdcen = 1;

  329.         }

  330.         if ( propseg <= propseg_max ) {

  331.           for ( double pseg = 1; pseg <= pseg1; pseg++ ) {

  332.             pseg_1 = round((nbt * req_smp / 100) - 1 - propseg);

  333.             pseg_2 = nbt - 1 - propseg - pseg_1;

  334.             if ( pseg_2 >= ipt && pseg_2 <= pseg2 && pseg_1 > 0 && pseg_1 <= pseg1 ) {

  335.               result = result_old + 1;

  336.               rjw = ( pseg_2 <= rjw ) ? pseg_2 : rjw;

  337.               double sclk = (cpi_clock / prescaler);

  338.               double tq = (1000 / (cpi_clock / prescaler));

  339.               double smp = 100 - pseg_2 / nbt * 100;

  340.               double tdcoff_val = (!tdcen) ? 0 : cpi_clock / (2 * baudrate / 1000);

  341.               results[result - 1][0] = prescaler;

  342.               results[result - 1][1] = sclk;

  343.               results[result - 1][2] = tq;

  344.               results[result - 1][3] = nbt;

  345.               results[result - 1][4] = propseg;

  346.               results[result - 1][5] = pseg_1;

  347.               results[result - 1][6] = pseg_2;

  348.               results[result - 1][7] = rjw;

  349.               results[result - 1][8] = tdcen;

  350.               results[result - 1][9] = tdcoff_val;

  351.               results[result - 1][10] = smp;

  352.               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");

  353.               if ( advanced ) Serial.printf("  %2u)", result);

  354.               if ( advanced ) Serial.printf("      %4u", prescaler);

  355.               if ( advanced ) Serial.printf("     %6.2f", sclk);

  356.               if ( advanced ) Serial.printf("   %7.2f", tq);

  357.               if ( advanced ) Serial.printf("     %2u", (uint32_t)nbt);

  358.               if ( advanced ) Serial.printf("          %2u", (uint32_t)propseg);

  359.               if ( advanced ) Serial.printf("             %2u", (uint32_t)pseg_1);

  360.               if ( advanced ) Serial.printf("            %2u", (uint32_t)pseg_2);

  361.               if ( advanced ) Serial.printf("          %2u", (uint32_t)rjw);

  362.               if ( advanced ) Serial.printf("         %2u", (uint32_t)tdcen);

  363.               if ( advanced ) Serial.printf("     %4.2f", tdcoff_val);

  364.               if ( advanced ) Serial.printf("       %6.2f", smp);

  365.               uint32_t fdcbt = 0;

  366.               fdcbt |= ((uint32_t)(results[result - 1][6] - 1) << 0); // FPSEG2

  367.               fdcbt |= ((uint32_t)(results[result - 1][5] - 1) << 5); // FPSEG1

  368.               fdcbt |= ((uint32_t)(results[result - 1][4] - 0) << 10); // FPROPSEG

  369.               fdcbt |= ((uint32_t)(results[result - 1][7] - 1) << 16); // FRJW

  370.               fdcbt |= ((uint32_t)(results[result - 1][0] - 1) << 20); // FPRESDIV

  371.               if ( advanced ) Serial.printf("            0x%8.08X",fdcbt);

  372. 

  373.               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");

  374.               if ( advanced ) Serial.printf("\t%8s%s%.2f%s", "", "a) Sync: ", results[result - 1][2], "ns\t");

  375.               if ( advanced ) Serial.printf("%8s%s%.2f%s", "", "b) Propseg: ", results[result - 1][2] * results[result - 1][4], "ns\t");

  376.               if ( advanced ) Serial.printf("%8s%s%.2f%s", "", "c) Pseg1: ", results[result - 1][2] * results[result - 1][5], "ns\t");

  377.               if ( advanced ) Serial.printf("%8s%s%.2f%s", "", "d) Pseg2: ", results[result - 1][2] * results[result - 1][6], "ns\n");

  378. 

  379.               uint32_t scale = (uint32_t)ceil(results[result - 1][2]);

  380.               char _sync[(scale*124/1000) + 1] = "";

  381.               for ( uint32_t i = 0; i < (scale*149/1200) + 1; i++ ) _sync[i] = 'a';

  382.               _sync[(scale*124/1000)] = '\0';

  383. 

  384.               scale = (uint32_t)ceil(results[result - 1][2] * results[result - 1][4]);

  385.               char _prop[(scale*124/1000) + 1] = "";

  386.               for ( uint32_t i = 0; i < (scale*149/1200) + 1; i++ ) _prop[i] = 'b';

  387.               _prop[(scale*124/1000)] = '\0';

  388. 

  389.               scale = (uint32_t)ceil(results[result - 1][2] * results[result - 1][5]);

  390.               char _pseg1[(scale*124/1000) + 1] = "";

  391.               for ( uint32_t i = 0; i < (scale*149/1200) + 1; i++ ) _pseg1[i] = 'c';

  392.               _pseg1[(scale*124/1000)] = '\0';

  393. 

  394.               scale = (uint32_t)ceil(results[result - 1][2] * results[result - 1][6]);

  395.               char _pseg2[(scale*124/1000) + 1] = "";

  396.               for ( uint32_t i = 0; i < (scale*149/1200) + 1; i++ ) _pseg2[i] = 'd';

  397.               _pseg2[(scale*124/1000)] = '\0';

  398. 

  399.               if ( advanced ) Serial.printf("%9s%s%-s%s%-s%s%-s%s%-s", "[", _sync, "|", _prop, "|", _pseg1, "|", _pseg2, "]\n");

  400.               if ( advanced ) Serial.printf("%8s%-s%-s%-s%-s%-s%-s", "", "|________________________", "|________________________", "|________________________", "|________________________", "|________________________", "|________________________|");

  401.               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");

  402.             }

  403.             if ( result == result_old ) {

  404.               pseg = nbt - 1 - propseg;

  405.               if ( pseg == 3 && ipt == 2 ) {

  406.                 result = result + 1;

  407.                 double sclk = (cpi_clock / prescaler);

  408.                 double tq = (1000 / (cpi_clock / prescaler));

  409.                 double smp = 100 - 2 / nbt * 100;

  410.                 double tdcoff_val = (!tdcen) ? 0 : cpi_clock / (2 * baudrate / 1000);

  411.                 results[result - 1][0] = prescaler;

  412.                 results[result - 1][1] = sclk;

  413.                 results[result - 1][2] = tq;

  414.                 results[result - 1][3] = nbt;

  415.                 results[result - 1][4] = propseg;

  416.                 results[result - 1][5] = 1;

  417.                 results[result - 1][6] = 2;

  418.                 results[result - 1][7] = 1;

  419.                 results[result - 1][8] = tdcen;

  420.                 results[result - 1][9] = tdcoff_val;

  421.                 results[result - 1][10] = smp;

  422.                 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");

  423.                 if ( advanced ) Serial.printf("  %2u)", result);

  424.                 if ( advanced ) Serial.printf("      %4u", prescaler);

  425.                 if ( advanced ) Serial.printf("     %6.2f", sclk);

  426.                 if ( advanced ) Serial.printf("   %7.2f", tq);

  427.                 if ( advanced ) Serial.printf("     %2u", (uint32_t)nbt);

  428.                 if ( advanced ) Serial.printf("          %2u", (uint32_t)propseg);

  429.                 if ( advanced ) Serial.printf("             %2u", (uint32_t)1);

  430.                 if ( advanced ) Serial.printf("            %2u", (uint32_t)2);

  431.                 if ( advanced ) Serial.printf("          %2u", (uint32_t)1);

  432.                 if ( advanced ) Serial.printf("         %2u", (uint32_t)tdcen);

  433.                 if ( advanced ) Serial.printf("     %4.2f", tdcoff_val);

  434.                 if ( advanced ) Serial.printf("       %6.2f", smp);

  435.                 uint32_t fdcbt = 0;

  436.                 fdcbt |= ((uint32_t)(results[result - 1][6] - 1) << 0); // FPSEG2

  437.                 fdcbt |= ((uint32_t)(results[result - 1][5] - 1) << 5); // FPSEG1

  438.                 fdcbt |= ((uint32_t)(results[result - 1][4] - 0) << 10); // FPROPSEG

  439.                 fdcbt |= ((uint32_t)(results[result - 1][7] - 1) << 16); // FRJW

  440.                 fdcbt |= ((uint32_t)(results[result - 1][0] - 1) << 20); // FPRESDIV

  441.                 if ( advanced ) Serial.printf("            0x%8.08X",fdcbt);

  442.                 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");

  443.                 if ( advanced ) Serial.printf("\t%8s%s%.2f%s", "", "a) Sync: ", results[result - 1][2], "ns\t");

  444.                 if ( advanced ) Serial.printf("%8s%s%.2f%s", "", "b) Propseg: ", results[result - 1][2] * results[result - 1][4], "ns\t");

  445.                 if ( advanced ) Serial.printf("%8s%s%.2f%s", "", "c) Pseg1: ", results[result - 1][2] * results[result - 1][5], "ns\t");

  446.                 if ( advanced ) Serial.printf("%8s%s%.2f%s", "", "d) Pseg2: ", results[result - 1][2] * results[result - 1][6], "ns\n");

  447. 

  448.                 uint32_t scale = (uint32_t)ceil(results[result - 1][2]);

  449.                 char _sync[(scale*124/1000) + 1] = "";

  450.                 for ( uint32_t i = 0; i < (scale*149/1200) + 1; i++ ) _sync[i] = 'a';

  451.                 _sync[(scale*124/1000)] = '\0';

  452. 

  453.                 scale = (uint32_t)ceil(results[result - 1][2] * results[result - 1][4]);

  454.                 char _prop[(scale*124/1000) + 1] = "";

  455.                 for ( uint32_t i = 0; i < (scale*149/1200) + 1; i++ ) _prop[i] = 'b';

  456.                 _prop[(scale*124/1000)] = '\0';

  457. 

  458.                 scale = (uint32_t)ceil(results[result - 1][2] * results[result - 1][5]);

  459.                 char _pseg1[(scale*124/1000) + 1] = "";

  460.                 for ( uint32_t i = 0; i < (scale*149/1200) + 1; i++ ) _pseg1[i] = 'c';

  461.                 _pseg1[(scale*124/1000)] = '\0';

  462. 

  463.                 scale = (uint32_t)ceil(results[result - 1][2] * results[result - 1][6]);

  464.                 char _pseg2[(scale*124/1000) + 1] = "";

  465.                 for ( uint32_t i = 0; i < (scale*149/1200) + 1; i++ ) _pseg2[i] = 'd';

  466.                 _pseg2[(scale*124/1000)] = '\0';

  467. 

  468.                 if ( advanced ) Serial.printf("%9s%s%-s%s%-s%s%-s%s%-s", "[", _sync, "|", _prop, "|", _pseg1, "|", _pseg2, "]\n");

  469.                 if ( advanced ) Serial.printf("%8s%-s%-s%-s%-s%-s%-s", "", "|________________________", "|________________________", "|________________________", "|________________________", "|________________________", "|________________________|");

  470.                 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");

  471.               }

  472.               if ( pseg > (ipt + 1) && pseg <= (pseg1 * 2) ) {

  473.                 if ( (uint32_t)pseg % 2 != 0 ) propseg++;

  474.                 pseg = (nbt - 1 - propseg) / 2;

  475.                 result++;

  476.                 rjw = ( pseg <= rjw ) ? pseg : rjw;

  477.                 double sclk = (cpi_clock / prescaler);

  478.                 double tq = (1000 / (cpi_clock / prescaler));

  479.                 double smp = 100 - pseg / nbt * 100;

  480.                 double tdcoff_val = (!tdcen) ? 0 : cpi_clock / (2 * baudrate / 1000);

  481.                 results[result - 1][0] = prescaler;

  482.                 results[result - 1][1] = sclk;

  483.                 results[result - 1][2] = tq;

  484.                 results[result - 1][3] = nbt;

  485.                 results[result - 1][4] = propseg;

  486.                 results[result - 1][5] = pseg;

  487.                 results[result - 1][6] = pseg;

  488.                 results[result - 1][7] = rjw;

  489.                 results[result - 1][8] = tdcen;

  490.                 results[result - 1][9] = tdcoff_val;

  491.                 results[result - 1][10] = smp;

  492.                 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");

  493.                 if ( advanced ) Serial.printf("  %2u)", result);

  494.                 if ( advanced ) Serial.printf("      %4u", prescaler);

  495.                 if ( advanced ) Serial.printf("     %6.2f", sclk);

  496.                 if ( advanced ) Serial.printf("   %7.2f", tq);

  497.                 if ( advanced ) Serial.printf("     %2u", (uint32_t)nbt);

  498.                 if ( advanced ) Serial.printf("          %2u", (uint32_t)propseg);

  499.                 if ( advanced ) Serial.printf("             %2u", (uint32_t)pseg);

  500.                 if ( advanced ) Serial.printf("            %2u", (uint32_t)pseg);

  501.                 if ( advanced ) Serial.printf("          %2u", (uint32_t)rjw);

  502.                 if ( advanced ) Serial.printf("         %2u", (uint32_t)tdcen);

  503.                 if ( advanced ) Serial.printf("     %4.2f", tdcoff_val);

  504.                 if ( advanced ) Serial.printf("       %6.2f", smp);

  505.                 uint32_t fdcbt = 0;

  506.                 fdcbt |= ((uint32_t)(results[result - 1][6] - 1) << 0); // FPSEG2

  507.                 fdcbt |= ((uint32_t)(results[result - 1][5] - 1) << 5); // FPSEG1

  508.                 fdcbt |= ((uint32_t)(results[result - 1][4] - 0) << 10); // FPROPSEG

  509.                 fdcbt |= ((uint32_t)(results[result - 1][7] - 1) << 16); // FRJW

  510.                 fdcbt |= ((uint32_t)(results[result - 1][0] - 1) << 20); // FPRESDIV

  511.                 if ( advanced ) Serial.printf("            0x%8.08X",fdcbt);

  512.                 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");

  513.                 if ( advanced ) Serial.printf("\t%8s%s%.2f%s", "", "a) Sync: ", results[result - 1][2], "ns\t");

  514.                 if ( advanced ) Serial.printf("%8s%s%.2f%s", "", "b) Propseg: ", results[result - 1][2] * results[result - 1][4], "ns\t");

  515.                 if ( advanced ) Serial.printf("%8s%s%.2f%s", "", "c) Pseg1: ", results[result - 1][2] * results[result - 1][5], "ns\t");

  516.                 if ( advanced ) Serial.printf("%8s%s%.2f%s", "", "d) Pseg2: ", results[result - 1][2] * results[result - 1][6], "ns\n");

  517. 

  518.                 uint32_t scale = (uint32_t)ceil(results[result - 1][2]);

  519.                 char _sync[(scale*124/1000) + 1] = "";

  520.                 for ( uint32_t i = 0; i < (scale*149/1200) + 1; i++ ) _sync[i] = 'a';

  521.                 _sync[(scale*124/1000)] = '\0';

  522. 

  523.                 scale = (uint32_t)ceil(results[result - 1][2] * results[result - 1][4]);

  524.                 char _prop[(scale*124/1000) + 1] = "";

  525.                 for ( uint32_t i = 0; i < (scale*149/1200) + 1; i++ ) _prop[i] = 'b';

  526.                 _prop[(scale*124/1000)] = '\0';

  527. 

  528.                 scale = (uint32_t)ceil(results[result - 1][2] * results[result - 1][5]);

  529.                 char _pseg1[(scale*124/1000) + 1] = "";

  530.                 for ( uint32_t i = 0; i < (scale*149/1200) + 1; i++ ) _pseg1[i] = 'c';

  531.                 _pseg1[(scale*124/1000)] = '\0';

  532. 

  533.                 scale = (uint32_t)ceil(results[result - 1][2] * results[result - 1][6]);

  534.                 char _pseg2[(scale*124/1000) + 1] = "";

  535.                 for ( uint32_t i = 0; i < (scale*149/1200) + 1; i++ ) _pseg2[i] = 'd';

  536.                 _pseg2[(scale*124/1000)] = '\0';

  537. 

  538.                 if ( advanced ) Serial.printf("%9s%s%-s%s%-s%s%-s%s%-s", "[", _sync, "|", _prop, "|", _pseg1, "|", _pseg2, "]\n");

  539.                 if ( advanced ) Serial.printf("%8s%-s%-s%-s%-s%-s%-s", "", "|________________________", "|________________________", "|________________________", "|________________________", "|________________________", "|________________________|");

  540.                 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");

  541.               }

  542.             }

  543.             result_old = result;

  544.             break;

  545.           }

  546.         }

  547.       }

  548.     }

  549.   }

  550.   if ( flexdata_choice ) {

  551.     if ( flexdata_choice > result ) {

  552.       if ( advanced ) Serial.println("\n\t*** ERROR: FD rate selection out of bounds!\n");

  553.       return 0;

  554.     }

  555.     uint32_t fdcbt = 0;

  556.     fdcbt |= ((uint32_t)(results[flexdata_choice - 1][6] - 1) << 0); // FPSEG2

  557.     fdcbt |= ((uint32_t)(results[flexdata_choice - 1][5] - 1) << 5); // FPSEG1

  558.     fdcbt |= ((uint32_t)(results[flexdata_choice - 1][4] - 0) << 10); // FPROPSEG

  559.     fdcbt |= ((uint32_t)(results[flexdata_choice - 1][7] - 1) << 16); // FRJW

  560.     fdcbt |= ((uint32_t)(results[flexdata_choice - 1][0] - 1) << 20); // FPRESDIV

  561. 

  562.     FLEXCANb_FDCTRL(_bus) = (FLEXCANb_FDCTRL(_bus) & 0xFFFF60FF); /* clear TDC values */

  563.     if ( ((uint32_t)(results[flexdata_choice - 1][8])) ) { /* enable TDC if available */

  564.       FLEXCANb_FDCTRL(_bus) |= (1UL << 15) | (((uint32_t)(results[flexdata_choice - 1][9])) << 8);

  565.     }

  566.     return fdcbt;

  567.   }

  568.   return 0;

  569. }