Merge branch 'master' into stm32h743

TrampolineRTOS · May 28, 2024 · c1b5667 · c1b5667
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diff --git a/examples/cortex-a-r/armv8/spider/can_demo/README.md b/examples/cortex-a-r/armv8/spider/can_demo/README.md
@@ -15,9 +15,11 @@ Between the DB-9 pin 7 and pin 3 we soldered a 60 ohms resistors, we also added
 ## Software setup
 
 The Kvaser CanKing CAN bus configuration is as follow :
-* Bus speed : 125 Kbit/s.
-* Sample point : 75% (Tseg1 = 11, TSeg2 = 4).
-* SWJ (Synchronization Jump Width) : 4.
+* CAN Mode : CAN FD
+* Both Arbitration Phase and Data Phase parameters set to :
+  * Bus speed : 1000 Kbit/s, 80%.
+  * SJW : 8
+  * Bit timing : Tseg1=31, Tseg2=8.
 
 No configuration is needed on the CAN demo application side.
 
@@ -32,9 +34,49 @@ goil --target=cortex-a-r/armv8/spider --templates=../../../../../goil/templates/
 
 ## Running
 
+### Using Kvaser CanKing
+
 Before starting the CAN demo application, connect the hardware setup and configure the Kvaser CanKing application as described in the above paragraphs.
 Then, click the CanKing `Go On Bus` button.
 Now, you can run the CAN demo application.
 
 The CAN demo application starts by sending a CAN frame with the CAN ID `0x123` and the string payload `Ready!`.
 After that, it waits for a CAN frame to be received. When a frame is received, it increments the CAN ID and all the payload bytes, then it sends the frame back.
+
+### Using canfdtest on Linux
+
+For this test we used `Ubuntu 23.10` as it is the first Ubuntu version containing a recent enough version of the `can-utils` package (the minimal required version of the `can-utils` package is `v2023.03`).
+
+* Install the required package :
+  ```
+  sudo apt install can-utils
+  ```
+  Note : it is also possible to build the `can-utils` package from sources to run it on older Linux versions (see [https://github.com/linux-can/can-utils/releases/tag/v2023.03](https://github.com/linux-can/can-utils/releases/tag/v2023.03)).
+* Start the CAN demo application on the board.
+* Then, execute the following commands on the Linux PC :
+  ```
+  # Configure the CAN interface for CAN-FD operations without bit rate switch
+  sudo ip link set can0 type can bitrate 1000000 dbitrate 1000000 fd on
+  sudo ip link set up can0
+
+  # Run the test (the PC generates the frames and the board sends the answers)
+  # Generate CAN-FD frames without bit rate switch
+  canfdtest -d -g -v can0
+  ```
+* When frames are correctly transmitted and received, the output of the program looks like :
+  ```
+  baylibre@baylibre:~$ canfdtest -d -g -v can0
+  interface = can0, family = 29, type = 3, proto = 1
+  .................................................................
+  ```
+* On another terminal on the PC, you can display the CAN bus load, showing that frames are being transmitted :  
+  Run the command : `canbusload -b can0@1000000`.  
+  The output of the program looks like :
+  ```
+  baylibre@baylibre:~$ canbusload -b can0@1000000
+  can0@1000000   963  131931  61632      0  13% |XX..................|
+
+  can0@1000000  1061  145357  67904      0  14% |XX..................|
+
+  can0@1000000  1012  138644  64768      0  13% |XX..................|
+  ```
diff --git a/examples/rh850/can_demo/README.md b/examples/rh850/can_demo/README.md
@@ -48,9 +48,49 @@ If you want to generate a `.srec` file to directly flash on the board, look at t
 
 ## Running
 
+### Using Kvaser CanKing
+
 Before starting the CAN demo application, connect the hardware setup and configure the Kvaser CanKing application as described in the above paragraphs.
 Then, click the CanKing `Go On Bus` button.
 Now, you can run the CAN demo application.
 
 The CAN demo application starts by sending a CAN frame with the CAN ID `0x123` and the string payload `Ready!`.
 After that, it waits for a CAN frame to be received. When a frame is received, it increments the CAN ID and all the payload bytes, then it sends the frame back.
+
+### Using canfdtest on Linux
+
+For this test we used `Ubuntu 23.10` as it is the first Ubuntu version containing a recent enough version of the `can-utils` package (the minimal required version of the `can-utils` package is `v2023.03`).
+
+* Install the required package :
+  ```
+  sudo apt install can-utils
+  ```
+  Note : it is also possible to build the `can-utils` package from sources to run it on older Linux versions (see [https://github.com/linux-can/can-utils/releases/tag/v2023.03](https://github.com/linux-can/can-utils/releases/tag/v2023.03)).
+* Start the CAN demo application on the board.
+* Then, execute the following commands on the Linux PC :
+  ```
+  # Configure the CAN interface for CAN-FD operations without bit rate switch
+  sudo ip link set can0 type can bitrate 1000000 dbitrate 1000000 fd on
+  sudo ip link set up can0
+
+  # Run the test (the PC generates the frames and the board sends the answers)
+  # Generate CAN-FD frames without bit rate switch
+  canfdtest -d -g -v can0
+  ```
+* When frames are correctly transmitted and received, the output of the program looks like :
+  ```
+  baylibre@baylibre:~$ canfdtest -d -g -v can0
+  interface = can0, family = 29, type = 3, proto = 1
+  .................................................................
+  ```
+* On another terminal on the PC, you can display the CAN bus load, showing that frames are being transmitted :  
+  Run the command : `canbusload -b can0@1000000`.  
+  The output of the program looks like :
+  ```
+  baylibre@baylibre:~$ canbusload -b can0@1000000
+  can0@1000000   963  131931  61632      0  13% |XX..................|
+
+  can0@1000000  1061  145357  67904      0  14% |XX..................|
+
+  can0@1000000  1012  138644  64768      0  13% |XX..................|
+  ```
diff --git a/examples/rh850/can_demo/build.sh b/examples/rh850/can_demo/build.sh
@@ -2,7 +2,9 @@
 
 set -e
 
+TRAMPOLINE_BASE_PATH="$(realpath ../../..)"
 PROGRAM_NAME=can_demo
+FLASH_TOOL_PROGRAM_NAME=App_CDD_ICCOM_S4_Sample_G4MH
 
 echo "*** Run Goil ***"
 mkdir -p _build
@@ -14,3 +16,10 @@ cmake -G "Unix Makefiles" -D CMAKE_TOOLCHAIN_FILE=../${PROGRAM_NAME}/compiler.cm
 
 echo "*** Run Make ***"
 make
+
+# Create the S-Record file to provide to Flash_Tool to set the G4MH core default firmware on board boot
+# The flashing procedure expects 32-bit addresses, so use S3 records instead of S1
+objcopy -O srec --srec-forceS3 ${PROGRAM_NAME}_exe.abs ${FLASH_TOOL_PROGRAM_NAME}.s3
+# Add a specific header
+rlink "$(cygpath -w ${TRAMPOLINE_BASE_PATH}/machines/rh850/g4mh/G4MH_Head.srec)" ${FLASH_TOOL_PROGRAM_NAME}.s3 -FOrm=SType -OUtput=${FLASH_TOOL_PROGRAM_NAME}.srec
+rm -f ${FLASH_TOOL_PROGRAM_NAME}.s3
diff --git a/examples/rh850/memory_unlocker/build.sh b/examples/rh850/memory_unlocker/build.sh
@@ -2,6 +2,7 @@
 
 set -e
 
+TRAMPOLINE_BASE_PATH="$(realpath ../../..)"
 PROGRAM_NAME=memory_unlocker
 FLASH_TOOL_PROGRAM_NAME=App_CDD_ICCOM_S4_Sample_G4MH
 
@@ -19,6 +20,6 @@ make
 # Create the S-Record file to provide to Flash_Tool to set the G4MH core default firmware on board boot
 # The flashing procedure expects 32-bit addresses, so use S3 records instead of S1
 objcopy -O srec --srec-forceS3 ${PROGRAM_NAME}_exe.abs ${FLASH_TOOL_PROGRAM_NAME}.s3
-# Add a specific header (it has been downloaded here : https://raw.githubusercontent.com/renesas-rcar/whitebox-sdk/v4.x/mcu/G4MH_Head.srec)
-rlink ../G4MH_Head.srec ${FLASH_TOOL_PROGRAM_NAME}.s3 -FOrm=SType -OUtput=${FLASH_TOOL_PROGRAM_NAME}.srec
+# Add a specific header
+rlink "$(cygpath -w ${TRAMPOLINE_BASE_PATH}/machines/rh850/g4mh/G4MH_Head.srec)" ${FLASH_TOOL_PROGRAM_NAME}.s3 -FOrm=SType -OUtput=${FLASH_TOOL_PROGRAM_NAME}.srec
 rm -f ${FLASH_TOOL_PROGRAM_NAME}.s3
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