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Andrew Tridgell
1c8048df8f
our CANFD timings were resulting in a lot of busoff errors. Here is an example of master at 1Mbit/5MBit: Getting @SYS/can0_stats.txt as - ------- Clock Config ------- CAN_CLK_FREQ: 80MHz Std Timings: bitrate=1000000 presc=7 sjw=0 bs1=7 bs2=0 sample_point=90.00000% FD Timings: bitrate=5000000 presc=1 sjw=0 bs1=5 bs2=0 sample_point=90.00000% ------- CAN Interface Stats ------- tx_requests: 2689 tx_rejected: 0 tx_overflow: 443 tx_success: 7 tx_timedout: 2232 tx_abort: 0 rx_received: 18470 rx_overflow: 0 rx_errors: 0 num_busoff_err: 34439 num_events: 18477 ECR: F8 fdf_rx: 18467 fdf_tx_req: 2182 fdf_tx: 0 here is an example with the new timings: ------- Clock Config ------- CAN_CLK_FREQ: 80MHz Std Timings: bitrate=1000000 presc=8 sjw=1 bs1=8 bs2=1 sample_point=90.00000% FD Timings: bitrate=8000000 presc=2 sjw=3 bs1=8 bs2=3 sample_point=80.00000% ------- CAN Interface Stats ------- tx_requests: 3023 tx_rejected: 0 tx_overflow: 0 tx_success: 3023 tx_timedout: 0 tx_abort: 0 rx_received: 27865 rx_overflow: 0 rx_errors: 0 num_busoff_err: 0 num_events: 30888 ECR: 0 fdf_rx: 27862 fdf_tx_req: 3016 fdf_tx: 3016 I am testing between a CubeOrange and a Pixhawk6X. I tested 1, 2, 4, 5 and 8 MBit (which are the only valid FD bitrates in our parameters) Many thanks to Kai from Salient Motion for finding this issue and providing the corrected timing table