add tripple sampling feature using edge filtering

umi-eng · Jan 27, 2025 · 8516601 · 8516601
1 parent 01a6ead
commit 8516601
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Showing 3 changed files with 14 additions and 3 deletions.
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -2,6 +2,8 @@
 
 ## [Unreleased]
 
+- Implement triple sampling using edge filtering
+
 ## v0.1.3
 
 - Add more test scripts

diff --git a/README.md b/README.md
@@ -8,7 +8,7 @@ Based on the gs_usb protocol, this firmware is plug and play on most recent linu
 | -------------------------------------------- | -------------- |
 | Loopback                                     | No             |
 | Listen-only                                  | No             |
-| Tripple-sampling                             | No<sup>1</sup> |
+| Tripple-sampling                             | Yes            |
 | One-shot                                     | Yes            |
 | Hardware timestamp                           | No             |
 | Bus error reporting                          | No             |

diff --git a/src/can.rs b/src/can.rs
@@ -63,15 +63,21 @@ impl Device for UsbCanDevice {
 
     fn bit_timing(&self) -> DeviceBitTimingConst {
         DeviceBitTimingConst {
-            features: Feature::FD | Feature::BT_CONST_EXT | Feature::ONE_SHOT,
+            features: Feature::FD
+                | Feature::BT_CONST_EXT
+                | Feature::ONE_SHOT
+                | Feature::TRIPLE_SAMPLE,
             fclk_can: self.clock.to_Hz(),
             timing: TIMING_NOMINAL,
         }
     }
 
     fn bit_timing_ext(&self) -> DeviceBitTimingConstExtended {
         DeviceBitTimingConstExtended {
-            features: Feature::FD | Feature::BT_CONST_EXT | Feature::ONE_SHOT,
+            features: Feature::FD
+                | Feature::BT_CONST_EXT
+                | Feature::ONE_SHOT
+                | Feature::TRIPLE_SAMPLE,
             fclk_can: self.clock.to_Hz(),
             timing_nominal: TIMING_NOMINAL,
             timing_data: CanBitTimingConst {
@@ -174,12 +180,14 @@ impl Device for UsbCanDevice {
 
     fn start(&mut self, interface: u8, features: Feature) {
         let retransmit = !features.intersects(Feature::ONE_SHOT);
+        let triple_sampling = features.intersects(Feature::TRIPLE_SAMPLE);
 
         match interface {
             0 => {
                 if let Some(can) = self.can1.take() {
                     let mut can = can.into_config_mode();
                     can.set_automatic_retransmit(retransmit);
+                    can.set_edge_filtering(triple_sampling);
                     can.enable_interrupt_line(InterruptLine::_0, true);
                     can.enable_interrupt_line(InterruptLine::_1, true);
                     self.can1.replace(can.into_normal());
@@ -189,6 +197,7 @@ impl Device for UsbCanDevice {
                 if let Some(can) = self.can2.take() {
                     let mut can = can.into_config_mode();
                     can.set_automatic_retransmit(retransmit);
+                    can.set_edge_filtering(triple_sampling);
                     can.enable_interrupt_line(InterruptLine::_0, true);
                     can.enable_interrupt_line(InterruptLine::_1, true);
                     self.can2.replace(can.into_normal());