cpu/samd5x: handle CAN errors

[firas-hamdi]

Contribution description

This PR adds the handling of the CAN errors related interrupts.
The CAN errors are coded in this way:

Testing procedure

You can generate a CAN error by trying to send a CAN frame from the CAN controller (Board used is same54-xpro) without terminating the bus (i.e not connecting the CANH and CANL pins of the same54-xpro). An ACK error will be generated then and handled.

[kfessel]

code looks good to me,
could you provide some test results for evaluation

[firas-hamdi]

code looks good to me, could you provide some test results for evaluation

This output is generated when trying to send a frame from the CAN controller without connecting another node / terminating the bus. I kept trying sending multiple times a frame in order to keep the transmission error counter incrementing until it reaches 96 (limit to get the warning status, section 39.8.14 PSR register bit 6), then it turns into the error passive state as a transmitter

[firas-hamdi]

Maybe it would be useful to include the Tx/Rx errors counter into the debug output when an error is triggered

[kfessel]

Maybe it would be useful to include the Tx/Rx errors counter into the debug output when an error is triggered

if there is a common interface (across all of our can drivers) 👍 else please not

[firas-hamdi]

if there is a common interface (across all of our can drivers) 👍 else please not

I mean adding to the _isr interface of the SAMD5x CAN, not in the application level

[kfessel]

if there is a common interface (across all of our can drivers) 👍 else please not

I mean adding to the _isr interface of the SAMD5x CAN, not in the application level

if you think that will help and shorten debug sessions 👍

you are thinking of a

DEBUG_PRINTF(" can controller 1 counted: %d erorrs", dev->ERR_COUNT);

in the isr ?
(paraphrasing - i didn't look up the register name)

[riot-ci]

Murdock results

✔️ PASSED

31003bf tests/drivers/candev: add debug output concerning errors

Success	Failures	Total	Runtime
10104	0	10105	13m:53s

Artifacts

• Documentation preview

[firas-hamdi]

you are thinking of a

DEBUG_PRINTF(" can controller 1 counted: %d erorrs", dev->ERR_COUNT);

in the isr ? (paraphrasing - i didn't look up the register name)

Yes that's what I'm proposing, just showcasing the errors counter directly from the CAN register

[kfessel]

Yes that's what I'm proposing, just showcasing the errors counter directly from the CAN register

waiting for this and will approve the PR then

[benpicco]

@kfessel have your change requests been addressed?