fix(bit-timing): support extended hardware limits

can/bit_timing.py

@@ -74,19 +74,30 @@ def __init__(
             "sjw": sjw,
             "nof_samples": nof_samples,
         }
+        self._tseg1_max = max(16, tseg1)
+        self._tseg2_max = max(8, tseg2)
+        self._brp_max = max(64, brp)
         if strict:
             self._validate()
             self._restrict_to_minimum_range()
 
-    def _validate(self) -> None:
-        if not 1 <= self.brp <= 64:
-            raise ValueError(f"bitrate prescaler (={self.brp}) must be in [1...64].")
+    def _validate(
+        self,
+        *,
+        tseg1_max: int = 16,
+        tseg2_max: int = 8,
+        brp_max: int = 64,
+    ) -> None:
+        if not 1 <= self.brp <= brp_max:
+            raise ValueError(
+                f"bitrate prescaler (={self.brp}) must be in [1...{brp_max}]."
+            )
 
-        if not 1 <= self.tseg1 <= 16:
-            raise ValueError(f"tseg1 (={self.tseg1}) must be in [1...16].")
+        if not 1 <= self.tseg1 <= tseg1_max:
+            raise ValueError(f"tseg1 (={self.tseg1}) must be in [1...{tseg1_max}].")
 
-        if not 1 <= self.tseg2 <= 8:
-            raise ValueError(f"tseg2 (={self.tseg2}) must be in [1...8].")
+        if not 1 <= self.tseg2 <= tseg2_max:
+            raise ValueError(f"tseg2 (={self.tseg2}) must be in [1...{tseg2_max}].")
 
         if not 1 <= self.sjw <= 4:
             raise ValueError(f"sjw (={self.sjw}) must be in [1...4].")
@@ -215,7 +226,14 @@ def from_registers(
 
     @classmethod
     def iterate_from_sample_point(
-        cls, f_clock: int, bitrate: int, sample_point: float = 69.0
+        cls,
+        f_clock: int,
+        bitrate: int,
+        sample_point: float = 69.0,
+        *,
+        tseg1_max: int = 16,
+        tseg2_max: int = 8,
+        brp_max: int = 64,
     ) -> Iterator["BitTiming"]:
         """Create a :class:`~can.BitTiming` iterator with all the solutions for a sample point.
 
@@ -225,45 +243,74 @@ def iterate_from_sample_point(
             Bitrate in bit/s.
         :param int sample_point:
             The sample point value in percent.
+        :param int tseg1_max:
+            Maximum time segment 1 value supported by the CAN controller.
+        :param int tseg2_max:
+            Maximum time segment 2 value supported by the CAN controller.
+        :param int brp_max:
+            Maximum bit rate prescaler supported by the CAN controller.
         :raises ValueError:
             if the arguments are invalid.
         """
 
         if sample_point < 50.0:
             raise ValueError(f"sample_point (={sample_point}) must not be below 50%.")
 
-        for brp in range(1, 65):
+        for name, value in (
+            ("tseg1_max", tseg1_max),
+            ("tseg2_max", tseg2_max),
+            ("brp_max", brp_max),
+        ):
+            if value < 1:
+                raise ValueError(f"{name} (={value}) must be at least 1.")
+
+        if not 5_000 <= bitrate <= 1_000_000:
+            return
+
+        for brp in range(1, brp_max + 1):
             nbt = int(f_clock / (bitrate * brp))
             if nbt < 8:
                 break
 
             effective_bitrate = f_clock / (nbt * brp)
             if abs(effective_bitrate - bitrate) > bitrate / 256:
                 continue
+            if not 5_000 <= round(effective_bitrate) <= 1_000_000:
+                continue
+
+            tseg1_min = max(1, nbt - tseg2_max - 1)
+            tseg1_max_feasible = min(tseg1_max, nbt - 2)
+            if tseg1_min > tseg1_max_feasible:
+                continue
 
             tseg1 = round(sample_point / 100 * nbt) - 1
-            # limit tseg1, so tseg2 is at least 1 TQ
-            tseg1 = min(tseg1, nbt - 2)
+            tseg1 = max(tseg1_min, min(tseg1, tseg1_max_feasible))
 
             tseg2 = nbt - tseg1 - 1
             sjw = min(tseg2, 4)
 
-            try:
-                bt = BitTiming(
-                    f_clock=f_clock,
-                    brp=brp,
-                    tseg1=tseg1,
-                    tseg2=tseg2,
-                    sjw=sjw,
-                    strict=True,
-                )
-                yield bt
-            except ValueError:
-                continue
+            timing = cls(
+                f_clock=f_clock,
+                brp=brp,
+                tseg1=tseg1,
+                tseg2=tseg2,
+                sjw=sjw,
+            )
+            timing._tseg1_max = tseg1_max
+            timing._tseg2_max = tseg2_max
+            timing._brp_max = brp_max
+            yield timing
 
     @classmethod
     def from_sample_point(
-        cls, f_clock: int, bitrate: int, sample_point: float = 69.0
+        cls,
+        f_clock: int,
+        bitrate: int,
+        sample_point: float = 69.0,
+        *,
+        tseg1_max: int = 16,
+        tseg2_max: int = 8,
+        brp_max: int = 64,
     ) -> "BitTiming":
         """Create a :class:`~can.BitTiming` instance for a sample point.
 
@@ -280,6 +327,12 @@ def from_sample_point(
             Bitrate in bit/s.
         :param int sample_point:
             The sample point value in percent.
+        :param int tseg1_max:
+            Maximum time segment 1 value supported by the CAN controller.
+        :param int tseg2_max:
+            Maximum time segment 2 value supported by the CAN controller.
+        :param int brp_max:
+            Maximum bit rate prescaler supported by the CAN controller.
         :raises ValueError:
             if the arguments are invalid.
         """
@@ -288,7 +341,14 @@ def from_sample_point(
             raise ValueError(f"sample_point (={sample_point}) must not be below 50%.")
 
         possible_solutions: list[BitTiming] = list(
-            cls.iterate_from_sample_point(f_clock, bitrate, sample_point)
+            cls.iterate_from_sample_point(
+                f_clock,
+                bitrate,
+                sample_point,
+                tseg1_max=tseg1_max,
+                tseg2_max=tseg2_max,
+                brp_max=brp_max,
+            )
         )
 
         if not possible_solutions:
@@ -413,7 +473,7 @@ def recreate_with_f_clock(self, f_clock: int) -> "BitTiming":
         """
         # try the most simple solution first: another bitrate prescaler
         try:
-            return BitTiming.from_bitrate_and_segments(
+            bt = BitTiming.from_bitrate_and_segments(
                 f_clock=f_clock,
                 bitrate=self.bitrate,
                 tseg1=self.tseg1,
@@ -422,12 +482,21 @@ def recreate_with_f_clock(self, f_clock: int) -> "BitTiming":
                 nof_samples=self.nof_samples,
                 strict=True,
             )
+            bt._tseg1_max = self._tseg1_max
+            bt._tseg2_max = self._tseg2_max
+            bt._brp_max = self._brp_max
+            return bt
         except ValueError:
             pass
 
         # create a new timing instance with the same sample point
         bt = BitTiming.from_sample_point(
-            f_clock=f_clock, bitrate=self.bitrate, sample_point=self.sample_point
+            f_clock=f_clock,
+            bitrate=self.bitrate,
+            sample_point=self.sample_point,
+            tseg1_max=self._tseg1_max,
+            tseg2_max=self._tseg2_max,
+            brp_max=self._brp_max,
         )
         if abs(bt.sample_point - self.sample_point) > 1.0:
             raise ValueError(
@@ -438,7 +507,11 @@ def recreate_with_f_clock(self, f_clock: int) -> "BitTiming":
         sjw = max(1, min(4, bt.tseg2, sjw))
         bt._data["sjw"] = sjw  # pylint: disable=protected-access
         bt._data["nof_samples"] = self.nof_samples  # pylint: disable=protected-access
-        bt._validate()  # pylint: disable=protected-access
+        bt._validate(  # pylint: disable=protected-access
+            tseg1_max=self._tseg1_max,
+            tseg2_max=self._tseg2_max,
+            brp_max=self._brp_max,
+        )
         return bt
 
     def __str__(self) -> str:

doc/bit_timing.rst

@@ -87,6 +87,20 @@ produce an overview of possible bit timings for your desired bit rate:
     BR: 250_000 bit/s, SP: 87.50%, BRP: 2, TSEG1: 13, TSEG2: 2, SJW: 2, BTR: 411Ch, CLK: 8MHz
     BR: 250_000 bit/s, SP: 93.75%, BRP: 2, TSEG1: 14, TSEG2: 1, SJW: 1, BTR: 010Dh, CLK: 8MHz
 
+Controller-specific maximum values can be supplied when the standard timing
+limits are too restrictive:
+
+.. code-block:: python
+
+    timing = can.BitTiming.from_sample_point(
+        f_clock=160_000_000,
+        bitrate=250_000,
+        sample_point=87.5,
+        tseg1_max=256,
+        tseg2_max=128,
+        brp_max=512,
+    )
+
 
 It is possible to specify CAN 2.0 bit timings
 using the config file:

doc/changelog.d/2083.fixed.rst

@@ -0,0 +1 @@
+Allow ``BitTiming.from_sample_point`` to find valid timings for CAN controllers with bit rate prescalers above 32.

test/test_bit_timing.py

@@ -286,6 +286,88 @@ def test_from_sample_point():
             )
 
 
+def test_from_sample_point_with_extended_hardware_limits():
+    timing = can.BitTiming.from_sample_point(
+        f_clock=160_000_000,
+        bitrate=250_000,
+        sample_point=87.5,
+    )
+
+    assert timing.bitrate == 250_000
+    assert timing.sample_point == 87.5
+    assert timing.brp == 40
+    assert timing.tseg1 == 13
+    assert timing.tseg2 == 2
+
+    extended_timing = can.BitTiming.from_sample_point(
+        f_clock=160_000_000,
+        bitrate=250_000,
+        sample_point=87.5,
+        tseg1_max=256,
+        tseg2_max=128,
+        brp_max=512,
+    )
+    assert extended_timing.brp == 4
+    assert extended_timing.tseg1 == 139
+    assert extended_timing.tseg2 == 20
+
+    with pytest.raises(ValueError, match="No suitable bit timings found"):
+        can.BitTiming.from_sample_point(
+            f_clock=160_000_000,
+            bitrate=250_000,
+            sample_point=87.5,
+            brp_max=28,
+        )
+
+    with pytest.raises(ValueError, match="No suitable bit timings found"):
+        can.BitTiming.from_sample_point(
+            f_clock=80_000_000,
+            bitrate=2_000_000,
+            sample_point=75.0,
+        )
+
+    for parameter in ("tseg1_max", "tseg2_max", "brp_max"):
+        with pytest.raises(ValueError, match=rf"{parameter} \(=0\) must be at least 1"):
+            list(
+                can.BitTiming.iterate_from_sample_point(
+                    f_clock=16_000_000,
+                    bitrate=500_000,
+                    **{parameter: 0},
+                )
+            )
+
+
+def test_from_sample_point_rejects_effective_bitrate_outside_supported_range():
+    with pytest.raises(ValueError, match="No suitable bit timings found"):
+        can.BitTiming.from_sample_point(
+            f_clock=8_024_000,
+            bitrate=1_000_000,
+            sample_point=75.0,
+        )
+
+
+@pytest.mark.parametrize(
+    ("limits", "expected_tseg1", "expected_tseg2"),
+    [
+        ({"tseg1_max": 4}, 4, 3),
+        ({"tseg2_max": 1}, 6, 1),
+    ],
+)
+def test_from_sample_point_clamps_to_controller_segment_limits(
+    limits, expected_tseg1, expected_tseg2
+):
+    timing = can.BitTiming.from_sample_point(
+        f_clock=8_000_000,
+        bitrate=1_000_000,
+        sample_point=75.0,
+        **limits,
+    )
+
+    assert timing.bitrate == 1_000_000
+    assert timing.tseg1 == expected_tseg1
+    assert timing.tseg2 == expected_tseg2
+
+
 def test_iterate_from_sample_point():
     for sp in range(50, 100):
         solutions = list(
@@ -492,6 +574,25 @@ def test_recreate_with_f_clock():
     )
     assert timing_8mhz.nof_samples == timing_16mhz.nof_samples
 
+    extended_timing_160mhz = can.BitTiming.from_sample_point(
+        f_clock=160_000_000,
+        bitrate=5_000,
+        sample_point=75.0,
+        tseg1_max=256,
+        tseg2_max=128,
+        brp_max=512,
+    )
+    extended_timing_200mhz = extended_timing_160mhz.recreate_with_f_clock(
+        f_clock=200_000_000
+    )
+    assert (
+        abs(extended_timing_200mhz.bitrate - extended_timing_160mhz.bitrate)
+        <= extended_timing_160mhz.bitrate / 256
+    )
+    assert extended_timing_200mhz.sample_point == pytest.approx(
+        extended_timing_160mhz.sample_point, abs=1.0
+    )
+
     timing_16mhz = can.BitTiming(
         f_clock=16000000, brp=2, tseg1=12, tseg2=3, sjw=3, nof_samples=1
     )