can speed optimizations
This commit is contained in:
molnarkares
Piotr Esden-Tempski
parent
9585e59df1
commit
162522b3b2
120
lib/stm32/can.c
120
lib/stm32/can.c
@ -192,12 +192,9 @@ void can_filter_init(u32 canport, u32 nr, bool scale_32bit, bool id_list_mode,
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{
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u32 filter_select_bit = 0x00000001 << nr;
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/* Request initialization "enter". */
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/* Request initialization "enter". */
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CAN_FMR(canport) |= CAN_FMR_FINIT;
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CAN_FMR(canport) &= (~0x3fUL)<<8;
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CAN_FMR(canport) |= (14UL)<<8;
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/* Deactivate the filter. */
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CAN_FA1R(canport) &= ~filter_select_bit;
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@ -344,8 +341,12 @@ selected. -1 if no mailbox was available and no transmission got queued.
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*/
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int can_transmit(u32 canport, u32 id, bool ext, bool rtr, u8 length, u8 *data)
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{
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int ret = 0, i;
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int ret = 0;
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u32 mailbox = 0;
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union {
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u8 data8[4];
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u32 data32;
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}tdlxr,tdhxr;
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/* Check which transmit mailbox is empty if any. */
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if ((CAN_TSR(canport) & CAN_TSR_TME0) == CAN_TSR_TME0) {
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@ -362,36 +363,59 @@ int can_transmit(u32 canport, u32 id, bool ext, bool rtr, u8 length, u8 *data)
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}
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/* If we have no empty mailbox return with an error. */
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if (ret == -1)
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return ret;
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if (ret == -1) {
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return ret;
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}
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/* Clear stale register bits */
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CAN_TIxR(canport, mailbox) = 0;
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if (ext) {
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/* Set extended ID. */
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CAN_TIxR(canport, mailbox) |= id << CAN_TIxR_EXID_SHIFT;
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/* Set extended ID indicator bit. */
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CAN_TIxR(canport, mailbox) |= CAN_TIxR_IDE;
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CAN_TIxR(canport, mailbox) = (id << CAN_TIxR_EXID_SHIFT) | CAN_TIxR_IDE;
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} else {
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/* Set standard ID. */
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CAN_TIxR(canport, mailbox) |= id << CAN_TIxR_STID_SHIFT;
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CAN_TIxR(canport, mailbox) = id << CAN_TIxR_STID_SHIFT;
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}
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/* Set/clear remote transmission request bit. */
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if (rtr)
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if (rtr){
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CAN_TIxR(canport, mailbox) |= CAN_TIxR_RTR; /* Set */
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}
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/* Set the DLC. */
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CAN_TDTxR(canport, mailbox) &= 0xFFFFFFF0;
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CAN_TDTxR(canport, mailbox) |= length & CAN_TDTxR_DLC_MASK;
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CAN_TDTxR(canport, mailbox) &= ~CAN_TDTxR_DLC_MASK;
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CAN_TDTxR(canport, mailbox) |= (length & CAN_TDTxR_DLC_MASK);
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switch(length) {
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case 8:
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tdhxr.data8[3] = data[7];
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/* no break */
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case 7:
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tdhxr.data8[2] = data[6];
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/* no break */
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case 6:
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tdhxr.data8[1] = data[5];
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/* no break */
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case 5:
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tdhxr.data8[0] = data[4];
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/* no break */
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case 4:
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tdlxr.data8[3] = data[3];
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/* no break */
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case 3:
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tdlxr.data8[2] = data[2];
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/* no break */
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case 2:
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tdlxr.data8[1] = data[1];
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/* no break */
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case 1:
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tdlxr.data8[0] = data[0];
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/* no break */
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default:
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break;
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}
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/* Set the data. */
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CAN_TDLxR(canport, mailbox) = 0;
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CAN_TDHxR(canport, mailbox) = 0;
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for (i = 0; (i < 4) && (i < length); i++)
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CAN_TDLxR(canport, mailbox) |= (u32)data[i] << (8 * i);
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for (i = 4; (i < 8) && (i < length); i++)
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CAN_TDHxR(canport, mailbox) |= (u32)data[i] << (8 * (i - 4));
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CAN_TDLxR(canport, mailbox) = tdlxr.data32;
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CAN_TDHxR(canport, mailbox) = tdhxr.data32;
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/* Request transmission. */
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CAN_TIxR(canport, mailbox) |= CAN_TIxR_TXRQ;
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@ -430,12 +454,13 @@ void can_receive(u32 canport, u8 fifo, bool release, u32 *id, bool *ext,
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bool *rtr, u32 *fmi, u8 *length, u8 *data)
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{
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u32 fifo_id = 0;
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int i;
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union {
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u8 data8[4];
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u32 data32;
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}rdlxr,rdhxr;
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const u32 fifoid_array[2] = {CAN_FIFO0,CAN_FIFO1};
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if (fifo == 0)
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fifo_id = CAN_FIFO0;
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else
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fifo_id = CAN_FIFO1;
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fifo_id = fifoid_array[fifo];
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/* Get type of CAN ID and CAN ID. */
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if (CAN_RIxR(canport, fifo_id) & CAN_RIxR_IDE) {
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@ -450,11 +475,15 @@ void can_receive(u32 canport, u8 fifo, bool release, u32 *id, bool *ext,
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CAN_RIxR_STID_SHIFT);
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}
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/* Get request transmit flag. */
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/* Get remote transmit flag. */
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if (CAN_RIxR(canport, fifo_id) & CAN_RIxR_RTR)
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{
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*rtr = true;
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}
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else
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{
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*rtr = false;
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}
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/* Get filter match ID. */
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*fmi = ((CAN_RDTxR(canport, fifo_id) & CAN_RDTxR_FMI_MASK) >>
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@ -462,17 +491,36 @@ void can_receive(u32 canport, u8 fifo, bool release, u32 *id, bool *ext,
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/* Get data length. */
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*length = CAN_RDTxR(canport, fifo_id) & CAN_RDTxR_DLC_MASK;
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/* accelerate reception by copying the CAN data from the controller memory to
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* the fast internal RAM */
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/* Get data. */
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for (i = 0; (i < 4) && (i < *length); i++)
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data[i] = (CAN_RDLxR(canport, fifo_id) >> (8 * i)) & 0xFF;
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for (i = 4; (i < 8) && (i < *length); i++)
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data[i] = (CAN_RDHxR(canport, fifo_id) >> (8 * (i - 4))) & 0xFF;
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rdlxr.data32 = CAN_RDLxR(canport, fifo_id);
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rdhxr.data32 = CAN_RDHxR(canport, fifo_id);
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/* */
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/* Get data.
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* Byte wise copy is needed because we do not know the alignment
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* of the input buffer.
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* Here copying 8 bytes each is faster than using loop
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*
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* It is OK to copy all 8 bytes because the upper layer must be
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* prepared that the data length of the CAN frame is bigger
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* than expected. In contrary the driver has no clue what is expected.
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* This could be different if the max length would be handed over
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* to the function, but it is not the case
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*/
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data[0] = rdlxr.data8[0];
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data[1] = rdlxr.data8[1];
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data[2] = rdlxr.data8[2];
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data[3] = rdlxr.data8[3];
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data[4] = rdhxr.data8[0];
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data[5] = rdhxr.data8[1];
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data[6] = rdhxr.data8[2];
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data[7] = rdhxr.data8[3];
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/* Release the FIFO. */
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if (release)
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if (release){
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can_fifo_release(canport, fifo);
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}
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}
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bool can_available_mailbox(u32 canport)
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