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Fixes CAN identifiers on send and receive.

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This commit is contained in:
Gareth McMullin 2011-03-23 17:36:17 +13:00
parent 6bbc4c2f7c
commit 692266bf67
1 changed files with 4 additions and 6 deletions
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10
lib/stm32/can.c
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@ -211,6 +211,8 @@ int can_transmit(u32 canport, u32 id, bool ext, bool rtr, u8 length, u8 *data)
if (ret == -1) if (ret == -1)
return ret; return ret;
/* Clear stale register bits */
CAN_TIxR(canport, mailbox) = 0;
if (ext) { if (ext) {
/* Set extended ID. */ /* Set extended ID. */
CAN_TIxR(canport, mailbox) |= id << CAN_TIxR_EXID_SHIFT; CAN_TIxR(canport, mailbox) |= id << CAN_TIxR_EXID_SHIFT;
@ -219,15 +221,11 @@ int can_transmit(u32 canport, u32 id, bool ext, bool rtr, u8 length, u8 *data)
} else { } else {
/* Set standard ID. */ /* Set standard ID. */
CAN_TIxR(canport, mailbox) |= id << CAN_TIxR_STID_SHIFT; CAN_TIxR(canport, mailbox) |= id << CAN_TIxR_STID_SHIFT;
/* Unset extended ID indicator bit. */
CAN_TIxR(canport, mailbox) &= ~CAN_TIxR_IDE;
} }
/* Set/clear remote transmission request bit. */ /* Set/clear remote transmission request bit. */
if (rtr) if (rtr)
CAN_TIxR(canport, mailbox) |= CAN_TIxR_RTR; /* Set */ CAN_TIxR(canport, mailbox) |= CAN_TIxR_RTR; /* Set */
else
CAN_TIxR(canport, mailbox) &= ~CAN_TIxR_RTR; /* Clear */
/* Set the DLC. */ /* Set the DLC. */
CAN_TDTxR(canport, mailbox) &= 0xFFFFFFFF0; CAN_TDTxR(canport, mailbox) &= 0xFFFFFFFF0;
@ -270,12 +268,12 @@ void can_receive(u32 canport, u8 fifo, bool release, u32 *id, bool *ext,
if (CAN_RIxR(canport, fifo_id) & CAN_RIxR_IDE) { if (CAN_RIxR(canport, fifo_id) & CAN_RIxR_IDE) {
*ext = true; *ext = true;
/* Get extended CAN ID. */ /* Get extended CAN ID. */
*id = ((CAN_RIxR(canport, fifo_id) & CAN_RIxR_EXID_MASK) > *id = ((CAN_RIxR(canport, fifo_id) & CAN_RIxR_EXID_MASK) >>
CAN_RIxR_EXID_SHIFT); CAN_RIxR_EXID_SHIFT);
} else { } else {
*ext = false; *ext = false;
/* Get standard CAN ID. */ /* Get standard CAN ID. */
*id = ((CAN_RIxR(canport, fifo_id) & CAN_RIxR_STID_MASK) > *id = ((CAN_RIxR(canport, fifo_id) & CAN_RIxR_STID_MASK) >>
CAN_RIxR_STID_SHIFT); CAN_RIxR_STID_SHIFT);
} }