Fixes:
CAN RX: ID conversion was incorrect
This commit is contained in:
molnarkares
Piotr Esden-Tempski
parent
162522b3b2
commit
93007d20d9
@ -478,7 +478,7 @@ LGPL License Terms @ref lgpl_license
|
||||
/* 15:10 Reserved, forced by hardware to 0 */
|
||||
|
||||
/* BRP[9:0]: Baud rate prescaler */
|
||||
#define CAN_BTR_BRP_MASK (0x1FF << 0)
|
||||
#define CAN_BTR_BRP_MASK (0x1FFUL << 0)
|
||||
|
||||
/* --- CAN_TIxR values ------------------------------------------------------ */
|
||||
|
||||
@ -533,11 +533,11 @@ LGPL License Terms @ref lgpl_license
|
||||
/* --- CAN_RIxR values ------------------------------------------------------ */
|
||||
|
||||
/* STID[10:0]: Standard identifier */
|
||||
#define CAN_RIxR_STID_MASK (0x3FF << 21)
|
||||
#define CAN_RIxR_STID_MASK (0x7FF)
|
||||
#define CAN_RIxR_STID_SHIFT 21
|
||||
|
||||
/* EXID[15:0]: Extended identifier */
|
||||
#define CAN_RIxR_EXID_MASK (0x1FFFFFF << 3)
|
||||
#define CAN_RIxR_EXID_MASK (0x1FFFFFFF)
|
||||
#define CAN_RIxR_EXID_SHIFT 3
|
||||
|
||||
/* IDE: Identifier extension */
|
||||
|
||||
114
lib/stm32/can.c
114
lib/stm32/can.c
@ -47,6 +47,18 @@ LGPL License Terms @ref lgpl_license
|
||||
# error "stm32 family not defined."
|
||||
#endif
|
||||
|
||||
/* Timeout for CAN INIT acknowledge
|
||||
* this value is difficult to define.
|
||||
* INIT is set latest after finishing the current transfer.
|
||||
* Assuming the lowest CAN speed of 100kbps one CAN frame may take about 1.6ms
|
||||
* WAIT loop timeout varies on compiler switches, optimization, CPU architecture
|
||||
* and CPU speed
|
||||
*
|
||||
* The same timeout value is used for leaving INIT where the longest time is
|
||||
* 11 bits(110 us on 100 kbps).
|
||||
*/
|
||||
#define CAN_MSR_INAK_TIMEOUT 0x0000FFFF
|
||||
|
||||
/*-----------------------------------------------------------------------------*/
|
||||
/** @brief CAN Reset
|
||||
|
||||
@ -88,8 +100,7 @@ int can_init(u32 canport, bool ttcm, bool abom, bool awum, bool nart,
|
||||
bool rflm, bool txfp, u32 sjw, u32 ts1, u32 ts2, u32 brp,
|
||||
bool loopback, bool silent)
|
||||
{
|
||||
u32 wait_ack = 0x00000000;
|
||||
u32 can_msr_inak_timeout = 0x0000FFFF;
|
||||
volatile u32 wait_ack;
|
||||
int ret = 0;
|
||||
|
||||
/* Exit from sleep mode. */
|
||||
@ -99,76 +110,93 @@ int can_init(u32 canport, bool ttcm, bool abom, bool awum, bool nart,
|
||||
CAN_MCR(canport) |= CAN_MCR_INRQ;
|
||||
|
||||
/* Wait for acknowledge. */
|
||||
while ((wait_ack != can_msr_inak_timeout) &&
|
||||
wait_ack = CAN_MSR_INAK_TIMEOUT;
|
||||
while ((--wait_ack) &&
|
||||
((CAN_MSR(canport) & CAN_MSR_INAK) != CAN_MSR_INAK)) {
|
||||
wait_ack++;
|
||||
}
|
||||
|
||||
/* Check the acknowledge. */
|
||||
if ((CAN_MSR(canport) & CAN_MSR_INAK) != CAN_MSR_INAK)
|
||||
if ((CAN_MSR(canport) & CAN_MSR_INAK) != CAN_MSR_INAK){
|
||||
return 1;
|
||||
}
|
||||
|
||||
/* clear can timing bits */
|
||||
CAN_BTR(canport) = 0;
|
||||
|
||||
/* Set the automatic bus-off management. */
|
||||
if (ttcm)
|
||||
if (ttcm) {
|
||||
CAN_MCR(canport) |= CAN_MCR_TTCM;
|
||||
else
|
||||
}
|
||||
else {
|
||||
CAN_MCR(canport) &= ~CAN_MCR_TTCM;
|
||||
}
|
||||
|
||||
if (abom)
|
||||
if (abom) {
|
||||
CAN_MCR(canport) |= CAN_MCR_ABOM;
|
||||
else
|
||||
}
|
||||
else {
|
||||
CAN_MCR(canport) &= ~CAN_MCR_ABOM;
|
||||
}
|
||||
|
||||
if (awum)
|
||||
if (awum) {
|
||||
CAN_MCR(canport) |= CAN_MCR_AWUM;
|
||||
else
|
||||
}
|
||||
else {
|
||||
CAN_MCR(canport) &= ~CAN_MCR_AWUM;
|
||||
}
|
||||
|
||||
if (nart)
|
||||
if (nart) {
|
||||
CAN_MCR(canport) |= CAN_MCR_NART;
|
||||
else
|
||||
}
|
||||
else{
|
||||
CAN_MCR(canport) &= ~CAN_MCR_NART;
|
||||
}
|
||||
|
||||
if (rflm)
|
||||
if (rflm) {
|
||||
CAN_MCR(canport) |= CAN_MCR_RFLM;
|
||||
else
|
||||
}
|
||||
else {
|
||||
CAN_MCR(canport) &= ~CAN_MCR_RFLM;
|
||||
}
|
||||
|
||||
if (txfp)
|
||||
if (txfp) {
|
||||
CAN_MCR(canport) |= CAN_MCR_TXFP;
|
||||
else
|
||||
}
|
||||
else {
|
||||
CAN_MCR(canport) &= ~CAN_MCR_TXFP;
|
||||
}
|
||||
|
||||
if (silent)
|
||||
if (silent) {
|
||||
CAN_BTR(canport) |= CAN_BTR_SILM;
|
||||
else
|
||||
}
|
||||
else {
|
||||
CAN_BTR(canport) &= ~CAN_BTR_SILM;
|
||||
}
|
||||
|
||||
if (loopback)
|
||||
if (loopback) {
|
||||
CAN_BTR(canport) |= CAN_BTR_LBKM;
|
||||
else
|
||||
}
|
||||
else {
|
||||
CAN_BTR(canport) &= ~CAN_BTR_LBKM;
|
||||
}
|
||||
|
||||
|
||||
/* Set bit timings. */
|
||||
CAN_BTR(canport) |= sjw | ts2 | ts1 |
|
||||
(u32)(CAN_BTR_BRP_MASK & (brp - 1));
|
||||
((brp - 1ul) & CAN_BTR_BRP_MASK);
|
||||
|
||||
/* Request initialization "leave". */
|
||||
CAN_MCR(canport) &= ~CAN_MCR_INRQ;
|
||||
|
||||
/* Wait for acknowledge. */
|
||||
wait_ack = 0x00000000;
|
||||
while ((wait_ack != can_msr_inak_timeout) &&
|
||||
wait_ack = CAN_MSR_INAK_TIMEOUT;
|
||||
while ((--wait_ack) &&
|
||||
((CAN_MSR(canport) & CAN_MSR_INAK) == CAN_MSR_INAK)) {
|
||||
wait_ack++;
|
||||
}
|
||||
|
||||
if ((CAN_MSR(canport) & CAN_MSR_INAK) == CAN_MSR_INAK)
|
||||
if ((CAN_MSR(canport) & CAN_MSR_INAK) == CAN_MSR_INAK) {
|
||||
ret = 1;
|
||||
}
|
||||
|
||||
return ret;
|
||||
}
|
||||
@ -221,13 +249,15 @@ void can_filter_init(u32 canport, u32 nr, bool scale_32bit, bool id_list_mode,
|
||||
CAN_FiR2(canport, nr) = fr2;
|
||||
|
||||
/* Select FIFO0 or FIFO1 as filter assignement. */
|
||||
if (fifo)
|
||||
if (fifo) {
|
||||
CAN_FFA1R(canport) |= filter_select_bit; /* FIFO1 */
|
||||
else
|
||||
}
|
||||
else {
|
||||
CAN_FFA1R(canport) &= ~filter_select_bit; /* FIFO0 */
|
||||
|
||||
if (enable)
|
||||
}
|
||||
if (enable) {
|
||||
CAN_FA1R(canport) |= filter_select_bit; /* Activate filter. */
|
||||
}
|
||||
|
||||
/* Request initialization "leave". */
|
||||
CAN_FMR(canport) &= ~CAN_FMR_FINIT;
|
||||
@ -431,10 +461,12 @@ int can_transmit(u32 canport, u32 id, bool ext, bool rtr, u8 length, u8 *data)
|
||||
*/
|
||||
void can_fifo_release(u32 canport, u8 fifo)
|
||||
{
|
||||
if (fifo == 0)
|
||||
if (fifo == 0) {
|
||||
CAN_RF0R(canport) |= CAN_RF1R_RFOM1;
|
||||
else
|
||||
}
|
||||
else {
|
||||
CAN_RF1R(canport) |= CAN_RF1R_RFOM1;
|
||||
}
|
||||
}
|
||||
|
||||
/*-----------------------------------------------------------------------------*/
|
||||
@ -466,22 +498,18 @@ void can_receive(u32 canport, u8 fifo, bool release, u32 *id, bool *ext,
|
||||
if (CAN_RIxR(canport, fifo_id) & CAN_RIxR_IDE) {
|
||||
*ext = true;
|
||||
/* Get extended CAN ID. */
|
||||
*id = ((CAN_RIxR(canport, fifo_id) & CAN_RIxR_EXID_MASK) >>
|
||||
CAN_RIxR_EXID_SHIFT);
|
||||
*id = (CAN_RIxR(canport, fifo_id) >> CAN_RIxR_EXID_SHIFT) & CAN_RIxR_EXID_MASK;
|
||||
} else {
|
||||
*ext = false;
|
||||
/* Get standard CAN ID. */
|
||||
*id = ((CAN_RIxR(canport, fifo_id) & CAN_RIxR_STID_MASK) >>
|
||||
CAN_RIxR_STID_SHIFT);
|
||||
*id = (CAN_RIxR(canport, fifo_id) >> CAN_RIxR_STID_SHIFT) & CAN_RIxR_STID_MASK;
|
||||
}
|
||||
|
||||
/* Get remote transmit flag. */
|
||||
if (CAN_RIxR(canport, fifo_id) & CAN_RIxR_RTR)
|
||||
{
|
||||
if (CAN_RIxR(canport, fifo_id) & CAN_RIxR_RTR) {
|
||||
*rtr = true;
|
||||
}
|
||||
else
|
||||
{
|
||||
else {
|
||||
*rtr = false;
|
||||
}
|
||||
|
||||
@ -500,11 +528,11 @@ void can_receive(u32 canport, u8 fifo, bool release, u32 *id, bool *ext,
|
||||
/* Get data.
|
||||
* Byte wise copy is needed because we do not know the alignment
|
||||
* of the input buffer.
|
||||
* Here copying 8 bytes each is faster than using loop
|
||||
* Here copying 8 bytes unconditionally is faster than using loop
|
||||
*
|
||||
* It is OK to copy all 8 bytes because the upper layer must be
|
||||
* prepared that the data length of the CAN frame is bigger
|
||||
* than expected. In contrary the driver has no clue what is expected.
|
||||
* prepared for data length bigger expected.
|
||||
* In contrary the driver has no information about the intended size.
|
||||
* This could be different if the max length would be handed over
|
||||
* to the function, but it is not the case
|
||||
*/
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user