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The default FIFO for can by hardware is FIFO0 as set by the CAN STM API in configuration. Hence the read api is modified to access FIFO0 only

pull/14677/head
Mohammed Mubeen 2021-05-19 11:48:00 +05:30
parent 14e5d307bb
commit 274d8aa40c
1 changed files with 19 additions and 21 deletions
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40
targets/TARGET_STM/can_api.c
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@ -646,6 +646,8 @@ void can_irq_set(can_t *obj, CanIrqType type, uint32_t enable)
#include <string.h>
#include <inttypes.h>
#define DEFAULT_RXFIFO 0 // default rx fifo for can by hardware is FIFO0
static uint32_t can_irq_ids[CAN_NUM] = {0};
static can_irq_handler irq_handler;
@ -956,8 +958,10 @@ int can_write(can_t *obj, CAN_Message msg, int cc)
int can_read(can_t *obj, CAN_Message *msg, int handle)
{
//handle is the FIFO number
int rxfifo_default = DEFAULT_RXFIFO; //FIFO selection cannot be controlled by software for STM32, default FIFO is 0
CAN_TypeDef *can = obj->CanHandle.Instance;
// check FPM0 which holds the pending message count in FIFO 0
@ -967,36 +971,30 @@ int can_read(can_t *obj, CAN_Message *msg, int handle)
}
/* Get the Id */
msg->format = (CANFormat)(((uint8_t)0x04 & can->sFIFOMailBox[handle].RIR) >> 2);
msg->format = (CANFormat)(((uint8_t)0x04 & can->sFIFOMailBox[rxfifo_default].RIR) >> 2);
if (!msg->format) {
msg->id = (uint32_t)0x000007FF & (can->sFIFOMailBox[handle].RIR >> 21);
msg->id = (uint32_t)0x000007FF & (can->sFIFOMailBox[rxfifo_default].RIR >> 21);
} else {
msg->id = (uint32_t)0x1FFFFFFF & (can->sFIFOMailBox[handle].RIR >> 3);
msg->id = (uint32_t)0x1FFFFFFF & (can->sFIFOMailBox[rxfifo_default].RIR >> 3);
}
msg->type = (CANType)(((uint8_t)0x02 & can->sFIFOMailBox[handle].RIR) >> 1);
msg->type = (CANType)(((uint8_t)0x02 & can->sFIFOMailBox[rxfifo_default].RIR) >> 1);
/* Get the DLC */
msg->len = (uint8_t)0x0F & can->sFIFOMailBox[handle].RDTR;
msg->len = (uint8_t)0x0F & can->sFIFOMailBox[rxfifo_default].RDTR;
/* Get the FMI */
// msg->FMI = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDTR >> 8);
// msg->FMI = (uint8_t)0xFF & (can->sFIFOMailBox[rxfifo_default].RDTR >> 8);
/* Get the data field */
msg->data[0] = (uint8_t)0xFF & can->sFIFOMailBox[handle].RDLR;
msg->data[1] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDLR >> 8);
msg->data[2] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDLR >> 16);
msg->data[3] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDLR >> 24);
msg->data[4] = (uint8_t)0xFF & can->sFIFOMailBox[handle].RDHR;
msg->data[5] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDHR >> 8);
msg->data[6] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDHR >> 16);
msg->data[7] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDHR >> 24);
msg->data[0] = (uint8_t)0xFF & can->sFIFOMailBox[rxfifo_default].RDLR;
msg->data[1] = (uint8_t)0xFF & (can->sFIFOMailBox[rxfifo_default].RDLR >> 8);
msg->data[2] = (uint8_t)0xFF & (can->sFIFOMailBox[rxfifo_default].RDLR >> 16);
msg->data[3] = (uint8_t)0xFF & (can->sFIFOMailBox[rxfifo_default].RDLR >> 24);
msg->data[4] = (uint8_t)0xFF & can->sFIFOMailBox[rxfifo_default].RDHR;
msg->data[5] = (uint8_t)0xFF & (can->sFIFOMailBox[rxfifo_default].RDHR >> 8);
msg->data[6] = (uint8_t)0xFF & (can->sFIFOMailBox[rxfifo_default].RDHR >> 16);
msg->data[7] = (uint8_t)0xFF & (can->sFIFOMailBox[rxfifo_default].RDHR >> 24);
/* Release the FIFO */
if (handle == CAN_FIFO0) {
/* Release FIFO0 */
can->RF0R |= CAN_RF0R_RFOM0;
} else { /* FIFONumber == CAN_FIFO1 */
/* Release FIFO1 */
can->RF1R |= CAN_RF1R_RFOM1;
}
can->RF0R |= CAN_RF0R_RFOM0;
return 1;
}