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Merge pull request #5050 from mbedNoobNinja/master 

[RZ_A1H] Correct CAN Message ID and recetption rate in extended mode
pull/5217/head
Jimmy Brisson 2017-09-28 14:03:45 -05:00 committed by GitHub
parent f57f0d4631 610c8c85fc
commit 323dc93d89
2 changed files with 26 additions and 22 deletions
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24
targets/TARGET_RENESAS/TARGET_RZ_A1H/can_api.c
View File

@ -637,17 +637,17 @@ int can_write(can_t *obj, CAN_Message msg, int cc) {
__NOP();
}
if (((msg.format == CANStandard) && (msg.id <= 0x07FF)) || ((msg.format == CANExtended) && (msg.id <= 0x03FFFF))) {
if (((msg.format == CANStandard) && (msg.id <= 0x07FF)) || ((msg.format == CANExtended) && (msg.id <= 0x1FFFFFFF))) {
/* send/receive FIFO buffer isn't full */
dmy_cfsts = CFSTS_TBL[obj->ch][CAN_SEND];
if ((*dmy_cfsts & 0x02) != 0x02) {
/* set format, frame type and send/receive FIFO buffer ID(b10-0 or b28-11) */
/* set format, frame type and send/receive FIFO buffer ID(b10-0 or b28-0) */
dmy_cfid = CFID_TBL[obj->ch][CAN_SEND];
*dmy_cfid = ((msg.format << 31) | (msg.type << 30));
if (msg.format == CANStandard) {
*dmy_cfid |= (msg.id & 0x07FF);
} else {
*dmy_cfid |= ((msg.id & 0x03FFFF) << 11);
*dmy_cfid |= (msg.id & 0x1FFFFFFF);
}
/* set length */
dmy_cfptr = CFPTR_TBL[obj->ch][CAN_SEND];
@ -686,14 +686,14 @@ int can_read(can_t *obj, CAN_Message *msg, int handle) {
/* send/receive FIFO buffer isn't empty */
dmy_cfsts = CFSTS_TBL[obj->ch][CAN_RECV];
while ((*dmy_cfsts & 0x01) != 0x01) {
/* get format, frame type and send/receive FIFO buffer ID(b10-0 or b28-11) */
/* get format, frame type and send/receive FIFO buffer ID(b10-0 or b28-0) */
dmy_cfid = CFID_TBL[obj->ch][CAN_RECV];
msg->format = (CANFormat)(*dmy_cfid >> 31);
msg->type = (CANType)(*dmy_cfid >> 30);
msg->type = (CANType)((*dmy_cfid >> 30) & 0x1);
if (msg->format == CANStandard) {
msg->id = (*dmy_cfid & 0x07FF);
} else {
msg->id = ((*dmy_cfid >> 11) & 0x03FFFF);
msg->id = (*dmy_cfid & 0x1FFFFFFF);
}
/* get length */
dmy_cfptr = CFPTR_TBL[obj->ch][CAN_RECV];
@ -813,7 +813,7 @@ int can_filter(can_t *obj, uint32_t id, uint32_t mask, CANFormat format, int32_t
int retval = 0;
if ((format == CANStandard) || (format == CANExtended)) {
if (((format == CANStandard) && (id <= 0x07FF)) || ((format == CANExtended) && (id <= 0x03FFFF))) {
if (((format == CANStandard) && (id <= 0x07FF)) || ((format == CANExtended) && (id <= 0x1FFFFFFF))) {
/* set Global Reset mode and Channel Reset mode */
can_set_global_mode(GL_RESET);
can_set_channel_mode(obj->ch, CH_RESET);
@ -824,11 +824,11 @@ int can_filter(can_t *obj, uint32_t id, uint32_t mask, CANFormat format, int32_t
/* set IDE format */
*dmy_gaflid = (format << 31);
if (format == CANExtended) {
/* set receive rule ID for bit28-11 */
*dmy_gaflid |= (id << 11);
/* set receive rule ID for bit28-0 */
*dmy_gaflid |= (id & 0x1FFFFFFF);
} else {
/* set receive rule ID for bit10-0 */
*dmy_gaflid |= id;
*dmy_gaflid |= (id & 0x07FF);
}
/* set ID mask bit */
*dmy_gaflm = (0xC0000000 | mask);
@ -971,6 +971,7 @@ static void can_set_frequency(can_t *obj, int f) {
uint8_t brp = 0;
uint8_t tseg1 = 0;
uint8_t tseg2 = 0;
uint8_t sjw = 0;
/* set clkc */
if (RZ_A1_IsClockMode0() == false) {
@ -993,9 +994,10 @@ static void can_set_frequency(can_t *obj, int f) {
/* calculate TSEG1 bit and TSEG2 bit */
tseg1 = (tq - 1) * 0.666666667;
tseg2 = (tq - 1) - tseg1;
sjw = (tseg2 > 4)? 4 : tseg2;
/* set RSCAN0CmCFG register */
dmy_cfg = CFG_MATCH[obj->ch];
*dmy_cfg = ((tseg2 - 1) << 20) | ((tseg1 - 1) << 16) | brp;
*dmy_cfg = ((sjw - 1) << 24) | ((tseg2 - 1) << 20) | ((tseg1 - 1) << 16) | brp;
}
static void can_set_global_mode(int mode) {

24
targets/TARGET_RENESAS/TARGET_VK_RZ_A1H/can_api.c
View File

@ -654,17 +654,17 @@ int can_write(can_t *obj, CAN_Message msg, int cc) {
__NOP();
}
if (((msg.format == CANStandard) && (msg.id <= 0x07FF)) || ((msg.format == CANExtended) && (msg.id <= 0x03FFFF))) {
if (((msg.format == CANStandard) && (msg.id <= 0x07FF)) || ((msg.format == CANExtended) && (msg.id <= 0x1FFFFFFF))) {
/* send/receive FIFO buffer isn't full */
dmy_cfsts = CFSTS_TBL[obj->ch][CAN_SEND];
if ((*dmy_cfsts & 0x02) != 0x02) {
/* set format, frame type and send/receive FIFO buffer ID(b10-0 or b28-11) */
/* set format, frame type and send/receive FIFO buffer ID(b10-0 or b28-0) */
dmy_cfid = CFID_TBL[obj->ch][CAN_SEND];
*dmy_cfid = ((msg.format << 31) | (msg.type << 30));
if (msg.format == CANStandard) {
*dmy_cfid |= (msg.id & 0x07FF);
} else {
*dmy_cfid |= ((msg.id & 0x03FFFF) << 11);
*dmy_cfid |= (msg.id & 0x1FFFFFFF);
}
/* set length */
dmy_cfptr = CFPTR_TBL[obj->ch][CAN_SEND];
@ -703,14 +703,14 @@ int can_read(can_t *obj, CAN_Message *msg, int handle) {
/* send/receive FIFO buffer isn't empty */
dmy_cfsts = CFSTS_TBL[obj->ch][CAN_RECV];
while ((*dmy_cfsts & 0x01) != 0x01) {
/* get format, frame type and send/receive FIFO buffer ID(b10-0 or b28-11) */
/* get format, frame type and send/receive FIFO buffer ID(b10-0 or b28-0) */
dmy_cfid = CFID_TBL[obj->ch][CAN_RECV];
msg->format = (CANFormat)(*dmy_cfid >> 31);
msg->type = (CANType)(*dmy_cfid >> 30);
msg->type = (CANType)((*dmy_cfid >> 30) & 0x1);
if (msg->format == CANStandard) {
msg->id = (*dmy_cfid & 0x07FF);
} else {
msg->id = ((*dmy_cfid >> 11) & 0x03FFFF);
msg->id = (*dmy_cfid & 0x1FFFFFFF);
}
/* get length */
dmy_cfptr = CFPTR_TBL[obj->ch][CAN_RECV];
@ -830,7 +830,7 @@ int can_filter(can_t *obj, uint32_t id, uint32_t mask, CANFormat format, int32_t
int retval = 0;
if ((format == CANStandard) || (format == CANExtended)) {
if (((format == CANStandard) && (id <= 0x07FF)) || ((format == CANExtended) && (id <= 0x03FFFF))) {
if (((format == CANStandard) && (id <= 0x07FF)) || ((format == CANExtended) && (id <= 0x1FFFFFFF))) {
/* set Global Reset mode and Channel Reset mode */
can_set_global_mode(GL_RESET);
can_set_channel_mode(obj->ch, CH_RESET);
@ -841,11 +841,11 @@ int can_filter(can_t *obj, uint32_t id, uint32_t mask, CANFormat format, int32_t
/* set IDE format */
*dmy_gaflid = (format << 31);
if (format == CANExtended) {
/* set receive rule ID for bit28-11 */
*dmy_gaflid |= (id << 11);
/* set receive rule ID for bit28-0 */
*dmy_gaflid |= (id & 0x1FFFFFFF);
} else {
/* set receive rule ID for bit10-0 */
*dmy_gaflid |= id;
*dmy_gaflid |= (id & 0x07FF);
}
/* set ID mask bit */
*dmy_gaflm = (0xC0000000 | mask);
@ -988,6 +988,7 @@ static void can_set_frequency(can_t *obj, int f) {
uint8_t brp = 0;
uint8_t tseg1 = 0;
uint8_t tseg2 = 0;
uint8_t sjw = 0;
/* set clkc */
if (RZ_A1_IsClockMode0() == false) {
@ -1010,9 +1011,10 @@ static void can_set_frequency(can_t *obj, int f) {
/* calculate TSEG1 bit and TSEG2 bit */
tseg1 = (tq - 1) * 0.666666667;
tseg2 = (tq - 1) - tseg1;
sjw = (tseg2 > 4)? 4 : tseg2;
/* set RSCAN0CmCFG register */
dmy_cfg = CFG_MATCH[obj->ch];
*dmy_cfg = ((tseg2 - 1) << 20) | ((tseg1 - 1) << 16) | brp;
*dmy_cfg = ((sjw - 1) << 24) | ((tseg2 - 1) << 20) | ((tseg1 - 1) << 16) | brp;
}
static void can_set_global_mode(int mode) {