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Merge pull request #2988 from martinjaeger/master 

Update of can_api.c fixing #2987
pull/3136/merge
Sam Grove 2016-11-01 10:02:37 -05:00 committed by GitHub
parent 8a9a246356 eb95c14fa6
commit 38a9c84bae
1 changed files with 44 additions and 34 deletions
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36
targets/TARGET_STM/TARGET_STM32F0/can_api.c
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@ -203,12 +203,9 @@ int can_write(can_t *obj, CAN_Message msg, int cc)
if (transmitmailbox != CAN_TXSTATUS_NOMAILBOX) { if (transmitmailbox != CAN_TXSTATUS_NOMAILBOX) {
can->sTxMailBox[transmitmailbox].TIR &= CAN_TI0R_TXRQ; can->sTxMailBox[transmitmailbox].TIR &= CAN_TI0R_TXRQ;
if (!(msg.format)) if (!(msg.format)) {
{
can->sTxMailBox[transmitmailbox].TIR |= ((msg.id << 21) | msg.type); can->sTxMailBox[transmitmailbox].TIR |= ((msg.id << 21) | msg.type);
} } else {
else
{
can->sTxMailBox[transmitmailbox].TIR |= ((msg.id << 3) | CAN_ID_EXT | msg.type); can->sTxMailBox[transmitmailbox].TIR |= ((msg.id << 3) | CAN_ID_EXT | msg.type);
} }
@ -349,23 +346,36 @@ int can_mode(can_t *obj, CanMode mode)
int can_filter(can_t *obj, uint32_t id, uint32_t mask, CANFormat format, int32_t handle) int can_filter(can_t *obj, uint32_t id, uint32_t mask, CANFormat format, int32_t handle)
{ {
int retval = 0;
// filter for CANAny format cannot be configured for STM32
if ((format == CANStandard) || (format == CANExtended)) {
CanHandle.Instance = (CAN_TypeDef *)(obj->can); CanHandle.Instance = (CAN_TypeDef *)(obj->can);
CAN_FilterConfTypeDef sFilterConfig; CAN_FilterConfTypeDef sFilterConfig;
sFilterConfig.FilterNumber = handle; sFilterConfig.FilterNumber = handle;
sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK; sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT; sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
sFilterConfig.FilterIdHigh = (uint8_t) (id >> 8);
sFilterConfig.FilterIdLow = (uint8_t) id; if (format == CANStandard) {
sFilterConfig.FilterMaskIdHigh = (uint8_t) (mask >> 8); sFilterConfig.FilterIdHigh = id << 5;
sFilterConfig.FilterMaskIdLow = (uint8_t) mask; sFilterConfig.FilterIdLow = 0x0;
sFilterConfig.FilterMaskIdHigh = mask << 5;
sFilterConfig.FilterMaskIdLow = 0x0; // allows both remote and data frames
} else if (format == CANExtended) {
sFilterConfig.FilterIdHigh = id >> 13; // EXTID[28:13]
sFilterConfig.FilterIdLow = (0x00FF & (id << 3)) | (1 << 2); // EXTID[12:0]
sFilterConfig.FilterMaskIdHigh = mask >> 13;
sFilterConfig.FilterMaskIdLow = (0x00FF & (mask << 3)) | (1 << 2);
}
sFilterConfig.FilterFIFOAssignment = 0; sFilterConfig.FilterFIFOAssignment = 0;
sFilterConfig.FilterActivation = ENABLE; sFilterConfig.FilterActivation = ENABLE;
sFilterConfig.BankNumber = 14; sFilterConfig.BankNumber = 14 + handle;
HAL_CAN_ConfigFilter(&CanHandle, &sFilterConfig); HAL_CAN_ConfigFilter(&CanHandle, &sFilterConfig);
retval = handle;
return 0; }
return retval;
} }
static void can_irq(CANName name, int id) static void can_irq(CANName name, int id)