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Merge pull request #14677 from MubeenHCLite/corrections_in_STM_canapi 

Changes required in STM CAN read API
pull/14838/head
Martin Kojtal 2021-06-25 10:49:20 +02:00 committed by GitHub
parent 7523945df2 6f436dbac3
commit de7e326bc1
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 40 additions and 33 deletions
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73
targets/TARGET_STM/can_api.c
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@ -163,12 +163,23 @@ static void _can_init_freq_direct(can_t *obj, const can_pinmap_t *pinmap, int hz
obj->CanHandle.Init.DataSyncJumpWidth = 0x1; // Not used - only in FDCAN
obj->CanHandle.Init.DataTimeSeg1 = 0x1; // Not used - only in FDCAN
obj->CanHandle.Init.DataTimeSeg2 = 0x1; // Not used - only in FDCAN
#ifndef TARGET_STM32G4
#ifdef TARGET_STM32H7
/* Message RAM offset is only supported in STM32H7 platforms of supported FDCAN platforms */
obj->CanHandle.Init.MessageRAMOffset = 0;
/* The number of Standard and Extended ID filters are initialized to the maximum possile extent
* for STM32H7 platforms
*/
obj->CanHandle.Init.StdFiltersNbr = 128; // to be aligned with the handle parameter in can_filter
obj->CanHandle.Init.ExtFiltersNbr = 128; // to be aligned with the handle parameter in can_filter
#else
/* The number of Standard and Extended ID filters are initialized to the maximum possile extent
* for STM32G0x1, STM32G4 and STM32L5 platforms
*/
obj->CanHandle.Init.StdFiltersNbr = 28; // to be aligned with the handle parameter in can_filter
obj->CanHandle.Init.ExtFiltersNbr = 8; // to be aligned with the handle parameter in can_filter
#endif
obj->CanHandle.Init.StdFiltersNbr = 1; // to be aligned with the handle parameter in can_filter
obj->CanHandle.Init.ExtFiltersNbr = 1; // to be aligned with the handle parameter in can_filter
#ifndef TARGET_STM32G4
#ifdef TARGET_STM32H7
obj->CanHandle.Init.RxFifo0ElmtsNbr = 8;
obj->CanHandle.Init.RxFifo0ElmtSize = FDCAN_DATA_BYTES_8;
obj->CanHandle.Init.RxFifo1ElmtsNbr = 0;
@ -180,7 +191,7 @@ static void _can_init_freq_direct(can_t *obj, const can_pinmap_t *pinmap, int hz
obj->CanHandle.Init.TxFifoQueueElmtsNbr = 3;
#endif
obj->CanHandle.Init.TxFifoQueueMode = FDCAN_TX_FIFO_OPERATION;
#ifndef TARGET_STM32G4
#ifdef TARGET_STM32H7
obj->CanHandle.Init.TxElmtSize = FDCAN_DATA_BYTES_8;
#endif
can_internal_init(obj);
@ -329,20 +340,18 @@ int can_frequency(can_t *obj, int f)
*/
int can_filter(can_t *obj, uint32_t id, uint32_t mask, CANFormat format, int32_t handle)
{
UNUSED(handle); // Not supported yet (seems to be a used in read function?)
FDCAN_FilterTypeDef sFilterConfig = {0};
if (format == CANStandard) {
sFilterConfig.IdType = FDCAN_STANDARD_ID;
sFilterConfig.FilterIndex = 0;
sFilterConfig.FilterIndex = handle;
sFilterConfig.FilterType = FDCAN_FILTER_MASK;
sFilterConfig.FilterConfig = FDCAN_FILTER_TO_RXFIFO0;
sFilterConfig.FilterID1 = id;
sFilterConfig.FilterID2 = mask;
} else if (format == CANExtended) {
sFilterConfig.IdType = FDCAN_EXTENDED_ID;
sFilterConfig.FilterIndex = 0;
sFilterConfig.FilterIndex = handle;
sFilterConfig.FilterType = FDCAN_FILTER_MASK;
sFilterConfig.FilterConfig = FDCAN_FILTER_TO_RXFIFO0;
sFilterConfig.FilterID1 = id;
@ -391,7 +400,7 @@ int can_write(can_t *obj, CAN_Message msg, int cc)
int can_read(can_t *obj, CAN_Message *msg, int handle)
{
UNUSED(handle); // Not supported yet (seems to be a handle to a filter configuration?)
UNUSED(handle); // Not supported, RXFIFO0 is set default by can_filter and cannot be changed.
if (HAL_FDCAN_GetRxFifoFillLevel(&obj->CanHandle, FDCAN_RX_FIFO0) == 0) {
return 0; // No message arrived
@ -655,6 +664,8 @@ 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;
@ -965,8 +976,8 @@ 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
//FIFO selection cannot be controlled by software for STM32, default FIFO is 0, hence handle is not used
int rxfifo_default = DEFAULT_RXFIFO;
CAN_TypeDef *can = obj->CanHandle.Instance;
// check FPM0 which holds the pending message count in FIFO 0
@ -976,36 +987,30 @@ 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;
}
@ -1138,6 +1143,8 @@ int can_filter(can_t *obj, uint32_t id, uint32_t mask, CANFormat format, int32_t
if (HAL_CAN_ConfigFilter(&obj->CanHandle, &sFilterConfig) == HAL_OK) {
success = 1;
}
} else if (format == CANAny) {
success = 0; // filter for CANAny is not supported by STM32, return a failure
}
return success;