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Add support for remote CAN frames 

Fixed bug where outgoing messages always had DIR bit set, even if
message type was CANRemote.
Fixed TODO where incoming messages were always assigned message type
CANData even if the message was remote
Changed filter setup to no longer set MDIR bit in receive filter; this
allows remote messages to pass through the filter.
pull/346/head
Devan Lai 2014-06-06 18:41:20 -07:00
parent 8a2d961526
commit df7af8ca86
1 changed files with 19 additions and 8 deletions
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27
libraries/mbed/targets/hal/TARGET_NXP/TARGET_LPC11XX_11CXX/TARGET_LPC11CXX/can_api.c
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@ -69,12 +69,12 @@ int can_filter(can_t *obj, uint32_t id, uint32_t mask, CANFormat format, int32_t
LPC_CAN->IF1_ARB1 = BFN_PREP(id, CANIFn_ARB1_ID); LPC_CAN->IF1_ARB1 = BFN_PREP(id, CANIFn_ARB1_ID);
LPC_CAN->IF1_ARB2 = CANIFn_ARB2_MSGVAL | CANIFn_ARB2_XTD | BFN_PREP(id >> 16, CANIFn_ARB2_ID); LPC_CAN->IF1_ARB2 = CANIFn_ARB2_MSGVAL | CANIFn_ARB2_XTD | BFN_PREP(id >> 16, CANIFn_ARB2_ID);
LPC_CAN->IF1_MSK1 = BFN_PREP(mask, CANIFn_MSK1_MSK); LPC_CAN->IF1_MSK1 = BFN_PREP(mask, CANIFn_MSK1_MSK);
LPC_CAN->IF1_MSK2 = CANIFn_MSK2_MXTD | CANIFn_MSK2_MDIR | BFN_PREP(mask >> 16, CANIFn_MSK2_MSK); LPC_CAN->IF1_MSK2 = CANIFn_MSK2_MXTD /* | CANIFn_MSK2_MDIR */ | BFN_PREP(mask >> 16, CANIFn_MSK2_MSK);
} }
else { else {
// Mark message valid, Direction = TX, Set Identifier and mask everything // Mark message valid, Direction = TX, Set Identifier and mask everything
LPC_CAN->IF1_ARB2 = CANIFn_ARB2_MSGVAL | BFN_PREP(id << 2, CANIFn_ARB2_ID); LPC_CAN->IF1_ARB2 = CANIFn_ARB2_MSGVAL | BFN_PREP(id << 2, CANIFn_ARB2_ID);
LPC_CAN->IF1_MSK2 = CANIFn_MSK2_MDIR | BFN_PREP(mask << 2, CANIFn_MSK2_MSK); LPC_CAN->IF1_MSK2 = /* CANIFn_MSK2_MDIR | */ BFN_PREP(mask << 2, CANIFn_MSK2_MSK);
} }
// Use mask, single message object and set DLC // Use mask, single message object and set DLC
@ -286,16 +286,22 @@ int can_write(can_t *obj, CAN_Message msg, int cc) {
// Make sure the interface is available // Make sure the interface is available
while( LPC_CAN->IF1_CMDREQ & CANIFn_CMDREQ_BUSY ); while( LPC_CAN->IF1_CMDREQ & CANIFn_CMDREQ_BUSY );
// Set the direction bit based on the message type
uint32_t direction = 0;
if (msg.type == CANData) {
direction = CANIFn_ARB2_DIR;
}
if(msg.format == CANExtended) { if(msg.format == CANExtended) {
// Mark message valid, Direction = TX, Extended Frame, Set Identifier and mask everything // Mark message valid, Extended Frame, Set Identifier and mask everything
LPC_CAN->IF1_ARB1 = BFN_PREP(msg.id, CANIFn_ARB1_ID); LPC_CAN->IF1_ARB1 = BFN_PREP(msg.id, CANIFn_ARB1_ID);
LPC_CAN->IF1_ARB2 = CANIFn_ARB2_MSGVAL | CANIFn_ARB2_XTD | CANIFn_ARB2_DIR | BFN_PREP(msg.id >> 16, CANIFn_ARB2_ID); LPC_CAN->IF1_ARB2 = CANIFn_ARB2_MSGVAL | CANIFn_ARB2_XTD | direction | BFN_PREP(msg.id >> 16, CANIFn_ARB2_ID);
LPC_CAN->IF1_MSK1 = BFN_PREP(ID_EXT_MASK, CANIFn_MSK1_MSK); LPC_CAN->IF1_MSK1 = BFN_PREP(ID_EXT_MASK, CANIFn_MSK1_MSK);
LPC_CAN->IF1_MSK2 = CANIFn_MSK2_MXTD | CANIFn_MSK2_MDIR | BFN_PREP(ID_EXT_MASK >> 16, CANIFn_MSK2_MSK); LPC_CAN->IF1_MSK2 = CANIFn_MSK2_MXTD | CANIFn_MSK2_MDIR | BFN_PREP(ID_EXT_MASK >> 16, CANIFn_MSK2_MSK);
} }
else { else {
// Mark message valid, Direction = TX, Set Identifier and mask everything // Mark message valid, Set Identifier and mask everything
LPC_CAN->IF1_ARB2 = CANIFn_ARB2_MSGVAL | CANIFn_ARB2_DIR | BFN_PREP(msg.id << 2, CANIFn_ARB2_ID); LPC_CAN->IF1_ARB2 = CANIFn_ARB2_MSGVAL | direction | BFN_PREP(msg.id << 2, CANIFn_ARB2_ID);
LPC_CAN->IF1_MSK2 = CANIFn_MSK2_MDIR | BFN_PREP(ID_STD_MASK << 2, CANIFn_MSK2_MSK); LPC_CAN->IF1_MSK2 = CANIFn_MSK2_MDIR | BFN_PREP(ID_STD_MASK << 2, CANIFn_MSK2_MSK);
} }
@ -364,8 +370,13 @@ int can_read(can_t *obj, CAN_Message *msg, int handle) {
msg->id = (LPC_CAN->IF2_ARB2 & CANIFn_ARB2_ID_MASK) >> 2; msg->id = (LPC_CAN->IF2_ARB2 & CANIFn_ARB2_ID_MASK) >> 2;
} }
// TODO: Remote frame support if (LPC_CAN->IF2_ARB2 & CANIFn_ARB2_DIR) {
msg->type = CANData; msg->type = CANRemote;
}
else {
msg->type = CANData;
}
msg->len = BFN_GET(LPC_CAN->IF2_MCTRL, CANIFn_MCTRL_DLC); // TODO: If > 8, len = 8 msg->len = BFN_GET(LPC_CAN->IF2_MCTRL, CANIFn_MCTRL_DLC); // TODO: If > 8, len = 8
msg->data[0] = BFN_GET(LPC_CAN->IF2_DA1, CANIFn_DA1_DATA0); msg->data[0] = BFN_GET(LPC_CAN->IF2_DA1, CANIFn_DA1_DATA0);
msg->data[1] = BFN_GET(LPC_CAN->IF2_DA1, CANIFn_DA1_DATA1); msg->data[1] = BFN_GET(LPC_CAN->IF2_DA1, CANIFn_DA1_DATA1);