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stm32: Protect message ram with barrier() calls instead of voltaile in fdcan.c 

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2022-10-04 11:36:12 -04:00
parent ef98cd9aba
commit 2c6671d8e1
1 changed files with 25 additions and 22 deletions
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47
src/stm32/fdcan.c
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@ -46,10 +46,10 @@
#if !(CONFIG_STM32_CANBUS_PB0_PB1 || CONFIG_STM32_CANBUS_PC2_PC3) #if !(CONFIG_STM32_CANBUS_PB0_PB1 || CONFIG_STM32_CANBUS_PC2_PC3)
#define SOC_CAN FDCAN1 #define SOC_CAN FDCAN1
#define MSG_RAM (((FDCAN_RAM_TypeDef*)SRAMCAN_BASE)->fdcan1) #define MSG_RAM (((struct fdcan_ram_layout*)SRAMCAN_BASE)->fdcan1)
#else #else
#define SOC_CAN FDCAN2 #define SOC_CAN FDCAN2
#define MSG_RAM (((FDCAN_RAM_TypeDef*)SRAMCAN_BASE)->fdcan2) #define MSG_RAM (((struct fdcan_ram_layout*)SRAMCAN_BASE)->fdcan2)
#endif #endif
#if CONFIG_MACH_STM32G0 #if CONFIG_MACH_STM32G0
@ -65,28 +65,28 @@
* Message ram layout * Message ram layout
****************************************************************/ ****************************************************************/
typedef struct { struct fdcan_fifo {
__IO uint32_t id_section; uint32_t id_section;
__IO uint32_t dlc_section; uint32_t dlc_section;
__IO uint32_t data[64 / 4]; uint32_t data[64 / 4];
} FDCAN_FIFO_TypeDef; };
#define FDCAN_XTD (1<<30) #define FDCAN_XTD (1<<30)
#define FDCAN_RTR (1<<29) #define FDCAN_RTR (1<<29)
typedef struct { struct fdcan_msg_ram {
__IO uint32_t FLS[28]; // Filter list standard uint32_t FLS[28]; // Filter list standard
__IO uint32_t FLE[16]; // Filter list extended uint32_t FLE[16]; // Filter list extended
FDCAN_FIFO_TypeDef RXF0[3]; struct fdcan_fifo RXF0[3];
FDCAN_FIFO_TypeDef RXF1[3]; struct fdcan_fifo RXF1[3];
__IO uint32_t TEF[6]; // Tx event FIFO uint32_t TEF[6]; // Tx event FIFO
FDCAN_FIFO_TypeDef TXFIFO[3]; struct fdcan_fifo TXFIFO[3];
} FDCAN_MSG_RAM_TypeDef; };
typedef struct { struct fdcan_ram_layout {
FDCAN_MSG_RAM_TypeDef fdcan1; struct fdcan_msg_ram fdcan1;
FDCAN_MSG_RAM_TypeDef fdcan2; struct fdcan_msg_ram fdcan2;
} FDCAN_RAM_TypeDef; };
/**************************************************************** /****************************************************************
@ -105,7 +105,7 @@ canbus_send(struct canbus_msg *msg)
return -1; return -1;
uint32_t w_index = ((txfqs & FDCAN_TXFQS_TFQPI) >> FDCAN_TXFQS_TFQPI_Pos); uint32_t w_index = ((txfqs & FDCAN_TXFQS_TFQPI) >> FDCAN_TXFQS_TFQPI_Pos);
FDCAN_FIFO_TypeDef *txfifo = &MSG_RAM.TXFIFO[w_index]; struct fdcan_fifo *txfifo = &MSG_RAM.TXFIFO[w_index];
uint32_t ids; uint32_t ids;
if (msg->id & CANMSG_ID_EFF) if (msg->id & CANMSG_ID_EFF)
ids = (msg->id & 0x1fffffff) | FDCAN_XTD; ids = (msg->id & 0x1fffffff) | FDCAN_XTD;
@ -116,6 +116,7 @@ canbus_send(struct canbus_msg *msg)
txfifo->dlc_section = (msg->dlc & 0x0f) << 16; txfifo->dlc_section = (msg->dlc & 0x0f) << 16;
txfifo->data[0] = msg->data32[0]; txfifo->data[0] = msg->data32[0];
txfifo->data[1] = msg->data32[1]; txfifo->data[1] = msg->data32[1];
barrier();
SOC_CAN->TXBAR = ((uint32_t)1 << w_index); SOC_CAN->TXBAR = ((uint32_t)1 << w_index);
return CANMSG_DATA_LEN(msg); return CANMSG_DATA_LEN(msg);
} }
@ -158,6 +159,7 @@ canbus_set_filter(uint32_t id)
#endif #endif
/* Leave the initialisation mode for the filter */ /* Leave the initialisation mode for the filter */
barrier();
SOC_CAN->CCCR &= ~FDCAN_CCCR_CCE; SOC_CAN->CCCR &= ~FDCAN_CCCR_CCE;
SOC_CAN->CCCR &= ~FDCAN_CCCR_INIT; SOC_CAN->CCCR &= ~FDCAN_CCCR_INIT;
} }
@ -175,7 +177,7 @@ CAN_IRQHandler(void)
if (rxf0s & FDCAN_RXF0S_F0FL) { if (rxf0s & FDCAN_RXF0S_F0FL) {
// Read and ack data packet // Read and ack data packet
uint32_t idx = (rxf0s & FDCAN_RXF0S_F0GI) >> FDCAN_RXF0S_F0GI_Pos; uint32_t idx = (rxf0s & FDCAN_RXF0S_F0GI) >> FDCAN_RXF0S_F0GI_Pos;
FDCAN_FIFO_TypeDef *rxf0 = &MSG_RAM.RXF0[idx]; struct fdcan_fifo *rxf0 = &MSG_RAM.RXF0[idx];
uint32_t ids = rxf0->id_section; uint32_t ids = rxf0->id_section;
struct canbus_msg msg; struct canbus_msg msg;
if (ids & FDCAN_XTD) if (ids & FDCAN_XTD)
@ -186,6 +188,7 @@ CAN_IRQHandler(void)
msg.dlc = (rxf0->dlc_section >> 16) & 0x0f; msg.dlc = (rxf0->dlc_section >> 16) & 0x0f;
msg.data32[0] = rxf0->data[0]; msg.data32[0] = rxf0->data[0];
msg.data32[1] = rxf0->data[1]; msg.data32[1] = rxf0->data[1];
barrier();
SOC_CAN->RXF0A = idx; SOC_CAN->RXF0A = idx;
// Process packet // Process packet
@ -295,7 +298,7 @@ can_init(void)
canbus_set_filter(0); canbus_set_filter(0);
/*##-3- Configure Interrupts #################################*/ /*##-3- Configure Interrupts #################################*/
armcm_enable_irq(CAN_IRQHandler, CAN_IT0_IRQn, 0); armcm_enable_irq(CAN_IRQHandler, CAN_IT0_IRQn, 1);
SOC_CAN->ILE = FDCAN_ILE_EINT0; SOC_CAN->ILE = FDCAN_ILE_EINT0;
SOC_CAN->IE = FDCAN_IE_RF0NE | FDCAN_IE_TC; SOC_CAN->IE = FDCAN_IE_RF0NE | FDCAN_IE_TC;
} }