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stm32: Support passing through RTR and EFF canbus frames 

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2022-06-11 19:00:54 -04:00
parent 913c6a913d
commit 3f7d05dd18
3 changed files with 39 additions and 28 deletions
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3
src/generic/canbus.h
View File

@ -16,6 +16,9 @@ struct canbus_msg {
};
};
#define CANMSG_ID_RTR (1<<30)
#define CANMSG_ID_EFF (1<<31)
#define CANMSG_DATA_LEN(msg) ((msg)->dlc > 8 ? 8 : (msg)->dlc)
// callbacks provided by board specific code

15
src/stm32/can.c
View File

@ -118,6 +118,12 @@ canbus_send(struct canbus_msg *msg)
mb->TDHR = msg->data32[1];
/* Request transmission */
uint32_t tir;
if (msg->id & CANMSG_ID_EFF)
tir = ((msg->id & 0x1fffffff) << CAN_TI0R_EXID_Pos) | CAN_TI0R_IDE;
else
tir = (msg->id & 0x7ff) << CAN_TI0R_STID_Pos;
tir |= msg->id & CANMSG_ID_RTR ? CAN_TI0R_RTR : 0;
mb->TIR = (msg->id << CAN_TI0R_STID_Pos) | CAN_TI0R_TXRQ;
return CANMSG_DATA_LEN(msg);
}
@ -131,7 +137,7 @@ canbus_set_filter(uint32_t id)
/* Initialisation mode for the filter */
SOC_CAN->FA1R = 0;
uint32_t mask = CAN_RI0R_STID | CAN_TI0R_IDE | CAN_TI0R_RTR;
uint32_t mask = CAN_TI0R_STID | CAN_TI0R_IDE | CAN_TI0R_RTR;
SOC_CAN->sFilterRegister[0].FR1 = CANBUS_ID_ADMIN << CAN_RI0R_STID_Pos;
SOC_CAN->sFilterRegister[0].FR2 = mask;
SOC_CAN->sFilterRegister[1].FR1 = (id + 1) << CAN_RI0R_STID_Pos;
@ -155,8 +161,13 @@ CAN_IRQHandler(void)
if (SOC_CAN->RF0R & CAN_RF0R_FMP0) {
// Read and ack data packet
CAN_FIFOMailBox_TypeDef *mb = &SOC_CAN->sFIFOMailBox[0];
uint32_t rir = mb->RIR;
struct canbus_msg msg;
msg.id = (mb->RIR >> CAN_RI0R_STID_Pos) & 0x7FF;
if (rir & CAN_RI0R_IDE)
msg.id = ((rir >> CAN_RI0R_EXID_Pos) & 0x1fffffff) | CANMSG_ID_EFF;
else
msg.id = (rir >> CAN_RI0R_STID_Pos) & 0x7ff;
msg.id |= rir & CAN_RI0R_RTR ? CANMSG_ID_RTR : 0;
msg.dlc = mb->RDTR & CAN_RDT0R_DLC;
msg.data32[0] = mb->RDLR;
msg.data32[1] = mb->RDHR;

49
src/stm32/fdcan.c
View File

@ -17,38 +17,24 @@
#include "internal.h" // enable_pclock
#include "sched.h" // DECL_INIT
typedef struct
{
uint32_t RESERVED0 : 18;
__IO uint32_t ID : 11;
__IO uint32_t RTR : 1;
__IO uint32_t XTD : 1;
__IO uint32_t ESI : 1;
__IO uint32_t RXTS : 16;
__IO uint32_t DLC : 4;
__IO uint32_t BRS : 1;
__IO uint32_t FDF : 1;
uint32_t RESERVED1 : 2;
__IO uint32_t FIDX : 7;
__IO uint32_t ANMF : 1;
__IO uint32_t data[64 / 4];
}FDCAN_RX_FIFO_TypeDef;
typedef struct
{
__IO uint32_t id_section;
__IO uint32_t dlc_section;
__IO uint32_t data[64 / 4];
}FDCAN_TX_FIFO_TypeDef;
}FDCAN_FIFO_TypeDef;
#define FDCAN_XTD (1<<30)
#define FDCAN_RTR (1<<29)
typedef struct
{
__IO uint32_t FLS[28]; // Filter list standard
__IO uint32_t FLE[16]; // Filter list extended
FDCAN_RX_FIFO_TypeDef RXF0[3];
FDCAN_RX_FIFO_TypeDef RXF1[3];
FDCAN_FIFO_TypeDef RXF0[3];
FDCAN_FIFO_TypeDef RXF1[3];
__IO uint32_t TEF[6]; // Tx event FIFO
FDCAN_TX_FIFO_TypeDef TXFIFO[3];
FDCAN_FIFO_TypeDef TXFIFO[3];
}FDCAN_MSG_RAM_TypeDef;
typedef struct
@ -100,8 +86,14 @@ canbus_send(struct canbus_msg *msg)
return -1;
uint32_t w_index = ((txfqs & FDCAN_TXFQS_TFQPI) >> FDCAN_TXFQS_TFQPI_Pos);
FDCAN_TX_FIFO_TypeDef *txfifo = &MSG_RAM.TXFIFO[w_index];
txfifo->id_section = (msg->id & 0x1fffffff) << 18;
FDCAN_FIFO_TypeDef *txfifo = &MSG_RAM.TXFIFO[w_index];
uint32_t ids;
if (msg->id & CANMSG_ID_EFF)
ids = (msg->id & 0x1fffffff) | FDCAN_XTD;
else
ids = (msg->id & 0x7ff) << 18;
ids |= msg->id & CANMSG_ID_RTR ? FDCAN_RTR : 0;
txfifo->id_section = ids;
txfifo->dlc_section = (msg->dlc & 0x0f) << 16;
txfifo->data[0] = msg->data32[0];
txfifo->data[1] = msg->data32[1];
@ -155,10 +147,15 @@ CAN_IRQHandler(void)
if (rxf0s & FDCAN_RXF0S_F0FL) {
// Read and ack data packet
uint32_t idx = (rxf0s & FDCAN_RXF0S_F0GI) >> FDCAN_RXF0S_F0GI_Pos;
FDCAN_RX_FIFO_TypeDef *rxf0 = &MSG_RAM.RXF0[idx];
FDCAN_FIFO_TypeDef *rxf0 = &MSG_RAM.RXF0[idx];
uint32_t ids = rxf0->id_section;
struct canbus_msg msg;
msg.id = rxf0->ID;
msg.dlc = rxf0->DLC;
if (ids & FDCAN_XTD)
msg.id = (ids & 0x1fffffff) | CANMSG_ID_EFF;
else
msg.id = (ids >> 18) & 0x7ff;
msg.id |= ids & FDCAN_RTR ? CANMSG_ID_RTR : 0;
msg.dlc = (rxf0->dlc_section >> 16) & 0x0f;
msg.data32[0] = rxf0->data[0];
msg.data32[1] = rxf0->data[1];
SOC_CAN->RXF0A = idx;