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stm32: Introduce new can_set_filter() helper function in can.c 

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2021-01-27 21:02:32 -05:00
parent 901ccfcb9d
commit c0371c94c8
1 changed files with 32 additions and 40 deletions
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72
src/stm32/can.c
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@ -89,8 +89,6 @@
// ABOM makes the hardware automatically leave bus-off state
#define MCR_FLAGS (CAN_MCR_TXFP | CAN_MCR_ABOM)
#define CAN_FILTER_NUMBER 0
static uint16_t MyCanId = 0;
static int
@ -209,6 +207,35 @@ CAN_TxIrq(void)
return txdata;
}
#define CAN_FILTER_NUMBER 0
static void
can_set_filter(uint32_t id1, uint32_t id2)
{
uint32_t filternbrbitpos = 1 << CAN_FILTER_NUMBER;
/* Select the start slave bank */
SOC_CAN->FMR |= CAN_FMR_FINIT;
/* Initialisation mode for the filter */
SOC_CAN->FA1R = 0;
SOC_CAN->sFilterRegister[CAN_FILTER_NUMBER].FR1 = id1 << (5 + 16);
SOC_CAN->sFilterRegister[CAN_FILTER_NUMBER].FR2 = id2 << (5 + 16);
/* Identifier list mode for the filter */
SOC_CAN->FM1R = filternbrbitpos;
/* 32-bit scale for the filter */
SOC_CAN->FS1R = filternbrbitpos;
/* FIFO 0 assigned for the filter */
SOC_CAN->FFA1R = 0;
/* Filter activation */
SOC_CAN->FA1R = filternbrbitpos;
/* Leave the initialisation mode for the filter */
SOC_CAN->FMR &= ~CAN_FMR_FINIT;
}
static void
CAN_RxCpltCallback(unsigned int mbox)
{
@ -228,20 +255,8 @@ CAN_RxCpltCallback(unsigned int mbox)
// compare my UUID with packet to check if this packet mine
get_rx_data(databuf, mbox);
if (memcmp(&(databuf[2]), short_uuid, SHORT_UUID_LEN) == 0) {
memcpy(&MyCanId, databuf, sizeof(uint16_t));
/* Set new filter values */
uint32_t filternbrbitpos = (1U) << CAN_FILTER_NUMBER;
SOC_CAN->FA1R &= ~(filternbrbitpos);
/* Personal ID */
SOC_CAN->sFilterRegister[CAN_FILTER_NUMBER].FR1 =
((uint32_t)(MyCanId<<5) << 16U);
/* Catch reset command */
SOC_CAN->sFilterRegister[CAN_FILTER_NUMBER].FR2 =
((uint32_t)(PKT_ID_UUID<<5) << 16U);
/* Filter activation */
SOC_CAN->FA1R |= filternbrbitpos;
/* Leave the initialisation mode for the filter */
SOC_CAN->FMR &= ~(CAN_FMR_FINIT);
MyCanId = databuf[0] | (databuf[1] << 8);
can_set_filter(MyCanId, PKT_ID_UUID);
}
}
} else {
@ -384,30 +399,7 @@ can_init(void)
;
/*##-2- Configure the CAN Filter #######################################*/
uint32_t filternbrbitpos = (1U) << CAN_FILTER_NUMBER;
/* Select the start slave bank */
SOC_CAN->FMR |= CAN_FMR_FINIT;
/* Initialisation mode for the filter */
SOC_CAN->FA1R &= ~(filternbrbitpos);
SOC_CAN->sFilterRegister[CAN_FILTER_NUMBER].FR1 =
((uint32_t)(PKT_ID_UUID<<5) << 16U);
SOC_CAN->sFilterRegister[CAN_FILTER_NUMBER].FR2 =
((uint32_t)(PKT_ID_SET<<5) << 16U);
/* Identifier list mode for the filter */
SOC_CAN->FM1R |= filternbrbitpos;
/* 32-bit scale for the filter */
SOC_CAN->FS1R |= filternbrbitpos;
/* FIFO 0 assignation for the filter */
SOC_CAN->FFA1R &= ~(filternbrbitpos);
/* Filter activation */
SOC_CAN->FA1R |= filternbrbitpos;
/* Leave the initialisation mode for the filter */
SOC_CAN->FMR &= ~(CAN_FMR_FINIT);
can_set_filter(PKT_ID_UUID, PKT_ID_SET);
/*##-3- Configure Interrupts #################################*/