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stm32: Support passing through RTR and EFF canbus frames

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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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15
src/stm32/can.c
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@@ -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;