h3n3/klipper
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

canbus: Rework CAN command protocol

Browse Source 
Rework the micro-controller command protocol so that it supports
direct communication with the serialqueue.c code.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2021-02-07 15:23:19 -05:00
parent 041692828c
commit 6cb419a90a
5 changed files with 162 additions and 74 deletions
Download Patch File Download Diff File Expand all files Collapse all files

28
src/stm32/can.c
View File

@@ -159,43 +159,35 @@ canbus_send(uint32_t id, uint32_t len, uint8_t *data)
return len;
}
#define CAN_FILTER_NUMBER 0
// Setup the receive packet filter
void
canbus_set_filter(uint32_t id)
{
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;
uint32_t idadmin = CANBUS_ID_UUID;
SOC_CAN->sFilterRegister[CAN_FILTER_NUMBER].FR1 = idadmin << (5 + 16);
SOC_CAN->sFilterRegister[CAN_FILTER_NUMBER].FR2 = id << (5 + 16);
uint32_t mask = CAN_RI0R_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;
SOC_CAN->sFilterRegister[1].FR2 = mask;
SOC_CAN->sFilterRegister[2].FR1 = id << CAN_RI0R_STID_Pos;
SOC_CAN->sFilterRegister[2].FR2 = mask;
/* Identifier list mode for the filter */
SOC_CAN->FM1R = filternbrbitpos;
/* 32-bit scale for the filter */
SOC_CAN->FS1R = filternbrbitpos;
SOC_CAN->FS1R = (1<<0) | (1<<1) | (1<<2);
/* FIFO 0 assigned for the filter */
SOC_CAN->FFA1R = 0;
/* Filter activation */
SOC_CAN->FA1R = filternbrbitpos;
SOC_CAN->FA1R = (1<<0) | (id ? (1<<1) | (1<<2) : 0);
/* Leave the initialisation mode for the filter */
SOC_CAN->FMR &= ~CAN_FMR_FINIT;
}
void
canbus_reboot(void)
{
NVIC_SystemReset();
}
// This function handles CAN global interrupts
void
CAN_IRQHandler(void)
@@ -292,7 +284,7 @@ can_init(void)
;
/*##-2- Configure the CAN Filter #######################################*/
canbus_set_filter(CANBUS_ID_SET);
canbus_set_filter(0);
/*##-3- Configure Interrupts #################################*/
armcm_enable_irq(CAN_IRQHandler, CAN_RX0_IRQn, 0);