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FDCAN changes, not finished. 

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@13692 27425a3e-05d8-49a3-a47f-9c15f0e5edd8
This commit is contained in:
Giovanni Di Sirio 2020-06-07 09:03:05 +00:00
parent 3d63ab70e1
commit 0850d9a7a2
2 changed files with 43 additions and 26 deletions
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13
os/hal/ports/STM32/LLD/FDCANv1/hal_can_lld.c
View File

@ -279,11 +279,12 @@ bool can_lld_start(CANDriver *canp) {
canp->fdcan->CCCR |= FDCAN_CCCR_CCE;
/* Setting up operation mode except driver-controlled bits.*/
canp->fdcan->NBTP = canp->config->NBTP;
canp->fdcan->DBTP = canp->config->DBTP;
canp->fdcan->CCCR = canp->config->CCCR & ~(FDCAN_CCCR_CSR | FDCAN_CCCR_CSA |
FDCAN_CCCR_CCE | FDCAN_CCCR_INIT);
canp->fdcan->TEST = canp->config->TEST;
canp->fdcan->NBTP = canp->config->NBTP;
canp->fdcan->DBTP = canp->config->DBTP;
canp->fdcan->CCCR = canp->config->CCCR & ~(FDCAN_CCCR_CSR | FDCAN_CCCR_CSA |
FDCAN_CCCR_CCE | FDCAN_CCCR_INIT);
canp->fdcan->TEST = canp->config->TEST;
canp->fdcan->RXGFC = canp->config->RXGFC;
/* Enabling interrupts, only using interrupt zero.*/
canp->fdcan->IR = (uint32_t)-1;
@ -390,7 +391,7 @@ void can_lld_transmit(CANDriver *canp,
}
/* Starting transmission.*/
canp->fdcan->TXBAR = (uint32_t)1 << (uint32_t)mailbox;
canp->fdcan->TXBAR = (uint32_t)1 << ((uint32_t)mailbox - 1U);
}
/**

56
os/hal/ports/STM32/LLD/FDCANv1/hal_can_lld.h
View File

@ -181,14 +181,19 @@ typedef struct {
union {
struct {
union {
uint32_t EID:29; /**< @brief Extended identifier. */
struct {
uint32_t EID:29; /**< @brief Extended identifier. */
} ext;
struct {
uint32_t _R1:18; /**< @brief Reserved for offset. */
uint32_t SID:11; /**< @brief Standard identifier. */
} std;
struct {
uint32_t _R1:29; /**< @brief Reserved for offset. */
uint32_t RTR:1; /**< @brief Remote transmit request.*/
uint32_t XTD:1; /**< @brief Extended identifier. */
uint32_t ESI:1; /**< @brief Error state indicator. */
};
} common;
};
uint32_t _R2:16;
uint32_t DLC:4; /**< @brief Data length code. */
@ -221,27 +226,34 @@ typedef struct {
/**
* @brief Frame header.
*/
struct {
union {
uint32_t EID:29; /**< @brief Extended Identifier. */
struct {
uint32_t _R1:18;
uint32_t SID:11; /**< @brief Standard identifier. */
uint32_t RTR:1; /**< @brief Remote transmit request.*/
uint32_t XTD:1; /**< @brief Extended identifier. */
uint32_t ESI:1; /**< @brief Error state indicator. */
union {
struct {
union {
struct {
uint32_t EID:29; /**< @brief Extended identifier. */
} ext;
struct {
uint32_t _R1:18;
uint32_t SID:11; /**< @brief Standard identifier. */
} std;
struct {
uint32_t _R1:29; /**< @brief Reserved for offset. */
uint32_t RTR:1; /**< @brief Remote transmit request.*/
uint32_t XTD:1; /**< @brief Extended identifier. */
uint32_t ESI:1; /**< @brief Error state indicator. */
} common;
};
};
uint16_t RXTS:16; /**< @brief TX time stamp. */
uint8_t DLC:4; /**< @brief Data length code. */
uint8_t BRS:1; /**< @brief Bit rate switch. */
uint8_t FDF:1; /**< @brief FDCAN frame format. */
uint8_t _R2:2;
uint8_t FIDX:7; /**< @brief Filter index. */
uint8_t ANMF:1; /**< @brief Accepted non-matching
uint32_t RXTS:16; /**< @brief TX time stamp. */
uint32_t DLC:4; /**< @brief Data length code. */
uint32_t BRS:1; /**< @brief Bit rate switch. */
uint32_t FDF:1; /**< @brief FDCAN frame format. */
uint32_t _R2:2;
uint32_t FIDX:7; /**< @brief Filter index. */
uint32_t ANMF:1; /**< @brief Accepted non-matching
frame. */
};
uint32_t header32[2];
};
uint32_t header32[2];
/**
* @brief Frame data.
*/
@ -320,6 +332,10 @@ typedef struct {
* @brief Test configuration register.
*/
uint32_t TEST;
/**
* @brief Global filter configuration register.
*/
uint32_t RXGFC;
} CANConfig;
/**