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Second CAN #3687

This commit is contained in:
rusefillc 2021-12-22 22:02:34 -05:00
parent f350338642
commit 2205a57024
1 changed files with 29 additions and 22 deletions
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51
firmware/hw_layer/drivers/can/can_hw.cpp
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@ -120,7 +120,8 @@ static const CANConfig canConfig1000 = {
};
#endif
static const CANConfig *canConfig = &canConfig500;
static const CANConfig *can1Config = &canConfig500;
static const CANConfig *can2Config = &canConfig500;
class CanRead final : public ThreadController<UTILITY_THREAD_STACK_SIZE> {
public:
@ -168,8 +169,12 @@ static void canInfo() {
return;
}
efiPrintf("CAN TX %s speed %d", hwPortname(engineConfiguration->canTxPin), engineConfiguration->canBaudRate);
efiPrintf("CAN RX %s", hwPortname(engineConfiguration->canRxPin));
efiPrintf("CAN1 TX %s speed %d", hwPortname(engineConfiguration->canTxPin), engineConfiguration->canBaudRate);
efiPrintf("CAN1 RX %s", hwPortname(engineConfiguration->canRxPin));
efiPrintf("CAN2 TX %s speed %d", hwPortname(engineConfiguration->can2TxPin), engineConfiguration->can2BaudRate);
efiPrintf("CAN2 RX %s", hwPortname(engineConfiguration->can2RxPin));
efiPrintf("type=%d canReadEnabled=%s canWriteEnabled=%s period=%d", engineConfiguration->canNbcType,
boolToString(engineConfiguration->canReadEnabled), boolToString(engineConfiguration->canWriteEnabled),
engineConfiguration->canSleepPeriodMs);
@ -241,6 +246,22 @@ void startCanPins() {
efiSetPadModeIfConfigurationChanged("CAN2 RX", can2RxPin, PAL_MODE_ALTERNATE(EFI_CAN_RX_AF));
}
static const CANConfig * findConfig(can_baudrate_e rate) {
switch (engineConfiguration->canBaudRate) {
case B100KBPS:
return &canConfig100;
break;
case B250KBPS:
return &canConfig250;
break;
case B1MBPS:
return &canConfig1000;
break;
default:
return &canConfig500;
}
}
void initCan(void) {
addConsoleAction("caninfo", canInfo);
@ -256,30 +277,16 @@ void initCan(void) {
return;
}
switch (engineConfiguration->canBaudRate) {
case B100KBPS:
canConfig = &canConfig100;
break;
case B250KBPS:
canConfig = &canConfig250;
break;
case B500KBPS:
canConfig = &canConfig500;
break;
case B1MBPS:
canConfig = &canConfig1000;
break;
default:
break;
}
can1Config = findConfig(engineConfiguration->canBaudRate);
can2Config = findConfig(engineConfiguration->can2BaudRate);
// Initialize hardware
#if STM32_CAN_USE_CAN2
// CAN1 is required for CAN2
canStart(&CAND1, canConfig);
canStart(&CAND2, canConfig);
canStart(&CAND1, can1Config);
canStart(&CAND2, can2Config);
#else
canStart(&CAND1, canConfig);
canStart(&CAND1, can1Config);
#endif /* STM32_CAN_USE_CAN2 */
if (detectCanDevice(0) == detectCanDevice(1)) {