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GetCanConfig

This commit is contained in:
Matthew Kennedy 2023-03-15 18:07:31 -07:00
parent 5cc1199d49
commit 00cc305d02
7 changed files with 23 additions and 7 deletions
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2
firmware/boards/f0_module/bootloader/bootloader.cpp
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@ -222,7 +222,7 @@ THD_FUNCTION(BootloaderThread, arg)
(void)arg; (void)arg;
// turn on CAN // turn on CAN
canStart(&CAND1, &canConfig500); canStart(&CAND1, &GetCanConfig());
WaitForBootloaderCmd(); WaitForBootloaderCmd();

6
firmware/boards/f0_module/port_shared.cpp
View File

@ -2,7 +2,7 @@
// board-specific stuff shared between bootloader and firmware // board-specific stuff shared between bootloader and firmware
const CANConfig canConfig500 = static const CANConfig canConfig500 =
{ {
CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP, CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP,
/* /*
@ -10,3 +10,7 @@ const CANConfig canConfig500 =
*/ */
CAN_BTR_SJW(0) | CAN_BTR_BRP(5) | CAN_BTR_TS1(12) | CAN_BTR_TS2(1), CAN_BTR_SJW(0) | CAN_BTR_BRP(5) | CAN_BTR_TS1(12) | CAN_BTR_TS2(1),
}; };
const CANConfig& GetCanConfig() {
return canConfig500;
}

6
firmware/boards/f1_dual/port_shared.cpp
View File

@ -2,7 +2,7 @@
// board-specific stuff shared between bootloader and firmware // board-specific stuff shared between bootloader and firmware
const CANConfig canConfig500 = static const CANConfig canConfig500 =
{ {
CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP, CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP,
/* /*
@ -10,3 +10,7 @@ const CANConfig canConfig500 =
*/ */
CAN_BTR_SJW(0) | CAN_BTR_BRP(2) | CAN_BTR_TS1(12) | CAN_BTR_TS2(1), CAN_BTR_SJW(0) | CAN_BTR_BRP(2) | CAN_BTR_TS1(12) | CAN_BTR_TS2(1),
}; };
const CANConfig& GetCanConfig() {
return canConfig500;
}

6
firmware/boards/f1_rev2/port_shared.cpp
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@ -2,7 +2,7 @@
// board-specific stuff shared between bootloader and firmware // board-specific stuff shared between bootloader and firmware
const CANConfig canConfig500 = static const CANConfig canConfig500 =
{ {
CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP, CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP,
/* /*
@ -10,3 +10,7 @@ const CANConfig canConfig500 =
*/ */
CAN_BTR_SJW(0) | CAN_BTR_BRP(4 - 1) | CAN_BTR_TS1(13 - 1) | CAN_BTR_TS2(2 - 1), CAN_BTR_SJW(0) | CAN_BTR_BRP(4 - 1) | CAN_BTR_TS1(13 - 1) | CAN_BTR_TS2(2 - 1),
}; };
const CANConfig& GetCanConfig() {
return canConfig500;
}

6
firmware/boards/f1_rev3/port_shared.cpp
View File

@ -2,7 +2,7 @@
// board-specific stuff shared between bootloader and firmware // board-specific stuff shared between bootloader and firmware
const CANConfig canConfig500 = static const CANConfig canConfig500 =
{ {
CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP, CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP,
/* /*
@ -10,3 +10,7 @@ const CANConfig canConfig500 =
*/ */
CAN_BTR_SJW(0) | CAN_BTR_BRP(2) | CAN_BTR_TS1(12) | CAN_BTR_TS2(1), CAN_BTR_SJW(0) | CAN_BTR_BRP(2) | CAN_BTR_TS1(12) | CAN_BTR_TS2(1),
}; };
const CANConfig& GetCanConfig() {
return canConfig500;
}

2
firmware/boards/port_shared.h
View File

@ -1,4 +1,4 @@
#include "ch.h" #include "ch.h"
#include "hal.h" #include "hal.h"
extern const CANConfig canConfig500; const CANConfig& GetCanConfig();

2
firmware/can.cpp
View File

@ -128,7 +128,7 @@ void InitCan()
{ {
configuration = GetConfiguration(); configuration = GetConfiguration();
canStart(&CAND1, &canConfig500); canStart(&CAND1, &GetCanConfig());
chThdCreateStatic(waCanTxThread, sizeof(waCanTxThread), NORMALPRIO, CanTxThread, nullptr); chThdCreateStatic(waCanTxThread, sizeof(waCanTxThread), NORMALPRIO, CanTxThread, nullptr);
chThdCreateStatic(waCanRxThread, sizeof(waCanRxThread), NORMALPRIO - 4, CanRxThread, nullptr); chThdCreateStatic(waCanRxThread, sizeof(waCanRxThread), NORMALPRIO - 4, CanRxThread, nullptr);
} }