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Changes required in STM CAN read API #14677

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Merged
merged 6 commits into from
Jun 25, 2021
Merged

Changes required in STM CAN read API #14677

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274d8aa
The default FIFO for can by hardware is FIFO0 as set by the CAN STM A…
MubeenHCLite May 19, 2021
064f94d
Added to return failure if filter if unsupported format
MubeenHCLite May 25, 2021
5049b51
Added working functionality to the can_filter api to accept IDs for f…
MubeenHCLite Jun 21, 2021
2cc08cf
Rebaseing to current master
MubeenHCLite Jun 21, 2021
9732cdc
Updated comments appropriately
MubeenHCLite Jun 22, 2021
6f436db
Adjusted spcae alignment
MubeenHCLite Jun 25, 2021
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73 changes: 40 additions & 33 deletions targets/TARGET_STM/can_api.c
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Original file line number Diff line number Diff line change
Expand Up @@ -163,12 +163,23 @@ static void _can_init_freq_direct(can_t *obj, const can_pinmap_t *pinmap, int hz
obj->CanHandle.Init.DataSyncJumpWidth = 0x1; // Not used - only in FDCAN
obj->CanHandle.Init.DataTimeSeg1 = 0x1; // Not used - only in FDCAN
obj->CanHandle.Init.DataTimeSeg2 = 0x1; // Not used - only in FDCAN
#ifndef TARGET_STM32G4
#ifdef TARGET_STM32H7
/* Message RAM offset is only supported in STM32H7 platforms of supported FDCAN platforms */
obj->CanHandle.Init.MessageRAMOffset = 0;

/* The number of Standard and Extended ID filters are initialized to the maximum possile extent
* for STM32H7 platforms
*/
obj->CanHandle.Init.StdFiltersNbr = 128; // to be aligned with the handle parameter in can_filter
obj->CanHandle.Init.ExtFiltersNbr = 128; // to be aligned with the handle parameter in can_filter
#else
/* The number of Standard and Extended ID filters are initialized to the maximum possile extent
* for STM32G0x1, STM32G4 and STM32L5 platforms
*/
obj->CanHandle.Init.StdFiltersNbr = 28; // to be aligned with the handle parameter in can_filter
obj->CanHandle.Init.ExtFiltersNbr = 8; // to be aligned with the handle parameter in can_filter
#endif
obj->CanHandle.Init.StdFiltersNbr = 1; // to be aligned with the handle parameter in can_filter
obj->CanHandle.Init.ExtFiltersNbr = 1; // to be aligned with the handle parameter in can_filter
#ifndef TARGET_STM32G4
#ifdef TARGET_STM32H7
obj->CanHandle.Init.RxFifo0ElmtsNbr = 8;
obj->CanHandle.Init.RxFifo0ElmtSize = FDCAN_DATA_BYTES_8;
obj->CanHandle.Init.RxFifo1ElmtsNbr = 0;
Expand All @@ -180,7 +191,7 @@ static void _can_init_freq_direct(can_t *obj, const can_pinmap_t *pinmap, int hz
obj->CanHandle.Init.TxFifoQueueElmtsNbr = 3;
#endif
obj->CanHandle.Init.TxFifoQueueMode = FDCAN_TX_FIFO_OPERATION;
#ifndef TARGET_STM32G4
#ifdef TARGET_STM32H7
obj->CanHandle.Init.TxElmtSize = FDCAN_DATA_BYTES_8;
#endif
can_internal_init(obj);
Expand Down Expand Up @@ -329,20 +340,18 @@ int can_frequency(can_t *obj, int f)
*/
int can_filter(can_t *obj, uint32_t id, uint32_t mask, CANFormat format, int32_t handle)
{
UNUSED(handle); // Not supported yet (seems to be a used in read function?)

FDCAN_FilterTypeDef sFilterConfig = {0};

if (format == CANStandard) {
sFilterConfig.IdType = FDCAN_STANDARD_ID;
sFilterConfig.FilterIndex = 0;
sFilterConfig.FilterIndex = handle;
sFilterConfig.FilterType = FDCAN_FILTER_MASK;
sFilterConfig.FilterConfig = FDCAN_FILTER_TO_RXFIFO0;
sFilterConfig.FilterID1 = id;
sFilterConfig.FilterID2 = mask;
} else if (format == CANExtended) {
sFilterConfig.IdType = FDCAN_EXTENDED_ID;
sFilterConfig.FilterIndex = 0;
sFilterConfig.FilterIndex = handle;
sFilterConfig.FilterType = FDCAN_FILTER_MASK;
sFilterConfig.FilterConfig = FDCAN_FILTER_TO_RXFIFO0;
sFilterConfig.FilterID1 = id;
Expand Down Expand Up @@ -391,7 +400,7 @@ int can_write(can_t *obj, CAN_Message msg, int cc)

int can_read(can_t *obj, CAN_Message *msg, int handle)
{
UNUSED(handle); // Not supported yet (seems to be a handle to a filter configuration?)
UNUSED(handle); // Not supported, RXFIFO0 is set default by can_filter and cannot be changed.

if (HAL_FDCAN_GetRxFifoFillLevel(&obj->CanHandle, FDCAN_RX_FIFO0) == 0) {
return 0; // No message arrived
Expand Down Expand Up @@ -646,6 +655,8 @@ void can_irq_set(can_t *obj, CanIrqType type, uint32_t enable)
#include <string.h>
#include <inttypes.h>

#define DEFAULT_RXFIFO 0 // default rx fifo for can by hardware is FIFO0

static uint32_t can_irq_ids[CAN_NUM] = {0};
static can_irq_handler irq_handler;

Expand Down Expand Up @@ -956,8 +967,8 @@ int can_write(can_t *obj, CAN_Message msg, int cc)

int can_read(can_t *obj, CAN_Message *msg, int handle)
{
//handle is the FIFO number

//FIFO selection cannot be controlled by software for STM32, default FIFO is 0, hence handle is not used
int rxfifo_default = DEFAULT_RXFIFO;
CAN_TypeDef *can = obj->CanHandle.Instance;

// check FPM0 which holds the pending message count in FIFO 0
Expand All @@ -967,36 +978,30 @@ int can_read(can_t *obj, CAN_Message *msg, int handle)
}

/* Get the Id */
msg->format = (CANFormat)(((uint8_t)0x04 & can->sFIFOMailBox[handle].RIR) >> 2);
msg->format = (CANFormat)(((uint8_t)0x04 & can->sFIFOMailBox[rxfifo_default].RIR) >> 2);
if (!msg->format) {
msg->id = (uint32_t)0x000007FF & (can->sFIFOMailBox[handle].RIR >> 21);
msg->id = (uint32_t)0x000007FF & (can->sFIFOMailBox[rxfifo_default].RIR >> 21);
} else {
msg->id = (uint32_t)0x1FFFFFFF & (can->sFIFOMailBox[handle].RIR >> 3);
msg->id = (uint32_t)0x1FFFFFFF & (can->sFIFOMailBox[rxfifo_default].RIR >> 3);
}

msg->type = (CANType)(((uint8_t)0x02 & can->sFIFOMailBox[handle].RIR) >> 1);
msg->type = (CANType)(((uint8_t)0x02 & can->sFIFOMailBox[rxfifo_default].RIR) >> 1);
/* Get the DLC */
msg->len = (uint8_t)0x0F & can->sFIFOMailBox[handle].RDTR;
msg->len = (uint8_t)0x0F & can->sFIFOMailBox[rxfifo_default].RDTR;
/* Get the FMI */
// msg->FMI = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDTR >> 8);
// msg->FMI = (uint8_t)0xFF & (can->sFIFOMailBox[rxfifo_default].RDTR >> 8);
/* Get the data field */
msg->data[0] = (uint8_t)0xFF & can->sFIFOMailBox[handle].RDLR;
msg->data[1] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDLR >> 8);
msg->data[2] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDLR >> 16);
msg->data[3] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDLR >> 24);
msg->data[4] = (uint8_t)0xFF & can->sFIFOMailBox[handle].RDHR;
msg->data[5] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDHR >> 8);
msg->data[6] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDHR >> 16);
msg->data[7] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDHR >> 24);
msg->data[0] = (uint8_t)0xFF & can->sFIFOMailBox[rxfifo_default].RDLR;
msg->data[1] = (uint8_t)0xFF & (can->sFIFOMailBox[rxfifo_default].RDLR >> 8);
msg->data[2] = (uint8_t)0xFF & (can->sFIFOMailBox[rxfifo_default].RDLR >> 16);
msg->data[3] = (uint8_t)0xFF & (can->sFIFOMailBox[rxfifo_default].RDLR >> 24);
msg->data[4] = (uint8_t)0xFF & can->sFIFOMailBox[rxfifo_default].RDHR;
msg->data[5] = (uint8_t)0xFF & (can->sFIFOMailBox[rxfifo_default].RDHR >> 8);
msg->data[6] = (uint8_t)0xFF & (can->sFIFOMailBox[rxfifo_default].RDHR >> 16);
msg->data[7] = (uint8_t)0xFF & (can->sFIFOMailBox[rxfifo_default].RDHR >> 24);

/* Release the FIFO */
if (handle == CAN_FIFO0) {
/* Release FIFO0 */
can->RF0R |= CAN_RF0R_RFOM0;
} else { /* FIFONumber == CAN_FIFO1 */
/* Release FIFO1 */
can->RF1R |= CAN_RF1R_RFOM1;
}
can->RF0R |= CAN_RF0R_RFOM0;

return 1;
}
Expand Down Expand Up @@ -1130,6 +1135,8 @@ int can_filter(can_t *obj, uint32_t id, uint32_t mask, CANFormat format, int32_t
{
success = 1;
}
} else if (format == CANAny) {
success = 0; // filter for CANAny is not supported by STM32, return a failure
}

return success;
Expand Down