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stm32/pyb_can: Add support for CAN FD extended frame ID.

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This commit is contained in:
iabdalkader 2022-01-17 20:51:31 +02:00 committed by Damien George
parent ff287d085f
commit 3320ec44ed
2 changed files with 48 additions and 20 deletions
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18
ports/stm32/fdcan.c
View File

@ -107,9 +107,7 @@ bool can_init(pyb_can_obj_t *can_obj, uint32_t mode, uint32_t prescaler, uint32_
// identifiers, and 31 x 2 words elements for 29-bit extended identifiers.
// The total number of words reserved for the filtering per FDCAN instance is 126 words.
init->StdFiltersNbr = 64;
// Note extended identifiers are Not used in pyb_can.c and Not handled correctly.
// Disable the extended identifiers filters for now until this is fixed properly.
init->ExtFiltersNbr = 0 /*31*/;
init->ExtFiltersNbr = 31;
// The Tx event FIFO is used to store the message ID and the timestamp of successfully
// transmitted elements. The Tx event FIFO can store a maximum of 32 (2 words) elements.
@ -189,7 +187,11 @@ bool can_init(pyb_can_obj_t *can_obj, uint32_t mode, uint32_t prescaler, uint32_
// Reset all filters
for (int f = 0; f < init->StdFiltersNbr; ++f) {
can_clearfilter(can_obj, f, 0);
can_clearfilter(can_obj, f, false);
}
for (int f = 0; f < init->ExtFiltersNbr; ++f) {
can_clearfilter(can_obj, f, true);
}
can_obj->is_enabled = true;
@ -250,10 +252,14 @@ void can_deinit(pyb_can_obj_t *self) {
}
}
void can_clearfilter(pyb_can_obj_t *self, uint32_t f, uint8_t bank) {
void can_clearfilter(pyb_can_obj_t *self, uint32_t f, uint8_t extid) {
if (self && self->can.Instance) {
FDCAN_FilterTypeDef filter = {0};
filter.IdType = FDCAN_STANDARD_ID;
if (extid == 1) {
filter.IdType = FDCAN_EXTENDED_ID;
} else {
filter.IdType = FDCAN_STANDARD_ID;
}
filter.FilterIndex = f;
filter.FilterConfig = FDCAN_FILTER_DISABLE;
HAL_FDCAN_ConfigFilter(&self->can, &filter);

50
ports/stm32/pyb_can.c
View File

@ -41,7 +41,6 @@
#if MICROPY_HW_ENABLE_FDCAN
#define CAN_MAX_FILTER (64)
#define CAN_MAX_DATA_FRAME (64)
#define CAN_FIFO0 FDCAN_RX_FIFO0
@ -87,9 +86,6 @@
#define __HAL_CAN_DISABLE_IT __HAL_FDCAN_DISABLE_IT
#define __HAL_CAN_CLEAR_FLAG __HAL_FDCAN_CLEAR_FLAG
#define __HAL_CAN_MSG_PENDING HAL_FDCAN_GetRxFifoFillLevel
// Both banks start at 0
STATIC uint8_t can2_start_bank = 0;
extern const uint8_t DLCtoBytes[16];
#else
@ -715,16 +711,29 @@ STATIC mp_obj_t pyb_can_recv(size_t n_args, const mp_obj_t *pos_args, mp_map_t *
STATIC MP_DEFINE_CONST_FUN_OBJ_KW(pyb_can_recv_obj, 1, pyb_can_recv);
// initfilterbanks(n)
STATIC mp_obj_t pyb_can_initfilterbanks(mp_obj_t self, mp_obj_t bank_in) {
STATIC mp_obj_t pyb_can_initfilterbanks(mp_obj_t self_in, mp_obj_t bank_in) {
pyb_can_obj_t *self = MP_OBJ_TO_PTR(self_in);
#if MICROPY_HW_ENABLE_FDCAN
can2_start_bank = 0;
#else
can2_start_bank = mp_obj_get_int(bank_in);
#endif
for (int f = 0; f < CAN_MAX_FILTER; f++) {
can_clearfilter(MP_OBJ_TO_PTR(self), f, can2_start_bank);
(void)self;
#if 0
FDCAN_InitTypeDef *init = &self->can.Init;
// Clear standard ID filters.
for (int f = 0; f < init->StdFiltersNbr; ++f) {
can_clearfilter(self, f, false);
}
// Clear extended ID filters.
for (int f = 0; f < init->ExtFiltersNbr; ++f) {
can_clearfilter(self, f, true);
}
#endif
#else
// NOTE: For classic CAN, this function calls HAL_CAN_ConfigFilter(NULL, &filter);
// if CAN3 is defined, ConfigFilter() will dereference a NULL pointer.
can2_start_bank = mp_obj_get_int(bank_in);
for (int f = 0; f < CAN_MAX_FILTER; f++) {
can_clearfilter(self, f, can2_start_bank);
}
#endif
return mp_const_none;
}
STATIC MP_DEFINE_CONST_FUN_OBJ_2(pyb_can_initfilterbanks_fun_obj, pyb_can_initfilterbanks);
@ -733,10 +742,14 @@ STATIC MP_DEFINE_CONST_CLASSMETHOD_OBJ(pyb_can_initfilterbanks_obj, MP_ROM_PTR(&
STATIC mp_obj_t pyb_can_clearfilter(mp_obj_t self_in, mp_obj_t bank_in) {
pyb_can_obj_t *self = MP_OBJ_TO_PTR(self_in);
mp_int_t f = mp_obj_get_int(bank_in);
#if MICROPY_HW_ENABLE_FDCAN
can_clearfilter(self, f, self->extframe);
#else
if (self->can_id == 2) {
f += can2_start_bank;
}
can_clearfilter(self, f, can2_start_bank);
#endif
return mp_const_none;
}
STATIC MP_DEFINE_CONST_FUN_OBJ_2(pyb_can_clearfilter_obj, pyb_can_clearfilter);
@ -760,9 +773,18 @@ STATIC mp_obj_t pyb_can_setfilter(size_t n_args, const mp_obj_t *pos_args, mp_ma
#if MICROPY_HW_ENABLE_FDCAN
FDCAN_FilterTypeDef filter = {0};
filter.IdType = FDCAN_STANDARD_ID;
// TODO check filter index
if (self->extframe) {
filter.IdType = FDCAN_EXTENDED_ID;
} else {
filter.IdType = FDCAN_STANDARD_ID;
}
filter.FilterIndex = args[ARG_bank].u_int;
// Check filter index.
if ((filter.IdType == FDCAN_STANDARD_ID && filter.FilterIndex >= self->can.Init.StdFiltersNbr) ||
(filter.IdType == FDCAN_EXTENDED_ID && filter.FilterIndex >= self->can.Init.ExtFiltersNbr)) {
goto error;
}
// Check filter mode
if (((args[ARG_mode].u_int != FDCAN_FILTER_RANGE) &&