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stm32/fdcan: add CAN FD frames support

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This commit is contained in:
raiden00pl
2022-02-12 20:11:08 +01:00
committed by Xiang Xiao
parent dd8408a973
commit 00917bfe9d
3 changed files with 272 additions and 125 deletions
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arch/arm/src/stm32/Kconfig
+1
View File
@@ -10918,6 +10918,7 @@ config STM32_FDCAN_CHARDRIVER
config STM32_FDCAN_SOCKET
bool "STM32 FDCAN SocketCAN support"
select NET_CAN_HAVE_ERRORS
select NET_CAN_HAVE_CANFD
endchoice # FDCAN character driver or SocketCAN support
arch/arm/src/stm32/stm32_fdcan.c
+45 -2
View File
@@ -2368,7 +2368,7 @@ static int fdcan_send(FAR struct can_dev_s *dev, FAR struct can_msg_s *msg)
txbuffer[1] = 0;
#ifdef CONFIG_CAN_EXTID
if (msg->cm_hdr.ch_extid)
if (msg->cm_hdr.ch_extid == 1)
{
DEBUGASSERT(msg->cm_hdr.ch_id <= CAN_MAX_EXTMSGID);
@@ -2382,13 +2382,39 @@ static int fdcan_send(FAR struct can_dev_s *dev, FAR struct can_msg_s *msg)
txbuffer[0] |= BUFFER_R0_STDID(msg->cm_hdr.ch_id);
}
if (msg->cm_hdr.ch_rtr)
if (msg->cm_hdr.ch_rtr == 1)
{
txbuffer[0] |= BUFFER_R0_RTR;
}
txbuffer[1] |= BUFFER_R1_DLC(msg->cm_hdr.ch_dlc);
#ifdef CONFIG_CAN_FD
/* CAN FD Format */
if (msg->cm_hdr.ch_edl == 1)
{
txbuffer[1] |= BUFFER_R1_FDF;
if (msg->cm_hdr.ch_brs == 1)
{
txbuffer[1] |= BUFFER_R1_BRS;
}
if (msg->cm_hdr.ch_esi == 1)
{
txbuffer[0] |= BUFFER_R0_ESI;
}
}
else
#else
{
txbuffer[0] &= ~BUFFER_R0_ESI;
txbuffer[1] &= ~BUFFER_R1_FDF;
txbuffer[1] &= ~BUFFER_R1_BRS;
}
#endif
/* Followed by the amount of data corresponding to the DLC (T2..) */
dest = (FAR uint32_t *)&txbuffer[2];
@@ -2828,6 +2854,23 @@ static void fdcan_receive(FAR struct can_dev_s *dev,
hdr.ch_dlc = (rxbuffer[1] & BUFFER_R1_DLC_MASK) >> BUFFER_R1_DLC_SHIFT;
#ifdef CONFIG_CAN_FD
/* CAN FD format */
hdr.ch_esi = ((rxbuffer[0] & BUFFER_R0_ESI) != 0);
hdr.ch_edl = ((rxbuffer[1] & BUFFER_R1_FDF) != 0);
hdr.ch_brs = ((rxbuffer[1] & BUFFER_R1_BRS) != 0);
#else
if ((rxbuffer[1] & BUFFER_R1_FDF) != 0)
{
/* Drop any FD CAN messages if not supported */
canerr("ERROR: Received CAN FD message. Dropped\n");
return;
}
#endif
/* And provide the CAN message to the upper half logic */
ret = can_receive(dev, &hdr, (FAR uint8_t *)&rxbuffer[2]);
arch/arm/src/stm32/stm32_fdcan_sock.c
+226 -123
View File
@@ -449,7 +449,7 @@ enum stm32_frameformat_e
enum stm32_canmode_e
{
FDCAN_CLASSIC_MODE = 0, /* Classic CAN operation */
#ifdef CONFIG_CAN_FD
#ifdef CONFIG_NET_CAN_CANFD
FDCAN_FD_MODE = 1, /* CAN FD operation */
FDCAN_FD_BRS_MODE = 2 /* CAN FD operation with bit rate switching */
#endif
@@ -551,8 +551,13 @@ struct stm32_fdcan_s
/* TX/RX pool */
#ifdef CONFIG_NET_CAN_CANFD
uint8_t tx_pool[sizeof(struct canfd_frame)*POOL_SIZE];
uint8_t rx_pool[sizeof(struct canfd_frame)*POOL_SIZE];
#else
uint8_t tx_pool[sizeof(struct can_frame)*POOL_SIZE];
uint8_t rx_pool[sizeof(struct can_frame)*POOL_SIZE];
#endif
};
/****************************************************************************
@@ -628,8 +633,6 @@ static void fdcan_shutdown(FAR struct stm32_fdcan_s *priv);
/* FDCAN helpers */
static uint8_t fdcan_dlc2bytes(FAR struct stm32_fdcan_s *priv, uint8_t dlc);
#if 0 /* not used for now */
static int
fdcan_start_busoff_recovery_sequence(FAR struct stm32_fdcan_s *priv);
@@ -1194,62 +1197,6 @@ static void fdcan_dumpramlayout(FAR struct stm32_fdcan_s *priv)
}
#endif
/****************************************************************************
* Name: fdcan_dlc2bytes
*
* Description:
* In the CAN FD format, the coding of the DLC differs from the standard
* CAN format. The DLC codes 0 to 8 have the same coding as in standard
* CAN. But the codes 9 to 15 all imply a data field of 8 bytes with
* standard CAN. In CAN FD mode, the values 9 to 15 are encoded to values
* in the range 12 to 64.
*
* Input Parameters:
* dlc - the DLC value to convert to a byte count
*
* Returned Value:
* The number of bytes corresponding to the DLC value.
*
****************************************************************************/
static uint8_t fdcan_dlc2bytes(FAR struct stm32_fdcan_s *priv, uint8_t dlc)
{
if (dlc > 8)
{
#ifdef CONFIG_CAN_FD
if (priv->config->mode == FDCAN_CLASSIC_MODE)
{
return 8;
}
else
{
switch (dlc)
{
case 9:
return 12;
case 10:
return 16;
case 11:
return 20;
case 12:
return 24;
case 13:
return 32;
case 14:
return 48;
default:
case 15:
return 64;
}
}
#else
return 8;
#endif
}
return dlc;
}
/****************************************************************************
* Name: fdcan_start_busoff_recovery_sequence
*
@@ -1673,7 +1620,6 @@ static void fdcan_errint(FAR struct stm32_fdcan_s *priv, bool enable)
static int fdcan_send(FAR struct stm32_fdcan_s *priv)
{
struct can_frame *frame = NULL;
FAR const struct stm32_config_s *config = NULL;
FAR volatile uint32_t *txbuffer = NULL;
FAR const uint8_t *src = NULL;
@@ -1688,11 +1634,6 @@ static int fdcan_send(FAR struct stm32_fdcan_s *priv)
config = priv->config;
DEBUGASSERT(config);
frame = (struct can_frame *)priv->dev.d_buf;
ninfo("CAN%" PRIu8 " ID: %" PRIu32 " DLC: %" PRIu8 "\n",
config->port, (uint32_t)frame->can_id, frame->can_dlc);
fdcan_dumptxregs(priv, "Before send");
/* That that FIFO elements were configured */
@@ -1729,33 +1670,116 @@ static int fdcan_send(FAR struct stm32_fdcan_s *priv)
txbuffer[0] = 0;
txbuffer[1] = 0;
/* CAN 2.0 or CAN FD */
if (priv->dev.d_len == sizeof(struct can_frame))
{
struct can_frame *frame = NULL;
frame = (struct can_frame *)priv->dev.d_buf;
ninfo("CAN%" PRIu8 " 2.0 ID: %" PRIu32 " DLC: %" PRIu8 "\n",
config->port, (uint32_t)frame->can_id, frame->can_dlc);
/* Extended or standard ID */
#ifdef CONFIG_NET_CAN_EXTID
if (frame->can_id & CAN_EFF_FLAG)
{
DEBUGASSERT(frame->can_id < (1 << 29));
if ((frame->can_id & CAN_EFF_FLAG) != 0)
{
DEBUGASSERT(frame->can_id < (1 << 29));
txbuffer[0] |= BUFFER_R0_EXTID(frame->can_id) | BUFFER_R0_XTD;
}
else
txbuffer[0] |= BUFFER_R0_EXTID(frame->can_id) | BUFFER_R0_XTD;
}
else
#endif
{
DEBUGASSERT(frame->can_id < (1 << 11));
{
DEBUGASSERT(frame->can_id < (1 << 11));
txbuffer[0] |= BUFFER_R0_STDID(frame->can_id);
txbuffer[0] |= BUFFER_R0_STDID(frame->can_id);
}
/* Set DLC */
txbuffer[1] |= BUFFER_R1_DLC(frame->can_dlc);
/* Set flags */
if ((frame->can_id & CAN_RTR_FLAG) != 0)
{
txbuffer[0] |= BUFFER_R0_RTR;
}
/* Reset CAN FD bits */
txbuffer[0] &= ~BUFFER_R0_ESI;
txbuffer[1] &= ~BUFFER_R1_FDF;
txbuffer[1] &= ~BUFFER_R1_BRS;
/* Followed by the amount of data corresponding to the DLC (T2..) */
src = frame->data;
nbytes = frame->can_dlc;
}
if (frame->can_id & CAN_RTR_FLAG)
#ifdef CONFIG_NET_CAN_CANFD
else /* CAN FD frame */
{
txbuffer[0] |= BUFFER_R0_RTR;
struct canfd_frame *frame = (struct canfd_frame *)priv->dev.d_buf;
frame = (struct canfd_frame *)priv->dev.d_buf;
ninfo("CAN%" PRIu8 " FD ID: %" PRIu32 " len: %" PRIu8 "\n",
config->port, (uint32_t)frame->can_id, frame->len);
/* Extended or standard ID */
#ifdef CONFIG_NET_CAN_EXTID
if ((frame->can_id & CAN_EFF_FLAG) != 0)
{
DEBUGASSERT(frame->can_id < (1 << 29));
txbuffer[0] |= BUFFER_R0_EXTID(frame->can_id) | BUFFER_R0_XTD;
}
else
#endif
{
DEBUGASSERT(frame->can_id < (1 << 11));
txbuffer[0] |= BUFFER_R0_STDID(frame->can_id);
}
/* CANFD frame */
txbuffer[1] |= BUFFER_R1_FDF;
/* Set DLC */
txbuffer[1] |= BUFFER_R1_DLC(len_to_can_dlc[frame->len]);
/* Set flags */
if ((frame->can_id & CAN_RTR_FLAG) != 0)
{
txbuffer[0] |= BUFFER_R0_RTR;
}
if ((frame->flags & CANFD_BRS) != 0)
{
txbuffer[1] |= BUFFER_R1_BRS;
}
if ((frame->flags & CANFD_ESI) != 0)
{
txbuffer[0] |= BUFFER_R0_ESI;
}
/* Followed by the amount of data corresponding to the DLC (T2..) */
src = frame->data;
nbytes = frame->len;
}
txbuffer[1] = BUFFER_R1_DLC(frame->can_dlc);
/* Followed by the amount of data corresponding to the DLC (T2..) */
#endif
dest = (FAR uint32_t *)&txbuffer[2];
src = frame->data;
nbytes = fdcan_dlc2bytes(priv, frame->can_dlc);
/* Writes must be word length */
@@ -2394,63 +2418,142 @@ static void fdcan_receive(FAR struct stm32_fdcan_s *priv,
FAR volatile uint32_t *rxbuffer,
unsigned long nwords)
{
FAR struct can_frame *frame = (struct can_frame *)priv->rxdesc;
fdcan_dumprxregs(dev->cd_priv, "Before receive");
/* Format the CAN header */
/* CAN 2.0 or CAN FD */
/* Word R0 contains the CAN ID */
/* Extract the RTR bit */
if ((rxbuffer[0] & BUFFER_R0_RTR) != 0)
#ifdef CONFIG_NET_CAN_CANFD
if ((rxbuffer[1] & BUFFER_R1_FDF) != 0)
{
frame->can_id |= CAN_RTR_FLAG;
}
struct canfd_frame *frame = (struct canfd_frame *)priv->rxdesc;
/* Format the CAN FD header */
/* Extract the RTR bit */
if ((rxbuffer[0] & BUFFER_R0_RTR) != 0)
{
frame->can_id |= CAN_RTR_FLAG;
}
#ifdef CONFIG_NET_CAN_EXTID
if ((rxbuffer[0] & BUFFER_R0_XTD) != 0)
{
/* Save the extended ID of the newly received message */
if ((rxbuffer[0] & BUFFER_R0_XTD) != 0)
{
/* Save the extended ID of the newly received message */
frame->can_id = (rxbuffer[0] & BUFFER_R0_EXTID_MASK) >>
BUFFER_R0_EXTID_SHIFT;
frame->can_id |= CAN_EFF_FLAG;
}
else
{
frame->can_id = (rxbuffer[0] & BUFFER_R0_STDID_MASK) >>
BUFFER_R0_STDID_SHIFT;
frame->can_id &= ~CAN_EFF_FLAG;
}
frame->can_id = ((rxbuffer[0] & BUFFER_R0_EXTID_MASK) >>
BUFFER_R0_EXTID_SHIFT);
frame->can_id |= CAN_EFF_FLAG;
}
else
{
frame->can_id = ((rxbuffer[0] & BUFFER_R0_STDID_MASK) >>
BUFFER_R0_STDID_SHIFT);
frame->can_id &= ~CAN_EFF_FLAG;
}
#else
if ((rxbuffer[0] & BUFFER_R0_XTD) != 0)
{
/* Drop any messages with extended IDs */
if ((rxbuffer[0] & BUFFER_R0_XTD) != 0)
{
/* Drop any messages with extended IDs */
return;
}
return;
}
/* Save the standard ID of the newly received message */
/* Save the standard ID of the newly received message */
frame->can_id = (rxbuffer[0] & BUFFER_R0_STDID_MASK) >> BUFFER_R0_STDID_SHIFT;
frame->can_id = ((rxbuffer[0] & BUFFER_R0_STDID_MASK) >>
BUFFER_R0_STDID_SHIFT);
#endif
/* Word R1 contains the DLC and timestamp */
/* Word R1 contains the DLC and timestamp */
frame->can_dlc = (rxbuffer[1] & BUFFER_R1_DLC_MASK) >> BUFFER_R1_DLC_SHIFT;
frame->len = can_dlc_to_len[((rxbuffer[1] & BUFFER_R1_DLC_MASK) >>
BUFFER_R1_DLC_SHIFT)];
/* Save the message data */
/* Get CANFD flags */
memcpy(frame->data, (void *)&rxbuffer[2], frame->can_dlc);
frame->flags = 0;
/* Copy the buffer pointer to priv->dev.. Set amount of data
* in priv->dev.d_len
*/
if ((rxbuffer[0] & BUFFER_R0_ESI) != 0)
{
frame->flags |= CANFD_ESI;
}
priv->dev.d_len = sizeof(struct can_frame);
priv->dev.d_buf = (uint8_t *)frame;
if ((rxbuffer[1] & BUFFER_R1_BRS) != 0)
{
frame->flags |= CANFD_BRS;
}
/* Save the message data */
memcpy(frame->data, (void *)&rxbuffer[2], frame->len);
/* Copy the buffer pointer to priv->dev.. Set amount of data
* in priv->dev.d_len
*/
priv->dev.d_len = sizeof(struct canfd_frame);
priv->dev.d_buf = (uint8_t *)frame;
}
else
#endif
{
FAR struct can_frame *frame = (struct can_frame *)priv->rxdesc;
/* Format the CAN header */
/* Extract the RTR bit */
if ((rxbuffer[0] & BUFFER_R0_RTR) != 0)
{
frame->can_id |= CAN_RTR_FLAG;
}
#ifdef CONFIG_NET_CAN_EXTID
if ((rxbuffer[0] & BUFFER_R0_XTD) != 0)
{
/* Save the extended ID of the newly received message */
frame->can_id = ((rxbuffer[0] & BUFFER_R0_EXTID_MASK) >>
BUFFER_R0_EXTID_SHIFT);
frame->can_id |= CAN_EFF_FLAG;
}
else
{
frame->can_id = ((rxbuffer[0] & BUFFER_R0_STDID_MASK) >>
BUFFER_R0_STDID_SHIFT);
frame->can_id &= ~CAN_EFF_FLAG;
}
#else
if ((rxbuffer[0] & BUFFER_R0_XTD) != 0)
{
/* Drop any messages with extended IDs */
return;
}
/* Save the standard ID of the newly received message */
frame->can_id = ((rxbuffer[0] & BUFFER_R0_STDID_MASK) >>
BUFFER_R0_STDID_SHIFT);
#endif
/* Word R1 contains the DLC and timestamp */
frame->can_dlc = ((rxbuffer[1] & BUFFER_R1_DLC_MASK) >>
BUFFER_R1_DLC_SHIFT);
/* Save the message data */
memcpy(frame->data, (void *)&rxbuffer[2], frame->can_dlc);
/* Copy the buffer pointer to priv->dev.. Set amount of data
* in priv->dev.d_len
*/
priv->dev.d_len = sizeof(struct can_frame);
priv->dev.d_buf = (uint8_t *)frame;
}
/* Send to socket interface */
@@ -2740,7 +2843,7 @@ static int fdcan_hw_initialize(struct stm32_fdcan_s *priv)
break;
}
#ifdef CONFIG_CAN_FD
#ifdef CONFIG_NET_CAN_CANFD
case FDCAN_FD_MODE:
{
regval |= FDCAN_CCCR_FDOE;