From b62a070fb38e2be3a94b50fe85a604156f1e0100 Mon Sep 17 00:00:00 2001
From: Alberto Nidasio <alberto.nidasio@skywarder.eu>
Date: Thu, 27 Jul 2023 07:13:47 +0000
Subject: [PATCH] [CAN] Modified CAN driver to support CAN2 slave peripheral
usage
---
.../drivers/canbus/CanDriver/CanDriver.cpp | 55 ++++++++++++++-----
.../canbus/CanProtocol/test-can-protocol.cpp | 36 +++++++++---
2 files changed, 71 insertions(+), 20 deletions(-)
diff --git a/src/shared/drivers/canbus/CanDriver/CanDriver.cpp b/src/shared/drivers/canbus/CanDriver/CanDriver.cpp
index 559754057..ea7d92dfa 100644
--- a/src/shared/drivers/canbus/CanDriver/CanDriver.cpp
+++ b/src/shared/drivers/canbus/CanDriver/CanDriver.cpp
@@ -96,14 +96,34 @@ CanbusDriver::CanbusDriver(CAN_TypeDef* can, CanbusConfig config,
// Enable interrupts
can->IER |= CAN_IER_FMPIE0 | CAN_IER_FMPIE1 | CAN_IER_TMEIE;
- NVIC_EnableIRQ(CAN1_RX0_IRQn);
- NVIC_SetPriority(CAN1_RX0_IRQn, 14);
+ // Enable the corresponding interrupts
+ if (can == CAN1)
+ {
+ NVIC_EnableIRQ(CAN1_RX0_IRQn);
+ NVIC_SetPriority(CAN1_RX0_IRQn, 14);
- NVIC_EnableIRQ(CAN1_RX1_IRQn);
- NVIC_SetPriority(CAN1_RX1_IRQn, 14);
+ NVIC_EnableIRQ(CAN1_RX1_IRQn);
+ NVIC_SetPriority(CAN1_RX1_IRQn, 14);
- NVIC_EnableIRQ(CAN1_TX_IRQn);
- NVIC_SetPriority(CAN1_TX_IRQn, 14);
+ NVIC_EnableIRQ(CAN1_TX_IRQn);
+ NVIC_SetPriority(CAN1_TX_IRQn, 14);
+ }
+ else if (can == CAN2)
+ {
+ NVIC_EnableIRQ(CAN2_RX0_IRQn);
+ NVIC_SetPriority(CAN2_RX0_IRQn, 14);
+
+ NVIC_EnableIRQ(CAN2_RX1_IRQn);
+ NVIC_SetPriority(CAN2_RX1_IRQn, 14);
+
+ NVIC_EnableIRQ(CAN2_TX_IRQn);
+ NVIC_SetPriority(CAN2_TX_IRQn, 14);
+ }
+ else
+ {
+ PrintLogger ls = l.getChild("constructor");
+ LOG_ERR(ls, "Not supported peripheral");
+ }
}
CanbusDriver::~CanbusDriver() { ClockUtils::disablePeripheralClock(can); }
@@ -202,6 +222,13 @@ void CanbusDriver::init()
bool CanbusDriver::addFilter(FilterBank filter)
{
PrintLogger ls = l.getChild("addfilter");
+ uint8_t index = filterIndex;
+
+ // CAN2 filters start from the 15th position
+ if (can == CAN2)
+ {
+ index = index + 14;
+ }
if (isInit)
{
@@ -209,21 +236,23 @@ bool CanbusDriver::addFilter(FilterBank filter)
return false;
}
- if (filterIndex == NUM_FILTER_BANKS)
+ if (index >= NUM_FILTER_BANKS)
{
LOG_ERR(ls, "Cannot add filter: no more filter banks available");
return false;
}
- can->sFilterRegister[filterIndex].FR1 = filter.FR1;
- can->sFilterRegister[filterIndex].FR2 = filter.FR2;
+ // NOTE: the filters are set in CAN1 peripheral because the filter registers
+ // between the peripherals are in common.
+ CAN1->sFilterRegister[index].FR1 = filter.FR1;
+ CAN1->sFilterRegister[index].FR2 = filter.FR2;
- can->FM1R |= (filter.mode == FilterMode::MASK ? 0 : 1) << filterIndex;
- can->FS1R |= (filter.scale == FilterScale::DUAL16 ? 0 : 1) << filterIndex;
- can->FFA1R |= (filter.fifo & 0x1) << filterIndex;
+ CAN1->FM1R |= (filter.mode == FilterMode::MASK ? 0 : 1) << index;
+ CAN1->FS1R |= (filter.scale == FilterScale::DUAL16 ? 0 : 1) << index;
+ CAN1->FFA1R |= (filter.fifo & 0x1) << index;
// Enable the filter
- can->FA1R |= 1 << filterIndex;
+ CAN1->FA1R |= 1 << index;
++filterIndex;
diff --git a/src/tests/drivers/canbus/CanProtocol/test-can-protocol.cpp b/src/tests/drivers/canbus/CanProtocol/test-can-protocol.cpp
index bc1bc8b1c..57afa9bf9 100644
--- a/src/tests/drivers/canbus/CanProtocol/test-can-protocol.cpp
+++ b/src/tests/drivers/canbus/CanProtocol/test-can-protocol.cpp
@@ -42,21 +42,43 @@ void print(const CanMessage& msg)
int main()
{
- // Prepare the cab driver
+ GpioPin canA{GPIOB_BASE, 8};
+ GpioPin canB{GPIOB_BASE, 9};
+
+ canA.mode(Mode::ALTERNATE);
+ canB.mode(Mode::ALTERNATE);
+ canA.alternateFunction(9);
+ canB.alternateFunction(9);
+
+ GpioPin can2A{GPIOB_BASE, 12};
+ GpioPin can2B{GPIOB_BASE, 13};
+
+ can2A.mode(Mode::ALTERNATE);
+ can2B.mode(Mode::ALTERNATE);
+ can2A.alternateFunction(9);
+ can2B.alternateFunction(9);
+
+ printf("provolone fritto\n");
+
+ // // Prepare the cab driver
CanbusDriver::CanbusConfig config;
config.loopback = true;
CanbusDriver::AutoBitTiming bitTiming;
- bitTiming.baudRate = 500 * 1000;
+ bitTiming.baudRate = 50 * 1000;
bitTiming.samplePoint = 87.5f / 100.0f;
- CanbusDriver* driver = new CanbusDriver(CAN1, config, bitTiming);
- // Prepare the can driver
- CanProtocol protocol(driver, print);
+ // To make the CAN2 work the driver must be created also for CAN1
+ // TODO change this thing
+ CanbusDriver* driver1 = new CanbusDriver(CAN1, config, bitTiming);
+ CanbusDriver* driver2 = new CanbusDriver(CAN2, config, bitTiming);
+
+ // // Prepare the can driver
+ CanProtocol protocol(driver2, print);
// Add a filter to allow every message
Mask32FilterBank f2(0, 0, 1, 1, 0, 0, 0);
- driver->addFilter(f2);
- driver->init();
+ driver2->addFilter(f2);
+ driver2->init();
// Start the protocol
protocol.start();
--
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