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| author | Kevin O'Connor <kevin@koconnor.net> | 2021-01-27 21:02:32 -0500 |
|---|---|---|
| committer | Kevin O'Connor <kevin@koconnor.net> | 2021-02-02 15:17:14 -0500 |
| commit | c0371c94c899a86cfe63492ff9693fd3229f04e0 (patch) | |
| tree | 1507071fd4c1f4cfed0df6d3c108c25e8083ad2e /src/stm32/can.c | |
| parent | 901ccfcb9dda641322fb9880f0ed4f5d3fb36384 (diff) | |
| download | kutter-c0371c94c899a86cfe63492ff9693fd3229f04e0.tar.gz kutter-c0371c94c899a86cfe63492ff9693fd3229f04e0.tar.xz kutter-c0371c94c899a86cfe63492ff9693fd3229f04e0.zip | |
stm32: Introduce new can_set_filter() helper function in can.c
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Diffstat (limited to 'src/stm32/can.c')
| -rw-r--r-- | src/stm32/can.c | 72 |
1 files changed, 32 insertions, 40 deletions
diff --git a/src/stm32/can.c b/src/stm32/can.c index e841a222..f36dda26 100644 --- a/src/stm32/can.c +++ b/src/stm32/can.c @@ -89,8 +89,6 @@ // ABOM makes the hardware automatically leave bus-off state #define MCR_FLAGS (CAN_MCR_TXFP | CAN_MCR_ABOM) -#define CAN_FILTER_NUMBER 0 - static uint16_t MyCanId = 0; static int @@ -209,6 +207,35 @@ CAN_TxIrq(void) return txdata; } +#define CAN_FILTER_NUMBER 0 + +static void +can_set_filter(uint32_t id1, uint32_t id2) +{ + uint32_t filternbrbitpos = 1 << CAN_FILTER_NUMBER; + + /* Select the start slave bank */ + SOC_CAN->FMR |= CAN_FMR_FINIT; + /* Initialisation mode for the filter */ + SOC_CAN->FA1R = 0; + + SOC_CAN->sFilterRegister[CAN_FILTER_NUMBER].FR1 = id1 << (5 + 16); + SOC_CAN->sFilterRegister[CAN_FILTER_NUMBER].FR2 = id2 << (5 + 16); + + /* Identifier list mode for the filter */ + SOC_CAN->FM1R = filternbrbitpos; + /* 32-bit scale for the filter */ + SOC_CAN->FS1R = filternbrbitpos; + + /* FIFO 0 assigned for the filter */ + SOC_CAN->FFA1R = 0; + + /* Filter activation */ + SOC_CAN->FA1R = filternbrbitpos; + /* Leave the initialisation mode for the filter */ + SOC_CAN->FMR &= ~CAN_FMR_FINIT; +} + static void CAN_RxCpltCallback(unsigned int mbox) { @@ -228,20 +255,8 @@ CAN_RxCpltCallback(unsigned int mbox) // compare my UUID with packet to check if this packet mine get_rx_data(databuf, mbox); if (memcmp(&(databuf[2]), short_uuid, SHORT_UUID_LEN) == 0) { - memcpy(&MyCanId, databuf, sizeof(uint16_t)); - /* Set new filter values */ - uint32_t filternbrbitpos = (1U) << CAN_FILTER_NUMBER; - SOC_CAN->FA1R &= ~(filternbrbitpos); - /* Personal ID */ - SOC_CAN->sFilterRegister[CAN_FILTER_NUMBER].FR1 = - ((uint32_t)(MyCanId<<5) << 16U); - /* Catch reset command */ - SOC_CAN->sFilterRegister[CAN_FILTER_NUMBER].FR2 = - ((uint32_t)(PKT_ID_UUID<<5) << 16U); - /* Filter activation */ - SOC_CAN->FA1R |= filternbrbitpos; - /* Leave the initialisation mode for the filter */ - SOC_CAN->FMR &= ~(CAN_FMR_FINIT); + MyCanId = databuf[0] | (databuf[1] << 8); + can_set_filter(MyCanId, PKT_ID_UUID); } } } else { @@ -384,30 +399,7 @@ can_init(void) ; /*##-2- Configure the CAN Filter #######################################*/ - uint32_t filternbrbitpos = (1U) << CAN_FILTER_NUMBER; - - /* Select the start slave bank */ - SOC_CAN->FMR |= CAN_FMR_FINIT; - /* Initialisation mode for the filter */ - SOC_CAN->FA1R &= ~(filternbrbitpos); - - SOC_CAN->sFilterRegister[CAN_FILTER_NUMBER].FR1 = - ((uint32_t)(PKT_ID_UUID<<5) << 16U); - SOC_CAN->sFilterRegister[CAN_FILTER_NUMBER].FR2 = - ((uint32_t)(PKT_ID_SET<<5) << 16U); - - /* Identifier list mode for the filter */ - SOC_CAN->FM1R |= filternbrbitpos; - /* 32-bit scale for the filter */ - SOC_CAN->FS1R |= filternbrbitpos; - - /* FIFO 0 assignation for the filter */ - SOC_CAN->FFA1R &= ~(filternbrbitpos); - - /* Filter activation */ - SOC_CAN->FA1R |= filternbrbitpos; - /* Leave the initialisation mode for the filter */ - SOC_CAN->FMR &= ~(CAN_FMR_FINIT); + can_set_filter(PKT_ID_UUID, PKT_ID_SET); /*##-3- Configure Interrupts #################################*/ |