diff options
Diffstat (limited to 'src/stm32/fdcan.c')
| -rwxr-xr-x | src/stm32/fdcan.c | 12 |
1 files changed, 4 insertions, 8 deletions
diff --git a/src/stm32/fdcan.c b/src/stm32/fdcan.c index 99a76a02..6a1dfe93 100755 --- a/src/stm32/fdcan.c +++ b/src/stm32/fdcan.c @@ -88,13 +88,9 @@ int canbus_send(struct canbus_msg *msg) { uint32_t txfqs = SOC_CAN->TXFQS; - if (txfqs & FDCAN_TXFQS_TFQF) { - // No space in transmit fifo - enable tx irq - irq_disable(); - SOC_CAN->IE |= FDCAN_IE_TC; - irq_enable(); + if (txfqs & FDCAN_TXFQS_TFQF) + // No space in transmit fifo - wait for irq return -1; - } uint32_t w_index = ((txfqs & FDCAN_TXFQS_TFQPI) >> FDCAN_TXFQS_TFQPI_Pos); FDCAN_TX_FIFO_TypeDef *txfifo = &MSG_RAM.TXFIFO[w_index]; @@ -143,7 +139,7 @@ canbus_set_filter(uint32_t id) void CAN_IRQHandler(void) { - uint32_t ir = SOC_CAN->IR & SOC_CAN->IE; + uint32_t ir = SOC_CAN->IR; if (ir & FDCAN_IE_RF0NE) { SOC_CAN->IR = FDCAN_IE_RF0NE; @@ -262,7 +258,7 @@ can_init(void) /*##-3- Configure Interrupts #################################*/ armcm_enable_irq(CAN_IRQHandler, CAN_IT0_IRQn, 0); SOC_CAN->ILE = FDCAN_ILE_EINT0; - SOC_CAN->IE = FDCAN_IE_RF0NE; + SOC_CAN->IE = FDCAN_IE_RF0NE | FDCAN_IE_TC; // Convert unique 96-bit chip id into 48 bit representation uint64_t hash = fasthash64((uint8_t*)UID_BASE, 12, 0xA16231A7); |