diff options
Diffstat (limited to 'src/stm32')
| -rw-r--r-- | src/stm32/can.c | 27 |
1 files changed, 24 insertions, 3 deletions
diff --git a/src/stm32/can.c b/src/stm32/can.c index 360ea1ff..323c1d54 100644 --- a/src/stm32/can.c +++ b/src/stm32/can.c @@ -179,8 +179,8 @@ canbus_set_filter(uint32_t id) /* 32-bit scale for the filter */ SOC_CAN->FS1R = (1<<0) | (1<<1) | (1<<2); - /* FIFO 0 assigned for the filter */ - SOC_CAN->FFA1R = 0; + /* FIFO 1 assigned to 'id' */ + SOC_CAN->FFA1R = (1<<2); /* Filter activation */ SOC_CAN->FA1R = (1<<0) | (id ? (1<<1) | (1<<2) : 0); @@ -192,9 +192,29 @@ canbus_set_filter(uint32_t id) void CAN_IRQHandler(void) { + if (SOC_CAN->RF1R & CAN_RF1R_FMP1) { + // Read and ack data packet + CAN_FIFOMailBox_TypeDef *mb = &SOC_CAN->sFIFOMailBox[1]; + uint32_t rir_id = (mb->RIR >> CAN_RI0R_STID_Pos) & 0x7FF; + uint32_t dlc = mb->RDTR & CAN_RDT0R_DLC; + uint32_t rdlr = mb->RDLR, rdhr = mb->RDHR; + SOC_CAN->RF1R = CAN_RF1R_RFOM1; + + // Process packet + uint8_t data[8]; + data[0] = (rdlr >> 0) & 0xff; + data[1] = (rdlr >> 8) & 0xff; + data[2] = (rdlr >> 16) & 0xff; + data[3] = (rdlr >> 24) & 0xff; + data[4] = (rdhr >> 0) & 0xff; + data[5] = (rdhr >> 8) & 0xff; + data[6] = (rdhr >> 16) & 0xff; + data[7] = (rdhr >> 24) & 0xff; + canbus_process_data(rir_id, dlc, data); + } uint32_t ier = SOC_CAN->IER; if (ier & CAN_IER_FMPIE0 && SOC_CAN->RF0R & CAN_RF0R_FMP0) { - // Rx + // Admin Rx SOC_CAN->IER = ier = ier & ~CAN_IER_FMPIE0; canbus_notify_rx(); } @@ -292,6 +312,7 @@ can_init(void) armcm_enable_irq(CAN_IRQHandler, CAN_RX1_IRQn, 0); if (CAN_RX0_IRQn != CAN_TX_IRQn) armcm_enable_irq(CAN_IRQHandler, CAN_TX_IRQn, 0); + SOC_CAN->IER = CAN_IER_FMPIE1; // Convert unique 96-bit chip id into 48 bit representation uint64_t hash = fasthash64((uint8_t*)UID_BASE, 12, 0xA16231A7); |