From f5d5f53914d46dfccdd21399e44f8af71a8f345a Mon Sep 17 00:00:00 2001 From: Kevin O'Connor Date: Sat, 11 Jun 2022 18:19:53 -0400 Subject: stm32: Add support for disabling the canbus filter Signed-off-by: Kevin O'Connor --- src/stm32/can.c | 20 +++++++++++++------- 1 file changed, 13 insertions(+), 7 deletions(-) (limited to 'src/stm32/can.c') diff --git a/src/stm32/can.c b/src/stm32/can.c index 9cd72209..6e50cea9 100644 --- a/src/stm32/can.c +++ b/src/stm32/can.c @@ -136,13 +136,19 @@ canbus_set_filter(uint32_t id) /* Initialisation mode for the filter */ SOC_CAN->FA1R = 0; - uint32_t mask = CAN_TI0R_STID | CAN_TI0R_IDE | CAN_TI0R_RTR; - SOC_CAN->sFilterRegister[0].FR1 = CANBUS_ID_ADMIN << CAN_RI0R_STID_Pos; - SOC_CAN->sFilterRegister[0].FR2 = mask; - SOC_CAN->sFilterRegister[1].FR1 = (id + 1) << CAN_RI0R_STID_Pos; - SOC_CAN->sFilterRegister[1].FR2 = mask; - SOC_CAN->sFilterRegister[2].FR1 = id << CAN_RI0R_STID_Pos; - SOC_CAN->sFilterRegister[2].FR2 = mask; + if (CONFIG_CANBUS_FILTER) { + uint32_t mask = CAN_TI0R_STID | CAN_TI0R_IDE | CAN_TI0R_RTR; + SOC_CAN->sFilterRegister[0].FR1 = CANBUS_ID_ADMIN << CAN_RI0R_STID_Pos; + SOC_CAN->sFilterRegister[0].FR2 = mask; + SOC_CAN->sFilterRegister[1].FR1 = (id + 1) << CAN_RI0R_STID_Pos; + SOC_CAN->sFilterRegister[1].FR2 = mask; + SOC_CAN->sFilterRegister[2].FR1 = id << CAN_RI0R_STID_Pos; + SOC_CAN->sFilterRegister[2].FR2 = mask; + } else { + SOC_CAN->sFilterRegister[0].FR1 = 0; + SOC_CAN->sFilterRegister[0].FR2 = 0; + id = 0; + } /* 32-bit scale for the filter */ SOC_CAN->FS1R = (1<<0) | (1<<1) | (1<<2); -- cgit v1.2.3-70-g09d2