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SAMV71 MCAN: Fix standard ID mask

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This commit is contained in:
Gregory Nutt 2015-08-06 12:47:14 -06:00
parent f7bcff3d12
commit 32900bdb0b
2 changed files with 32 additions and 17 deletions
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2
arch/arm/src/samv7/chip/sam_mcan.h
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@ -686,7 +686,7 @@
#define BUFFER_R0_EXTID_MASK (0x1fffffff << BUFFER_R0_EXTID_SHIFT)
# define BUFFER_R0_EXTID(n) ((uint32_t)(n) << BUFFER_R0_EXTID_SHIFT)
#define BUFFER_R0_STDID_SHIFT (18) /* Bits 18-28: Standard idendifier */
#define BUFFER_R0_STDID_MASK (0x1ffc << BUFFER_R0_STDID_SHIFT)
#define BUFFER_R0_STDID_MASK (0x7ff << BUFFER_R0_STDID_SHIFT)
# define BUFFER_R0_STDID(n) ((uint32_t)(n) << BUFFER_R0_STDID_SHIFT)
#define BUFFER_R0_RTR (1 << 29) /* Bit 29: Remote Transmission Request */
#define BUFFER_R0_XTD (1 << 30) /* Bit 30: Extended Identifier */

47
arch/arm/src/samv7/sam_mcan.c
View File

@ -767,22 +767,30 @@
#define MCAN_TXERR_INTS (MCAN_INT_TEFL | MCAN_INT_BE | MCAN_INT_ACKE)
/* Debug ********************************************************************/
/* Non-standard debug that may be enabled just for testing MCAN */
/* Debug configurations that may be enabled just for testing MCAN */
#if !defined(CONFIG_DEBUG) || !defined(CONFIG_DEBUG_CAN)
# undef CONFIG_SAMV7_MCAN_REGDEBUG
#endif
#ifdef CONFIG_DEBUG_CAN
# define candbg dbg
# define canvdbg vdbg
# define canlldbg lldbg
# define canllvdbg llvdbg
# ifdef CONFIG_SAMV7_MCAN_REGDEBUG
# define canregdbg lldbg
# else
# define canregdb(x...)
# endif
#else
# define candbg(x...)
# define canvdbg(x...)
# define canlldbg(x...)
# define canllvdbg(x...)
#endif
#if !defined(CONFIG_DEBUG) || !defined(CONFIG_DEBUG_CAN)
# undef CONFIG_SAMV7_MCAN_REGDEBUG
# define canregdb(x...)
#endif
/****************************************************************************
@ -836,13 +844,13 @@ struct sam_config_s
uint8_t ntxdedicated; /* Number of dedicated TX buffers (up to 64) */
uint8_t ntxfifoq; /* Number of TX FIFO queue elements (up to 32) */
uint8_t rxfifo0ecode; /* Encoded RX FIFO0 element size */
uint8_t rxfifo0esize; /* RX FIFO0 element size */
uint8_t rxfifo0esize; /* RX FIFO0 element size (words) */
uint8_t rxfifo1ecode; /* Encoded RX FIFO1 element size */
uint8_t rxfifo1esize; /* RX FIFO1 element size */
uint8_t rxfifo1esize; /* RX FIFO1 element size (words) */
uint8_t rxbufferecode; /* Encoded RX buffer element size */
uint8_t rxbufferesize; /* RX buffer element size */
uint8_t rxbufferesize; /* RX buffer element size (words) */
uint8_t txbufferecode; /* Encoded TX buffer element size */
uint8_t txbufferesize; /* TX buffer element size */
uint8_t txbufferesize; /* TX buffer element size (words) */
#ifdef SAMV7_MCAN_LOOPBACK
bool loopback; /* True: Loopback mode */
#endif
@ -940,7 +948,7 @@ static bool mcan_dedicated_rxbuffer_available(FAR struct sam_mcan_s *priv,
int bufndx);
#endif
static void mcan_receive(FAR struct can_dev_s *dev,
FAR uint32_t *rxbuffer, unsigned long nbytes);
FAR uint32_t *rxbuffer, unsigned long nwords);
static void mcan_interrupt(FAR struct can_dev_s *dev);
#ifdef CONFIG_SAMV7_MCAN0
static int mcan0_interrupt(int irq, void *context);
@ -2334,6 +2342,7 @@ static int mcan_send(FAR struct can_dev_s *dev, FAR struct can_msg_s *msg)
}
txbuffer[0] = regval;
canregdb("T0: %08x\n", regval);
/* Format word T1:
* Data Length Code (DLC) - Value from message structure
@ -2342,6 +2351,7 @@ static int mcan_send(FAR struct can_dev_s *dev, FAR struct can_msg_s *msg)
*/
txbuffer[1] = BUFFER_R1_DLC(msg->cm_hdr.ch_dlc);
canregdb("T1: %08x\n", txbuffer[1]);
/* Followed by the amount of data corresponding to the DLC (T2..) */
@ -2527,9 +2537,9 @@ bool mcan_dedicated_rxbuffer_available(FAR struct sam_mcan_s *priv, int bufndx)
* Receive an MCAN messages
*
* Input Parameters:
* dev - CAN-common state data
* dev - CAN-common state data
* rxbuffer - The RX buffer containing the received messages
* nbytes - The length of the RX buffer (element size).
* nwords - The length of the RX buffer (element size in words).
*
* Returned Value:
* None
@ -2537,20 +2547,23 @@ bool mcan_dedicated_rxbuffer_available(FAR struct sam_mcan_s *priv, int bufndx)
****************************************************************************/
static void mcan_receive(FAR struct can_dev_s *dev, FAR uint32_t *rxbuffer,
unsigned long nbytes)
unsigned long nwords)
{
struct can_hdr_s hdr;
uint32_t regval;
unsigned int nbytes;
int ret;
/* Invalidate the D-Cache so that we reread the RX buffer data from memory. */
nbytes = (nwords << 2);
arch_invalidate_dcache((uintptr_t)rxbuffer, (uintptr_t)rxbuffer + nbytes);
/* Format the CAN header */
/* Work R0 contains the CAN ID */
regval = *rxbuffer++;
regval = *rxbuffer++;
canregdb("R0: %08x\n", regval);
hdr.ch_rtr = 0;
#ifdef CONFIG_CAN_EXTID
@ -2579,12 +2592,14 @@ static void mcan_receive(FAR struct can_dev_s *dev, FAR uint32_t *rxbuffer,
/* Save the standard ID of the newly received message */
hdr.ch_id = (regval & BUFFER_R0_STDID_MASK) >> BUFFER_R0_STDID_SHIFT;
hdr.ch_id = (regval & BUFFER_R0_STDID_MASK) >> BUFFER_R0_STDID_SHIFT;
#endif
/* Word R1 contains the DLC and timestamp */
regval = *rxbuffer++;
regval = *rxbuffer++;
canregdb("R1: %08x\n", regval);
hdr.ch_dlc = (regval & BUFFER_R1_DLC_MASK) >> BUFFER_R1_DLC_SHIFT;
/* And provide the CAN message to the upper half logic */