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STM32V7 MCAN: CAN FD mode depends on support from the upper half driver, so it is now global CAN configuration

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This commit is contained in:
Gregory Nutt 2015-08-05 13:55:20 -06:00
parent bb47c7f80e
commit 983df071c3
2 changed files with 21 additions and 3 deletions
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4
arch/arm/src/samv7/Kconfig
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@ -1349,11 +1349,13 @@ config SAMV7_MCAN0_ISO11899_1
config SAMV7_MCAN0_FD
bool "FD"
depends on CAN_FD
---help---
Enable FD mode
config SAMV7_MCAN0_FD_BSW
bool "FD with fast bit rate switching"
depends on CAN_FD
---help---
Enable FD mode with fast bit rate switching mode.
@ -1656,11 +1658,13 @@ config SAMV7_MCAN1_ISO11899_1
config SAMV7_MCAN1_FD
bool "FD"
depends on CAN_FD
---help---
Enable FD mode
config SAMV7_MCAN1_FD_BSW
bool "FD with fast bit rate switching"
depends on CAN_FD
---help---
Enable FD mode with fast bit rate switching mode.

20
arch/arm/src/samv7/sam_mcan.c
View File

@ -1405,12 +1405,13 @@ static void mcan_buffer_reserve(FAR struct sam_mcan_s *priv)
* Description:
* In the CAN FD format, the coding of the DLC differs from the standard
* CAN format. The DLC codes 0 to 8 have the same coding as in standard
* CAN, the codes 9 to 15, which in standard CAN all code a data field of
* 8 bytes, are encoded.
* CAN. But the codes 9 to 15 all imply a data field of 8 bytes with
* standard CAN. In CAN FD mode, the values 9 to 15 are encoded to values
* in the range 12 to 64.
*
* Input Parameter:
* priv - A pointer to the private data structure for this MCAN peripheral
* dlc - the DLC to convert to a byte count
* dlc - the DLC to convert to a byte count, OR
* nbytes - the byte count to convert to a DLC
*
* Returned Value:
@ -1422,6 +1423,7 @@ static uint8_t mcan_dlc2bytes(FAR struct sam_mcan_s *priv, uint8_t dlc)
{
if (dlc > 8)
{
#ifdef CONFIG_CAN_FD
if (priv->config->mode == MCAN_ISO11898_1_MODE)
{
return 8;
@ -1447,6 +1449,9 @@ static uint8_t mcan_dlc2bytes(FAR struct sam_mcan_s *priv, uint8_t dlc)
return 64;
}
}
#else
return 8;
#endif
}
return dlc;
@ -1459,6 +1464,7 @@ static uint8_t mcan_bytes2dlc(FAR struct sam_mcan_s *priv, uint8_t nbytes)
{
return nbytes;
}
#ifdef CONFIG_CAN_FD
else if (priv->mode == MCAN_ISO11898_1_MODE)
{
return 8;
@ -1491,6 +1497,12 @@ static uint8_t mcan_bytes2dlc(FAR struct sam_mcan_s *priv, uint8_t nbytes)
{
return 15;
}
#else
else
{
return 8;
}
#endif
}
#endif
@ -2956,6 +2968,7 @@ static int mcan_hw_initialize(struct sam_mcan_s *priv)
cmr = MCAN_CCCR_CMR_ISO11898_1;
break;
#ifdef CONFIG_CAN_FD
case MCAN_FD_MODE:
regval |= MCAN_CCCR_CME_FD;
cmr = MCAN_CCCR_CMR_FD;
@ -2965,6 +2978,7 @@ static int mcan_hw_initialize(struct sam_mcan_s *priv)
regval |= MCAN_CCCR_CME_FD_BSW;
cmr = MCAN_CCCR_CMR_FD_BSW;
break;
#endif
}
/* Set the initial CAN mode */