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SAMV7 MCAN: Add support for all filter modes

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This commit is contained in:
Gregory Nutt 2015-08-07 08:23:21 -06:00
parent 955202b895
commit aea94d9525
2 changed files with 86 additions and 29 deletions
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2
arch/arm/src/samv7/chip/sam_mcan.h
View File

@ -776,7 +776,7 @@
# define EXTFILTER_F0_EFEC_REJECT (3 << EXTFILTER_F0_EFEC_SHIFT) /* Reject ID on match */
# define EXTFILTER_F0_EFEC_PRIORITY (4 << EXTFILTER_F0_EFEC_SHIFT) /* Set priority on match */
# define EXTFILTER_F0_EFEC_PRIOFIFO0 (5 << EXTFILTER_F0_EFEC_SHIFT) /* Set priority and store in FIFO 0 on match */
# define EXTFILTER_F0_EFEC_PRIOFIFO1 (6 << EXTFILTER_F0_EFEC_SHIFT) /* Set priority and store in FIFO 1 on match */
# define EXTFILTER_F0_EFEC_PRIOFIFO1 (6 << EXTFILTER_F0_EFEC_SHIFT) /* Set priority and store in FIFO 1 on match */
# define EXTFILTER_F0_EFEC_BUFFER (7 << EXTFILTER_F0_EFEC_SHIFT) /* Store into Rx Buffer or as debug message */
#define EXTFILTER_F1_EFID2_SHIFT (0) /* Bits 0-28: Extended Filter ID 2 */

113
arch/arm/src/samv7/sam_mcan.c
View File

@ -920,11 +920,12 @@ static uint8_t mcan_bytes2dlc(FAR struct sam_mcan_s *priv, uint8_t nbytes);
#endif
#ifdef CONFIG_CAN_EXTID
static int mcan_add_extfilter(FAR struct sam_mcan_s *priv, uint32_t id,
uint32_t mask);
static int mcan_add_extfilter(FAR struct sam_mcan_s *priv,
FAR struct canioc_stdfilter_s *extconfig);
static int mcan_del_extfilter(FAR struct sam_mcan_s *priv, int ndx);
#else
static int mcan_add_stdfilter(FAR struct sam_mcan_s *priv, uint16_t id);
static int mcan_add_stdfilter(FAR struct sam_mcan_s *priv,
FAR struct canioc_stdfilter_s *stdconfig);
static int mcan_del_stdfilter(FAR struct sam_mcan_s *priv, int ndx);
#endif
/* CAN driver methods */
@ -1538,9 +1539,8 @@ static uint8_t mcan_bytes2dlc(FAR struct sam_mcan_s *priv, uint8_t nbytes)
* Add an address filter for a extended 29 bit address.
*
* Input Parameters:
* priv - An instance of the MCAN driver state structure.
* id - The 29-bit extended address to filter
* mask - A 29-bit extended address mask
* priv - An instance of the MCAN driver state structure.
* extconfig - The configuration of the extended filter
*
* Returned Value:
* A non-negative filter ID is returned on success. Otherwise a negated
@ -1549,8 +1549,8 @@ static uint8_t mcan_bytes2dlc(FAR struct sam_mcan_s *priv, uint8_t nbytes)
****************************************************************************/
#ifdef CONFIG_CAN_EXTID
static int mcan_add_extfilter(FAR struct sam_mcan_s *priv, uint32_t id,
uint32_t mask)
static int mcan_add_extfilter(FAR struct sam_mcan_s *priv,
FAR struct canioc_stdfilter_s *extconfig)
{
FAR const struct sam_config_s *config;
FAR uint32_t *extfilter;
@ -1559,8 +1559,7 @@ static int mcan_add_extfilter(FAR struct sam_mcan_s *priv, uint32_t id,
int bit;
int ndx;
DEBUGASSERT(priv != NULL && priv->config != NULL &&
id < (1 << 29) && mask < (1 << 29));
DEBUGASSERT(priv != NULL && priv->config != NULL && extconfig != NULL);
config = priv->config;
/* Get exclusive excess to the MCAN hardware */
@ -1586,10 +1585,43 @@ static int mcan_add_extfilter(FAR struct sam_mcan_s *priv, uint32_t id,
extfilter = config->msgram.extfilters + (ndx << 1);
/* REVISIT: Here we use only FIFO0. */
/* Format and write filter word F0 */
extfilter[0] = EXTFILTER_F0_EFEC_FIFO0 | EXTFILTER_F0_EFID1(id);
extfilter[1] = EXTFILTER_F1_EFT_CLASSIC | mask;
DEBUGASSERT(extconfig->xf_id1 < (1 << 29));
regval = EXTFILTER_F0_EFID1(extconfig->xf_id1);
if (extconfig->xf_prio == 0)
{
regval |= EXTFILTER_F0_EFEC_FIFO0;
}
else
{
regval |= EXTFILTER_F0_EFEC_FIFO0;
}
extfilter[0] = regval;
/* Format and write filter word F1 */
DEBUGASSERT(extconfig->xf_id2 < (1 << 29));
regval = EXTFILTER_F1_EFID2(extconfig->xf_id2);
switch (extconfig->xf_type)
{
default:
case CAN_FILTER_DUAL:
regval |= EXTFILTER_F1_EFT_DUAL;
break;
case CAN_FILTER_MASK:
regval |= EXTFILTER_F1_EFT_CLASSIC;
break;
case CAN_FILTER_RANGE:
regval |= EXTFILTER_F1_EFT_RANGE;
break;
}
extfilter[1] = regval;
/* Flush the filter entry into physical RAM */
@ -1700,8 +1732,8 @@ static int mcan_del_extfilter(FAR struct sam_mcan_s *priv, int ndx)
* Add an address filter for a standard 11 bit address.
*
* Input Parameters:
* priv - An instance of the MCAN driver state structure.
* id - The 11-bit extended address to filter
* priv - An instance of the MCAN driver state structure.
* stdconfig - The configuration of the standard filter
*
* Returned Value:
* A non-negative filter ID is returned on success. Otherwise a negated
@ -1710,7 +1742,8 @@ static int mcan_del_extfilter(FAR struct sam_mcan_s *priv, int ndx)
****************************************************************************/
#ifndef CONFIG_CAN_EXTID
static int mcan_add_stdfilter(FAR struct sam_mcan_s *priv, uint16_t id)
static int mcan_add_stdfilter(FAR struct sam_mcan_s *priv,
FAR struct canioc_stdfilter_s *stdconfig)
{
FAR const struct sam_config_s *config;
FAR uint32_t *stdfilter;
@ -1719,7 +1752,7 @@ static int mcan_add_stdfilter(FAR struct sam_mcan_s *priv, uint16_t id)
int bit;
int ndx;
DEBUGASSERT(priv != NULL && priv->config != NULL && id < (1 << 11));
DEBUGASSERT(priv != NULL && priv->config != NULL);
config = priv->config;
/* Get exclusive excess to the MCAN hardware */
@ -1743,12 +1776,40 @@ static int mcan_add_stdfilter(FAR struct sam_mcan_s *priv, uint16_t id)
priv->stdfilters[word] |= (1 << bit);
priv->nstdalloc++;
/* Format and write filter word S0 */
stdfilter = config->msgram.stdfilters + ndx;
regval = STDFILTER_S0_SFT_CLASSIC | STDFILTER_S0_SFID1(id);
/* REVISIT: Here we use only FIFO0. */
DEBUGASSERT(stdconfig->sf_id1 < (1 << 29));
regval = STDFILTER_S0_SFID1(stdconfig->sf_id1);
DEBUGASSERT(stdconfig->sf_id2 < (1 << 29));
regval |= STDFILTER_S0_SFID2(stdconfig->sf_id2);
if (stdconfig->sf_prio == 0)
{
regval |= STDFILTER_S0_SFEC_FIFO0;
}
else
{
regval |= STDFILTER_S0_SFEC_FIFO1;
}
switch (stdconfig->sf_type)
{
default:
case CAN_FILTER_DUAL:
regval |= STDFILTER_S0_SFT_DUAL;
break;
case CAN_FILTER_MASK:
regval |= STDFILTER_S0_SFT_CLASSIC;
break;
case CAN_FILTER_RANGE:
regval |= STDFILTER_S0_SFT_RANGE;
break;
}
regval |= STDFILTER_S0_SFEC_FIFO0;
*stdfilter = regval;
/* Flush the filter entry into physical RAM */
@ -2147,10 +2208,8 @@ static int mcan_ioctl(FAR struct can_dev_s *dev, int cmd, unsigned long arg)
case CANIOC_ADD_EXTFILTER:
{
FAR struct canioc_extfilter_s *extfilter =
(FAR struct canioc_extfilter_s *)arg;
ret = mcan_add_extfilter(priv, extfilter->xf_id, extfilter->xf_mask);
DEBUGASSERT(arg != 0);
ret = mcan_add_extfilter(priv, (FAR struct canioc_extfilter_s *)arg);
}
break;
@ -2182,10 +2241,8 @@ static int mcan_ioctl(FAR struct can_dev_s *dev, int cmd, unsigned long arg)
case CANIOC_ADD_STDFILTER:
{
FAR struct canioc_stdfilter_s *stdfilter =
(FAR struct canioc_stdfilter_s *)arg;
ret = mcan_add_stdfilter(priv, stdfilter->sf_id);
DEBUGASSERT(arg != 0);
ret = mcan_add_stdfilter(priv, (FAR struct canioc_stdfilter_s *)arg);
}
break;