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Add support for extended (29-bit) CAN IDs

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git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@4319 42af7a65-404d-4744-a932-0658087f49c3
This commit is contained in:
patacongo 2012-01-20 21:52:35 +00:00
parent 0bcbd513a3
commit ce5f4e643e
23 changed files with 204 additions and 70 deletions
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4
ChangeLog
View File

@ -2382,4 +2382,8 @@
register.
* arch/arm/src/lpc17xx/lpc17_can.c: Added "advanced" configuration options
to specify the CAN TSEG1 and TSEG2 clock counts specifically.
* include/nuttx/can.h and drivers/can.c: Add support for extended (29-bit)
CAN IDs.
* arch/arm/src/lpc17xx/lpc17_can.c: Add support for extended (29-bit) CAN IDs.
* arch/arm/src/stm32/stm32_can.c: Add support for extended (29-bit) CAN IDs.

57
arch/arm/src/lpc17xx/lpc17_can.c
View File

@ -745,20 +745,39 @@ static int can_remoterequest(FAR struct can_dev_s *dev, uint16_t id)
static int can_send(FAR struct can_dev_s *dev, FAR struct can_msg_s *msg)
{
FAR struct up_dev_s *priv = (FAR struct up_dev_s *)dev->cd_priv;
uint32_t tid = CAN_ID(msg->cm_hdr);
uint32_t tfi = CAN_DLC(msg->cm_hdr) << 16;
uint32_t tid = (uint32_t)msg->cm_hdr.ch_id;
uint32_t tfi = (uint32_t)msg->cm_hdr.ch_dlc << 16;
uint32_t regval;
irqstate_t flags;
int ret = OK;
canvdbg("CAN%d ID: %d DLC: %d\n",
priv->port, CAN_ID(msg->cm_hdr), CAN_DLC(msg->cm_hdr));
canvdbg("CAN%d ID: %d DLC: %d\n", priv->port, msg->cm_hdr.ch_id, msg->cm_hdr.ch_dlc);
if (CAN_RTR(msg->cm_hdr))
if (msg->cm_hdr.ch_rtr)
{
tfi |= CAN_TFI_RTR;
}
/* Set the FF bit in the TFI register if this message should be sent with
* the extended frame format (and 29-bit extened ID).
*/
#ifdef CONFIG_CAN_EXTID
if (msg->cm_hdr.ch_extid)
{
/* The provided ID should be 29 bits */
DEBUGASSERT((tid & ~CAN_TID_ID29_MASK) == 0);
tfi |= CAN_TFI_FF;
}
else
#endif
{
/* The provided ID should be 11 bits */
DEBUGASSERT((tid & ~CAN_TID_ID11_MASK) == 0);
}
flags = irqsave();
/* Pick a transmit buffer */
@ -927,14 +946,11 @@ static bool can_txempty(FAR struct can_dev_s *dev)
static void can_interrupt(FAR struct can_dev_s *dev)
{
FAR struct up_dev_s *priv = (FAR struct up_dev_s *)dev->cd_priv;
struct can_hdr_s hdr;
uint32_t data[2];
uint32_t rfs;
uint32_t rid;
uint32_t regval;
uint16_t hdr;
uint16_t id;
uint16_t dlc;
uint16_t rtr;
/* Read the interrupt and capture register (also clearing most status bits) */
@ -956,14 +972,23 @@ static void can_interrupt(FAR struct can_dev_s *dev)
/* Construct the CAN header */
id = rid & CAN_RID_ID11_MASK;
dlc = (rfs & CAN_RFS_DLC_MASK) >> CAN_RFS_DLC_SHIFT;
rtr = ((rfs & CAN_RFS_RTR) != 0);
hdr = CAN_HDR(id, rtr, dlc);
hdr.ch_id = rid;
hdr.ch_rtr = ((rfs & CAN_RFS_RTR) != 0);
hdr.ch_dlc = (rfs & CAN_RFS_DLC_MASK) >> CAN_RFS_DLC_SHIFT;
#ifdef CONFIG_CAN_EXTID
hdr.ch_extid = ((rfs & CAN_RFS_FF) != 0);
#else
if ((rfs & CAN_RFS_FF) != 0)
{
canlldbg("ERROR: Received message with extended identifier. Dropped\n");
}
else
#endif
{
/* Process the received CAN packet */
/* Process the received CAN packet */
can_receive(dev, hdr, (uint8_t *)data);
can_receive(dev, &hdr, (uint8_t *)data);
}
}
/* Check for TX buffer 1 complete */

8
arch/arm/src/stm32/chip/stm32_can.h
View File

@ -367,8 +367,8 @@
#define CAN_TIR_TXRQ (1 << 0) /* Bit 0: Transmit Mailbox Request */
#define CAN_TIR_RTR (1 << 1) /* Bit 1: Remote Transmission Request */
#define CAN_TIR_IDE (1 << 2) /* Bit 2: Identifier Extension */
#define CAN_TIR_EXID_SHIFT (3) /* Bit 3-20: Extended Identifier */
#define CAN_TIR_EXID_MASK (0x0003ffff << CAN_TIR_EXID_SHIFT)
#define CAN_TIR_EXID_SHIFT (3) /* Bit 3-31: Extended Identifier */
#define CAN_TIR_EXID_MASK (0x1fffffff << CAN_TIR_EXID_SHIFT)
#define CAN_TIR_STID_SHIFT (21) /* Bits 21-31: Standard Identifier */
#define CAN_TIR_STID_MASK (0x07ff << CAN_TIR_STID_SHIFT)
@ -406,8 +406,8 @@
#define CAN_RIR_RTR (1 << 1) /* Bit 1: Remote Transmission Request */
#define CAN_RIR_IDE (1 << 2) /* Bit 2: Identifier Extension */
#define CAN_RIR_EXID_SHIFT (3) /* Bit 3-20: Extended Identifier */
#define CAN_RIR_EXID_MASK (0x0003ffff << CAN_RIR_EXID_SHIFT)
#define CAN_RIR_EXID_SHIFT (3) /* Bit 3-31: Extended Identifier */
#define CAN_RIR_EXID_MASK (0x1fffffff << CAN_RIR_EXID_SHIFT)
#define CAN_RIR_STID_SHIFT (21) /* Bits 21-31: Standard Identifier */
#define CAN_RIR_STID_MASK (0x07ff << CAN_RIR_STID_SHIFT)

61
arch/arm/src/stm32/stm32_can.c
View File

@ -783,8 +783,7 @@ static int can_send(FAR struct can_dev_s *dev, FAR struct can_msg_s *msg)
int dlc;
int txmb;
canllvdbg("CAN%d ID: %d DLC: %d\n",
priv->port, CAN_ID(msg->cm_hdr), CAN_DLC(msg->cm_hdr));
canllvdbg("CAN%d ID: %d DLC: %d\n", priv->port, msg->cm_hdr.ch_id, msg->cm_hdr.ch_dlc);
/* Select one empty transmit mailbox */
@ -813,20 +812,29 @@ static int can_send(FAR struct can_dev_s *dev, FAR struct can_msg_s *msg)
regval &= ~(CAN_TIR_TXRQ | CAN_TIR_RTR | CAN_TIR_IDE | CAN_TIR_EXID_MASK | CAN_TIR_STID_MASK);
can_putreg(priv, STM32_CAN_TIR_OFFSET(txmb), regval);
/* Set up the ID. Only standard (11-bit) CAN identifiers are supported
* (the STM32 supports extended, 29-bit identifiers, but this method does
* not).
*
* Get the 11-bit identifier from the header bits 0-7 and 13-15.
*/
/* Set up the ID, standard 11-bit or extended 29-bit. */
#ifdef CONFIG_CAN_EXTID
regval &= ~CAN_TIR_EXID_MASK;
if (msg->cm_hdr.ch_extid)
{
DEBUGASSERT(msg->cm_hdr.ch_id < (1 << 29));
regval |= (msg->cm_hdr.ch_id << CAN_TIR_EXID_SHIFT) | CAN_TIR_IDE;
}
else
{
DEBUGASSERT(msg->cm_hdr.ch_id < (1 << 11));
regval |= msg->cm_hdr.ch_id << CAN_TIR_STID_SHIFT;
}
#else
regval &= ~CAN_TIR_STID_MASK;
regval |= (uint32_t)CAN_ID(msg->cm_hdr) << CAN_TIR_STID_SHIFT;
regval |= (uint32_t)msg->cm_hdr.ch_id << CAN_TIR_STID_SHIFT;
#endif
can_putreg(priv, STM32_CAN_TIR_OFFSET(txmb), regval);
/* Set up the DLC */
dlc = CAN_DLC(msg->cm_hdr);
dlc = msg->cm_hdr.ch_dlc;
regval = can_getreg(priv, STM32_CAN_TDTR_OFFSET(txmb));
regval &= ~(CAN_TDTR_DLC_MASK | CAN_TDTR_TGT);
regval |= (uint32_t)dlc << CAN_TDTR_DLC_SHIFT;
@ -989,12 +997,10 @@ static int can_rx0interrupt(int irq, void *context)
{
FAR struct can_dev_s *dev = NULL;
FAR struct stm32_can_s *priv;
struct can_hdr_s hdr;
uint8_t data[CAN_MAXDATALEN];
uint32_t regval;
int npending;
int id;
int rtr;
int dlc;
int ret;
#if defined(CONFIG_STM32_CAN1) && defined(CONFIG_STM32_CAN2)
@ -1029,9 +1035,21 @@ static int can_rx0interrupt(int irq, void *context)
can_dumpmbregs(priv, "RX0 interrupt");
/* Get the CAN identifier. Only standard 11-bit IDs are supported */
/* Get the CAN identifier. */
regval = can_getreg(priv, STM32_CAN_RI0R_OFFSET);
#ifdef CONFIG_CAN_EXTID
if ((regval & CAN_RIR_IDE) != 0)
{
hdr.ch_id = (regval & CAN_RIR_EXID_MASK) >> CAN_RIR_EXID_SHIFT;
hdr.ch_extid = true;
}
else
{
hdr.ch_id = (regval & CAN_RIR_STID_MASK) >> CAN_RIR_STID_SHIFT;
hdr.ch_extid = false;
}
#else
if ((regval & CAN_RIR_IDE) != 0)
{
canlldbg("ERROR: Received message with extended identifier. Dropped\n");
@ -1039,16 +1057,17 @@ static int can_rx0interrupt(int irq, void *context)
goto errout;
}
id = (regval & CAN_RIR_STID_MASK) >> CAN_RIR_STID_SHIFT;
hdr.ch_id = (regval & CAN_RIR_STID_MASK) >> CAN_RIR_STID_SHIFT;
#endif
/* Get the Remote Transmission Request (RTR) */
/* Extract the RTR bit */
rtr = (regval & CAN_RIR_RTR) != 0 ? 1 : 0;
hdr.ch_rtr = (regval & CAN_RIR_RTR) != 0 ? true : false;
/* Get the DLC */
regval = can_getreg(priv, STM32_CAN_RDT0R_OFFSET);
dlc = (regval & CAN_RDTR_DLC_MASK) >> CAN_RDTR_DLC_SHIFT;
regval = can_getreg(priv, STM32_CAN_RDT0R_OFFSET);
hdr.ch_dlc = (regval & CAN_RDTR_DLC_MASK) >> CAN_RDTR_DLC_SHIFT;
/* Save the message data */
@ -1066,11 +1085,13 @@ static int can_rx0interrupt(int irq, void *context)
/* Provide the data to the upper half driver */
ret = can_receive(dev, (uint16_t)CAN_HDR(id, rtr, dlc), data);
ret = can_receive(dev, &hdr, data);
/* Release the FIFO0 */
#ifndef CONFIG_CAN_EXTID
errout:
#endif
regval = can_getreg(priv, STM32_CAN_RF0R_OFFSET);
regval |= CAN_RFR_RFOM;
can_putreg(priv, STM32_CAN_RF0R_OFFSET, regval);

6
configs/README.txt
View File

@ -646,13 +646,15 @@ defconfig -- This is a configuration file similar to the Linux
CONFIG_CAN - Enables CAN support (one or both of CONFIG_STM32_CAN1 or
CONFIG_STM32_CAN2 must also be defined)
CONFIG_CAN_EXTID - Enables support for the 29-bit extended ID. Default
Standard 11-bit IDs.
CONFIG_CAN_FIFOSIZE - The size of the circular buffer of CAN messages.
Default: 8
CONFIG_CAN_NPENDINGRTR - The size of the list of pending RTR requests.
Default: 4
CONFIG_CAN_LOOPBACK - A CAN driver may or may not support a loopback
mode for testing. If the driver does support loopback mode, the setting
will enable it. (If the driver does not, this setting will have no effect).
mode for testing. If the driver does support loopback mode, the setting
will enable it. (If the driver does not, this setting will have no effect).
SPI driver

2
configs/hymini-stm32v/README.txt
View File

@ -472,6 +472,8 @@ HY-Mini specific Configuration Options
CONFIG_CAN - Enables CAN support (one or both of CONFIG_STM32_CAN1 or
CONFIG_STM32_CAN2 must also be defined)
CONFIG_CAN_EXTID - Enables support for the 29-bit extended ID. Default
Standard 11-bit IDs.
CONFIG_CAN_FIFOSIZE - The size of the circular buffer of CAN messages.
Default: 8
CONFIG_CAN_NPENDINGRTR - The size of the list of pending RTR requests.

2
configs/lpcxpresso-lpc1768/README.txt
View File

@ -647,6 +647,8 @@ LPCXpresso Configuration Options
LPC17xx specific CAN device driver settings. These settings all
require CONFIG_CAN:
CONFIG_CAN_EXTID - Enables support for the 29-bit extended ID. Default
Standard 11-bit IDs.
CONFIG_CAN1_BAUD - CAN1 BAUD rate. Required if CONFIG_LPC17_CAN1 is defined.
CONFIG_CAN2_BAUD - CAN1 BAUD rate. Required if CONFIG_LPC17_CAN2 is defined.
CONFIG_CAN1_DIVISOR - CAN1 is clocked at CCLK divided by this number.

2
configs/mbed/README.txt
View File

@ -287,6 +287,8 @@ mbed Configuration Options
LPC17xx specific CAN device driver settings. These settings all
require CONFIG_CAN:
CONFIG_CAN_EXTID - Enables support for the 29-bit extended ID. Default
Standard 11-bit IDs.
CONFIG_CAN1_BAUD - CAN1 BAUD rate. Required if CONFIG_LPC17_CAN1 is defined.
CONFIG_CAN2_BAUD - CAN1 BAUD rate. Required if CONFIG_LPC17_CAN2 is defined.
CONFIG_CAN1_DIVISOR - CAN1 is clocked at CCLK divided by this number.

2
configs/nucleus2g/README.txt
View File

@ -399,6 +399,8 @@ Nucleus 2G Configuration Options
LPC17xx specific CAN device driver settings. These settings all
require CONFIG_CAN:
CONFIG_CAN_EXTID - Enables support for the 29-bit extended ID. Default
Standard 11-bit IDs.
CONFIG_CAN1_BAUD - CAN1 BAUD rate. Required if CONFIG_LPC17_CAN1 is defined.
CONFIG_CAN2_BAUD - CAN1 BAUD rate. Required if CONFIG_LPC17_CAN2 is defined.
CONFIG_CAN1_DIVISOR - CAN1 is clocked at CCLK divided by this number.

2
configs/olimex-lpc1766stk/README.txt
View File

@ -696,6 +696,8 @@ Olimex LPC1766-STK Configuration Options
LPC17xx specific CAN device driver settings. These settings all
require CONFIG_CAN:
CONFIG_CAN_EXTID - Enables support for the 29-bit extended ID. Default
Standard 11-bit IDs.
CONFIG_CAN1_BAUD - CAN1 BAUD rate. Required if CONFIG_LPC17_CAN1 is defined.
CONFIG_CAN2_BAUD - CAN1 BAUD rate. Required if CONFIG_LPC17_CAN2 is defined.
CONFIG_CAN1_DIVISOR - CAN1 is clocked at CCLK divided by this number.

3
configs/olimex-lpc1766stk/nsh/defconfig
View File

@ -631,6 +631,8 @@ CONFIG_NET_RESOLV_ENTRIES=4
#
# CONFIG_CAN - Enables CAN support (one or both of CONFIG_LPC17_CAN1 or
# CONFIG_LPC17_CAN2 must also be defined)
# CONFIG_CAN_EXTID - Enables support for the 29-bit extended ID. Default
# Standard 11-bit IDs.
# CONFIG_CAN_FIFOSIZE - The size of the circular buffer of CAN messages.
# Default: 8
# CONFIG_CAN_NPENDINGRTR - The size of the list of pending RTR requests.
@ -641,6 +643,7 @@ CONFIG_NET_RESOLV_ENTRIES=4
# CONFIG_CAN2_BAUD - CAN1 BAUD rate. Required if CONFIG_LPC17_CAN2 is defined.
#
CONFIG_CAN=n
CONFIG_CAN_EXTID=n
#CONFIG_CAN_FIFOSIZE
#CONFIG_CAN_NPENDINGRTR
CONFIG_CAN_LOOPBACK=n

2
configs/stm3210e-eval/README.txt
View File

@ -562,6 +562,8 @@ STM3210E-EVAL-specific Configuration Options
CONFIG_CAN - Enables CAN support (one or both of CONFIG_STM32_CAN1 or
CONFIG_STM32_CAN2 must also be defined)
CONFIG_CAN_EXTID - Enables support for the 29-bit extended ID. Default
Standard 11-bit IDs.
CONFIG_CAN_FIFOSIZE - The size of the circular buffer of CAN messages.
Default: 8
CONFIG_CAN_NPENDINGRTR - The size of the list of pending RTR requests.

3
configs/stm3210e-eval/ostest/defconfig
View File

@ -246,6 +246,8 @@ CONFIG_STM32_R61580_DISABLE=y
#
# CONFIG_CAN - Enables CAN support (one or both of CONFIG_STM32_CAN1 or
# CONFIG_STM32_CAN2 must also be defined)
# CONFIG_CAN_EXTID - Enables support for the 29-bit extended ID. Default
# Standard 11-bit IDs.
# CONFIG_CAN_FIFOSIZE - The size of the circular buffer of CAN messages.
# Default: 8
# CONFIG_CAN_NPENDINGRTR - The size of the list of pending RTR requests.
@ -258,6 +260,7 @@ CONFIG_STM32_R61580_DISABLE=y
# CONFIG_CAN_TSEG2 - the number of CAN time quanta in segment 2. Default: 7
#
CONFIG_CAN=n
CONFIG_CAN_EXTID=n
#CONFIG_CAN_FIFOSIZE
#CONFIG_CAN_NPENDINGRTR
CONFIG_CAN_LOOPBACK=n

5
configs/stm3240g-eval/README.txt
View File

@ -273,7 +273,9 @@ Configuration Options:
CONFIG_CAN - Enables CAN support (one or both of CONFIG_STM32_CAN1 or
CONFIG_STM32_CAN2 must also be defined)
CONFIG_CAN_FIFOSIZE - The size of the circular buffer of CAN messages.
CONFIG_CAN_EXTID - Enables support for the 29-bit extended ID. Default
Standard 11-bit IDs.
CONFIG_CAN_FIFOSIZE - The size of the circular buffer of CAN messages.
Default: 8
CONFIG_CAN_NPENDINGRTR - The size of the list of pending RTR requests.
Default: 4
@ -656,6 +658,7 @@ Where <subdir> is one of the following:
must be manually enabled by selecting:
CONFIG_CAN=y : Enable the generic CAN infrastructure
CONFIG_CAN_EXID=y or n : Enable to support extended ID frames
CONFIG_STM32_CAN1=y : Enable CAN1
CONFIG_CAN_LOOPBACK=y : Enable CAN loopback mode

3
configs/stm3240g-eval/dhcpd/defconfig
View File

@ -261,6 +261,8 @@ CONFIG_SSI_POLLWAIT=y
#
# CONFIG_CAN - Enables CAN support (one or both of CONFIG_STM32_CAN1 or
# CONFIG_STM32_CAN2 must also be defined)
# CONFIG_CAN_EXTID - Enables support for the 29-bit extended ID. Default
# Standard 11-bit IDs.
# CONFIG_CAN_FIFOSIZE - The size of the circular buffer of CAN messages.
# Default: 8
# CONFIG_CAN_NPENDINGRTR - The size of the list of pending RTR requests.
@ -271,6 +273,7 @@ CONFIG_SSI_POLLWAIT=y
# CONFIG_CAN2_BAUD - CAN1 BAUD rate. Required if CONFIG_STM32_CAN2 is defined.
#
CONFIG_CAN=n
CONFIG_CAN_EXTID=n
#CONFIG_CAN_FIFOSIZE
#CONFIG_CAN_NPENDINGRTR
CONFIG_CAN_LOOPBACK=n

3
configs/stm3240g-eval/nettest/defconfig
View File

@ -261,6 +261,8 @@ CONFIG_SSI_POLLWAIT=y
#
# CONFIG_CAN - Enables CAN support (one or both of CONFIG_STM32_CAN1 or
# CONFIG_STM32_CAN2 must also be defined)
# CONFIG_CAN_EXTID - Enables support for the 29-bit extended ID. Default
# Standard 11-bit IDs.
# CONFIG_CAN_FIFOSIZE - The size of the circular buffer of CAN messages.
# Default: 8
# CONFIG_CAN_NPENDINGRTR - The size of the list of pending RTR requests.
@ -271,6 +273,7 @@ CONFIG_SSI_POLLWAIT=y
# CONFIG_CAN2_BAUD - CAN1 BAUD rate. Required if CONFIG_STM32_CAN2 is defined.
#
CONFIG_CAN=n
CONFIG_CAN_EXTID=n
#CONFIG_CAN_FIFOSIZE
#CONFIG_CAN_NPENDINGRTR
CONFIG_CAN_LOOPBACK=n

3
configs/stm3240g-eval/nsh/defconfig
View File

@ -261,6 +261,8 @@ CONFIG_SSI_POLLWAIT=y
#
# CONFIG_CAN - Enables CAN support (one or both of CONFIG_STM32_CAN1 or
# CONFIG_STM32_CAN2 must also be defined)
# CONFIG_CAN_EXTID - Enables support for the 29-bit extended ID. Default
# Standard 11-bit IDs.
# CONFIG_CAN_FIFOSIZE - The size of the circular buffer of CAN messages.
# Default: 8
# CONFIG_CAN_NPENDINGRTR - The size of the list of pending RTR requests.
@ -273,6 +275,7 @@ CONFIG_SSI_POLLWAIT=y
# CONFIG_CAN_TSEG2 - the number of CAN time quanta in segment 2. Default: 7
#
CONFIG_CAN=n
CONFIG_CAN_EXTID=n
#CONFIG_CAN_FIFOSIZE
#CONFIG_CAN_NPENDINGRTR
CONFIG_CAN_LOOPBACK=n

3
configs/stm3240g-eval/ostest/defconfig
View File

@ -261,6 +261,8 @@ CONFIG_SSI_POLLWAIT=y
#
# CONFIG_CAN - Enables CAN support (one or both of CONFIG_STM32_CAN1 or
# CONFIG_STM32_CAN2 must also be defined)
# CONFIG_CAN_EXTID - Enables support for the 29-bit extended ID. Default
# Standard 11-bit IDs.
# CONFIG_CAN_FIFOSIZE - The size of the circular buffer of CAN messages.
# Default: 8
# CONFIG_CAN_NPENDINGRTR - The size of the list of pending RTR requests.
@ -273,6 +275,7 @@ CONFIG_SSI_POLLWAIT=y
# CONFIG_CAN_TSEG2 - the number of CAN time quanta in segment 2. Default: 7
#
CONFIG_CAN=n
CONFIG_CAN_EXTID=n
#CONFIG_CAN_FIFOSIZE
#CONFIG_CAN_NPENDINGRTR
CONFIG_CAN_LOOPBACK=n

2
configs/stm32f4discovery/README.txt
View File

@ -402,6 +402,8 @@ stm32f4discovery-specific Configuration Options
CONFIG_CAN - Enables CAN support (one or both of CONFIG_STM32_CAN1 or
CONFIG_STM32_CAN2 must also be defined)
CONFIG_CAN_EXTID - Enables support for the 29-bit extended ID. Default
Standard 11-bit IDs.
CONFIG_CAN_FIFOSIZE - The size of the circular buffer of CAN messages.
Default: 8
CONFIG_CAN_NPENDINGRTR - The size of the list of pending RTR requests.

3
configs/stm32f4discovery/nsh/defconfig
View File

@ -248,6 +248,8 @@ CONFIG_SPI_EXCHANGE=y
#
# CONFIG_CAN - Enables CAN support (one or both of CONFIG_STM32_CAN1 or
# CONFIG_STM32_CAN2 must also be defined)
# CONFIG_CAN_EXTID - Enables support for the 29-bit extended ID. Default
# Standard 11-bit IDs.
# CONFIG_CAN_FIFOSIZE - The size of the circular buffer of CAN messages.
# Default: 8
# CONFIG_CAN_NPENDINGRTR - The size of the list of pending RTR requests.
@ -258,6 +260,7 @@ CONFIG_SPI_EXCHANGE=y
# CONFIG_CAN2_BAUD - CAN1 BAUD rate. Required if CONFIG_STM32_CAN2 is defined.
#
CONFIG_CAN=n
CONFIG_CAN_EXTID=n
#CONFIG_CAN_FIFOSIZE
#CONFIG_CAN_NPENDINGRTR
CONFIG_CAN_LOOPBACK=n

3
configs/stm32f4discovery/ostest/defconfig
View File

@ -261,6 +261,8 @@ CONFIG_SSI_POLLWAIT=y
#
# CONFIG_CAN - Enables CAN support (one or both of CONFIG_STM32_CAN1 or
# CONFIG_STM32_CAN2 must also be defined)
# CONFIG_CAN_EXTID - Enables support for the 29-bit extended ID. Default
# Standard 11-bit IDs.
# CONFIG_CAN_FIFOSIZE - The size of the circular buffer of CAN messages.
# Default: 8
# CONFIG_CAN_NPENDINGRTR - The size of the list of pending RTR requests.
@ -271,6 +273,7 @@ CONFIG_SSI_POLLWAIT=y
# CONFIG_CAN2_BAUD - CAN1 BAUD rate. Required if CONFIG_STM32_CAN2 is defined.
#
CONFIG_CAN=n
CONFIG_CAN_EXTID=n
#CONFIG_CAN_FIFOSIZE
#CONFIG_CAN_NPENDINGRTR
CONFIG_CAN_LOOPBACK=n

18
drivers/can.c
View File

@ -325,7 +325,7 @@ static ssize_t can_read(FAR struct file *filep, FAR char *buffer, size_t buflen)
/* Will the next message in the FIFO fit into the user buffer? */
FAR struct can_msg_s *msg = &dev->cd_recv.rx_buffer[dev->cd_recv.rx_head];
int msglen = CAN_MSGLEN(msg->cm_hdr);
int msglen = CAN_MSGLEN(msg->cm_hdr.ch_dlc);
if (nread + msglen > buflen)
{
@ -532,7 +532,7 @@ static ssize_t can_write(FAR struct file *filep, FAR const char *buffer, size_t
*/
msg = (FAR struct can_msg_s *)&buffer[nsent];
msglen = CAN_MSGLEN(msg->cm_hdr);
msglen = CAN_MSGLEN(msg->cm_hdr.ch_dlc);
memcpy(&fifo->tx_buffer[fifo->tx_tail], msg, msglen);
/* Increment the tail of the circular buffer */
@ -706,7 +706,7 @@ int can_register(FAR const char *path, FAR struct can_dev_s *dev)
*
************************************************************************************/
int can_receive(FAR struct can_dev_s *dev, uint16_t hdr, FAR uint8_t *data)
int can_receive(FAR struct can_dev_s *dev, FAR struct can_hdr_s *hdr, FAR uint8_t *data)
{
FAR struct can_rxfifo_s *fifo = &dev->cd_recv;
FAR uint8_t *dest;
@ -714,7 +714,7 @@ int can_receive(FAR struct can_dev_s *dev, uint16_t hdr, FAR uint8_t *data)
int err = -ENOMEM;
int i;
canllvdbg("ID: %d DLC: %d\n", CAN_ID(hdr), CAN_DLC(hdr));
canllvdbg("ID: %d DLC: %d\n", hdr->ch_id, hdr->ch_dlc);
/* Check if adding this new message would over-run the drivers ability to enqueue
* read data.
@ -743,12 +743,12 @@ int can_receive(FAR struct can_dev_s *dev, uint16_t hdr, FAR uint8_t *data)
* a non-NULL receiving address
*/
if (msg && CAN_ID(hdr) == rtr->cr_id)
if (msg && hdr->ch_id == rtr->cr_id)
{
/* We have the response... copy the data to the user's buffer */
msg->cm_hdr = hdr;
for (i = 0, dest = msg->cm_data; i < CAN_DLC(hdr); i++)
memcpy(&msg->cm_hdr, hdr, sizeof(struct can_hdr_s));
for (i = 0, dest = msg->cm_data; i < hdr->ch_dlc; i++)
{
*dest++ = *data++;
}
@ -770,8 +770,8 @@ int can_receive(FAR struct can_dev_s *dev, uint16_t hdr, FAR uint8_t *data)
{
/* Add the new, decoded CAN message at the tail of the FIFO */
fifo->rx_buffer[fifo->rx_tail].cm_hdr = hdr;
for (i = 0, dest = fifo->rx_buffer[fifo->rx_tail].cm_data; i < CAN_DLC(hdr); i++)
memcpy(&fifo->rx_buffer[fifo->rx_tail].cm_hdr, hdr, sizeof(struct can_hdr_s));
for (i = 0, dest = fifo->rx_buffer[fifo->rx_tail].cm_data; i < hdr->ch_dlc; i++)
{
*dest++ = *data++;
}

77
include/nuttx/can.h
View File

@ -54,6 +54,19 @@
/************************************************************************************
* Pre-processor Definitions
************************************************************************************/
/* Configuration ********************************************************************/
/* CONFIG_CAN - Enables CAN support (one or both of CONFIG_STM32_CAN1 or
* CONFIG_STM32_CAN2 must also be defined)
* CONFIG_CAN_EXTID - Enables support for the 29-bit extended ID. Default
* Standard 11-bit IDs.
* CONFIG_CAN_FIFOSIZE - The size of the circular buffer of CAN messages.
* Default: 8
* CONFIG_CAN_NPENDINGRTR - The size of the list of pending RTR requests.
* Default: 4
* CONFIG_CAN_LOOPBACK - A CAN driver may or may not support a loopback
* mode for testing. If the driver does support loopback mode, the setting
* will enable it. (If the driver does not, this setting will have no effect).
*/
/* Default configuration settings that may be overridden in the NuttX configuration
* file or in the board configuration file. The configured size is limited to 255
@ -90,14 +103,10 @@
/* CAN message support */
#define CAN_MAXDATALEN 8
#define CAN_MAXMSGID 0x07ff
#define CAN_MAX_MSGID 0x07ff
#define CAN_MAX_EXTMSGID 0x1fffffff
#define CAN_ID(hdr) ((uint16_t)(hdr) >> 5)
#define CAN_RTR(hdr) (((hdr) & 0x0010) != 0)
#define CAN_DLC(hdr) ((hdr) & 0x0f)
#define CAN_MSGLEN(hdr) (sizeof(struct can_msg_s) - (CAN_MAXDATALEN - CAN_DLC(hdr)))
#define CAN_HDR(id, rtr, dlc) ((uint16_t)id << 5 | (uint16_t)rtr << 4 | (uint16_t)dlc)
#define CAN_MSGLEN(nbytes) (sizeof(struct can_msg_s) - CAN_MAXDATALEN + (nbytes))
/* Built-in ioctl commands
*
@ -115,16 +124,29 @@
/************************************************************************************
* Public Types
************************************************************************************/
/* CAN-message Format
/* CAN-message Format (without Extended ID suppport)
*
* One CAN-message consists of a maximum of 10 bytes. A message is composed of at
* least the first 2 bytes (when there are no data bytes).
* One based CAN-message is represented with a maximum of 10 bytes. A message is
* composed of at least the first 2 bytes (when there are no data bytes present).
*
* Byte 0: Bits 0-7: Bits 3-10 of the 11-bit CAN identifier
* Byte 1: Bits 5-7: Bits 0-2 of the 11-bit CAN identifier
* Bit 4: Remote Tranmission Request (RTR)
* Bits 0-3: Data Length Code (DLC)
* Bytes 2-10: CAN data
* Bytes 0-1: Hold a 16-bit value in host byte order
* Bits 0-3: Data Length Code (DLC)
* Bit 4: Remote Tranmission Request (RTR)
* Bits 5-15: The 11-bit CAN identifier
*
* Bytes 2-9: CAN data
*
* CAN-message Format (with Extended ID suppport)
*
* One CAN-message consists of a maximum of 13 bytes. A message is composed of at
* least the first 5 bytes (when there are no data bytes).
*
* Bytes 0-3: Hold 11- or 29-bit CAN ID in host byte order
* Byte 4: Bits 0-3: Data Length Code (DLC)
* Bit 4: Remote Tranmission Request (RTR)
* Bit 5: Extended ID indication
* Bits 6-7: Unused
* Bytes 5-12: CAN data
*
* The struct can_msg_s holds this information in a user-friendly, unpacked form.
* This is the form that is used at the read() and write() driver interfaces. The
@ -132,10 +154,28 @@
* the CAN_MSGLEN macro.
*/
#ifdef CONFIG_CAN_EXTID
struct can_hdr_s
{
uint32_t ch_id; /* 11- or 29-bit ID (3-bits unsed) */
uint8_t ch_dlc : 4; /* 4-bit DLC */
uint8_t ch_rtr : 1; /* RTR indication */
uint8_t ch_extid : 1; /* Extended ID indication */
uint8_t ch_unused : 2; /* Unused */
};
#else
struct can_hdr_s
{
uint16_t ch_dlc : 4; /* 4-bit DLC */
uint16_t ch_rtr : 1; /* RTR indication */
uint16_t ch_id : 11; /* 11-bit standard ID */
};
#endif
struct can_msg_s
{
uint16_t cm_hdr; /* The 16-bit CAN header */
uint8_t cm_data[CAN_MAXDATALEN]; /* CAN message data (0-8 byte) */
struct can_hdr_s cm_hdr; /* The CAN header */
uint8_t cm_data[CAN_MAXDATALEN]; /* CAN message data (0-8 byte) */
};
/* This structure defines a CAN message FIFO. */
@ -303,7 +343,8 @@ EXTERN int can_register(FAR const char *path, FAR struct can_dev_s *dev);
*
************************************************************************************/
EXTERN int can_receive(FAR struct can_dev_s *dev, uint16_t hdr, FAR uint8_t *data);
EXTERN int can_receive(FAR struct can_dev_s *dev, FAR struct can_hdr_s *hdr,
FAR uint8_t *data);
/************************************************************************************
* Name: can_txdone