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stm32/fdcan: use array indexes when accessing RX/TX FIFO

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raiden00pl 2022-02-12 13:26:13 +01:00 committed by Xiang Xiao
parent 34baf47307
commit dd8408a973
2 changed files with 49 additions and 51 deletions
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52
arch/arm/src/stm32/stm32_fdcan.c
View File

@ -2354,37 +2354,40 @@ static int fdcan_send(FAR struct can_dev_s *dev, FAR struct can_msg_s *msg)
* Transfer message ID (ID) - Value from message structure
* Remote Transmission Request (RTR) - Value from message structure
* Extended Identifier (XTD) - Depends on configuration.
* Error state indicator (ESI) - ESI bit in CAN FD
*
* Format word T1:
* Data Length Code (DLC) - Value from message structure
* Bit Rate Switch (BRS) - Bit rate switching for CAN FD
* FD format (FDF) - Frame transmited in CAN FD format
* Event FIFO Control (EFC) - Do not store events.
* Message Marker (MM) - Always zero
*/
txbuffer[0] = 0;
txbuffer[1] = 0;
#ifdef CONFIG_CAN_EXTID
if (msg->cm_hdr.ch_extid)
{
DEBUGASSERT(msg->cm_hdr.ch_id <= CAN_MAX_EXTMSGID);
regval = BUFFER_R0_EXTID(msg->cm_hdr.ch_id) | BUFFER_R0_XTD;
txbuffer[0] |= BUFFER_R0_EXTID(msg->cm_hdr.ch_id) | BUFFER_R0_XTD;
}
else
#endif
{
DEBUGASSERT(msg->cm_hdr.ch_id <= CAN_MAX_STDMSGID);
regval = BUFFER_R0_STDID(msg->cm_hdr.ch_id);
txbuffer[0] |= BUFFER_R0_STDID(msg->cm_hdr.ch_id);
}
if (msg->cm_hdr.ch_rtr)
{
regval |= BUFFER_R0_RTR;
txbuffer[0] |= BUFFER_R0_RTR;
}
txbuffer[0] = regval;
/* Format word T1:
* Data Length Code (DLC) - Value from message structure
* Event FIFO Control (EFC) - Do not store events.
* Message Marker (MM) - Always zero
*/
txbuffer[1] = BUFFER_R1_DLC(msg->cm_hdr.ch_dlc);
txbuffer[1] |= BUFFER_R1_DLC(msg->cm_hdr.ch_dlc);
/* Followed by the amount of data corresponding to the DLC (T2..) */
@ -2773,16 +2776,13 @@ static void fdcan_receive(FAR struct can_dev_s *dev,
unsigned long nwords)
{
struct can_hdr_s hdr;
uint32_t regval = 0;
int ret = 0;
fdcan_dumprxregs(dev->cd_priv, "Before receive");
/* Format the CAN header */
/* Work R0 contains the CAN ID */
regval = *rxbuffer++;
/* Word R0 contains the CAN ID */
#ifdef CONFIG_CAN_ERRORS
hdr.ch_error = 0;
@ -2791,46 +2791,46 @@ static void fdcan_receive(FAR struct can_dev_s *dev,
/* Extract the RTR bit */
hdr.ch_rtr = ((regval & BUFFER_R0_RTR) != 0);
hdr.ch_rtr = ((rxbuffer[0] & BUFFER_R0_RTR) != 0);
#ifdef CONFIG_CAN_EXTID
if ((regval & BUFFER_R0_XTD) != 0)
if ((rxbuffer[0] & BUFFER_R0_XTD) != 0)
{
/* Save the extended ID of the newly received message */
hdr.ch_id = (regval & BUFFER_R0_EXTID_MASK) >>
hdr.ch_id = (rxbuffer[0] & BUFFER_R0_EXTID_MASK) >>
BUFFER_R0_EXTID_SHIFT;
hdr.ch_extid = 1;
}
else
{
hdr.ch_id = (regval & BUFFER_R0_STDID_MASK) >>
hdr.ch_id = (rxbuffer[0] & BUFFER_R0_STDID_MASK) >>
BUFFER_R0_STDID_SHIFT;
hdr.ch_extid = 0;
}
#else
if ((regval & BUFFER_R0_XTD) != 0)
if ((rxbuffer[0] & BUFFER_R0_XTD) != 0)
{
/* Drop any messages with extended IDs */
canerr("ERROR: Received message with extended identifier. Dropped\n");
return;
}
/* Save the standard ID of the newly received message */
hdr.ch_id = (regval & BUFFER_R0_STDID_MASK) >> BUFFER_R0_STDID_SHIFT;
hdr.ch_id = (rxbuffer[0] & BUFFER_R0_STDID_MASK) >> BUFFER_R0_STDID_SHIFT;
#endif
/* Word R1 contains the DLC and timestamp */
regval = *rxbuffer++;
hdr.ch_dlc = (regval & BUFFER_R1_DLC_MASK) >> BUFFER_R1_DLC_SHIFT;
hdr.ch_dlc = (rxbuffer[1] & BUFFER_R1_DLC_MASK) >> BUFFER_R1_DLC_SHIFT;
/* And provide the CAN message to the upper half logic */
ret = can_receive(dev, &hdr, (FAR uint8_t *)rxbuffer);
ret = can_receive(dev, &hdr, (FAR uint8_t *)&rxbuffer[2]);
if (ret < 0)
{
canerr("ERROR: can_receive failed: %d\n", ret);

48
arch/arm/src/stm32/stm32_fdcan_sock.c
View File

@ -1716,36 +1716,39 @@ static int fdcan_send(FAR struct stm32_fdcan_s *priv)
* Transfer message ID (ID) - Value from message structure
* Remote Transmission Request (RTR) - Value from message structure
* Extended Identifier (XTD) - Depends on configuration.
* Error state indicator (ESI) - ESI bit in CAN FD
*
* Format word T1:
* Data Length Code (DLC) - Value from message structure
* Bit Rate Switch (BRS) - Bit rate switching for CAN FD
* FD format (FDF) - Frame transmited in CAN FD format
* Event FIFO Control (EFC) - Do not store events.
* Message Marker (MM) - Always zero
*/
txbuffer[0] = 0;
txbuffer[1] = 0;
#ifdef CONFIG_NET_CAN_EXTID
if (frame->can_id & CAN_EFF_FLAG)
{
DEBUGASSERT(frame->can_id < (1 << 29));
regval = BUFFER_R0_EXTID(frame->can_id) | BUFFER_R0_XTD;
txbuffer[0] |= BUFFER_R0_EXTID(frame->can_id) | BUFFER_R0_XTD;
}
else
#endif
{
DEBUGASSERT(frame->can_id < (1 << 11));
regval = BUFFER_R0_STDID(frame->can_id);
txbuffer[0] |= BUFFER_R0_STDID(frame->can_id);
}
if (frame->can_id & CAN_RTR_FLAG)
{
regval |= BUFFER_R0_RTR;
txbuffer[0] |= BUFFER_R0_RTR;
}
txbuffer[0] = regval;
/* Format word T1:
* Data Length Code (DLC) - Value from message structure
* Event FIFO Control (EFC) - Do not store events.
* Message Marker (MM) - Always zero
*/
txbuffer[1] = BUFFER_R1_DLC(frame->can_dlc);
/* Followed by the amount of data corresponding to the DLC (T2..) */
@ -2392,40 +2395,37 @@ static void fdcan_receive(FAR struct stm32_fdcan_s *priv,
unsigned long nwords)
{
FAR struct can_frame *frame = (struct can_frame *)priv->rxdesc;
uint32_t regval = 0;
fdcan_dumprxregs(dev->cd_priv, "Before receive");
/* Format the CAN header */
/* Work R0 contains the CAN ID */
regval = *rxbuffer++;
/* Word R0 contains the CAN ID */
/* Extract the RTR bit */
if ((regval & BUFFER_R0_RTR) != 0)
if ((rxbuffer[0] & BUFFER_R0_RTR) != 0)
{
frame->can_id |= CAN_RTR_FLAG;
}
#ifdef CONFIG_NET_CAN_EXTID
if ((regval & BUFFER_R0_XTD) != 0)
if ((rxbuffer[0] & BUFFER_R0_XTD) != 0)
{
/* Save the extended ID of the newly received message */
frame->can_id = (regval & BUFFER_R0_EXTID_MASK) >>
frame->can_id = (rxbuffer[0] & BUFFER_R0_EXTID_MASK) >>
BUFFER_R0_EXTID_SHIFT;
frame->can_id |= CAN_EFF_FLAG;
}
else
{
frame->can_id = (regval & BUFFER_R0_STDID_MASK) >>
frame->can_id = (rxbuffer[0] & BUFFER_R0_STDID_MASK) >>
BUFFER_R0_STDID_SHIFT;
frame->can_id &= ~CAN_EFF_FLAG;
}
#else
if ((regval & BUFFER_R0_XTD) != 0)
if ((rxbuffer[0] & BUFFER_R0_XTD) != 0)
{
/* Drop any messages with extended IDs */
@ -2434,18 +2434,16 @@ static void fdcan_receive(FAR struct stm32_fdcan_s *priv,
/* Save the standard ID of the newly received message */
frame->can_id = (regval & BUFFER_R0_STDID_MASK) >> BUFFER_R0_STDID_SHIFT;
frame->can_id = (rxbuffer[0] & BUFFER_R0_STDID_MASK) >> BUFFER_R0_STDID_SHIFT;
#endif
/* Word R1 contains the DLC and timestamp */
regval = *rxbuffer++;
frame->can_dlc = (regval & BUFFER_R1_DLC_MASK) >> BUFFER_R1_DLC_SHIFT;
frame->can_dlc = (rxbuffer[1] & BUFFER_R1_DLC_MASK) >> BUFFER_R1_DLC_SHIFT;
/* Save the message data */
memcpy(frame->data, (void *)rxbuffer, frame->can_dlc);
memcpy(frame->data, (void *)&rxbuffer[2], frame->can_dlc);
/* Copy the buffer pointer to priv->dev.. Set amount of data
* in priv->dev.d_len