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SAMV7 MCAN: Fix filter configuration when now filters are defined. We need to accept all messages in this case

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This commit is contained in:
Gregory Nutt 2015-08-06 11:50:41 -06:00
parent 86f7a58954
commit f7bcff3d12
1 changed files with 123 additions and 26 deletions
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149
arch/arm/src/samv7/sam_mcan.c
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@ -858,6 +858,11 @@ struct sam_mcan_s
{
const struct sam_config_s *config; /* The constant configuration */
bool initialized; /* True: Device has been initialized */
#ifdef CONFIG_CAN_EXTID
uint8_t nextalloc; /* Number of allocated extended filters */
#else
uint8_t nstdalloc; /* Number of allocated standard filters */
#endif
sem_t locksem; /* Enforces mutually exclusive access */
sem_t txfsem; /* Used to wait for TX FIFO availability */
uint32_t rxints; /* Configured RX interrupts */
@ -1522,12 +1527,12 @@ static uint8_t mcan_bytes2dlc(FAR struct sam_mcan_s *priv, uint8_t nbytes)
* Name: mcan_add_extfilter
*
* Description:
* Add an address filter for a extended 28 bit address.
* Add an address filter for a extended 29 bit address.
*
* Input Parameters:
* priv - An instance of the MCAN driver state structure.
* id - The 28-bit extended address to filter
* mask - A 28-bit extended address mask
* id - The 29-bit extended address to filter
* mask - A 29-bit extended address mask
*
* Returned Value:
* A non-negative filter ID is returned on success. Otherwise a negated
@ -1547,7 +1552,7 @@ static int mcan_add_extfilter(FAR struct sam_mcan_s *priv, uint32_t id,
int ndx;
DEBUGASSERT(priv != NULL && priv->config != NULL &&
id < (1 << 28) && mask < (1 << 28));
id < (1 << 29) && mask < (1 << 29));
config = priv->config;
/* Get exclusive excess to the MCAN hardware */
@ -1565,7 +1570,11 @@ static int mcan_add_extfilter(FAR struct sam_mcan_s *priv, uint32_t id,
if ((priv->extfilters[word] & (1 << bit)) == 0)
{
/* No, then this is the one that we will use */
/* No, assign the filter */
DEBUGASSERT(priv->nextalloc < priv->config->nstdfilters);
priv->extfilters[word] |= (1 << bit);
priv->nextalloc++;
extfilter = config->msgram.extfilters + (ndx << 1);
@ -1577,11 +1586,30 @@ static int mcan_add_extfilter(FAR struct sam_mcan_s *priv, uint32_t id,
/* Flush the filter entry into physical RAM */
arch_clean_dcache((uintptr_t)extfilter, (uintptr_t)exfilter + 8);
/* Is this the first extended filter? */
if (priv->nextalloc == 1)
{
/* Update the Global Filter Configuration so that received
* messages are rejected if they do not match the acceptance
* filter.
*
* ANFE=2: Discard all rejected frames
*/
regval = mcan_getreg(priv, SAM_MCAN_GFC_OFFSET);
regval &= ~MCAN_GFC_ANFE_MASK;
regval |= MCAN_GFC_ANFE_REJECTED;
mcan_putreg(priv, SAM_MCAN_GFC_OFFSET, regval);
}
mcan_dev_unlock(priv);
return ndx;
}
}
DEBUGASSERT(priv->nextalloc == priv->config->nextfilters);
mcan_dev_unlock(priv);
return -EAGAIN;
}
@ -1591,7 +1619,7 @@ static int mcan_add_extfilter(FAR struct sam_mcan_s *priv, uint32_t id,
* Name: mcan_del_extfilter
*
* Description:
* Remove an address filter for a standard 28 bit address.
* Remove an address filter for a standard 29 bit address.
*
* Input Parameters:
* priv - An instance of the MCAN driver state structure.
@ -1608,6 +1636,7 @@ static int mcan_del_extfilter(FAR struct sam_mcan_s *priv, int ndx)
{
FAR const struct sam_config_s *config;
FAR uint32_t *extfilter;
uint32_t regval;
int word;
int bit;
@ -1619,18 +1648,38 @@ static int mcan_del_extfilter(FAR struct sam_mcan_s *priv, int ndx)
mcan_dev_lock(priv);
/* Deactivate the filter */
extfilter = config->msgram.extfilters + (ndx << 1);
*extfilter++ = 0;
*extfilter = 0;
/* Release the filter */
word = ndx >> 5;
bit = ndx & 0x1f;
priv->extfilters[word] &= ~(1 << bit);
DEBUGASSERT(priv->nextalloc > 0);
priv->nextalloc--;
/* Was that the last extended filter? */
if (priv->nextalloc == 0)
{
/* If there are no extended filters, then modify Global Filter
* Configuration so that all rejected messages are places in RX
* FIFO0.
*
* ANFE=0: Store all rejected extended frame in RX FIFO0
*/
regval = mcan_getreg(priv, SAM_MCAN_GFC_OFFSET);
regval &= ~MCAN_GFC_ANFE_MASK;
regval |= MCAN_GFC_ANFE_RX_FIFO0;
mcan_putreg(priv, SAM_MCAN_GFC_OFFSET, regval);
}
/* Deactivate the filter last so that no messages are lost. */
extfilter = config->msgram.extfilters + (ndx << 1);
*extfilter++ = 0;
*extfilter = 0;
mcan_dev_unlock(priv);
return OK;
}
@ -1671,7 +1720,7 @@ static int mcan_add_stdfilter(FAR struct sam_mcan_s *priv, uint16_t id)
/* Find an unused standard filter */
for (ndx = 0; ndx < config->nstdfilters; ndx++)
for (ndx = 0; ndx < config->nstdfilters; ndx++)
{
/* Is this filter assigned? */
@ -1680,7 +1729,11 @@ static int mcan_add_stdfilter(FAR struct sam_mcan_s *priv, uint16_t id)
if ((priv->stdfilters[word] & (1 << bit)) == 0)
{
/* No, then this is the one that we will use */
/* No, assign the filter */
DEBUGASSERT(priv->nstdalloc < priv->config->nstdfilters);
priv->stdfilters[word] |= (1 << bit);
priv->nstdalloc++;
stdfilter = config->msgram.stdfilters + ndx;
regval = STDFILTER_S0_SFT_CLASSIC | STDFILTER_S0_SFID1(id);
@ -1693,11 +1746,30 @@ static int mcan_add_stdfilter(FAR struct sam_mcan_s *priv, uint16_t id)
/* Flush the filter entry into physical RAM */
arch_clean_dcache((uintptr_t)stdfilter, (uintptr_t)stdfilter + 4);
/* Is this the first standard filter? */
if (priv->nstdalloc == 1)
{
/* Update the Global Filter Configuration so that received
* messages are rejected if they do not match the acceptance
* filter.
*
* ANFS=2: Discard all rejected frames
*/
regval = mcan_getreg(priv, SAM_MCAN_GFC_OFFSET);
regval &= ~MCAN_GFC_ANFS_MASK;
regval |= MCAN_GFC_ANFS_REJECTED;
mcan_putreg(priv, SAM_MCAN_GFC_OFFSET, regval);
}
mcan_dev_unlock(priv);
return ndx;
}
}
DEBUGASSERT(priv->nstdalloc == priv->config->nstdfilters);
mcan_dev_unlock(priv);
return -EAGAIN;
}
@ -1707,7 +1779,7 @@ static int mcan_add_stdfilter(FAR struct sam_mcan_s *priv, uint16_t id)
* Name: mcan_del_stdfilter
*
* Description:
* Remove an address filter for a standard 28 bit address.
* Remove an address filter for a standard 29 bit address.
*
* Input Parameters:
* priv - An instance of the MCAN driver state structure.
@ -1724,6 +1796,7 @@ static int mcan_del_stdfilter(FAR struct sam_mcan_s *priv, int ndx)
{
FAR const struct sam_config_s *config;
FAR uint32_t *stdfilter;
uint32_t regval;
int word;
int bit;
@ -1735,17 +1808,37 @@ static int mcan_del_stdfilter(FAR struct sam_mcan_s *priv, int ndx)
mcan_dev_lock(priv);
/* Deactivate the filter */
stdfilter = config->msgram.stdfilters + ndx;
*stdfilter = 0;
/* Release the filter */
word = ndx >> 5;
bit = ndx & 0x1f;
priv->stdfilters[word] &= ~(1 << bit);
DEBUGASSERT(priv->nstdalloc > 0);
priv->nstdalloc--;
/* Was that the last standard filter? */
if (priv->nstdalloc == 0)
{
/* If there are no standard filters, then modify Global Filter
* Configuration so that all rejected messages are places in RX
* FIFO0.
*
* ANFS=0: Store all rejected extended frame in RX FIFO0
*/
regval = mcan_getreg(priv, SAM_MCAN_GFC_OFFSET);
regval &= ~MCAN_GFC_ANFS_MASK;
regval |= MCAN_GFC_ANFS_RX_FIFO0;
mcan_putreg(priv, SAM_MCAN_GFC_OFFSET, regval);
}
/* Deactivate the filter last so that no messages are lost. */
stdfilter = config->msgram.stdfilters + ndx;
*stdfilter = 0;
mcan_dev_unlock(priv);
return OK;
}
@ -2036,7 +2129,7 @@ static int mcan_ioctl(FAR struct can_dev_s *dev, int cmd, unsigned long arg)
{
#ifdef CONFIG_CAN_EXTID
/* CANIOC_ADD_EXTFILTER:
* Description: Add an address filter for a extended 28 bit
* Description: Add an address filter for a extended 29 bit
* address.
* Argument: A reference to struct canioc_extfilter_s
* Returned Value: A non-negative filter ID is returned on success.
@ -2054,7 +2147,7 @@ static int mcan_ioctl(FAR struct can_dev_s *dev, int cmd, unsigned long arg)
break;
/* CANIOC_DEL_EXTFILTER:
* Description: Remove an address filter for a standard 28 bit address.
* Description: Remove an address filter for a standard 29 bit address.
* Argument: The filter index previously returned by the
* CANIOC_ADD_EXTFILTER command
* Returned Value: Zero (OK) is returned on success. Otherwise -1 (ERROR)
@ -2831,12 +2924,16 @@ static int mcan_hw_initialize(struct sam_mcan_s *priv)
regval |= (MCAN_CCCR_INIT | MCAN_CCCR_CCE);
mcan_putreg(priv, SAM_MCAN_CCCR_OFFSET, regval);
/* Global Filter Configuration: Reject remote frames, reject non-matching
* frames.
/* Global Filter Configuration:
*
* ANFS=0: Store all rejected extended frame in RX FIFO0
* ANFE=0: Store all rejected extended frame in RX FIFO0
* FFSE=1: Reject all remote frames with 11-bit standard IDs.
* RRFE=1: Reject all remote frames with 29-bit extended IDs.
*/
regval = MCAN_GFC_RRFE | MCAN_GFC_RRFS | MCAN_GFC_ANFE_REJECTED |
MCAN_GFC_ANFS_REJECTED;
regval = MCAN_GFC_RRFE | MCAN_GFC_RRFS | MCAN_GFC_ANFE_RX_FIFO0 |
MCAN_GFC_ANFS_RX_FIFO0;
mcan_putreg(priv, SAM_MCAN_GFC_OFFSET, regval);
/* Extended ID Filter AND mask */