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[CAN]update struct can_filter_item and rt_can_msg (#6556) 

* 修改ry命令，已便于自定义保存路径

* modified:   components/utilities/ymodem/ry_sy.c

* 修复从被动错误恢复后发送返回异常

* 修复在自动重传模式下,ACK异常阻塞线程
- 删除TX中断函数else分支。仅当RQCP位 置一才进入该中断
- 添加SCE中断函数中关于ACK_ERR的else判断。自动重传模式下会进入该判断,打断自动重传释放完成量。

* 增加对于CAN1与CAN2的SCE中断和TX中断的公共处理函数

* formatting格式化代码

* update struct can_filter_item and rt_can_msg
1. 对过滤器号和索引号结构体定义中同一名称hdr进行重命名hdr_bank和hdr_index,
以便准确区分.采用宏定义兼容以前变量名.
2. 添加接收标识rxfifo,已指明是哪个RXFIFO.

* 更正42M下的波特率

* 修复接收获取索引号错误

* 添加接收标识

* 更新注释

* 取消CANFD限制

* update struct can_filter_item and rt_can_msg
This commit is contained in:
wdfk-prog 2022-11-22 10:45:51 +08:00 committed by GitHub
parent 84eab69604
commit 569e2ae1e8
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
21 changed files with 117 additions and 102 deletions
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6
bsp/at32/libraries/rt_drivers/drv_can.c
View File

@ -368,13 +368,13 @@ static rt_err_t _can_control(struct rt_can_device *can, int cmd, void *arg)
/* get default filter */
for (int i = 0; i < filter_cfg->count; i++)
{
if (filter_cfg->items[i].hdr == -1)
if (filter_cfg->items[i].hdr_bank == -1)
{
can_instance->config.filter_init_struct.filter_number = i;
}
else
{
can_instance->config.filter_init_struct.filter_number = filter_cfg->items[i].hdr;
can_instance->config.filter_init_struct.filter_number = filter_cfg->items[i].hdr_bank;
}
/**
* ID | CAN_FxR1[31:24] | CAN_FxR1[23:16] | CAN_FxR1[15:8] | CAN_FxR1[7:0] |
@ -597,7 +597,7 @@ static int _can_recvmsg(struct rt_can_device *can, void *buf, rt_uint32_t fifo)
pmsg->ide = rx_message.extended_id;
pmsg->rtr = rx_message.frame_type;
pmsg->hdr = rx_message.filter_index;
pmsg->hdr_index = rx_message.filter_index;
return RT_EOK;
}

8
bsp/essemi/es32f0654/drivers/drv_can.c
View File

@ -232,8 +232,8 @@ static rt_err_t _can_control(struct rt_can_device *can_device, int cmd, void *ar
{
/*默认过滤表判断*/
if(filter_cfg->items[i].hdr < drv_can->device.config.maxhdr)
drv_can->FilterConfig.number = filter_cfg->items[i].hdr;
if(filter_cfg->items[i].hdr_bank < drv_can->device.config.maxhdr)
drv_can->FilterConfig.number = filter_cfg->items[i].hdr_bank;
else
drv_can->FilterConfig.number = ES_C_CAN_DEFAULT_FILTER_NUMBER;
@ -499,8 +499,8 @@ static int _can_recvmsg(struct rt_can_device *can, void *buf, rt_uint32_t fifo)
}
/* get len */
pmsg->len = rxheader.len;
/* get hdr */
pmsg->hdr = (rxheader.fmi + 1) >> 1;
/* get hdr_index */
pmsg->hdr_index = (rxheader.fmi + 1) >> 1;
return RT_EOK;
}

8
bsp/essemi/es32f369x/drivers/drv_can.c
View File

@ -225,8 +225,8 @@ static rt_err_t _can_control(struct rt_can_device *can_device, int cmd, void *ar
{
/*默认过滤表判断*/
if(filter_cfg->items[i].hdr < drv_can->device.config.maxhdr)
drv_can->FilterConfig.number = filter_cfg->items[i].hdr;
if(filter_cfg->items[i].hdr_bank < drv_can->device.config.maxhdr)
drv_can->FilterConfig.number = filter_cfg->items[i].hdr_bank;
else
drv_can->FilterConfig.number = ES_C_CAN_DEFAULT_FILTER_NUMBER;
@ -496,8 +496,8 @@ static int _can_recvmsg(struct rt_can_device *can, void *buf, rt_uint32_t fifo)
}
/* get len */
pmsg->len = rxheader.len;
/* get hdr */
pmsg->hdr = (rxheader.fmi + 1) >> 1;
/* get hdr_index */
pmsg->hdr_index = (rxheader.fmi + 1) >> 1;
return RT_EOK;
}

14
bsp/hc32/libraries/hc32_drivers/drv_can.c
View File

@ -172,22 +172,22 @@ static uint16_t _get_filter_idx(struct rt_can_filter_config *filter_cfg)
for (int i = 0; i < filter_cfg->count; i++)
{
if (filter_cfg->items[i].hdr != -1)
if (filter_cfg->items[i].hdr_bank != -1)
{
u16FilterSelected |= 1 << filter_cfg->items[i].hdr;
u16FilterSelected |= 1 << filter_cfg->items[i].hdr_bank;
}
}
for (int i = 0; i < filter_cfg->count; i++)
{
if (filter_cfg->items[i].hdr == -1)
if (filter_cfg->items[i].hdr_bank == -1)
{
for (int j = 0; j < FILTER_COUNT; j++)
{
if ((u16FilterSelected & 1 << j) == 0)
{
filter_cfg->items[i].hdr = j;
u16FilterSelected |= 1 << filter_cfg->items[i].hdr;
filter_cfg->items[i].hdr_bank = j;
u16FilterSelected |= 1 << filter_cfg->items[i].hdr_bank;
break;
}
}
@ -435,8 +435,8 @@ static int _can_recvmsg(struct rt_can_device *can, void *buf, rt_uint32_t fifo)
}
/* get len */
pmsg->len = ll_rx_frame.DLC;
/* get hdr */
pmsg->hdr = 0;
/* get hdr_index */
pmsg->hdr_index = 0;
rt_memcpy(pmsg->data, &ll_rx_frame.au8Data, ll_rx_frame.DLC);
return RT_EOK;

2
bsp/hpmicro/libraries/drivers/drv_can.c
View File

@ -398,7 +398,7 @@ static rt_err_t hpm_can_control(struct rt_can_device *can, int cmd, void *arg)
RT_ASSERT(filter->count <= CAN_FILTER_NUM_MAX);
for (uint32_t i=0; i<filter->count; i++)
{
drv_can->filter_list[i].index = (filter->items[i].hdr == -1) ? i : filter->items[i].hdr;
drv_can->filter_list[i].index = (filter->items[i].hdr_bank == -1) ? i : filter->items[i].hdr_bank;
drv_can->filter_list[i].enable = (filter->actived != 0U) ? true : false;
drv_can->filter_list[i].code = filter->items[i].id;
drv_can->filter_list[i].id_mode = (filter->items[i].ide != 0U) ? can_filter_id_mode_extended_frames : can_filter_id_mode_standard_frames;

14
bsp/imxrt/libraries/drivers/drv_can.c
View File

@ -299,8 +299,8 @@ static rt_err_t can_control(struct rt_can_device *can_dev, int cmd, void *arg)
mbConfig.type = kFLEXCAN_FrameTypeData;
}
/* user does not specify hdr index,set hdr from RX MB 1 */
if (item->hdr == -1)
/* user does not specify hdr index,set hdr_bank from RX MB 1 */
if (item->hdr_bank == -1)
{
for (i = 0; i < 32; i++)
@ -312,17 +312,17 @@ static rt_err_t can_control(struct rt_can_device *can_dev, int cmd, void *arg)
}
}
}
else /* use user specified hdr */
else /* use user specified hdr_bank */
{
if (filter_mask & (1 << item->hdr))
if (filter_mask & (1 << item->hdr_bank))
{
res = RT_ERROR;
LOG_E("%s hdr%d filter already set!\n", can->name, item->hdr);
LOG_E("%s hdr%d filter already set!\n", can->name, item->hdr_bank);
break;
}
else
{
index = item->hdr;
index = item->hdr_bank;
}
}
@ -463,7 +463,7 @@ static int can_recv(struct rt_can_device *can_dev, void *buf, rt_uint32_t boxno)
{
pmsg->rtr = RT_CAN_RTR;
}
pmsg->hdr = index; /* one hdr filter per MB */
pmsg->hdr_index = index; /* one hdr filter per MB */
pmsg->len = frame[index].length;
pmsg->data[0] = frame[index].dataByte0;
pmsg->data[1] = frame[index].dataByte1;

8
bsp/loongson/ls1cdev/drivers/drv_can.c
View File

@ -50,7 +50,7 @@ static rt_err_t bxmodifyfilter(struct ls1c_bxcan *pbxcan, struct rt_can_filter_i
{
return RT_EOK;
}
else if (pitem->hdr == -1)
else if (pitem->hdr_bank == -1)
{
res = -1;
if (res != RT_EOK)
@ -58,7 +58,7 @@ static rt_err_t bxmodifyfilter(struct ls1c_bxcan *pbxcan, struct rt_can_filter_i
return res;
}
}
else if (pitem->hdr >= 0)
else if (pitem->hdr_bank >= 0)
{
rt_enter_critical();
res = RT_EOK;
@ -66,7 +66,7 @@ static rt_err_t bxmodifyfilter(struct ls1c_bxcan *pbxcan, struct rt_can_filter_i
{
return res;
}
hdr = pitem->hdr;
hdr = pitem->hdr_bank;
rt_exit_critical();
}
}
@ -387,7 +387,7 @@ static int recvmsg(struct rt_can_device *can, void *buf, rt_uint32_t boxno)
pmsg->id = RxMessage.StdId;
pmsg->len = RxMessage.DLC;
pmsg->rtr = RxMessage.RTR;
pmsg->hdr = 0;
pmsg->hdr_index = 0;
for(i= 0;i< RxMessage.DLC; i++)
{
pmsg->data[i] = RxMessage.Data[i];

12
bsp/n32/libraries/n32_drivers/drv_can.c
View File

@ -510,7 +510,7 @@ static rt_err_t control(struct rt_can_device *can, int cmd, void *arg)
/* Get default filter */
for(int i = 0; i < filter_cfg->count; i++)
{
if (filter_cfg->items[i].hdr == -1)
if (filter_cfg->items[i].hdr_bank == -1)
{
/* Can banks 0~13 */
drv_can->FilterConfig.Filter_Num = i;
@ -518,7 +518,7 @@ static rt_err_t control(struct rt_can_device *can, int cmd, void *arg)
else
{
/* Use user-defined filter bank settings */
drv_can->FilterConfig.Filter_Num = filter_cfg->items[i].hdr;
drv_can->FilterConfig.Filter_Num = filter_cfg->items[i].hdr_bank;
}
/* Filter groups work in identifier masking bit mode */
@ -826,22 +826,22 @@ static int can_recvmsg_rtmsg(CAN_Module *CANx, struct rt_can_msg *pmsg, uint32_t
pmsg->rtr = RT_CAN_RTR;
}
/* get hdr */
/* get hdr_index */
#if defined(SOC_N32G45X) || defined(SOC_N32WB452)
if (CANx == CAN1)
{
pmsg->hdr = (RxMessage->FMI + 1) >> 1;
pmsg->hdr_index = (RxMessage->FMI + 1) >> 1;
}
#ifdef CAN2
else if (CANx == CAN2)
{
pmsg->hdr = (RxMessage->FMI + 1) >> 1;
pmsg->hdr_index = (RxMessage->FMI + 1) >> 1;
}
#endif
#elif defined(SOC_N32L43X) || defined(SOC_N32L40X) || defined(SOC_N32G43X)
if (CANx == CAN)
{
pmsg->hdr = (RxMessage->FMI + 1) >> 1;
pmsg->hdr_index = (RxMessage->FMI + 1) >> 1;
}
#endif

10
bsp/n32g452xx/Libraries/rt_drivers/drv_can.c
View File

@ -361,13 +361,13 @@ static rt_err_t _can_control(struct rt_can_device *can, int cmd, void *arg)
/* get default filter */
for (int i = 0; i < filter_cfg->count; i++)
{
if (filter_cfg->items[i].hdr == -1)
if (filter_cfg->items[i].hdr_bank == -1)
{
drv_can->can_filter_init.Filter_Num = i;
}
else
{
drv_can->can_filter_init.Filter_Num = filter_cfg->items[i].hdr;
drv_can->can_filter_init.Filter_Num = filter_cfg->items[i].hdr_bank;
}
if (filter_cfg->items[i].mode == 0x00)
@ -667,14 +667,14 @@ static int _can_recvmsg_rtmsg(CAN_Module* can_base, struct rt_can_msg *pmsg, uin
pmsg->rtr = RT_CAN_RTR;
}
/* get hdr */
/* get hdr_index */
if (can_base == CAN1)
{
pmsg->hdr = (RxMessage->FMI + 1) >> 1;
pmsg->hdr_index = (RxMessage->FMI + 1) >> 1;
}
else if (can_base == CAN2)
{
pmsg->hdr = (RxMessage->FMI >> 1) + 14;
pmsg->hdr_index = (RxMessage->FMI >> 1) + 14;
}
/* Release the DATFIFO */
/* Release FIFO0 */

8
bsp/nuvoton/libraries/m2354/rtt_port/drv_can.c
View File

@ -309,7 +309,7 @@ static rt_err_t nu_can_control(struct rt_can_device *can, int cmd, void *arg)
/*set the filter message object*/
if (filter_cfg->items[i].mode == 1)
{
if (CAN_SetRxMsgObjAndMsk(psNuCAN->base, MSG(filter_cfg->items[i].hdr + RX_MSG_ID_INDEX), filter_cfg->items[i].ide, filter_cfg->items[i].id, filter_cfg->items[i].mask, FALSE) == FALSE)
if (CAN_SetRxMsgObjAndMsk(psNuCAN->base, MSG(filter_cfg->items[i].hdr_bank + RX_MSG_ID_INDEX), filter_cfg->items[i].ide, filter_cfg->items[i].id, filter_cfg->items[i].mask, FALSE) == FALSE)
{
return -(RT_ERROR);
}
@ -317,7 +317,7 @@ static rt_err_t nu_can_control(struct rt_can_device *can, int cmd, void *arg)
else
{
/*set the filter message object*/
if (CAN_SetRxMsgAndMsk(psNuCAN->base, MSG(filter_cfg->items[i].hdr + RX_MSG_ID_INDEX), filter_cfg->items[i].ide, filter_cfg->items[i].id, filter_cfg->items[i].mask) == FALSE)
if (CAN_SetRxMsgAndMsk(psNuCAN->base, MSG(filter_cfg->items[i].hdr_bank + RX_MSG_ID_INDEX), filter_cfg->items[i].ide, filter_cfg->items[i].id, filter_cfg->items[i].mask) == FALSE)
{
return -(RT_ERROR);
}
@ -507,8 +507,8 @@ static int nu_can_recvmsg(struct rt_can_device *can, void *buf, rt_uint32_t boxn
#ifdef RT_CAN_USING_HDR
/* Hardware filter messages are valid */
pmsg->hdr = boxno - RX_MSG_ID_INDEX;
can->hdr[pmsg->hdr].connected = 1;
pmsg->hdr_index = boxno - RX_MSG_ID_INDEX;
can->hdr[pmsg->hdr_index].connected = 1;
#endif
pmsg->ide = (tMsg.IdType == CAN_STD_ID) ? RT_CAN_STDID : RT_CAN_EXTID;

8
bsp/nuvoton/libraries/m480/rtt_port/drv_can.c
View File

@ -360,7 +360,7 @@ static rt_err_t nu_can_control(struct rt_can_device *can, int cmd, void *arg)
/*set the filter message object*/
if (filter_cfg->items[i].mode == 1)
{
if (CAN_SetRxMsgObjAndMsk(psNuCAN->base, MSG(filter_cfg->items[i].hdr + RX_MSG_ID_INDEX), filter_cfg->items[i].ide, filter_cfg->items[i].id, filter_cfg->items[i].mask, FALSE) == FALSE)
if (CAN_SetRxMsgObjAndMsk(psNuCAN->base, MSG(filter_cfg->items[i].hdr_bank + RX_MSG_ID_INDEX), filter_cfg->items[i].ide, filter_cfg->items[i].id, filter_cfg->items[i].mask, FALSE) == FALSE)
{
return -(RT_ERROR);
}
@ -368,7 +368,7 @@ static rt_err_t nu_can_control(struct rt_can_device *can, int cmd, void *arg)
else
{
/*set the filter message object*/
if (CAN_SetRxMsgAndMsk(psNuCAN->base, MSG(filter_cfg->items[i].hdr + RX_MSG_ID_INDEX), filter_cfg->items[i].ide, filter_cfg->items[i].id, filter_cfg->items[i].mask) == FALSE)
if (CAN_SetRxMsgAndMsk(psNuCAN->base, MSG(filter_cfg->items[i].hdr_bank + RX_MSG_ID_INDEX), filter_cfg->items[i].ide, filter_cfg->items[i].id, filter_cfg->items[i].mask) == FALSE)
{
return -(RT_ERROR);
}
@ -558,8 +558,8 @@ static int nu_can_recvmsg(struct rt_can_device *can, void *buf, rt_uint32_t boxn
#ifdef RT_CAN_USING_HDR
/* Hardware filter messages are valid */
pmsg->hdr = boxno - RX_MSG_ID_INDEX;
can->hdr[pmsg->hdr].connected = 1;
pmsg->hdr_index = boxno - RX_MSG_ID_INDEX;
can->hdr[pmsg->hdr_index].connected = 1;
#endif
pmsg->ide = (tMsg.IdType == CAN_STD_ID) ? RT_CAN_STDID : RT_CAN_EXTID;

4
bsp/nuvoton/libraries/ma35/rtt_port/drv_canfd.c
View File

@ -611,8 +611,8 @@ static int nu_canfd_recvmsg(struct rt_can_device *can, void *buf, rt_uint32_t bo
#ifdef RT_CAN_USING_HDR
/* Hardware filter messages are valid */
pmsg->hdr = boxno;
can->hdr[pmsg->hdr].connected = 1;
pmsg->hdr_index = boxno;
can->hdr[pmsg->hdr_index].connected = 1;
#endif
pmsg->ide = (sRxMsg.eIdType == eCANFD_SID) ? RT_CAN_STDID : RT_CAN_EXTID;

8
bsp/nuvoton/libraries/n9h30/rtt_port/drv_can.c
View File

@ -309,7 +309,7 @@ static rt_err_t nu_can_control(struct rt_can_device *can, int cmd, void *arg)
/*set the filter message object*/
if (filter_cfg->items[i].mode == 1)
{
if (CAN_SetRxMsgObjAndMsk(psNuCAN->base, MSG(filter_cfg->items[i].hdr + RX_MSG_ID_INDEX), filter_cfg->items[i].ide, filter_cfg->items[i].id, filter_cfg->items[i].mask, FALSE) == FALSE)
if (CAN_SetRxMsgObjAndMsk(psNuCAN->base, MSG(filter_cfg->items[i].hdr_bank + RX_MSG_ID_INDEX), filter_cfg->items[i].ide, filter_cfg->items[i].id, filter_cfg->items[i].mask, FALSE) == FALSE)
{
return -(RT_ERROR);
}
@ -317,7 +317,7 @@ static rt_err_t nu_can_control(struct rt_can_device *can, int cmd, void *arg)
else
{
/*set the filter message object*/
if (CAN_SetRxMsgAndMsk(psNuCAN->base, MSG(filter_cfg->items[i].hdr + RX_MSG_ID_INDEX), filter_cfg->items[i].ide, filter_cfg->items[i].id, filter_cfg->items[i].mask) == FALSE)
if (CAN_SetRxMsgAndMsk(psNuCAN->base, MSG(filter_cfg->items[i].hdr_bank + RX_MSG_ID_INDEX), filter_cfg->items[i].ide, filter_cfg->items[i].id, filter_cfg->items[i].mask) == FALSE)
{
return -(RT_ERROR);
}
@ -507,8 +507,8 @@ static int nu_can_recvmsg(struct rt_can_device *can, void *buf, rt_uint32_t boxn
#ifdef RT_CAN_USING_HDR
/* Hardware filter messages are valid */
pmsg->hdr = boxno - RX_MSG_ID_INDEX;
can->hdr[pmsg->hdr].connected = 1;
pmsg->hdr_index = boxno - RX_MSG_ID_INDEX;
can->hdr[pmsg->hdr_index].connected = 1;
#endif
pmsg->ide = (tMsg.IdType == CAN_STD_ID) ? RT_CAN_STDID : RT_CAN_EXTID;

8
bsp/nuvoton/libraries/nuc980/rtt_port/drv_can.c
View File

@ -333,7 +333,7 @@ static rt_err_t nu_can_control(struct rt_can_device *can, int cmd, void *arg)
/*set the filter message object*/
if (filter_cfg->items[i].mode == 1)
{
if (CAN_SetRxMsgObjAndMsk(psNuCAN->base, MSG(filter_cfg->items[i].hdr + RX_MSG_ID_INDEX), filter_cfg->items[i].ide, filter_cfg->items[i].id, filter_cfg->items[i].mask, FALSE) == FALSE)
if (CAN_SetRxMsgObjAndMsk(psNuCAN->base, MSG(filter_cfg->items[i].hdr_bank + RX_MSG_ID_INDEX), filter_cfg->items[i].ide, filter_cfg->items[i].id, filter_cfg->items[i].mask, FALSE) == FALSE)
{
return -(RT_ERROR);
}
@ -341,7 +341,7 @@ static rt_err_t nu_can_control(struct rt_can_device *can, int cmd, void *arg)
else
{
/*set the filter message object*/
if (CAN_SetRxMsgAndMsk(psNuCAN->base, MSG(filter_cfg->items[i].hdr + RX_MSG_ID_INDEX), filter_cfg->items[i].ide, filter_cfg->items[i].id, filter_cfg->items[i].mask) == FALSE)
if (CAN_SetRxMsgAndMsk(psNuCAN->base, MSG(filter_cfg->items[i].hdr_bank + RX_MSG_ID_INDEX), filter_cfg->items[i].ide, filter_cfg->items[i].id, filter_cfg->items[i].mask) == FALSE)
{
return -(RT_ERROR);
}
@ -531,8 +531,8 @@ static int nu_can_recvmsg(struct rt_can_device *can, void *buf, rt_uint32_t boxn
#ifdef RT_CAN_USING_HDR
/* Hardware filter messages are valid */
pmsg->hdr = boxno - RX_MSG_ID_INDEX;
can->hdr[pmsg->hdr].connected = 1;
pmsg->hdr_index = boxno - RX_MSG_ID_INDEX;
can->hdr[pmsg->hdr_index].connected = 1;
#endif
pmsg->ide = (tMsg.IdType == CAN_STD_ID) ? RT_CAN_STDID : RT_CAN_EXTID;

2
bsp/renesas/libraries/HAL_Drivers/drv_can.c
View File

@ -212,7 +212,7 @@ int ra_can_recvmsg(struct rt_can_device *can_dev, void *buf, rt_uint32_t boxno)
msg_rt->rsv = RT_NULL;
msg_rt->len = msg_ra->data_length_code;
msg_rt->priv = boxno;
msg_rt->hdr = RT_NULL;
msg_rt->hdr_index = RT_NULL;
memcpy(msg_rt->data, msg_ra->data, msg_ra->data_length_code);
return sizeof(struct rt_can_msg);
}

30
bsp/stm32/libraries/HAL_Drivers/drv_can.c
View File

@ -42,14 +42,14 @@ static const struct stm32_baud_rate_tab can_baud_rate_tab[] =
static const struct stm32_baud_rate_tab can_baud_rate_tab[] =
{
{CAN1MBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ | CAN_BS2_4TQ | 3)},
{CAN800kBaud, (CAN_SJW_2TQ | CAN_BS1_8TQ | CAN_BS2_5TQ | 4)},
{CAN500kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ | CAN_BS2_5TQ | 6)},
{CAN250kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ | CAN_BS2_5TQ | 12)},
{CAN125kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ | CAN_BS2_5TQ | 24)},
{CAN100kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ | CAN_BS2_5TQ | 30)},
{CAN50kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ | CAN_BS2_5TQ | 60)},
{CAN20kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ | CAN_BS2_5TQ | 150)},
{CAN10kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ | CAN_BS2_5TQ | 300)}
{CAN800kBaud, (CAN_SJW_2TQ | CAN_BS1_8TQ | CAN_BS2_4TQ | 4)},
{CAN500kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ | CAN_BS2_4TQ | 6)},
{CAN250kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ | CAN_BS2_4TQ | 12)},
{CAN125kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ | CAN_BS2_4TQ | 24)},
{CAN100kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ | CAN_BS2_4TQ | 30)},
{CAN50kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ | CAN_BS2_4TQ | 60)},
{CAN20kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ | CAN_BS2_4TQ | 150)},
{CAN10kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ | CAN_BS2_4TQ | 300)}
};
#else /* APB1 45MHz(max) */
static const struct stm32_baud_rate_tab can_baud_rate_tab[] =
@ -333,7 +333,7 @@ static rt_err_t _can_control(struct rt_can_device *can, int cmd, void *arg)
/* get default filter */
for (int i = 0; i < filter_cfg->count; i++)
{
if (filter_cfg->items[i].hdr == -1)
if (filter_cfg->items[i].hdr_bank == -1)
{
/* use default filter bank settings */
if (rt_strcmp(drv_can->name, "can1") == 0)
@ -350,7 +350,7 @@ static rt_err_t _can_control(struct rt_can_device *can, int cmd, void *arg)
else
{
/* use user-defined filter bank settings */
drv_can->FilterConfig.FilterBank = filter_cfg->items[i].hdr;
drv_can->FilterConfig.FilterBank = filter_cfg->items[i].hdr_bank;
}
/**
* ID | CAN_FxR1[31:24] | CAN_FxR1[23:16] | CAN_FxR1[15:8] | CAN_FxR1[7:0] |
@ -401,6 +401,7 @@ static rt_err_t _can_control(struct rt_can_device *can, int cmd, void *arg)
drv_can->FilterConfig.FilterMaskIdLow = mask_l;
drv_can->FilterConfig.FilterMode = filter_cfg->items[i].mode;
drv_can->FilterConfig.FilterFIFOAssignment = filter_cfg->items[i].rxfifo;/*rxfifo = CAN_RX_FIFO0/CAN_RX_FIFO1*/
/* Filter conf */
HAL_CAN_ConfigFilter(&drv_can->CanHandle, &drv_can->FilterConfig);
}
@ -610,17 +611,20 @@ static int _can_recvmsg(struct rt_can_device *can, void *buf, rt_uint32_t fifo)
{
pmsg->rtr = RT_CAN_RTR;
}
/*get rxfifo = CAN_RX_FIFO0/CAN_RX_FIFO1*/
pmsg->rxfifo = fifo;
/* get len */
pmsg->len = rxheader.DLC;
/* get hdr */
/* get hdr_index */
if (hcan->Instance == CAN1)
{
pmsg->hdr = (rxheader.FilterMatchIndex + 1) >> 1;
pmsg->hdr_index = rxheader.FilterMatchIndex;
}
#ifdef CAN2
else if (hcan->Instance == CAN2)
{
pmsg->hdr = (rxheader.FilterMatchIndex >> 1) + 14;
pmsg->hdr_index = rxheader.FilterMatchIndex;
}
#endif

2
bsp/synwit/swm341/applications/main.c
View File

@ -169,7 +169,7 @@ static void can_rx_thread(void *parameter)
while (1)
{
/* hdr 值为 - 1，表示直接从 uselist 链表读取数据 */
rxmsg.hdr = -1;
v .hdr = -1;
/* 阻塞等待接收信号量 */
rt_sem_take(&rx_sem, RT_WAITING_FOREVER);
/* 从 CAN 读取一帧数据 */

4
bsp/synwit/swm341/drivers/drv_can.c
View File

@ -226,13 +226,13 @@ static rt_err_t swm_can_control(struct rt_can_device *can_device, int cmd, void
/* get default filter */
for (int i = 0; i < filter_cfg->count; i++)
{
if (filter_cfg->items[i].hdr == -1)
if (filter_cfg->items[i].hdr_bank == -1)
{
filter_idx = i;
}
else
{
filter_idx = filter_cfg->items[i].hdr;
filter_idx = filter_cfg->items[i].hdr_bank;
}
if (filter_cfg->items[i].ide == RT_CAN_STDID)

10
bsp/wch/risc-v/Libraries/ch32_drivers/drv_can.c
View File

@ -441,14 +441,14 @@ static rt_err_t _can_control(struct rt_can_device *can, int cmd, void *arg)
/* get default filter */
for (int i = 0; i < filter_cfg->count; i++)
{
if (filter_cfg->items[i].hdr == -1)
if (filter_cfg->items[i].hdr_bank == -1)
{
drv_can_obj->can_filter_init.CAN_FilterNumber = i;
}
else
{
/* use user-defined filter bank settings */
drv_can_obj->can_filter_init.CAN_FilterNumber = filter_cfg->items[i].hdr;
drv_can_obj->can_filter_init.CAN_FilterNumber = filter_cfg->items[i].hdr_bank;
}
if (filter_cfg->items[i].mode == 0x00) //CAN_FILTERMODE_IDMASK
@ -725,14 +725,14 @@ static int _can_recv_rtmsg(CAN_TypeDef *can_base, struct rt_can_msg *pmsg, uint3
pmsg->rtr = RT_CAN_RTR;
}
/* get hdr */
/* get hdr_index */
if (can_base == CAN1)
{
pmsg->hdr = (RxMessage->FMI + 1) >> 1;
pmsg->hdr_index = (RxMessage->FMI + 1) >> 1;
}
else if (can_base == CAN2)
{
pmsg->hdr = (RxMessage->FMI >> 1) + 14;
pmsg->hdr_index = (RxMessage->FMI >> 1) + 14;
}
/* Release FIFO */
CAN_FIFORelease(can_base,FIFONum);

30
components/drivers/can/can.c
View File

@ -65,7 +65,7 @@ rt_inline int _can_int_rx(struct rt_can_device *can, struct rt_can_msg *data, in
/* disable interrupt */
level = rt_hw_interrupt_disable();
#ifdef RT_CAN_USING_HDR
hdr = data->hdr;
hdr = data->hdr_index;
if (hdr >= 0 && can->hdr && hdr < can->config.maxhdr && !rt_list_isempty(&can->hdr[hdr].list))
{
@ -581,7 +581,7 @@ static rt_err_t rt_can_control(struct rt_device *dev,
{
while (count)
{
if (pitem->hdr >= can->config.maxhdr || pitem->hdr < 0)
if (pitem->hdr_bank >= can->config.maxhdr || pitem->hdr_bank < 0)
{
count--;
pitem++;
@ -589,15 +589,15 @@ static rt_err_t rt_can_control(struct rt_device *dev,
}
level = rt_hw_interrupt_disable();
if (!can->hdr[pitem->hdr].connected)
if (!can->hdr[pitem->hdr_bank].connected)
{
rt_hw_interrupt_enable(level);
rt_memcpy(&can->hdr[pitem->hdr].filter, pitem,
rt_memcpy(&can->hdr[pitem->hdr_bank].filter, pitem,
sizeof(struct rt_can_filter_item));
level = rt_hw_interrupt_disable();
can->hdr[pitem->hdr].connected = 1;
can->hdr[pitem->hdr].msgs = 0;
rt_list_init(&can->hdr[pitem->hdr].list);
can->hdr[pitem->hdr_bank].connected = 1;
can->hdr[pitem->hdr_bank].msgs = 0;
rt_list_init(&can->hdr[pitem->hdr_bank].list);
}
rt_hw_interrupt_enable(level);
@ -609,7 +609,7 @@ static rt_err_t rt_can_control(struct rt_device *dev,
{
while (count)
{
if (pitem->hdr >= can->config.maxhdr || pitem->hdr < 0)
if (pitem->hdr_bank >= can->config.maxhdr || pitem->hdr_bank < 0)
{
count--;
pitem++;
@ -617,16 +617,16 @@ static rt_err_t rt_can_control(struct rt_device *dev,
}
level = rt_hw_interrupt_disable();
if (can->hdr[pitem->hdr].connected)
if (can->hdr[pitem->hdr_bank].connected)
{
can->hdr[pitem->hdr].connected = 0;
can->hdr[pitem->hdr].msgs = 0;
if (!rt_list_isempty(&can->hdr[pitem->hdr].list))
can->hdr[pitem->hdr_bank].connected = 0;
can->hdr[pitem->hdr_bank].msgs = 0;
if (!rt_list_isempty(&can->hdr[pitem->hdr_bank].list))
{
rt_list_remove(can->hdr[pitem->hdr].list.next);
rt_list_remove(can->hdr[pitem->hdr_bank].list.next);
}
rt_hw_interrupt_enable(level);
rt_memset(&can->hdr[pitem->hdr].filter, 0,
rt_memset(&can->hdr[pitem->hdr_bank].filter, 0,
sizeof(struct rt_can_filter_item));
}
else
@ -829,7 +829,7 @@ void rt_hw_can_isr(struct rt_can_device *can, int event)
level = rt_hw_interrupt_disable();
rt_list_insert_before(&rx_fifo->uselist, &listmsg->list);
#ifdef RT_CAN_USING_HDR
hdr = tmpmsg.hdr;
hdr = tmpmsg.hdr_index;
if (can->hdr != RT_NULL)
{
RT_ASSERT(hdr < can->config.maxhdr && hdr >= 0);

23
components/drivers/include/drivers/can.h
View File

@ -63,6 +63,12 @@ enum CANBAUD
#define RT_CAN_MODE_PRIV 0x01
#define RT_CAN_MODE_NOPRIV 0x00
/** @defgroup CAN_receive_FIFO_number CAN Receive FIFO Number
* @{
*/
#define CAN_RX_FIFO0 (0x00000000U) /*!< CAN receive FIFO 0 */
#define CAN_RX_FIFO1 (0x00000001U) /*!< CAN receive FIFO 1 */
struct rt_can_filter_item
{
rt_uint32_t id : 29;
@ -70,16 +76,18 @@ struct rt_can_filter_item
rt_uint32_t rtr : 1;
rt_uint32_t mode : 1;
rt_uint32_t mask;
rt_int32_t hdr;
rt_int32_t hdr_bank;/*Should be defined as:rx.FilterBank,which should be changed to rt_int32_t hdr_bank*/
rt_uint32_t rxfifo;/*Add a configuration item that CAN_RX_FIFO0/CAN_RX_FIFO1*/
#ifdef RT_CAN_USING_HDR
rt_err_t (*ind)(rt_device_t dev, void *args , rt_int32_t hdr, rt_size_t size);
void *args;
#endif /*RT_CAN_USING_HDR*/
};
#ifdef RT_CAN_USING_HDR
#define RT_CAN_FILTER_ITEM_INIT(id,ide,rtr,mode,mask,ind,args) \
{(id), (ide), (rtr), (mode), (mask), -1, (ind), (args)}
{(id), (ide), (rtr), (mode),(mask), -1, CAN_RX_FIFO0,(ind), (args)}/*0:CAN_RX_FIFO0*/
#define RT_CAN_FILTER_STD_INIT(id,ind,args) \
RT_CAN_FILTER_ITEM_INIT(id,0,0,0,0xFFFFFFFF,ind,args)
#define RT_CAN_FILTER_EXT_INIT(id,ind,args) \
@ -95,7 +103,7 @@ struct rt_can_filter_item
#else
#define RT_CAN_FILTER_ITEM_INIT(id,ide,rtr,mode,mask) \
{(id), (ide), (rtr), (mode), (mask), -1, }
{(id), (ide), (rtr), (mode), (mask), -1, CAN_RX_FIFO0 }/*0:CAN_RX_FIFO0*/
#define RT_CAN_FILTER_STD_INIT(id) \
RT_CAN_FILTER_ITEM_INIT(id,0,0,0,0xFFFFFFFF)
#define RT_CAN_FILTER_EXT_INIT(id) \
@ -269,6 +277,7 @@ typedef struct rt_can_device *rt_can_t;
#define RT_CAN_RTR 1
typedef struct rt_can_status *rt_can_status_t;
struct rt_can_msg
{
rt_uint32_t id : 29;
@ -277,12 +286,14 @@ struct rt_can_msg
rt_uint32_t rsv : 1;
rt_uint32_t len : 8;
rt_uint32_t priv : 8;
rt_int32_t hdr : 8;
rt_int32_t hdr_index : 8;/*Should be defined as:rx.FilterMatchIndex,which should be changed to rt_int32_t hdr_index : 8*/
#ifdef RT_CAN_USING_CANFD
rt_uint32_t fd_frame : 1;
rt_uint32_t reserved : 7;
rt_uint32_t rxfifo : 2;/*Redefined to return :CAN RX FIFO0/CAN RX FIFO1*/
rt_uint32_t reserved : 5;
#else
rt_uint32_t reserved : 8;
rt_uint32_t rxfifo : 2;/*Redefined to return :CAN RX FIFO0/CAN RX FIFO1*/
rt_uint32_t reserved : 6;
#endif
#ifdef RT_CAN_USING_CANFD
rt_uint8_t data[64];