fix can baud rate config error in bsp/stm32f10x fix #597
enum CANBAUD was changed in components/drivers/include/drivers/can.h , which causes array index out of bound in bsp/stm32f10x/drivers/bxcan.c temporarily remove RT_CAN_USING_BUS_HOOK, because there are some bugs in bsp/stm32f10x/applications/canapp.c function can_bus_hook
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gbcwbz
parent
9c293336cb
commit
b420e83da4
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@ -245,10 +245,12 @@ int rt_can_app_init(void)
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512, RT_THREAD_PRIORITY_MAX / 3 - 1, 20);
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if (tid != RT_NULL) rt_thread_startup(tid);
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#ifdef USING_BXCAN2
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tid = rt_thread_create("canapp2",
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rt_can_thread_entry, &can_data[1],
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512, RT_THREAD_PRIORITY_MAX / 3 - 1, 20);
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if (tid != RT_NULL) rt_thread_startup(tid);
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#endif
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return 0;
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}
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@ -69,6 +69,11 @@ struct stm_bxcan
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const rt_uint32_t fifo1filteroff;
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const struct stm_bxcanfiltermap filtermap[2];
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};
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struct stm_baud_rate_tab
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{
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rt_uint32_t baud_rate;
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rt_uint32_t confdata;
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};
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static void calcfiltermasks(struct stm_bxcan *pbxcan);
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static void bxcan1_filter_init(struct rt_can_device *can)
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{
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@ -254,27 +259,65 @@ static void bxcan2_filter_init(struct rt_can_device *can)
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#define MK_BKCAN_BAUD(SJW,BS1,BS2,PRES) \
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((SJW << SJWSHIFT) | (BS1 << BS1SHIFT) | (BS2 << BS2SHIFT) | (PRES << RRESCLSHIFT))
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static const rt_uint32_t bxcan_baud_rate_tab[] =
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static const struct stm_baud_rate_tab bxcan_baud_rate_tab[] =
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{
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#ifdef STM32F10X_CL
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// 48 M
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MK_BKCAN_BAUD(CAN_SJW_2tq, CAN_BS1_12tq, CAN_BS2_3tq, 3),
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MK_BKCAN_BAUD(CAN_SJW_2tq, CAN_BS1_6tq, CAN_BS2_3tq, 6),
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MK_BKCAN_BAUD(CAN_SJW_2tq, CAN_BS1_12tq, CAN_BS2_3tq, 5),
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MK_BKCAN_BAUD(CAN_SJW_2tq, CAN_BS1_12tq, CAN_BS2_3tq, 11),
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MK_BKCAN_BAUD(CAN_SJW_2tq, CAN_BS1_12tq, CAN_BS2_3tq, 23),
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MK_BKCAN_BAUD(CAN_SJW_2tq, CAN_BS1_12tq, CAN_BS2_3tq, 29),
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MK_BKCAN_BAUD(CAN_SJW_2tq, CAN_BS1_12tq, CAN_BS2_3tq, 59),
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MK_BKCAN_BAUD(CAN_SJW_2tq, CAN_BS1_14tq, CAN_BS2_3tq, 149),
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MK_BKCAN_BAUD(CAN_SJW_2tq, CAN_BS1_16tq, CAN_BS2_8tq, 199),
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{1000UL * 1000, MK_BKCAN_BAUD(CAN_SJW_2tq, CAN_BS1_12tq, CAN_BS2_3tq, 3)},
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{1000UL * 800, MK_BKCAN_BAUD(CAN_SJW_2tq, CAN_BS1_6tq, CAN_BS2_3tq, 6)},
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{1000UL * 500, MK_BKCAN_BAUD(CAN_SJW_2tq, CAN_BS1_12tq, CAN_BS2_3tq, 5)},
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{1000UL * 250, MK_BKCAN_BAUD(CAN_SJW_2tq, CAN_BS1_12tq, CAN_BS2_3tq, 11)},//1
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{1000UL * 125, MK_BKCAN_BAUD(CAN_SJW_2tq, CAN_BS1_12tq, CAN_BS2_3tq, 23)},
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{1000UL * 100, MK_BKCAN_BAUD(CAN_SJW_2tq, CAN_BS1_12tq, CAN_BS2_3tq, 29)},
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{1000UL * 50, MK_BKCAN_BAUD(CAN_SJW_2tq, CAN_BS1_12tq, CAN_BS2_3tq, 59)},
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{1000UL * 20, MK_BKCAN_BAUD(CAN_SJW_2tq, CAN_BS1_14tq, CAN_BS2_3tq, 149)},
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{1000UL * 10, MK_BKCAN_BAUD(CAN_SJW_2tq, CAN_BS1_16tq, CAN_BS2_8tq, 199)}
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#else
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// 36 M
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{1000UL * 1000, MK_BKCAN_BAUD(CAN_SJW_2tq, CAN_BS1_8tq, CAN_BS2_3tq, 3)},
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{1000UL * 800, MK_BKCAN_BAUD(CAN_SJW_2tq, CAN_BS1_11tq, CAN_BS2_3tq, 3)},
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{1000UL * 500, MK_BKCAN_BAUD(CAN_SJW_2tq, CAN_BS1_9tq, CAN_BS2_2tq, 6)},
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{1000UL * 250, MK_BKCAN_BAUD(CAN_SJW_2tq, CAN_BS1_13tq, CAN_BS2_2tq, 9)},//1
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{1000UL * 125, MK_BKCAN_BAUD(CAN_SJW_2tq, CAN_BS1_13tq, CAN_BS2_2tq, 18)},
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{1000UL * 100, MK_BKCAN_BAUD(CAN_SJW_2tq, CAN_BS1_9tq, CAN_BS2_2tq, 30)},
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{1000UL * 50, MK_BKCAN_BAUD(CAN_SJW_2tq, CAN_BS1_13tq, CAN_BS2_2tq, 45)},
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{1000UL * 20, MK_BKCAN_BAUD(CAN_SJW_2tq, CAN_BS1_14tq, CAN_BS2_3tq, 100)},
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{1000UL * 10, MK_BKCAN_BAUD(CAN_SJW_2tq, CAN_BS1_14tq, CAN_BS2_3tq, 200)}
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#endif
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};
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#define BAUD_DATA(TYPE,NO) \
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((bxcan_baud_rate_tab[NO] & TYPE##MASK) >> TYPE##SHIFT)
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((bxcan_baud_rate_tab[NO].confdata & TYPE##MASK) >> TYPE##SHIFT)
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static rt_uint32_t bxcan_get_baud_index(rt_uint32_t baud)
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{
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rt_uint32_t len, index, default_index;
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len = sizeof(bxcan_baud_rate_tab)/sizeof(bxcan_baud_rate_tab[0]);
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default_index = len;
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for(index = 0; index < len; index++)
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{
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if(bxcan_baud_rate_tab[index].baud_rate == baud)
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return index;
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if(bxcan_baud_rate_tab[index].baud_rate == 1000UL * 250)
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default_index = index;
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}
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if(default_index != len)
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return default_index;
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return 0;
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}
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static void bxcan_init(CAN_TypeDef *pcan, rt_uint32_t baud, rt_uint32_t mode)
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{
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CAN_InitTypeDef CAN_InitStructure;
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rt_uint32_t baud_index = bxcan_get_baud_index(baud);
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CAN_InitStructure.CAN_TTCM = DISABLE;
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CAN_InitStructure.CAN_ABOM = ENABLE;
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CAN_InitStructure.CAN_AWUM = DISABLE;
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@ -296,10 +339,10 @@ static void bxcan_init(CAN_TypeDef *pcan, rt_uint32_t baud, rt_uint32_t mode)
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CAN_InitStructure.CAN_Mode = CAN_Mode_Silent_LoopBack;
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break;
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}
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CAN_InitStructure.CAN_SJW = BAUD_DATA(SJW, baud);
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CAN_InitStructure.CAN_BS1 = BAUD_DATA(BS1, baud);
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CAN_InitStructure.CAN_BS2 = BAUD_DATA(BS2, baud);
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CAN_InitStructure.CAN_Prescaler = BAUD_DATA(RRESCL, baud);
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CAN_InitStructure.CAN_SJW = BAUD_DATA(SJW, baud_index);
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CAN_InitStructure.CAN_BS1 = BAUD_DATA(BS1, baud_index);
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CAN_InitStructure.CAN_BS2 = BAUD_DATA(BS2, baud_index);
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CAN_InitStructure.CAN_Prescaler = BAUD_DATA(RRESCL, baud_index);
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CAN_Init(pcan, &CAN_InitStructure);
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}
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@ -439,6 +482,9 @@ static rt_err_t bxcan_set_privmode(CAN_TypeDef *pcan, rt_uint32_t mode)
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static rt_err_t bxcan_set_baud_rate(CAN_TypeDef *pcan, rt_uint32_t baud)
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{
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rt_uint32_t mode;
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rt_uint32_t baud_index = bxcan_get_baud_index(baud);
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if (bxcan_enter_init(pcan) != RT_EOK)
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{
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return RT_ERROR;
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@ -446,10 +492,10 @@ static rt_err_t bxcan_set_baud_rate(CAN_TypeDef *pcan, rt_uint32_t baud)
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pcan->BTR = 0;
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mode = pcan->BTR & ((rt_uint32_t)0x03 << 30);
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pcan->BTR = (mode | \
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((BAUD_DATA(SJW, baud)) << 24) | \
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((BAUD_DATA(BS1, baud)) << 16) | \
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((BAUD_DATA(BS2, baud)) << 20) | \
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(BAUD_DATA(RRESCL, baud)));
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((BAUD_DATA(SJW, baud_index)) << 24) | \
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((BAUD_DATA(BS1, baud_index)) << 16) | \
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((BAUD_DATA(BS2, baud_index)) << 20) | \
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(BAUD_DATA(RRESCL, baud_index)));
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if (bxcan_exit_init(pcan) != RT_EOK)
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{
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return RT_ERROR;
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@ -82,9 +82,9 @@
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#define RT_USING_PIN
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//#define RT_USING_CAN
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#define RT_USING_CAN
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#define RT_CAN_USING_BUS_HOOK
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//#define RT_CAN_USING_BUS_HOOK
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#define RT_CAN_USING_HDR
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/* SECTION: device filesystem */
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