diff options
| -rw-r--r-- | ports/stm32/fdcan.c | 18 | ||||
| -rw-r--r-- | ports/stm32/pyb_can.c | 44 |
2 files changed, 45 insertions, 17 deletions
diff --git a/ports/stm32/fdcan.c b/ports/stm32/fdcan.c index 63c6c3123..bcf3e8d6a 100644 --- a/ports/stm32/fdcan.c +++ b/ports/stm32/fdcan.c @@ -107,9 +107,7 @@ bool can_init(pyb_can_obj_t *can_obj, uint32_t mode, uint32_t prescaler, uint32_ // identifiers, and 31 x 2 words elements for 29-bit extended identifiers. // The total number of words reserved for the filtering per FDCAN instance is 126 words. init->StdFiltersNbr = 64; - // Note extended identifiers are Not used in pyb_can.c and Not handled correctly. - // Disable the extended identifiers filters for now until this is fixed properly. - init->ExtFiltersNbr = 0 /*31*/; + init->ExtFiltersNbr = 31; // The Tx event FIFO is used to store the message ID and the timestamp of successfully // transmitted elements. The Tx event FIFO can store a maximum of 32 (2 words) elements. @@ -189,7 +187,11 @@ bool can_init(pyb_can_obj_t *can_obj, uint32_t mode, uint32_t prescaler, uint32_ // Reset all filters for (int f = 0; f < init->StdFiltersNbr; ++f) { - can_clearfilter(can_obj, f, 0); + can_clearfilter(can_obj, f, false); + } + + for (int f = 0; f < init->ExtFiltersNbr; ++f) { + can_clearfilter(can_obj, f, true); } can_obj->is_enabled = true; @@ -250,10 +252,14 @@ void can_deinit(pyb_can_obj_t *self) { } } -void can_clearfilter(pyb_can_obj_t *self, uint32_t f, uint8_t bank) { +void can_clearfilter(pyb_can_obj_t *self, uint32_t f, uint8_t extid) { if (self && self->can.Instance) { FDCAN_FilterTypeDef filter = {0}; - filter.IdType = FDCAN_STANDARD_ID; + if (extid == 1) { + filter.IdType = FDCAN_EXTENDED_ID; + } else { + filter.IdType = FDCAN_STANDARD_ID; + } filter.FilterIndex = f; filter.FilterConfig = FDCAN_FILTER_DISABLE; HAL_FDCAN_ConfigFilter(&self->can, &filter); diff --git a/ports/stm32/pyb_can.c b/ports/stm32/pyb_can.c index 0c5c60255..323b04d69 100644 --- a/ports/stm32/pyb_can.c +++ b/ports/stm32/pyb_can.c @@ -41,7 +41,6 @@ #if MICROPY_HW_ENABLE_FDCAN -#define CAN_MAX_FILTER (64) #define CAN_MAX_DATA_FRAME (64) #define CAN_FIFO0 FDCAN_RX_FIFO0 @@ -87,9 +86,6 @@ #define __HAL_CAN_DISABLE_IT __HAL_FDCAN_DISABLE_IT #define __HAL_CAN_CLEAR_FLAG __HAL_FDCAN_CLEAR_FLAG #define __HAL_CAN_MSG_PENDING HAL_FDCAN_GetRxFifoFillLevel - -// Both banks start at 0 -STATIC uint8_t can2_start_bank = 0; extern const uint8_t DLCtoBytes[16]; #else @@ -715,16 +711,29 @@ STATIC mp_obj_t pyb_can_recv(size_t n_args, const mp_obj_t *pos_args, mp_map_t * STATIC MP_DEFINE_CONST_FUN_OBJ_KW(pyb_can_recv_obj, 1, pyb_can_recv); // initfilterbanks(n) -STATIC mp_obj_t pyb_can_initfilterbanks(mp_obj_t self, mp_obj_t bank_in) { +STATIC mp_obj_t pyb_can_initfilterbanks(mp_obj_t self_in, mp_obj_t bank_in) { + pyb_can_obj_t *self = MP_OBJ_TO_PTR(self_in); #if MICROPY_HW_ENABLE_FDCAN - can2_start_bank = 0; + (void)self; + #if 0 + FDCAN_InitTypeDef *init = &self->can.Init; + // Clear standard ID filters. + for (int f = 0; f < init->StdFiltersNbr; ++f) { + can_clearfilter(self, f, false); + } + // Clear extended ID filters. + for (int f = 0; f < init->ExtFiltersNbr; ++f) { + can_clearfilter(self, f, true); + } + #endif #else + // NOTE: For classic CAN, this function calls HAL_CAN_ConfigFilter(NULL, &filter); + // if CAN3 is defined, ConfigFilter() will dereference a NULL pointer. can2_start_bank = mp_obj_get_int(bank_in); - #endif - for (int f = 0; f < CAN_MAX_FILTER; f++) { - can_clearfilter(MP_OBJ_TO_PTR(self), f, can2_start_bank); + can_clearfilter(self, f, can2_start_bank); } + #endif return mp_const_none; } STATIC MP_DEFINE_CONST_FUN_OBJ_2(pyb_can_initfilterbanks_fun_obj, pyb_can_initfilterbanks); @@ -733,10 +742,14 @@ STATIC MP_DEFINE_CONST_CLASSMETHOD_OBJ(pyb_can_initfilterbanks_obj, MP_ROM_PTR(& STATIC mp_obj_t pyb_can_clearfilter(mp_obj_t self_in, mp_obj_t bank_in) { pyb_can_obj_t *self = MP_OBJ_TO_PTR(self_in); mp_int_t f = mp_obj_get_int(bank_in); + #if MICROPY_HW_ENABLE_FDCAN + can_clearfilter(self, f, self->extframe); + #else if (self->can_id == 2) { f += can2_start_bank; } can_clearfilter(self, f, can2_start_bank); + #endif return mp_const_none; } STATIC MP_DEFINE_CONST_FUN_OBJ_2(pyb_can_clearfilter_obj, pyb_can_clearfilter); @@ -760,9 +773,18 @@ STATIC mp_obj_t pyb_can_setfilter(size_t n_args, const mp_obj_t *pos_args, mp_ma #if MICROPY_HW_ENABLE_FDCAN FDCAN_FilterTypeDef filter = {0}; - filter.IdType = FDCAN_STANDARD_ID; - // TODO check filter index + if (self->extframe) { + filter.IdType = FDCAN_EXTENDED_ID; + } else { + filter.IdType = FDCAN_STANDARD_ID; + } + filter.FilterIndex = args[ARG_bank].u_int; + // Check filter index. + if ((filter.IdType == FDCAN_STANDARD_ID && filter.FilterIndex >= self->can.Init.StdFiltersNbr) || + (filter.IdType == FDCAN_EXTENDED_ID && filter.FilterIndex >= self->can.Init.ExtFiltersNbr)) { + goto error; + } // Check filter mode if (((args[ARG_mode].u_int != FDCAN_FILTER_RANGE) && |