diff options
24 files changed, 231 insertions, 77 deletions
diff --git a/apps/examples/can/can_main.c b/apps/examples/can/can_main.c index 4e12fcd08..27e19b156 100644 --- a/apps/examples/can/can_main.c +++ b/apps/examples/can/can_main.c @@ -57,6 +57,12 @@ * Pre-processor Definitions ****************************************************************************/ +#ifdef CONFIG_CAN_EXTID +# define MAX_ID (1 << 29) +#else +# define MAX_ID (1 << 11) +#endif + #ifdef CONFIG_NSH_BUILTIN_APPS # define MAIN_NAME can_main # define MAIN_STRING "can_main: " @@ -99,12 +105,16 @@ int MAIN_NAME(int argc, char *argv[]) struct can_msg_s rxmsg; size_t msgsize; ssize_t nbytes; +#ifdef CONFIG_CAN_EXTID + uint32_t msgid; +#else + uint16_t msgid; +#endif uint8_t msgdata; #if defined(CONFIG_NSH_BUILTIN_APPS) || defined(CONFIG_EXAMPLES_CAN_NMSGS) long nmsgs; #endif int msgdlc; - int msgid; int fd; int errval = 0; int ret; @@ -174,7 +184,13 @@ int MAIN_NAME(int argc, char *argv[]) /* Construct the next TX message */ - txmsg.cm_hdr = CAN_HDR(msgid, 0, msgdlc); + txmsg.cm_hdr.ch_id = msgid; + txmsg.cm_hdr.ch_rtr = false; + txmsg.cm_hdr.ch_dlc = msgdlc; +#ifdef CONFIG_CAN_EXTID + txmsg.cm_hdr.ch_extid = true; +#endif + for (i = 0; i < msgdlc; i++) { txmsg.cm_data[i] = msgdata + i; @@ -182,7 +198,7 @@ int MAIN_NAME(int argc, char *argv[]) /* Send the TX message */ - msgsize = CAN_MSGLEN(txmsg.cm_hdr); + msgsize = CAN_MSGLEN(msgdlc); nbytes = write(fd, &txmsg, msgsize); if (nbytes != msgsize) { @@ -204,16 +220,20 @@ int MAIN_NAME(int argc, char *argv[]) /* Verify that the received messages are the same */ - if (txmsg.cm_hdr != rxmsg.cm_hdr) + if (memcmp(&txmsg.cm_hdr, &rxmsg.cm_hdr, sizeof(struct can_hdr_s)) != 0) { - message("ERROR: Sent header %04x; received header %04x\n", txmsg.cm_hdr, rxmsg.cm_hdr); + message("ERROR: Sent header does not match received header:\n"); + lib_dumpbuffer("Sent header", (FAR const uint8_t*)&txmsg.cm_hdr, + sizeof(struct can_hdr_s)); + lib_dumpbuffer("Received header", (FAR const uint8_t*)&rxmsg.cm_hdr, + sizeof(struct can_hdr_s)); errval = 4; goto errout_with_dev; } if (memcmp(txmsg.cm_data, rxmsg.cm_data, msgdlc) != 0) { - message("ERROR: Data does not match. DLC=%d\n", msgdlc); + message("ERROR: Data does not match. DLC=%d\n", msgdlc); for (i = 0; i < msgdlc; i++) { message(" %d: TX %02x RX %02x\n", i, txmsg.cm_data[i], rxmsg.cm_data[i]); @@ -230,7 +250,7 @@ int MAIN_NAME(int argc, char *argv[]) msgdata += msgdlc; - if (++msgid >= 2048) + if (++msgid >= MAX_ID) { msgid = 1; } diff --git a/nuttx/ChangeLog b/nuttx/ChangeLog index 5276d2f03..c2ad02c0c 100644 --- a/nuttx/ChangeLog +++ b/nuttx/ChangeLog @@ -2382,4 +2382,8 @@ register. * arch/arm/src/lpc17xx/lpc17_can.c: Added "advanced" configuration options to specify the CAN TSEG1 and TSEG2 clock counts specifically. + * include/nuttx/can.h and drivers/can.c: Add support for extended (29-bit) + CAN IDs. + * arch/arm/src/lpc17xx/lpc17_can.c: Add support for extended (29-bit) CAN IDs. + * arch/arm/src/stm32/stm32_can.c: Add support for extended (29-bit) CAN IDs. diff --git a/nuttx/arch/arm/src/lpc17xx/lpc17_can.c b/nuttx/arch/arm/src/lpc17xx/lpc17_can.c index 0494904cf..409785d29 100755 --- a/nuttx/arch/arm/src/lpc17xx/lpc17_can.c +++ b/nuttx/arch/arm/src/lpc17xx/lpc17_can.c @@ -745,20 +745,39 @@ static int can_remoterequest(FAR struct can_dev_s *dev, uint16_t id) static int can_send(FAR struct can_dev_s *dev, FAR struct can_msg_s *msg) { FAR struct up_dev_s *priv = (FAR struct up_dev_s *)dev->cd_priv; - uint32_t tid = CAN_ID(msg->cm_hdr); - uint32_t tfi = CAN_DLC(msg->cm_hdr) << 16; + uint32_t tid = (uint32_t)msg->cm_hdr.ch_id; + uint32_t tfi = (uint32_t)msg->cm_hdr.ch_dlc << 16; uint32_t regval; irqstate_t flags; int ret = OK; - canvdbg("CAN%d ID: %d DLC: %d\n", - priv->port, CAN_ID(msg->cm_hdr), CAN_DLC(msg->cm_hdr)); + canvdbg("CAN%d ID: %d DLC: %d\n", priv->port, msg->cm_hdr.ch_id, msg->cm_hdr.ch_dlc); - if (CAN_RTR(msg->cm_hdr)) + if (msg->cm_hdr.ch_rtr) { tfi |= CAN_TFI_RTR; } + /* Set the FF bit in the TFI register if this message should be sent with + * the extended frame format (and 29-bit extened ID). + */ + +#ifdef CONFIG_CAN_EXTID + if (msg->cm_hdr.ch_extid) + { + /* The provided ID should be 29 bits */ + + DEBUGASSERT((tid & ~CAN_TID_ID29_MASK) == 0); + tfi |= CAN_TFI_FF; + } + else +#endif + { + /* The provided ID should be 11 bits */ + + DEBUGASSERT((tid & ~CAN_TID_ID11_MASK) == 0); + } + flags = irqsave(); /* Pick a transmit buffer */ @@ -927,14 +946,11 @@ static bool can_txempty(FAR struct can_dev_s *dev) static void can_interrupt(FAR struct can_dev_s *dev) { FAR struct up_dev_s *priv = (FAR struct up_dev_s *)dev->cd_priv; + struct can_hdr_s hdr; uint32_t data[2]; uint32_t rfs; uint32_t rid; uint32_t regval; - uint16_t hdr; - uint16_t id; - uint16_t dlc; - uint16_t rtr; /* Read the interrupt and capture register (also clearing most status bits) */ @@ -956,14 +972,23 @@ static void can_interrupt(FAR struct can_dev_s *dev) /* Construct the CAN header */ - id = rid & CAN_RID_ID11_MASK; - dlc = (rfs & CAN_RFS_DLC_MASK) >> CAN_RFS_DLC_SHIFT; - rtr = ((rfs & CAN_RFS_RTR) != 0); - hdr = CAN_HDR(id, rtr, dlc); - - /* Process the received CAN packet */ + hdr.ch_id = rid; + hdr.ch_rtr = ((rfs & CAN_RFS_RTR) != 0); + hdr.ch_dlc = (rfs & CAN_RFS_DLC_MASK) >> CAN_RFS_DLC_SHIFT; +#ifdef CONFIG_CAN_EXTID + hdr.ch_extid = ((rfs & CAN_RFS_FF) != 0); +#else + if ((rfs & CAN_RFS_FF) != 0) + { + canlldbg("ERROR: Received message with extended identifier. Dropped\n"); + } + else +#endif + { + /* Process the received CAN packet */ - can_receive(dev, hdr, (uint8_t *)data); + can_receive(dev, &hdr, (uint8_t *)data); + } } /* Check for TX buffer 1 complete */ diff --git a/nuttx/arch/arm/src/stm32/chip/stm32_can.h b/nuttx/arch/arm/src/stm32/chip/stm32_can.h index b8a0eee91..6eb757263 100644 --- a/nuttx/arch/arm/src/stm32/chip/stm32_can.h +++ b/nuttx/arch/arm/src/stm32/chip/stm32_can.h @@ -367,8 +367,8 @@ #define CAN_TIR_TXRQ (1 << 0) /* Bit 0: Transmit Mailbox Request */ #define CAN_TIR_RTR (1 << 1) /* Bit 1: Remote Transmission Request */ #define CAN_TIR_IDE (1 << 2) /* Bit 2: Identifier Extension */ -#define CAN_TIR_EXID_SHIFT (3) /* Bit 3-20: Extended Identifier */ -#define CAN_TIR_EXID_MASK (0x0003ffff << CAN_TIR_EXID_SHIFT) +#define CAN_TIR_EXID_SHIFT (3) /* Bit 3-31: Extended Identifier */ +#define CAN_TIR_EXID_MASK (0x1fffffff << CAN_TIR_EXID_SHIFT) #define CAN_TIR_STID_SHIFT (21) /* Bits 21-31: Standard Identifier */ #define CAN_TIR_STID_MASK (0x07ff << CAN_TIR_STID_SHIFT) @@ -406,8 +406,8 @@ #define CAN_RIR_RTR (1 << 1) /* Bit 1: Remote Transmission Request */ #define CAN_RIR_IDE (1 << 2) /* Bit 2: Identifier Extension */ -#define CAN_RIR_EXID_SHIFT (3) /* Bit 3-20: Extended Identifier */ -#define CAN_RIR_EXID_MASK (0x0003ffff << CAN_RIR_EXID_SHIFT) +#define CAN_RIR_EXID_SHIFT (3) /* Bit 3-31: Extended Identifier */ +#define CAN_RIR_EXID_MASK (0x1fffffff << CAN_RIR_EXID_SHIFT) #define CAN_RIR_STID_SHIFT (21) /* Bits 21-31: Standard Identifier */ #define CAN_RIR_STID_MASK (0x07ff << CAN_RIR_STID_SHIFT) diff --git a/nuttx/arch/arm/src/stm32/stm32_can.c b/nuttx/arch/arm/src/stm32/stm32_can.c index 8f5a6b8b1..5df6de4f7 100755 --- a/nuttx/arch/arm/src/stm32/stm32_can.c +++ b/nuttx/arch/arm/src/stm32/stm32_can.c @@ -783,8 +783,7 @@ static int can_send(FAR struct can_dev_s *dev, FAR struct can_msg_s *msg) int dlc; int txmb; - canllvdbg("CAN%d ID: %d DLC: %d\n", - priv->port, CAN_ID(msg->cm_hdr), CAN_DLC(msg->cm_hdr)); + canllvdbg("CAN%d ID: %d DLC: %d\n", priv->port, msg->cm_hdr.ch_id, msg->cm_hdr.ch_dlc); /* Select one empty transmit mailbox */ @@ -813,20 +812,29 @@ static int can_send(FAR struct can_dev_s *dev, FAR struct can_msg_s *msg) regval &= ~(CAN_TIR_TXRQ | CAN_TIR_RTR | CAN_TIR_IDE | CAN_TIR_EXID_MASK | CAN_TIR_STID_MASK); can_putreg(priv, STM32_CAN_TIR_OFFSET(txmb), regval); - /* Set up the ID. Only standard (11-bit) CAN identifiers are supported - * (the STM32 supports extended, 29-bit identifiers, but this method does - * not). - * - * Get the 11-bit identifier from the header bits 0-7 and 13-15. - */ + /* Set up the ID, standard 11-bit or extended 29-bit. */ +#ifdef CONFIG_CAN_EXTID + regval &= ~CAN_TIR_EXID_MASK; + if (msg->cm_hdr.ch_extid) + { + DEBUGASSERT(msg->cm_hdr.ch_id < (1 << 29)); + regval |= (msg->cm_hdr.ch_id << CAN_TIR_EXID_SHIFT) | CAN_TIR_IDE; + } + else + { + DEBUGASSERT(msg->cm_hdr.ch_id < (1 << 11)); + regval |= msg->cm_hdr.ch_id << CAN_TIR_STID_SHIFT; + } +#else regval &= ~CAN_TIR_STID_MASK; - regval |= (uint32_t)CAN_ID(msg->cm_hdr) << CAN_TIR_STID_SHIFT; + regval |= (uint32_t)msg->cm_hdr.ch_id << CAN_TIR_STID_SHIFT; +#endif can_putreg(priv, STM32_CAN_TIR_OFFSET(txmb), regval); /* Set up the DLC */ - dlc = CAN_DLC(msg->cm_hdr); + dlc = msg->cm_hdr.ch_dlc; regval = can_getreg(priv, STM32_CAN_TDTR_OFFSET(txmb)); regval &= ~(CAN_TDTR_DLC_MASK | CAN_TDTR_TGT); regval |= (uint32_t)dlc << CAN_TDTR_DLC_SHIFT; @@ -989,12 +997,10 @@ static int can_rx0interrupt(int irq, void *context) { FAR struct can_dev_s *dev = NULL; FAR struct stm32_can_s *priv; + struct can_hdr_s hdr; uint8_t data[CAN_MAXDATALEN]; uint32_t regval; int npending; - int id; - int rtr; - int dlc; int ret; #if defined(CONFIG_STM32_CAN1) && defined(CONFIG_STM32_CAN2) @@ -1029,9 +1035,21 @@ static int can_rx0interrupt(int irq, void *context) can_dumpmbregs(priv, "RX0 interrupt"); - /* Get the CAN identifier. Only standard 11-bit IDs are supported */ + /* Get the CAN identifier. */ regval = can_getreg(priv, STM32_CAN_RI0R_OFFSET); +#ifdef CONFIG_CAN_EXTID + if ((regval & CAN_RIR_IDE) != 0) + { + hdr.ch_id = (regval & CAN_RIR_EXID_MASK) >> CAN_RIR_EXID_SHIFT; + hdr.ch_extid = true; + } + else + { + hdr.ch_id = (regval & CAN_RIR_STID_MASK) >> CAN_RIR_STID_SHIFT; + hdr.ch_extid = false; + } +#else if ((regval & CAN_RIR_IDE) != 0) { canlldbg("ERROR: Received message with extended identifier. Dropped\n"); @@ -1039,16 +1057,17 @@ static int can_rx0interrupt(int irq, void *context) goto errout; } - id = (regval & CAN_RIR_STID_MASK) >> CAN_RIR_STID_SHIFT; + hdr.ch_id = (regval & CAN_RIR_STID_MASK) >> CAN_RIR_STID_SHIFT; +#endif - /* Get the Remote Transmission Request (RTR) */ + /* Extract the RTR bit */ - rtr = (regval & CAN_RIR_RTR) != 0 ? 1 : 0; + hdr.ch_rtr = (regval & CAN_RIR_RTR) != 0 ? true : false; /* Get the DLC */ - regval = can_getreg(priv, STM32_CAN_RDT0R_OFFSET); - dlc = (regval & CAN_RDTR_DLC_MASK) >> CAN_RDTR_DLC_SHIFT; + regval = can_getreg(priv, STM32_CAN_RDT0R_OFFSET); + hdr.ch_dlc = (regval & CAN_RDTR_DLC_MASK) >> CAN_RDTR_DLC_SHIFT; /* Save the message data */ @@ -1066,11 +1085,13 @@ static int can_rx0interrupt(int irq, void *context) /* Provide the data to the upper half driver */ - ret = can_receive(dev, (uint16_t)CAN_HDR(id, rtr, dlc), data); + ret = can_receive(dev, &hdr, data); /* Release the FIFO0 */ +#ifndef CONFIG_CAN_EXTID errout: +#endif regval = can_getreg(priv, STM32_CAN_RF0R_OFFSET); regval |= CAN_RFR_RFOM; can_putreg(priv, STM32_CAN_RF0R_OFFSET, regval); diff --git a/nuttx/configs/README.txt b/nuttx/configs/README.txt index 27b3954d5..50938a603 100644 --- a/nuttx/configs/README.txt +++ b/nuttx/configs/README.txt @@ -646,13 +646,15 @@ defconfig -- This is a configuration file similar to the Linux CONFIG_CAN - Enables CAN support (one or both of CONFIG_STM32_CAN1 or CONFIG_STM32_CAN2 must also be defined) + CONFIG_CAN_EXTID - Enables support for the 29-bit extended ID. Default + Standard 11-bit IDs. CONFIG_CAN_FIFOSIZE - The size of the circular buffer of CAN messages. Default: 8 CONFIG_CAN_NPENDINGRTR - The size of the list of pending RTR requests. Default: 4 CONFIG_CAN_LOOPBACK - A CAN driver may or may not support a loopback - mode for testing. If the driver does support loopback mode, the setting - will enable it. (If the driver does not, this setting will have no effect). + mode for testing. If the driver does support loopback mode, the setting + will enable it. (If the driver does not, this setting will have no effect). SPI driver diff --git a/nuttx/configs/hymini-stm32v/README.txt b/nuttx/configs/hymini-stm32v/README.txt index 6fda883a6..6ed3bc452 100755 --- a/nuttx/configs/hymini-stm32v/README.txt +++ b/nuttx/configs/hymini-stm32v/README.txt @@ -472,6 +472,8 @@ HY-Mini specific Configuration Options CONFIG_CAN - Enables CAN support (one or both of CONFIG_STM32_CAN1 or CONFIG_STM32_CAN2 must also be defined) + CONFIG_CAN_EXTID - Enables support for the 29-bit extended ID. Default + Standard 11-bit IDs. CONFIG_CAN_FIFOSIZE - The size of the circular buffer of CAN messages. Default: 8 CONFIG_CAN_NPENDINGRTR - The size of the list of pending RTR requests. diff --git a/nuttx/configs/lpcxpresso-lpc1768/README.txt b/nuttx/configs/lpcxpresso-lpc1768/README.txt index 76cf35e7a..9df5648dc 100755 --- a/nuttx/configs/lpcxpresso-lpc1768/README.txt +++ b/nuttx/configs/lpcxpresso-lpc1768/README.txt @@ -647,6 +647,8 @@ LPCXpresso Configuration Options LPC17xx specific CAN device driver settings. These settings all require CONFIG_CAN: + CONFIG_CAN_EXTID - Enables support for the 29-bit extended ID. Default + Standard 11-bit IDs. CONFIG_CAN1_BAUD - CAN1 BAUD rate. Required if CONFIG_LPC17_CAN1 is defined. CONFIG_CAN2_BAUD - CAN1 BAUD rate. Required if CONFIG_LPC17_CAN2 is defined. CONFIG_CAN1_DIVISOR - CAN1 is clocked at CCLK divided by this number. diff --git a/nuttx/configs/mbed/README.txt b/nuttx/configs/mbed/README.txt index 94d87b275..3366ed320 100755 --- a/nuttx/configs/mbed/README.txt +++ b/nuttx/configs/mbed/README.txt @@ -287,6 +287,8 @@ mbed Configuration Options LPC17xx specific CAN device driver settings. These settings all require CONFIG_CAN: + CONFIG_CAN_EXTID - Enables support for the 29-bit extended ID. Default + Standard 11-bit IDs. CONFIG_CAN1_BAUD - CAN1 BAUD rate. Required if CONFIG_LPC17_CAN1 is defined. CONFIG_CAN2_BAUD - CAN1 BAUD rate. Required if CONFIG_LPC17_CAN2 is defined. CONFIG_CAN1_DIVISOR - CAN1 is clocked at CCLK divided by this number. diff --git a/nuttx/configs/nucleus2g/README.txt b/nuttx/configs/nucleus2g/README.txt index 35bb31d5c..df4776301 100755 --- a/nuttx/configs/nucleus2g/README.txt +++ b/nuttx/configs/nucleus2g/README.txt @@ -399,6 +399,8 @@ Nucleus 2G Configuration Options LPC17xx specific CAN device driver settings. These settings all require CONFIG_CAN: + CONFIG_CAN_EXTID - Enables support for the 29-bit extended ID. Default + Standard 11-bit IDs. CONFIG_CAN1_BAUD - CAN1 BAUD rate. Required if CONFIG_LPC17_CAN1 is defined. CONFIG_CAN2_BAUD - CAN1 BAUD rate. Required if CONFIG_LPC17_CAN2 is defined. CONFIG_CAN1_DIVISOR - CAN1 is clocked at CCLK divided by this number. diff --git a/nuttx/configs/olimex-lpc1766stk/README.txt b/nuttx/configs/olimex-lpc1766stk/README.txt index bf2f9a26d..b2a1ad5fa 100755 --- a/nuttx/configs/olimex-lpc1766stk/README.txt +++ b/nuttx/configs/olimex-lpc1766stk/README.txt @@ -696,6 +696,8 @@ Olimex LPC1766-STK Configuration Options LPC17xx specific CAN device driver settings. These settings all require CONFIG_CAN: + CONFIG_CAN_EXTID - Enables support for the 29-bit extended ID. Default + Standard 11-bit IDs. CONFIG_CAN1_BAUD - CAN1 BAUD rate. Required if CONFIG_LPC17_CAN1 is defined. CONFIG_CAN2_BAUD - CAN1 BAUD rate. Required if CONFIG_LPC17_CAN2 is defined. CONFIG_CAN1_DIVISOR - CAN1 is clocked at CCLK divided by this number. diff --git a/nuttx/configs/olimex-lpc1766stk/nsh/defconfig b/nuttx/configs/olimex-lpc1766stk/nsh/defconfig index fb163ef41..8dc17a0e2 100755 --- a/nuttx/configs/olimex-lpc1766stk/nsh/defconfig +++ b/nuttx/configs/olimex-lpc1766stk/nsh/defconfig @@ -631,6 +631,8 @@ CONFIG_NET_RESOLV_ENTRIES=4 # # CONFIG_CAN - Enables CAN support (one or both of CONFIG_LPC17_CAN1 or # CONFIG_LPC17_CAN2 must also be defined) +# CONFIG_CAN_EXTID - Enables support for the 29-bit extended ID. Default +# Standard 11-bit IDs. # CONFIG_CAN_FIFOSIZE - The size of the circular buffer of CAN messages. # Default: 8 # CONFIG_CAN_NPENDINGRTR - The size of the list of pending RTR requests. @@ -641,6 +643,7 @@ CONFIG_NET_RESOLV_ENTRIES=4 # CONFIG_CAN2_BAUD - CAN1 BAUD rate. Required if CONFIG_LPC17_CAN2 is defined. # CONFIG_CAN=n +CONFIG_CAN_EXTID=n #CONFIG_CAN_FIFOSIZE #CONFIG_CAN_NPENDINGRTR CONFIG_CAN_LOOPBACK=n diff --git a/nuttx/configs/stm3210e-eval/README.txt b/nuttx/configs/stm3210e-eval/README.txt index 92c9f4044..c9dab1737 100755 --- a/nuttx/configs/stm3210e-eval/README.txt +++ b/nuttx/configs/stm3210e-eval/README.txt @@ -562,6 +562,8 @@ STM3210E-EVAL-specific Configuration Options CONFIG_CAN - Enables CAN support (one or both of CONFIG_STM32_CAN1 or CONFIG_STM32_CAN2 must also be defined) + CONFIG_CAN_EXTID - Enables support for the 29-bit extended ID. Default + Standard 11-bit IDs. CONFIG_CAN_FIFOSIZE - The size of the circular buffer of CAN messages. Default: 8 CONFIG_CAN_NPENDINGRTR - The size of the list of pending RTR requests. diff --git a/nuttx/configs/stm3210e-eval/ostest/defconfig b/nuttx/configs/stm3210e-eval/ostest/defconfig index 17fa1b0e7..14a3542db 100755 --- a/nuttx/configs/stm3210e-eval/ostest/defconfig +++ b/nuttx/configs/stm3210e-eval/ostest/defconfig @@ -246,6 +246,8 @@ CONFIG_STM32_R61580_DISABLE=y # # CONFIG_CAN - Enables CAN support (one or both of CONFIG_STM32_CAN1 or # CONFIG_STM32_CAN2 must also be defined) +# CONFIG_CAN_EXTID - Enables support for the 29-bit extended ID. Default +# Standard 11-bit IDs. # CONFIG_CAN_FIFOSIZE - The size of the circular buffer of CAN messages. # Default: 8 # CONFIG_CAN_NPENDINGRTR - The size of the list of pending RTR requests. @@ -258,6 +260,7 @@ CONFIG_STM32_R61580_DISABLE=y # CONFIG_CAN_TSEG2 - the number of CAN time quanta in segment 2. Default: 7 # CONFIG_CAN=n +CONFIG_CAN_EXTID=n #CONFIG_CAN_FIFOSIZE #CONFIG_CAN_NPENDINGRTR CONFIG_CAN_LOOPBACK=n diff --git a/nuttx/configs/stm3240g-eval/README.txt b/nuttx/configs/stm3240g-eval/README.txt index 238e2ad23..5421e8593 100755 --- a/nuttx/configs/stm3240g-eval/README.txt +++ b/nuttx/configs/stm3240g-eval/README.txt @@ -273,7 +273,9 @@ Configuration Options: CONFIG_CAN - Enables CAN support (one or both of CONFIG_STM32_CAN1 or CONFIG_STM32_CAN2 must also be defined) - CONFIG_CAN_FIFOSIZE - The size of the circular buffer of CAN messages. + CONFIG_CAN_EXTID - Enables support for the 29-bit extended ID. Default + Standard 11-bit IDs. + CONFIG_CAN_FIFOSIZE - The size of the circular buffer of CAN messages. Default: 8 CONFIG_CAN_NPENDINGRTR - The size of the list of pending RTR requests. Default: 4 @@ -656,6 +658,7 @@ Where <subdir> is one of the following: must be manually enabled by selecting: CONFIG_CAN=y : Enable the generic CAN infrastructure + CONFIG_CAN_EXID=y or n : Enable to support extended ID frames CONFIG_STM32_CAN1=y : Enable CAN1 CONFIG_CAN_LOOPBACK=y : Enable CAN loopback mode diff --git a/nuttx/configs/stm3240g-eval/dhcpd/defconfig b/nuttx/configs/stm3240g-eval/dhcpd/defconfig index 17fa324d9..97621f7a7 100755 --- a/nuttx/configs/stm3240g-eval/dhcpd/defconfig +++ b/nuttx/configs/stm3240g-eval/dhcpd/defconfig @@ -261,6 +261,8 @@ CONFIG_SSI_POLLWAIT=y # # CONFIG_CAN - Enables CAN support (one or both of CONFIG_STM32_CAN1 or # CONFIG_STM32_CAN2 must also be defined) +# CONFIG_CAN_EXTID - Enables support for the 29-bit extended ID. Default +# Standard 11-bit IDs. # CONFIG_CAN_FIFOSIZE - The size of the circular buffer of CAN messages. # Default: 8 # CONFIG_CAN_NPENDINGRTR - The size of the list of pending RTR requests. @@ -271,6 +273,7 @@ CONFIG_SSI_POLLWAIT=y # CONFIG_CAN2_BAUD - CAN1 BAUD rate. Required if CONFIG_STM32_CAN2 is defined. # CONFIG_CAN=n +CONFIG_CAN_EXTID=n #CONFIG_CAN_FIFOSIZE #CONFIG_CAN_NPENDINGRTR CONFIG_CAN_LOOPBACK=n diff --git a/nuttx/configs/stm3240g-eval/nettest/defconfig b/nuttx/configs/stm3240g-eval/nettest/defconfig index 216cbee48..fd443c8a3 100755 --- a/nuttx/configs/stm3240g-eval/nettest/defconfig +++ b/nuttx/configs/stm3240g-eval/nettest/defconfig @@ -261,6 +261,8 @@ CONFIG_SSI_POLLWAIT=y # # CONFIG_CAN - Enables CAN support (one or both of CONFIG_STM32_CAN1 or # CONFIG_STM32_CAN2 must also be defined) +# CONFIG_CAN_EXTID - Enables support for the 29-bit extended ID. Default +# Standard 11-bit IDs. # CONFIG_CAN_FIFOSIZE - The size of the circular buffer of CAN messages. # Default: 8 # CONFIG_CAN_NPENDINGRTR - The size of the list of pending RTR requests. @@ -271,6 +273,7 @@ CONFIG_SSI_POLLWAIT=y # CONFIG_CAN2_BAUD - CAN1 BAUD rate. Required if CONFIG_STM32_CAN2 is defined. # CONFIG_CAN=n +CONFIG_CAN_EXTID=n #CONFIG_CAN_FIFOSIZE #CONFIG_CAN_NPENDINGRTR CONFIG_CAN_LOOPBACK=n diff --git a/nuttx/configs/stm3240g-eval/nsh/defconfig b/nuttx/configs/stm3240g-eval/nsh/defconfig index 6135fa3e1..a218f62bc 100755 --- a/nuttx/configs/stm3240g-eval/nsh/defconfig +++ b/nuttx/configs/stm3240g-eval/nsh/defconfig @@ -261,6 +261,8 @@ CONFIG_SSI_POLLWAIT=y # # CONFIG_CAN - Enables CAN support (one or both of CONFIG_STM32_CAN1 or # CONFIG_STM32_CAN2 must also be defined) +# CONFIG_CAN_EXTID - Enables support for the 29-bit extended ID. Default +# Standard 11-bit IDs. # CONFIG_CAN_FIFOSIZE - The size of the circular buffer of CAN messages. # Default: 8 # CONFIG_CAN_NPENDINGRTR - The size of the list of pending RTR requests. @@ -273,6 +275,7 @@ CONFIG_SSI_POLLWAIT=y # CONFIG_CAN_TSEG2 - the number of CAN time quanta in segment 2. Default: 7 # CONFIG_CAN=n +CONFIG_CAN_EXTID=n #CONFIG_CAN_FIFOSIZE #CONFIG_CAN_NPENDINGRTR CONFIG_CAN_LOOPBACK=n diff --git a/nuttx/configs/stm3240g-eval/ostest/defconfig b/nuttx/configs/stm3240g-eval/ostest/defconfig index 2b18c69a2..8c56c86c3 100755 --- a/nuttx/configs/stm3240g-eval/ostest/defconfig +++ b/nuttx/configs/stm3240g-eval/ostest/defconfig @@ -261,6 +261,8 @@ CONFIG_SSI_POLLWAIT=y # # CONFIG_CAN - Enables CAN support (one or both of CONFIG_STM32_CAN1 or # CONFIG_STM32_CAN2 must also be defined) +# CONFIG_CAN_EXTID - Enables support for the 29-bit extended ID. Default +# Standard 11-bit IDs. # CONFIG_CAN_FIFOSIZE - The size of the circular buffer of CAN messages. # Default: 8 # CONFIG_CAN_NPENDINGRTR - The size of the list of pending RTR requests. @@ -273,6 +275,7 @@ CONFIG_SSI_POLLWAIT=y # CONFIG_CAN_TSEG2 - the number of CAN time quanta in segment 2. Default: 7 # CONFIG_CAN=n +CONFIG_CAN_EXTID=n #CONFIG_CAN_FIFOSIZE #CONFIG_CAN_NPENDINGRTR CONFIG_CAN_LOOPBACK=n diff --git a/nuttx/configs/stm32f4discovery/README.txt b/nuttx/configs/stm32f4discovery/README.txt index 405639c9c..2e05b2c40 100755 --- a/nuttx/configs/stm32f4discovery/README.txt +++ b/nuttx/configs/stm32f4discovery/README.txt @@ -402,6 +402,8 @@ stm32f4discovery-specific Configuration Options CONFIG_CAN - Enables CAN support (one or both of CONFIG_STM32_CAN1 or CONFIG_STM32_CAN2 must also be defined) + CONFIG_CAN_EXTID - Enables support for the 29-bit extended ID. Default + Standard 11-bit IDs. CONFIG_CAN_FIFOSIZE - The size of the circular buffer of CAN messages. Default: 8 CONFIG_CAN_NPENDINGRTR - The size of the list of pending RTR requests. diff --git a/nuttx/configs/stm32f4discovery/nsh/defconfig b/nuttx/configs/stm32f4discovery/nsh/defconfig index 529716409..abf1b8bbc 100755 --- a/nuttx/configs/stm32f4discovery/nsh/defconfig +++ b/nuttx/configs/stm32f4discovery/nsh/defconfig @@ -248,6 +248,8 @@ CONFIG_SPI_EXCHANGE=y # # CONFIG_CAN - Enables CAN support (one or both of CONFIG_STM32_CAN1 or # CONFIG_STM32_CAN2 must also be defined) +# CONFIG_CAN_EXTID - Enables support for the 29-bit extended ID. Default +# Standard 11-bit IDs. # CONFIG_CAN_FIFOSIZE - The size of the circular buffer of CAN messages. # Default: 8 # CONFIG_CAN_NPENDINGRTR - The size of the list of pending RTR requests. @@ -258,6 +260,7 @@ CONFIG_SPI_EXCHANGE=y # CONFIG_CAN2_BAUD - CAN1 BAUD rate. Required if CONFIG_STM32_CAN2 is defined. # CONFIG_CAN=n +CONFIG_CAN_EXTID=n #CONFIG_CAN_FIFOSIZE #CONFIG_CAN_NPENDINGRTR CONFIG_CAN_LOOPBACK=n diff --git a/nuttx/configs/stm32f4discovery/ostest/defconfig b/nuttx/configs/stm32f4discovery/ostest/defconfig index f3b8e73f0..57cd9129f 100755 --- a/nuttx/configs/stm32f4discovery/ostest/defconfig +++ b/nuttx/configs/stm32f4discovery/ostest/defconfig @@ -261,6 +261,8 @@ CONFIG_SSI_POLLWAIT=y # # CONFIG_CAN - Enables CAN support (one or both of CONFIG_STM32_CAN1 or # CONFIG_STM32_CAN2 must also be defined) +# CONFIG_CAN_EXTID - Enables support for the 29-bit extended ID. Default +# Standard 11-bit IDs. # CONFIG_CAN_FIFOSIZE - The size of the circular buffer of CAN messages. # Default: 8 # CONFIG_CAN_NPENDINGRTR - The size of the list of pending RTR requests. @@ -271,6 +273,7 @@ CONFIG_SSI_POLLWAIT=y # CONFIG_CAN2_BAUD - CAN1 BAUD rate. Required if CONFIG_STM32_CAN2 is defined. # CONFIG_CAN=n +CONFIG_CAN_EXTID=n #CONFIG_CAN_FIFOSIZE #CONFIG_CAN_NPENDINGRTR CONFIG_CAN_LOOPBACK=n diff --git a/nuttx/drivers/can.c b/nuttx/drivers/can.c index ec61fef17..3c9ea28fc 100644 --- a/nuttx/drivers/can.c +++ b/nuttx/drivers/can.c @@ -325,7 +325,7 @@ static ssize_t can_read(FAR struct file *filep, FAR char *buffer, size_t buflen) /* Will the next message in the FIFO fit into the user buffer? */ FAR struct can_msg_s *msg = &dev->cd_recv.rx_buffer[dev->cd_recv.rx_head]; - int msglen = CAN_MSGLEN(msg->cm_hdr); + int msglen = CAN_MSGLEN(msg->cm_hdr.ch_dlc); if (nread + msglen > buflen) { @@ -532,7 +532,7 @@ static ssize_t can_write(FAR struct file *filep, FAR const char *buffer, size_t */ msg = (FAR struct can_msg_s *)&buffer[nsent]; - msglen = CAN_MSGLEN(msg->cm_hdr); + msglen = CAN_MSGLEN(msg->cm_hdr.ch_dlc); memcpy(&fifo->tx_buffer[fifo->tx_tail], msg, msglen); /* Increment the tail of the circular buffer */ @@ -706,7 +706,7 @@ int can_register(FAR const char *path, FAR struct can_dev_s *dev) * ************************************************************************************/ -int can_receive(FAR struct can_dev_s *dev, uint16_t hdr, FAR uint8_t *data) +int can_receive(FAR struct can_dev_s *dev, FAR struct can_hdr_s *hdr, FAR uint8_t *data) { FAR struct can_rxfifo_s *fifo = &dev->cd_recv; FAR uint8_t *dest; @@ -714,7 +714,7 @@ int can_receive(FAR struct can_dev_s *dev, uint16_t hdr, FAR uint8_t *data) int err = -ENOMEM; int i; - canllvdbg("ID: %d DLC: %d\n", CAN_ID(hdr), CAN_DLC(hdr)); + canllvdbg("ID: %d DLC: %d\n", hdr->ch_id, hdr->ch_dlc); /* Check if adding this new message would over-run the drivers ability to enqueue * read data. @@ -743,12 +743,12 @@ int can_receive(FAR struct can_dev_s *dev, uint16_t hdr, FAR uint8_t *data) * a non-NULL receiving address */ - if (msg && CAN_ID(hdr) == rtr->cr_id) + if (msg && hdr->ch_id == rtr->cr_id) { /* We have the response... copy the data to the user's buffer */ - msg->cm_hdr = hdr; - for (i = 0, dest = msg->cm_data; i < CAN_DLC(hdr); i++) + memcpy(&msg->cm_hdr, hdr, sizeof(struct can_hdr_s)); + for (i = 0, dest = msg->cm_data; i < hdr->ch_dlc; i++) { *dest++ = *data++; } @@ -770,8 +770,8 @@ int can_receive(FAR struct can_dev_s *dev, uint16_t hdr, FAR uint8_t *data) { /* Add the new, decoded CAN message at the tail of the FIFO */ - fifo->rx_buffer[fifo->rx_tail].cm_hdr = hdr; - for (i = 0, dest = fifo->rx_buffer[fifo->rx_tail].cm_data; i < CAN_DLC(hdr); i++) + memcpy(&fifo->rx_buffer[fifo->rx_tail].cm_hdr, hdr, sizeof(struct can_hdr_s)); + for (i = 0, dest = fifo->rx_buffer[fifo->rx_tail].cm_data; i < hdr->ch_dlc; i++) { *dest++ = *data++; } diff --git a/nuttx/include/nuttx/can.h b/nuttx/include/nuttx/can.h index cd8016c81..0ad45ed1e 100644 --- a/nuttx/include/nuttx/can.h +++ b/nuttx/include/nuttx/can.h @@ -54,6 +54,19 @@ /************************************************************************************ * Pre-processor Definitions ************************************************************************************/ +/* Configuration ********************************************************************/ +/* CONFIG_CAN - Enables CAN support (one or both of CONFIG_STM32_CAN1 or + * CONFIG_STM32_CAN2 must also be defined) + * CONFIG_CAN_EXTID - Enables support for the 29-bit extended ID. Default + * Standard 11-bit IDs. + * CONFIG_CAN_FIFOSIZE - The size of the circular buffer of CAN messages. + * Default: 8 + * CONFIG_CAN_NPENDINGRTR - The size of the list of pending RTR requests. + * Default: 4 + * CONFIG_CAN_LOOPBACK - A CAN driver may or may not support a loopback + * mode for testing. If the driver does support loopback mode, the setting + * will enable it. (If the driver does not, this setting will have no effect). + */ /* Default configuration settings that may be overridden in the NuttX configuration * file or in the board configuration file. The configured size is limited to 255 @@ -90,14 +103,10 @@ /* CAN message support */ #define CAN_MAXDATALEN 8 -#define CAN_MAXMSGID 0x07ff - -#define CAN_ID(hdr) ((uint16_t)(hdr) >> 5) -#define CAN_RTR(hdr) (((hdr) & 0x0010) != 0) -#define CAN_DLC(hdr) ((hdr) & 0x0f) -#define CAN_MSGLEN(hdr) (sizeof(struct can_msg_s) - (CAN_MAXDATALEN - CAN_DLC(hdr))) +#define CAN_MAX_MSGID 0x07ff +#define CAN_MAX_EXTMSGID 0x1fffffff -#define CAN_HDR(id, rtr, dlc) ((uint16_t)id << 5 | (uint16_t)rtr << 4 | (uint16_t)dlc) +#define CAN_MSGLEN(nbytes) (sizeof(struct can_msg_s) - CAN_MAXDATALEN + (nbytes)) /* Built-in ioctl commands * @@ -115,16 +124,29 @@ /************************************************************************************ * Public Types ************************************************************************************/ -/* CAN-message Format +/* CAN-message Format (without Extended ID suppport) + * + * One based CAN-message is represented with a maximum of 10 bytes. A message is + * composed of at least the first 2 bytes (when there are no data bytes present). * - * One CAN-message consists of a maximum of 10 bytes. A message is composed of at - * least the first 2 bytes (when there are no data bytes). + * Bytes 0-1: Hold a 16-bit value in host byte order + * Bits 0-3: Data Length Code (DLC) + * Bit 4: Remote Tranmission Request (RTR) + * Bits 5-15: The 11-bit CAN identifier + * + * Bytes 2-9: CAN data * - * Byte 0: Bits 0-7: Bits 3-10 of the 11-bit CAN identifier - * Byte 1: Bits 5-7: Bits 0-2 of the 11-bit CAN identifier - * Bit 4: Remote Tranmission Request (RTR) - * Bits 0-3: Data Length Code (DLC) - * Bytes 2-10: CAN data + * CAN-message Format (with Extended ID suppport) + * + * One CAN-message consists of a maximum of 13 bytes. A message is composed of at + * least the first 5 bytes (when there are no data bytes). + * + * Bytes 0-3: Hold 11- or 29-bit CAN ID in host byte order + * Byte 4: Bits 0-3: Data Length Code (DLC) + * Bit 4: Remote Tranmission Request (RTR) + * Bit 5: Extended ID indication + * Bits 6-7: Unused + * Bytes 5-12: CAN data * * The struct can_msg_s holds this information in a user-friendly, unpacked form. * This is the form that is used at the read() and write() driver interfaces. The @@ -132,10 +154,28 @@ * the CAN_MSGLEN macro. */ +#ifdef CONFIG_CAN_EXTID +struct can_hdr_s +{ + uint32_t ch_id; /* 11- or 29-bit ID (3-bits unsed) */ + uint8_t ch_dlc : 4; /* 4-bit DLC */ + uint8_t ch_rtr : 1; /* RTR indication */ + uint8_t ch_extid : 1; /* Extended ID indication */ + uint8_t ch_unused : 2; /* Unused */ +}; +#else +struct can_hdr_s +{ + uint16_t ch_dlc : 4; /* 4-bit DLC */ + uint16_t ch_rtr : 1; /* RTR indication */ + uint16_t ch_id : 11; /* 11-bit standard ID */ +}; +#endif + struct can_msg_s { - uint16_t cm_hdr; /* The 16-bit CAN header */ - uint8_t cm_data[CAN_MAXDATALEN]; /* CAN message data (0-8 byte) */ + struct can_hdr_s cm_hdr; /* The CAN header */ + uint8_t cm_data[CAN_MAXDATALEN]; /* CAN message data (0-8 byte) */ }; /* This structure defines a CAN message FIFO. */ @@ -303,7 +343,8 @@ EXTERN int can_register(FAR const char *path, FAR struct can_dev_s *dev); * ************************************************************************************/ -EXTERN int can_receive(FAR struct can_dev_s *dev, uint16_t hdr, FAR uint8_t *data); +EXTERN int can_receive(FAR struct can_dev_s *dev, FAR struct can_hdr_s *hdr, + FAR uint8_t *data); /************************************************************************************ * Name: can_txdone |