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canbus: Support reading CAN packets directly from IRQ handler

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Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2021-03-18 15:40:47 -04:00
parent d5a3ef6c40
commit fee84c2afb
3 changed files with 67 additions and 17 deletions
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27
src/stm32/can.c
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@@ -179,8 +179,8 @@ canbus_set_filter(uint32_t id)
/* 32-bit scale for the filter */
SOC_CAN->FS1R = (1<<0) | (1<<1) | (1<<2);
/* FIFO 0 assigned for the filter */
SOC_CAN->FFA1R = 0;
/* FIFO 1 assigned to 'id' */
SOC_CAN->FFA1R = (1<<2);
/* Filter activation */
SOC_CAN->FA1R = (1<<0) | (id ? (1<<1) | (1<<2) : 0);
@@ -192,9 +192,29 @@ canbus_set_filter(uint32_t id)
void
CAN_IRQHandler(void)
{
if (SOC_CAN->RF1R & CAN_RF1R_FMP1) {
// Read and ack data packet
CAN_FIFOMailBox_TypeDef *mb = &SOC_CAN->sFIFOMailBox[1];
uint32_t rir_id = (mb->RIR >> CAN_RI0R_STID_Pos) & 0x7FF;
uint32_t dlc = mb->RDTR & CAN_RDT0R_DLC;
uint32_t rdlr = mb->RDLR, rdhr = mb->RDHR;
SOC_CAN->RF1R = CAN_RF1R_RFOM1;
// Process packet
uint8_t data[8];
data[0] = (rdlr >> 0) & 0xff;
data[1] = (rdlr >> 8) & 0xff;
data[2] = (rdlr >> 16) & 0xff;
data[3] = (rdlr >> 24) & 0xff;
data[4] = (rdhr >> 0) & 0xff;
data[5] = (rdhr >> 8) & 0xff;
data[6] = (rdhr >> 16) & 0xff;
data[7] = (rdhr >> 24) & 0xff;
canbus_process_data(rir_id, dlc, data);
}
uint32_t ier = SOC_CAN->IER;
if (ier & CAN_IER_FMPIE0 && SOC_CAN->RF0R & CAN_RF0R_FMP0) {
// Rx
// Admin Rx
SOC_CAN->IER = ier = ier & ~CAN_IER_FMPIE0;
canbus_notify_rx();
}
@@ -292,6 +312,7 @@ can_init(void)
armcm_enable_irq(CAN_IRQHandler, CAN_RX1_IRQn, 0);
if (CAN_RX0_IRQn != CAN_TX_IRQn)
armcm_enable_irq(CAN_IRQHandler, CAN_TX_IRQn, 0);
SOC_CAN->IER = CAN_IER_FMPIE1;
// Convert unique 96-bit chip id into 48 bit representation
uint64_t hash = fasthash64((uint8_t*)UID_BASE, 12, 0xA16231A7);