Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

NUVOTON: CAN: Fix some issues #15508

Closed
wants to merge 4 commits into from
Closed

NUVOTON: CAN: Fix some issues #15508

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
4 commits
Select commit Hold shift + click to select a range
63bdb26
NUVOTON: CAN: Fix filter mask
ccli8 Apr 10, 2024
bfd4ceb
NUVOTON: CAN: Fix Rx interrupt doesn't work
ccli8 Apr 8, 2024
989a694
NUVOTON: CAN: Fix Message Object number for Tx and recognition of Rx …
ccli8 Apr 12, 2024
e4a55c8
NUVOTON: CAN: Fix filter mask being zero
ccli8 Apr 17, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
40 changes: 32 additions & 8 deletions targets/TARGET_NUVOTON/TARGET_M451/can_api.c
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -27,13 +27,25 @@
#include "nu_miscutil.h"
#include "nu_bitutil.h"
#include "mbed_critical.h"
#include "mbed_error.h"

#define NU_CAN_DEBUG 0
#define CAN_NUM 1

/* Reserve Message Object number 31 for Tx */
#define NU_CAN_MSG_OBJ_NUM_TX 31

/* Max number of message ID filter handle */
#define NU_CAN_MAXNUM_HNDL NU_CAN_MSG_OBJ_NUM_TX

/* Convert to string literal */
#define NU_STR_(X) #X
#define NU_STR(X) NU_STR_(X)

static uintptr_t can_irq_contexts[CAN_NUM] = {0};
static can_irq_handler can0_irq_handler;

extern void CAN_CLR_INT_PENDING_ONLY_BIT(CAN_T *tCAN, uint32_t u32MsgNum);

static const struct nu_modinit_s can_modinit_tab[] = {
{CAN_0, CAN0_MODULE, 0, 0, CAN0_RST, CAN0_IRQn, NULL},
Expand Down Expand Up @@ -125,12 +137,10 @@ static void can_irq(CANName name, int id)
/**************************/
if(can->STATUS & CAN_STATUS_RXOK_Msk) {
can->STATUS &= ~CAN_STATUS_RXOK_Msk; /* Clear Rx Ok status*/
can0_irq_handler(can_irq_contexts[id], IRQ_RX);
}

if(can->STATUS & CAN_STATUS_TXOK_Msk) {
can->STATUS &= ~CAN_STATUS_TXOK_Msk; /* Clear Tx Ok status*/
can0_irq_handler(can_irq_contexts[id], IRQ_TX);
}

/**************************/
Expand All @@ -143,6 +153,14 @@ static void can_irq(CANName name, int id)
if(can->STATUS & CAN_STATUS_BOFF_Msk) {
can0_irq_handler(can_irq_contexts[id], IRQ_BUS);
}
} else if (u8IIDRstatus >= 1 && u8IIDRstatus <= 32) {
if ((u8IIDRstatus - 1) != NU_CAN_MSG_OBJ_NUM_TX) {
can0_irq_handler(can_irq_contexts[id], IRQ_RX);
CAN_CLR_INT_PENDING_ONLY_BIT(can, (u8IIDRstatus -1));
} else {
can0_irq_handler(can_irq_contexts[id], IRQ_TX);
CAN_CLR_INT_PENDING_BIT(can, (u8IIDRstatus -1));
}
} else if (u8IIDRstatus!=0) {

can0_irq_handler(can_irq_contexts[id], IRQ_OVERRUN);
Expand Down Expand Up @@ -213,6 +231,9 @@ void can_irq_set(can_t *obj, CanIrqType irq, uint32_t enable)

int can_write(can_t *obj, CAN_Message msg, int cc)
{
/* Unused */
(void) cc;

STR_CANMSG_T CMsg;

CMsg.IdType = (uint32_t)msg.format;
Expand All @@ -221,7 +242,7 @@ int can_write(can_t *obj, CAN_Message msg, int cc)
CMsg.DLC = msg.len;
memcpy((void *)&CMsg.Data[0],(const void *)&msg.data[0], (unsigned int)8);

return CAN_Transmit((CAN_T *)NU_MODBASE(obj->can), cc, &CMsg);
return CAN_Transmit((CAN_T *)NU_MODBASE(obj->can), NU_CAN_MSG_OBJ_NUM_TX, &CMsg);
}

int can_read(can_t *obj, CAN_Message *msg, int handle)
Expand Down Expand Up @@ -285,16 +306,19 @@ int can_mode(can_t *obj, CanMode mode)

int can_filter(can_t *obj, uint32_t id, uint32_t mask, CANFormat format, int32_t handle)
{
uint32_t numask = mask;
if( numask == 0x0000 )
{
return CAN_SetRxMsg((CAN_T *)NU_MODBASE(obj->can), handle, (uint32_t)format, id);
/* Check validity of filter handle */
if (handle < 0 || handle >= NU_CAN_MAXNUM_HNDL) {
/* NOTE: 0 is ambiguous, error or filter handle 0. */
error("Support max " NU_STR(NU_CAN_MAXNUM_HNDL) " CAN filters");
return 0;
}

uint32_t numask = mask;
if( format == CANStandard )
{
numask = (mask << 18);
}
numask = (numask | CAN_IF_MASK2_MDIR_Msk | CAN_IF_MASK2_MXTD_Msk);
numask = (numask | ((CAN_IF_MASK2_MDIR_Msk | CAN_IF_MASK2_MXTD_Msk) << 16));
return CAN_SetRxMsgAndMsk((CAN_T *)NU_MODBASE(obj->can), handle, (uint32_t)format, id, numask);
}

Expand Down
15 changes: 14 additions & 1 deletion targets/TARGET_NUVOTON/TARGET_M451/device/StdDriver/m451_can.c
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -981,7 +981,7 @@ int32_t CAN_Receive(CAN_T *tCAN, uint32_t u32MsgNum , STR_CANMSG_T* pCanMsg)
*
* @details An interrupt remains pending until the application software has cleared it.
*/
void CAN_CLR_INT_PENDING_BIT(CAN_T *tCAN, uint8_t u32MsgNum)
void CAN_CLR_INT_PENDING_BIT(CAN_T *tCAN, uint32_t u32MsgNum)
{
uint32_t u32MsgIfNum;

Expand All @@ -994,6 +994,19 @@ void CAN_CLR_INT_PENDING_BIT(CAN_T *tCAN, uint8_t u32MsgNum)
ReleaseIF(tCAN, u32MsgIfNum);
}

/* Clone of CAN_CLR_INT_PENDING_BIT() with NewDat not cleared */
void CAN_CLR_INT_PENDING_ONLY_BIT(CAN_T *tCAN, uint32_t u32MsgNum)
{
uint32_t u32MsgIfNum;

if((u32MsgIfNum = LockIF_TL(tCAN)) == 2)
u32MsgIfNum = 0;

tCAN->IF[u32MsgIfNum].CMASK = CAN_IF_CMASK_CLRINTPND_Msk;
tCAN->IF[u32MsgIfNum].CREQ = 1 + u32MsgNum;

ReleaseIF(tCAN, u32MsgIfNum);
}

/*@}*/ /* end of group CAN_EXPORTED_FUNCTIONS */

Expand Down
2 changes: 1 addition & 1 deletion targets/TARGET_NUVOTON/TARGET_M451/device/StdDriver/m451_can.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -148,7 +148,7 @@ typedef struct
uint32_t CAN_SetBaudRate(CAN_T *tCAN, uint32_t u32BaudRate);
uint32_t CAN_Open(CAN_T *tCAN, uint32_t u32BaudRate, uint32_t u32Mode);
void CAN_Close(CAN_T *tCAN);
void CAN_CLR_INT_PENDING_BIT(CAN_T *tCAN, uint8_t u32MsgNum);
void CAN_CLR_INT_PENDING_BIT(CAN_T *tCAN, uint32_t u32MsgNum);
void CAN_EnableInt(CAN_T *tCAN, uint32_t u32Mask);
void CAN_DisableInt(CAN_T *tCAN, uint32_t u32Mask);
int32_t CAN_Transmit(CAN_T *tCAN, uint32_t u32MsgNum , STR_CANMSG_T* pCanMsg);
Expand Down
60 changes: 43 additions & 17 deletions targets/TARGET_NUVOTON/TARGET_M480/can_api.c
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -30,10 +30,21 @@
#include "nu_miscutil.h"
#include "nu_bitutil.h"
#include "mbed_critical.h"
#include "mbed_error.h"

#define NU_CAN_DEBUG 0
#define CAN_NUM 2

/* Reserve Message Object number 31 for Tx */
#define NU_CAN_MSG_OBJ_NUM_TX 31

/* Max number of message ID filter handle */
#define NU_CAN_MAXNUM_HNDL NU_CAN_MSG_OBJ_NUM_TX

/* Convert to string literal */
#define NU_STR_(X) #X
#define NU_STR(X) NU_STR_(X)

static uintptr_t can_irq_contexts[CAN_NUM] = {0};
static can_irq_handler can0_irq_handler;
static can_irq_handler can1_irq_handler;
Expand All @@ -43,6 +54,7 @@ extern void CAN_EnterInitMode(CAN_T *tCAN, uint8_t u8Mask);
extern void CAN_LeaveInitMode(CAN_T *tCAN);
extern void CAN_LeaveTestMode(CAN_T *tCAN);
extern void CAN_EnterTestMode(CAN_T *tCAN, uint8_t u8TestMask);
extern void CAN_CLR_INT_PENDING_ONLY_BIT(CAN_T *tCAN, uint32_t u32MsgNum);

static const struct nu_modinit_s can_modinit_tab[] = {
{CAN_0, CAN0_MODULE, 0, 0, CAN0_RST, CAN0_IRQn, NULL},
Expand Down Expand Up @@ -139,19 +151,10 @@ static void can_irq(CANName name, int id)
/**************************/
if(can->STATUS & CAN_STATUS_RXOK_Msk) {
can->STATUS &= ~CAN_STATUS_RXOK_Msk; /* Clear Rx Ok status*/
if(id)
can1_irq_handler(can_irq_contexts[id], IRQ_RX);
else
can0_irq_handler(can_irq_contexts[id], IRQ_RX);
}

if(can->STATUS & CAN_STATUS_TXOK_Msk) {
can->STATUS &= ~CAN_STATUS_TXOK_Msk; /* Clear Tx Ok status*/
if(id)
can1_irq_handler(can_irq_contexts[id], IRQ_TX);
else
can0_irq_handler(can_irq_contexts[id], IRQ_TX);

}

/**************************/
Expand All @@ -170,6 +173,24 @@ static void can_irq(CANName name, int id)
else
can0_irq_handler(can_irq_contexts[id], IRQ_BUS);
}
} else if (u8IIDRstatus >= 1 && u8IIDRstatus <= 32) {
if ((u8IIDRstatus - 1) != NU_CAN_MSG_OBJ_NUM_TX) {
if (id) {
can1_irq_handler(can_irq_contexts[id], IRQ_RX);
}
else {
can0_irq_handler(can_irq_contexts[id], IRQ_RX);
}
CAN_CLR_INT_PENDING_ONLY_BIT(can, (u8IIDRstatus -1));
} else {
if (id) {
can1_irq_handler(can_irq_contexts[id], IRQ_TX);
}
else {
can0_irq_handler(can_irq_contexts[id], IRQ_TX);
}
CAN_CLR_INT_PENDING_BIT(can, (u8IIDRstatus -1));
}
} else if (u8IIDRstatus!=0) {

if(id)
Expand All @@ -178,7 +199,6 @@ static void can_irq(CANName name, int id)
can0_irq_handler(can_irq_contexts[id], IRQ_OVERRUN);

CAN_CLR_INT_PENDING_BIT(can, ((can->IIDR) -1)); /* Clear Interrupt Pending */

} else if(can->WU_STATUS == 1) {

can->WU_STATUS = 0; /* Write '0' to clear */
Expand Down Expand Up @@ -263,6 +283,9 @@ void can_irq_set(can_t *obj, CanIrqType irq, uint32_t enable)

int can_write(can_t *obj, CAN_Message msg, int cc)
{
/* Unused */
(void) cc;

STR_CANMSG_T CMsg;

CMsg.IdType = (uint32_t)msg.format;
Expand All @@ -271,7 +294,7 @@ int can_write(can_t *obj, CAN_Message msg, int cc)
CMsg.DLC = msg.len;
memcpy((void *)&CMsg.Data[0],(const void *)&msg.data[0], (unsigned int)8);

return CAN_Transmit((CAN_T *)(NU_MODBASE(obj->can)), cc, &CMsg);
return CAN_Transmit((CAN_T *)(NU_MODBASE(obj->can)), NU_CAN_MSG_OBJ_NUM_TX, &CMsg);
}

int can_read(can_t *obj, CAN_Message *msg, int handle)
Expand All @@ -293,6 +316,7 @@ int can_read(can_t *obj, CAN_Message *msg, int handle)
int can_mode(can_t *obj, CanMode mode)
{
int success = 0;

switch (mode) {
case MODE_RESET:
CAN_LeaveTestMode((CAN_T*)NU_MODBASE(obj->can));
Expand Down Expand Up @@ -326,22 +350,24 @@ int can_mode(can_t *obj, CanMode mode)

}


return success;
}

int can_filter(can_t *obj, uint32_t id, uint32_t mask, CANFormat format, int32_t handle)
{
uint32_t numask = mask;
if( numask == 0x0000 )
{
return CAN_SetRxMsg((CAN_T *)NU_MODBASE(obj->can), handle, (uint32_t)format, id);
/* Check validity of filter handle */
if (handle < 0 || handle >= NU_CAN_MAXNUM_HNDL) {
/* NOTE: 0 is ambiguous, error or filter handle 0. */
error("Support max " NU_STR(NU_CAN_MAXNUM_HNDL) " CAN filters");
return 0;
}

uint32_t numask = mask;
if( format == CANStandard )
{
numask = (mask << 18);
}
numask = (numask | CAN_IF_MASK2_MDIR_Msk | CAN_IF_MASK2_MXTD_Msk);
numask = (numask | ((CAN_IF_MASK2_MDIR_Msk | CAN_IF_MASK2_MXTD_Msk) << 16));
return CAN_SetRxMsgAndMsk((CAN_T *)NU_MODBASE(obj->can), handle, (uint32_t)format, id, numask);
}

Expand Down
2 changes: 1 addition & 1 deletion targets/TARGET_NUVOTON/TARGET_M480/device/StdDriver/inc/m480_can.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -155,7 +155,7 @@ typedef struct
uint32_t CAN_SetBaudRate(CAN_T *tCAN, uint32_t u32BaudRate);
uint32_t CAN_Open(CAN_T *tCAN, uint32_t u32BaudRate, uint32_t u32Mode);
void CAN_Close(CAN_T *tCAN);
void CAN_CLR_INT_PENDING_BIT(CAN_T *tCAN, uint8_t u32MsgNum);
void CAN_CLR_INT_PENDING_BIT(CAN_T *tCAN, uint32_t u32MsgNum);
void CAN_EnableInt(CAN_T *tCAN, uint32_t u32Mask);
void CAN_DisableInt(CAN_T *tCAN, uint32_t u32Mask);
int32_t CAN_Transmit(CAN_T *tCAN, uint32_t u32MsgNum, STR_CANMSG_T* pCanMsg);
Expand Down
20 changes: 19 additions & 1 deletion targets/TARGET_NUVOTON/TARGET_M480/device/StdDriver/src/m480_can.c
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -1264,7 +1264,7 @@ int32_t CAN_Receive(CAN_T *tCAN, uint32_t u32MsgNum, STR_CANMSG_T* pCanMsg)
*
* @details An interrupt remains pending until the application software has cleared it.
*/
void CAN_CLR_INT_PENDING_BIT(CAN_T *tCAN, uint8_t u32MsgNum)
void CAN_CLR_INT_PENDING_BIT(CAN_T *tCAN, uint32_t u32MsgNum)
{
uint32_t u32MsgIfNum;

Expand All @@ -1282,6 +1282,24 @@ void CAN_CLR_INT_PENDING_BIT(CAN_T *tCAN, uint8_t u32MsgNum)
ReleaseIF(tCAN, u32MsgIfNum);
}

/* Clone of CAN_CLR_INT_PENDING_BIT() with NewDat not cleared */
void CAN_CLR_INT_PENDING_ONLY_BIT(CAN_T *tCAN, uint32_t u32MsgNum)
{
uint32_t u32MsgIfNum;

if((u32MsgIfNum = LockIF_TL(tCAN)) == 2ul)
{
u32MsgIfNum = 0ul;
}
else
{
}

tCAN->IF[u32MsgIfNum].CMASK = CAN_IF_CMASK_CLRINTPND_Msk;
tCAN->IF[u32MsgIfNum].CREQ = 1ul + u32MsgNum;

ReleaseIF(tCAN, u32MsgIfNum);
}

/*@}*/ /* end of group CAN_EXPORTED_FUNCTIONS */

Expand Down
Loading
Loading