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STM32 new CAN initialization

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This commit is contained in:
Pavel Kirienko
2015-10-10 10:16:57 +03:00
parent 85100d6766
commit 076104877a
1 changed files with 24 additions and 24 deletions
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libuavcan_drivers/stm32/driver/src/uc_stm32_can.cpp
+24 -24
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@@ -488,10 +488,26 @@ bool CanIface::waitMsrINakBitStateChange(bool target_state)
int CanIface::init(const uavcan::uint32_t bitrate, const OperatingMode mode)
{
int res = 0;
/*
* We need to silence the controller in the first order, otherwise it may interfere with the following operations.
*/
{
CriticalSectionLocker lock;
can_->MCR &= ~bxcan::MCR_SLEEP; // Exit sleep mode
can_->MCR |= bxcan::MCR_INRQ; // Request init
can_->IER = 0; // Disable interrupts while initialization is in progress
}
if (!waitMsrINakBitStateChange(true))
{
UAVCAN_STM32_LOG("MSR INAK not set");
return -1;
}
/*
* Object state
* Object state - interrupts are disabled, so it's safe to modify it now
*/
rx_queue_.reset();
error_cnt_ = 0;
@@ -505,31 +521,17 @@ int CanIface::init(const uavcan::uint32_t bitrate, const OperatingMode mode)
* CAN timings for this bitrate
*/
Timings timings;
res = computeTimings(bitrate, timings);
if (res < 0)
const int timings_res = computeTimings(bitrate, timings);
if (timings_res < 0)
{
goto leave;
return timings_res;
}
UAVCAN_STM32_LOG("Timings: presc=%u sjw=%u bs1=%u bs2=%u",
unsigned(timings.prescaler), unsigned(timings.sjw), unsigned(timings.bs1), unsigned(timings.bs2));
/*
* Hardware initialization
* Hardware initialization (the hardware has already confirmed initialization mode, see above)
*/
{
CriticalSectionLocker lock;
can_->MCR &= ~bxcan::MCR_SLEEP; // Exit sleep mode
can_->MCR |= bxcan::MCR_INRQ; // Request init
}
if (!waitMsrINakBitStateChange(true))
{
UAVCAN_STM32_LOG("MSR INAK not set");
res = -1;
goto leave;
}
can_->MCR = bxcan::MCR_ABOM | bxcan::MCR_AWUM | bxcan::MCR_INRQ; // RM page 648
can_->BTR = ((timings.sjw & 3U) << 24) |
@@ -549,8 +551,7 @@ int CanIface::init(const uavcan::uint32_t bitrate, const OperatingMode mode)
if (!waitMsrINakBitStateChange(false))
{
UAVCAN_STM32_LOG("MSR INAK not cleared");
res = -1;
goto leave;
return -1;
}
/*
@@ -583,8 +584,7 @@ int CanIface::init(const uavcan::uint32_t bitrate, const OperatingMode mode)
can_->FMR &= ~bxcan::FMR_FINIT;
}
leave:
return res;
return 0;
}
void CanIface::handleTxMailboxInterrupt(uavcan::uint8_t mailbox_index, bool txok, const uavcan::uint64_t utc_usec)