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STM32: auto bit rate in silent mode

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This commit is contained in:
Pavel Kirienko
2015-07-25 00:52:09 +03:00
parent 14913b4cb2
commit 0a5edf314c
2 changed files with 39 additions and 13 deletions
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libuavcan_drivers/stm32/driver/src/uc_stm32_can.cpp
+25 -5
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@@ -160,6 +160,14 @@ void CanIface::RxQueue::pop(uavcan::CanFrame& out_frame, uavcan::uint64_t& out_u
else { UAVCAN_ASSERT(0); }
}
void CanIface::RxQueue::reset()
{
in_ = 0;
out_ = 0;
len_ = 0;
overflow_cnt_ = 0;
}
/*
* CanIface
*/
@@ -446,10 +454,21 @@ bool CanIface::waitMsrINakBitStateChange(bool target_state)
return false;
}
int CanIface::init(uavcan::uint32_t bitrate)
int CanIface::init(const uavcan::uint32_t bitrate, const OperatingMode mode)
{
int res = 0;
/*
* Object state
*/
rx_queue_.reset();
error_cnt_ = 0;
served_aborts_cnt_ = 0;
uavcan::fill_n(pending_tx_, NumTxMailboxes, TxItem());
last_hw_error_code_ = 0;
peak_tx_mailbox_index_ = 0;
had_activity_ = false;
/*
* CAN timings for this bitrate
*/
@@ -480,7 +499,8 @@ int CanIface::init(uavcan::uint32_t bitrate)
can_->BTR = ((timings.sjw & 3U) << 24) |
((timings.bs1 & 15U) << 16) |
((timings.bs2 & 7U) << 20) |
(timings.prescaler & 1023U);
(timings.prescaler & 1023U) |
((mode == SilentMode) ? bxcan::BTR_SILM : 0);
can_->IER = bxcan::IER_TMEIE | // TX mailbox empty
bxcan::IER_FMPIE0 | // RX FIFO 0 is not empty
@@ -812,7 +832,7 @@ uavcan::int16_t CanDriver::select(uavcan::CanSelectMasks& inout_masks,
return 1; // Return value doesn't matter as long as it is non-negative
}
int CanDriver::init(uavcan::uint32_t bitrate)
int CanDriver::init(const uavcan::uint32_t bitrate, const CanIface::OperatingMode mode)
{
int res = 0;
@@ -835,7 +855,7 @@ int CanDriver::init(uavcan::uint32_t bitrate)
}
UAVCAN_STM32_LOG("Initing iface 0...");
res = if0_.init(bitrate);
res = if0_.init(bitrate, mode);
if (res < 0)
{
UAVCAN_STM32_LOG("Iface 0 init failed %i", res);
@@ -861,7 +881,7 @@ int CanDriver::init(uavcan::uint32_t bitrate)
}
UAVCAN_STM32_LOG("Initing iface 1...");
res = if1_.init(bitrate);
res = if1_.init(bitrate, mode);
if (res < 0)
{
UAVCAN_STM32_LOG("Iface 1 init failed %i", res);