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uc_stm32h7_can:Correct initalization of the mumber of interfaces

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H7 Only supports 2 not 3 CAN interfaces.

   CanInitHelper passes in in the run time configuration of
   the number of interfaces. The code was ignoring these!
This commit is contained in:
David Sidrane 2022-05-25 07:47:45 -07:00 committed by Daniel Agar
parent 9353c15e8a
commit dd6d7e9979
2 changed files with 7 additions and 3 deletions
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2
src/drivers/uavcan/uavcan_drivers/stm32h7/driver/include/uavcan_stm32h7/can.hpp
View File

@ -261,7 +261,7 @@ public:
#else
, num_ifaces_(1)
#endif
, enabledInterfaces_(0x7)
, enabledInterfaces_(0x3)
{
uavcan::StaticAssert < (RxQueueCapacity <= CanIface::MaxRxQueueCapacity) >::check();
}

8
src/drivers/uavcan/uavcan_drivers/stm32h7/driver/src/uc_stm32h7_can.cpp
View File

@ -1032,6 +1032,8 @@ int CanDriver::init(const uavcan::uint32_t bitrate, const CanIface::OperatingMod
{
int res = 0;
enabledInterfaces_ = enabledInterfaces;
UAVCAN_STM32H7_LOG("Bitrate %lu mode %d", static_cast<unsigned long>(bitrate), static_cast<int>(mode));
static bool initialized_once = false;
@ -1045,7 +1047,8 @@ int CanDriver::init(const uavcan::uint32_t bitrate, const CanIface::OperatingMod
/*
* FDCAN1
*/
if (enabledInterfaces & 1) {
if (enabledInterfaces_ & 1) {
num_ifaces_ = 1;
UAVCAN_STM32H7_LOG("Initing iface 0...");
ifaces[0] = &if0_; // This link must be initialized first,
res = if0_.init(bitrate, mode); // otherwise an IRQ may fire while the interface is not linked yet;
@ -1062,7 +1065,8 @@ int CanDriver::init(const uavcan::uint32_t bitrate, const CanIface::OperatingMod
*/
#if UAVCAN_STM32H7_NUM_IFACES > 1
if (enabledInterfaces & 2) {
if (enabledInterfaces_ & 2) {
num_ifaces_ = 2;
UAVCAN_STM32H7_LOG("Initing iface 1...");
ifaces[1] = &if1_; // Same thing here.
res = if1_.init(bitrate, mode);