diff options
Diffstat (limited to 'ports/stm32/can.c')
| -rw-r--r-- | ports/stm32/can.c | 30 |
1 files changed, 17 insertions, 13 deletions
diff --git a/ports/stm32/can.c b/ports/stm32/can.c index 371c590a43..1ee46492c2 100644 --- a/ports/stm32/can.c +++ b/ports/stm32/can.c @@ -47,6 +47,8 @@ void can_deinit_all(void) { } } +#if !MICROPY_HW_ENABLE_FDCAN + bool can_init(pyb_can_obj_t *can_obj, uint32_t mode, uint32_t prescaler, uint32_t sjw, uint32_t bs1, uint32_t bs2, bool auto_restart) { CAN_InitTypeDef *init = &can_obj->can.Init; init->Mode = mode << 4; // shift-left so modes fit in a small-int @@ -158,7 +160,7 @@ void can_deinit(pyb_can_obj_t *self) { } } -void can_clearfilter(uint32_t f, uint8_t bank) { +void can_clearfilter(pyb_can_obj_t *self, uint32_t f, uint8_t bank) { CAN_FilterConfTypeDef filter; filter.FilterIdHigh = 0; @@ -175,12 +177,12 @@ void can_clearfilter(uint32_t f, uint8_t bank) { HAL_CAN_ConfigFilter(NULL, &filter); } -int can_receive(CAN_TypeDef *can, int fifo, CanRxMsgTypeDef *msg, uint32_t timeout_ms) { +int can_receive(CAN_HandleTypeDef *can, int fifo, CanRxMsgTypeDef *msg, uint8_t *data, uint32_t timeout_ms) { volatile uint32_t *rfr; if (fifo == CAN_FIFO0) { - rfr = &can->RF0R; + rfr = &can->Instance->RF0R; } else { - rfr = &can->RF1R; + rfr = &can->Instance->RF1R; } // Wait for a message to become available, with timeout @@ -193,7 +195,7 @@ int can_receive(CAN_TypeDef *can, int fifo, CanRxMsgTypeDef *msg, uint32_t timeo } // Read message data - CAN_FIFOMailBox_TypeDef *box = &can->sFIFOMailBox[fifo]; + CAN_FIFOMailBox_TypeDef *box = &can->Instance->sFIFOMailBox[fifo]; msg->IDE = box->RIR & 4; if (msg->IDE == CAN_ID_STD) { msg->StdId = box->RIR >> 21; @@ -204,15 +206,15 @@ int can_receive(CAN_TypeDef *can, int fifo, CanRxMsgTypeDef *msg, uint32_t timeo msg->DLC = box->RDTR & 0xf; msg->FMI = box->RDTR >> 8 & 0xff; uint32_t rdlr = box->RDLR; - msg->Data[0] = rdlr; - msg->Data[1] = rdlr >> 8; - msg->Data[2] = rdlr >> 16; - msg->Data[3] = rdlr >> 24; + data[0] = rdlr; + data[1] = rdlr >> 8; + data[2] = rdlr >> 16; + data[3] = rdlr >> 24; uint32_t rdhr = box->RDHR; - msg->Data[4] = rdhr; - msg->Data[5] = rdhr >> 8; - msg->Data[6] = rdhr >> 16; - msg->Data[7] = rdhr >> 24; + data[4] = rdhr; + data[5] = rdhr >> 8; + data[6] = rdhr >> 16; + data[7] = rdhr >> 24; // Release (free) message from FIFO *rfr |= CAN_RF0R_RFOM0; @@ -427,4 +429,6 @@ void CAN3_SCE_IRQHandler(void) { } #endif +#endif // !MICROPY_HW_ENABLE_FDCAN + #endif // MICROPY_HW_ENABLE_CAN |