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Merge pull request #2832 from MaxiluxSystems/feature/fdcan-bus-off

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stm32: can: fd: implement bus-off recovery
This commit is contained in:
Dario Nieuwenhuis 2024-04-18 14:48:13 +00:00 committed by GitHub
commit 0ee7748811
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2 changed files with 36 additions and 37 deletions
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1
embassy-stm32/src/can/fd/peripheral.rs
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@ -368,6 +368,7 @@ impl Registers {
w.set_rfne(0, true); // Rx Fifo 0 New Msg
w.set_rfne(1, true); // Rx Fifo 1 New Msg
w.set_tce(true); // Tx Complete
w.set_boe(true); // Bus-Off Status Changed
});
self.regs.ile().modify(|w| {
w.set_eint0(true); // Interrupt Line 0

72
embassy-stm32/src/can/fdcan.rs
View File

@ -44,53 +44,51 @@ impl<T: Instance> interrupt::typelevel::Handler<T::IT0Interrupt> for IT0Interrup
let ir = regs.ir().read();
{
if ir.tc() {
regs.ir().write(|w| w.set_tc(true));
}
if ir.tefn() {
regs.ir().write(|w| w.set_tefn(true));
}
match &T::state().tx_mode {
TxMode::NonBuffered(waker) => waker.wake(),
TxMode::ClassicBuffered(buf) => {
if !T::registers().tx_queue_is_full() {
match buf.tx_receiver.try_receive() {
Ok(frame) => {
_ = T::registers().write(&frame);
}
Err(_) => {}
}
}
}
TxMode::FdBuffered(buf) => {
if !T::registers().tx_queue_is_full() {
match buf.tx_receiver.try_receive() {
Ok(frame) => {
_ = T::registers().write(&frame);
}
Err(_) => {}
}
}
}
}
if ir.tc() {
regs.ir().write(|w| w.set_tc(true));
}
if ir.tefn() {
regs.ir().write(|w| w.set_tefn(true));
}
if ir.ped() || ir.pea() {
regs.ir().write(|w| {
w.set_ped(true);
w.set_pea(true);
});
match &T::state().tx_mode {
TxMode::NonBuffered(waker) => waker.wake(),
TxMode::ClassicBuffered(buf) => {
if !T::registers().tx_queue_is_full() {
match buf.tx_receiver.try_receive() {
Ok(frame) => {
_ = T::registers().write(&frame);
}
Err(_) => {}
}
}
}
TxMode::FdBuffered(buf) => {
if !T::registers().tx_queue_is_full() {
match buf.tx_receiver.try_receive() {
Ok(frame) => {
_ = T::registers().write(&frame);
}
Err(_) => {}
}
}
}
}
if ir.rfn(0) {
T::state().rx_mode.on_interrupt::<T>(0);
}
if ir.rfn(1) {
T::state().rx_mode.on_interrupt::<T>(1);
}
if ir.bo() {
regs.ir().write(|w| w.set_bo(true));
if regs.psr().read().bo() {
// Initiate bus-off recovery sequence by resetting CCCR.INIT
regs.cccr().modify(|w| w.set_init(false));
}
}
}
}