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[Arduino_CAN] support both 11-Bit (standard) and 29-Bit (extended) IDs. #79

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Merged
merged 5 commits into from
Sep 4, 2023
Merged

[Arduino_CAN] support both 11-Bit (standard) and 29-Bit (extended) IDs. #79

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f692916
[Arduino_CAN] support both 11-Bit (standard) and 29-Bit (extended) IDs.
aentinger Aug 2, 2023
b433f69
Add new keywords for standard/extended CAN ID support for syntax high…
aentinger Aug 2, 2023
e48879d
Enable mixed mode (both standard and extended) frame transmission for…
aentinger Aug 2, 2023
8446601
Add additional filter rule to let standard messages pass through the …
aentinger Aug 2, 2023
9d1d58b
Increase constant defining number of CAN filtering rules from 1 to 2 …
aentinger Aug 2, 2023
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4 changes: 2 additions & 2 deletions extras/e2studioProjects/portenta_h33_lib/configuration.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -1060,8 +1060,8 @@
<property id="config.driver.canfd.rxfifo.7.int_threshold" value="enum.driver.canfd.fifo.int_threshold.1_2"/>
<property id="config.driver.canfd.rxfifo.7.payload" value="enum.driver.canfd.fifo.payload.8"/>
<property id="config.driver.canfd.rxfifo.7.depth" value="enum.driver.canfd.fifo.depth.16"/>
<property id="config.driver.canfd.afl.ch0_num" value="1"/>
<property id="config.driver.canfd.afl.ch1_num" value="1"/>
<property id="config.driver.canfd.afl.ch0_num" value="2"/>
<property id="config.driver.canfd.afl.ch1_num" value="2"/>
</config>
<config id="config.driver.gpt">
<property id="config.driver.gpt.param_checking_enable" value="config.driver.gpt.param_checking_enable.bsp"/>
Expand Down
2 changes: 1 addition & 1 deletion libraries/Arduino_CAN/examples/CAN1Write/CAN1Write.ino
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Expand Up @@ -54,7 +54,7 @@ void loop()
*/
uint8_t const msg_data[] = {0xCA,0xFE,0,0,0,0,0,0};
memcpy((void *)(msg_data + 4), &msg_cnt, sizeof(msg_cnt));
CanMsg msg(CAN_ID, sizeof(msg_data), msg_data);
CanMsg const msg(CanStandardId(CAN_ID), sizeof(msg_data), msg_data);

/* Transmit the CAN message, capture and display an
* error core in case of failure.
Expand Down
2 changes: 1 addition & 1 deletion libraries/Arduino_CAN/examples/CANWrite/CANWrite.ino
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Expand Up @@ -35,7 +35,7 @@ void loop()
*/
uint8_t const msg_data[] = {0xCA,0xFE,0,0,0,0,0,0};
memcpy((void *)(msg_data + 4), &msg_cnt, sizeof(msg_cnt));
CanMsg msg(CAN_ID, sizeof(msg_data), msg_data);
CanMsg const msg(CanStandardId(CAN_ID), sizeof(msg_data), msg_data);

/* Transmit the CAN message, capture and display an
* error core in case of failure.
Expand Down
7 changes: 7 additions & 0 deletions libraries/Arduino_CAN/keywords.txt
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Expand Up @@ -10,6 +10,8 @@ CAN KEYWORD1
CAN1 KEYWORD1
CanMsg KEYWORD1
CanBitRate KEYWORD1
CanStandardId KEYWORD2
CanExtendedId KEYWORD2

#######################################
# Methods and Functions (KEYWORD2)
Expand All @@ -25,6 +27,11 @@ read KEYWORD2
isError KEYWORD2
clearError KEYWORD2

getStandardId KEYWORD2
getExtendedId KEYWORD2
isStandardId KEYWORD2
isExtendedId KEYWORD2

#######################################
# Constants (LITERAL1)
#######################################
Expand Down
50 changes: 27 additions & 23 deletions libraries/Arduino_CAN/src/R7FA4M1_CAN.cpp
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Expand Up @@ -56,9 +56,9 @@ R7FA4M1_CAN::R7FA4M1_CAN(int const can_tx_pin, int const can_rx_pin)
CAN_DEFAULT_MASK,
CAN_DEFAULT_MASK,
CAN_DEFAULT_MASK,
0, /* Use no id filtering -> a CAN frame with any ID will be stored in receive mailbox #0. */
CAN_DEFAULT_MASK,
0, /* Use no id filtering -> a CAN frame with any ID will be stored in receive mailbox group #0. */
CAN_DEFAULT_MASK,
0, /* Use no id filtering -> a CAN frame with any ID will be stored in receive mailbox group #2. */
CAN_DEFAULT_MASK
}
, _can_mailbox
Expand All @@ -74,15 +74,15 @@ R7FA4M1_CAN::R7FA4M1_CAN(int const can_tx_pin, int const can_rx_pin)
{ .mailbox_id = 6, .id_mode = CAN_ID_MODE_EXTENDED, .frame_type = CAN_FRAME_TYPE_DATA, .mailbox_type = CAN_MAILBOX_TRANSMIT},
{ .mailbox_id = 7, .id_mode = CAN_ID_MODE_EXTENDED, .frame_type = CAN_FRAME_TYPE_DATA, .mailbox_type = CAN_MAILBOX_TRANSMIT},
/* Mailbox Group #2 */
{ .mailbox_id = 8, .id_mode = CAN_ID_MODE_EXTENDED, .frame_type = CAN_FRAME_TYPE_DATA, .mailbox_type = CAN_MAILBOX_TRANSMIT},
{ .mailbox_id = 9, .id_mode = CAN_ID_MODE_EXTENDED, .frame_type = CAN_FRAME_TYPE_DATA, .mailbox_type = CAN_MAILBOX_TRANSMIT},
{ .mailbox_id = 10, .id_mode = CAN_ID_MODE_EXTENDED, .frame_type = CAN_FRAME_TYPE_DATA, .mailbox_type = CAN_MAILBOX_TRANSMIT},
{ .mailbox_id = 11, .id_mode = CAN_ID_MODE_EXTENDED, .frame_type = CAN_FRAME_TYPE_DATA, .mailbox_type = CAN_MAILBOX_TRANSMIT},
{ .mailbox_id = 8, .id_mode = CAN_ID_MODE_STANDARD, .frame_type = CAN_FRAME_TYPE_DATA, .mailbox_type = CAN_MAILBOX_TRANSMIT},
{ .mailbox_id = 9, .id_mode = CAN_ID_MODE_STANDARD, .frame_type = CAN_FRAME_TYPE_DATA, .mailbox_type = CAN_MAILBOX_TRANSMIT},
{ .mailbox_id = 10, .id_mode = CAN_ID_MODE_STANDARD, .frame_type = CAN_FRAME_TYPE_DATA, .mailbox_type = CAN_MAILBOX_TRANSMIT},
{ .mailbox_id = 11, .id_mode = CAN_ID_MODE_STANDARD, .frame_type = CAN_FRAME_TYPE_DATA, .mailbox_type = CAN_MAILBOX_TRANSMIT},
/* Mailbox Group #3 */
{ .mailbox_id = 12, .id_mode = CAN_ID_MODE_EXTENDED, .frame_type = CAN_FRAME_TYPE_DATA, .mailbox_type = CAN_MAILBOX_TRANSMIT},
{ .mailbox_id = 13, .id_mode = CAN_ID_MODE_EXTENDED, .frame_type = CAN_FRAME_TYPE_DATA, .mailbox_type = CAN_MAILBOX_TRANSMIT},
{ .mailbox_id = 14, .id_mode = CAN_ID_MODE_EXTENDED, .frame_type = CAN_FRAME_TYPE_DATA, .mailbox_type = CAN_MAILBOX_TRANSMIT},
{ .mailbox_id = 15, .id_mode = CAN_ID_MODE_EXTENDED, .frame_type = CAN_FRAME_TYPE_DATA, .mailbox_type = CAN_MAILBOX_TRANSMIT},
{ .mailbox_id = 12, .id_mode = CAN_ID_MODE_STANDARD, .frame_type = CAN_FRAME_TYPE_DATA, .mailbox_type = CAN_MAILBOX_TRANSMIT},
{ .mailbox_id = 13, .id_mode = CAN_ID_MODE_STANDARD, .frame_type = CAN_FRAME_TYPE_DATA, .mailbox_type = CAN_MAILBOX_TRANSMIT},
{ .mailbox_id = 14, .id_mode = CAN_ID_MODE_STANDARD, .frame_type = CAN_FRAME_TYPE_DATA, .mailbox_type = CAN_MAILBOX_TRANSMIT},
{ .mailbox_id = 15, .id_mode = CAN_ID_MODE_STANDARD, .frame_type = CAN_FRAME_TYPE_DATA, .mailbox_type = CAN_MAILBOX_TRANSMIT},
/* We only use the very first receive mailbox for receiving. */
/* Mailbox Group #4 */
{ .mailbox_id = 0, .id_mode = CAN_ID_MODE_EXTENDED, .frame_type = CAN_FRAME_TYPE_DATA, .mailbox_type = CAN_MAILBOX_RECEIVE },
Expand All @@ -95,22 +95,22 @@ R7FA4M1_CAN::R7FA4M1_CAN(int const can_tx_pin, int const can_rx_pin)
{ .mailbox_id = 6, .id_mode = CAN_ID_MODE_EXTENDED, .frame_type = CAN_FRAME_TYPE_DATA, .mailbox_type = CAN_MAILBOX_RECEIVE },
{ .mailbox_id = 7, .id_mode = CAN_ID_MODE_EXTENDED, .frame_type = CAN_FRAME_TYPE_DATA, .mailbox_type = CAN_MAILBOX_RECEIVE },
/* Mailbox Group #6 */
{ .mailbox_id = 8, .id_mode = CAN_ID_MODE_EXTENDED, .frame_type = CAN_FRAME_TYPE_DATA, .mailbox_type = CAN_MAILBOX_RECEIVE },
{ .mailbox_id = 9, .id_mode = CAN_ID_MODE_EXTENDED, .frame_type = CAN_FRAME_TYPE_DATA, .mailbox_type = CAN_MAILBOX_RECEIVE },
{ .mailbox_id = 10, .id_mode = CAN_ID_MODE_EXTENDED, .frame_type = CAN_FRAME_TYPE_DATA, .mailbox_type = CAN_MAILBOX_RECEIVE },
{ .mailbox_id = 11, .id_mode = CAN_ID_MODE_EXTENDED, .frame_type = CAN_FRAME_TYPE_DATA, .mailbox_type = CAN_MAILBOX_RECEIVE },
{ .mailbox_id = 8, .id_mode = CAN_ID_MODE_STANDARD, .frame_type = CAN_FRAME_TYPE_DATA, .mailbox_type = CAN_MAILBOX_RECEIVE },
{ .mailbox_id = 9, .id_mode = CAN_ID_MODE_STANDARD, .frame_type = CAN_FRAME_TYPE_DATA, .mailbox_type = CAN_MAILBOX_RECEIVE },
{ .mailbox_id = 10, .id_mode = CAN_ID_MODE_STANDARD, .frame_type = CAN_FRAME_TYPE_DATA, .mailbox_type = CAN_MAILBOX_RECEIVE },
{ .mailbox_id = 11, .id_mode = CAN_ID_MODE_STANDARD, .frame_type = CAN_FRAME_TYPE_DATA, .mailbox_type = CAN_MAILBOX_RECEIVE },
/* Mailbox Group #7 */
{ .mailbox_id = 12, .id_mode = CAN_ID_MODE_EXTENDED, .frame_type = CAN_FRAME_TYPE_DATA, .mailbox_type = CAN_MAILBOX_RECEIVE },
{ .mailbox_id = 13, .id_mode = CAN_ID_MODE_EXTENDED, .frame_type = CAN_FRAME_TYPE_DATA, .mailbox_type = CAN_MAILBOX_RECEIVE },
{ .mailbox_id = 14, .id_mode = CAN_ID_MODE_EXTENDED, .frame_type = CAN_FRAME_TYPE_DATA, .mailbox_type = CAN_MAILBOX_RECEIVE },
{ .mailbox_id = 15, .id_mode = CAN_ID_MODE_EXTENDED, .frame_type = CAN_FRAME_TYPE_DATA, .mailbox_type = CAN_MAILBOX_RECEIVE }
{ .mailbox_id = 12, .id_mode = CAN_ID_MODE_STANDARD, .frame_type = CAN_FRAME_TYPE_DATA, .mailbox_type = CAN_MAILBOX_RECEIVE },
{ .mailbox_id = 13, .id_mode = CAN_ID_MODE_STANDARD, .frame_type = CAN_FRAME_TYPE_DATA, .mailbox_type = CAN_MAILBOX_RECEIVE },
{ .mailbox_id = 14, .id_mode = CAN_ID_MODE_STANDARD, .frame_type = CAN_FRAME_TYPE_DATA, .mailbox_type = CAN_MAILBOX_RECEIVE },
{ .mailbox_id = 15, .id_mode = CAN_ID_MODE_STANDARD, .frame_type = CAN_FRAME_TYPE_DATA, .mailbox_type = CAN_MAILBOX_RECEIVE }
}
, _can_extended_cfg
{
.clock_source = CAN_CLOCK_SOURCE_PCLKB,
.p_mailbox_mask = _can_mailbox_mask,
.p_mailbox = _can_mailbox,
.global_id_mode = CAN_GLOBAL_ID_MODE_EXTENDED,
.global_id_mode = CAN_GLOBAL_ID_MODE_MIXED,
.mailbox_count = CAN_MAX_NO_MAILBOXES,
.message_mode = CAN_MESSAGE_MODE_OVERWRITE,
.p_fifo_int_cfg = nullptr,
Expand Down Expand Up @@ -205,17 +205,21 @@ int R7FA4M1_CAN::disableInternalLoopback()

int R7FA4M1_CAN::write(CanMsg const & msg)
{
bool const is_standard_id = msg.isStandardId();

can_frame_t can_msg = {
/* id = */ msg.id,
/* id_mode = */ CAN_ID_MODE_EXTENDED,
/* id = */ is_standard_id ? msg.getStandardId() : msg.getExtendedId(),
/* id_mode = */ is_standard_id ? CAN_ID_MODE_STANDARD : CAN_ID_MODE_EXTENDED,
/* type = */ CAN_FRAME_TYPE_DATA,
/* data_length_code = */ min(msg.data_length, CAN_DATA_BUFFER_LENGTH),
/* options = */ 0
};

memcpy(can_msg.data, msg.data, can_msg.data_length_code);

if(fsp_err_t const rc = R_CAN_Write(&_can_ctrl, CAN_MAILBOX_ID_0, &can_msg); rc != FSP_SUCCESS)
if(fsp_err_t const rc = R_CAN_Write(&_can_ctrl,
is_standard_id ? CAN_MAILBOX_ID_0 : CAN_MAILBOX_ID_16,
&can_msg); rc != FSP_SUCCESS)
return -rc;

return 1;
Expand All @@ -241,7 +245,7 @@ void R7FA4M1_CAN::onCanCallback(can_callback_args_t * p_args)
/* Extract the received CAN message. */
CanMsg const msg
(
p_args->frame.id,
(p_args->frame.id_mode == CAN_ID_MODE_STANDARD) ? CanStandardId(p_args->frame.id) : CanExtendedId(p_args->frame.id),
p_args->frame.data_length_code,
p_args->frame.data
);
Expand Down
10 changes: 6 additions & 4 deletions libraries/Arduino_CAN/src/R7FA6M5_CAN.cpp
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Expand Up @@ -190,9 +190,11 @@ int R7FA6M5_CAN::disableInternalLoopback()

int R7FA6M5_CAN::write(CanMsg const & msg)
{
bool const is_standard_id = msg.isStandardId();

can_frame_t can_msg = {
/* id = */ msg.id,
/* id_mode = */ CAN_ID_MODE_EXTENDED,
/* id = */ is_standard_id ? msg.getStandardId() : msg.getExtendedId(),
/* id_mode = */ is_standard_id ? CAN_ID_MODE_STANDARD : CAN_ID_MODE_EXTENDED,
/* type = */ CAN_FRAME_TYPE_DATA,
/* data_length_code = */ min(msg.data_length, CAN_DATA_BUFFER_LENGTH),
/* options = */ 0 /* This ensures that CAN Classic is used. */
Expand Down Expand Up @@ -221,7 +223,7 @@ size_t R7FA6M5_CAN::available()
/* Extract the received CAN message. */
CanMsg const msg
(
frame.id,
(frame.id_mode == CAN_ID_MODE_STANDARD) ? CanStandardId(frame.id) : CanExtendedId(frame.id),
frame.data_length_code,
frame.data
);
Expand All @@ -247,7 +249,7 @@ void R7FA6M5_CAN::onCanFDCallback(can_callback_args_t * p_args)
/* Extract the received CAN message. */
CanMsg const msg
(
p_args->frame.id,
(p_args->frame.id_mode == CAN_ID_MODE_STANDARD) ? CanStandardId(p_args->frame.id) : CanExtendedId(p_args->frame.id),
p_args->frame.data_length_code,
p_args->frame.data
);
Expand Down
40 changes: 40 additions & 0 deletions libraries/Arduino_CAN/src/R7FA6M5_CAN_AFL.c
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Expand Up @@ -23,6 +23,26 @@ canfd_afl_entry_t const CANFD0_AFL[CANFD_CFG_AFL_CH0_RULE_NUM] = {
.rx_buffer = (canfd_rx_mb_t) CANFD_RX_MB_0,
.fifo_select_flags = CANFD_RX_FIFO_0,
}
},
{
.id =
{
.id = 0x1FFFFFFF,
.frame_type = CAN_FRAME_TYPE_DATA,
.id_mode = CAN_ID_MODE_STANDARD,
},
.mask =
{
.mask_id = 0,
.mask_frame_type = 1,
.mask_id_mode = 1,
},
.destination =
{
.minimum_dlc = CANFD_MINIMUM_DLC_0,
.rx_buffer = (canfd_rx_mb_t) CANFD_RX_MB_1,
.fifo_select_flags = CANFD_RX_FIFO_1,
}
}
};

Expand All @@ -46,6 +66,26 @@ canfd_afl_entry_t const CANFD1_AFL[CANFD_CFG_AFL_CH1_RULE_NUM] = {
.rx_buffer = (canfd_rx_mb_t) CANFD_RX_MB_1,
.fifo_select_flags = CANFD_RX_FIFO_1,
}
},
{
.id =
{
.id = 0x1FFFFFFF,
.frame_type = CAN_FRAME_TYPE_DATA,
.id_mode = CAN_ID_MODE_STANDARD,
},
.mask =
{
.mask_id = 0,
.mask_frame_type = 1,
.mask_id_mode = 1,
},
.destination =
{
.minimum_dlc = CANFD_MINIMUM_DLC_0,
.rx_buffer = (canfd_rx_mb_t) CANFD_RX_MB_1,
.fifo_select_flags = CANFD_RX_FIFO_1,
}
}
};

Expand Down
4 changes: 2 additions & 2 deletions variants/PORTENTA_C33/includes/ra_cfg/fsp_cfg/r_canfd_cfg.h
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Expand Up @@ -9,8 +9,8 @@

#define CANFD_CFG_PARAM_CHECKING_ENABLE ((1))

#define CANFD_CFG_AFL_CH0_RULE_NUM (1)
#define CANFD_CFG_AFL_CH1_RULE_NUM (1)
#define CANFD_CFG_AFL_CH0_RULE_NUM (2)
#define CANFD_CFG_AFL_CH1_RULE_NUM (2)

#define CANFD_CFG_GLOBAL_ERROR_CH ((1U))

Expand Down
Binary file modified variants/PORTENTA_C33/libs/libfsp.a
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