diff options
21 files changed, 117 insertions, 102 deletions
diff --git a/bsp/at32/libraries/rt_drivers/drv_can.c b/bsp/at32/libraries/rt_drivers/drv_can.c index 6b60187aab..f9f4a3024a 100644 --- a/bsp/at32/libraries/rt_drivers/drv_can.c +++ b/bsp/at32/libraries/rt_drivers/drv_can.c @@ -368,13 +368,13 @@ static rt_err_t _can_control(struct rt_can_device *can, int cmd, void *arg) /* get default filter */ for (int i = 0; i < filter_cfg->count; i++) { - if (filter_cfg->items[i].hdr == -1) + if (filter_cfg->items[i].hdr_bank == -1) { can_instance->config.filter_init_struct.filter_number = i; } else { - can_instance->config.filter_init_struct.filter_number = filter_cfg->items[i].hdr; + can_instance->config.filter_init_struct.filter_number = filter_cfg->items[i].hdr_bank; } /** * ID | CAN_FxR1[31:24] | CAN_FxR1[23:16] | CAN_FxR1[15:8] | CAN_FxR1[7:0] | @@ -597,7 +597,7 @@ static int _can_recvmsg(struct rt_can_device *can, void *buf, rt_uint32_t fifo) pmsg->ide = rx_message.extended_id; pmsg->rtr = rx_message.frame_type; - pmsg->hdr = rx_message.filter_index; + pmsg->hdr_index = rx_message.filter_index; return RT_EOK; } diff --git a/bsp/essemi/es32f0654/drivers/drv_can.c b/bsp/essemi/es32f0654/drivers/drv_can.c index 76a8ddd662..9ac6b8e4bf 100644 --- a/bsp/essemi/es32f0654/drivers/drv_can.c +++ b/bsp/essemi/es32f0654/drivers/drv_can.c @@ -232,8 +232,8 @@ static rt_err_t _can_control(struct rt_can_device *can_device, int cmd, void *ar { /*默认过滤表判断*/ - if(filter_cfg->items[i].hdr < drv_can->device.config.maxhdr) - drv_can->FilterConfig.number = filter_cfg->items[i].hdr; + if(filter_cfg->items[i].hdr_bank < drv_can->device.config.maxhdr) + drv_can->FilterConfig.number = filter_cfg->items[i].hdr_bank; else drv_can->FilterConfig.number = ES_C_CAN_DEFAULT_FILTER_NUMBER; @@ -499,8 +499,8 @@ static int _can_recvmsg(struct rt_can_device *can, void *buf, rt_uint32_t fifo) } /* get len */ pmsg->len = rxheader.len; - /* get hdr */ - pmsg->hdr = (rxheader.fmi + 1) >> 1; + /* get hdr_index */ + pmsg->hdr_index = (rxheader.fmi + 1) >> 1; return RT_EOK; } diff --git a/bsp/essemi/es32f369x/drivers/drv_can.c b/bsp/essemi/es32f369x/drivers/drv_can.c index c95fb780ce..3303feff7e 100644 --- a/bsp/essemi/es32f369x/drivers/drv_can.c +++ b/bsp/essemi/es32f369x/drivers/drv_can.c @@ -225,8 +225,8 @@ static rt_err_t _can_control(struct rt_can_device *can_device, int cmd, void *ar { /*默认过滤表判断*/ - if(filter_cfg->items[i].hdr < drv_can->device.config.maxhdr) - drv_can->FilterConfig.number = filter_cfg->items[i].hdr; + if(filter_cfg->items[i].hdr_bank < drv_can->device.config.maxhdr) + drv_can->FilterConfig.number = filter_cfg->items[i].hdr_bank; else drv_can->FilterConfig.number = ES_C_CAN_DEFAULT_FILTER_NUMBER; @@ -496,8 +496,8 @@ static int _can_recvmsg(struct rt_can_device *can, void *buf, rt_uint32_t fifo) } /* get len */ pmsg->len = rxheader.len; - /* get hdr */ - pmsg->hdr = (rxheader.fmi + 1) >> 1; + /* get hdr_index */ + pmsg->hdr_index = (rxheader.fmi + 1) >> 1; return RT_EOK; } diff --git a/bsp/hc32/libraries/hc32_drivers/drv_can.c b/bsp/hc32/libraries/hc32_drivers/drv_can.c index 726eab12d5..d2770144ec 100644 --- a/bsp/hc32/libraries/hc32_drivers/drv_can.c +++ b/bsp/hc32/libraries/hc32_drivers/drv_can.c @@ -172,22 +172,22 @@ static uint16_t _get_filter_idx(struct rt_can_filter_config *filter_cfg) for (int i = 0; i < filter_cfg->count; i++) { - if (filter_cfg->items[i].hdr != -1) + if (filter_cfg->items[i].hdr_bank != -1) { - u16FilterSelected |= 1 << filter_cfg->items[i].hdr; + u16FilterSelected |= 1 << filter_cfg->items[i].hdr_bank; } } for (int i = 0; i < filter_cfg->count; i++) { - if (filter_cfg->items[i].hdr == -1) + if (filter_cfg->items[i].hdr_bank == -1) { for (int j = 0; j < FILTER_COUNT; j++) { if ((u16FilterSelected & 1 << j) == 0) { - filter_cfg->items[i].hdr = j; - u16FilterSelected |= 1 << filter_cfg->items[i].hdr; + filter_cfg->items[i].hdr_bank = j; + u16FilterSelected |= 1 << filter_cfg->items[i].hdr_bank; break; } } @@ -435,8 +435,8 @@ static int _can_recvmsg(struct rt_can_device *can, void *buf, rt_uint32_t fifo) } /* get len */ pmsg->len = ll_rx_frame.DLC; - /* get hdr */ - pmsg->hdr = 0; + /* get hdr_index */ + pmsg->hdr_index = 0; rt_memcpy(pmsg->data, &ll_rx_frame.au8Data, ll_rx_frame.DLC); return RT_EOK; diff --git a/bsp/hpmicro/libraries/drivers/drv_can.c b/bsp/hpmicro/libraries/drivers/drv_can.c index b520ce9010..52a8bd0d85 100644 --- a/bsp/hpmicro/libraries/drivers/drv_can.c +++ b/bsp/hpmicro/libraries/drivers/drv_can.c @@ -398,7 +398,7 @@ static rt_err_t hpm_can_control(struct rt_can_device *can, int cmd, void *arg) RT_ASSERT(filter->count <= CAN_FILTER_NUM_MAX); for (uint32_t i=0; i<filter->count; i++) { - drv_can->filter_list[i].index = (filter->items[i].hdr == -1) ? i : filter->items[i].hdr; + drv_can->filter_list[i].index = (filter->items[i].hdr_bank == -1) ? i : filter->items[i].hdr_bank; drv_can->filter_list[i].enable = (filter->actived != 0U) ? true : false; drv_can->filter_list[i].code = filter->items[i].id; drv_can->filter_list[i].id_mode = (filter->items[i].ide != 0U) ? can_filter_id_mode_extended_frames : can_filter_id_mode_standard_frames; diff --git a/bsp/imxrt/libraries/drivers/drv_can.c b/bsp/imxrt/libraries/drivers/drv_can.c index 2296f1ecfe..4502de374b 100644 --- a/bsp/imxrt/libraries/drivers/drv_can.c +++ b/bsp/imxrt/libraries/drivers/drv_can.c @@ -299,8 +299,8 @@ static rt_err_t can_control(struct rt_can_device *can_dev, int cmd, void *arg) mbConfig.type = kFLEXCAN_FrameTypeData; } - /* user does not specify hdr index,set hdr from RX MB 1 */ - if (item->hdr == -1) + /* user does not specify hdr index,set hdr_bank from RX MB 1 */ + if (item->hdr_bank == -1) { for (i = 0; i < 32; i++) @@ -312,17 +312,17 @@ static rt_err_t can_control(struct rt_can_device *can_dev, int cmd, void *arg) } } } - else /* use user specified hdr */ + else /* use user specified hdr_bank */ { - if (filter_mask & (1 << item->hdr)) + if (filter_mask & (1 << item->hdr_bank)) { res = RT_ERROR; - LOG_E("%s hdr%d filter already set!\n", can->name, item->hdr); + LOG_E("%s hdr%d filter already set!\n", can->name, item->hdr_bank); break; } else { - index = item->hdr; + index = item->hdr_bank; } } @@ -463,7 +463,7 @@ static int can_recv(struct rt_can_device *can_dev, void *buf, rt_uint32_t boxno) { pmsg->rtr = RT_CAN_RTR; } - pmsg->hdr = index; /* one hdr filter per MB */ + pmsg->hdr_index = index; /* one hdr filter per MB */ pmsg->len = frame[index].length; pmsg->data[0] = frame[index].dataByte0; pmsg->data[1] = frame[index].dataByte1; diff --git a/bsp/loongson/ls1cdev/drivers/drv_can.c b/bsp/loongson/ls1cdev/drivers/drv_can.c index 78fc021ecb..10b19c4cee 100644 --- a/bsp/loongson/ls1cdev/drivers/drv_can.c +++ b/bsp/loongson/ls1cdev/drivers/drv_can.c @@ -50,7 +50,7 @@ static rt_err_t bxmodifyfilter(struct ls1c_bxcan *pbxcan, struct rt_can_filter_i { return RT_EOK; } - else if (pitem->hdr == -1) + else if (pitem->hdr_bank == -1) { res = -1; if (res != RT_EOK) @@ -58,7 +58,7 @@ static rt_err_t bxmodifyfilter(struct ls1c_bxcan *pbxcan, struct rt_can_filter_i return res; } } - else if (pitem->hdr >= 0) + else if (pitem->hdr_bank >= 0) { rt_enter_critical(); res = RT_EOK; @@ -66,7 +66,7 @@ static rt_err_t bxmodifyfilter(struct ls1c_bxcan *pbxcan, struct rt_can_filter_i { return res; } - hdr = pitem->hdr; + hdr = pitem->hdr_bank; rt_exit_critical(); } } @@ -387,7 +387,7 @@ static int recvmsg(struct rt_can_device *can, void *buf, rt_uint32_t boxno) pmsg->id = RxMessage.StdId; pmsg->len = RxMessage.DLC; pmsg->rtr = RxMessage.RTR; - pmsg->hdr = 0; + pmsg->hdr_index = 0; for(i= 0;i< RxMessage.DLC; i++) { pmsg->data[i] = RxMessage.Data[i]; diff --git a/bsp/n32/libraries/n32_drivers/drv_can.c b/bsp/n32/libraries/n32_drivers/drv_can.c index 6c63c02ae7..138aa69f02 100644 --- a/bsp/n32/libraries/n32_drivers/drv_can.c +++ b/bsp/n32/libraries/n32_drivers/drv_can.c @@ -510,7 +510,7 @@ static rt_err_t control(struct rt_can_device *can, int cmd, void *arg) /* Get default filter */ for(int i = 0; i < filter_cfg->count; i++) { - if (filter_cfg->items[i].hdr == -1) + if (filter_cfg->items[i].hdr_bank == -1) { /* Can banks 0~13 */ drv_can->FilterConfig.Filter_Num = i; @@ -518,7 +518,7 @@ static rt_err_t control(struct rt_can_device *can, int cmd, void *arg) else { /* Use user-defined filter bank settings */ - drv_can->FilterConfig.Filter_Num = filter_cfg->items[i].hdr; + drv_can->FilterConfig.Filter_Num = filter_cfg->items[i].hdr_bank; } /* Filter groups work in identifier masking bit mode */ @@ -826,22 +826,22 @@ static int can_recvmsg_rtmsg(CAN_Module *CANx, struct rt_can_msg *pmsg, uint32_t pmsg->rtr = RT_CAN_RTR; } - /* get hdr */ + /* get hdr_index */ #if defined(SOC_N32G45X) || defined(SOC_N32WB452) if (CANx == CAN1) { - pmsg->hdr = (RxMessage->FMI + 1) >> 1; + pmsg->hdr_index = (RxMessage->FMI + 1) >> 1; } #ifdef CAN2 else if (CANx == CAN2) { - pmsg->hdr = (RxMessage->FMI + 1) >> 1; + pmsg->hdr_index = (RxMessage->FMI + 1) >> 1; } #endif #elif defined(SOC_N32L43X) || defined(SOC_N32L40X) || defined(SOC_N32G43X) if (CANx == CAN) { - pmsg->hdr = (RxMessage->FMI + 1) >> 1; + pmsg->hdr_index = (RxMessage->FMI + 1) >> 1; } #endif diff --git a/bsp/n32g452xx/Libraries/rt_drivers/drv_can.c b/bsp/n32g452xx/Libraries/rt_drivers/drv_can.c index df964925fe..bc52daf367 100644 --- a/bsp/n32g452xx/Libraries/rt_drivers/drv_can.c +++ b/bsp/n32g452xx/Libraries/rt_drivers/drv_can.c @@ -361,13 +361,13 @@ static rt_err_t _can_control(struct rt_can_device *can, int cmd, void *arg) /* get default filter */ for (int i = 0; i < filter_cfg->count; i++) { - if (filter_cfg->items[i].hdr == -1) + if (filter_cfg->items[i].hdr_bank == -1) { drv_can->can_filter_init.Filter_Num = i; } else { - drv_can->can_filter_init.Filter_Num = filter_cfg->items[i].hdr; + drv_can->can_filter_init.Filter_Num = filter_cfg->items[i].hdr_bank; } if (filter_cfg->items[i].mode == 0x00) @@ -667,14 +667,14 @@ static int _can_recvmsg_rtmsg(CAN_Module* can_base, struct rt_can_msg *pmsg, uin pmsg->rtr = RT_CAN_RTR; } - /* get hdr */ + /* get hdr_index */ if (can_base == CAN1) { - pmsg->hdr = (RxMessage->FMI + 1) >> 1; + pmsg->hdr_index = (RxMessage->FMI + 1) >> 1; } else if (can_base == CAN2) { - pmsg->hdr = (RxMessage->FMI >> 1) + 14; + pmsg->hdr_index = (RxMessage->FMI >> 1) + 14; } /* Release the DATFIFO */ /* Release FIFO0 */ diff --git a/bsp/nuvoton/libraries/m2354/rtt_port/drv_can.c b/bsp/nuvoton/libraries/m2354/rtt_port/drv_can.c index 3327901cd1..89236c329d 100644 --- a/bsp/nuvoton/libraries/m2354/rtt_port/drv_can.c +++ b/bsp/nuvoton/libraries/m2354/rtt_port/drv_can.c @@ -309,7 +309,7 @@ static rt_err_t nu_can_control(struct rt_can_device *can, int cmd, void *arg) /*set the filter message object*/ if (filter_cfg->items[i].mode == 1) { - if (CAN_SetRxMsgObjAndMsk(psNuCAN->base, MSG(filter_cfg->items[i].hdr + RX_MSG_ID_INDEX), filter_cfg->items[i].ide, filter_cfg->items[i].id, filter_cfg->items[i].mask, FALSE) == FALSE) + if (CAN_SetRxMsgObjAndMsk(psNuCAN->base, MSG(filter_cfg->items[i].hdr_bank + RX_MSG_ID_INDEX), filter_cfg->items[i].ide, filter_cfg->items[i].id, filter_cfg->items[i].mask, FALSE) == FALSE) { return -(RT_ERROR); } @@ -317,7 +317,7 @@ static rt_err_t nu_can_control(struct rt_can_device *can, int cmd, void *arg) else { /*set the filter message object*/ - if (CAN_SetRxMsgAndMsk(psNuCAN->base, MSG(filter_cfg->items[i].hdr + RX_MSG_ID_INDEX), filter_cfg->items[i].ide, filter_cfg->items[i].id, filter_cfg->items[i].mask) == FALSE) + if (CAN_SetRxMsgAndMsk(psNuCAN->base, MSG(filter_cfg->items[i].hdr_bank + RX_MSG_ID_INDEX), filter_cfg->items[i].ide, filter_cfg->items[i].id, filter_cfg->items[i].mask) == FALSE) { return -(RT_ERROR); } @@ -507,8 +507,8 @@ static int nu_can_recvmsg(struct rt_can_device *can, void *buf, rt_uint32_t boxn #ifdef RT_CAN_USING_HDR /* Hardware filter messages are valid */ - pmsg->hdr = boxno - RX_MSG_ID_INDEX; - can->hdr[pmsg->hdr].connected = 1; + pmsg->hdr_index = boxno - RX_MSG_ID_INDEX; + can->hdr[pmsg->hdr_index].connected = 1; #endif pmsg->ide = (tMsg.IdType == CAN_STD_ID) ? RT_CAN_STDID : RT_CAN_EXTID; diff --git a/bsp/nuvoton/libraries/m480/rtt_port/drv_can.c b/bsp/nuvoton/libraries/m480/rtt_port/drv_can.c index c9915aee95..c35c4eb701 100644 --- a/bsp/nuvoton/libraries/m480/rtt_port/drv_can.c +++ b/bsp/nuvoton/libraries/m480/rtt_port/drv_can.c @@ -360,7 +360,7 @@ static rt_err_t nu_can_control(struct rt_can_device *can, int cmd, void *arg) /*set the filter message object*/ if (filter_cfg->items[i].mode == 1) { - if (CAN_SetRxMsgObjAndMsk(psNuCAN->base, MSG(filter_cfg->items[i].hdr + RX_MSG_ID_INDEX), filter_cfg->items[i].ide, filter_cfg->items[i].id, filter_cfg->items[i].mask, FALSE) == FALSE) + if (CAN_SetRxMsgObjAndMsk(psNuCAN->base, MSG(filter_cfg->items[i].hdr_bank + RX_MSG_ID_INDEX), filter_cfg->items[i].ide, filter_cfg->items[i].id, filter_cfg->items[i].mask, FALSE) == FALSE) { return -(RT_ERROR); } @@ -368,7 +368,7 @@ static rt_err_t nu_can_control(struct rt_can_device *can, int cmd, void *arg) else { /*set the filter message object*/ - if (CAN_SetRxMsgAndMsk(psNuCAN->base, MSG(filter_cfg->items[i].hdr + RX_MSG_ID_INDEX), filter_cfg->items[i].ide, filter_cfg->items[i].id, filter_cfg->items[i].mask) == FALSE) + if (CAN_SetRxMsgAndMsk(psNuCAN->base, MSG(filter_cfg->items[i].hdr_bank + RX_MSG_ID_INDEX), filter_cfg->items[i].ide, filter_cfg->items[i].id, filter_cfg->items[i].mask) == FALSE) { return -(RT_ERROR); } @@ -558,8 +558,8 @@ static int nu_can_recvmsg(struct rt_can_device *can, void *buf, rt_uint32_t boxn #ifdef RT_CAN_USING_HDR /* Hardware filter messages are valid */ - pmsg->hdr = boxno - RX_MSG_ID_INDEX; - can->hdr[pmsg->hdr].connected = 1; + pmsg->hdr_index = boxno - RX_MSG_ID_INDEX; + can->hdr[pmsg->hdr_index].connected = 1; #endif pmsg->ide = (tMsg.IdType == CAN_STD_ID) ? RT_CAN_STDID : RT_CAN_EXTID; diff --git a/bsp/nuvoton/libraries/ma35/rtt_port/drv_canfd.c b/bsp/nuvoton/libraries/ma35/rtt_port/drv_canfd.c index a8a2914b77..a17d829e0d 100644 --- a/bsp/nuvoton/libraries/ma35/rtt_port/drv_canfd.c +++ b/bsp/nuvoton/libraries/ma35/rtt_port/drv_canfd.c @@ -611,8 +611,8 @@ static int nu_canfd_recvmsg(struct rt_can_device *can, void *buf, rt_uint32_t bo #ifdef RT_CAN_USING_HDR /* Hardware filter messages are valid */ - pmsg->hdr = boxno; - can->hdr[pmsg->hdr].connected = 1; + pmsg->hdr_index = boxno; + can->hdr[pmsg->hdr_index].connected = 1; #endif pmsg->ide = (sRxMsg.eIdType == eCANFD_SID) ? RT_CAN_STDID : RT_CAN_EXTID; diff --git a/bsp/nuvoton/libraries/n9h30/rtt_port/drv_can.c b/bsp/nuvoton/libraries/n9h30/rtt_port/drv_can.c index ebbda12689..77281e482b 100644 --- a/bsp/nuvoton/libraries/n9h30/rtt_port/drv_can.c +++ b/bsp/nuvoton/libraries/n9h30/rtt_port/drv_can.c @@ -309,7 +309,7 @@ static rt_err_t nu_can_control(struct rt_can_device *can, int cmd, void *arg) /*set the filter message object*/ if (filter_cfg->items[i].mode == 1) { - if (CAN_SetRxMsgObjAndMsk(psNuCAN->base, MSG(filter_cfg->items[i].hdr + RX_MSG_ID_INDEX), filter_cfg->items[i].ide, filter_cfg->items[i].id, filter_cfg->items[i].mask, FALSE) == FALSE) + if (CAN_SetRxMsgObjAndMsk(psNuCAN->base, MSG(filter_cfg->items[i].hdr_bank + RX_MSG_ID_INDEX), filter_cfg->items[i].ide, filter_cfg->items[i].id, filter_cfg->items[i].mask, FALSE) == FALSE) { return -(RT_ERROR); } @@ -317,7 +317,7 @@ static rt_err_t nu_can_control(struct rt_can_device *can, int cmd, void *arg) else { /*set the filter message object*/ - if (CAN_SetRxMsgAndMsk(psNuCAN->base, MSG(filter_cfg->items[i].hdr + RX_MSG_ID_INDEX), filter_cfg->items[i].ide, filter_cfg->items[i].id, filter_cfg->items[i].mask) == FALSE) + if (CAN_SetRxMsgAndMsk(psNuCAN->base, MSG(filter_cfg->items[i].hdr_bank + RX_MSG_ID_INDEX), filter_cfg->items[i].ide, filter_cfg->items[i].id, filter_cfg->items[i].mask) == FALSE) { return -(RT_ERROR); } @@ -507,8 +507,8 @@ static int nu_can_recvmsg(struct rt_can_device *can, void *buf, rt_uint32_t boxn #ifdef RT_CAN_USING_HDR /* Hardware filter messages are valid */ - pmsg->hdr = boxno - RX_MSG_ID_INDEX; - can->hdr[pmsg->hdr].connected = 1; + pmsg->hdr_index = boxno - RX_MSG_ID_INDEX; + can->hdr[pmsg->hdr_index].connected = 1; #endif pmsg->ide = (tMsg.IdType == CAN_STD_ID) ? RT_CAN_STDID : RT_CAN_EXTID; diff --git a/bsp/nuvoton/libraries/nuc980/rtt_port/drv_can.c b/bsp/nuvoton/libraries/nuc980/rtt_port/drv_can.c index 385f9e4123..159e3df348 100644 --- a/bsp/nuvoton/libraries/nuc980/rtt_port/drv_can.c +++ b/bsp/nuvoton/libraries/nuc980/rtt_port/drv_can.c @@ -333,7 +333,7 @@ static rt_err_t nu_can_control(struct rt_can_device *can, int cmd, void *arg) /*set the filter message object*/ if (filter_cfg->items[i].mode == 1) { - if (CAN_SetRxMsgObjAndMsk(psNuCAN->base, MSG(filter_cfg->items[i].hdr + RX_MSG_ID_INDEX), filter_cfg->items[i].ide, filter_cfg->items[i].id, filter_cfg->items[i].mask, FALSE) == FALSE) + if (CAN_SetRxMsgObjAndMsk(psNuCAN->base, MSG(filter_cfg->items[i].hdr_bank + RX_MSG_ID_INDEX), filter_cfg->items[i].ide, filter_cfg->items[i].id, filter_cfg->items[i].mask, FALSE) == FALSE) { return -(RT_ERROR); } @@ -341,7 +341,7 @@ static rt_err_t nu_can_control(struct rt_can_device *can, int cmd, void *arg) else { /*set the filter message object*/ - if (CAN_SetRxMsgAndMsk(psNuCAN->base, MSG(filter_cfg->items[i].hdr + RX_MSG_ID_INDEX), filter_cfg->items[i].ide, filter_cfg->items[i].id, filter_cfg->items[i].mask) == FALSE) + if (CAN_SetRxMsgAndMsk(psNuCAN->base, MSG(filter_cfg->items[i].hdr_bank + RX_MSG_ID_INDEX), filter_cfg->items[i].ide, filter_cfg->items[i].id, filter_cfg->items[i].mask) == FALSE) { return -(RT_ERROR); } @@ -531,8 +531,8 @@ static int nu_can_recvmsg(struct rt_can_device *can, void *buf, rt_uint32_t boxn #ifdef RT_CAN_USING_HDR /* Hardware filter messages are valid */ - pmsg->hdr = boxno - RX_MSG_ID_INDEX; - can->hdr[pmsg->hdr].connected = 1; + pmsg->hdr_index = boxno - RX_MSG_ID_INDEX; + can->hdr[pmsg->hdr_index].connected = 1; #endif pmsg->ide = (tMsg.IdType == CAN_STD_ID) ? RT_CAN_STDID : RT_CAN_EXTID; diff --git a/bsp/renesas/libraries/HAL_Drivers/drv_can.c b/bsp/renesas/libraries/HAL_Drivers/drv_can.c index 60b64565b3..db4476dc44 100644 --- a/bsp/renesas/libraries/HAL_Drivers/drv_can.c +++ b/bsp/renesas/libraries/HAL_Drivers/drv_can.c @@ -212,7 +212,7 @@ int ra_can_recvmsg(struct rt_can_device *can_dev, void *buf, rt_uint32_t boxno) msg_rt->rsv = RT_NULL; msg_rt->len = msg_ra->data_length_code; msg_rt->priv = boxno; - msg_rt->hdr = RT_NULL; + msg_rt->hdr_index = RT_NULL; memcpy(msg_rt->data, msg_ra->data, msg_ra->data_length_code); return sizeof(struct rt_can_msg); } diff --git a/bsp/stm32/libraries/HAL_Drivers/drv_can.c b/bsp/stm32/libraries/HAL_Drivers/drv_can.c index fd26514963..f1be891dfd 100644 --- a/bsp/stm32/libraries/HAL_Drivers/drv_can.c +++ b/bsp/stm32/libraries/HAL_Drivers/drv_can.c @@ -42,14 +42,14 @@ static const struct stm32_baud_rate_tab can_baud_rate_tab[] = static const struct stm32_baud_rate_tab can_baud_rate_tab[] = { {CAN1MBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ | CAN_BS2_4TQ | 3)}, - {CAN800kBaud, (CAN_SJW_2TQ | CAN_BS1_8TQ | CAN_BS2_5TQ | 4)}, - {CAN500kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ | CAN_BS2_5TQ | 6)}, - {CAN250kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ | CAN_BS2_5TQ | 12)}, - {CAN125kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ | CAN_BS2_5TQ | 24)}, - {CAN100kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ | CAN_BS2_5TQ | 30)}, - {CAN50kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ | CAN_BS2_5TQ | 60)}, - {CAN20kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ | CAN_BS2_5TQ | 150)}, - {CAN10kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ | CAN_BS2_5TQ | 300)} + {CAN800kBaud, (CAN_SJW_2TQ | CAN_BS1_8TQ | CAN_BS2_4TQ | 4)}, + {CAN500kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ | CAN_BS2_4TQ | 6)}, + {CAN250kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ | CAN_BS2_4TQ | 12)}, + {CAN125kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ | CAN_BS2_4TQ | 24)}, + {CAN100kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ | CAN_BS2_4TQ | 30)}, + {CAN50kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ | CAN_BS2_4TQ | 60)}, + {CAN20kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ | CAN_BS2_4TQ | 150)}, + {CAN10kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ | CAN_BS2_4TQ | 300)} }; #else /* APB1 45MHz(max) */ static const struct stm32_baud_rate_tab can_baud_rate_tab[] = @@ -333,7 +333,7 @@ static rt_err_t _can_control(struct rt_can_device *can, int cmd, void *arg) /* get default filter */ for (int i = 0; i < filter_cfg->count; i++) { - if (filter_cfg->items[i].hdr == -1) + if (filter_cfg->items[i].hdr_bank == -1) { /* use default filter bank settings */ if (rt_strcmp(drv_can->name, "can1") == 0) @@ -350,7 +350,7 @@ static rt_err_t _can_control(struct rt_can_device *can, int cmd, void *arg) else { /* use user-defined filter bank settings */ - drv_can->FilterConfig.FilterBank = filter_cfg->items[i].hdr; + drv_can->FilterConfig.FilterBank = filter_cfg->items[i].hdr_bank; } /** * ID | CAN_FxR1[31:24] | CAN_FxR1[23:16] | CAN_FxR1[15:8] | CAN_FxR1[7:0] | @@ -401,6 +401,7 @@ static rt_err_t _can_control(struct rt_can_device *can, int cmd, void *arg) drv_can->FilterConfig.FilterMaskIdLow = mask_l; drv_can->FilterConfig.FilterMode = filter_cfg->items[i].mode; + drv_can->FilterConfig.FilterFIFOAssignment = filter_cfg->items[i].rxfifo;/*rxfifo = CAN_RX_FIFO0/CAN_RX_FIFO1*/ /* Filter conf */ HAL_CAN_ConfigFilter(&drv_can->CanHandle, &drv_can->FilterConfig); } @@ -610,17 +611,20 @@ static int _can_recvmsg(struct rt_can_device *can, void *buf, rt_uint32_t fifo) { pmsg->rtr = RT_CAN_RTR; } + /*get rxfifo = CAN_RX_FIFO0/CAN_RX_FIFO1*/ + pmsg->rxfifo = fifo; + /* get len */ pmsg->len = rxheader.DLC; - /* get hdr */ + /* get hdr_index */ if (hcan->Instance == CAN1) { - pmsg->hdr = (rxheader.FilterMatchIndex + 1) >> 1; + pmsg->hdr_index = rxheader.FilterMatchIndex; } #ifdef CAN2 else if (hcan->Instance == CAN2) { - pmsg->hdr = (rxheader.FilterMatchIndex >> 1) + 14; + pmsg->hdr_index = rxheader.FilterMatchIndex; } #endif diff --git a/bsp/synwit/swm341/applications/main.c b/bsp/synwit/swm341/applications/main.c index 259011ef3c..331e23ed0b 100644 --- a/bsp/synwit/swm341/applications/main.c +++ b/bsp/synwit/swm341/applications/main.c @@ -169,7 +169,7 @@ static void can_rx_thread(void *parameter) while (1) { /* hdr 值为 - 1，表示直接从 uselist 链表读取数据 */ - rxmsg.hdr = -1; + v .hdr = -1; /* 阻塞等待接收信号量 */ rt_sem_take(&rx_sem, RT_WAITING_FOREVER); /* 从 CAN 读取一帧数据 */ diff --git a/bsp/synwit/swm341/drivers/drv_can.c b/bsp/synwit/swm341/drivers/drv_can.c index a9c82f76e7..7bc7bdee62 100644 --- a/bsp/synwit/swm341/drivers/drv_can.c +++ b/bsp/synwit/swm341/drivers/drv_can.c @@ -226,13 +226,13 @@ static rt_err_t swm_can_control(struct rt_can_device *can_device, int cmd, void /* get default filter */ for (int i = 0; i < filter_cfg->count; i++) { - if (filter_cfg->items[i].hdr == -1) + if (filter_cfg->items[i].hdr_bank == -1) { filter_idx = i; } else { - filter_idx = filter_cfg->items[i].hdr; + filter_idx = filter_cfg->items[i].hdr_bank; } if (filter_cfg->items[i].ide == RT_CAN_STDID) diff --git a/bsp/wch/risc-v/Libraries/ch32_drivers/drv_can.c b/bsp/wch/risc-v/Libraries/ch32_drivers/drv_can.c index ab27607080..5fdb561d46 100644 --- a/bsp/wch/risc-v/Libraries/ch32_drivers/drv_can.c +++ b/bsp/wch/risc-v/Libraries/ch32_drivers/drv_can.c @@ -441,14 +441,14 @@ static rt_err_t _can_control(struct rt_can_device *can, int cmd, void *arg) /* get default filter */ for (int i = 0; i < filter_cfg->count; i++) { - if (filter_cfg->items[i].hdr == -1) + if (filter_cfg->items[i].hdr_bank == -1) { drv_can_obj->can_filter_init.CAN_FilterNumber = i; } else { /* use user-defined filter bank settings */ - drv_can_obj->can_filter_init.CAN_FilterNumber = filter_cfg->items[i].hdr; + drv_can_obj->can_filter_init.CAN_FilterNumber = filter_cfg->items[i].hdr_bank; } if (filter_cfg->items[i].mode == 0x00) //CAN_FILTERMODE_IDMASK @@ -725,14 +725,14 @@ static int _can_recv_rtmsg(CAN_TypeDef *can_base, struct rt_can_msg *pmsg, uint3 pmsg->rtr = RT_CAN_RTR; } - /* get hdr */ + /* get hdr_index */ if (can_base == CAN1) { - pmsg->hdr = (RxMessage->FMI + 1) >> 1; + pmsg->hdr_index = (RxMessage->FMI + 1) >> 1; } else if (can_base == CAN2) { - pmsg->hdr = (RxMessage->FMI >> 1) + 14; + pmsg->hdr_index = (RxMessage->FMI >> 1) + 14; } /* Release FIFO */ CAN_FIFORelease(can_base,FIFONum); diff --git a/components/drivers/can/can.c b/components/drivers/can/can.c index eee78da9ec..a3d81f6081 100644 --- a/components/drivers/can/can.c +++ b/components/drivers/can/can.c @@ -65,7 +65,7 @@ rt_inline int _can_int_rx(struct rt_can_device *can, struct rt_can_msg *data, in /* disable interrupt */ level = rt_hw_interrupt_disable(); #ifdef RT_CAN_USING_HDR - hdr = data->hdr; + hdr = data->hdr_index; if (hdr >= 0 && can->hdr && hdr < can->config.maxhdr && !rt_list_isempty(&can->hdr[hdr].list)) { @@ -581,7 +581,7 @@ static rt_err_t rt_can_control(struct rt_device *dev, { while (count) { - if (pitem->hdr >= can->config.maxhdr || pitem->hdr < 0) + if (pitem->hdr_bank >= can->config.maxhdr || pitem->hdr_bank < 0) { count--; pitem++; @@ -589,15 +589,15 @@ static rt_err_t rt_can_control(struct rt_device *dev, } level = rt_hw_interrupt_disable(); - if (!can->hdr[pitem->hdr].connected) + if (!can->hdr[pitem->hdr_bank].connected) { rt_hw_interrupt_enable(level); - rt_memcpy(&can->hdr[pitem->hdr].filter, pitem, + rt_memcpy(&can->hdr[pitem->hdr_bank].filter, pitem, sizeof(struct rt_can_filter_item)); level = rt_hw_interrupt_disable(); - can->hdr[pitem->hdr].connected = 1; - can->hdr[pitem->hdr].msgs = 0; - rt_list_init(&can->hdr[pitem->hdr].list); + can->hdr[pitem->hdr_bank].connected = 1; + can->hdr[pitem->hdr_bank].msgs = 0; + rt_list_init(&can->hdr[pitem->hdr_bank].list); } rt_hw_interrupt_enable(level); @@ -609,7 +609,7 @@ static rt_err_t rt_can_control(struct rt_device *dev, { while (count) { - if (pitem->hdr >= can->config.maxhdr || pitem->hdr < 0) + if (pitem->hdr_bank >= can->config.maxhdr || pitem->hdr_bank < 0) { count--; pitem++; @@ -617,16 +617,16 @@ static rt_err_t rt_can_control(struct rt_device *dev, } level = rt_hw_interrupt_disable(); - if (can->hdr[pitem->hdr].connected) + if (can->hdr[pitem->hdr_bank].connected) { - can->hdr[pitem->hdr].connected = 0; - can->hdr[pitem->hdr].msgs = 0; - if (!rt_list_isempty(&can->hdr[pitem->hdr].list)) + can->hdr[pitem->hdr_bank].connected = 0; + can->hdr[pitem->hdr_bank].msgs = 0; + if (!rt_list_isempty(&can->hdr[pitem->hdr_bank].list)) { - rt_list_remove(can->hdr[pitem->hdr].list.next); + rt_list_remove(can->hdr[pitem->hdr_bank].list.next); } rt_hw_interrupt_enable(level); - rt_memset(&can->hdr[pitem->hdr].filter, 0, + rt_memset(&can->hdr[pitem->hdr_bank].filter, 0, sizeof(struct rt_can_filter_item)); } else @@ -829,7 +829,7 @@ void rt_hw_can_isr(struct rt_can_device *can, int event) level = rt_hw_interrupt_disable(); rt_list_insert_before(&rx_fifo->uselist, &listmsg->list); #ifdef RT_CAN_USING_HDR - hdr = tmpmsg.hdr; + hdr = tmpmsg.hdr_index; if (can->hdr != RT_NULL) { RT_ASSERT(hdr < can->config.maxhdr && hdr >= 0); diff --git a/components/drivers/include/drivers/can.h b/components/drivers/include/drivers/can.h index 553e145e92..4bae9fcb16 100644 --- a/components/drivers/include/drivers/can.h +++ b/components/drivers/include/drivers/can.h @@ -63,6 +63,12 @@ enum CANBAUD #define RT_CAN_MODE_PRIV 0x01 #define RT_CAN_MODE_NOPRIV 0x00 +/** @defgroup CAN_receive_FIFO_number CAN Receive FIFO Number + * @{ + */ +#define CAN_RX_FIFO0 (0x00000000U) /*!< CAN receive FIFO 0 */ +#define CAN_RX_FIFO1 (0x00000001U) /*!< CAN receive FIFO 1 */ + struct rt_can_filter_item { rt_uint32_t id : 29; @@ -70,16 +76,18 @@ struct rt_can_filter_item rt_uint32_t rtr : 1; rt_uint32_t mode : 1; rt_uint32_t mask; - rt_int32_t hdr; + rt_int32_t hdr_bank;/*Should be defined as:rx.FilterBank,which should be changed to rt_int32_t hdr_bank*/ + rt_uint32_t rxfifo;/*Add a configuration item that CAN_RX_FIFO0/CAN_RX_FIFO1*/ #ifdef RT_CAN_USING_HDR rt_err_t (*ind)(rt_device_t dev, void *args , rt_int32_t hdr, rt_size_t size); void *args; #endif /*RT_CAN_USING_HDR*/ }; + #ifdef RT_CAN_USING_HDR #define RT_CAN_FILTER_ITEM_INIT(id,ide,rtr,mode,mask,ind,args) \ - {(id), (ide), (rtr), (mode), (mask), -1, (ind), (args)} + {(id), (ide), (rtr), (mode),(mask), -1, CAN_RX_FIFO0,(ind), (args)}/*0:CAN_RX_FIFO0*/ #define RT_CAN_FILTER_STD_INIT(id,ind,args) \ RT_CAN_FILTER_ITEM_INIT(id,0,0,0,0xFFFFFFFF,ind,args) #define RT_CAN_FILTER_EXT_INIT(id,ind,args) \ @@ -95,7 +103,7 @@ struct rt_can_filter_item #else #define RT_CAN_FILTER_ITEM_INIT(id,ide,rtr,mode,mask) \ - {(id), (ide), (rtr), (mode), (mask), -1, } + {(id), (ide), (rtr), (mode), (mask), -1, CAN_RX_FIFO0 }/*0:CAN_RX_FIFO0*/ #define RT_CAN_FILTER_STD_INIT(id) \ RT_CAN_FILTER_ITEM_INIT(id,0,0,0,0xFFFFFFFF) #define RT_CAN_FILTER_EXT_INIT(id) \ @@ -269,6 +277,7 @@ typedef struct rt_can_device *rt_can_t; #define RT_CAN_RTR 1 typedef struct rt_can_status *rt_can_status_t; + struct rt_can_msg { rt_uint32_t id : 29; @@ -277,12 +286,14 @@ struct rt_can_msg rt_uint32_t rsv : 1; rt_uint32_t len : 8; rt_uint32_t priv : 8; - rt_int32_t hdr : 8; + rt_int32_t hdr_index : 8;/*Should be defined as:rx.FilterMatchIndex,which should be changed to rt_int32_t hdr_index : 8*/ #ifdef RT_CAN_USING_CANFD rt_uint32_t fd_frame : 1; - rt_uint32_t reserved : 7; + rt_uint32_t rxfifo : 2;/*Redefined to return :CAN RX FIFO0/CAN RX FIFO1*/ + rt_uint32_t reserved : 5; #else - rt_uint32_t reserved : 8; + rt_uint32_t rxfifo : 2;/*Redefined to return :CAN RX FIFO0/CAN RX FIFO1*/ + rt_uint32_t reserved : 6; #endif #ifdef RT_CAN_USING_CANFD rt_uint8_t data[64]; |