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fix can baud rate config error in bsp/stm32f10x fix RT-Thread#597
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enum CANBAUD was changed in components/drivers/include/drivers/can.h ,
which causes array index out of bound in bsp/stm32f10x/drivers/bxcan.c

temporarily remove RT_CAN_USING_BUS_HOOK, because there are some bugs in
bsp/stm32f10x/applications/canapp.c  function can_bus_hook
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@gbcwbz
gbcwbz committed Apr 13, 2016
1 parent 9c29333 commit b420e83
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Showing 3 changed files with 69 additions and 21 deletions.
2 changes: 2 additions & 0 deletions bsp/stm32f10x/applications/canapp.c
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Original file line number Diff line number Diff line change
Expand Up @@ -245,10 +245,12 @@ int rt_can_app_init(void)
512, RT_THREAD_PRIORITY_MAX / 3 - 1, 20);
if (tid != RT_NULL) rt_thread_startup(tid);

#ifdef USING_BXCAN2
tid = rt_thread_create("canapp2",
rt_can_thread_entry, &can_data[1],
512, RT_THREAD_PRIORITY_MAX / 3 - 1, 20);
if (tid != RT_NULL) rt_thread_startup(tid);
#endif

return 0;
}
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84 changes: 65 additions & 19 deletions bsp/stm32f10x/drivers/bxcan.c
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Original file line number Diff line number Diff line change
Expand Up @@ -69,6 +69,11 @@ struct stm_bxcan
const rt_uint32_t fifo1filteroff;
const struct stm_bxcanfiltermap filtermap[2];
};
struct stm_baud_rate_tab
{
rt_uint32_t baud_rate;
rt_uint32_t confdata;
};
static void calcfiltermasks(struct stm_bxcan *pbxcan);
static void bxcan1_filter_init(struct rt_can_device *can)
{
Expand Down Expand Up @@ -254,26 +259,64 @@ static void bxcan2_filter_init(struct rt_can_device *can)
#define MK_BKCAN_BAUD(SJW,BS1,BS2,PRES) \
((SJW << SJWSHIFT) | (BS1 << BS1SHIFT) | (BS2 << BS2SHIFT) | (PRES << RRESCLSHIFT))

static const rt_uint32_t bxcan_baud_rate_tab[] =
static const struct stm_baud_rate_tab bxcan_baud_rate_tab[] =
{
#ifdef STM32F10X_CL
// 48 M
MK_BKCAN_BAUD(CAN_SJW_2tq, CAN_BS1_12tq, CAN_BS2_3tq, 3),
MK_BKCAN_BAUD(CAN_SJW_2tq, CAN_BS1_6tq, CAN_BS2_3tq, 6),
MK_BKCAN_BAUD(CAN_SJW_2tq, CAN_BS1_12tq, CAN_BS2_3tq, 5),
MK_BKCAN_BAUD(CAN_SJW_2tq, CAN_BS1_12tq, CAN_BS2_3tq, 11),
MK_BKCAN_BAUD(CAN_SJW_2tq, CAN_BS1_12tq, CAN_BS2_3tq, 23),
MK_BKCAN_BAUD(CAN_SJW_2tq, CAN_BS1_12tq, CAN_BS2_3tq, 29),
MK_BKCAN_BAUD(CAN_SJW_2tq, CAN_BS1_12tq, CAN_BS2_3tq, 59),
MK_BKCAN_BAUD(CAN_SJW_2tq, CAN_BS1_14tq, CAN_BS2_3tq, 149),
MK_BKCAN_BAUD(CAN_SJW_2tq, CAN_BS1_16tq, CAN_BS2_8tq, 199),
{1000UL * 1000, MK_BKCAN_BAUD(CAN_SJW_2tq, CAN_BS1_12tq, CAN_BS2_3tq, 3)},
{1000UL * 800, MK_BKCAN_BAUD(CAN_SJW_2tq, CAN_BS1_6tq, CAN_BS2_3tq, 6)},
{1000UL * 500, MK_BKCAN_BAUD(CAN_SJW_2tq, CAN_BS1_12tq, CAN_BS2_3tq, 5)},
{1000UL * 250, MK_BKCAN_BAUD(CAN_SJW_2tq, CAN_BS1_12tq, CAN_BS2_3tq, 11)},//1
{1000UL * 125, MK_BKCAN_BAUD(CAN_SJW_2tq, CAN_BS1_12tq, CAN_BS2_3tq, 23)},
{1000UL * 100, MK_BKCAN_BAUD(CAN_SJW_2tq, CAN_BS1_12tq, CAN_BS2_3tq, 29)},
{1000UL * 50, MK_BKCAN_BAUD(CAN_SJW_2tq, CAN_BS1_12tq, CAN_BS2_3tq, 59)},
{1000UL * 20, MK_BKCAN_BAUD(CAN_SJW_2tq, CAN_BS1_14tq, CAN_BS2_3tq, 149)},
{1000UL * 10, MK_BKCAN_BAUD(CAN_SJW_2tq, CAN_BS1_16tq, CAN_BS2_8tq, 199)}
#else
// 36 M
{1000UL * 1000, MK_BKCAN_BAUD(CAN_SJW_2tq, CAN_BS1_8tq, CAN_BS2_3tq, 3)},
{1000UL * 800, MK_BKCAN_BAUD(CAN_SJW_2tq, CAN_BS1_11tq, CAN_BS2_3tq, 3)},
{1000UL * 500, MK_BKCAN_BAUD(CAN_SJW_2tq, CAN_BS1_9tq, CAN_BS2_2tq, 6)},
{1000UL * 250, MK_BKCAN_BAUD(CAN_SJW_2tq, CAN_BS1_13tq, CAN_BS2_2tq, 9)},//1
{1000UL * 125, MK_BKCAN_BAUD(CAN_SJW_2tq, CAN_BS1_13tq, CAN_BS2_2tq, 18)},
{1000UL * 100, MK_BKCAN_BAUD(CAN_SJW_2tq, CAN_BS1_9tq, CAN_BS2_2tq, 30)},
{1000UL * 50, MK_BKCAN_BAUD(CAN_SJW_2tq, CAN_BS1_13tq, CAN_BS2_2tq, 45)},
{1000UL * 20, MK_BKCAN_BAUD(CAN_SJW_2tq, CAN_BS1_14tq, CAN_BS2_3tq, 100)},
{1000UL * 10, MK_BKCAN_BAUD(CAN_SJW_2tq, CAN_BS1_14tq, CAN_BS2_3tq, 200)}
#endif
};

#define BAUD_DATA(TYPE,NO) \
((bxcan_baud_rate_tab[NO] & TYPE##MASK) >> TYPE##SHIFT)
((bxcan_baud_rate_tab[NO].confdata & TYPE##MASK) >> TYPE##SHIFT)

static rt_uint32_t bxcan_get_baud_index(rt_uint32_t baud)
{
rt_uint32_t len, index, default_index;

len = sizeof(bxcan_baud_rate_tab)/sizeof(bxcan_baud_rate_tab[0]);
default_index = len;

for(index = 0; index < len; index++)
{
if(bxcan_baud_rate_tab[index].baud_rate == baud)
return index;

if(bxcan_baud_rate_tab[index].baud_rate == 1000UL * 250)
default_index = index;
}

if(default_index != len)
return default_index;

return 0;
}


static void bxcan_init(CAN_TypeDef *pcan, rt_uint32_t baud, rt_uint32_t mode)
{
CAN_InitTypeDef CAN_InitStructure;

rt_uint32_t baud_index = bxcan_get_baud_index(baud);

CAN_InitStructure.CAN_TTCM = DISABLE;
CAN_InitStructure.CAN_ABOM = ENABLE;
Expand All @@ -296,10 +339,10 @@ static void bxcan_init(CAN_TypeDef *pcan, rt_uint32_t baud, rt_uint32_t mode)
CAN_InitStructure.CAN_Mode = CAN_Mode_Silent_LoopBack;
break;
}
CAN_InitStructure.CAN_SJW = BAUD_DATA(SJW, baud);
CAN_InitStructure.CAN_BS1 = BAUD_DATA(BS1, baud);
CAN_InitStructure.CAN_BS2 = BAUD_DATA(BS2, baud);
CAN_InitStructure.CAN_Prescaler = BAUD_DATA(RRESCL, baud);
CAN_InitStructure.CAN_SJW = BAUD_DATA(SJW, baud_index);
CAN_InitStructure.CAN_BS1 = BAUD_DATA(BS1, baud_index);
CAN_InitStructure.CAN_BS2 = BAUD_DATA(BS2, baud_index);
CAN_InitStructure.CAN_Prescaler = BAUD_DATA(RRESCL, baud_index);

CAN_Init(pcan, &CAN_InitStructure);
}
Expand Down Expand Up @@ -439,17 +482,20 @@ static rt_err_t bxcan_set_privmode(CAN_TypeDef *pcan, rt_uint32_t mode)
static rt_err_t bxcan_set_baud_rate(CAN_TypeDef *pcan, rt_uint32_t baud)
{
rt_uint32_t mode;

rt_uint32_t baud_index = bxcan_get_baud_index(baud);

if (bxcan_enter_init(pcan) != RT_EOK)
{
return RT_ERROR;
}
pcan->BTR = 0;
mode = pcan->BTR & ((rt_uint32_t)0x03 << 30);
pcan->BTR = (mode | \
((BAUD_DATA(SJW, baud)) << 24) | \
((BAUD_DATA(BS1, baud)) << 16) | \
((BAUD_DATA(BS2, baud)) << 20) | \
(BAUD_DATA(RRESCL, baud)));
((BAUD_DATA(SJW, baud_index)) << 24) | \
((BAUD_DATA(BS1, baud_index)) << 16) | \
((BAUD_DATA(BS2, baud_index)) << 20) | \
(BAUD_DATA(RRESCL, baud_index)));
if (bxcan_exit_init(pcan) != RT_EOK)
{
return RT_ERROR;
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4 changes: 2 additions & 2 deletions bsp/stm32f10x/rtconfig.h
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Original file line number Diff line number Diff line change
Expand Up @@ -82,9 +82,9 @@

#define RT_USING_PIN

//#define RT_USING_CAN
#define RT_USING_CAN

#define RT_CAN_USING_BUS_HOOK
//#define RT_CAN_USING_BUS_HOOK

#define RT_CAN_USING_HDR
/* SECTION: device filesystem */
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