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merge upstream #1

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merged 5 commits into from
Jul 20, 2023
Merged

merge upstream #1

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5f434c4
Update FlexCAN_T4.tpp
tonton81 Apr 14, 2023
c7573b5
Update FlexCAN_T4.tpp
tonton81 Apr 14, 2023
3090d3e
IFCT copy of keywords
tonton81 Apr 14, 2023
82b12e6
Update FlexCAN_T4.h
tonton81 Apr 14, 2023
b928bcb
Used for asserting a PDM IGN line with CAN traffic
tonton81 May 9, 2023
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2 changes: 1 addition & 1 deletion FlexCAN_T4.h
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Original file line number Diff line number Diff line change
Expand Up @@ -328,7 +328,7 @@ class FlexCAN_T4_Base {
virtual int write(const CANFD_message_t &msg) = 0;
virtual int write(const CAN_message_t &msg) = 0;
virtual bool isFD() = 0;
virtual uint8_t getFirstTxBoxSize();
virtual uint8_t getFirstTxBoxSize() = 0;
};

#if defined(__IMXRT1062__)
Expand Down
26 changes: 13 additions & 13 deletions FlexCAN_T4.tpp
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Original file line number Diff line number Diff line change
Expand Up @@ -399,9 +399,9 @@ FCTP_FUNC void FCTP_OPT::writeIFLAG(uint64_t value) {
FLEXCANb_IFLAG1(_bus) = value;
}

FCTP_FUNC void FCTP_OPT::writeIFLAGBit(uint8_t mb_num) {
if ( mb_num < 32 ) FLEXCANb_IFLAG1(_bus) |= (1UL << mb_num);
else FLEXCANb_IFLAG2(_bus) |= (1UL << (mb_num - 32));
FCTP_FUNC void FCTP_OPT::writeIFLAGBit(uint8_t mb_num) { // bugfix by bsundahl1
if ( mb_num < 32 ) FLEXCANb_IFLAG1(_bus) = (1UL << mb_num);
else FLEXCANb_IFLAG2(_bus) = (1UL << (mb_num - 32));
}

FCTP_FUNC void FCTP_OPT::writeIMASK(uint64_t value) {
Expand Down Expand Up @@ -695,7 +695,7 @@ FCTP_FUNC bool FCTP_OPT::setMBUserFilter(FLEXCAN_MAILBOX mb_num, uint32_t id1, u
FCTP_FUNC bool FCTP_OPT::setMBUserFilter(FLEXCAN_MAILBOX mb_num, uint32_t id1, uint32_t id2, uint32_t mask) {
if ( mb_num < mailboxOffset() || mb_num >= FLEXCANb_MAXMB_SIZE(_bus) ) return 0; /* mailbox not available */
if ( (FLEXCAN_get_code(FLEXCANb_MBn_CS(_bus, mb_num)) >> 3) ) return 0; /* exit on TX mailbox */
uint32_t new_mask = ( !(FLEXCANb_MBn_CS(_bus, mb_num) & FLEXCAN_MB_CS_IDE) ) ? FLEXCAN_MB_ID_IDSTD((((id1 | id2) ^ (id1 & id2)) ^ 0x7FF) & mask) : FLEXCAN_MB_ID_IDEXT((((id1 | id2) ^ (id1 & id2)) ^ 0x1FFFFFFF) & mask);
uint32_t new_mask = ( !(FLEXCANb_MBn_CS(_bus, mb_num) & FLEXCAN_MB_CS_IDE) ) ? FLEXCAN_MB_ID_IDSTD((((id1 | id2) ^ (id1 & id2)) ^ 0x7FF) & mask) : ((((id1 | id2) ^ (id1 & id2)) ^ 0x1FFFFFFF) & mask);
setMBFilterProcessing(mb_num,id1,new_mask);
filter_store(FLEXCAN_USERMASK, mb_num, 2, id1, id2, 0, 0, mask);
return 1;
Expand All @@ -704,7 +704,7 @@ FCTP_FUNC bool FCTP_OPT::setMBUserFilter(FLEXCAN_MAILBOX mb_num, uint32_t id1, u
FCTP_FUNC bool FCTP_OPT::setMBUserFilter(FLEXCAN_MAILBOX mb_num, uint32_t id1, uint32_t id2, uint32_t id3, uint32_t mask) {
if ( mb_num < mailboxOffset() || mb_num >= FLEXCANb_MAXMB_SIZE(_bus) ) return 0; /* mailbox not available */
if ( (FLEXCAN_get_code(FLEXCANb_MBn_CS(_bus, mb_num)) >> 3) ) return 0; /* exit on TX mailbox */
uint32_t new_mask = ( !(FLEXCANb_MBn_CS(_bus, mb_num) & FLEXCAN_MB_CS_IDE) ) ? FLEXCAN_MB_ID_IDSTD((((id1 | id2 | id3) ^ (id1 & id2 & id3)) ^ 0x7FF) & mask) : FLEXCAN_MB_ID_IDEXT((((id1 | id2 | id3) ^ (id1 & id2 & id3)) ^ 0x1FFFFFFF) & mask);
uint32_t new_mask = ( !(FLEXCANb_MBn_CS(_bus, mb_num) & FLEXCAN_MB_CS_IDE) ) ? FLEXCAN_MB_ID_IDSTD((((id1 | id2 | id3) ^ (id1 & id2 & id3)) ^ 0x7FF) & mask) : ((((id1 | id2 | id3) ^ (id1 & id2 & id3)) ^ 0x1FFFFFFF) & mask);
setMBFilterProcessing(mb_num,id1,new_mask);
filter_store(FLEXCAN_USERMASK, mb_num, 3, id1, id2, id3, 0, mask);
return 1;
Expand All @@ -713,7 +713,7 @@ FCTP_FUNC bool FCTP_OPT::setMBUserFilter(FLEXCAN_MAILBOX mb_num, uint32_t id1, u
FCTP_FUNC bool FCTP_OPT::setMBUserFilter(FLEXCAN_MAILBOX mb_num, uint32_t id1, uint32_t id2, uint32_t id3, uint32_t id4, uint32_t mask) {
if ( mb_num < mailboxOffset() || mb_num >= FLEXCANb_MAXMB_SIZE(_bus) ) return 0; /* mailbox not available */
if ( (FLEXCAN_get_code(FLEXCANb_MBn_CS(_bus, mb_num)) >> 3) ) return 0; /* exit on TX mailbox */
uint32_t new_mask = ( !(FLEXCANb_MBn_CS(_bus, mb_num) & FLEXCAN_MB_CS_IDE) ) ? FLEXCAN_MB_ID_IDSTD((((id1 | id2 | id3 | id4) ^ (id1 & id2 & id3 & id4)) ^ 0x7FF) & mask) : FLEXCAN_MB_ID_IDEXT((((id1 | id2 | id3 | id4) ^ (id1 & id2 & id3 & id4)) ^ 0x1FFFFFFF) & mask);
uint32_t new_mask = ( !(FLEXCANb_MBn_CS(_bus, mb_num) & FLEXCAN_MB_CS_IDE) ) ? FLEXCAN_MB_ID_IDSTD((((id1 | id2 | id3 | id4) ^ (id1 & id2 & id3 & id4)) ^ 0x7FF) & mask) : ((((id1 | id2 | id3 | id4) ^ (id1 & id2 & id3 & id4)) ^ 0x1FFFFFFF) & mask);
setMBFilterProcessing(mb_num,id1,new_mask);
filter_store(FLEXCAN_USERMASK, mb_num, 4, id1, id2, id3, id4, mask);
return 1;
Expand Down Expand Up @@ -816,7 +816,7 @@ FCTP_FUNC void FCTP_OPT::setMBFilterProcessing(FLEXCAN_MAILBOX mb_num, uint32_t
bool frz_flag_negate = !(FLEXCANb_MCR(_bus) & FLEXCAN_MCR_FRZ_ACK);
FLEXCAN_EnterFreezeMode();
FLEXCANb_RXIMR(_bus, mb_num) = calculated_mask | ((FLEXCANb_CTRL2(_bus) & FLEXCAN_CTRL2_EACEN) ? (1UL << 30) : 0);
FLEXCANb_MBn_ID(_bus, mb_num) = ((!(FLEXCANb_MBn_CS(_bus, mb_num) & FLEXCAN_MB_CS_IDE)) ? FLEXCAN_MB_ID_IDSTD(filter_id) : FLEXCAN_MB_ID_IDEXT(filter_id));
FLEXCANb_MBn_ID(_bus, mb_num) = ((!(FLEXCANb_MBn_CS(_bus, mb_num) & FLEXCAN_MB_CS_IDE)) ? FLEXCAN_MB_ID_IDSTD(filter_id) : (filter_id & 0x1FFFFFFF));
if ( frz_flag_negate ) FLEXCAN_ExitFreezeMode();
}

Expand Down Expand Up @@ -859,7 +859,7 @@ FCTP_FUNC bool FCTP_OPT::setMBManualFilter(FLEXCAN_MAILBOX mb_num, uint32_t id1,
FCTP_FUNC bool FCTP_OPT::setMBFilter(FLEXCAN_MAILBOX mb_num, uint32_t id1) {
if ( mb_num < mailboxOffset() || mb_num >= FLEXCANb_MAXMB_SIZE(_bus) ) return 0; /* mailbox not available */
if ( (FLEXCAN_get_code(FLEXCANb_MBn_CS(_bus, mb_num)) >> 3) ) return 0; /* exit on TX mailbox */
uint32_t mask = ( !(FLEXCANb_MBn_CS(_bus, mb_num) & FLEXCAN_MB_CS_IDE) ) ? FLEXCAN_MB_ID_IDSTD(((id1) ^ (id1)) ^ 0x7FF) : FLEXCAN_MB_ID_IDEXT(((id1) ^ (id1)) ^ 0x1FFFFFFF);
uint32_t mask = ( !(FLEXCANb_MBn_CS(_bus, mb_num) & FLEXCAN_MB_CS_IDE) ) ? FLEXCAN_MB_ID_IDSTD(((id1) ^ (id1)) ^ 0x7FF) : ((((id1) ^ (id1)) ^ 0x1FFFFFFF) & 0x1FFFFFFF);
setMBFilterProcessing(mb_num,id1,mask);
filter_store(FLEXCAN_MULTI, mb_num, 1, id1, 0, 0, 0, 0);
return 1;
Expand All @@ -868,7 +868,7 @@ FCTP_FUNC bool FCTP_OPT::setMBFilter(FLEXCAN_MAILBOX mb_num, uint32_t id1) {
FCTP_FUNC bool FCTP_OPT::setMBFilter(FLEXCAN_MAILBOX mb_num, uint32_t id1, uint32_t id2) {
if ( mb_num < mailboxOffset() || mb_num >= FLEXCANb_MAXMB_SIZE(_bus) ) return 0; /* mailbox not available */
if ( (FLEXCAN_get_code(FLEXCANb_MBn_CS(_bus, mb_num)) >> 3) ) return 0; /* exit on TX mailbox */
uint32_t mask = ( !(FLEXCANb_MBn_CS(_bus, mb_num) & FLEXCAN_MB_CS_IDE) ) ? FLEXCAN_MB_ID_IDSTD(((id1 | id2) ^ (id1 & id2)) ^ 0x7FF) : FLEXCAN_MB_ID_IDEXT(((id1 | id2) ^ (id1 & id2)) ^ 0x1FFFFFFF);
uint32_t mask = ( !(FLEXCANb_MBn_CS(_bus, mb_num) & FLEXCAN_MB_CS_IDE) ) ? FLEXCAN_MB_ID_IDSTD(((id1 | id2) ^ (id1 & id2)) ^ 0x7FF) : ((((id1 | id2) ^ (id1 & id2)) ^ 0x1FFFFFFF) & 0x1FFFFFFF);
setMBFilterProcessing(mb_num,id1,mask);
filter_store(FLEXCAN_MULTI, mb_num, 2, id1, id2, 0, 0, 0);
return 1;
Expand All @@ -877,7 +877,7 @@ FCTP_FUNC bool FCTP_OPT::setMBFilter(FLEXCAN_MAILBOX mb_num, uint32_t id1, uint3
FCTP_FUNC bool FCTP_OPT::setMBFilter(FLEXCAN_MAILBOX mb_num, uint32_t id1, uint32_t id2, uint32_t id3) {
if ( mb_num < mailboxOffset() || mb_num >= FLEXCANb_MAXMB_SIZE(_bus) ) return 0; /* mailbox not available */
if ( (FLEXCAN_get_code(FLEXCANb_MBn_CS(_bus, mb_num)) >> 3) ) return 0; /* exit on TX mailbox */
uint32_t mask = ( !(FLEXCANb_MBn_CS(_bus, mb_num) & FLEXCAN_MB_CS_IDE) ) ? FLEXCAN_MB_ID_IDSTD(((id1 | id2 | id3) ^ (id1 & id2 & id3)) ^ 0x7FF) : FLEXCAN_MB_ID_IDEXT(((id1 | id2 | id3) ^ (id1 & id2 & id3)) ^ 0x1FFFFFFF);
uint32_t mask = ( !(FLEXCANb_MBn_CS(_bus, mb_num) & FLEXCAN_MB_CS_IDE) ) ? FLEXCAN_MB_ID_IDSTD(((id1 | id2 | id3) ^ (id1 & id2 & id3)) ^ 0x7FF) : ((((id1 | id2 | id3) ^ (id1 & id2 & id3)) ^ 0x1FFFFFFF) & 0x1FFFFFFF);
setMBFilterProcessing(mb_num,id1,mask);
filter_store(FLEXCAN_MULTI, mb_num, 3, id1, id2, id3, 0, 0);
return 1;
Expand All @@ -886,7 +886,7 @@ FCTP_FUNC bool FCTP_OPT::setMBFilter(FLEXCAN_MAILBOX mb_num, uint32_t id1, uint3
FCTP_FUNC bool FCTP_OPT::setMBFilter(FLEXCAN_MAILBOX mb_num, uint32_t id1, uint32_t id2, uint32_t id3, uint32_t id4) {
if ( mb_num < mailboxOffset() || mb_num >= FLEXCANb_MAXMB_SIZE(_bus) ) return 0; /* mailbox not available */
if ( (FLEXCAN_get_code(FLEXCANb_MBn_CS(_bus, mb_num)) >> 3) ) return 0; /* exit on TX mailbox */
uint32_t mask = ( !(FLEXCANb_MBn_CS(_bus, mb_num) & FLEXCAN_MB_CS_IDE) ) ? FLEXCAN_MB_ID_IDSTD(((id1 | id2 | id3 | id4) ^ (id1 & id2 & id3 & id4)) ^ 0x7FF) : FLEXCAN_MB_ID_IDEXT(((id1 | id2 | id3 | id4) ^ (id1 & id2 & id3 & id4)) ^ 0x1FFFFFFF);
uint32_t mask = ( !(FLEXCANb_MBn_CS(_bus, mb_num) & FLEXCAN_MB_CS_IDE) ) ? FLEXCAN_MB_ID_IDSTD(((id1 | id2 | id3 | id4) ^ (id1 & id2 & id3 & id4)) ^ 0x7FF) : ((((id1 | id2 | id3 | id4) ^ (id1 & id2 & id3 & id4)) ^ 0x1FFFFFFF) & 0x1FFFFFFF);
setMBFilterProcessing(mb_num,id1,mask);
filter_store(FLEXCAN_MULTI, mb_num, 4, id1, id2, id3, id4, 0);
return 1;
Expand All @@ -895,7 +895,7 @@ FCTP_FUNC bool FCTP_OPT::setMBFilter(FLEXCAN_MAILBOX mb_num, uint32_t id1, uint3
FCTP_FUNC bool FCTP_OPT::setMBFilter(FLEXCAN_MAILBOX mb_num, uint32_t id1, uint32_t id2, uint32_t id3, uint32_t id4, uint32_t id5) {
if ( mb_num < mailboxOffset() || mb_num >= FLEXCANb_MAXMB_SIZE(_bus) ) return 0; /* mailbox not available */
if ( (FLEXCAN_get_code(FLEXCANb_MBn_CS(_bus, mb_num)) >> 3) ) return 0; /* exit on TX mailbox */
uint32_t mask = ( !(FLEXCANb_MBn_CS(_bus, mb_num) & FLEXCAN_MB_CS_IDE) ) ? FLEXCAN_MB_ID_IDSTD(((id1 | id2 | id3 | id4 | id5) ^ (id1 & id2 & id3 & id4 & id5)) ^ 0x7FF) : FLEXCAN_MB_ID_IDEXT(((id1 | id2 | id3 | id4 | id5) ^ (id1 & id2 & id3 & id4 & id5)) ^ 0x1FFFFFFF);
uint32_t mask = ( !(FLEXCANb_MBn_CS(_bus, mb_num) & FLEXCAN_MB_CS_IDE) ) ? FLEXCAN_MB_ID_IDSTD(((id1 | id2 | id3 | id4 | id5) ^ (id1 & id2 & id3 & id4 & id5)) ^ 0x7FF) : ((((id1 | id2 | id3 | id4 | id5) ^ (id1 & id2 & id3 & id4 & id5)) ^ 0x1FFFFFFF) & 0x1FFFFFFF);
setMBFilterProcessing(mb_num,id1,mask);
filter_store(FLEXCAN_MULTI, mb_num, 5, id1, id2, id3, id4, id5);
return 1;
Expand All @@ -909,7 +909,7 @@ FCTP_FUNC bool FCTP_OPT::setMBFilterRange(FLEXCAN_MAILBOX mb_num, uint32_t id1,
for ( uint32_t i = id1 + 1; i <= id2; i++ ) {
stage1 |= i; stage2 &= i;
}
uint32_t mask = ( !(FLEXCANb_MBn_CS(_bus, mb_num) & FLEXCAN_MB_CS_IDE) ) ? FLEXCAN_MB_ID_IDSTD( (stage1 ^ stage2) ^ 0x1FFFFFFF ) : FLEXCAN_MB_ID_IDEXT( (stage1 ^ stage2) ^ 0x1FFFFFFF );
uint32_t mask = ( !(FLEXCANb_MBn_CS(_bus, mb_num) & FLEXCAN_MB_CS_IDE) ) ? FLEXCAN_MB_ID_IDSTD( (stage1 ^ stage2) ^ 0x1FFFFFFF ) : (( (stage1 ^ stage2) ^ 0x1FFFFFFF ) & 0x1FFFFFFF);
setMBFilterProcessing(mb_num,id1,mask);
filter_store(FLEXCAN_RANGE, mb_num, 2, id1, id2, 0, 0, 0);
return 1;
Expand Down
45 changes: 45 additions & 0 deletions examples/T32CAN_LINSLAVE_WAKE_ON_CAN/T32CAN_LINSLAVE_WAKE_ON_CAN.ino
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Original file line number Diff line number Diff line change
@@ -0,0 +1,45 @@
#include <FlexCAN_T4.h>
FlexCAN_T4<CAN0, RX_SIZE_256, TX_SIZE_16> Can0;
volatile uint32_t can_activity = 0;
volatile uint32_t ign_output = 0;

void setup() {
Serial.begin(115200);
pinMode(23, OUTPUT); // ENABLE LIN SLAVE OUTPUT
delay(1000);

Can0.begin();
Can0.setBaudRate(125000);
Can0.setMaxMB(16);
Can0.enableFIFO();
Can0.enableFIFOInterrupt();
Can0.onReceive(canSniff);
Can0.mailboxStatus();
}

void loop() {
if ( ign_output ) {
if ( millis() - can_activity > 10000 ) {
ign_output = 0;
Serial.println("BUS INACTIVE, IGN OUTPUT DISABLED");
}
}
else digitalWrite(23, HIGH); // DISABLE IGN OUTPUT
}

void canSniff(const CAN_message_t &msg) {
can_activity = millis();
if ( ign_output == 0 ) Serial.println("BUS ACTIVE, IGN OUTPUT ENABLED");
ign_output = 1;
digitalWrite(23, LOW); // ENABLE IGN OUTPUT
Serial.print("MB "); Serial.print(msg.mb);
Serial.print(" OVERRUN: "); Serial.print(msg.flags.overrun);
Serial.print(" LEN: "); Serial.print(msg.len);
Serial.print(" EXT: "); Serial.print(msg.flags.extended);
Serial.print(" TS: "); Serial.print(msg.timestamp);
Serial.print(" ID: "); Serial.print(msg.id, HEX);
Serial.print(" Buffer: ");
for ( uint8_t i = 0; i < msg.len; i++ ) {
Serial.print(msg.buf[i], HEX); Serial.print(" ");
} Serial.println();
}
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