correct feature/mode flags, fix dlc=8 bug in dlc2len

linklayer · Sep 9, 2020 · 66122d7 · 66122d7 · fxj000 · Oct 18, 2020
1 parent f3708c7
commit 66122d7
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Showing 4 changed files with 45 additions and 21 deletions.
diff --git a/sources/can.c b/sources/can.c
@@ -149,7 +149,7 @@ int can_len2dlc(uint8_t len) {
 	return 0;
 }
 int can_dlc2len(uint8_t dlc) {
-	if (dlc < 8) {
+	if (dlc <= 8) {
 		return dlc;
 	} else if (dlc == 9) {
 		return 12;
@@ -182,11 +182,11 @@ int can_start(uint8_t channel, uint32_t flags) {
 
 	MCAN_GetDefaultConfig(&config);
 	monitor_mode[channel] = 0;
-	if (flags & GS_CAN_FEATURE_LISTEN_ONLY) {
+	if (flags & GS_CAN_MODE_LISTEN_ONLY) {
 		config.enableBusMon = true;
 		monitor_mode[channel] = 1;
 	}
-	if (flags & GS_CAN_FEATURE_LOOP_BACK) {
+	if (flags & GS_CAN_MODE_LOOP_BACK) {
 		config.enableLoopBackExt = true;
 	}
 	if (flags & GS_CAN_MODE_FD) {

diff --git a/sources/main.c b/sources/main.c
@@ -243,8 +243,14 @@ void APPTask(void) {
 	while (rx_frames_index > 0) {
 		primask = DisableGlobalIRQ();
 		rx_frames_index--;
-		usb_send((uint8_t*) &rx_frames[rx_frames_index],
-				sizeof(struct gs_host_frame));
+		if (rx_frames[rx_frames_index].flags & GS_CAN_FLAG_FD) {
+			usb_send((uint8_t*) &rx_frames[rx_frames_index],
+					sizeof(struct gs_host_frame));
+		} else {
+			// send correct size for non-FD frame
+			usb_send((uint8_t*) &rx_frames[rx_frames_index],
+					sizeof(struct gs_host_frame_non_fd));
+		}
 		EnableGlobalIRQ(primask);
 	}
 }

diff --git a/usb/device/class/gs_usb/gs_usb.h b/usb/device/class/gs_usb/gs_usb.h
@@ -58,12 +58,14 @@ struct gs_device_config {
 	uint32_t hw_version;
 };
 
-#define GS_CAN_MODE_NORMAL               0
-#define GS_CAN_MODE_LISTEN_ONLY          BIT(0)
-#define GS_CAN_MODE_LOOP_BACK            BIT(1)
-#define GS_CAN_MODE_TRIPLE_SAMPLE        BIT(2)
-#define GS_CAN_MODE_ONE_SHOT             BIT(3)
-#define GS_CAN_MODE_FD             	 	 BIT(4)
+#define GS_CAN_MODE_NORMAL               		0
+#define GS_CAN_MODE_LISTEN_ONLY          		BIT(0)
+#define GS_CAN_MODE_LOOP_BACK            		BIT(1)
+#define GS_CAN_MODE_TRIPLE_SAMPLE        		BIT(2)
+#define GS_CAN_MODE_ONE_SHOT             		BIT(3)
+#define GS_CAN_MODE_HW_TIMESTAMP         		BIT(4)
+#define GS_CAN_MODE_PAD_PKTS_TO_MAX_PKT_SIZE 	BIT(7)
+#define GS_CAN_MODE_FD             	 	 		BIT(8)
 
 struct gs_device_mode {
 	uint32_t mode;
@@ -89,13 +91,15 @@ struct gs_identify_mode {
 };
 
 #define BIT(X) (1<<X)
-#define GS_CAN_FEATURE_LISTEN_ONLY      BIT(0)
-#define GS_CAN_FEATURE_LOOP_BACK        BIT(1)
-#define GS_CAN_FEATURE_TRIPLE_SAMPLE    BIT(2)
-#define GS_CAN_FEATURE_ONE_SHOT         BIT(3)
-#define GS_CAN_FEATURE_HW_TIMESTAMP     BIT(4)
-#define GS_CAN_FEATURE_IDENTIFY         BIT(5)
-#define GS_CAN_FEATURE_FD         		BIT(6)
+#define GS_CAN_FEATURE_LISTEN_ONLY      		BIT(0)
+#define GS_CAN_FEATURE_LOOP_BACK        		BIT(1)
+#define GS_CAN_FEATURE_TRIPLE_SAMPLE    		BIT(2)
+#define GS_CAN_FEATURE_ONE_SHOT         		BIT(3)
+#define GS_CAN_FEATURE_HW_TIMESTAMP     		BIT(4)
+#define GS_CAN_FEATURE_IDENTIFY         		BIT(5)
+#define GS_CAN_FEATURE_USER_ID					BIT(6)
+#define GS_CAN_FEATURE_PAD_PKTS_TO_MAX_PKT_SIZE BIT(7)
+#define GS_CAN_FEATURE_FD         				BIT(8)
 
 struct gs_device_bt_const {
 	uint32_t feature;
@@ -127,6 +131,18 @@ struct gs_host_frame {
 	uint8_t data[64];
 };
 
+struct gs_host_frame_non_fd {
+	uint32_t echo_id;
+	uint32_t can_id;
+
+	uint8_t can_dlc;
+	uint8_t channel;
+	uint8_t flags;
+	uint8_t reserved;
+
+	uint8_t data[8];
+};
+
 struct gs_usb_dev {
 	struct gs_host_config host_config;
 	uint32_t sof_timestamp_us;

diff --git a/usb/device/class/gs_usb/gs_usb_class.c b/usb/device/class/gs_usb/gs_usb_class.c
@@ -110,9 +110,11 @@ static const struct gs_device_config device_config = { 0, // reserved 1
 
 // bit timing constraints
 static const struct gs_device_bt_const can_dev_bt_const = {
-GS_CAN_FEATURE_LISTEN_ONLY  // supported features
-| GS_CAN_FEATURE_LOOP_BACK | GS_CAN_FEATURE_HW_TIMESTAMP
-		| GS_CAN_FEATURE_IDENTIFY | GS_CAN_FEATURE_FD,
+		// supported features
+		GS_CAN_FEATURE_LISTEN_ONLY |
+			GS_CAN_FEATURE_LOOP_BACK |
+			GS_CAN_FEATURE_IDENTIFY |
+			GS_CAN_FEATURE_FD,
 		24000000, // can timing base clock
 		1, // tseg1 min
 		16, // tseg1 max