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Merge pull request #857 from monkbroc/feature/can-extended-filter
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Fix extended CAN filters
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@m-mcgowan
m-mcgowan committed Mar 10, 2016
2 parents a7cd547 + e189089 commit 9b33edd
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Showing 2 changed files with 184 additions and 11 deletions.
21 changes: 16 additions & 5 deletions hal/src/stm32f2xx/can_hal.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -760,11 +760,22 @@ bool CANDriver::addFilter(uint32_t id, uint32_t mask, HAL_CAN_Filters type)
return false;
}

// Filter configuration - Register organization
// Lowest 11 bits of id are first, then next 18 bits of id, then
// standard/extended bit, then RTR bit, then 1 zero bit
uint32_t filterId = (id << 21) | ((id >> 8) & 0x1FFFF8) | (type == CAN_FILTER_EXTENDED ? 0x4 : 0);
uint32_t filterMask = (mask << 21) | ((mask >> 8) & 0x1FFFF8) | 0x6;
// Filter configuration
// See STM32F2 Reference Manual for register organization
uint32_t filterId, filterMask;
const uint32_t extendedBit = 0x4;
const uint32_t rtrBit = 0x2;

if(type == CAN_FILTER_STANDARD)
{
filterId = id << 21;
filterMask = (mask << 21) | extendedBit | rtrBit;
}
else
{
filterId = (id << 3) | extendedBit;
filterMask = (mask << 3) | extendedBit | rtrBit;
}

CAN_FilterInitTypeDef CAN_FilterInitStructure = {};
CAN_FilterInitStructure.CAN_FilterNumber = nextFilter;
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174 changes: 168 additions & 6 deletions user/tests/wiring/no_fixture/can.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -28,7 +28,7 @@

#ifdef HAL_HAS_CAN_D1_D2

test(CAN_D1D2_ReceivesTransmittedMessage) {
test(CAN_D1_D2_ReceivesTransmittedMessage) {
CANChannel can(CAN_D1_D2);
can.begin(500000, CAN_TEST_MODE);

Expand All @@ -48,10 +48,29 @@ test(CAN_D1D2_ReceivesTransmittedMessage) {
assertEqual(rx.data[0], 10);
}

test(CAN_D1D2_DoesntReceiveFilteredMessage) {
test(CAN_D1_D2_ReceivesAcceptedMessage) {
CANChannel can(CAN_D1_D2);
can.begin(500000, CAN_TEST_MODE);
// Accept only message 0x100
// Accept only standard message 0x100
can.addFilter(0x100, 0x7FF);

CANMessage tx;
tx.id = 0x100;
tx.len = 1;
tx.data[0] = 10;
can.transmit(tx);
delay(1);
CANMessage rx;
bool hasMessage = can.receive(rx);
can.end();

assertEqual(hasMessage, true);
}

test(CAN_D1_D2_DoesntReceiveFilteredMessage) {
CANChannel can(CAN_D1_D2);
can.begin(500000, CAN_TEST_MODE);
// Accept only standard message 0x100
can.addFilter(0x100, 0x7FF);

CANMessage tx;
Expand All @@ -67,11 +86,73 @@ test(CAN_D1D2_DoesntReceiveFilteredMessage) {
assertEqual(hasMessage, false);
}

test(CAN_D1_D2_ReceivesTransmittedExtendedMessage) {
CANChannel can(CAN_D1_D2);
can.begin(500000, CAN_TEST_MODE);

CANMessage tx;
tx.extended = true;
tx.id = 0x3000;
tx.len = 1;
tx.data[0] = 10;
can.transmit(tx);
delay(1);
CANMessage rx;
bool hasMessage = can.receive(rx);
can.end();

assertEqual(hasMessage, true);
assertEqual(rx.extended, true);
assertEqual(rx.id, 0x3000);
assertEqual(rx.len, 1);
assertEqual(rx.data[0], 10);
}

test(CAN_D1_D2_ReceivesAcceptedExtendedMessage) {
CANChannel can(CAN_D1_D2);
can.begin(500000, CAN_TEST_MODE);
// Accept only extended message 0x3000
can.addFilter(0x3000, 0x7FF, CAN_FILTER_EXTENDED);

CANMessage tx;
tx.extended = true;
tx.id = 0x3000;
tx.len = 1;
tx.data[0] = 10;
can.transmit(tx);
delay(1);
CANMessage rx;
bool hasMessage = can.receive(rx);
can.end();

assertEqual(hasMessage, true);
}

test(CAN_D1_D2_DoesntReceiveFilteredExtendedMessage) {
CANChannel can(CAN_D1_D2);
can.begin(500000, CAN_TEST_MODE);
// Accept only extended message 0x3000
can.addFilter(0x3000, 0x7FF, CAN_FILTER_EXTENDED);

CANMessage tx;
tx.extended = true;
tx.id = 0x3001;
tx.len = 1;
tx.data[0] = 10;
can.transmit(tx);
delay(1);
CANMessage rx;
bool hasMessage = can.receive(rx);
can.end();

assertEqual(hasMessage, false);
}

#endif // HAL_HAS_CAN_D1_D2

#ifdef HAL_HAS_CAN_C4_C5

test(CAN_C4C5_ReceivesTransmittedMessage) {
test(CAN_C4_C5_ReceivesTransmittedMessage) {
CANChannel can(CAN_C4_C5);
can.begin(500000, CAN_TEST_MODE);

Expand All @@ -91,10 +172,29 @@ test(CAN_C4C5_ReceivesTransmittedMessage) {
assertEqual(rx.data[0], 10);
}

test(CAN_C4C5_DoesntReceiveFilteredMessage) {
test(CAN_C4_C5_ReceivesAcceptedMessage) {
CANChannel can(CAN_C4_C5);
can.begin(500000, CAN_TEST_MODE);
// Accept only message 0x100
// Accept only standard message 0x100
can.addFilter(0x100, 0x7FF);

CANMessage tx;
tx.id = 0x100;
tx.len = 1;
tx.data[0] = 10;
can.transmit(tx);
delay(1);
CANMessage rx;
bool hasMessage = can.receive(rx);
can.end();

assertEqual(hasMessage, true);
}

test(CAN_C4_C5_DoesntReceiveFilteredMessage) {
CANChannel can(CAN_C4_C5);
can.begin(500000, CAN_TEST_MODE);
// Accept only standard message 0x100
can.addFilter(0x100, 0x7FF);

CANMessage tx;
Expand All @@ -110,4 +210,66 @@ test(CAN_C4C5_DoesntReceiveFilteredMessage) {
assertEqual(hasMessage, false);
}

test(CAN_C4_C5_ReceivesTransmittedExtendedMessage) {
CANChannel can(CAN_C4_C5);
can.begin(500000, CAN_TEST_MODE);

CANMessage tx;
tx.extended = true;
tx.id = 0x3000;
tx.len = 1;
tx.data[0] = 10;
can.transmit(tx);
delay(1);
CANMessage rx;
bool hasMessage = can.receive(rx);
can.end();

assertEqual(hasMessage, true);
assertEqual(rx.extended, true);
assertEqual(rx.id, 0x3000);
assertEqual(rx.len, 1);
assertEqual(rx.data[0], 10);
}

test(CAN_C4_C5_ReceivesAcceptedExtendedMessage) {
CANChannel can(CAN_C4_C5);
can.begin(500000, CAN_TEST_MODE);
// Accept only extended message 0x3000
can.addFilter(0x3000, 0x7FF, CAN_FILTER_EXTENDED);

CANMessage tx;
tx.extended = true;
tx.id = 0x3000;
tx.len = 1;
tx.data[0] = 10;
can.transmit(tx);
delay(1);
CANMessage rx;
bool hasMessage = can.receive(rx);
can.end();

assertEqual(hasMessage, true);
}

test(CAN_C4_C5_DoesntReceiveFilteredExtendedMessage) {
CANChannel can(CAN_C4_C5);
can.begin(500000, CAN_TEST_MODE);
// Accept only extended message 0x3000
can.addFilter(0x3000, 0x7FF, CAN_FILTER_EXTENDED);

CANMessage tx;
tx.extended = true;
tx.id = 0x3001;
tx.len = 1;
tx.data[0] = 10;
can.transmit(tx);
delay(1);
CANMessage rx;
bool hasMessage = can.receive(rx);
can.end();

assertEqual(hasMessage, false);
}

#endif // HAL_HAS_CAN_C4_C5

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