fixup fdcan.c

RIOT-OS · Mar 11, 2024 · b30e7e3 · b30e7e3
1 parent da44706
commit b30e7e3
Showing 1 changed file with 30 additions and 15 deletions.
diff --git a/cpu/stm32/periph/fdcan.c b/cpu/stm32/periph/fdcan.c
@@ -876,12 +876,6 @@ static int _send(candev_t *candev, const can_frame_t *frame)
         return -EINVAL;
     }
 
-    if (frame->len > CANFD_MAX_DLEN) {
-        DEBUG("%s: FDCAN%u frame %lu DLC is upper 64 bytes (%d)\n",
-              __func__, get_channel_id(can), frame->can_id, frame->len);
-        return -EINVAL;
-    }
-
     /* Determine if it a standard or extended identifier */
     uint32_t xtd_bit = ((((frame->can_id & CAN_EFF_FLAG) == CAN_EFF_FLAG)
                        || (frame->flags & CANFD_FDF)) ? 1 : 0) << FDCAN_SRAM_TXBUFFER_T0_XTD_Pos;
@@ -906,25 +900,46 @@ static int _send(candev_t *candev, const can_frame_t *frame)
         | rtr_bit   /* Always a data frame */
         | id);      /* Message ID */
 
+    /* Bit rate switching is specific to FDCAN. */
+    if (!(frame->flags & CANFD_FDF) && (frame->flags & CANFD_BRS)) {
+        DEBUG("%s: FDCAN%u frame %lu BRS is enabled on a non-fd frame\n",
+              __func__, get_channel_id(can), frame->can_id);
+        return -EINVAL;
+    }
+
+    /* Check length */
+    if ((frame->flags & CANFD_FDF) && (frame->len > CANFD_MAX_DLEN)) {
+        DEBUG("%s: FDCAN%u frame %lu len is upper than 64 bytes (%d)\n",
+              __func__, get_channel_id(can), frame->can_id, frame->len);
+        return -EINVAL;
+    }
+    if (!(frame->flags & CANFD_FDF) && (frame->len > CAN_MAX_DLEN)) {
+        DEBUG("%s: FDCAN%u frame %lu len is upper than 8 bytes (%d)\n",
+              __func__, get_channel_id(can), frame->can_id, frame->len);
+        return -EINVAL;
+    }
+
+    /* ESI bit in CAN FD format transmitted recessive */
     *tx_buffer_element_t1 &= ~FDCAN_SRAM_TXBUFFER_T1_EFC;
     *tx_buffer_element_t1 |= FDCAN_SRAM_TXBUFFER_T1_EFC_DISABLE;
 
     /* Bit Rate Switching */
     *tx_buffer_element_t1 &= ~FDCAN_SRAM_TXBUFFER_T1_BRS;
-    *tx_buffer_element_t1 |= ((frame->flags & CANFD_BRS) ? 1 : 0) << FDCAN_SRAM_TXBUFFER_T1_BRS_Pos;
+    *tx_buffer_element_t1 |= frame->flags & CANFD_BRS
+                             ? FDCAN_SRAM_TXBUFFER_T1_BRS_ON
+                             : FDCAN_SRAM_TXBUFFER_T1_BRS_OFF;
+
+    /* CAN FD frame */
+    *tx_buffer_element_t1 &= ~FDCAN_SRAM_TXBUFFER_T1_FDF;
+    *tx_buffer_element_t1 |= frame->flags & CANFD_FDF
+                             ? FDCAN_SRAM_TXBUFFER_T1_FDF_FD
+                             : FDCAN_SRAM_TXBUFFER_T1_FDF_CLASSIC;
+
 
     /* Data Length Code*/
     *tx_buffer_element_t1 &= ~FDCAN_SRAM_TXBUFFER_T1_DLC;
     *tx_buffer_element_t1 |= dlc_to_fddlc(frame->len) << FDCAN_SRAM_TXBUFFER_T1_DLC_Pos;
 
-    /* Bit rate switching and a payload data length greater than 8 are specific to FDCAN.
-       Thus consider frame as a FDCAN one only if one of those two specifics is fulfilled */
-    *tx_buffer_element_t1 &= ~FDCAN_SRAM_TXBUFFER_T1_FDF;
-    *tx_buffer_element_t1 |= ((frame->flags & CANFD_FDF)
-                             || (frame->flags & CANFD_BRS)
-                             || (frame->len > CAN_MAX_DLEN))
-                             ? FDCAN_SRAM_TXBUFFER_T1_FDF_FD
-                             : FDCAN_SRAM_TXBUFFER_T1_FDF_CLASSIC;
 
     DEBUG("%s: FDCAN%u *tx_buffer_element_t0 = %lx\n",
           __func__, get_channel_id(can), *tx_buffer_element_t0);