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AP_HAL_ChibiOS: disable CAN filtering except on AP_Periph

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this saves flash space and makes CAN forwarding for any bus without
reconfigure/reboot easy. CAN filtering is not useful in the main
flight controller firmware as we want to see nearly all packets
This commit is contained in:
Andrew Tridgell 2022-02-09 14:25:44 +11:00
parent b6bf74b73d
commit 33ebc83a68
2 changed files with 10 additions and 3 deletions
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7
libraries/AP_HAL_ChibiOS/CANFDIface.cpp
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@ -399,8 +399,9 @@ int16_t CANIface::receive(AP_HAL::CANFrame& out_frame, uint64_t& out_timestamp_u
bool CANIface::configureFilters(const CanFilterConfig* filter_configs,
uint16_t num_configs)
{
#if defined(STM32G4)
// not supported yet
// only enable filters in AP_Periph. It makes no sense on the flight controller
#if !defined(HAL_BUILD_AP_PERIPH) || defined(STM32G4)
// no filtering
can_->CCCR &= ~FDCAN_CCCR_INIT; // Leave init mode
uint32_t while_start_ms = AP_HAL::millis();
while ((can_->CCCR & FDCAN_CCCR_INIT) == 1) {
@ -525,7 +526,7 @@ bool CANIface::configureFilters(const CanFilterConfig* filter_configs,
}
initialised_ = true;
return true;
#endif // defined(STM32G4)
#endif // AP_Periph, STM32G4
}
uint16_t CANIface::getNumFilters() const

6
libraries/AP_HAL_ChibiOS/CanIface.cpp
View File

@ -384,6 +384,11 @@ int16_t CANIface::receive(AP_HAL::CANFrame& out_frame, uint64_t& out_timestamp_u
bool CANIface::configureFilters(const CanFilterConfig* filter_configs,
uint16_t num_configs)
{
#if !defined(HAL_BUILD_AP_PERIPH)
// only do filtering for AP_Periph
can_->FMR &= ~bxcan::FMR_FINIT;
return true;
#else
if (mode_ != FilteredMode) {
return false;
}
@ -451,6 +456,7 @@ bool CANIface::configureFilters(const CanFilterConfig* filter_configs,
}
return false;
#endif // AP_Periph
}
#endif