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uavcan_drivers: stm32h7_can fix filter memory initialization bug 

Co-authored-by: Duarte Dias <duarte@uaventure.com>
This commit is contained in:
duartecdias 2023-09-08 21:29:41 +02:00 committed by GitHub
parent 7d497d4959
commit efe0db5725
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GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 6 additions and 3 deletions
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9
src/drivers/uavcan/uavcan_drivers/stm32h7/driver/src/uc_stm32h7_can.cpp
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@ -798,6 +798,7 @@ int CanIface::init(const uavcan::uint32_t bitrate, const OperatingMode mode)
* factor of 4 necessary in the address relative to the SA register values.
*/
// Location of this interface's message RAM - address in CPU memory address
// and relative address (in words) used for configuration
const uint32_t iface_ram_base = (2560 / 2) * self_index_;
@ -809,14 +810,16 @@ int CanIface::init(const uavcan::uint32_t bitrate, const OperatingMode mode)
message_ram_.StdIdFilterSA = gl_ram_base + ram_offset * WORD_LENGTH;
can_->SIDFC = ((n_stdid << FDCAN_SIDFC_LSS_Pos)
| ram_offset << FDCAN_SIDFC_FLSSA_Pos);
memset((void *)message_ram_.StdIdFilterSA, 0, WORD_LENGTH * n_stdid); // make sure filters are disabled
ram_offset += n_stdid;
// Extended ID Filters: Allow space for 128 filters (128 words)
const uint8_t n_extid = 128;
// Extended ID Filters: Allow space for 64 filters (128 words)
const uint8_t n_extid = 64;
message_ram_.ExtIdFilterSA = gl_ram_base + ram_offset * WORD_LENGTH;
can_->XIDFC = ((n_extid << FDCAN_XIDFC_LSE_Pos)
| ram_offset << FDCAN_XIDFC_FLESA_Pos);
ram_offset += n_extid;
memset((void *)message_ram_.ExtIdFilterSA, 0, (2 * WORD_LENGTH) * n_extid); // make sure filters are disabled
ram_offset += 2 * n_extid;
// Set size of each element in the Rx/Tx buffers and FIFOs
can_->RXESC = 0; // 8 byte space for every element (Rx buffer, FIFO1, FIFO0)