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change error handling to better match driver expectations (known bug: warning/passive flags are not reset by bxCAN when leaving these modes

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This commit is contained in:
Hubert Denkmair 2016-04-21 21:59:13 +02:00
parent 17b6219ea7
commit 189376b306
1 changed files with 9 additions and 18 deletions
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27
src/can.c
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@ -226,7 +226,7 @@ uint32_t can_get_error_status(can_data_t *hcan)
bool can_parse_error_status(uint32_t err, struct gs_host_frame *frame) bool can_parse_error_status(uint32_t err, struct gs_host_frame *frame)
{ {
frame->echo_id = 0xFFFFFFFF; frame->echo_id = 0xFFFFFFFF;
frame->can_id = CAN_ERR_FLAG; frame->can_id = CAN_ERR_FLAG | CAN_ERR_CRTL;
frame->can_dlc = CAN_ERR_DLC; frame->can_dlc = CAN_ERR_DLC;
frame->data[0] = CAN_ERR_LOSTARB_UNSPEC; frame->data[0] = CAN_ERR_LOSTARB_UNSPEC;
frame->data[1] = CAN_ERR_CRTL_UNSPEC; frame->data[1] = CAN_ERR_CRTL_UNSPEC;
@ -237,28 +237,19 @@ bool can_parse_error_status(uint32_t err, struct gs_host_frame *frame)
frame->data[6] = 0; frame->data[6] = 0;
frame->data[7] = 0; frame->data[7] = 0;
if ((err & 0x04) != 0) { /* bus off flag */ if ((err & CAN_ESR_BOFF) != 0) {
frame->can_id |= CAN_ERR_BUSOFF; frame->can_id |= CAN_ERR_BUSOFF;
} }
/*
uint8_t tx_error_cnt = (err>>16) & 0xFF; uint8_t tx_error_cnt = (err>>16) & 0xFF;
if (tx_error_cnt >= 96) { /* tx error warning level reached */
frame->can_id |= CAN_ERR_CRTL;
frame->data[1] |= CAN_ERR_CRTL_TX_WARNING;
}
if (tx_error_cnt > 127) { /* tx error passive level reached */
frame->can_id |= CAN_ERR_CRTL;
frame->data[1] |= CAN_ERR_CRTL_TX_PASSIVE;
}
uint8_t rx_error_cnt = (err>>24) & 0xFF; uint8_t rx_error_cnt = (err>>24) & 0xFF;
if (rx_error_cnt >= 96) { /* rx error warning level reached */ */
frame->can_id |= CAN_ERR_CRTL;
frame->data[1] |= CAN_ERR_CRTL_RX_WARNING; if (err & CAN_ESR_EPVF) {
} frame->data[1] |= CAN_ERR_CRTL_RX_PASSIVE | CAN_ERR_CRTL_TX_PASSIVE;
if (rx_error_cnt > 127) { /* rx error passive level reached */ } else if (err & CAN_ESR_EWGF) {
frame->can_id |= CAN_ERR_CRTL; frame->data[1] |= CAN_ERR_CRTL_RX_WARNING | CAN_ERR_CRTL_TX_WARNING;
frame->data[1] |= CAN_ERR_CRTL_RX_PASSIVE;
} }
uint8_t lec = (err>>4) & 0x07; uint8_t lec = (err>>4) & 0x07;