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cpu/samd5x/periph_can: Make DAR configurable

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Allow the board to configure whether automatic retransmission is to be
used or disabled.

This also changes the default to enabling automatic retransmission, as
this is the best choice for most use cases.
This commit is contained in:
Marian Buschsieweke 2025-04-04 09:56:40 +02:00
parent a826b77de9
commit cd42e4355b
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GPG Key ID: 758BD52517F79C41
2 changed files with 18 additions and 4 deletions
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10
cpu/samd5x/include/candev_samd5x.h
View File

@ -109,7 +109,15 @@ typedef struct {
* @ref can_conf_t::enable_pin will be set HIGH when active and LOW when
* inactive.
*/
bool enable_pin_active_low;
bool enable_pin_active_low : 1;
/**
* @brief Whether to disable automatic retransmission
*
* When set to `true`, a CAN frame will not be retransmitted on transmission
* failure (e.g. on missing ACK). Otherwise the frame will be transmitted
* again until it succeeds or the CAN controller goes into an error state.
*/
bool disable_automatic_retransmission : 1;
} can_conf_t;
#define HAVE_CAN_CONF_T

12
cpu/samd5x/periph/can.c
View File

@ -452,9 +452,15 @@ static int _init(candev_t *candev)
if (IS_ACTIVE(ENABLE_DEBUG)) {
_dump_msg_ram_section(dev);
}
/* Disable automatic retransmission by default */
/* This can be added as a configuration parameter for the CAN controller */
dev->conf->can->CCCR.reg = CAN_CCCR_DAR;
uint32_t cccr = dev->conf->can->CCCR.reg;
cccr &= ~(CAN_CCCR_DAR);
if (dev->conf->disable_automatic_retransmission) {
cccr |= CAN_CCCR_DAR;
}
dev->conf->can->CCCR.reg = cccr;
/* Reject all remote frames */
dev->conf->can->GFC.reg = CAN_GFC_RRFE | CAN_GFC_RRFS;