Erroneus configuration of CAN filter.

Author: aentinger

libraries/CAN/src/R7FA6M5_CAN.cpp

@@ -33,7 +33,8 @@ extern "C" void canfd_callback(can_callback_args_t * p_args);
 namespace arduino
 {
 
-canfd_afl_entry_t p_canfd0_afl[CANFD_CFG_AFL_CH0_RULE_NUM];
+extern "C" canfd_afl_entry_t CANFD0_AFL[CANFD_CFG_AFL_CH0_RULE_NUM];
+extern "C" canfd_afl_entry_t CANFD1_AFL[CANFD_CFG_AFL_CH1_RULE_NUM];
 
 /**************************************************************************************
  * CTOR/DTOR
@@ -70,7 +71,7 @@ R7FA6M5_CAN::R7FA6M5_CAN(int const can_tx_pin, int const can_rx_pin)
 }
 , _canfd_extended_cfg
 {
-  .p_afl              = p_canfd0_afl,
+  .p_afl              = nullptr,
   //.txmb_txi_enable    = ((1ULL << 9) | (1ULL << 0) | 0ULL),
   .txmb_txi_enable    = 0xFFFFFFFFFFFFFFFF,
   .error_interrupts   = (R_CANFD_CFDC_CTR_EWIE_Msk | R_CANFD_CFDC_CTR_EPIE_Msk | R_CANFD_CFDC_CTR_BOEIE_Msk | R_CANFD_CFDC_CTR_BORIE_Msk | R_CANFD_CFDC_CTR_OLIE_Msk | 0U),
@@ -109,6 +110,14 @@ bool R7FA6M5_CAN::begin(CanBitRate const can_bitrate)
   init_ok &= cfg_init_ok;
   _canfd_cfg.channel = cfg_channel;
 
+  /* Set the pointer to the right filtering structure. */
+  if (_canfd_cfg.channel == 0)
+    _canfd_extended_cfg.p_afl = CANFD0_AFL;
+  if (_canfd_cfg.channel == 1)
+    _canfd_extended_cfg.p_afl = CANFD1_AFL;
+  else
+    init_ok &= false;
+
   /* Configure the interrupts.
    */
   CanFdIrqReq_t irq_req

libraries/CAN/src/canfd.c renamed to libraries/CAN/src/R7FA6M5_CAN_AFL.c

@@ -3,17 +3,17 @@
 #include "bsp_api.h"
 #include "hal_data.h"
 
-extern const canfd_afl_entry_t p_canfd0_afl[CANFD_CFG_AFL_CH0_RULE_NUM] = {
+canfd_afl_entry_t const CANFD0_AFL[CANFD_CFG_AFL_CH0_RULE_NUM] = {
   {
     .id =
       {
-        .id = 0x10,
+        .id = 0x1FFFFFFF,
         .frame_type = CAN_FRAME_TYPE_DATA,
-        .id_mode    = CAN_ID_MODE_STANDARD,
+        .id_mode    = CAN_ID_MODE_EXTENDED,
       },
     .mask =
       {
-        .mask_id         = 0x7F0,
+        .mask_id         = 0,
         .mask_frame_type = 1,
         .mask_id_mode    = 1,
       },
@@ -26,25 +26,25 @@ extern const canfd_afl_entry_t p_canfd0_afl[CANFD_CFG_AFL_CH0_RULE_NUM] = {
   }
 };
 
-extern const canfd_afl_entry_t p_canfd1_afl[CANFD_CFG_AFL_CH1_RULE_NUM] = {
+canfd_afl_entry_t const CANFD1_AFL[CANFD_CFG_AFL_CH1_RULE_NUM] = {
   {
     .id =
       {
-        .id = 0x20,
+        .id = 0x1FFFFFFF,
         .frame_type = CAN_FRAME_TYPE_DATA,
-        .id_mode    = CAN_ID_MODE_STANDARD,
+        .id_mode    = CAN_ID_MODE_EXTENDED,
       },
     .mask =
       {
-        .mask_id         = 0x7F0,
+        .mask_id         = 0,
         .mask_frame_type = 1,
         .mask_id_mode    = 1,
       },
     .destination =
       {
         .minimum_dlc = CANFD_MINIMUM_DLC_0,
-        .rx_buffer   = (canfd_rx_mb_t) CANFD_RX_MB_0,
-        .fifo_select_flags = CANFD_RX_FIFO_0,
+        .rx_buffer   = (canfd_rx_mb_t) CANFD_RX_MB_1,
+        .fifo_select_flags = CANFD_RX_FIFO_1,
       }
   }
 };