diff options
| author | David Crocker <dcrocker@eschertech.com> | 2021-01-25 21:02:36 +0300 |
|---|---|---|
| committer | David Crocker <dcrocker@eschertech.com> | 2021-01-25 21:02:36 +0300 |
| commit | c02479413cec5bb83ea06db7cad40640fe57a637 (patch) | |
| tree | 4fd3065943b230faff25290207976b9b5d42ed43 /src/CAN | |
| parent | 31f962d536c35527a176381b97f99a0de69347e5 (diff) | |
CanInterface fix for SAME70
Diffstat (limited to 'src/CAN')
| -rw-r--r-- | src/CAN/CanInterface.cpp | 7 |
1 files changed, 2 insertions, 5 deletions
diff --git a/src/CAN/CanInterface.cpp b/src/CAN/CanInterface.cpp index 0cec09a1..6c6a71d1 100644 --- a/src/CAN/CanInterface.cpp +++ b/src/CAN/CanInterface.cpp @@ -197,14 +197,9 @@ static void InitReceiveFilters() noexcept static void ReInit() noexcept { -#if SAME70 - mcan_stop(&mcan_instance); - configure_mcan(); // this includes initialising the receive filters -#else can0dev->Disable(); InitReceiveFilters(); can0dev->Enable(); -#endif } #endif @@ -403,8 +398,10 @@ extern "C" [[noreturn]] void CanClockLoop(void *) noexcept if (gotTimeSyncTxTimeStamp) { # if SAME70 + // On the SAME70 the step clock is also the external time stamp counter const uint32_t timeSyncTxDelay = (timeSyncTxTimeStamp - (uint16_t)lastTimeSent) & 0xFFFF; # else + // On the SAME5x the time stamp counter counts CAN but times divided by 64 const uint32_t timeSyncTxDelay = (((timeSyncTxTimeStamp - lastTimeSyncTxPreparedStamp) & 0xFFFF) * CanInterface::GetTimeStampPeriod()) >> 6; # endif if (timeSyncTxDelay > peakTimeSyncTxDelay) |