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can/ctucanfd: use STM mode if CAN_CTRLMODE_PRESUME_ACK is set

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Self Test mode in CTU CAN FD has generally better much for
CAN_CTRLMODE_PRESUME_ACK mode compared to self-acknowledge mode (SAM)
It considers transmitted frame valid even if dominant acknowledge bit
was not receive, therefore it presumes acknowledge.

Moreover, this mode is available even in older CTU CAN FD versions.

Signed-off-by: Michal Lenc <michallenc@seznam.cz>
This commit is contained in:
Michal Lenc
2025-02-01 19:52:30 +01:00
committed by Kinsey Moore
parent 72c0f5ccc1
commit 91237f06f9
1 changed files with 2 additions and 2 deletions
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4
cpukit/dev/can/ctucanfd/ctucanfd.c
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@@ -534,8 +534,8 @@ static void ctucanfd_set_mode(
( mode_reg & ~REG_MODE_FDE );
mode_reg = ( ctrlmode & CAN_CTRLMODE_PRESUME_ACK ) ?
( mode_reg | REG_MODE_SAM ) :
( mode_reg & ~REG_MODE_SAM );
( mode_reg | REG_MODE_STM ) :
( mode_reg & ~REG_MODE_STM );
mode_reg = ( ctrlmode & CAN_CTRLMODE_FD_NON_ISO ) ?
( mode_reg | REG_MODE_NISOFD ) :