From 91237f06f98a1dcd262449de94447b05b7707af6 Mon Sep 17 00:00:00 2001 From: Michal Lenc Date: Sat, 1 Feb 2025 19:52:30 +0100 Subject: [PATCH] can/ctucanfd: use STM mode if CAN_CTRLMODE_PRESUME_ACK is set 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 --- cpukit/dev/can/ctucanfd/ctucanfd.c | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/cpukit/dev/can/ctucanfd/ctucanfd.c b/cpukit/dev/can/ctucanfd/ctucanfd.c index 0a573c86d6..ed9fe5ac67 100644 --- a/cpukit/dev/can/ctucanfd/ctucanfd.c +++ b/cpukit/dev/can/ctucanfd/ctucanfd.c @@ -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 ) :