Fix some issues found in the review.

Author: wdx04

drivers/include/drivers/interfaces/InterfaceCAN.h

@@ -44,8 +44,6 @@ class CAN;
  */
 
 /** CANMessage class
- *
- * @note Synchronization level: Thread safe
  */
 class CANMessage : public CAN_Message {
 
@@ -143,8 +141,6 @@ class CANMessage : public CAN_Message {
 #if DEVICE_CAN_FD
 
 /** CANFDMessage class
- *
- * @note Synchronization level: Thread safe
  */
 class CANFDMessage : public CANFD_Message {
 

drivers/source/CAN.cpp

@@ -36,6 +36,7 @@ CAN::CAN(PinName rd, PinName td, int hz, int data_hz) : _can(), _irq()
 #if DEVICE_CAN_FD
     canfd_init_freq(&_can, rd, td, hz, data_hz);
 #else
+    MBED_ASSERT(data_hz == 0);
     can_init_freq(&_can, rd, td, hz);
 #endif
     can_irq_init(&_can, (&CAN::_irq_handler), reinterpret_cast<uintptr_t>(this));
@@ -54,6 +55,7 @@ CAN::CAN(const can_pinmap_t &pinmap, int hz, int data_hz) : _can(), _irq()
 #if DEVICE_CAN_FD
     canfd_init_freq_direct(&_can, &pinmap, hz, data_hz);
 #else
+    MBED_ASSERT(data_hz == 0);
     can_init_freq_direct(&_can, &pinmap, hz);
 #endif
     can_irq_init(&_can, (&CAN::_irq_handler), reinterpret_cast<uintptr_t>(this));
@@ -77,6 +79,7 @@ int CAN::frequency(int f, int data_f)
 #if DEVICE_CAN_FD
     int ret = canfd_frequency(&_can, f, data_f);
 #else
+    MBED_ASSERT(data_f == 0);
     int ret = can_frequency(&_can, f);
 #endif
     unlock();

targets/TARGET_STM/TARGET_STM32L5/system_clock.c

@@ -193,7 +193,9 @@ uint8_t SetSysClock_PLL_MSI(void)
 #endif
 
     /* Enable MSI Auto calibration */
+#if MBED_CONF_TARGET_LSE_AVAILABLE
     HAL_RCCEx_EnableMSIPLLMode();
+#endif
 
     return 1; // OK
 }

targets/TARGET_STM/TARGET_STM32U5/clock_cfg/system_clock.c

@@ -119,10 +119,11 @@ MBED_WEAK uint8_t SetSysClock_PLL_HSE(uint8_t bypass)
     RCC_OscInitTypeDef RCC_OscInitStruct = {0};
     RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};
 
-    /* GPIO Ports Clock Enable */
-    __HAL_RCC_GPIOH_CLK_ENABLE();
-    __HAL_RCC_GPIOB_CLK_ENABLE();
     __HAL_RCC_PWR_CLK_ENABLE();
+#if defined(UCPD1)
+    HAL_PWREx_DisableUCPDDeadBattery(); /* Disable the internal Pull-Up in Dead Battery pins of UCPD peripheral */
+#endif
+    HAL_PWREx_EnableVddA();
     if (HAL_PWREx_ControlVoltageScaling(PWR_REGULATOR_VOLTAGE_SCALE1) != HAL_OK) {
         return 0; // FAIL
     }
@@ -190,6 +191,9 @@ uint8_t SetSysClock_PLL_HSI(void)
     RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};
 
     __HAL_RCC_PWR_CLK_ENABLE();
+#if defined(UCPD1)
+    HAL_PWREx_DisableUCPDDeadBattery(); /* Disable the internal Pull-Up in Dead Battery pins of UCPD peripheral */
+#endif
     HAL_PWREx_EnableVddA();
     HAL_PWREx_ControlVoltageScaling(PWR_REGULATOR_VOLTAGE_SCALE1);
 

targets/TARGET_STM/can_api.c

@@ -23,6 +23,7 @@
 #include "pinmap.h"
 #include "PeripheralPins.h"
 #include "mbed_error.h"
+#include <memory.h>
 
 // Some STM32G4 series (and others) have 3 FDCAN devices
 // while others have 2
@@ -632,7 +633,7 @@ int canfd_write(can_t *obj, CANFD_Message msg, int cc)
             TxHeader.DataLength = FDCAN_DLC_BYTES_64;
             break;
         default:
-            error("Invalid message length for can_write\n");
+            error("Invalid message length for canfd_write\n");
             return 0;
     }
     TxHeader.ErrorStateIndicator = FDCAN_ESI_ACTIVE;
@@ -658,7 +659,8 @@ int can_read(can_t *obj, CAN_Message *msg, int handle)
     }
 
     FDCAN_RxHeaderTypeDef RxHeader = {0};
-    if (HAL_FDCAN_GetRxMessage(&obj->CanHandle, FDCAN_RX_FIFO0, &RxHeader, msg->data) != HAL_OK) {
+    unsigned char data[64];
+    if (HAL_FDCAN_GetRxMessage(&obj->CanHandle, FDCAN_RX_FIFO0, &RxHeader, data) != HAL_OK) {
         error("HAL_FDCAN_GetRxMessage error\n"); // Should not occur as previous HAL_FDCAN_GetRxFifoFillLevel call reported some data
         return 0;
     }
@@ -674,6 +676,12 @@ int can_read(can_t *obj, CAN_Message *msg, int handle)
     RxHeader.DataLength >>= 16;
 #endif
     msg->len  = RxHeader.DataLength;
+    if(msg->len > 8)
+    {
+        error("can_read unexpectedly received a FD frame\n");
+        return 0;
+    }
+    memcpy(msg->data, data, msg->len);
     return 1;
 }
 

targets/targets.json5

@@ -4922,6 +4922,11 @@ mode is recommended for target MCUs with small amounts of flash and RAM.",
                 "value": "USE_PLL_MSI",
                 "macro_name": "CLOCK_SOURCE"
             },
+            "hse_value": {
+                "help": "HSE default value is 16MHz in stm32u5xx_hal_conf.h",
+                "value": "16000000",
+                "macro_name": "HSE_VALUE"
+            },
             "lpticker_lptim": {
                 "help": "This target supports LPTIM. Set value 1 to use LPTIM for LPTICKER, or 0 to use RTC wakeup timer",
                 "value": 1