MacroRat / MouseCode

Mouse code for the MacroRat

Dependencies:   ITG3200 QEI

mbed-dev/targets/TARGET_STM/can_api.c@18:6a4db94011d3, 2017-05-14 (annotated)

Committer:
sahilmgandhi
Date:
Sun May 14 23:18:57 2017 +0000
Revision:
18:6a4db94011d3
Publishing again

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sahilmgandhi 18:6a4db94011d3 1 /* mbed Microcontroller Library
sahilmgandhi 18:6a4db94011d3 2 * Copyright (c) 2006-2017 ARM Limited
sahilmgandhi 18:6a4db94011d3 3 *
sahilmgandhi 18:6a4db94011d3 4 * Licensed under the Apache License, Version 2.0 (the "License");
sahilmgandhi 18:6a4db94011d3 5 * you may not use this file except in compliance with the License.
sahilmgandhi 18:6a4db94011d3 6 * You may obtain a copy of the License at
sahilmgandhi 18:6a4db94011d3 7 *
sahilmgandhi 18:6a4db94011d3 8 * http://www.apache.org/licenses/LICENSE-2.0
sahilmgandhi 18:6a4db94011d3 9 *
sahilmgandhi 18:6a4db94011d3 10 * Unless required by applicable law or agreed to in writing, software
sahilmgandhi 18:6a4db94011d3 11 * distributed under the License is distributed on an "AS IS" BASIS,
sahilmgandhi 18:6a4db94011d3 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
sahilmgandhi 18:6a4db94011d3 13 * See the License for the specific language governing permissions and
sahilmgandhi 18:6a4db94011d3 14 * limitations under the License.
sahilmgandhi 18:6a4db94011d3 15 */
sahilmgandhi 18:6a4db94011d3 16 #include "can_api.h"
sahilmgandhi 18:6a4db94011d3 17
sahilmgandhi 18:6a4db94011d3 18 #if DEVICE_CAN
sahilmgandhi 18:6a4db94011d3 19
sahilmgandhi 18:6a4db94011d3 20 #include "cmsis.h"
sahilmgandhi 18:6a4db94011d3 21 #include "pinmap.h"
sahilmgandhi 18:6a4db94011d3 22 #include "PeripheralPins.h"
sahilmgandhi 18:6a4db94011d3 23 #include "mbed_error.h"
sahilmgandhi 18:6a4db94011d3 24 #include "can_device.h" // Specific to STM32 serie
sahilmgandhi 18:6a4db94011d3 25 #include <math.h>
sahilmgandhi 18:6a4db94011d3 26 #include <string.h>
sahilmgandhi 18:6a4db94011d3 27
sahilmgandhi 18:6a4db94011d3 28 static CAN_HandleTypeDef CanHandle;
sahilmgandhi 18:6a4db94011d3 29 static uint32_t can_irq_ids[CAN_NUM] = {0};
sahilmgandhi 18:6a4db94011d3 30 static can_irq_handler irq_handler;
sahilmgandhi 18:6a4db94011d3 31
sahilmgandhi 18:6a4db94011d3 32 void can_init(can_t *obj, PinName rd, PinName td)
sahilmgandhi 18:6a4db94011d3 33 {
sahilmgandhi 18:6a4db94011d3 34 CANName can_rd = (CANName)pinmap_peripheral(rd, PinMap_CAN_RD);
sahilmgandhi 18:6a4db94011d3 35 CANName can_td = (CANName)pinmap_peripheral(td, PinMap_CAN_TD);
sahilmgandhi 18:6a4db94011d3 36
sahilmgandhi 18:6a4db94011d3 37 obj->can = (CANName)pinmap_merge(can_rd, can_td);
sahilmgandhi 18:6a4db94011d3 38 MBED_ASSERT((int)obj->can != NC);
sahilmgandhi 18:6a4db94011d3 39
sahilmgandhi 18:6a4db94011d3 40 if (obj->can == CAN_1) {
sahilmgandhi 18:6a4db94011d3 41 __HAL_RCC_CAN1_CLK_ENABLE();
sahilmgandhi 18:6a4db94011d3 42 obj->index = 0;
sahilmgandhi 18:6a4db94011d3 43 }
sahilmgandhi 18:6a4db94011d3 44 #if defined(CAN2_BASE) && (CAN_NUM == 2)
sahilmgandhi 18:6a4db94011d3 45 else if (obj->can == CAN_2) {
sahilmgandhi 18:6a4db94011d3 46 __HAL_RCC_CAN1_CLK_ENABLE(); // needed to set filters
sahilmgandhi 18:6a4db94011d3 47 __HAL_RCC_CAN2_CLK_ENABLE();
sahilmgandhi 18:6a4db94011d3 48 obj->index = 1;
sahilmgandhi 18:6a4db94011d3 49 }
sahilmgandhi 18:6a4db94011d3 50 #endif
sahilmgandhi 18:6a4db94011d3 51 else {
sahilmgandhi 18:6a4db94011d3 52 return;
sahilmgandhi 18:6a4db94011d3 53 }
sahilmgandhi 18:6a4db94011d3 54
sahilmgandhi 18:6a4db94011d3 55 // Configure the CAN pins
sahilmgandhi 18:6a4db94011d3 56 pinmap_pinout(rd, PinMap_CAN_RD);
sahilmgandhi 18:6a4db94011d3 57 pinmap_pinout(td, PinMap_CAN_TD);
sahilmgandhi 18:6a4db94011d3 58 if (rd != NC) {
sahilmgandhi 18:6a4db94011d3 59 pin_mode(rd, PullUp);
sahilmgandhi 18:6a4db94011d3 60 }
sahilmgandhi 18:6a4db94011d3 61 if (td != NC) {
sahilmgandhi 18:6a4db94011d3 62 pin_mode(td, PullUp);
sahilmgandhi 18:6a4db94011d3 63 }
sahilmgandhi 18:6a4db94011d3 64
sahilmgandhi 18:6a4db94011d3 65 CanHandle.Instance = (CAN_TypeDef *)(obj->can);
sahilmgandhi 18:6a4db94011d3 66
sahilmgandhi 18:6a4db94011d3 67 CanHandle.Init.TTCM = DISABLE;
sahilmgandhi 18:6a4db94011d3 68 CanHandle.Init.ABOM = DISABLE;
sahilmgandhi 18:6a4db94011d3 69 CanHandle.Init.AWUM = DISABLE;
sahilmgandhi 18:6a4db94011d3 70 CanHandle.Init.NART = DISABLE;
sahilmgandhi 18:6a4db94011d3 71 CanHandle.Init.RFLM = DISABLE;
sahilmgandhi 18:6a4db94011d3 72 CanHandle.Init.TXFP = DISABLE;
sahilmgandhi 18:6a4db94011d3 73 CanHandle.Init.Mode = CAN_MODE_NORMAL;
sahilmgandhi 18:6a4db94011d3 74 CanHandle.Init.SJW = CAN_SJW_1TQ;
sahilmgandhi 18:6a4db94011d3 75 CanHandle.Init.BS1 = CAN_BS1_6TQ;
sahilmgandhi 18:6a4db94011d3 76 CanHandle.Init.BS2 = CAN_BS2_8TQ;
sahilmgandhi 18:6a4db94011d3 77 CanHandle.Init.Prescaler = 2;
sahilmgandhi 18:6a4db94011d3 78
sahilmgandhi 18:6a4db94011d3 79 if (HAL_CAN_Init(&CanHandle) != HAL_OK) {
sahilmgandhi 18:6a4db94011d3 80 error("Cannot initialize CAN");
sahilmgandhi 18:6a4db94011d3 81 }
sahilmgandhi 18:6a4db94011d3 82
sahilmgandhi 18:6a4db94011d3 83 // Set initial CAN frequency to 100 kb/s
sahilmgandhi 18:6a4db94011d3 84 can_frequency(obj, 100000);
sahilmgandhi 18:6a4db94011d3 85
sahilmgandhi 18:6a4db94011d3 86 uint32_t filter_number = (obj->can == CAN_1) ? 0 : 14;
sahilmgandhi 18:6a4db94011d3 87 can_filter(obj, 0, 0, CANStandard, filter_number);
sahilmgandhi 18:6a4db94011d3 88 }
sahilmgandhi 18:6a4db94011d3 89
sahilmgandhi 18:6a4db94011d3 90 void can_irq_init(can_t *obj, can_irq_handler handler, uint32_t id)
sahilmgandhi 18:6a4db94011d3 91 {
sahilmgandhi 18:6a4db94011d3 92 irq_handler = handler;
sahilmgandhi 18:6a4db94011d3 93 can_irq_ids[obj->index] = id;
sahilmgandhi 18:6a4db94011d3 94 }
sahilmgandhi 18:6a4db94011d3 95
sahilmgandhi 18:6a4db94011d3 96 void can_irq_free(can_t *obj)
sahilmgandhi 18:6a4db94011d3 97 {
sahilmgandhi 18:6a4db94011d3 98 CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
sahilmgandhi 18:6a4db94011d3 99
sahilmgandhi 18:6a4db94011d3 100 can->IER &= ~(CAN_IT_FMP0 | CAN_IT_FMP1 | CAN_IT_TME | \
sahilmgandhi 18:6a4db94011d3 101 CAN_IT_ERR | CAN_IT_EPV | CAN_IT_BOF);
sahilmgandhi 18:6a4db94011d3 102 can_irq_ids[obj->can] = 0;
sahilmgandhi 18:6a4db94011d3 103 }
sahilmgandhi 18:6a4db94011d3 104
sahilmgandhi 18:6a4db94011d3 105 void can_free(can_t *obj)
sahilmgandhi 18:6a4db94011d3 106 {
sahilmgandhi 18:6a4db94011d3 107 // Reset CAN and disable clock
sahilmgandhi 18:6a4db94011d3 108 if (obj->can == CAN_1) {
sahilmgandhi 18:6a4db94011d3 109 __HAL_RCC_CAN1_FORCE_RESET();
sahilmgandhi 18:6a4db94011d3 110 __HAL_RCC_CAN1_RELEASE_RESET();
sahilmgandhi 18:6a4db94011d3 111 __HAL_RCC_CAN1_CLK_DISABLE();
sahilmgandhi 18:6a4db94011d3 112 }
sahilmgandhi 18:6a4db94011d3 113 #if defined(CAN2_BASE) && (CAN_NUM == 2)
sahilmgandhi 18:6a4db94011d3 114 if (obj->can == CAN_2) {
sahilmgandhi 18:6a4db94011d3 115 __HAL_RCC_CAN2_FORCE_RESET();
sahilmgandhi 18:6a4db94011d3 116 __HAL_RCC_CAN2_RELEASE_RESET();
sahilmgandhi 18:6a4db94011d3 117 __HAL_RCC_CAN2_CLK_DISABLE();
sahilmgandhi 18:6a4db94011d3 118 }
sahilmgandhi 18:6a4db94011d3 119 #endif
sahilmgandhi 18:6a4db94011d3 120 }
sahilmgandhi 18:6a4db94011d3 121
sahilmgandhi 18:6a4db94011d3 122 // The following table is used to program bit_timing. It is an adjustment of the sample
sahilmgandhi 18:6a4db94011d3 123 // point by synchronizing on the start-bit edge and resynchronizing on the following edges.
sahilmgandhi 18:6a4db94011d3 124 // This table has the sampling points as close to 75% as possible (most commonly used).
sahilmgandhi 18:6a4db94011d3 125 // The first value is TSEG1, the second TSEG2.
sahilmgandhi 18:6a4db94011d3 126 static const int timing_pts[23][2] = {
sahilmgandhi 18:6a4db94011d3 127 {0x0, 0x0}, // 2, 50%
sahilmgandhi 18:6a4db94011d3 128 {0x1, 0x0}, // 3, 67%
sahilmgandhi 18:6a4db94011d3 129 {0x2, 0x0}, // 4, 75%
sahilmgandhi 18:6a4db94011d3 130 {0x3, 0x0}, // 5, 80%
sahilmgandhi 18:6a4db94011d3 131 {0x3, 0x1}, // 6, 67%
sahilmgandhi 18:6a4db94011d3 132 {0x4, 0x1}, // 7, 71%
sahilmgandhi 18:6a4db94011d3 133 {0x5, 0x1}, // 8, 75%
sahilmgandhi 18:6a4db94011d3 134 {0x6, 0x1}, // 9, 78%
sahilmgandhi 18:6a4db94011d3 135 {0x6, 0x2}, // 10, 70%
sahilmgandhi 18:6a4db94011d3 136 {0x7, 0x2}, // 11, 73%
sahilmgandhi 18:6a4db94011d3 137 {0x8, 0x2}, // 12, 75%
sahilmgandhi 18:6a4db94011d3 138 {0x9, 0x2}, // 13, 77%
sahilmgandhi 18:6a4db94011d3 139 {0x9, 0x3}, // 14, 71%
sahilmgandhi 18:6a4db94011d3 140 {0xA, 0x3}, // 15, 73%
sahilmgandhi 18:6a4db94011d3 141 {0xB, 0x3}, // 16, 75%
sahilmgandhi 18:6a4db94011d3 142 {0xC, 0x3}, // 17, 76%
sahilmgandhi 18:6a4db94011d3 143 {0xD, 0x3}, // 18, 78%
sahilmgandhi 18:6a4db94011d3 144 {0xD, 0x4}, // 19, 74%
sahilmgandhi 18:6a4db94011d3 145 {0xE, 0x4}, // 20, 75%
sahilmgandhi 18:6a4db94011d3 146 {0xF, 0x4}, // 21, 76%
sahilmgandhi 18:6a4db94011d3 147 {0xF, 0x5}, // 22, 73%
sahilmgandhi 18:6a4db94011d3 148 {0xF, 0x6}, // 23, 70%
sahilmgandhi 18:6a4db94011d3 149 {0xF, 0x7}, // 24, 67%
sahilmgandhi 18:6a4db94011d3 150 };
sahilmgandhi 18:6a4db94011d3 151
sahilmgandhi 18:6a4db94011d3 152 static unsigned int can_speed(unsigned int pclk, unsigned int cclk, unsigned char psjw)
sahilmgandhi 18:6a4db94011d3 153 {
sahilmgandhi 18:6a4db94011d3 154 uint32_t btr;
sahilmgandhi 18:6a4db94011d3 155 uint16_t brp = 0;
sahilmgandhi 18:6a4db94011d3 156 uint32_t calcbit;
sahilmgandhi 18:6a4db94011d3 157 uint32_t bitwidth;
sahilmgandhi 18:6a4db94011d3 158 int hit = 0;
sahilmgandhi 18:6a4db94011d3 159 int bits;
sahilmgandhi 18:6a4db94011d3 160
sahilmgandhi 18:6a4db94011d3 161 bitwidth = (pclk / cclk);
sahilmgandhi 18:6a4db94011d3 162
sahilmgandhi 18:6a4db94011d3 163 brp = bitwidth / 0x18;
sahilmgandhi 18:6a4db94011d3 164 while ((!hit) && (brp < bitwidth / 4)) {
sahilmgandhi 18:6a4db94011d3 165 brp++;
sahilmgandhi 18:6a4db94011d3 166 for (bits = 22; bits > 0; bits--) {
sahilmgandhi 18:6a4db94011d3 167 calcbit = (bits + 3) * (brp + 1);
sahilmgandhi 18:6a4db94011d3 168 if (calcbit == bitwidth) {
sahilmgandhi 18:6a4db94011d3 169 hit = 1;
sahilmgandhi 18:6a4db94011d3 170 break;
sahilmgandhi 18:6a4db94011d3 171 }
sahilmgandhi 18:6a4db94011d3 172 }
sahilmgandhi 18:6a4db94011d3 173 }
sahilmgandhi 18:6a4db94011d3 174
sahilmgandhi 18:6a4db94011d3 175 if (hit) {
sahilmgandhi 18:6a4db94011d3 176 btr = ((timing_pts[bits][1] << 20) & 0x00700000)
sahilmgandhi 18:6a4db94011d3 177 | ((timing_pts[bits][0] << 16) & 0x000F0000)
sahilmgandhi 18:6a4db94011d3 178 | ((psjw << 24) & 0x0000C000)
sahilmgandhi 18:6a4db94011d3 179 | ((brp << 0) & 0x000003FF);
sahilmgandhi 18:6a4db94011d3 180 } else {
sahilmgandhi 18:6a4db94011d3 181 btr = 0xFFFFFFFF;
sahilmgandhi 18:6a4db94011d3 182 }
sahilmgandhi 18:6a4db94011d3 183
sahilmgandhi 18:6a4db94011d3 184 return btr;
sahilmgandhi 18:6a4db94011d3 185
sahilmgandhi 18:6a4db94011d3 186 }
sahilmgandhi 18:6a4db94011d3 187
sahilmgandhi 18:6a4db94011d3 188 int can_frequency(can_t *obj, int f)
sahilmgandhi 18:6a4db94011d3 189 {
sahilmgandhi 18:6a4db94011d3 190 int pclk = HAL_RCC_GetPCLK1Freq();
sahilmgandhi 18:6a4db94011d3 191 int btr = can_speed(pclk, (unsigned int)f, 1);
sahilmgandhi 18:6a4db94011d3 192 CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
sahilmgandhi 18:6a4db94011d3 193
sahilmgandhi 18:6a4db94011d3 194 if (btr > 0) {
sahilmgandhi 18:6a4db94011d3 195 can->MCR |= CAN_MCR_INRQ ;
sahilmgandhi 18:6a4db94011d3 196 while ((can->MSR & CAN_MSR_INAK) != CAN_MSR_INAK) {
sahilmgandhi 18:6a4db94011d3 197 }
sahilmgandhi 18:6a4db94011d3 198 can->BTR = btr;
sahilmgandhi 18:6a4db94011d3 199 can->MCR &= ~(uint32_t)CAN_MCR_INRQ;
sahilmgandhi 18:6a4db94011d3 200 while ((can->MSR & CAN_MSR_INAK) == CAN_MSR_INAK) {
sahilmgandhi 18:6a4db94011d3 201 }
sahilmgandhi 18:6a4db94011d3 202 return 1;
sahilmgandhi 18:6a4db94011d3 203 } else {
sahilmgandhi 18:6a4db94011d3 204 return 0;
sahilmgandhi 18:6a4db94011d3 205 }
sahilmgandhi 18:6a4db94011d3 206 }
sahilmgandhi 18:6a4db94011d3 207
sahilmgandhi 18:6a4db94011d3 208 int can_write(can_t *obj, CAN_Message msg, int cc)
sahilmgandhi 18:6a4db94011d3 209 {
sahilmgandhi 18:6a4db94011d3 210 uint32_t transmitmailbox = CAN_TXSTATUS_NOMAILBOX;
sahilmgandhi 18:6a4db94011d3 211 CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
sahilmgandhi 18:6a4db94011d3 212
sahilmgandhi 18:6a4db94011d3 213 /* Select one empty transmit mailbox */
sahilmgandhi 18:6a4db94011d3 214 if ((can->TSR & CAN_TSR_TME0) == CAN_TSR_TME0) {
sahilmgandhi 18:6a4db94011d3 215 transmitmailbox = 0;
sahilmgandhi 18:6a4db94011d3 216 } else if ((can->TSR & CAN_TSR_TME1) == CAN_TSR_TME1) {
sahilmgandhi 18:6a4db94011d3 217 transmitmailbox = 1;
sahilmgandhi 18:6a4db94011d3 218 } else if ((can->TSR & CAN_TSR_TME2) == CAN_TSR_TME2) {
sahilmgandhi 18:6a4db94011d3 219 transmitmailbox = 2;
sahilmgandhi 18:6a4db94011d3 220 } else {
sahilmgandhi 18:6a4db94011d3 221 return 0;
sahilmgandhi 18:6a4db94011d3 222 }
sahilmgandhi 18:6a4db94011d3 223
sahilmgandhi 18:6a4db94011d3 224 can->sTxMailBox[transmitmailbox].TIR &= CAN_TI0R_TXRQ;
sahilmgandhi 18:6a4db94011d3 225 if (!(msg.format)) {
sahilmgandhi 18:6a4db94011d3 226 can->sTxMailBox[transmitmailbox].TIR |= ((msg.id << 21) | msg.type);
sahilmgandhi 18:6a4db94011d3 227 } else {
sahilmgandhi 18:6a4db94011d3 228 can->sTxMailBox[transmitmailbox].TIR |= ((msg.id << 3) | CAN_ID_EXT | msg.type);
sahilmgandhi 18:6a4db94011d3 229 }
sahilmgandhi 18:6a4db94011d3 230
sahilmgandhi 18:6a4db94011d3 231 /* Set up the DLC */
sahilmgandhi 18:6a4db94011d3 232 can->sTxMailBox[transmitmailbox].TDTR &= (uint32_t)0xFFFFFFF0;
sahilmgandhi 18:6a4db94011d3 233 can->sTxMailBox[transmitmailbox].TDTR |= (msg.len & (uint8_t)0x0000000F);
sahilmgandhi 18:6a4db94011d3 234
sahilmgandhi 18:6a4db94011d3 235 /* Set up the data field */
sahilmgandhi 18:6a4db94011d3 236 can->sTxMailBox[transmitmailbox].TDLR = (((uint32_t)msg.data[3] << 24) |
sahilmgandhi 18:6a4db94011d3 237 ((uint32_t)msg.data[2] << 16) |
sahilmgandhi 18:6a4db94011d3 238 ((uint32_t)msg.data[1] << 8) |
sahilmgandhi 18:6a4db94011d3 239 ((uint32_t)msg.data[0]));
sahilmgandhi 18:6a4db94011d3 240 can->sTxMailBox[transmitmailbox].TDHR = (((uint32_t)msg.data[7] << 24) |
sahilmgandhi 18:6a4db94011d3 241 ((uint32_t)msg.data[6] << 16) |
sahilmgandhi 18:6a4db94011d3 242 ((uint32_t)msg.data[5] << 8) |
sahilmgandhi 18:6a4db94011d3 243 ((uint32_t)msg.data[4]));
sahilmgandhi 18:6a4db94011d3 244 /* Request transmission */
sahilmgandhi 18:6a4db94011d3 245 can->sTxMailBox[transmitmailbox].TIR |= CAN_TI0R_TXRQ;
sahilmgandhi 18:6a4db94011d3 246
sahilmgandhi 18:6a4db94011d3 247 return 1;
sahilmgandhi 18:6a4db94011d3 248 }
sahilmgandhi 18:6a4db94011d3 249
sahilmgandhi 18:6a4db94011d3 250 int can_read(can_t *obj, CAN_Message *msg, int handle)
sahilmgandhi 18:6a4db94011d3 251 {
sahilmgandhi 18:6a4db94011d3 252 //handle is the FIFO number
sahilmgandhi 18:6a4db94011d3 253
sahilmgandhi 18:6a4db94011d3 254 CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
sahilmgandhi 18:6a4db94011d3 255
sahilmgandhi 18:6a4db94011d3 256 // check FPM0 which holds the pending message count in FIFO 0
sahilmgandhi 18:6a4db94011d3 257 // if no message is pending, return 0
sahilmgandhi 18:6a4db94011d3 258 if ((can->RF0R & CAN_RF0R_FMP0) == 0) {
sahilmgandhi 18:6a4db94011d3 259 return 0;
sahilmgandhi 18:6a4db94011d3 260 }
sahilmgandhi 18:6a4db94011d3 261
sahilmgandhi 18:6a4db94011d3 262 /* Get the Id */
sahilmgandhi 18:6a4db94011d3 263 msg->format = (CANFormat)(((uint8_t)0x04 & can->sFIFOMailBox[handle].RIR) >> 2);
sahilmgandhi 18:6a4db94011d3 264 if (!msg->format) {
sahilmgandhi 18:6a4db94011d3 265 msg->id = (uint32_t)0x000007FF & (can->sFIFOMailBox[handle].RIR >> 21);
sahilmgandhi 18:6a4db94011d3 266 } else {
sahilmgandhi 18:6a4db94011d3 267 msg->id = (uint32_t)0x1FFFFFFF & (can->sFIFOMailBox[handle].RIR >> 3);
sahilmgandhi 18:6a4db94011d3 268 }
sahilmgandhi 18:6a4db94011d3 269
sahilmgandhi 18:6a4db94011d3 270 msg->type = (CANType)(((uint8_t)0x02 & can->sFIFOMailBox[handle].RIR) >> 1);
sahilmgandhi 18:6a4db94011d3 271 /* Get the DLC */
sahilmgandhi 18:6a4db94011d3 272 msg->len = (uint8_t)0x0F & can->sFIFOMailBox[handle].RDTR;
sahilmgandhi 18:6a4db94011d3 273 /* Get the FMI */
sahilmgandhi 18:6a4db94011d3 274 // msg->FMI = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDTR >> 8);
sahilmgandhi 18:6a4db94011d3 275 /* Get the data field */
sahilmgandhi 18:6a4db94011d3 276 msg->data[0] = (uint8_t)0xFF & can->sFIFOMailBox[handle].RDLR;
sahilmgandhi 18:6a4db94011d3 277 msg->data[1] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDLR >> 8);
sahilmgandhi 18:6a4db94011d3 278 msg->data[2] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDLR >> 16);
sahilmgandhi 18:6a4db94011d3 279 msg->data[3] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDLR >> 24);
sahilmgandhi 18:6a4db94011d3 280 msg->data[4] = (uint8_t)0xFF & can->sFIFOMailBox[handle].RDHR;
sahilmgandhi 18:6a4db94011d3 281 msg->data[5] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDHR >> 8);
sahilmgandhi 18:6a4db94011d3 282 msg->data[6] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDHR >> 16);
sahilmgandhi 18:6a4db94011d3 283 msg->data[7] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDHR >> 24);
sahilmgandhi 18:6a4db94011d3 284
sahilmgandhi 18:6a4db94011d3 285 /* Release the FIFO */
sahilmgandhi 18:6a4db94011d3 286 if (handle == CAN_FIFO0) {
sahilmgandhi 18:6a4db94011d3 287 /* Release FIFO0 */
sahilmgandhi 18:6a4db94011d3 288 can->RF0R |= CAN_RF0R_RFOM0;
sahilmgandhi 18:6a4db94011d3 289 } else { /* FIFONumber == CAN_FIFO1 */
sahilmgandhi 18:6a4db94011d3 290 /* Release FIFO1 */
sahilmgandhi 18:6a4db94011d3 291 can->RF1R |= CAN_RF1R_RFOM1;
sahilmgandhi 18:6a4db94011d3 292 }
sahilmgandhi 18:6a4db94011d3 293
sahilmgandhi 18:6a4db94011d3 294 return 1;
sahilmgandhi 18:6a4db94011d3 295 }
sahilmgandhi 18:6a4db94011d3 296
sahilmgandhi 18:6a4db94011d3 297 void can_reset(can_t *obj)
sahilmgandhi 18:6a4db94011d3 298 {
sahilmgandhi 18:6a4db94011d3 299 CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
sahilmgandhi 18:6a4db94011d3 300 can->MCR |= CAN_MCR_RESET;
sahilmgandhi 18:6a4db94011d3 301 can->ESR = 0x0;
sahilmgandhi 18:6a4db94011d3 302 }
sahilmgandhi 18:6a4db94011d3 303
sahilmgandhi 18:6a4db94011d3 304 unsigned char can_rderror(can_t *obj)
sahilmgandhi 18:6a4db94011d3 305 {
sahilmgandhi 18:6a4db94011d3 306 CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
sahilmgandhi 18:6a4db94011d3 307 return (can->ESR >> 24) & 0xFF;
sahilmgandhi 18:6a4db94011d3 308 }
sahilmgandhi 18:6a4db94011d3 309
sahilmgandhi 18:6a4db94011d3 310 unsigned char can_tderror(can_t *obj)
sahilmgandhi 18:6a4db94011d3 311 {
sahilmgandhi 18:6a4db94011d3 312 CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
sahilmgandhi 18:6a4db94011d3 313 return (can->ESR >> 16) & 0xFF;
sahilmgandhi 18:6a4db94011d3 314 }
sahilmgandhi 18:6a4db94011d3 315
sahilmgandhi 18:6a4db94011d3 316 void can_monitor(can_t *obj, int silent)
sahilmgandhi 18:6a4db94011d3 317 {
sahilmgandhi 18:6a4db94011d3 318 CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
sahilmgandhi 18:6a4db94011d3 319
sahilmgandhi 18:6a4db94011d3 320 can->MCR |= CAN_MCR_INRQ ;
sahilmgandhi 18:6a4db94011d3 321 while ((can->MSR & CAN_MSR_INAK) != CAN_MSR_INAK) {
sahilmgandhi 18:6a4db94011d3 322 }
sahilmgandhi 18:6a4db94011d3 323
sahilmgandhi 18:6a4db94011d3 324 if (silent) {
sahilmgandhi 18:6a4db94011d3 325 can->BTR |= ((uint32_t)1 << 31);
sahilmgandhi 18:6a4db94011d3 326 } else {
sahilmgandhi 18:6a4db94011d3 327 can->BTR &= ~((uint32_t)1 << 31);
sahilmgandhi 18:6a4db94011d3 328 }
sahilmgandhi 18:6a4db94011d3 329
sahilmgandhi 18:6a4db94011d3 330 can->MCR &= ~(uint32_t)CAN_MCR_INRQ;
sahilmgandhi 18:6a4db94011d3 331 while ((can->MSR & CAN_MSR_INAK) == CAN_MSR_INAK) {
sahilmgandhi 18:6a4db94011d3 332 }
sahilmgandhi 18:6a4db94011d3 333 }
sahilmgandhi 18:6a4db94011d3 334
sahilmgandhi 18:6a4db94011d3 335 int can_mode(can_t *obj, CanMode mode)
sahilmgandhi 18:6a4db94011d3 336 {
sahilmgandhi 18:6a4db94011d3 337 int success = 0;
sahilmgandhi 18:6a4db94011d3 338 CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
sahilmgandhi 18:6a4db94011d3 339
sahilmgandhi 18:6a4db94011d3 340 can->MCR |= CAN_MCR_INRQ ;
sahilmgandhi 18:6a4db94011d3 341 while ((can->MSR & CAN_MSR_INAK) != CAN_MSR_INAK) {
sahilmgandhi 18:6a4db94011d3 342 }
sahilmgandhi 18:6a4db94011d3 343
sahilmgandhi 18:6a4db94011d3 344 switch (mode) {
sahilmgandhi 18:6a4db94011d3 345 case MODE_NORMAL:
sahilmgandhi 18:6a4db94011d3 346 can->BTR &= ~(CAN_BTR_SILM | CAN_BTR_LBKM);
sahilmgandhi 18:6a4db94011d3 347 success = 1;
sahilmgandhi 18:6a4db94011d3 348 break;
sahilmgandhi 18:6a4db94011d3 349 case MODE_SILENT:
sahilmgandhi 18:6a4db94011d3 350 can->BTR |= CAN_BTR_SILM;
sahilmgandhi 18:6a4db94011d3 351 can->BTR &= ~CAN_BTR_LBKM;
sahilmgandhi 18:6a4db94011d3 352 success = 1;
sahilmgandhi 18:6a4db94011d3 353 break;
sahilmgandhi 18:6a4db94011d3 354 case MODE_TEST_GLOBAL:
sahilmgandhi 18:6a4db94011d3 355 case MODE_TEST_LOCAL:
sahilmgandhi 18:6a4db94011d3 356 can->BTR |= CAN_BTR_LBKM;
sahilmgandhi 18:6a4db94011d3 357 can->BTR &= ~CAN_BTR_SILM;
sahilmgandhi 18:6a4db94011d3 358 success = 1;
sahilmgandhi 18:6a4db94011d3 359 break;
sahilmgandhi 18:6a4db94011d3 360 case MODE_TEST_SILENT:
sahilmgandhi 18:6a4db94011d3 361 can->BTR |= (CAN_BTR_SILM | CAN_BTR_LBKM);
sahilmgandhi 18:6a4db94011d3 362 success = 1;
sahilmgandhi 18:6a4db94011d3 363 break;
sahilmgandhi 18:6a4db94011d3 364 default:
sahilmgandhi 18:6a4db94011d3 365 success = 0;
sahilmgandhi 18:6a4db94011d3 366 break;
sahilmgandhi 18:6a4db94011d3 367 }
sahilmgandhi 18:6a4db94011d3 368
sahilmgandhi 18:6a4db94011d3 369 can->MCR &= ~(uint32_t)CAN_MCR_INRQ;
sahilmgandhi 18:6a4db94011d3 370 while ((can->MSR & CAN_MSR_INAK) == CAN_MSR_INAK) {
sahilmgandhi 18:6a4db94011d3 371 }
sahilmgandhi 18:6a4db94011d3 372
sahilmgandhi 18:6a4db94011d3 373 return success;
sahilmgandhi 18:6a4db94011d3 374 }
sahilmgandhi 18:6a4db94011d3 375
sahilmgandhi 18:6a4db94011d3 376 int can_filter(can_t *obj, uint32_t id, uint32_t mask, CANFormat format, int32_t handle)
sahilmgandhi 18:6a4db94011d3 377 {
sahilmgandhi 18:6a4db94011d3 378 int retval = 0;
sahilmgandhi 18:6a4db94011d3 379
sahilmgandhi 18:6a4db94011d3 380 // filter for CANAny format cannot be configured for STM32
sahilmgandhi 18:6a4db94011d3 381 if ((format == CANStandard) || (format == CANExtended)) {
sahilmgandhi 18:6a4db94011d3 382 CanHandle.Instance = (CAN_TypeDef *)(obj->can);
sahilmgandhi 18:6a4db94011d3 383 CAN_FilterConfTypeDef sFilterConfig;
sahilmgandhi 18:6a4db94011d3 384 sFilterConfig.FilterNumber = handle;
sahilmgandhi 18:6a4db94011d3 385 sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
sahilmgandhi 18:6a4db94011d3 386 sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
sahilmgandhi 18:6a4db94011d3 387
sahilmgandhi 18:6a4db94011d3 388 if (format == CANStandard) {
sahilmgandhi 18:6a4db94011d3 389 sFilterConfig.FilterIdHigh = id << 5;
sahilmgandhi 18:6a4db94011d3 390 sFilterConfig.FilterIdLow = 0x0;
sahilmgandhi 18:6a4db94011d3 391 sFilterConfig.FilterMaskIdHigh = mask << 5;
sahilmgandhi 18:6a4db94011d3 392 sFilterConfig.FilterMaskIdLow = 0x0; // allows both remote and data frames
sahilmgandhi 18:6a4db94011d3 393 } else if (format == CANExtended) {
sahilmgandhi 18:6a4db94011d3 394 sFilterConfig.FilterIdHigh = id >> 13; // EXTID[28:13]
sahilmgandhi 18:6a4db94011d3 395 sFilterConfig.FilterIdLow = (0x00FF & (id << 3)) | (1 << 2); // EXTID[12:0]
sahilmgandhi 18:6a4db94011d3 396 sFilterConfig.FilterMaskIdHigh = mask >> 13;
sahilmgandhi 18:6a4db94011d3 397 sFilterConfig.FilterMaskIdLow = (0x00FF & (mask << 3)) | (1 << 2);
sahilmgandhi 18:6a4db94011d3 398 }
sahilmgandhi 18:6a4db94011d3 399
sahilmgandhi 18:6a4db94011d3 400 sFilterConfig.FilterFIFOAssignment = 0;
sahilmgandhi 18:6a4db94011d3 401 sFilterConfig.FilterActivation = ENABLE;
sahilmgandhi 18:6a4db94011d3 402 sFilterConfig.BankNumber = 14 + handle;
sahilmgandhi 18:6a4db94011d3 403
sahilmgandhi 18:6a4db94011d3 404 HAL_CAN_ConfigFilter(&CanHandle, &sFilterConfig);
sahilmgandhi 18:6a4db94011d3 405 retval = handle;
sahilmgandhi 18:6a4db94011d3 406 }
sahilmgandhi 18:6a4db94011d3 407 return retval;
sahilmgandhi 18:6a4db94011d3 408 }
sahilmgandhi 18:6a4db94011d3 409
sahilmgandhi 18:6a4db94011d3 410 static void can_irq(CANName name, int id)
sahilmgandhi 18:6a4db94011d3 411 {
sahilmgandhi 18:6a4db94011d3 412 uint32_t tmp1 = 0, tmp2 = 0, tmp3 = 0;
sahilmgandhi 18:6a4db94011d3 413 CanHandle.Instance = (CAN_TypeDef *)name;
sahilmgandhi 18:6a4db94011d3 414
sahilmgandhi 18:6a4db94011d3 415 if (__HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_TME)) {
sahilmgandhi 18:6a4db94011d3 416 tmp1 = __HAL_CAN_TRANSMIT_STATUS(&CanHandle, CAN_TXMAILBOX_0);
sahilmgandhi 18:6a4db94011d3 417 tmp2 = __HAL_CAN_TRANSMIT_STATUS(&CanHandle, CAN_TXMAILBOX_1);
sahilmgandhi 18:6a4db94011d3 418 tmp3 = __HAL_CAN_TRANSMIT_STATUS(&CanHandle, CAN_TXMAILBOX_2);
sahilmgandhi 18:6a4db94011d3 419 if (tmp1) {
sahilmgandhi 18:6a4db94011d3 420 __HAL_CAN_CLEAR_FLAG(&CanHandle, CAN_FLAG_RQCP0);
sahilmgandhi 18:6a4db94011d3 421 }
sahilmgandhi 18:6a4db94011d3 422 if (tmp2) {
sahilmgandhi 18:6a4db94011d3 423 __HAL_CAN_CLEAR_FLAG(&CanHandle, CAN_FLAG_RQCP1);
sahilmgandhi 18:6a4db94011d3 424 }
sahilmgandhi 18:6a4db94011d3 425 if (tmp3) {
sahilmgandhi 18:6a4db94011d3 426 __HAL_CAN_CLEAR_FLAG(&CanHandle, CAN_FLAG_RQCP2);
sahilmgandhi 18:6a4db94011d3 427 }
sahilmgandhi 18:6a4db94011d3 428 if (tmp1 || tmp2 || tmp3) {
sahilmgandhi 18:6a4db94011d3 429 irq_handler(can_irq_ids[id], IRQ_TX);
sahilmgandhi 18:6a4db94011d3 430 }
sahilmgandhi 18:6a4db94011d3 431 }
sahilmgandhi 18:6a4db94011d3 432
sahilmgandhi 18:6a4db94011d3 433 tmp1 = __HAL_CAN_MSG_PENDING(&CanHandle, CAN_FIFO0);
sahilmgandhi 18:6a4db94011d3 434 tmp2 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_FMP0);
sahilmgandhi 18:6a4db94011d3 435
sahilmgandhi 18:6a4db94011d3 436 if ((tmp1 != 0) && tmp2) {
sahilmgandhi 18:6a4db94011d3 437 irq_handler(can_irq_ids[id], IRQ_RX);
sahilmgandhi 18:6a4db94011d3 438 }
sahilmgandhi 18:6a4db94011d3 439
sahilmgandhi 18:6a4db94011d3 440 tmp1 = __HAL_CAN_GET_FLAG(&CanHandle, CAN_FLAG_EPV);
sahilmgandhi 18:6a4db94011d3 441 tmp2 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_EPV);
sahilmgandhi 18:6a4db94011d3 442 tmp3 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_ERR);
sahilmgandhi 18:6a4db94011d3 443
sahilmgandhi 18:6a4db94011d3 444 if (tmp1 && tmp2 && tmp3) {
sahilmgandhi 18:6a4db94011d3 445 irq_handler(can_irq_ids[id], IRQ_PASSIVE);
sahilmgandhi 18:6a4db94011d3 446 }
sahilmgandhi 18:6a4db94011d3 447
sahilmgandhi 18:6a4db94011d3 448 tmp1 = __HAL_CAN_GET_FLAG(&CanHandle, CAN_FLAG_BOF);
sahilmgandhi 18:6a4db94011d3 449 tmp2 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_BOF);
sahilmgandhi 18:6a4db94011d3 450 tmp3 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_ERR);
sahilmgandhi 18:6a4db94011d3 451 if (tmp1 && tmp2 && tmp3) {
sahilmgandhi 18:6a4db94011d3 452 irq_handler(can_irq_ids[id], IRQ_BUS);
sahilmgandhi 18:6a4db94011d3 453 }
sahilmgandhi 18:6a4db94011d3 454
sahilmgandhi 18:6a4db94011d3 455 tmp3 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_ERR);
sahilmgandhi 18:6a4db94011d3 456 if (tmp1 && tmp2 && tmp3) {
sahilmgandhi 18:6a4db94011d3 457 irq_handler(can_irq_ids[id], IRQ_ERROR);
sahilmgandhi 18:6a4db94011d3 458 }
sahilmgandhi 18:6a4db94011d3 459 }
sahilmgandhi 18:6a4db94011d3 460
sahilmgandhi 18:6a4db94011d3 461 #if defined(TARGET_STM32F0)
sahilmgandhi 18:6a4db94011d3 462 void CAN_IRQHandler(void)
sahilmgandhi 18:6a4db94011d3 463 {
sahilmgandhi 18:6a4db94011d3 464 can_irq(CAN_1, 0);
sahilmgandhi 18:6a4db94011d3 465 }
sahilmgandhi 18:6a4db94011d3 466 #elif defined(TARGET_STM32F3)
sahilmgandhi 18:6a4db94011d3 467 void CAN_RX0_IRQHandler(void)
sahilmgandhi 18:6a4db94011d3 468 {
sahilmgandhi 18:6a4db94011d3 469 can_irq(CAN_1, 0);
sahilmgandhi 18:6a4db94011d3 470 }
sahilmgandhi 18:6a4db94011d3 471 void CAN_TX_IRQHandler(void)
sahilmgandhi 18:6a4db94011d3 472 {
sahilmgandhi 18:6a4db94011d3 473 can_irq(CAN_1, 0);
sahilmgandhi 18:6a4db94011d3 474 }
sahilmgandhi 18:6a4db94011d3 475 void CAN_SCE_IRQHandler(void)
sahilmgandhi 18:6a4db94011d3 476 {
sahilmgandhi 18:6a4db94011d3 477 can_irq(CAN_1, 0);
sahilmgandhi 18:6a4db94011d3 478 }
sahilmgandhi 18:6a4db94011d3 479 #else
sahilmgandhi 18:6a4db94011d3 480 void CAN1_RX0_IRQHandler(void)
sahilmgandhi 18:6a4db94011d3 481 {
sahilmgandhi 18:6a4db94011d3 482 can_irq(CAN_1, 0);
sahilmgandhi 18:6a4db94011d3 483 }
sahilmgandhi 18:6a4db94011d3 484 void CAN1_TX_IRQHandler(void)
sahilmgandhi 18:6a4db94011d3 485 {
sahilmgandhi 18:6a4db94011d3 486 can_irq(CAN_1, 0);
sahilmgandhi 18:6a4db94011d3 487 }
sahilmgandhi 18:6a4db94011d3 488 void CAN1_SCE_IRQHandler(void)
sahilmgandhi 18:6a4db94011d3 489 {
sahilmgandhi 18:6a4db94011d3 490 can_irq(CAN_1, 0);
sahilmgandhi 18:6a4db94011d3 491 }
sahilmgandhi 18:6a4db94011d3 492 #if defined(CAN2_BASE) && (CAN_NUM == 2)
sahilmgandhi 18:6a4db94011d3 493 void CAN2_RX0_IRQHandler(void)
sahilmgandhi 18:6a4db94011d3 494 {
sahilmgandhi 18:6a4db94011d3 495 can_irq(CAN_2, 1);
sahilmgandhi 18:6a4db94011d3 496 }
sahilmgandhi 18:6a4db94011d3 497 void CAN2_TX_IRQHandler(void)
sahilmgandhi 18:6a4db94011d3 498 {
sahilmgandhi 18:6a4db94011d3 499 can_irq(CAN_2, 1);
sahilmgandhi 18:6a4db94011d3 500 }
sahilmgandhi 18:6a4db94011d3 501 void CAN2_SCE_IRQHandler(void)
sahilmgandhi 18:6a4db94011d3 502 {
sahilmgandhi 18:6a4db94011d3 503 can_irq(CAN_2, 1);
sahilmgandhi 18:6a4db94011d3 504 }
sahilmgandhi 18:6a4db94011d3 505 #endif // defined(CAN2_BASE) && (CAN_NUM == 2)
sahilmgandhi 18:6a4db94011d3 506 #endif // else
sahilmgandhi 18:6a4db94011d3 507
sahilmgandhi 18:6a4db94011d3 508 void can_irq_set(can_t *obj, CanIrqType type, uint32_t enable)
sahilmgandhi 18:6a4db94011d3 509 {
sahilmgandhi 18:6a4db94011d3 510
sahilmgandhi 18:6a4db94011d3 511 CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
sahilmgandhi 18:6a4db94011d3 512 IRQn_Type irq_n = (IRQn_Type)0;
sahilmgandhi 18:6a4db94011d3 513 uint32_t vector = 0;
sahilmgandhi 18:6a4db94011d3 514 uint32_t ier;
sahilmgandhi 18:6a4db94011d3 515
sahilmgandhi 18:6a4db94011d3 516 if (obj->can == CAN_1) {
sahilmgandhi 18:6a4db94011d3 517 switch (type) {
sahilmgandhi 18:6a4db94011d3 518 case IRQ_RX:
sahilmgandhi 18:6a4db94011d3 519 ier = CAN_IT_FMP0;
sahilmgandhi 18:6a4db94011d3 520 irq_n = CAN1_IRQ_RX_IRQN;
sahilmgandhi 18:6a4db94011d3 521 vector = (uint32_t)&CAN1_IRQ_RX_VECT;
sahilmgandhi 18:6a4db94011d3 522 break;
sahilmgandhi 18:6a4db94011d3 523 case IRQ_TX:
sahilmgandhi 18:6a4db94011d3 524 ier = CAN_IT_TME;
sahilmgandhi 18:6a4db94011d3 525 irq_n = CAN1_IRQ_TX_IRQN;
sahilmgandhi 18:6a4db94011d3 526 vector = (uint32_t)&CAN1_IRQ_TX_VECT;
sahilmgandhi 18:6a4db94011d3 527 break;
sahilmgandhi 18:6a4db94011d3 528 case IRQ_ERROR:
sahilmgandhi 18:6a4db94011d3 529 ier = CAN_IT_ERR;
sahilmgandhi 18:6a4db94011d3 530 irq_n = CAN1_IRQ_ERROR_IRQN;
sahilmgandhi 18:6a4db94011d3 531 vector = (uint32_t)&CAN1_IRQ_ERROR_VECT;
sahilmgandhi 18:6a4db94011d3 532 break;
sahilmgandhi 18:6a4db94011d3 533 case IRQ_PASSIVE:
sahilmgandhi 18:6a4db94011d3 534 ier = CAN_IT_EPV;
sahilmgandhi 18:6a4db94011d3 535 irq_n = CAN1_IRQ_PASSIVE_IRQN;
sahilmgandhi 18:6a4db94011d3 536 vector = (uint32_t)&CAN1_IRQ_PASSIVE_VECT;
sahilmgandhi 18:6a4db94011d3 537 break;
sahilmgandhi 18:6a4db94011d3 538 case IRQ_BUS:
sahilmgandhi 18:6a4db94011d3 539 ier = CAN_IT_BOF;
sahilmgandhi 18:6a4db94011d3 540 irq_n = CAN1_IRQ_BUS_IRQN;
sahilmgandhi 18:6a4db94011d3 541 vector = (uint32_t)&CAN1_IRQ_BUS_VECT;
sahilmgandhi 18:6a4db94011d3 542 break;
sahilmgandhi 18:6a4db94011d3 543 default:
sahilmgandhi 18:6a4db94011d3 544 return;
sahilmgandhi 18:6a4db94011d3 545 }
sahilmgandhi 18:6a4db94011d3 546 }
sahilmgandhi 18:6a4db94011d3 547 #if defined(CAN2_BASE) && (CAN_NUM == 2)
sahilmgandhi 18:6a4db94011d3 548 else if (obj->can == CAN_2) {
sahilmgandhi 18:6a4db94011d3 549 switch (type) {
sahilmgandhi 18:6a4db94011d3 550 case IRQ_RX:
sahilmgandhi 18:6a4db94011d3 551 ier = CAN_IT_FMP0;
sahilmgandhi 18:6a4db94011d3 552 irq_n = CAN2_IRQ_RX_IRQN;
sahilmgandhi 18:6a4db94011d3 553 vector = (uint32_t)&CAN2_IRQ_RX_VECT;
sahilmgandhi 18:6a4db94011d3 554 break;
sahilmgandhi 18:6a4db94011d3 555 case IRQ_TX:
sahilmgandhi 18:6a4db94011d3 556 ier = CAN_IT_TME;
sahilmgandhi 18:6a4db94011d3 557 irq_n = CAN2_IRQ_TX_IRQN;
sahilmgandhi 18:6a4db94011d3 558 vector = (uint32_t)&CAN2_IRQ_TX_VECT;
sahilmgandhi 18:6a4db94011d3 559 break;
sahilmgandhi 18:6a4db94011d3 560 case IRQ_ERROR:
sahilmgandhi 18:6a4db94011d3 561 ier = CAN_IT_ERR;
sahilmgandhi 18:6a4db94011d3 562 irq_n = CAN2_IRQ_ERROR_IRQN;
sahilmgandhi 18:6a4db94011d3 563 vector = (uint32_t)&CAN2_IRQ_ERROR_VECT;
sahilmgandhi 18:6a4db94011d3 564 break;
sahilmgandhi 18:6a4db94011d3 565 case IRQ_PASSIVE:
sahilmgandhi 18:6a4db94011d3 566 ier = CAN_IT_EPV;
sahilmgandhi 18:6a4db94011d3 567 irq_n = CAN2_IRQ_PASSIVE_IRQN;
sahilmgandhi 18:6a4db94011d3 568 vector = (uint32_t)&CAN2_IRQ_PASSIVE_VECT;
sahilmgandhi 18:6a4db94011d3 569 break;
sahilmgandhi 18:6a4db94011d3 570 case IRQ_BUS:
sahilmgandhi 18:6a4db94011d3 571 ier = CAN_IT_BOF;
sahilmgandhi 18:6a4db94011d3 572 irq_n = CAN2_IRQ_BUS_IRQN;
sahilmgandhi 18:6a4db94011d3 573 vector = (uint32_t)&CAN2_IRQ_BUS_VECT;
sahilmgandhi 18:6a4db94011d3 574 break;
sahilmgandhi 18:6a4db94011d3 575 default:
sahilmgandhi 18:6a4db94011d3 576 return;
sahilmgandhi 18:6a4db94011d3 577 }
sahilmgandhi 18:6a4db94011d3 578 }
sahilmgandhi 18:6a4db94011d3 579 #endif
sahilmgandhi 18:6a4db94011d3 580 else {
sahilmgandhi 18:6a4db94011d3 581 return;
sahilmgandhi 18:6a4db94011d3 582 }
sahilmgandhi 18:6a4db94011d3 583
sahilmgandhi 18:6a4db94011d3 584 if (enable) {
sahilmgandhi 18:6a4db94011d3 585 can->IER |= ier;
sahilmgandhi 18:6a4db94011d3 586 } else {
sahilmgandhi 18:6a4db94011d3 587 can->IER &= ~ier;
sahilmgandhi 18:6a4db94011d3 588 }
sahilmgandhi 18:6a4db94011d3 589
sahilmgandhi 18:6a4db94011d3 590 NVIC_SetVector(irq_n, vector);
sahilmgandhi 18:6a4db94011d3 591 NVIC_EnableIRQ(irq_n);
sahilmgandhi 18:6a4db94011d3 592 }
sahilmgandhi 18:6a4db94011d3 593
sahilmgandhi 18:6a4db94011d3 594 #endif // DEVICE_CAN
sahilmgandhi 18:6a4db94011d3 595