test
Fork of CANnucleo by
can_api.c@3:0fae6b54a2ee, 2015-07-23 (annotated)
- Committer:
- hudakz
- Date:
- Thu Jul 23 13:05:27 2015 +0000
- Revision:
- 3:0fae6b54a2ee
- Parent:
- 2:09a0d2838572
- Child:
- 5:b53e5ee15315
updated
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
hudakz | 0:e29bc8e0dddd | 1 | /* |
hudakz | 0:e29bc8e0dddd | 2 | can_api.c for STMicroelectronics mbed boards equipped with Controller Area Network interface: |
hudakz | 0:e29bc8e0dddd | 3 | |
hudakz | 0:e29bc8e0dddd | 4 | NUCLEO-F072RB |
hudakz | 1:eb04f7f0478d | 5 | NUCLEO-F091RC |
hudakz | 0:e29bc8e0dddd | 6 | NUCLEO-F103RB |
hudakz | 0:e29bc8e0dddd | 7 | NUCLEO-F302R8 |
hudakz | 1:eb04f7f0478d | 8 | NUCLEO-F303RE |
hudakz | 0:e29bc8e0dddd | 9 | NUCLEO-F334R8 |
hudakz | 0:e29bc8e0dddd | 10 | DISCO-F334C8 |
hudakz | 0:e29bc8e0dddd | 11 | |
hudakz | 0:e29bc8e0dddd | 12 | Copyright (c) 2015 Zoltan Hudak <hudakz@inbox.com> |
hudakz | 0:e29bc8e0dddd | 13 | All rights reserved. |
hudakz | 0:e29bc8e0dddd | 14 | |
hudakz | 0:e29bc8e0dddd | 15 | This program is free software: you can redistribute it and/or modify |
hudakz | 0:e29bc8e0dddd | 16 | it under the terms of the GNU General Public License as published by |
hudakz | 0:e29bc8e0dddd | 17 | the Free Software Foundation, either version 3 of the License, or |
hudakz | 0:e29bc8e0dddd | 18 | (at your option) any later version. |
hudakz | 0:e29bc8e0dddd | 19 | |
hudakz | 0:e29bc8e0dddd | 20 | This program is distributed in the hope that it will be useful, |
hudakz | 0:e29bc8e0dddd | 21 | but WITHOUT ANY WARRANTY; without even the implied warranty of |
hudakz | 0:e29bc8e0dddd | 22 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
hudakz | 0:e29bc8e0dddd | 23 | GNU General Public License for more details. |
hudakz | 0:e29bc8e0dddd | 24 | |
hudakz | 0:e29bc8e0dddd | 25 | You should have received a copy of the GNU General Public License |
hudakz | 0:e29bc8e0dddd | 26 | along with this program. If not, see <http://www.gnu.org/licenses/>. |
hudakz | 0:e29bc8e0dddd | 27 | */ |
hudakz | 0:e29bc8e0dddd | 28 | #include "stm32f1xx_hal.h" |
hudakz | 0:e29bc8e0dddd | 29 | #include "can_api.h" |
hudakz | 0:e29bc8e0dddd | 30 | #include "can_helper.h" |
hudakz | 0:e29bc8e0dddd | 31 | #include "pinmap.h" |
hudakz | 0:e29bc8e0dddd | 32 | |
hudakz | 0:e29bc8e0dddd | 33 | extern void (*rxCompleteCallback) (void); |
hudakz | 0:e29bc8e0dddd | 34 | extern CAN_HandleTypeDef _canHandle; |
hudakz | 0:e29bc8e0dddd | 35 | |
hudakz | 0:e29bc8e0dddd | 36 | /** |
hudakz | 0:e29bc8e0dddd | 37 | * @brief |
hudakz | 0:e29bc8e0dddd | 38 | * @note |
hudakz | 0:e29bc8e0dddd | 39 | * @param |
hudakz | 0:e29bc8e0dddd | 40 | * @retval |
hudakz | 0:e29bc8e0dddd | 41 | */ |
hudakz | 0:e29bc8e0dddd | 42 | void can_init(can_t* obj, PinName rd, PinName td) { |
hudakz | 0:e29bc8e0dddd | 43 | initCAN(obj, rd, td); |
hudakz | 0:e29bc8e0dddd | 44 | can_filter(obj, 0, 0, CANAny, 0); |
hudakz | 0:e29bc8e0dddd | 45 | } |
hudakz | 0:e29bc8e0dddd | 46 | |
hudakz | 0:e29bc8e0dddd | 47 | /** |
hudakz | 0:e29bc8e0dddd | 48 | * @brief |
hudakz | 0:e29bc8e0dddd | 49 | * @note |
hudakz | 0:e29bc8e0dddd | 50 | * @param |
hudakz | 0:e29bc8e0dddd | 51 | * @retval |
hudakz | 0:e29bc8e0dddd | 52 | */ |
hudakz | 0:e29bc8e0dddd | 53 | void can_free(can_t* obj) { |
hudakz | 0:e29bc8e0dddd | 54 | HAL_CAN_MspDeInit(obj); |
hudakz | 0:e29bc8e0dddd | 55 | } |
hudakz | 0:e29bc8e0dddd | 56 | |
hudakz | 0:e29bc8e0dddd | 57 | /** |
hudakz | 0:e29bc8e0dddd | 58 | * @brief |
hudakz | 0:e29bc8e0dddd | 59 | * @note |
hudakz | 0:e29bc8e0dddd | 60 | * @param |
hudakz | 0:e29bc8e0dddd | 61 | * @retval |
hudakz | 0:e29bc8e0dddd | 62 | */ |
hudakz | 0:e29bc8e0dddd | 63 | int can_frequency(can_t* obj, int hz) { |
hudakz | 0:e29bc8e0dddd | 64 | HAL_NVIC_DisableIRQ(USB_LP_CAN1_RX0_IRQn); |
hudakz | 0:e29bc8e0dddd | 65 | |
hudakz | 0:e29bc8e0dddd | 66 | #if defined(TARGET_NUCLEO_F103RB) || \ |
hudakz | 0:e29bc8e0dddd | 67 | defined(TARGET_NUCLEO_F302R8) || \ |
hudakz | 1:eb04f7f0478d | 68 | defined(TARGET_NUCLEO_F303RE) || \ |
hudakz | 0:e29bc8e0dddd | 69 | defined(TARGET_NUCLEO_F334R8) || \ |
hudakz | 0:e29bc8e0dddd | 70 | defined(TARGET_DISCO_F334C8) |
hudakz | 0:e29bc8e0dddd | 71 | // APB1 pheripheral clock = 36000000Hz |
hudakz | 0:e29bc8e0dddd | 72 | |
hudakz | 0:e29bc8e0dddd | 73 | switch(hz) { |
hudakz | 0:e29bc8e0dddd | 74 | case 1000000: |
hudakz | 0:e29bc8e0dddd | 75 | // 1000kbps bit rate |
hudakz | 0:e29bc8e0dddd | 76 | _canHandle.Init.Prescaler = 3; // number of time quanta = 36000000/3/1000000 = 12 |
hudakz | 0:e29bc8e0dddd | 77 | _canHandle.Init.SJW = CAN_SJW_1TQ; |
hudakz | 0:e29bc8e0dddd | 78 | _canHandle.Init.BS1 = CAN_BS1_8TQ; // sample point at: (1 + 8) / 12 * 100 = 75% |
hudakz | 0:e29bc8e0dddd | 79 | _canHandle.Init.BS2 = CAN_BS2_3TQ; |
hudakz | 0:e29bc8e0dddd | 80 | break; |
hudakz | 0:e29bc8e0dddd | 81 | |
hudakz | 0:e29bc8e0dddd | 82 | case 500000: |
hudakz | 0:e29bc8e0dddd | 83 | // 500kbps bit rate |
hudakz | 0:e29bc8e0dddd | 84 | _canHandle.Init.Prescaler = 6; // number of time quanta = 36000000/6/500000 = 12 |
hudakz | 0:e29bc8e0dddd | 85 | _canHandle.Init.SJW = CAN_SJW_1TQ; |
hudakz | 0:e29bc8e0dddd | 86 | _canHandle.Init.BS1 = CAN_BS1_8TQ; // sample point at: (1 + 8) / 12 * 100 = 75% |
hudakz | 0:e29bc8e0dddd | 87 | _canHandle.Init.BS2 = CAN_BS2_3TQ; |
hudakz | 0:e29bc8e0dddd | 88 | break; |
hudakz | 0:e29bc8e0dddd | 89 | |
hudakz | 0:e29bc8e0dddd | 90 | case 250000: |
hudakz | 0:e29bc8e0dddd | 91 | // 250kbps |
hudakz | 0:e29bc8e0dddd | 92 | _canHandle.Init.Prescaler = 9; // number of time quanta = 36000000/9/250000 = 16 |
hudakz | 0:e29bc8e0dddd | 93 | _canHandle.Init.SJW = CAN_SJW_1TQ; |
hudakz | 0:e29bc8e0dddd | 94 | _canHandle.Init.BS1 = CAN_BS1_11TQ; // sample point at: (1 + 11) / 16 * 100 = 75% |
hudakz | 0:e29bc8e0dddd | 95 | _canHandle.Init.BS2 = CAN_BS2_4TQ; |
hudakz | 0:e29bc8e0dddd | 96 | break; |
hudakz | 0:e29bc8e0dddd | 97 | |
hudakz | 0:e29bc8e0dddd | 98 | case 125000: |
hudakz | 0:e29bc8e0dddd | 99 | // 125kbps |
hudakz | 0:e29bc8e0dddd | 100 | _canHandle.Init.Prescaler = 18; // number of time quanta = 36000000/18/125000 = 16 |
hudakz | 0:e29bc8e0dddd | 101 | _canHandle.Init.SJW = CAN_SJW_1TQ; |
hudakz | 0:e29bc8e0dddd | 102 | _canHandle.Init.BS1 = CAN_BS1_11TQ; // sample point at: (1 + 11) / 16 * 100 = 75% |
hudakz | 0:e29bc8e0dddd | 103 | _canHandle.Init.BS2 = CAN_BS2_4TQ; |
hudakz | 0:e29bc8e0dddd | 104 | break; |
hudakz | 0:e29bc8e0dddd | 105 | |
hudakz | 0:e29bc8e0dddd | 106 | default: |
hudakz | 0:e29bc8e0dddd | 107 | // 125kbps (default) |
hudakz | 0:e29bc8e0dddd | 108 | printf("Unknown frequency specified!\r\n"); |
hudakz | 0:e29bc8e0dddd | 109 | printf("Using default 125kbps\r\n"); |
hudakz | 0:e29bc8e0dddd | 110 | _canHandle.Init.Prescaler = 18; // number of time quanta = 36000000/18/125000 = 16 |
hudakz | 0:e29bc8e0dddd | 111 | _canHandle.Init.SJW = CAN_SJW_1TQ; |
hudakz | 0:e29bc8e0dddd | 112 | _canHandle.Init.BS1 = CAN_BS1_11TQ; // sample point at: (1 + 11) / 16 * 100 = 75% |
hudakz | 0:e29bc8e0dddd | 113 | _canHandle.Init.BS2 = CAN_BS2_4TQ; |
hudakz | 0:e29bc8e0dddd | 114 | } |
hudakz | 0:e29bc8e0dddd | 115 | |
hudakz | 1:eb04f7f0478d | 116 | #elif defined(TARGET_NUCLEO_F072RB) || \ |
hudakz | 0:e29bc8e0dddd | 117 | defined(TARGET_NUCLEO_F091RC) |
hudakz | 0:e29bc8e0dddd | 118 | // APB1 pheripheral clock = 48000000Hz |
hudakz | 0:e29bc8e0dddd | 119 | |
hudakz | 0:e29bc8e0dddd | 120 | switch(hz) { |
hudakz | 0:e29bc8e0dddd | 121 | case 1000000: |
hudakz | 0:e29bc8e0dddd | 122 | // 1000kbps bit rate |
hudakz | 0:e29bc8e0dddd | 123 | _canHandle.Init.Prescaler = 4; // number of time quanta = 48000000/4/1000000 = 12 |
hudakz | 0:e29bc8e0dddd | 124 | _canHandle.Init.SJW = CAN_SJW_1TQ; |
hudakz | 0:e29bc8e0dddd | 125 | _canHandle.Init.BS1 = CAN_BS1_8TQ; // sample point at: (1 + 8) / 12 * 100 = 75% |
hudakz | 0:e29bc8e0dddd | 126 | _canHandle.Init.BS2 = CAN_BS2_3TQ; |
hudakz | 0:e29bc8e0dddd | 127 | break; |
hudakz | 0:e29bc8e0dddd | 128 | |
hudakz | 0:e29bc8e0dddd | 129 | case 500000: |
hudakz | 0:e29bc8e0dddd | 130 | // 500kbps bit rate |
hudakz | 0:e29bc8e0dddd | 131 | _canHandle.Init.Prescaler = 8; // number of time quanta = 48000000/8/500000 = 12 |
hudakz | 0:e29bc8e0dddd | 132 | _canHandle.Init.SJW = CAN_SJW_1TQ; |
hudakz | 0:e29bc8e0dddd | 133 | _canHandle.Init.BS1 = CAN_BS1_8TQ; // sample point at: (1 + 8) / 12 * 100 = 75% |
hudakz | 0:e29bc8e0dddd | 134 | _canHandle.Init.BS2 = CAN_BS2_3TQ; |
hudakz | 0:e29bc8e0dddd | 135 | break; |
hudakz | 0:e29bc8e0dddd | 136 | |
hudakz | 0:e29bc8e0dddd | 137 | case 250000: |
hudakz | 0:e29bc8e0dddd | 138 | // 250kbps |
hudakz | 0:e29bc8e0dddd | 139 | _canHandle.Init.Prescaler = 12; // number of time quanta = 48000000/12/250000 = 16 |
hudakz | 0:e29bc8e0dddd | 140 | _canHandle.Init.SJW = CAN_SJW_1TQ; |
hudakz | 0:e29bc8e0dddd | 141 | _canHandle.Init.BS1 = CAN_BS1_11TQ; // sample point at: (1 + 11) / 16 * 100 = 75% |
hudakz | 0:e29bc8e0dddd | 142 | _canHandle.Init.BS2 = CAN_BS2_4TQ; |
hudakz | 0:e29bc8e0dddd | 143 | break; |
hudakz | 0:e29bc8e0dddd | 144 | |
hudakz | 0:e29bc8e0dddd | 145 | case 125000: |
hudakz | 0:e29bc8e0dddd | 146 | // 125kbps |
hudakz | 0:e29bc8e0dddd | 147 | _canHandle.Init.Prescaler = 24; // number of time quanta = 48000000/24/125000 = 16 |
hudakz | 0:e29bc8e0dddd | 148 | _canHandle.Init.SJW = CAN_SJW_1TQ; |
hudakz | 0:e29bc8e0dddd | 149 | _canHandle.Init.BS1 = CAN_BS1_11TQ; // sample point at: (1 + 11) / 16 * 100 = 75% |
hudakz | 0:e29bc8e0dddd | 150 | _canHandle.Init.BS2 = CAN_BS2_4TQ; |
hudakz | 0:e29bc8e0dddd | 151 | break; |
hudakz | 0:e29bc8e0dddd | 152 | |
hudakz | 0:e29bc8e0dddd | 153 | default: |
hudakz | 0:e29bc8e0dddd | 154 | // 125kbps (default) |
hudakz | 0:e29bc8e0dddd | 155 | printf("Unknown frequency specified!\r\n"); |
hudakz | 0:e29bc8e0dddd | 156 | printf("Using default 125kbps\r\n"); |
hudakz | 0:e29bc8e0dddd | 157 | _canHandle.Init.Prescaler = 24; // number of time quanta = 48000000/24/125000 = 16 |
hudakz | 0:e29bc8e0dddd | 158 | _canHandle.Init.SJW = CAN_SJW_1TQ; |
hudakz | 0:e29bc8e0dddd | 159 | _canHandle.Init.BS1 = CAN_BS1_11TQ; // sample point at: (1 + 11) / 16 * 100 = 75% |
hudakz | 0:e29bc8e0dddd | 160 | _canHandle.Init.BS2 = CAN_BS2_4TQ; |
hudakz | 0:e29bc8e0dddd | 161 | } |
hudakz | 0:e29bc8e0dddd | 162 | #endif |
hudakz | 0:e29bc8e0dddd | 163 | HAL_CAN_Init(&_canHandle); |
hudakz | 0:e29bc8e0dddd | 164 | HAL_NVIC_EnableIRQ(USB_LP_CAN1_RX0_IRQn); |
hudakz | 0:e29bc8e0dddd | 165 | } |
hudakz | 0:e29bc8e0dddd | 166 | |
hudakz | 0:e29bc8e0dddd | 167 | /** |
hudakz | 0:e29bc8e0dddd | 168 | * @brief |
hudakz | 0:e29bc8e0dddd | 169 | * @note |
hudakz | 0:e29bc8e0dddd | 170 | * @param |
hudakz | 0:e29bc8e0dddd | 171 | * @retval |
hudakz | 0:e29bc8e0dddd | 172 | */ |
hudakz | 0:e29bc8e0dddd | 173 | void can_irq_init(can_t* obj, can_irq_handler handler, uint32_t id) { |
hudakz | 0:e29bc8e0dddd | 174 | if(HAL_CAN_Receive_IT(&_canHandle, CAN_FIFO0) != HAL_OK) { |
hudakz | 0:e29bc8e0dddd | 175 | printf("CAN reception initialization error\r\n"); |
hudakz | 0:e29bc8e0dddd | 176 | } |
hudakz | 0:e29bc8e0dddd | 177 | } |
hudakz | 0:e29bc8e0dddd | 178 | |
hudakz | 0:e29bc8e0dddd | 179 | /** |
hudakz | 0:e29bc8e0dddd | 180 | * @brief |
hudakz | 0:e29bc8e0dddd | 181 | * @note |
hudakz | 0:e29bc8e0dddd | 182 | * @param |
hudakz | 0:e29bc8e0dddd | 183 | * @retval |
hudakz | 0:e29bc8e0dddd | 184 | */ |
hudakz | 0:e29bc8e0dddd | 185 | void can_irq_free(can_t* obj) { |
hudakz | 0:e29bc8e0dddd | 186 | rxCompleteCallback = NULL; |
hudakz | 0:e29bc8e0dddd | 187 | } |
hudakz | 0:e29bc8e0dddd | 188 | |
hudakz | 0:e29bc8e0dddd | 189 | /** |
hudakz | 0:e29bc8e0dddd | 190 | * @brief |
hudakz | 0:e29bc8e0dddd | 191 | * @note |
hudakz | 0:e29bc8e0dddd | 192 | * @param |
hudakz | 0:e29bc8e0dddd | 193 | * @retval |
hudakz | 0:e29bc8e0dddd | 194 | */ |
hudakz | 0:e29bc8e0dddd | 195 | void can_irq_set(void (*fptr) (void)) { |
hudakz | 0:e29bc8e0dddd | 196 | rxCompleteCallback = fptr; |
hudakz | 0:e29bc8e0dddd | 197 | } |
hudakz | 0:e29bc8e0dddd | 198 | |
hudakz | 0:e29bc8e0dddd | 199 | /** |
hudakz | 0:e29bc8e0dddd | 200 | * @brief |
hudakz | 0:e29bc8e0dddd | 201 | * @note |
hudakz | 0:e29bc8e0dddd | 202 | * @param |
hudakz | 0:e29bc8e0dddd | 203 | * @retval |
hudakz | 0:e29bc8e0dddd | 204 | */ |
hudakz | 0:e29bc8e0dddd | 205 | int can_write(can_t* obj, CAN_Message msg, int cc) { |
hudakz | 0:e29bc8e0dddd | 206 | int i = 0; |
hudakz | 0:e29bc8e0dddd | 207 | |
hudakz | 0:e29bc8e0dddd | 208 | if(msg.format == CANStandard) { |
hudakz | 0:e29bc8e0dddd | 209 | _canHandle.pTxMsg->StdId = msg.id; |
hudakz | 0:e29bc8e0dddd | 210 | _canHandle.pTxMsg->ExtId = 0x00; |
hudakz | 0:e29bc8e0dddd | 211 | } |
hudakz | 0:e29bc8e0dddd | 212 | else { |
hudakz | 0:e29bc8e0dddd | 213 | _canHandle.pTxMsg->StdId = 0x00; |
hudakz | 0:e29bc8e0dddd | 214 | _canHandle.pTxMsg->ExtId = msg.id; |
hudakz | 0:e29bc8e0dddd | 215 | } |
hudakz | 0:e29bc8e0dddd | 216 | |
hudakz | 0:e29bc8e0dddd | 217 | _canHandle.pTxMsg->RTR = msg.type == CANData ? CAN_RTR_DATA : CAN_RTR_REMOTE; |
hudakz | 0:e29bc8e0dddd | 218 | _canHandle.pTxMsg->IDE = msg.format == CANStandard ? CAN_ID_STD : CAN_ID_EXT; |
hudakz | 0:e29bc8e0dddd | 219 | _canHandle.pTxMsg->DLC = msg.len; |
hudakz | 0:e29bc8e0dddd | 220 | |
hudakz | 0:e29bc8e0dddd | 221 | for(i = 0; i < msg.len; i++) |
hudakz | 0:e29bc8e0dddd | 222 | _canHandle.pTxMsg->Data[i] = msg.data[i]; |
hudakz | 0:e29bc8e0dddd | 223 | |
hudakz | 0:e29bc8e0dddd | 224 | if(HAL_CAN_Transmit(&_canHandle, 10) != HAL_OK) { |
hudakz | 0:e29bc8e0dddd | 225 | printf("Transmission error\r\n"); |
hudakz | 0:e29bc8e0dddd | 226 | } |
hudakz | 0:e29bc8e0dddd | 227 | } |
hudakz | 0:e29bc8e0dddd | 228 | |
hudakz | 0:e29bc8e0dddd | 229 | /** |
hudakz | 0:e29bc8e0dddd | 230 | * @brief |
hudakz | 0:e29bc8e0dddd | 231 | * @note |
hudakz | 0:e29bc8e0dddd | 232 | * @param |
hudakz | 0:e29bc8e0dddd | 233 | * @retval |
hudakz | 0:e29bc8e0dddd | 234 | */ |
hudakz | 0:e29bc8e0dddd | 235 | int can_read(can_t* obj, CAN_Message* msg, int handle) { |
hudakz | 0:e29bc8e0dddd | 236 | int i = 0; |
hudakz | 0:e29bc8e0dddd | 237 | |
hudakz | 0:e29bc8e0dddd | 238 | msg->id = _canHandle.pRxMsg->IDE == CAN_ID_STD ? _canHandle.pRxMsg->StdId : _canHandle.pRxMsg->ExtId; |
hudakz | 0:e29bc8e0dddd | 239 | msg->type = _canHandle.pRxMsg->RTR == CAN_RTR_DATA ? CANData : CANRemote; |
hudakz | 0:e29bc8e0dddd | 240 | msg->format = _canHandle.pRxMsg->IDE == CAN_ID_STD ? CANStandard : CANExtended; |
hudakz | 0:e29bc8e0dddd | 241 | msg->len = _canHandle.pRxMsg->DLC; |
hudakz | 0:e29bc8e0dddd | 242 | for(i = 0; i < msg->len; i++) |
hudakz | 0:e29bc8e0dddd | 243 | msg->data[i] = _canHandle.pRxMsg->Data[i]; |
hudakz | 0:e29bc8e0dddd | 244 | } |
hudakz | 0:e29bc8e0dddd | 245 | |
hudakz | 0:e29bc8e0dddd | 246 | /** |
hudakz | 0:e29bc8e0dddd | 247 | * @brief |
hudakz | 0:e29bc8e0dddd | 248 | * @note |
hudakz | 0:e29bc8e0dddd | 249 | * @param |
hudakz | 0:e29bc8e0dddd | 250 | * @retval |
hudakz | 0:e29bc8e0dddd | 251 | */ |
hudakz | 0:e29bc8e0dddd | 252 | int can_mode(can_t* obj, CanMode mode) { |
hudakz | 0:e29bc8e0dddd | 253 | switch(mode) { |
hudakz | 0:e29bc8e0dddd | 254 | case MODE_RESET: |
hudakz | 0:e29bc8e0dddd | 255 | return HAL_ERROR; |
hudakz | 0:e29bc8e0dddd | 256 | |
hudakz | 0:e29bc8e0dddd | 257 | case MODE_NORMAL: |
hudakz | 0:e29bc8e0dddd | 258 | _canHandle.Init.Mode = CAN_MODE_NORMAL; |
hudakz | 0:e29bc8e0dddd | 259 | break; |
hudakz | 0:e29bc8e0dddd | 260 | |
hudakz | 0:e29bc8e0dddd | 261 | case MODE_SILENT: |
hudakz | 0:e29bc8e0dddd | 262 | _canHandle.Init.Mode = CAN_MODE_SILENT; |
hudakz | 0:e29bc8e0dddd | 263 | break; |
hudakz | 0:e29bc8e0dddd | 264 | |
hudakz | 0:e29bc8e0dddd | 265 | case MODE_TEST_GLOBAL: |
hudakz | 0:e29bc8e0dddd | 266 | _canHandle.Init.Mode = CAN_MODE_LOOPBACK; |
hudakz | 0:e29bc8e0dddd | 267 | break; |
hudakz | 0:e29bc8e0dddd | 268 | |
hudakz | 0:e29bc8e0dddd | 269 | case MODE_TEST_LOCAL: |
hudakz | 0:e29bc8e0dddd | 270 | _canHandle.Init.Mode = CAN_MODE_LOOPBACK; |
hudakz | 0:e29bc8e0dddd | 271 | break; |
hudakz | 0:e29bc8e0dddd | 272 | |
hudakz | 0:e29bc8e0dddd | 273 | case MODE_TEST_SILENT: |
hudakz | 0:e29bc8e0dddd | 274 | _canHandle.Init.Mode = CAN_MODE_SILENT_LOOPBACK; |
hudakz | 0:e29bc8e0dddd | 275 | break; |
hudakz | 0:e29bc8e0dddd | 276 | } |
hudakz | 0:e29bc8e0dddd | 277 | |
hudakz | 3:0fae6b54a2ee | 278 | return HAL_CAN_Init(&_canHandle); |
hudakz | 0:e29bc8e0dddd | 279 | } |
hudakz | 0:e29bc8e0dddd | 280 | |
hudakz | 0:e29bc8e0dddd | 281 | /** |
hudakz | 0:e29bc8e0dddd | 282 | * @brief |
hudakz | 0:e29bc8e0dddd | 283 | * @note |
hudakz | 0:e29bc8e0dddd | 284 | * @param |
hudakz | 0:e29bc8e0dddd | 285 | * @retval |
hudakz | 0:e29bc8e0dddd | 286 | */ |
hudakz | 0:e29bc8e0dddd | 287 | int can_filter(can_t* obj, uint32_t id, uint32_t mask, CANFormat format /*=CANAny*/, int32_t handle /*=0*/ ) { |
hudakz | 0:e29bc8e0dddd | 288 | CAN_FilterConfTypeDef sFilterConfig; |
hudakz | 0:e29bc8e0dddd | 289 | |
hudakz | 0:e29bc8e0dddd | 290 | sFilterConfig.FilterNumber = handle; |
hudakz | 0:e29bc8e0dddd | 291 | sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK; |
hudakz | 0:e29bc8e0dddd | 292 | sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT; |
hudakz | 0:e29bc8e0dddd | 293 | sFilterConfig.FilterIdHigh = (((id) >> 16) & 0xFFFF); |
hudakz | 0:e29bc8e0dddd | 294 | sFilterConfig.FilterIdLow = ((id) & 0xFFFF); |
hudakz | 0:e29bc8e0dddd | 295 | sFilterConfig.FilterMaskIdHigh = (((mask) >> 16) & 0xFFFF); |
hudakz | 0:e29bc8e0dddd | 296 | sFilterConfig.FilterMaskIdLow = ((mask) & 0xFFFF); |
hudakz | 0:e29bc8e0dddd | 297 | sFilterConfig.FilterFIFOAssignment = 0; |
hudakz | 0:e29bc8e0dddd | 298 | sFilterConfig.FilterActivation = ENABLE; |
hudakz | 0:e29bc8e0dddd | 299 | sFilterConfig.BankNumber = 14; |
hudakz | 0:e29bc8e0dddd | 300 | HAL_CAN_ConfigFilter(&_canHandle, &sFilterConfig); |
hudakz | 0:e29bc8e0dddd | 301 | } |
hudakz | 0:e29bc8e0dddd | 302 | |
hudakz | 0:e29bc8e0dddd | 303 | /** |
hudakz | 0:e29bc8e0dddd | 304 | * @brief |
hudakz | 0:e29bc8e0dddd | 305 | * @note |
hudakz | 0:e29bc8e0dddd | 306 | * @param |
hudakz | 0:e29bc8e0dddd | 307 | * @retval |
hudakz | 0:e29bc8e0dddd | 308 | */ |
hudakz | 0:e29bc8e0dddd | 309 | void can_reset(can_t* obj) { |
hudakz | 0:e29bc8e0dddd | 310 | __HAL_CAN_RESET_HANDLE_STATE(&_canHandle); |
hudakz | 0:e29bc8e0dddd | 311 | } |
hudakz | 0:e29bc8e0dddd | 312 | |
hudakz | 0:e29bc8e0dddd | 313 | /** |
hudakz | 0:e29bc8e0dddd | 314 | * @brief |
hudakz | 0:e29bc8e0dddd | 315 | * @note |
hudakz | 0:e29bc8e0dddd | 316 | * @param |
hudakz | 0:e29bc8e0dddd | 317 | * @retval |
hudakz | 0:e29bc8e0dddd | 318 | */ |
hudakz | 0:e29bc8e0dddd | 319 | unsigned char can_rderror(can_t* obj) { |
hudakz | 0:e29bc8e0dddd | 320 | return HAL_CAN_GetError(&_canHandle); |
hudakz | 0:e29bc8e0dddd | 321 | } |
hudakz | 0:e29bc8e0dddd | 322 | |
hudakz | 0:e29bc8e0dddd | 323 | /** |
hudakz | 0:e29bc8e0dddd | 324 | * @brief |
hudakz | 0:e29bc8e0dddd | 325 | * @note |
hudakz | 0:e29bc8e0dddd | 326 | * @param |
hudakz | 0:e29bc8e0dddd | 327 | * @retval |
hudakz | 0:e29bc8e0dddd | 328 | */ |
hudakz | 0:e29bc8e0dddd | 329 | unsigned char can_tderror(can_t* obj) { |
hudakz | 0:e29bc8e0dddd | 330 | return HAL_CAN_GetError(&_canHandle); |
hudakz | 0:e29bc8e0dddd | 331 | } |
hudakz | 0:e29bc8e0dddd | 332 | |
hudakz | 0:e29bc8e0dddd | 333 | /** |
hudakz | 0:e29bc8e0dddd | 334 | * @brief |
hudakz | 0:e29bc8e0dddd | 335 | * @note |
hudakz | 0:e29bc8e0dddd | 336 | * @param |
hudakz | 0:e29bc8e0dddd | 337 | * @retval |
hudakz | 0:e29bc8e0dddd | 338 | */ |
hudakz | 0:e29bc8e0dddd | 339 | void can_monitor(can_t* obj, int silent) { |
hudakz | 0:e29bc8e0dddd | 340 | |
hudakz | 0:e29bc8e0dddd | 341 | // not implemented |
hudakz | 0:e29bc8e0dddd | 342 | } |
hudakz | 1:eb04f7f0478d | 343 |