Projets S4 IUT de Cachan / CANnucleo

test

Fork of CANnucleo by Zoltan Hudak

stm32f1xx_hal_msp.c@6:c5a40d5fd9f1, 2015-10-23 (annotated)

Committer:
hudakz
Date:
Fri Oct 23 19:45:00 2015 +0000
Revision:
6:c5a40d5fd9f1
Parent:
5:b53e5ee15315
Child:
7:62684572ae9c
Automatic recovery from bus-off state enabled (by default).

Who changed what in which revision?

UserRevisionLine numberNew contents of line
hudakz 0:e29bc8e0dddd 1 /**
hudakz 0:e29bc8e0dddd 2 ******************************************************************************
hudakz 0:e29bc8e0dddd 3 * @file stm32f1xx_hal_msp.c
hudakz 0:e29bc8e0dddd 4 * @author MCD Application Team
hudakz 0:e29bc8e0dddd 5 * @version V1.0.0
hudakz 0:e29bc8e0dddd 6 * @date 17-December-2014
hudakz 0:e29bc8e0dddd 7 * @brief HAL MSP module.
hudakz 0:e29bc8e0dddd 8 ******************************************************************************
hudakz 0:e29bc8e0dddd 9 * @attention
hudakz 0:e29bc8e0dddd 10 *
hudakz 0:e29bc8e0dddd 11 * <h2><center>&copy; COPYRIGHT(c) 2014 STMicroelectronics</center></h2>
hudakz 0:e29bc8e0dddd 12 *
hudakz 0:e29bc8e0dddd 13 * Redistribution and use in source and binary forms, with or without modification,
hudakz 0:e29bc8e0dddd 14 * are permitted provided that the following conditions are met:
hudakz 0:e29bc8e0dddd 15 * 1. Redistributions of source code must retain the above copyright notice,
hudakz 0:e29bc8e0dddd 16 * this list of conditions and the following disclaimer.
hudakz 0:e29bc8e0dddd 17 * 2. Redistributions in binary form must reproduce the above copyright notice,
hudakz 0:e29bc8e0dddd 18 * this list of conditions and the following disclaimer in the documentation
hudakz 0:e29bc8e0dddd 19 * and/or other materials provided with the distribution.
hudakz 0:e29bc8e0dddd 20 * 3. Neither the name of STMicroelectronics nor the names of its contributors
hudakz 0:e29bc8e0dddd 21 * may be used to endorse or promote products derived from this software
hudakz 0:e29bc8e0dddd 22 * without specific prior written permission.
hudakz 0:e29bc8e0dddd 23 *
hudakz 0:e29bc8e0dddd 24 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
hudakz 0:e29bc8e0dddd 25 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
hudakz 0:e29bc8e0dddd 26 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
hudakz 0:e29bc8e0dddd 27 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
hudakz 0:e29bc8e0dddd 28 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
hudakz 0:e29bc8e0dddd 29 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
hudakz 0:e29bc8e0dddd 30 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
hudakz 0:e29bc8e0dddd 31 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
hudakz 0:e29bc8e0dddd 32 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
hudakz 0:e29bc8e0dddd 33 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
hudakz 0:e29bc8e0dddd 34 *
hudakz 0:e29bc8e0dddd 35 ******************************************************************************
hudakz 0:e29bc8e0dddd 36 *
hudakz 0:e29bc8e0dddd 37 * Modified by Zoltan Hudak <hudakz@inbox.com>
hudakz 0:e29bc8e0dddd 38 *
hudakz 0:e29bc8e0dddd 39 ******************************************************************************
hudakz 0:e29bc8e0dddd 40 */
hudakz 0:e29bc8e0dddd 41 #include "stm32f1xx_hal.h"
hudakz 0:e29bc8e0dddd 42 #include "can_api.h"
hudakz 0:e29bc8e0dddd 43 #include "pinmap.h"
hudakz 0:e29bc8e0dddd 44
hudakz 0:e29bc8e0dddd 45 CAN_HandleTypeDef _canHandle;
hudakz 0:e29bc8e0dddd 46 CanRxMsgTypeDef _canRxMsg;
hudakz 0:e29bc8e0dddd 47 CanTxMsgTypeDef _canTxMsg;
hudakz 0:e29bc8e0dddd 48 PinName _rxPin;
hudakz 0:e29bc8e0dddd 49 PinName _txPin;
hudakz 0:e29bc8e0dddd 50
hudakz 0:e29bc8e0dddd 51 void (*rxCompleteCallback) (void);
hudakz 0:e29bc8e0dddd 52
hudakz 0:e29bc8e0dddd 53 /**
hudakz 0:e29bc8e0dddd 54 * @brief CAN initialization.
hudakz 0:e29bc8e0dddd 55 * @param obj: can_t object
hudakz 0:e29bc8e0dddd 56 * @param rxPin: RX pin name
hudakz 0:e29bc8e0dddd 57 * @param txPin: TX pin name
hudakz 6:c5a40d5fd9f1 58 * @param abom: Automatic recovery from bus-off state
hudakz 0:e29bc8e0dddd 59 * @retval None
hudakz 0:e29bc8e0dddd 60 */
hudakz 6:c5a40d5fd9f1 61 void initCAN(can_t* obj, PinName rxPin, PinName txPin, FunctionalState abom) {
hudakz 0:e29bc8e0dddd 62 _rxPin = rxPin;
hudakz 0:e29bc8e0dddd 63 _txPin = txPin;
hudakz 0:e29bc8e0dddd 64
hudakz 0:e29bc8e0dddd 65 _canHandle.Instance = CAN1;
hudakz 0:e29bc8e0dddd 66 _canHandle.pTxMsg = &_canTxMsg;
hudakz 0:e29bc8e0dddd 67 _canHandle.pRxMsg = &_canRxMsg;
hudakz 0:e29bc8e0dddd 68
hudakz 0:e29bc8e0dddd 69 _canHandle.Init.TTCM = DISABLE;
hudakz 0:e29bc8e0dddd 70 _canHandle.Init.ABOM = DISABLE;
hudakz 0:e29bc8e0dddd 71 _canHandle.Init.AWUM = DISABLE;
hudakz 0:e29bc8e0dddd 72 _canHandle.Init.NART = DISABLE;
hudakz 0:e29bc8e0dddd 73 _canHandle.Init.RFLM = DISABLE;
hudakz 0:e29bc8e0dddd 74 _canHandle.Init.TXFP = DISABLE;
hudakz 0:e29bc8e0dddd 75 _canHandle.Init.Mode = CAN_MODE_NORMAL;
hudakz 0:e29bc8e0dddd 76
hudakz 0:e29bc8e0dddd 77 // 125kbps bit rate (default)
hudakz 5:b53e5ee15315 78 // APB1 peripheral clock = 36000000Hz
hudakz 0:e29bc8e0dddd 79 _canHandle.Init.Prescaler = 18; // number of time quanta = 36000000/18/125000 = 16
hudakz 0:e29bc8e0dddd 80 _canHandle.Init.SJW = CAN_SJW_1TQ;
hudakz 0:e29bc8e0dddd 81 _canHandle.Init.BS1 = CAN_BS1_11TQ; // sample point at (1 + 11) / 16 * 100 = 75%
hudakz 0:e29bc8e0dddd 82 _canHandle.Init.BS2 = CAN_BS2_4TQ;
hudakz 0:e29bc8e0dddd 83
hudakz 0:e29bc8e0dddd 84 HAL_CAN_Init(&_canHandle);
hudakz 0:e29bc8e0dddd 85 }
hudakz 0:e29bc8e0dddd 86
hudakz 0:e29bc8e0dddd 87 /**
hudakz 0:e29bc8e0dddd 88 * @brief CAN MSP Initialization
hudakz 0:e29bc8e0dddd 89 * @param hcan: CAN handle pointer
hudakz 0:e29bc8e0dddd 90 * @retval None
hudakz 0:e29bc8e0dddd 91 */
hudakz 0:e29bc8e0dddd 92 void HAL_CAN_MspInit(CAN_HandleTypeDef* hcan) {
hudakz 0:e29bc8e0dddd 93 GPIO_InitTypeDef GPIO_InitStruct;
hudakz 0:e29bc8e0dddd 94
hudakz 0:e29bc8e0dddd 95 if((_rxPin == PA_11) && (_txPin == PA_12)) {
hudakz 0:e29bc8e0dddd 96
hudakz 0:e29bc8e0dddd 97 /* CAN1 Periph clock enable */
hudakz 0:e29bc8e0dddd 98 __HAL_RCC_CAN1_CLK_ENABLE();
hudakz 0:e29bc8e0dddd 99
hudakz 0:e29bc8e0dddd 100 /* Enable GPIO clock */
hudakz 0:e29bc8e0dddd 101 __HAL_RCC_GPIOA_CLK_ENABLE();
hudakz 0:e29bc8e0dddd 102
hudakz 0:e29bc8e0dddd 103 /* Enable AFIO clock and remap CAN PINs to PA11 and PA12*/
hudakz 0:e29bc8e0dddd 104 __HAL_RCC_AFIO_CLK_ENABLE();
hudakz 0:e29bc8e0dddd 105 __HAL_AFIO_REMAP_CAN1_1();
hudakz 0:e29bc8e0dddd 106
hudakz 0:e29bc8e0dddd 107 /* CAN1 RX GPIO pin configuration */
hudakz 0:e29bc8e0dddd 108 GPIO_InitStruct.Pin = GPIO_PIN_11;
hudakz 0:e29bc8e0dddd 109 GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
hudakz 0:e29bc8e0dddd 110 GPIO_InitStruct.Pull = GPIO_NOPULL;
hudakz 0:e29bc8e0dddd 111 HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
hudakz 0:e29bc8e0dddd 112
hudakz 0:e29bc8e0dddd 113 GPIO_InitStruct.Pin = GPIO_PIN_12;
hudakz 0:e29bc8e0dddd 114 GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
hudakz 0:e29bc8e0dddd 115 GPIO_InitStruct.Speed = GPIO_SPEED_LOW;
hudakz 0:e29bc8e0dddd 116 HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
hudakz 0:e29bc8e0dddd 117 }
hudakz 0:e29bc8e0dddd 118 else
hudakz 0:e29bc8e0dddd 119 if((_rxPin == PB_8) && (_txPin == PB_9)) {
hudakz 0:e29bc8e0dddd 120
hudakz 0:e29bc8e0dddd 121 /* CAN1 Periph clock enable */
hudakz 0:e29bc8e0dddd 122 __HAL_RCC_CAN1_CLK_ENABLE();
hudakz 0:e29bc8e0dddd 123
hudakz 0:e29bc8e0dddd 124 /* Enable GPIO clock */
hudakz 0:e29bc8e0dddd 125 __HAL_RCC_GPIOB_CLK_ENABLE();
hudakz 0:e29bc8e0dddd 126
hudakz 0:e29bc8e0dddd 127 /* Enable AFIO clock and remap CAN PINs to PB_8 and PB_9*/
hudakz 0:e29bc8e0dddd 128 __HAL_RCC_AFIO_CLK_ENABLE();
hudakz 0:e29bc8e0dddd 129 __HAL_AFIO_REMAP_CAN1_2();
hudakz 0:e29bc8e0dddd 130
hudakz 0:e29bc8e0dddd 131 /* CAN1 RX GPIO pin configuration */
hudakz 0:e29bc8e0dddd 132 GPIO_InitStruct.Pin = GPIO_PIN_8;
hudakz 0:e29bc8e0dddd 133 GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
hudakz 0:e29bc8e0dddd 134 GPIO_InitStruct.Pull = GPIO_NOPULL;
hudakz 0:e29bc8e0dddd 135 HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
hudakz 0:e29bc8e0dddd 136
hudakz 0:e29bc8e0dddd 137 GPIO_InitStruct.Pin = GPIO_PIN_9;
hudakz 0:e29bc8e0dddd 138 GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
hudakz 0:e29bc8e0dddd 139 GPIO_InitStruct.Speed = GPIO_SPEED_LOW;
hudakz 0:e29bc8e0dddd 140 HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
hudakz 0:e29bc8e0dddd 141 }
hudakz 0:e29bc8e0dddd 142 else
hudakz 0:e29bc8e0dddd 143 return;
hudakz 0:e29bc8e0dddd 144
hudakz 0:e29bc8e0dddd 145 /* NVIC configuration for CAN1 Reception complete interrupt */
hudakz 0:e29bc8e0dddd 146 HAL_NVIC_SetPriority(USB_LP_CAN1_RX0_IRQn, 1, 0);
hudakz 0:e29bc8e0dddd 147 HAL_NVIC_EnableIRQ(USB_LP_CAN1_RX0_IRQn);
hudakz 0:e29bc8e0dddd 148 }
hudakz 0:e29bc8e0dddd 149
hudakz 0:e29bc8e0dddd 150 /**
hudakz 0:e29bc8e0dddd 151 * @brief CAN MSP De-Initialization
hudakz 0:e29bc8e0dddd 152 * This function frees the hardware resources used:
hudakz 0:e29bc8e0dddd 153 * - Disable the Peripheral's clock
hudakz 0:e29bc8e0dddd 154 * - Revert GPIO to their default state
hudakz 0:e29bc8e0dddd 155 * @param hcan: CAN handle pointer
hudakz 0:e29bc8e0dddd 156 * @retval None
hudakz 0:e29bc8e0dddd 157 */
hudakz 0:e29bc8e0dddd 158 void HAL_CAN_MspDeInit(CAN_HandleTypeDef* hcan) {
hudakz 0:e29bc8e0dddd 159
hudakz 0:e29bc8e0dddd 160 /* Reset peripherals */
hudakz 0:e29bc8e0dddd 161
hudakz 0:e29bc8e0dddd 162 __HAL_RCC_CAN1_FORCE_RESET();
hudakz 0:e29bc8e0dddd 163 __HAL_RCC_CAN1_RELEASE_RESET();
hudakz 0:e29bc8e0dddd 164
hudakz 0:e29bc8e0dddd 165 /* Disable peripherals and GPIO Clocks */
hudakz 0:e29bc8e0dddd 166 if((_rxPin == PA_11) && (_txPin == PA_12)) {
hudakz 0:e29bc8e0dddd 167
hudakz 0:e29bc8e0dddd 168 /* De-initialize the CAN1 TX GPIO pin */
hudakz 0:e29bc8e0dddd 169 HAL_GPIO_DeInit(GPIOA, GPIO_PIN_11);
hudakz 0:e29bc8e0dddd 170
hudakz 0:e29bc8e0dddd 171 /* De-initialize the CAN1 RX GPIO pin */
hudakz 0:e29bc8e0dddd 172 HAL_GPIO_DeInit(GPIOA, GPIO_PIN_12);
hudakz 0:e29bc8e0dddd 173 }
hudakz 0:e29bc8e0dddd 174 else {
hudakz 0:e29bc8e0dddd 175
hudakz 0:e29bc8e0dddd 176 /* De-initialize the CAN1 TX GPIO pin */
hudakz 0:e29bc8e0dddd 177 HAL_GPIO_DeInit(GPIOB, GPIO_PIN_8);
hudakz 0:e29bc8e0dddd 178
hudakz 0:e29bc8e0dddd 179 /* De-initialize the CAN1 RX GPIO pin */
hudakz 0:e29bc8e0dddd 180 HAL_GPIO_DeInit(GPIOB, GPIO_PIN_9);
hudakz 0:e29bc8e0dddd 181 }
hudakz 0:e29bc8e0dddd 182
hudakz 0:e29bc8e0dddd 183 /* Disable the NVIC for CAN reception */
hudakz 0:e29bc8e0dddd 184 HAL_NVIC_DisableIRQ(USB_LP_CAN1_RX0_IRQn);
hudakz 0:e29bc8e0dddd 185 }
hudakz 0:e29bc8e0dddd 186
hudakz 0:e29bc8e0dddd 187 /**
hudakz 0:e29bc8e0dddd 188 * @brief Handles CAN1 RX0 interrupt request.
hudakz 0:e29bc8e0dddd 189 * @param None
hudakz 0:e29bc8e0dddd 190 * @retval None
hudakz 0:e29bc8e0dddd 191 */
hudakz 0:e29bc8e0dddd 192 void USB_LP_CAN1_RX0_IRQHandler(void) {
hudakz 0:e29bc8e0dddd 193 HAL_CAN_IRQHandler(&_canHandle);
hudakz 0:e29bc8e0dddd 194 }
hudakz 0:e29bc8e0dddd 195
hudakz 0:e29bc8e0dddd 196 /**
hudakz 0:e29bc8e0dddd 197 * @brief Reception complete callback in non blocking mode
hudakz 0:e29bc8e0dddd 198 * @param _canHandle: pointer to a CAN_HandleTypeDef structure that contains
hudakz 0:e29bc8e0dddd 199 * the configuration information for the specified CAN.
hudakz 0:e29bc8e0dddd 200 * @retval None
hudakz 0:e29bc8e0dddd 201 */
hudakz 0:e29bc8e0dddd 202 void HAL_CAN_RxCpltCallback(CAN_HandleTypeDef* _canHandle) {
hudakz 0:e29bc8e0dddd 203 // if(HAL_CAN_Receive_IT(_canHandle, CAN_FIFO0) == HAL_OK) {
hudakz 0:e29bc8e0dddd 204 // if(rxCompleteCallback != NULL)
hudakz 0:e29bc8e0dddd 205 // rxCompleteCallback();
hudakz 0:e29bc8e0dddd 206 // }
hudakz 0:e29bc8e0dddd 207 // else {
hudakz 0:e29bc8e0dddd 208 // error_handler(error);
hudakz 0:e29bc8e0dddd 209 // }
hudakz 0:e29bc8e0dddd 210
hudakz 0:e29bc8e0dddd 211 // BUG: CAN race condition if HAL_CAN_Receive_IT() is used.
hudakz 0:e29bc8e0dddd 212 // See https://my.st.com/public/STe2ecommunities/mcu/Lists/STM32Java/Flat.aspx?RootFolder=%2Fpublic%2FSTe2ecommunities%2Fmcu%2FLists%2FSTM32Java%2FBUG%20CAN%20race%20condition%20if%20HAL%5FCAN%5FReceive%5FIT%20is%20used
hudakz 0:e29bc8e0dddd 213 //
hudakz 0:e29bc8e0dddd 214 // Fixed by Mark Burton:
hudakz 0:e29bc8e0dddd 215 // ideally, we should be able to call HAL_CAN_Receive_IT() here to set up for another
hudakz 0:e29bc8e0dddd 216 // receive but the API is flawed because that function will fail if HAL_CAN_Transmit()
hudakz 0:e29bc8e0dddd 217 // had already locked the handle when the receive interrupt occurred - so we do what
hudakz 0:e29bc8e0dddd 218 // HAL_CAN_Receive_IT() would do
hudakz 0:e29bc8e0dddd 219
hudakz 0:e29bc8e0dddd 220 if (rxCompleteCallback != NULL)
hudakz 0:e29bc8e0dddd 221 rxCompleteCallback();
hudakz 0:e29bc8e0dddd 222
hudakz 0:e29bc8e0dddd 223 if (_canHandle->State == HAL_CAN_STATE_BUSY_TX)
hudakz 0:e29bc8e0dddd 224 _canHandle->State = HAL_CAN_STATE_BUSY_TX_RX;
hudakz 0:e29bc8e0dddd 225 else {
hudakz 0:e29bc8e0dddd 226 _canHandle->State = HAL_CAN_STATE_BUSY_RX;
hudakz 0:e29bc8e0dddd 227
hudakz 0:e29bc8e0dddd 228 /* Set CAN error code to none */
hudakz 0:e29bc8e0dddd 229 _canHandle->ErrorCode = HAL_CAN_ERROR_NONE;
hudakz 0:e29bc8e0dddd 230
hudakz 0:e29bc8e0dddd 231 /* Enable Error warning Interrupt */
hudakz 0:e29bc8e0dddd 232 __HAL_CAN_ENABLE_IT(_canHandle, CAN_IT_EWG);
hudakz 0:e29bc8e0dddd 233
hudakz 0:e29bc8e0dddd 234 /* Enable Error passive Interrupt */
hudakz 0:e29bc8e0dddd 235 __HAL_CAN_ENABLE_IT(_canHandle, CAN_IT_EPV);
hudakz 0:e29bc8e0dddd 236
hudakz 0:e29bc8e0dddd 237 /* Enable Bus-off Interrupt */
hudakz 0:e29bc8e0dddd 238 __HAL_CAN_ENABLE_IT(_canHandle, CAN_IT_BOF);
hudakz 0:e29bc8e0dddd 239
hudakz 0:e29bc8e0dddd 240 /* Enable Last error code Interrupt */
hudakz 0:e29bc8e0dddd 241 __HAL_CAN_ENABLE_IT(_canHandle, CAN_IT_LEC);
hudakz 0:e29bc8e0dddd 242
hudakz 0:e29bc8e0dddd 243 /* Enable Error Interrupt */
hudakz 0:e29bc8e0dddd 244 __HAL_CAN_ENABLE_IT(_canHandle, CAN_IT_ERR);
hudakz 0:e29bc8e0dddd 245 }
hudakz 0:e29bc8e0dddd 246
hudakz 0:e29bc8e0dddd 247 // Enable FIFO 0 message pending Interrupt
hudakz 0:e29bc8e0dddd 248 __HAL_CAN_ENABLE_IT(_canHandle, CAN_IT_FMP0);
hudakz 0:e29bc8e0dddd 249 }
hudakz 6:c5a40d5fd9f1 250