Diff: stm32f4xx_hal_msp.c

Revision:

16:f4c8f45bded9

Child:

19:249e3f065956

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/stm32f4xx_hal_msp.c	Wed Dec 30 08:23:30 2015 +0000
@@ -0,0 +1,251 @@
+ /**
+  ******************************************************************************
+  * @file    stm32f3xx_hal_msp.c
+  * @author  MCD Application Team
+  * @version V1.0.0
+  * @date    17-December-2014
+  * @brief   HAL MSP module.
+  ******************************************************************************
+  * @attention
+  *
+  * <h2><center>&copy; COPYRIGHT(c) 2014 STMicroelectronics</center></h2>
+  *
+  * Redistribution and use in source and binary forms, with or without modification,
+  * are permitted provided that the following conditions are met:
+  *   1. Redistributions of source code must retain the above copyright notice,
+  *      this list of conditions and the following disclaimer.
+  *   2. Redistributions in binary form must reproduce the above copyright notice,
+  *      this list of conditions and the following disclaimer in the documentation
+  *      and/or other materials provided with the distribution.
+  *   3. Neither the name of STMicroelectronics nor the names of its contributors
+  *      may be used to endorse or promote products derived from this software
+  *      without specific prior written permission.
+  *
+  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+  *
+  ******************************************************************************
+  *
+  * Modified by Zoltan Hudak    <hudakz@inbox.com>
+  *
+  ******************************************************************************
+  */
+#if defined(TARGET_NUCLEO_F446RE)
+
+#include "can_api.h"
+#include "pinmap.h"
+
+CAN_HandleTypeDef   _canHandle;
+CanRxMsgTypeDef     _canRxMsg;
+CanTxMsgTypeDef     _canTxMsg;
+PinName             _rxPin;
+PinName             _txPin;
+
+void (*rxCompleteCallback) (void);
+
+/**
+  * @brief  CAN initialization.
+  * @param  obj: can_t object
+  * @param  rxPin: RX pin name
+  * @param  txPin: TX pin name
+  * @param  abom: Automatic recovery from bus-off state
+  * @retval None
+  */
+void initCAN(can_t* obj, PinName rxPin, PinName txPin, FunctionalState abom) {
+    _rxPin = rxPin;
+    _txPin = txPin;
+
+    _canHandle.Instance = ((CAN_TypeDef*)CAN1_BASE);
+    _canHandle.pTxMsg = &_canTxMsg;
+    _canHandle.pRxMsg = &_canRxMsg;
+
+    _canHandle.Init.TTCM = DISABLE;
+    _canHandle.Init.ABOM = abom;
+    _canHandle.Init.AWUM = DISABLE;
+    _canHandle.Init.NART = DISABLE;
+    _canHandle.Init.RFLM = DISABLE;
+    _canHandle.Init.TXFP = DISABLE;
+    _canHandle.Init.Mode = CAN_MODE_NORMAL;
+
+    // 125kbps bit rate (default)
+    // APB1 peripheral clock = 45000000Hz
+    _canHandle.Init.Prescaler = 30;     // number of time quanta = 45000000/30/125000 = 12
+    _canHandle.Init.SJW = CAN_SJW_1TQ;
+    _canHandle.Init.BS1 = CAN_BS1_8TQ; // sample point at: (1 + 8) / 12 * 100 = 75%
+    _canHandle.Init.BS2 = CAN_BS2_3TQ;
+
+    HAL_CAN_Init(&_canHandle);
+}
+
+/**
+  * @brief  CAN MSP Initialization
+  * @param  hcan: CAN handle pointer
+  * @retval None
+  */
+void HAL_CAN_MspInit(CAN_HandleTypeDef* hcan) {
+    GPIO_InitTypeDef    GPIO_InitStruct;
+
+    if((_rxPin == PA_11) && (_txPin == PA_12)) {
+
+        /* CAN1 Periph clock enable */
+        __CAN_CLK_ENABLE();
+
+        /* Enable GPIO clock */
+        __GPIOA_CLK_ENABLE();
+
+        /* CAN1 RX GPIO pin configuration */
+        GPIO_InitStruct.Pin = GPIO_PIN_11;
+        GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+        GPIO_InitStruct.Speed = GPIO_SPEED_FAST;
+        GPIO_InitStruct.Pull = GPIO_PULLUP;
+        GPIO_InitStruct.Alternate =  GPIO_AF9_CAN1;
+        HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+        
+        /* CAN1 TX GPIO pin configuration */
+        GPIO_InitStruct.Pin = GPIO_PIN_12;
+        GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+        GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
+        GPIO_InitStruct.Pull = GPIO_PULLUP;
+        GPIO_InitStruct.Alternate =  GPIO_AF9_CAN1;
+        HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+    }
+    else
+    if((_rxPin == PB_8) && (_txPin == PB_9)) {
+        /* CAN1 Periph clock enable */
+        __CAN_CLK_ENABLE();
+
+        /* Enable GPIO clock */
+        __GPIOB_CLK_ENABLE();
+
+        /* CAN1 RX GPIO pin configuration */
+        GPIO_InitStruct.Pin = GPIO_PIN_8;
+        GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+        GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
+        GPIO_InitStruct.Pull = GPIO_PULLUP;
+        GPIO_InitStruct.Alternate =  GPIO_AF9_CAN1;
+        HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+        
+        /* CAN1 TX GPIO pin configuration */
+        GPIO_InitStruct.Pin = GPIO_PIN_9;
+        GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+        GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
+        GPIO_InitStruct.Pull = GPIO_PULLUP;
+        GPIO_InitStruct.Alternate =  GPIO_AF9_CAN1;
+        HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+    }
+    else
+        return;
+    /* NVIC configuration for CAN1 Reception complete interrupt */
+    HAL_NVIC_SetPriority(CAN_IRQ, 1, 0);
+    HAL_NVIC_EnableIRQ(CAN_IRQ);
+}
+
+/**
+  * @brief CAN MSP De-Initialization
+  *        This function frees the hardware resources used:
+  *          - Disable the Peripheral's clock
+  *          - Revert GPIO to their default state
+  * @param hcan: CAN handle pointer
+  * @retval None
+  */
+void HAL_CAN_MspDeInit(CAN_HandleTypeDef* hcan) {
+
+    /* Reset peripherals */
+
+    __CAN_FORCE_RESET();
+    __CAN_RELEASE_RESET();
+
+    /* Disable peripherals and GPIO Clocks */
+    if((_rxPin == PA_11) && (_txPin == PA_12)) {
+        /* De-initialize the CAN1 RX GPIO pin */
+        HAL_GPIO_DeInit(GPIOA, GPIO_PIN_11);
+
+        /* De-initialize the CAN1 TX GPIO pin */
+        HAL_GPIO_DeInit(GPIOA, GPIO_PIN_12);
+    }
+    else {
+
+        /* De-initialize the CAN1 RX GPIO pin */
+        HAL_GPIO_DeInit(GPIOB, GPIO_PIN_8);
+
+        /* De-initialize the CAN1 TX GPIO pin */
+        HAL_GPIO_DeInit(GPIOB, GPIO_PIN_9);
+    }
+
+
+    /* Disable the NVIC for CAN reception */
+    HAL_NVIC_DisableIRQ(CAN_IRQ);
+}
+
+/**
+* @brief  Handles CAN RX0 interrupt request.
+* @param  None
+* @retval None
+*/
+void USB_LP_CAN_RX0_IRQHandler(void) {
+    HAL_CAN_IRQHandler(&_canHandle);
+}
+
+/**
+  * @brief  Reception  complete callback in non blocking mode
+  * @param  _canHandle: pointer to a CAN_HandleTypeDef structure that contains
+  *         the configuration information for the specified CAN.
+  * @retval None
+  */
+void HAL_CAN_RxCpltCallback(CAN_HandleTypeDef* _canHandle) {
+    // if(HAL_CAN_Receive_IT(_canHandle, CAN_FIFO0) == HAL_OK) {
+    //     if(rxCompleteCallback != NULL)
+    //         rxCompleteCallback();
+    // }
+    // else {
+    //     error_handler(error);
+    // }
+
+    // BUG: CAN race condition if HAL_CAN_Receive_IT() is used.
+    // 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
+    //
+    // Fixed by Mark Burton:
+    // ideally, we should be able to call HAL_CAN_Receive_IT() here to set up for another
+    // receive but the API is flawed because that function will fail if HAL_CAN_Transmit()
+    // had already locked the handle when the receive interrupt occurred - so we do what
+    // HAL_CAN_Receive_IT() would do
+
+    if (rxCompleteCallback != 0)
+        rxCompleteCallback();
+
+    if (_canHandle->State == HAL_CAN_STATE_BUSY_TX)
+        _canHandle->State = HAL_CAN_STATE_BUSY_TX_RX;
+    else {
+        _canHandle->State = HAL_CAN_STATE_BUSY_RX;
+
+        /* Set CAN error code to none */
+        _canHandle->ErrorCode = HAL_CAN_ERROR_NONE;
+
+        /* Enable Error warning Interrupt */
+        __HAL_CAN_ENABLE_IT(_canHandle, CAN_IT_EWG);
+
+        /* Enable Error passive Interrupt */
+        __HAL_CAN_ENABLE_IT(_canHandle, CAN_IT_EPV);
+
+        /* Enable Bus-off Interrupt */
+        __HAL_CAN_ENABLE_IT(_canHandle, CAN_IT_BOF);
+
+        /* Enable Last error code Interrupt */
+        __HAL_CAN_ENABLE_IT(_canHandle, CAN_IT_LEC);
+
+        /* Enable Error Interrupt */
+        __HAL_CAN_ENABLE_IT(_canHandle, CAN_IT_ERR);
+    }
+
+    // Enable FIFO 0 message pending Interrupt
+    __HAL_CAN_ENABLE_IT(_canHandle, CAN_IT_FMP0);
+}
+#endif