SilentSensors / mbed-dev

Modified for BG96

Fork of mbed-dev by mbed official

targets/TARGET_STM/can_api.c@172:7d866c31b3c5, 2017-08-31 (annotated)

Committer:
AnnaBridge
Date:
Thu Aug 31 17:27:04 2017 +0100
Revision:
172:7d866c31b3c5
Parent:
170:19eb464bc2be
Child:
174:b96e65c34a4d
This updates the lib to the mbed lib v 150

Who changed what in which revision?

UserRevisionLine numberNew contents of line
<> 160:d5399cc887bb 1 /* mbed Microcontroller Library
<> 160:d5399cc887bb 2 * Copyright (c) 2006-2017 ARM Limited
<> 160:d5399cc887bb 3 *
<> 160:d5399cc887bb 4 * Licensed under the Apache License, Version 2.0 (the "License");
<> 160:d5399cc887bb 5 * you may not use this file except in compliance with the License.
<> 160:d5399cc887bb 6 * You may obtain a copy of the License at
<> 160:d5399cc887bb 7 *
<> 160:d5399cc887bb 8 * http://www.apache.org/licenses/LICENSE-2.0
<> 160:d5399cc887bb 9 *
<> 160:d5399cc887bb 10 * Unless required by applicable law or agreed to in writing, software
<> 160:d5399cc887bb 11 * distributed under the License is distributed on an "AS IS" BASIS,
<> 160:d5399cc887bb 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
<> 160:d5399cc887bb 13 * See the License for the specific language governing permissions and
<> 160:d5399cc887bb 14 * limitations under the License.
<> 160:d5399cc887bb 15 */
<> 160:d5399cc887bb 16 #include "can_api.h"
<> 160:d5399cc887bb 17
<> 160:d5399cc887bb 18 #if DEVICE_CAN
<> 160:d5399cc887bb 19
<> 160:d5399cc887bb 20 #include "cmsis.h"
<> 160:d5399cc887bb 21 #include "pinmap.h"
<> 160:d5399cc887bb 22 #include "PeripheralPins.h"
<> 160:d5399cc887bb 23 #include "mbed_error.h"
<> 160:d5399cc887bb 24 #include "can_device.h" // Specific to STM32 serie
<> 160:d5399cc887bb 25 #include <math.h>
<> 160:d5399cc887bb 26 #include <string.h>
<> 160:d5399cc887bb 27
<> 160:d5399cc887bb 28 static CAN_HandleTypeDef CanHandle;
<> 160:d5399cc887bb 29 static uint32_t can_irq_ids[CAN_NUM] = {0};
<> 160:d5399cc887bb 30 static can_irq_handler irq_handler;
<> 160:d5399cc887bb 31
<> 160:d5399cc887bb 32 void can_init(can_t *obj, PinName rd, PinName td)
<> 160:d5399cc887bb 33 {
AnnaBridge 167:e84263d55307 34 can_init_freq(obj, rd, td, 100000);
AnnaBridge 167:e84263d55307 35 }
AnnaBridge 167:e84263d55307 36
AnnaBridge 167:e84263d55307 37 void can_init_freq (can_t *obj, PinName rd, PinName td, int hz)
AnnaBridge 167:e84263d55307 38 {
<> 160:d5399cc887bb 39 CANName can_rd = (CANName)pinmap_peripheral(rd, PinMap_CAN_RD);
<> 160:d5399cc887bb 40 CANName can_td = (CANName)pinmap_peripheral(td, PinMap_CAN_TD);
<> 160:d5399cc887bb 41
<> 160:d5399cc887bb 42 obj->can = (CANName)pinmap_merge(can_rd, can_td);
<> 160:d5399cc887bb 43 MBED_ASSERT((int)obj->can != NC);
<> 160:d5399cc887bb 44
<> 160:d5399cc887bb 45 if (obj->can == CAN_1) {
<> 160:d5399cc887bb 46 __HAL_RCC_CAN1_CLK_ENABLE();
<> 160:d5399cc887bb 47 obj->index = 0;
<> 160:d5399cc887bb 48 }
<> 160:d5399cc887bb 49 #if defined(CAN2_BASE) && (CAN_NUM == 2)
<> 160:d5399cc887bb 50 else if (obj->can == CAN_2) {
<> 160:d5399cc887bb 51 __HAL_RCC_CAN1_CLK_ENABLE(); // needed to set filters
<> 160:d5399cc887bb 52 __HAL_RCC_CAN2_CLK_ENABLE();
<> 160:d5399cc887bb 53 obj->index = 1;
<> 160:d5399cc887bb 54 }
<> 160:d5399cc887bb 55 #endif
<> 160:d5399cc887bb 56 else {
<> 160:d5399cc887bb 57 return;
<> 160:d5399cc887bb 58 }
<> 160:d5399cc887bb 59
<> 160:d5399cc887bb 60 // Configure the CAN pins
<> 160:d5399cc887bb 61 pinmap_pinout(rd, PinMap_CAN_RD);
<> 160:d5399cc887bb 62 pinmap_pinout(td, PinMap_CAN_TD);
<> 160:d5399cc887bb 63 if (rd != NC) {
<> 160:d5399cc887bb 64 pin_mode(rd, PullUp);
<> 160:d5399cc887bb 65 }
<> 160:d5399cc887bb 66 if (td != NC) {
<> 160:d5399cc887bb 67 pin_mode(td, PullUp);
<> 160:d5399cc887bb 68 }
<> 160:d5399cc887bb 69
<> 160:d5399cc887bb 70 CanHandle.Instance = (CAN_TypeDef *)(obj->can);
<> 160:d5399cc887bb 71
<> 160:d5399cc887bb 72 CanHandle.Init.TTCM = DISABLE;
<> 160:d5399cc887bb 73 CanHandle.Init.ABOM = DISABLE;
<> 160:d5399cc887bb 74 CanHandle.Init.AWUM = DISABLE;
<> 160:d5399cc887bb 75 CanHandle.Init.NART = DISABLE;
<> 160:d5399cc887bb 76 CanHandle.Init.RFLM = DISABLE;
<> 160:d5399cc887bb 77 CanHandle.Init.TXFP = DISABLE;
<> 160:d5399cc887bb 78 CanHandle.Init.Mode = CAN_MODE_NORMAL;
<> 160:d5399cc887bb 79 CanHandle.Init.SJW = CAN_SJW_1TQ;
<> 160:d5399cc887bb 80 CanHandle.Init.BS1 = CAN_BS1_6TQ;
<> 160:d5399cc887bb 81 CanHandle.Init.BS2 = CAN_BS2_8TQ;
<> 160:d5399cc887bb 82 CanHandle.Init.Prescaler = 2;
<> 160:d5399cc887bb 83
<> 160:d5399cc887bb 84 if (HAL_CAN_Init(&CanHandle) != HAL_OK) {
<> 160:d5399cc887bb 85 error("Cannot initialize CAN");
<> 160:d5399cc887bb 86 }
<> 160:d5399cc887bb 87
Kojto 170:19eb464bc2be 88 // Set initial CAN frequency to specified frequency
Kojto 170:19eb464bc2be 89 if (can_frequency(obj, hz) != 1) {
AnnaBridge 167:e84263d55307 90 error("Can frequency could not be set\n");
AnnaBridge 167:e84263d55307 91 }
<> 160:d5399cc887bb 92
<> 160:d5399cc887bb 93 uint32_t filter_number = (obj->can == CAN_1) ? 0 : 14;
<> 160:d5399cc887bb 94 can_filter(obj, 0, 0, CANStandard, filter_number);
<> 160:d5399cc887bb 95 }
<> 160:d5399cc887bb 96
<> 160:d5399cc887bb 97 void can_irq_init(can_t *obj, can_irq_handler handler, uint32_t id)
<> 160:d5399cc887bb 98 {
<> 160:d5399cc887bb 99 irq_handler = handler;
<> 160:d5399cc887bb 100 can_irq_ids[obj->index] = id;
<> 160:d5399cc887bb 101 }
<> 160:d5399cc887bb 102
<> 160:d5399cc887bb 103 void can_irq_free(can_t *obj)
<> 160:d5399cc887bb 104 {
<> 160:d5399cc887bb 105 CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
<> 160:d5399cc887bb 106
<> 160:d5399cc887bb 107 can->IER &= ~(CAN_IT_FMP0 | CAN_IT_FMP1 | CAN_IT_TME | \
<> 160:d5399cc887bb 108 CAN_IT_ERR | CAN_IT_EPV | CAN_IT_BOF);
AnnaBridge 167:e84263d55307 109 can_irq_ids[obj->index] = 0;
<> 160:d5399cc887bb 110 }
<> 160:d5399cc887bb 111
<> 160:d5399cc887bb 112 void can_free(can_t *obj)
<> 160:d5399cc887bb 113 {
<> 160:d5399cc887bb 114 // Reset CAN and disable clock
<> 160:d5399cc887bb 115 if (obj->can == CAN_1) {
<> 160:d5399cc887bb 116 __HAL_RCC_CAN1_FORCE_RESET();
<> 160:d5399cc887bb 117 __HAL_RCC_CAN1_RELEASE_RESET();
<> 160:d5399cc887bb 118 __HAL_RCC_CAN1_CLK_DISABLE();
<> 160:d5399cc887bb 119 }
<> 160:d5399cc887bb 120 #if defined(CAN2_BASE) && (CAN_NUM == 2)
<> 160:d5399cc887bb 121 if (obj->can == CAN_2) {
<> 160:d5399cc887bb 122 __HAL_RCC_CAN2_FORCE_RESET();
<> 160:d5399cc887bb 123 __HAL_RCC_CAN2_RELEASE_RESET();
<> 160:d5399cc887bb 124 __HAL_RCC_CAN2_CLK_DISABLE();
<> 160:d5399cc887bb 125 }
<> 160:d5399cc887bb 126 #endif
<> 160:d5399cc887bb 127 }
<> 160:d5399cc887bb 128
<> 160:d5399cc887bb 129 // The following table is used to program bit_timing. It is an adjustment of the sample
<> 160:d5399cc887bb 130 // point by synchronizing on the start-bit edge and resynchronizing on the following edges.
<> 160:d5399cc887bb 131 // This table has the sampling points as close to 75% as possible (most commonly used).
<> 160:d5399cc887bb 132 // The first value is TSEG1, the second TSEG2.
<> 160:d5399cc887bb 133 static const int timing_pts[23][2] = {
<> 160:d5399cc887bb 134 {0x0, 0x0}, // 2, 50%
<> 160:d5399cc887bb 135 {0x1, 0x0}, // 3, 67%
<> 160:d5399cc887bb 136 {0x2, 0x0}, // 4, 75%
<> 160:d5399cc887bb 137 {0x3, 0x0}, // 5, 80%
<> 160:d5399cc887bb 138 {0x3, 0x1}, // 6, 67%
<> 160:d5399cc887bb 139 {0x4, 0x1}, // 7, 71%
<> 160:d5399cc887bb 140 {0x5, 0x1}, // 8, 75%
<> 160:d5399cc887bb 141 {0x6, 0x1}, // 9, 78%
<> 160:d5399cc887bb 142 {0x6, 0x2}, // 10, 70%
<> 160:d5399cc887bb 143 {0x7, 0x2}, // 11, 73%
<> 160:d5399cc887bb 144 {0x8, 0x2}, // 12, 75%
<> 160:d5399cc887bb 145 {0x9, 0x2}, // 13, 77%
<> 160:d5399cc887bb 146 {0x9, 0x3}, // 14, 71%
<> 160:d5399cc887bb 147 {0xA, 0x3}, // 15, 73%
<> 160:d5399cc887bb 148 {0xB, 0x3}, // 16, 75%
<> 160:d5399cc887bb 149 {0xC, 0x3}, // 17, 76%
<> 160:d5399cc887bb 150 {0xD, 0x3}, // 18, 78%
<> 160:d5399cc887bb 151 {0xD, 0x4}, // 19, 74%
<> 160:d5399cc887bb 152 {0xE, 0x4}, // 20, 75%
<> 160:d5399cc887bb 153 {0xF, 0x4}, // 21, 76%
<> 160:d5399cc887bb 154 {0xF, 0x5}, // 22, 73%
<> 160:d5399cc887bb 155 {0xF, 0x6}, // 23, 70%
<> 160:d5399cc887bb 156 {0xF, 0x7}, // 24, 67%
<> 160:d5399cc887bb 157 };
<> 160:d5399cc887bb 158
<> 160:d5399cc887bb 159 static unsigned int can_speed(unsigned int pclk, unsigned int cclk, unsigned char psjw)
<> 160:d5399cc887bb 160 {
<> 160:d5399cc887bb 161 uint32_t btr;
<> 160:d5399cc887bb 162 uint16_t brp = 0;
<> 160:d5399cc887bb 163 uint32_t calcbit;
<> 160:d5399cc887bb 164 uint32_t bitwidth;
<> 160:d5399cc887bb 165 int hit = 0;
<> 160:d5399cc887bb 166 int bits;
<> 160:d5399cc887bb 167
<> 160:d5399cc887bb 168 bitwidth = (pclk / cclk);
<> 160:d5399cc887bb 169
<> 160:d5399cc887bb 170 brp = bitwidth / 0x18;
<> 160:d5399cc887bb 171 while ((!hit) && (brp < bitwidth / 4)) {
<> 160:d5399cc887bb 172 brp++;
<> 160:d5399cc887bb 173 for (bits = 22; bits > 0; bits--) {
<> 160:d5399cc887bb 174 calcbit = (bits + 3) * (brp + 1);
<> 160:d5399cc887bb 175 if (calcbit == bitwidth) {
<> 160:d5399cc887bb 176 hit = 1;
<> 160:d5399cc887bb 177 break;
<> 160:d5399cc887bb 178 }
<> 160:d5399cc887bb 179 }
<> 160:d5399cc887bb 180 }
<> 160:d5399cc887bb 181
<> 160:d5399cc887bb 182 if (hit) {
AnnaBridge 172:7d866c31b3c5 183 btr = ((timing_pts[bits][1] << CAN_BTR_TS2_Pos) & CAN_BTR_TS2) |
AnnaBridge 172:7d866c31b3c5 184 ((timing_pts[bits][0] << CAN_BTR_TS1_Pos) & CAN_BTR_TS1) |
AnnaBridge 172:7d866c31b3c5 185 ((psjw << CAN_BTR_SJW_Pos) & CAN_BTR_SJW) |
AnnaBridge 172:7d866c31b3c5 186 ((brp << CAN_BTR_BRP_Pos) & CAN_BTR_BRP);
<> 160:d5399cc887bb 187 } else {
<> 160:d5399cc887bb 188 btr = 0xFFFFFFFF;
<> 160:d5399cc887bb 189 }
<> 160:d5399cc887bb 190
<> 160:d5399cc887bb 191 return btr;
<> 160:d5399cc887bb 192
<> 160:d5399cc887bb 193 }
<> 160:d5399cc887bb 194
<> 160:d5399cc887bb 195 int can_frequency(can_t *obj, int f)
<> 160:d5399cc887bb 196 {
<> 160:d5399cc887bb 197 int pclk = HAL_RCC_GetPCLK1Freq();
<> 160:d5399cc887bb 198 int btr = can_speed(pclk, (unsigned int)f, 1);
<> 160:d5399cc887bb 199 CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
AnnaBridge 167:e84263d55307 200 uint32_t tickstart = 0;
AnnaBridge 167:e84263d55307 201 int status = 1;
<> 160:d5399cc887bb 202
<> 160:d5399cc887bb 203 if (btr > 0) {
<> 160:d5399cc887bb 204 can->MCR |= CAN_MCR_INRQ ;
AnnaBridge 167:e84263d55307 205 /* Get tick */
AnnaBridge 167:e84263d55307 206 tickstart = HAL_GetTick();
<> 160:d5399cc887bb 207 while ((can->MSR & CAN_MSR_INAK) != CAN_MSR_INAK) {
AnnaBridge 167:e84263d55307 208 if ((HAL_GetTick() - tickstart) > 2) {
AnnaBridge 167:e84263d55307 209 status = 0;
AnnaBridge 167:e84263d55307 210 break;
AnnaBridge 167:e84263d55307 211 }
<> 160:d5399cc887bb 212 }
AnnaBridge 167:e84263d55307 213 if (status != 0) {
AnnaBridge 167:e84263d55307 214 can->BTR = btr;
AnnaBridge 167:e84263d55307 215 can->MCR &= ~(uint32_t)CAN_MCR_INRQ;
AnnaBridge 167:e84263d55307 216 /* Get tick */
AnnaBridge 167:e84263d55307 217 tickstart = HAL_GetTick();
AnnaBridge 167:e84263d55307 218 while ((can->MSR & CAN_MSR_INAK) == CAN_MSR_INAK) {
AnnaBridge 167:e84263d55307 219 if ((HAL_GetTick() - tickstart) > 2) {
AnnaBridge 167:e84263d55307 220 status = 0;
AnnaBridge 167:e84263d55307 221 break;
AnnaBridge 167:e84263d55307 222 }
AnnaBridge 167:e84263d55307 223 }
AnnaBridge 167:e84263d55307 224 if (status == 0) {
AnnaBridge 167:e84263d55307 225 error("can ESR 0x%04x.%04x + timeout status %d", (can->ESR & 0xFFFF0000) >> 16, (can->ESR & 0xFFFF), status);
AnnaBridge 167:e84263d55307 226 }
AnnaBridge 167:e84263d55307 227 } else {
AnnaBridge 167:e84263d55307 228 error("can init request timeout\n");
<> 160:d5399cc887bb 229 }
<> 160:d5399cc887bb 230 } else {
AnnaBridge 167:e84263d55307 231 status = 0;
<> 160:d5399cc887bb 232 }
AnnaBridge 167:e84263d55307 233 return status;
<> 160:d5399cc887bb 234 }
<> 160:d5399cc887bb 235
<> 160:d5399cc887bb 236 int can_write(can_t *obj, CAN_Message msg, int cc)
<> 160:d5399cc887bb 237 {
<> 160:d5399cc887bb 238 uint32_t transmitmailbox = CAN_TXSTATUS_NOMAILBOX;
<> 160:d5399cc887bb 239 CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
<> 160:d5399cc887bb 240
<> 160:d5399cc887bb 241 /* Select one empty transmit mailbox */
<> 160:d5399cc887bb 242 if ((can->TSR & CAN_TSR_TME0) == CAN_TSR_TME0) {
<> 160:d5399cc887bb 243 transmitmailbox = 0;
<> 160:d5399cc887bb 244 } else if ((can->TSR & CAN_TSR_TME1) == CAN_TSR_TME1) {
<> 160:d5399cc887bb 245 transmitmailbox = 1;
<> 160:d5399cc887bb 246 } else if ((can->TSR & CAN_TSR_TME2) == CAN_TSR_TME2) {
<> 160:d5399cc887bb 247 transmitmailbox = 2;
<> 160:d5399cc887bb 248 } else {
<> 160:d5399cc887bb 249 return 0;
<> 160:d5399cc887bb 250 }
<> 160:d5399cc887bb 251
<> 160:d5399cc887bb 252 can->sTxMailBox[transmitmailbox].TIR &= CAN_TI0R_TXRQ;
<> 160:d5399cc887bb 253 if (!(msg.format)) {
<> 160:d5399cc887bb 254 can->sTxMailBox[transmitmailbox].TIR |= ((msg.id << 21) | msg.type);
<> 160:d5399cc887bb 255 } else {
<> 160:d5399cc887bb 256 can->sTxMailBox[transmitmailbox].TIR |= ((msg.id << 3) | CAN_ID_EXT | msg.type);
<> 160:d5399cc887bb 257 }
AnnaBridge 167:e84263d55307 258
<> 160:d5399cc887bb 259 /* Set up the DLC */
<> 160:d5399cc887bb 260 can->sTxMailBox[transmitmailbox].TDTR &= (uint32_t)0xFFFFFFF0;
<> 160:d5399cc887bb 261 can->sTxMailBox[transmitmailbox].TDTR |= (msg.len & (uint8_t)0x0000000F);
AnnaBridge 167:e84263d55307 262
<> 160:d5399cc887bb 263 /* Set up the data field */
<> 160:d5399cc887bb 264 can->sTxMailBox[transmitmailbox].TDLR = (((uint32_t)msg.data[3] << 24) |
AnnaBridge 167:e84263d55307 265 ((uint32_t)msg.data[2] << 16) |
AnnaBridge 167:e84263d55307 266 ((uint32_t)msg.data[1] << 8) |
AnnaBridge 167:e84263d55307 267 ((uint32_t)msg.data[0]));
<> 160:d5399cc887bb 268 can->sTxMailBox[transmitmailbox].TDHR = (((uint32_t)msg.data[7] << 24) |
AnnaBridge 167:e84263d55307 269 ((uint32_t)msg.data[6] << 16) |
AnnaBridge 167:e84263d55307 270 ((uint32_t)msg.data[5] << 8) |
<> 160:d5399cc887bb 271 ((uint32_t)msg.data[4]));
<> 160:d5399cc887bb 272 /* Request transmission */
<> 160:d5399cc887bb 273 can->sTxMailBox[transmitmailbox].TIR |= CAN_TI0R_TXRQ;
<> 160:d5399cc887bb 274
<> 160:d5399cc887bb 275 return 1;
<> 160:d5399cc887bb 276 }
<> 160:d5399cc887bb 277
<> 160:d5399cc887bb 278 int can_read(can_t *obj, CAN_Message *msg, int handle)
<> 160:d5399cc887bb 279 {
<> 160:d5399cc887bb 280 //handle is the FIFO number
<> 160:d5399cc887bb 281
<> 160:d5399cc887bb 282 CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
<> 160:d5399cc887bb 283
<> 160:d5399cc887bb 284 // check FPM0 which holds the pending message count in FIFO 0
<> 160:d5399cc887bb 285 // if no message is pending, return 0
<> 160:d5399cc887bb 286 if ((can->RF0R & CAN_RF0R_FMP0) == 0) {
<> 160:d5399cc887bb 287 return 0;
<> 160:d5399cc887bb 288 }
<> 160:d5399cc887bb 289
<> 160:d5399cc887bb 290 /* Get the Id */
<> 160:d5399cc887bb 291 msg->format = (CANFormat)(((uint8_t)0x04 & can->sFIFOMailBox[handle].RIR) >> 2);
<> 160:d5399cc887bb 292 if (!msg->format) {
<> 160:d5399cc887bb 293 msg->id = (uint32_t)0x000007FF & (can->sFIFOMailBox[handle].RIR >> 21);
<> 160:d5399cc887bb 294 } else {
<> 160:d5399cc887bb 295 msg->id = (uint32_t)0x1FFFFFFF & (can->sFIFOMailBox[handle].RIR >> 3);
<> 160:d5399cc887bb 296 }
<> 160:d5399cc887bb 297
<> 160:d5399cc887bb 298 msg->type = (CANType)(((uint8_t)0x02 & can->sFIFOMailBox[handle].RIR) >> 1);
<> 160:d5399cc887bb 299 /* Get the DLC */
<> 160:d5399cc887bb 300 msg->len = (uint8_t)0x0F & can->sFIFOMailBox[handle].RDTR;
<> 160:d5399cc887bb 301 /* Get the FMI */
<> 160:d5399cc887bb 302 // msg->FMI = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDTR >> 8);
<> 160:d5399cc887bb 303 /* Get the data field */
<> 160:d5399cc887bb 304 msg->data[0] = (uint8_t)0xFF & can->sFIFOMailBox[handle].RDLR;
<> 160:d5399cc887bb 305 msg->data[1] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDLR >> 8);
<> 160:d5399cc887bb 306 msg->data[2] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDLR >> 16);
<> 160:d5399cc887bb 307 msg->data[3] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDLR >> 24);
<> 160:d5399cc887bb 308 msg->data[4] = (uint8_t)0xFF & can->sFIFOMailBox[handle].RDHR;
<> 160:d5399cc887bb 309 msg->data[5] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDHR >> 8);
<> 160:d5399cc887bb 310 msg->data[6] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDHR >> 16);
<> 160:d5399cc887bb 311 msg->data[7] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDHR >> 24);
<> 160:d5399cc887bb 312
<> 160:d5399cc887bb 313 /* Release the FIFO */
<> 160:d5399cc887bb 314 if (handle == CAN_FIFO0) {
<> 160:d5399cc887bb 315 /* Release FIFO0 */
<> 160:d5399cc887bb 316 can->RF0R |= CAN_RF0R_RFOM0;
<> 160:d5399cc887bb 317 } else { /* FIFONumber == CAN_FIFO1 */
<> 160:d5399cc887bb 318 /* Release FIFO1 */
<> 160:d5399cc887bb 319 can->RF1R |= CAN_RF1R_RFOM1;
<> 160:d5399cc887bb 320 }
<> 160:d5399cc887bb 321
<> 160:d5399cc887bb 322 return 1;
<> 160:d5399cc887bb 323 }
<> 160:d5399cc887bb 324
<> 160:d5399cc887bb 325 void can_reset(can_t *obj)
<> 160:d5399cc887bb 326 {
<> 160:d5399cc887bb 327 CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
<> 160:d5399cc887bb 328 can->MCR |= CAN_MCR_RESET;
<> 160:d5399cc887bb 329 can->ESR = 0x0;
<> 160:d5399cc887bb 330 }
<> 160:d5399cc887bb 331
<> 160:d5399cc887bb 332 unsigned char can_rderror(can_t *obj)
<> 160:d5399cc887bb 333 {
<> 160:d5399cc887bb 334 CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
<> 160:d5399cc887bb 335 return (can->ESR >> 24) & 0xFF;
<> 160:d5399cc887bb 336 }
<> 160:d5399cc887bb 337
<> 160:d5399cc887bb 338 unsigned char can_tderror(can_t *obj)
<> 160:d5399cc887bb 339 {
<> 160:d5399cc887bb 340 CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
<> 160:d5399cc887bb 341 return (can->ESR >> 16) & 0xFF;
<> 160:d5399cc887bb 342 }
<> 160:d5399cc887bb 343
<> 160:d5399cc887bb 344 void can_monitor(can_t *obj, int silent)
<> 160:d5399cc887bb 345 {
<> 160:d5399cc887bb 346 CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
<> 160:d5399cc887bb 347
<> 160:d5399cc887bb 348 can->MCR |= CAN_MCR_INRQ ;
<> 160:d5399cc887bb 349 while ((can->MSR & CAN_MSR_INAK) != CAN_MSR_INAK) {
<> 160:d5399cc887bb 350 }
<> 160:d5399cc887bb 351
<> 160:d5399cc887bb 352 if (silent) {
<> 160:d5399cc887bb 353 can->BTR |= ((uint32_t)1 << 31);
<> 160:d5399cc887bb 354 } else {
<> 160:d5399cc887bb 355 can->BTR &= ~((uint32_t)1 << 31);
<> 160:d5399cc887bb 356 }
<> 160:d5399cc887bb 357
<> 160:d5399cc887bb 358 can->MCR &= ~(uint32_t)CAN_MCR_INRQ;
<> 160:d5399cc887bb 359 while ((can->MSR & CAN_MSR_INAK) == CAN_MSR_INAK) {
<> 160:d5399cc887bb 360 }
<> 160:d5399cc887bb 361 }
<> 160:d5399cc887bb 362
<> 160:d5399cc887bb 363 int can_mode(can_t *obj, CanMode mode)
<> 160:d5399cc887bb 364 {
<> 160:d5399cc887bb 365 int success = 0;
<> 160:d5399cc887bb 366 CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
<> 160:d5399cc887bb 367
<> 160:d5399cc887bb 368 can->MCR |= CAN_MCR_INRQ ;
<> 160:d5399cc887bb 369 while ((can->MSR & CAN_MSR_INAK) != CAN_MSR_INAK) {
<> 160:d5399cc887bb 370 }
<> 160:d5399cc887bb 371
<> 160:d5399cc887bb 372 switch (mode) {
<> 160:d5399cc887bb 373 case MODE_NORMAL:
<> 160:d5399cc887bb 374 can->BTR &= ~(CAN_BTR_SILM | CAN_BTR_LBKM);
<> 160:d5399cc887bb 375 success = 1;
<> 160:d5399cc887bb 376 break;
<> 160:d5399cc887bb 377 case MODE_SILENT:
<> 160:d5399cc887bb 378 can->BTR |= CAN_BTR_SILM;
<> 160:d5399cc887bb 379 can->BTR &= ~CAN_BTR_LBKM;
<> 160:d5399cc887bb 380 success = 1;
<> 160:d5399cc887bb 381 break;
<> 160:d5399cc887bb 382 case MODE_TEST_GLOBAL:
<> 160:d5399cc887bb 383 case MODE_TEST_LOCAL:
<> 160:d5399cc887bb 384 can->BTR |= CAN_BTR_LBKM;
<> 160:d5399cc887bb 385 can->BTR &= ~CAN_BTR_SILM;
<> 160:d5399cc887bb 386 success = 1;
<> 160:d5399cc887bb 387 break;
<> 160:d5399cc887bb 388 case MODE_TEST_SILENT:
<> 160:d5399cc887bb 389 can->BTR |= (CAN_BTR_SILM | CAN_BTR_LBKM);
<> 160:d5399cc887bb 390 success = 1;
<> 160:d5399cc887bb 391 break;
<> 160:d5399cc887bb 392 default:
<> 160:d5399cc887bb 393 success = 0;
<> 160:d5399cc887bb 394 break;
<> 160:d5399cc887bb 395 }
<> 160:d5399cc887bb 396
<> 160:d5399cc887bb 397 can->MCR &= ~(uint32_t)CAN_MCR_INRQ;
<> 160:d5399cc887bb 398 while ((can->MSR & CAN_MSR_INAK) == CAN_MSR_INAK) {
<> 160:d5399cc887bb 399 }
<> 160:d5399cc887bb 400
<> 160:d5399cc887bb 401 return success;
<> 160:d5399cc887bb 402 }
<> 160:d5399cc887bb 403
<> 160:d5399cc887bb 404 int can_filter(can_t *obj, uint32_t id, uint32_t mask, CANFormat format, int32_t handle)
<> 160:d5399cc887bb 405 {
<> 160:d5399cc887bb 406 int retval = 0;
<> 160:d5399cc887bb 407
<> 160:d5399cc887bb 408 // filter for CANAny format cannot be configured for STM32
<> 160:d5399cc887bb 409 if ((format == CANStandard) || (format == CANExtended)) {
<> 160:d5399cc887bb 410 CanHandle.Instance = (CAN_TypeDef *)(obj->can);
<> 160:d5399cc887bb 411 CAN_FilterConfTypeDef sFilterConfig;
<> 160:d5399cc887bb 412 sFilterConfig.FilterNumber = handle;
<> 160:d5399cc887bb 413 sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
<> 160:d5399cc887bb 414 sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
<> 160:d5399cc887bb 415
<> 160:d5399cc887bb 416 if (format == CANStandard) {
<> 160:d5399cc887bb 417 sFilterConfig.FilterIdHigh = id << 5;
<> 160:d5399cc887bb 418 sFilterConfig.FilterIdLow = 0x0;
<> 160:d5399cc887bb 419 sFilterConfig.FilterMaskIdHigh = mask << 5;
<> 160:d5399cc887bb 420 sFilterConfig.FilterMaskIdLow = 0x0; // allows both remote and data frames
<> 160:d5399cc887bb 421 } else if (format == CANExtended) {
<> 160:d5399cc887bb 422 sFilterConfig.FilterIdHigh = id >> 13; // EXTID[28:13]
<> 160:d5399cc887bb 423 sFilterConfig.FilterIdLow = (0x00FF & (id << 3)) | (1 << 2); // EXTID[12:0]
<> 160:d5399cc887bb 424 sFilterConfig.FilterMaskIdHigh = mask >> 13;
<> 160:d5399cc887bb 425 sFilterConfig.FilterMaskIdLow = (0x00FF & (mask << 3)) | (1 << 2);
<> 160:d5399cc887bb 426 }
<> 160:d5399cc887bb 427
<> 160:d5399cc887bb 428 sFilterConfig.FilterFIFOAssignment = 0;
<> 160:d5399cc887bb 429 sFilterConfig.FilterActivation = ENABLE;
<> 160:d5399cc887bb 430 sFilterConfig.BankNumber = 14 + handle;
<> 160:d5399cc887bb 431
<> 160:d5399cc887bb 432 HAL_CAN_ConfigFilter(&CanHandle, &sFilterConfig);
<> 160:d5399cc887bb 433 retval = handle;
<> 160:d5399cc887bb 434 }
<> 160:d5399cc887bb 435 return retval;
<> 160:d5399cc887bb 436 }
<> 160:d5399cc887bb 437
<> 160:d5399cc887bb 438 static void can_irq(CANName name, int id)
<> 160:d5399cc887bb 439 {
<> 160:d5399cc887bb 440 uint32_t tmp1 = 0, tmp2 = 0, tmp3 = 0;
<> 160:d5399cc887bb 441 CanHandle.Instance = (CAN_TypeDef *)name;
<> 160:d5399cc887bb 442
<> 160:d5399cc887bb 443 if (__HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_TME)) {
<> 160:d5399cc887bb 444 tmp1 = __HAL_CAN_TRANSMIT_STATUS(&CanHandle, CAN_TXMAILBOX_0);
<> 160:d5399cc887bb 445 tmp2 = __HAL_CAN_TRANSMIT_STATUS(&CanHandle, CAN_TXMAILBOX_1);
<> 160:d5399cc887bb 446 tmp3 = __HAL_CAN_TRANSMIT_STATUS(&CanHandle, CAN_TXMAILBOX_2);
<> 160:d5399cc887bb 447 if (tmp1) {
<> 160:d5399cc887bb 448 __HAL_CAN_CLEAR_FLAG(&CanHandle, CAN_FLAG_RQCP0);
<> 160:d5399cc887bb 449 }
<> 160:d5399cc887bb 450 if (tmp2) {
<> 160:d5399cc887bb 451 __HAL_CAN_CLEAR_FLAG(&CanHandle, CAN_FLAG_RQCP1);
<> 160:d5399cc887bb 452 }
<> 160:d5399cc887bb 453 if (tmp3) {
<> 160:d5399cc887bb 454 __HAL_CAN_CLEAR_FLAG(&CanHandle, CAN_FLAG_RQCP2);
<> 160:d5399cc887bb 455 }
<> 160:d5399cc887bb 456 if (tmp1 || tmp2 || tmp3) {
<> 160:d5399cc887bb 457 irq_handler(can_irq_ids[id], IRQ_TX);
<> 160:d5399cc887bb 458 }
<> 160:d5399cc887bb 459 }
<> 160:d5399cc887bb 460
<> 160:d5399cc887bb 461 tmp1 = __HAL_CAN_MSG_PENDING(&CanHandle, CAN_FIFO0);
<> 160:d5399cc887bb 462 tmp2 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_FMP0);
<> 160:d5399cc887bb 463
<> 160:d5399cc887bb 464 if ((tmp1 != 0) && tmp2) {
<> 160:d5399cc887bb 465 irq_handler(can_irq_ids[id], IRQ_RX);
<> 160:d5399cc887bb 466 }
<> 160:d5399cc887bb 467
<> 160:d5399cc887bb 468 tmp1 = __HAL_CAN_GET_FLAG(&CanHandle, CAN_FLAG_EPV);
<> 160:d5399cc887bb 469 tmp2 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_EPV);
<> 160:d5399cc887bb 470 tmp3 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_ERR);
<> 160:d5399cc887bb 471
<> 160:d5399cc887bb 472 if (tmp1 && tmp2 && tmp3) {
<> 160:d5399cc887bb 473 irq_handler(can_irq_ids[id], IRQ_PASSIVE);
<> 160:d5399cc887bb 474 }
<> 160:d5399cc887bb 475
<> 160:d5399cc887bb 476 tmp1 = __HAL_CAN_GET_FLAG(&CanHandle, CAN_FLAG_BOF);
<> 160:d5399cc887bb 477 tmp2 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_BOF);
<> 160:d5399cc887bb 478 tmp3 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_ERR);
<> 160:d5399cc887bb 479 if (tmp1 && tmp2 && tmp3) {
<> 160:d5399cc887bb 480 irq_handler(can_irq_ids[id], IRQ_BUS);
<> 160:d5399cc887bb 481 }
<> 160:d5399cc887bb 482
<> 160:d5399cc887bb 483 tmp3 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_ERR);
<> 160:d5399cc887bb 484 if (tmp1 && tmp2 && tmp3) {
<> 160:d5399cc887bb 485 irq_handler(can_irq_ids[id], IRQ_ERROR);
<> 160:d5399cc887bb 486 }
<> 160:d5399cc887bb 487 }
<> 160:d5399cc887bb 488
<> 160:d5399cc887bb 489 #if defined(TARGET_STM32F0)
<> 160:d5399cc887bb 490 void CAN_IRQHandler(void)
<> 160:d5399cc887bb 491 {
<> 160:d5399cc887bb 492 can_irq(CAN_1, 0);
<> 160:d5399cc887bb 493 }
<> 160:d5399cc887bb 494 #elif defined(TARGET_STM32F3)
<> 160:d5399cc887bb 495 void CAN_RX0_IRQHandler(void)
<> 160:d5399cc887bb 496 {
<> 160:d5399cc887bb 497 can_irq(CAN_1, 0);
<> 160:d5399cc887bb 498 }
<> 160:d5399cc887bb 499 void CAN_TX_IRQHandler(void)
<> 160:d5399cc887bb 500 {
<> 160:d5399cc887bb 501 can_irq(CAN_1, 0);
<> 160:d5399cc887bb 502 }
<> 160:d5399cc887bb 503 void CAN_SCE_IRQHandler(void)
<> 160:d5399cc887bb 504 {
<> 160:d5399cc887bb 505 can_irq(CAN_1, 0);
<> 160:d5399cc887bb 506 }
<> 160:d5399cc887bb 507 #else
<> 160:d5399cc887bb 508 void CAN1_RX0_IRQHandler(void)
<> 160:d5399cc887bb 509 {
<> 160:d5399cc887bb 510 can_irq(CAN_1, 0);
<> 160:d5399cc887bb 511 }
<> 160:d5399cc887bb 512 void CAN1_TX_IRQHandler(void)
<> 160:d5399cc887bb 513 {
<> 160:d5399cc887bb 514 can_irq(CAN_1, 0);
<> 160:d5399cc887bb 515 }
<> 160:d5399cc887bb 516 void CAN1_SCE_IRQHandler(void)
<> 160:d5399cc887bb 517 {
<> 160:d5399cc887bb 518 can_irq(CAN_1, 0);
<> 160:d5399cc887bb 519 }
<> 160:d5399cc887bb 520 #if defined(CAN2_BASE) && (CAN_NUM == 2)
<> 160:d5399cc887bb 521 void CAN2_RX0_IRQHandler(void)
<> 160:d5399cc887bb 522 {
<> 160:d5399cc887bb 523 can_irq(CAN_2, 1);
<> 160:d5399cc887bb 524 }
<> 160:d5399cc887bb 525 void CAN2_TX_IRQHandler(void)
<> 160:d5399cc887bb 526 {
<> 160:d5399cc887bb 527 can_irq(CAN_2, 1);
<> 160:d5399cc887bb 528 }
<> 160:d5399cc887bb 529 void CAN2_SCE_IRQHandler(void)
<> 160:d5399cc887bb 530 {
<> 160:d5399cc887bb 531 can_irq(CAN_2, 1);
<> 160:d5399cc887bb 532 }
<> 160:d5399cc887bb 533 #endif // defined(CAN2_BASE) && (CAN_NUM == 2)
<> 160:d5399cc887bb 534 #endif // else
<> 160:d5399cc887bb 535
<> 160:d5399cc887bb 536 void can_irq_set(can_t *obj, CanIrqType type, uint32_t enable)
<> 160:d5399cc887bb 537 {
<> 160:d5399cc887bb 538
<> 160:d5399cc887bb 539 CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
<> 160:d5399cc887bb 540 IRQn_Type irq_n = (IRQn_Type)0;
<> 160:d5399cc887bb 541 uint32_t vector = 0;
<> 160:d5399cc887bb 542 uint32_t ier;
<> 160:d5399cc887bb 543
<> 160:d5399cc887bb 544 if (obj->can == CAN_1) {
<> 160:d5399cc887bb 545 switch (type) {
<> 160:d5399cc887bb 546 case IRQ_RX:
<> 160:d5399cc887bb 547 ier = CAN_IT_FMP0;
<> 160:d5399cc887bb 548 irq_n = CAN1_IRQ_RX_IRQN;
<> 160:d5399cc887bb 549 vector = (uint32_t)&CAN1_IRQ_RX_VECT;
<> 160:d5399cc887bb 550 break;
<> 160:d5399cc887bb 551 case IRQ_TX:
<> 160:d5399cc887bb 552 ier = CAN_IT_TME;
<> 160:d5399cc887bb 553 irq_n = CAN1_IRQ_TX_IRQN;
<> 160:d5399cc887bb 554 vector = (uint32_t)&CAN1_IRQ_TX_VECT;
<> 160:d5399cc887bb 555 break;
<> 160:d5399cc887bb 556 case IRQ_ERROR:
<> 160:d5399cc887bb 557 ier = CAN_IT_ERR;
<> 160:d5399cc887bb 558 irq_n = CAN1_IRQ_ERROR_IRQN;
<> 160:d5399cc887bb 559 vector = (uint32_t)&CAN1_IRQ_ERROR_VECT;
<> 160:d5399cc887bb 560 break;
<> 160:d5399cc887bb 561 case IRQ_PASSIVE:
<> 160:d5399cc887bb 562 ier = CAN_IT_EPV;
<> 160:d5399cc887bb 563 irq_n = CAN1_IRQ_PASSIVE_IRQN;
<> 160:d5399cc887bb 564 vector = (uint32_t)&CAN1_IRQ_PASSIVE_VECT;
<> 160:d5399cc887bb 565 break;
<> 160:d5399cc887bb 566 case IRQ_BUS:
<> 160:d5399cc887bb 567 ier = CAN_IT_BOF;
<> 160:d5399cc887bb 568 irq_n = CAN1_IRQ_BUS_IRQN;
<> 160:d5399cc887bb 569 vector = (uint32_t)&CAN1_IRQ_BUS_VECT;
<> 160:d5399cc887bb 570 break;
<> 160:d5399cc887bb 571 default:
<> 160:d5399cc887bb 572 return;
<> 160:d5399cc887bb 573 }
<> 160:d5399cc887bb 574 }
<> 160:d5399cc887bb 575 #if defined(CAN2_BASE) && (CAN_NUM == 2)
<> 160:d5399cc887bb 576 else if (obj->can == CAN_2) {
<> 160:d5399cc887bb 577 switch (type) {
<> 160:d5399cc887bb 578 case IRQ_RX:
<> 160:d5399cc887bb 579 ier = CAN_IT_FMP0;
<> 160:d5399cc887bb 580 irq_n = CAN2_IRQ_RX_IRQN;
<> 160:d5399cc887bb 581 vector = (uint32_t)&CAN2_IRQ_RX_VECT;
<> 160:d5399cc887bb 582 break;
<> 160:d5399cc887bb 583 case IRQ_TX:
<> 160:d5399cc887bb 584 ier = CAN_IT_TME;
<> 160:d5399cc887bb 585 irq_n = CAN2_IRQ_TX_IRQN;
<> 160:d5399cc887bb 586 vector = (uint32_t)&CAN2_IRQ_TX_VECT;
<> 160:d5399cc887bb 587 break;
<> 160:d5399cc887bb 588 case IRQ_ERROR:
<> 160:d5399cc887bb 589 ier = CAN_IT_ERR;
<> 160:d5399cc887bb 590 irq_n = CAN2_IRQ_ERROR_IRQN;
<> 160:d5399cc887bb 591 vector = (uint32_t)&CAN2_IRQ_ERROR_VECT;
<> 160:d5399cc887bb 592 break;
<> 160:d5399cc887bb 593 case IRQ_PASSIVE:
<> 160:d5399cc887bb 594 ier = CAN_IT_EPV;
<> 160:d5399cc887bb 595 irq_n = CAN2_IRQ_PASSIVE_IRQN;
<> 160:d5399cc887bb 596 vector = (uint32_t)&CAN2_IRQ_PASSIVE_VECT;
<> 160:d5399cc887bb 597 break;
<> 160:d5399cc887bb 598 case IRQ_BUS:
<> 160:d5399cc887bb 599 ier = CAN_IT_BOF;
<> 160:d5399cc887bb 600 irq_n = CAN2_IRQ_BUS_IRQN;
<> 160:d5399cc887bb 601 vector = (uint32_t)&CAN2_IRQ_BUS_VECT;
<> 160:d5399cc887bb 602 break;
<> 160:d5399cc887bb 603 default:
<> 160:d5399cc887bb 604 return;
<> 160:d5399cc887bb 605 }
<> 160:d5399cc887bb 606 }
<> 160:d5399cc887bb 607 #endif
<> 160:d5399cc887bb 608 else {
<> 160:d5399cc887bb 609 return;
<> 160:d5399cc887bb 610 }
<> 160:d5399cc887bb 611
<> 160:d5399cc887bb 612 if (enable) {
<> 160:d5399cc887bb 613 can->IER |= ier;
<> 160:d5399cc887bb 614 } else {
<> 160:d5399cc887bb 615 can->IER &= ~ier;
<> 160:d5399cc887bb 616 }
<> 160:d5399cc887bb 617
<> 160:d5399cc887bb 618 NVIC_SetVector(irq_n, vector);
<> 160:d5399cc887bb 619 NVIC_EnableIRQ(irq_n);
<> 160:d5399cc887bb 620 }
<> 160:d5399cc887bb 621
<> 160:d5399cc887bb 622 #endif // DEVICE_CAN
<> 160:d5399cc887bb 623