raspiezo / mbed-dev

hal_tick.h changed for the L432KC target in TARGET/../device/ in order to reassign the system ticker from TIM2 to TIM7, since TIM2 was needed as a 32bit encoder counter.

Dependents:   Nucleo_L432KC_Quadrature_Decoder_with_ADC_and_DAC

Fork of mbed-dev by mbed official

targets/TARGET_NUVOTON/TARGET_M451/can_api.c@161:bd0311f1ad86, 2017-05-27 (annotated)

Committer:
tonnyleonard
Date:
Sat May 27 01:26:18 2017 +0000
Revision:
161:bd0311f1ad86
Parent:
150:02e0a0aed4ec 
Testing ADC with shunt

Who changed what in which revision?

UserRevisionLine numberNew contents of line
<> 150:02e0a0aed4ec 1 /* mbed Microcontroller Library
<> 150:02e0a0aed4ec 2 * Copyright (c) 2015-2016 Nuvoton
<> 150:02e0a0aed4ec 3 *
<> 150:02e0a0aed4ec 4 * Licensed under the Apache License, Version 2.0 (the "License");
<> 150:02e0a0aed4ec 5 * you may not use this file except in compliance with the License.
<> 150:02e0a0aed4ec 6 * You may obtain a copy of the License at
<> 150:02e0a0aed4ec 7 *
<> 150:02e0a0aed4ec 8 * http://www.apache.org/licenses/LICENSE-2.0
<> 150:02e0a0aed4ec 9 *
<> 150:02e0a0aed4ec 10 * Unless required by applicable law or agreed to in writing, software
<> 150:02e0a0aed4ec 11 * distributed under the License is distributed on an "AS IS" BASIS,
<> 150:02e0a0aed4ec 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
<> 150:02e0a0aed4ec 13 * See the License for the specific language governing permissions and
<> 150:02e0a0aed4ec 14 * limitations under the License.
<> 150:02e0a0aed4ec 15 */
<> 150:02e0a0aed4ec 16
<> 150:02e0a0aed4ec 17 #include "can_api.h"
<> 150:02e0a0aed4ec 18 #include "m451_gpio.h"
<> 150:02e0a0aed4ec 19 #include "m451_can.h"
<> 150:02e0a0aed4ec 20
<> 150:02e0a0aed4ec 21 #if DEVICE_CAN
<> 150:02e0a0aed4ec 22 #include <string.h>
<> 150:02e0a0aed4ec 23 #include "cmsis.h"
<> 150:02e0a0aed4ec 24 #include "pinmap.h"
<> 150:02e0a0aed4ec 25 #include "PeripheralPins.h"
<> 150:02e0a0aed4ec 26 #include "nu_modutil.h"
<> 150:02e0a0aed4ec 27 #include "nu_miscutil.h"
<> 150:02e0a0aed4ec 28 #include "nu_bitutil.h"
<> 150:02e0a0aed4ec 29 #include "critical.h"
<> 150:02e0a0aed4ec 30
<> 150:02e0a0aed4ec 31 #define NU_CAN_DEBUG 0
<> 150:02e0a0aed4ec 32 #define CAN_NUM 1
<> 150:02e0a0aed4ec 33
<> 150:02e0a0aed4ec 34 static uint32_t can_irq_ids[CAN_NUM] = {0};
<> 150:02e0a0aed4ec 35 static can_irq_handler can0_irq_handler;
<> 150:02e0a0aed4ec 36
<> 150:02e0a0aed4ec 37
<> 150:02e0a0aed4ec 38 static const struct nu_modinit_s can_modinit_tab[] = {
<> 150:02e0a0aed4ec 39 {CAN_0, CAN0_MODULE, 0, 0, CAN0_RST, CAN0_IRQn, NULL},
<> 150:02e0a0aed4ec 40
<> 150:02e0a0aed4ec 41 {NC, 0, 0, 0, 0, (IRQn_Type) 0, NULL}
<> 150:02e0a0aed4ec 42 };
<> 150:02e0a0aed4ec 43
<> 150:02e0a0aed4ec 44
<> 150:02e0a0aed4ec 45 void can_init(can_t *obj, PinName rd, PinName td)
<> 150:02e0a0aed4ec 46 {
<> 150:02e0a0aed4ec 47 uint32_t can_td = (CANName)pinmap_peripheral(td, PinMap_CAN_TD);
<> 150:02e0a0aed4ec 48 uint32_t can_rd = (CANName)pinmap_peripheral(rd, PinMap_CAN_RD);
<> 150:02e0a0aed4ec 49 obj->can = (CANName)pinmap_merge(can_td, can_rd);
<> 150:02e0a0aed4ec 50 MBED_ASSERT((int)obj->can != NC);
<> 150:02e0a0aed4ec 51
<> 150:02e0a0aed4ec 52 const struct nu_modinit_s *modinit = get_modinit(obj->can, can_modinit_tab);
<> 150:02e0a0aed4ec 53 MBED_ASSERT(modinit != NULL);
<> 150:02e0a0aed4ec 54 MBED_ASSERT(modinit->modname == obj->can);
<> 150:02e0a0aed4ec 55
<> 150:02e0a0aed4ec 56 // Reset this module
<> 150:02e0a0aed4ec 57 SYS_ResetModule(modinit->rsetidx);
<> 150:02e0a0aed4ec 58
<> 150:02e0a0aed4ec 59 // Enable IP clock
<> 150:02e0a0aed4ec 60 CLK_EnableModuleClock(modinit->clkidx);
<> 150:02e0a0aed4ec 61
<> 150:02e0a0aed4ec 62 obj->index = 0;
<> 150:02e0a0aed4ec 63
<> 150:02e0a0aed4ec 64 pinmap_pinout(td, PinMap_CAN_TD);
<> 150:02e0a0aed4ec 65 pinmap_pinout(rd, PinMap_CAN_RD);
<> 150:02e0a0aed4ec 66
<> 150:02e0a0aed4ec 67 /* For M453 mbed Board Transmitter Setting (RS Pin) */
<> 150:02e0a0aed4ec 68 GPIO_SetMode(PA, BIT0| BIT1, GPIO_MODE_OUTPUT);
<> 150:02e0a0aed4ec 69 PA0 = 0x00;
<> 150:02e0a0aed4ec 70 PA1 = 0x00;
<> 150:02e0a0aed4ec 71
<> 150:02e0a0aed4ec 72 CAN_Open((CAN_T *)obj->can, 500000, CAN_NORMAL_MODE);
<> 150:02e0a0aed4ec 73
<> 150:02e0a0aed4ec 74 can_filter(obj, 0, 0, CANStandard, 0);
<> 150:02e0a0aed4ec 75 }
<> 150:02e0a0aed4ec 76
<> 150:02e0a0aed4ec 77
<> 150:02e0a0aed4ec 78 void can_free(can_t *obj)
<> 150:02e0a0aed4ec 79 {
<> 150:02e0a0aed4ec 80
<> 150:02e0a0aed4ec 81 const struct nu_modinit_s *modinit = get_modinit(obj->can, can_modinit_tab);
<> 150:02e0a0aed4ec 82
<> 150:02e0a0aed4ec 83 MBED_ASSERT(modinit != NULL);
<> 150:02e0a0aed4ec 84 MBED_ASSERT(modinit->modname == obj->can);
<> 150:02e0a0aed4ec 85
<> 150:02e0a0aed4ec 86 // Reset this module
<> 150:02e0a0aed4ec 87 SYS_ResetModule(modinit->rsetidx);
<> 150:02e0a0aed4ec 88
<> 150:02e0a0aed4ec 89 CLK_DisableModuleClock(modinit->clkidx);
<> 150:02e0a0aed4ec 90 }
<> 150:02e0a0aed4ec 91
<> 150:02e0a0aed4ec 92 int can_frequency(can_t *obj, int hz)
<> 150:02e0a0aed4ec 93 {
<> 150:02e0a0aed4ec 94 CAN_SetBaudRate((CAN_T *)obj->can, hz);
<> 150:02e0a0aed4ec 95
<> 150:02e0a0aed4ec 96 return CAN_GetCANBitRate((CAN_T *)obj->can);
<> 150:02e0a0aed4ec 97 }
<> 150:02e0a0aed4ec 98
<> 150:02e0a0aed4ec 99 static void can_irq(CANName name, int id)
<> 150:02e0a0aed4ec 100 {
<> 150:02e0a0aed4ec 101
<> 150:02e0a0aed4ec 102 CAN_T *can = (CAN_T *)NU_MODBASE(name);
<> 150:02e0a0aed4ec 103 uint32_t u8IIDRstatus;
<> 150:02e0a0aed4ec 104
<> 150:02e0a0aed4ec 105 u8IIDRstatus = can->IIDR;
<> 150:02e0a0aed4ec 106
<> 150:02e0a0aed4ec 107 if(u8IIDRstatus == 0x00008000) { /* Check Status Interrupt Flag (Error status Int and Status change Int) */
<> 150:02e0a0aed4ec 108 /**************************/
<> 150:02e0a0aed4ec 109 /* Status Change interrupt*/
<> 150:02e0a0aed4ec 110 /**************************/
<> 150:02e0a0aed4ec 111 if(can->STATUS & CAN_STATUS_RXOK_Msk) {
<> 150:02e0a0aed4ec 112 can->STATUS &= ~CAN_STATUS_RXOK_Msk; /* Clear Rx Ok status*/
<> 150:02e0a0aed4ec 113 can0_irq_handler(can_irq_ids[id], IRQ_RX);
<> 150:02e0a0aed4ec 114 }
<> 150:02e0a0aed4ec 115
<> 150:02e0a0aed4ec 116 if(can->STATUS & CAN_STATUS_TXOK_Msk) {
<> 150:02e0a0aed4ec 117 can->STATUS &= ~CAN_STATUS_TXOK_Msk; /* Clear Tx Ok status*/
<> 150:02e0a0aed4ec 118 can0_irq_handler(can_irq_ids[id], IRQ_TX);
<> 150:02e0a0aed4ec 119 }
<> 150:02e0a0aed4ec 120
<> 150:02e0a0aed4ec 121 /**************************/
<> 150:02e0a0aed4ec 122 /* Error Status interrupt */
<> 150:02e0a0aed4ec 123 /**************************/
<> 150:02e0a0aed4ec 124 if(can->STATUS & CAN_STATUS_EWARN_Msk) {
<> 150:02e0a0aed4ec 125 can0_irq_handler(can_irq_ids[id], IRQ_ERROR);
<> 150:02e0a0aed4ec 126 }
<> 150:02e0a0aed4ec 127
<> 150:02e0a0aed4ec 128 if(can->STATUS & CAN_STATUS_BOFF_Msk) {
<> 150:02e0a0aed4ec 129 can0_irq_handler(can_irq_ids[id], IRQ_BUS);
<> 150:02e0a0aed4ec 130 }
<> 150:02e0a0aed4ec 131 } else if (u8IIDRstatus!=0) {
<> 150:02e0a0aed4ec 132
<> 150:02e0a0aed4ec 133 can0_irq_handler(can_irq_ids[id], IRQ_OVERRUN);
<> 150:02e0a0aed4ec 134
<> 150:02e0a0aed4ec 135 CAN_CLR_INT_PENDING_BIT(can, ((can->IIDR) -1)); /* Clear Interrupt Pending */
<> 150:02e0a0aed4ec 136
<> 150:02e0a0aed4ec 137 } else if(can->WU_STATUS == 1) {
<> 150:02e0a0aed4ec 138
<> 150:02e0a0aed4ec 139 can->WU_STATUS = 0; /* Write '0' to clear */
<> 150:02e0a0aed4ec 140 can0_irq_handler(can_irq_ids[id], IRQ_WAKEUP);
<> 150:02e0a0aed4ec 141 }
<> 150:02e0a0aed4ec 142 }
<> 150:02e0a0aed4ec 143
<> 150:02e0a0aed4ec 144 void CAN0_IRQHandler(void)
<> 150:02e0a0aed4ec 145 {
<> 150:02e0a0aed4ec 146 can_irq(CAN_0, 0);
<> 150:02e0a0aed4ec 147 }
<> 150:02e0a0aed4ec 148
<> 150:02e0a0aed4ec 149 void can_irq_init(can_t *obj, can_irq_handler handler, uint32_t id)
<> 150:02e0a0aed4ec 150 {
<> 150:02e0a0aed4ec 151 can0_irq_handler = handler;
<> 150:02e0a0aed4ec 152 can_irq_ids[obj->index] = id;
<> 150:02e0a0aed4ec 153 }
<> 150:02e0a0aed4ec 154
<> 150:02e0a0aed4ec 155 void can_irq_free(can_t *obj)
<> 150:02e0a0aed4ec 156 {
<> 150:02e0a0aed4ec 157 CAN_DisableInt((CAN_T *)obj->can, (CAN_CON_IE_Msk|CAN_CON_SIE_Msk|CAN_CON_EIE_Msk));
<> 150:02e0a0aed4ec 158
<> 150:02e0a0aed4ec 159 can_irq_ids[obj->index] = 0;
<> 150:02e0a0aed4ec 160
<> 150:02e0a0aed4ec 161 NVIC_DisableIRQ(CAN0_IRQn);
<> 150:02e0a0aed4ec 162 }
<> 150:02e0a0aed4ec 163
<> 150:02e0a0aed4ec 164 void can_irq_set(can_t *obj, CanIrqType irq, uint32_t enable)
<> 150:02e0a0aed4ec 165 {
<> 150:02e0a0aed4ec 166
<> 150:02e0a0aed4ec 167 CAN_EnterInitMode((CAN_T*)obj->can, ((enable != 0 )? CAN_CON_IE_Msk :0) );
<> 150:02e0a0aed4ec 168
<> 150:02e0a0aed4ec 169
<> 150:02e0a0aed4ec 170 switch (irq)
<> 150:02e0a0aed4ec 171 {
<> 150:02e0a0aed4ec 172 case IRQ_ERROR:
<> 150:02e0a0aed4ec 173 case IRQ_BUS:
<> 150:02e0a0aed4ec 174 case IRQ_PASSIVE:
<> 150:02e0a0aed4ec 175 ((CAN_T *)(obj->can))->CON = (((CAN_T *)(obj->can))->CON) |CAN_CON_EIE_Msk;
<> 150:02e0a0aed4ec 176 ((CAN_T *)(obj->can))->CON = (((CAN_T *)(obj->can))->CON) |CAN_CON_SIE_Msk;
<> 150:02e0a0aed4ec 177 break;
<> 150:02e0a0aed4ec 178
<> 150:02e0a0aed4ec 179 case IRQ_RX:
<> 150:02e0a0aed4ec 180 case IRQ_TX:
<> 150:02e0a0aed4ec 181 case IRQ_OVERRUN:
<> 150:02e0a0aed4ec 182 case IRQ_WAKEUP:
<> 150:02e0a0aed4ec 183 ((CAN_T *)(obj->can))->CON = (((CAN_T *)(obj->can))->CON) |CAN_CON_SIE_Msk;
<> 150:02e0a0aed4ec 184 break;
<> 150:02e0a0aed4ec 185
<> 150:02e0a0aed4ec 186 default:
<> 150:02e0a0aed4ec 187 break;
<> 150:02e0a0aed4ec 188
<> 150:02e0a0aed4ec 189 }
<> 150:02e0a0aed4ec 190
<> 150:02e0a0aed4ec 191 CAN_LeaveInitMode((CAN_T*)obj->can);
<> 150:02e0a0aed4ec 192
<> 150:02e0a0aed4ec 193 NVIC_SetVector(CAN0_IRQn, (uint32_t)&CAN0_IRQHandler);
<> 150:02e0a0aed4ec 194 NVIC_EnableIRQ(CAN0_IRQn);
<> 150:02e0a0aed4ec 195
<> 150:02e0a0aed4ec 196 }
<> 150:02e0a0aed4ec 197
<> 150:02e0a0aed4ec 198 int can_write(can_t *obj, CAN_Message msg, int cc)
<> 150:02e0a0aed4ec 199 {
<> 150:02e0a0aed4ec 200 STR_CANMSG_T CMsg;
<> 150:02e0a0aed4ec 201
<> 150:02e0a0aed4ec 202 CMsg.IdType = (uint32_t)msg.format;
<> 150:02e0a0aed4ec 203 CMsg.FrameType = (uint32_t)!msg.type;
<> 150:02e0a0aed4ec 204 CMsg.Id = msg.id;
<> 150:02e0a0aed4ec 205 CMsg.DLC = msg.len;
<> 150:02e0a0aed4ec 206 memcpy((void *)&CMsg.Data[0],(const void *)&msg.data[0], (unsigned int)8);
<> 150:02e0a0aed4ec 207
<> 150:02e0a0aed4ec 208 return CAN_Transmit((CAN_T *)(obj->can), cc, &CMsg);
<> 150:02e0a0aed4ec 209 }
<> 150:02e0a0aed4ec 210
<> 150:02e0a0aed4ec 211 int can_read(can_t *obj, CAN_Message *msg, int handle)
<> 150:02e0a0aed4ec 212 {
<> 150:02e0a0aed4ec 213 STR_CANMSG_T CMsg;
<> 150:02e0a0aed4ec 214
<> 150:02e0a0aed4ec 215 if(!CAN_Receive((CAN_T *)(obj->can), handle, &CMsg))
<> 150:02e0a0aed4ec 216 return 0;
<> 150:02e0a0aed4ec 217
<> 150:02e0a0aed4ec 218 msg->format = (CANFormat)CMsg.IdType;
<> 150:02e0a0aed4ec 219 msg->type = (CANType)!CMsg.FrameType;
<> 150:02e0a0aed4ec 220 msg->id = CMsg.Id;
<> 150:02e0a0aed4ec 221 msg->len = CMsg.DLC;
<> 150:02e0a0aed4ec 222 memcpy(&msg->data[0], &CMsg.Data[0], 8);
<> 150:02e0a0aed4ec 223
<> 150:02e0a0aed4ec 224 return 1;
<> 150:02e0a0aed4ec 225 }
<> 150:02e0a0aed4ec 226
<> 150:02e0a0aed4ec 227 int can_mode(can_t *obj, CanMode mode)
<> 150:02e0a0aed4ec 228 {
<> 150:02e0a0aed4ec 229 int success = 0;
<> 150:02e0a0aed4ec 230 switch (mode)
<> 150:02e0a0aed4ec 231 {
<> 150:02e0a0aed4ec 232 case MODE_RESET:
<> 150:02e0a0aed4ec 233 CAN_LeaveTestMode((CAN_T*)obj->can);
<> 150:02e0a0aed4ec 234 success = 1;
<> 150:02e0a0aed4ec 235 break;
<> 150:02e0a0aed4ec 236
<> 150:02e0a0aed4ec 237 case MODE_NORMAL:
<> 150:02e0a0aed4ec 238 CAN_EnterTestMode((CAN_T*)(obj->can), CAN_TEST_BASIC_Msk);
<> 150:02e0a0aed4ec 239 success = 1;
<> 150:02e0a0aed4ec 240 break;
<> 150:02e0a0aed4ec 241
<> 150:02e0a0aed4ec 242 case MODE_SILENT:
<> 150:02e0a0aed4ec 243 CAN_EnterTestMode((CAN_T*)(obj->can), CAN_TEST_SILENT_Msk);
<> 150:02e0a0aed4ec 244 success = 1;
<> 150:02e0a0aed4ec 245 break;
<> 150:02e0a0aed4ec 246
<> 150:02e0a0aed4ec 247 case MODE_TEST_LOCAL:
<> 150:02e0a0aed4ec 248 case MODE_TEST_GLOBAL:
<> 150:02e0a0aed4ec 249 CAN_EnterTestMode((CAN_T*)(obj->can), CAN_TEST_LBACK_Msk);
<> 150:02e0a0aed4ec 250 success = 1;
<> 150:02e0a0aed4ec 251 break;
<> 150:02e0a0aed4ec 252
<> 150:02e0a0aed4ec 253 case MODE_TEST_SILENT:
<> 150:02e0a0aed4ec 254 CAN_EnterTestMode((CAN_T*)(obj->can), CAN_TEST_SILENT_Msk | CAN_TEST_LBACK_Msk);
<> 150:02e0a0aed4ec 255 success = 1;
<> 150:02e0a0aed4ec 256 break;
<> 150:02e0a0aed4ec 257
<> 150:02e0a0aed4ec 258 default:
<> 150:02e0a0aed4ec 259 success = 0;
<> 150:02e0a0aed4ec 260 break;
<> 150:02e0a0aed4ec 261
<> 150:02e0a0aed4ec 262 }
<> 150:02e0a0aed4ec 263
<> 150:02e0a0aed4ec 264
<> 150:02e0a0aed4ec 265 return success;
<> 150:02e0a0aed4ec 266 }
<> 150:02e0a0aed4ec 267
<> 150:02e0a0aed4ec 268 int can_filter(can_t *obj, uint32_t id, uint32_t mask, CANFormat format, int32_t handle)
<> 150:02e0a0aed4ec 269 {
<> 150:02e0a0aed4ec 270 return CAN_SetRxMsg((CAN_T *)(obj->can), handle , (uint32_t)format, id);
<> 150:02e0a0aed4ec 271 }
<> 150:02e0a0aed4ec 272
<> 150:02e0a0aed4ec 273
<> 150:02e0a0aed4ec 274 void can_reset(can_t *obj)
<> 150:02e0a0aed4ec 275 {
<> 150:02e0a0aed4ec 276 const struct nu_modinit_s *modinit = get_modinit(obj->can, can_modinit_tab);
<> 150:02e0a0aed4ec 277
<> 150:02e0a0aed4ec 278 MBED_ASSERT(modinit != NULL);
<> 150:02e0a0aed4ec 279 MBED_ASSERT(modinit->modname == obj->can);
<> 150:02e0a0aed4ec 280
<> 150:02e0a0aed4ec 281 // Reset this module
<> 150:02e0a0aed4ec 282 SYS_ResetModule(modinit->rsetidx);
<> 150:02e0a0aed4ec 283
<> 150:02e0a0aed4ec 284 }
<> 150:02e0a0aed4ec 285
<> 150:02e0a0aed4ec 286 unsigned char can_rderror(can_t *obj)
<> 150:02e0a0aed4ec 287 {
<> 150:02e0a0aed4ec 288 CAN_T *can = (CAN_T *)(obj->can);
<> 150:02e0a0aed4ec 289 return ((can->ERR>>8)&0xFF);
<> 150:02e0a0aed4ec 290 }
<> 150:02e0a0aed4ec 291
<> 150:02e0a0aed4ec 292 unsigned char can_tderror(can_t *obj)
<> 150:02e0a0aed4ec 293 {
<> 150:02e0a0aed4ec 294 CAN_T *can = (CAN_T *)(obj->can);
<> 150:02e0a0aed4ec 295 return ((can->ERR)&0xFF);
<> 150:02e0a0aed4ec 296 }
<> 150:02e0a0aed4ec 297
<> 150:02e0a0aed4ec 298 void can_monitor(can_t *obj, int silent)
<> 150:02e0a0aed4ec 299 {
<> 150:02e0a0aed4ec 300 CAN_EnterTestMode((CAN_T *)(obj->can), CAN_TEST_SILENT_Msk);
<> 150:02e0a0aed4ec 301 }
<> 150:02e0a0aed4ec 302
<> 150:02e0a0aed4ec 303 #endif // DEVICE_CAN