b luo / mbed-dev

mbed library sources. With a patch for the can_api

Fork of mbed-dev by mbed official

targets/TARGET_STM/TARGET_STM32F7/can_api.c@151:91825d030f9b, 2016-11-14 (annotated)

Committer:
DangerousElectrician
Date:
Mon Nov 14 04:39:23 2016 +0000
Revision:
151:91825d030f9b
Parent:
149:156823d33999 
stuff changed?

Who changed what in which revision?

UserRevisionLine numberNew contents of line
<> 144:ef7eb2e8f9f7 1 /* mbed Microcontroller Library
<> 144:ef7eb2e8f9f7 2 * Copyright (c) 2006-2016 ARM Limited
<> 144:ef7eb2e8f9f7 3 *
<> 144:ef7eb2e8f9f7 4 * Licensed under the Apache License, Version 2.0 (the "License");
<> 144:ef7eb2e8f9f7 5 * you may not use this file except in compliance with the License.
<> 144:ef7eb2e8f9f7 6 * You may obtain a copy of the License at
<> 144:ef7eb2e8f9f7 7 *
<> 144:ef7eb2e8f9f7 8 * http://www.apache.org/licenses/LICENSE-2.0
<> 144:ef7eb2e8f9f7 9 *
<> 144:ef7eb2e8f9f7 10 * Unless required by applicable law or agreed to in writing, software
<> 144:ef7eb2e8f9f7 11 * distributed under the License is distributed on an "AS IS" BASIS,
<> 144:ef7eb2e8f9f7 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
<> 144:ef7eb2e8f9f7 13 * See the License for the specific language governing permissions and
<> 144:ef7eb2e8f9f7 14 * limitations under the License.
<> 144:ef7eb2e8f9f7 15 */
<> 144:ef7eb2e8f9f7 16 #include "can_api.h"
<> 144:ef7eb2e8f9f7 17
<> 144:ef7eb2e8f9f7 18 #if DEVICE_CAN
<> 144:ef7eb2e8f9f7 19
<> 144:ef7eb2e8f9f7 20 #include "cmsis.h"
<> 144:ef7eb2e8f9f7 21 #include "pinmap.h"
<> 144:ef7eb2e8f9f7 22 #include "PeripheralPins.h"
<> 144:ef7eb2e8f9f7 23 #include "mbed_error.h"
<> 144:ef7eb2e8f9f7 24 #include <math.h>
<> 144:ef7eb2e8f9f7 25 #include <string.h>
<> 144:ef7eb2e8f9f7 26
<> 144:ef7eb2e8f9f7 27 #define CAN_NUM 2
<> 144:ef7eb2e8f9f7 28 static CAN_HandleTypeDef CanHandle;
<> 144:ef7eb2e8f9f7 29 static uint32_t can_irq_ids[CAN_NUM] = {0};
<> 144:ef7eb2e8f9f7 30 static can_irq_handler irq_handler;
<> 144:ef7eb2e8f9f7 31
<> 144:ef7eb2e8f9f7 32 void can_init(can_t *obj, PinName rd, PinName td)
<> 144:ef7eb2e8f9f7 33 {
<> 144:ef7eb2e8f9f7 34 uint32_t filter_number;
<> 144:ef7eb2e8f9f7 35 CANName can_rd = (CANName)pinmap_peripheral(rd, PinMap_CAN_RD);
<> 144:ef7eb2e8f9f7 36 CANName can_td = (CANName)pinmap_peripheral(td, PinMap_CAN_TD);
<> 144:ef7eb2e8f9f7 37 obj->can = (CANName)pinmap_merge(can_rd, can_td);
<> 144:ef7eb2e8f9f7 38 MBED_ASSERT((int)obj->can != NC);
<> 144:ef7eb2e8f9f7 39
<> 144:ef7eb2e8f9f7 40 if(obj->can == CAN_1) {
<> 144:ef7eb2e8f9f7 41 __HAL_RCC_CAN1_CLK_ENABLE();
<> 144:ef7eb2e8f9f7 42 obj->index = 0;
<> 144:ef7eb2e8f9f7 43 } else {
<> 144:ef7eb2e8f9f7 44 __HAL_RCC_CAN2_CLK_ENABLE();
<> 144:ef7eb2e8f9f7 45 obj->index = 1;
<> 144:ef7eb2e8f9f7 46 }
<> 144:ef7eb2e8f9f7 47
<> 144:ef7eb2e8f9f7 48 // Configure the CAN pins
<> 144:ef7eb2e8f9f7 49 pinmap_pinout(rd, PinMap_CAN_RD);
<> 144:ef7eb2e8f9f7 50 pinmap_pinout(td, PinMap_CAN_TD);
<> 144:ef7eb2e8f9f7 51 if (rd != NC) {
<> 144:ef7eb2e8f9f7 52 pin_mode(rd, PullUp);
<> 144:ef7eb2e8f9f7 53 }
<> 144:ef7eb2e8f9f7 54 if (td != NC) {
<> 144:ef7eb2e8f9f7 55 pin_mode(td, PullUp);
<> 144:ef7eb2e8f9f7 56 }
<> 144:ef7eb2e8f9f7 57
<> 144:ef7eb2e8f9f7 58 CanHandle.Instance = (CAN_TypeDef *)(obj->can);
<> 144:ef7eb2e8f9f7 59
<> 144:ef7eb2e8f9f7 60 CanHandle.Init.TTCM = DISABLE;
<> 144:ef7eb2e8f9f7 61 CanHandle.Init.ABOM = DISABLE;
<> 144:ef7eb2e8f9f7 62 CanHandle.Init.AWUM = DISABLE;
<> 144:ef7eb2e8f9f7 63 CanHandle.Init.NART = DISABLE;
<> 144:ef7eb2e8f9f7 64 CanHandle.Init.RFLM = DISABLE;
<> 144:ef7eb2e8f9f7 65 CanHandle.Init.TXFP = DISABLE;
<> 144:ef7eb2e8f9f7 66 CanHandle.Init.Mode = CAN_MODE_NORMAL;
<> 144:ef7eb2e8f9f7 67 CanHandle.Init.SJW = CAN_SJW_1TQ;
<> 144:ef7eb2e8f9f7 68 CanHandle.Init.BS1 = CAN_BS1_6TQ;
<> 144:ef7eb2e8f9f7 69 CanHandle.Init.BS2 = CAN_BS2_8TQ;
<> 144:ef7eb2e8f9f7 70 CanHandle.Init.Prescaler = 2;
<> 144:ef7eb2e8f9f7 71
<> 144:ef7eb2e8f9f7 72 if (HAL_CAN_Init(&CanHandle) != HAL_OK) {
<> 144:ef7eb2e8f9f7 73 error("Cannot initialize CAN");
<> 144:ef7eb2e8f9f7 74 }
<> 144:ef7eb2e8f9f7 75
<> 144:ef7eb2e8f9f7 76 filter_number = (obj->can == CAN_1) ? 0 : 14;
<> 144:ef7eb2e8f9f7 77
<> 144:ef7eb2e8f9f7 78 // Set initial CAN frequency to 100kb/s
<> 144:ef7eb2e8f9f7 79 can_frequency(obj, 100000);
<> 144:ef7eb2e8f9f7 80
<> 144:ef7eb2e8f9f7 81 can_filter(obj, 0, 0, CANStandard, filter_number);
<> 144:ef7eb2e8f9f7 82 }
<> 144:ef7eb2e8f9f7 83
<> 144:ef7eb2e8f9f7 84 void can_irq_init(can_t *obj, can_irq_handler handler, uint32_t id)
<> 144:ef7eb2e8f9f7 85 {
<> 144:ef7eb2e8f9f7 86 irq_handler = handler;
<> 144:ef7eb2e8f9f7 87 can_irq_ids[obj->index] = id;
<> 144:ef7eb2e8f9f7 88 }
<> 144:ef7eb2e8f9f7 89
<> 144:ef7eb2e8f9f7 90 void can_irq_free(can_t *obj)
<> 144:ef7eb2e8f9f7 91 {
<> 144:ef7eb2e8f9f7 92 CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
<> 144:ef7eb2e8f9f7 93
<> 144:ef7eb2e8f9f7 94 can->IER &= ~(CAN_IT_FMP0 | CAN_IT_FMP1 | CAN_IT_TME | \
<> 144:ef7eb2e8f9f7 95 CAN_IT_ERR | CAN_IT_EPV | CAN_IT_BOF);
<> 144:ef7eb2e8f9f7 96 can_irq_ids[obj->can] = 0;
<> 144:ef7eb2e8f9f7 97 }
<> 144:ef7eb2e8f9f7 98
<> 144:ef7eb2e8f9f7 99 void can_free(can_t *obj)
<> 144:ef7eb2e8f9f7 100 {
<> 144:ef7eb2e8f9f7 101 // Reset CAN and disable clock
<> 144:ef7eb2e8f9f7 102 if (obj->can == CAN_1) {
<> 144:ef7eb2e8f9f7 103 __HAL_RCC_CAN1_FORCE_RESET();
<> 144:ef7eb2e8f9f7 104 __HAL_RCC_CAN1_RELEASE_RESET();
<> 144:ef7eb2e8f9f7 105 __HAL_RCC_CAN1_CLK_DISABLE();
<> 144:ef7eb2e8f9f7 106 }
<> 144:ef7eb2e8f9f7 107
<> 144:ef7eb2e8f9f7 108 if (obj->can == CAN_2) {
<> 144:ef7eb2e8f9f7 109 __HAL_RCC_CAN2_FORCE_RESET();
<> 144:ef7eb2e8f9f7 110 __HAL_RCC_CAN2_RELEASE_RESET();
<> 144:ef7eb2e8f9f7 111 __HAL_RCC_CAN2_CLK_DISABLE();
<> 144:ef7eb2e8f9f7 112 }
<> 144:ef7eb2e8f9f7 113 }
<> 144:ef7eb2e8f9f7 114
<> 144:ef7eb2e8f9f7 115 // The following table is used to program bit_timing. It is an adjustment of the sample
<> 144:ef7eb2e8f9f7 116 // point by synchronizing on the start-bit edge and resynchronizing on the following edges.
<> 144:ef7eb2e8f9f7 117 // This table has the sampling points as close to 75% as possible (most commonly used).
<> 144:ef7eb2e8f9f7 118 // The first value is TSEG1, the second TSEG2.
<> 144:ef7eb2e8f9f7 119 static const int timing_pts[23][2] = {
<> 144:ef7eb2e8f9f7 120 {0x0, 0x0}, // 2, 50%
<> 144:ef7eb2e8f9f7 121 {0x1, 0x0}, // 3, 67%
<> 144:ef7eb2e8f9f7 122 {0x2, 0x0}, // 4, 75%
<> 144:ef7eb2e8f9f7 123 {0x3, 0x0}, // 5, 80%
<> 144:ef7eb2e8f9f7 124 {0x3, 0x1}, // 6, 67%
<> 144:ef7eb2e8f9f7 125 {0x4, 0x1}, // 7, 71%
<> 144:ef7eb2e8f9f7 126 {0x5, 0x1}, // 8, 75%
<> 144:ef7eb2e8f9f7 127 {0x6, 0x1}, // 9, 78%
<> 144:ef7eb2e8f9f7 128 {0x6, 0x2}, // 10, 70%
<> 144:ef7eb2e8f9f7 129 {0x7, 0x2}, // 11, 73%
<> 144:ef7eb2e8f9f7 130 {0x8, 0x2}, // 12, 75%
<> 144:ef7eb2e8f9f7 131 {0x9, 0x2}, // 13, 77%
<> 144:ef7eb2e8f9f7 132 {0x9, 0x3}, // 14, 71%
<> 144:ef7eb2e8f9f7 133 {0xA, 0x3}, // 15, 73%
<> 144:ef7eb2e8f9f7 134 {0xB, 0x3}, // 16, 75%
<> 144:ef7eb2e8f9f7 135 {0xC, 0x3}, // 17, 76%
<> 144:ef7eb2e8f9f7 136 {0xD, 0x3}, // 18, 78%
<> 144:ef7eb2e8f9f7 137 {0xD, 0x4}, // 19, 74%
<> 144:ef7eb2e8f9f7 138 {0xE, 0x4}, // 20, 75%
<> 144:ef7eb2e8f9f7 139 {0xF, 0x4}, // 21, 76%
<> 144:ef7eb2e8f9f7 140 {0xF, 0x5}, // 22, 73%
<> 144:ef7eb2e8f9f7 141 {0xF, 0x6}, // 23, 70%
<> 144:ef7eb2e8f9f7 142 {0xF, 0x7}, // 24, 67%
<> 144:ef7eb2e8f9f7 143 };
<> 144:ef7eb2e8f9f7 144
<> 144:ef7eb2e8f9f7 145 static unsigned int can_speed(unsigned int pclk, unsigned int cclk, unsigned char psjw)
<> 144:ef7eb2e8f9f7 146 {
<> 144:ef7eb2e8f9f7 147 uint32_t btr;
<> 144:ef7eb2e8f9f7 148 uint16_t brp = 0;
<> 144:ef7eb2e8f9f7 149 uint32_t calcbit;
<> 144:ef7eb2e8f9f7 150 uint32_t bitwidth;
<> 144:ef7eb2e8f9f7 151 int hit = 0;
<> 144:ef7eb2e8f9f7 152 int bits;
<> 144:ef7eb2e8f9f7 153
<> 144:ef7eb2e8f9f7 154 bitwidth = (pclk / cclk);
<> 144:ef7eb2e8f9f7 155
<> 144:ef7eb2e8f9f7 156 brp = bitwidth / 0x18;
<> 144:ef7eb2e8f9f7 157 while ((!hit) && (brp < bitwidth / 4)) {
<> 144:ef7eb2e8f9f7 158 brp++;
<> 144:ef7eb2e8f9f7 159 for (bits = 22; bits > 0; bits--) {
<> 144:ef7eb2e8f9f7 160 calcbit = (bits + 3) * (brp + 1);
<> 144:ef7eb2e8f9f7 161 if (calcbit == bitwidth) {
<> 144:ef7eb2e8f9f7 162 hit = 1;
<> 144:ef7eb2e8f9f7 163 break;
<> 144:ef7eb2e8f9f7 164 }
<> 144:ef7eb2e8f9f7 165 }
<> 144:ef7eb2e8f9f7 166 }
<> 144:ef7eb2e8f9f7 167
<> 144:ef7eb2e8f9f7 168 if (hit) {
<> 144:ef7eb2e8f9f7 169 btr = ((timing_pts[bits][1] << 20) & 0x00700000)
<> 144:ef7eb2e8f9f7 170 | ((timing_pts[bits][0] << 16) & 0x000F0000)
<> 144:ef7eb2e8f9f7 171 | ((psjw << 24) & 0x0000C000)
<> 144:ef7eb2e8f9f7 172 | ((brp << 0) & 0x000003FF);
<> 144:ef7eb2e8f9f7 173 } else {
<> 144:ef7eb2e8f9f7 174 btr = 0xFFFFFFFF;
<> 144:ef7eb2e8f9f7 175 }
<> 144:ef7eb2e8f9f7 176
<> 144:ef7eb2e8f9f7 177 return btr;
<> 144:ef7eb2e8f9f7 178
<> 144:ef7eb2e8f9f7 179 }
<> 144:ef7eb2e8f9f7 180
<> 144:ef7eb2e8f9f7 181 int can_frequency(can_t *obj, int f)
<> 144:ef7eb2e8f9f7 182 {
<> 144:ef7eb2e8f9f7 183 int pclk = HAL_RCC_GetPCLK1Freq();
<> 144:ef7eb2e8f9f7 184 int btr = can_speed(pclk, (unsigned int)f, 1);
<> 144:ef7eb2e8f9f7 185 CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
<> 144:ef7eb2e8f9f7 186
<> 144:ef7eb2e8f9f7 187 if (btr > 0) {
<> 144:ef7eb2e8f9f7 188 can->MCR |= CAN_MCR_INRQ ;
<> 144:ef7eb2e8f9f7 189 while((can->MSR & CAN_MSR_INAK) != CAN_MSR_INAK) {
<> 144:ef7eb2e8f9f7 190 }
<> 144:ef7eb2e8f9f7 191 can->BTR = btr;
<> 144:ef7eb2e8f9f7 192 can->MCR &= ~(uint32_t)CAN_MCR_INRQ;
<> 144:ef7eb2e8f9f7 193 while((can->MSR & CAN_MSR_INAK) == CAN_MSR_INAK) {
<> 144:ef7eb2e8f9f7 194 }
<> 144:ef7eb2e8f9f7 195 return 1;
<> 144:ef7eb2e8f9f7 196 } else {
<> 144:ef7eb2e8f9f7 197 return 0;
<> 144:ef7eb2e8f9f7 198 }
<> 144:ef7eb2e8f9f7 199 }
<> 144:ef7eb2e8f9f7 200
<> 144:ef7eb2e8f9f7 201 int can_write(can_t *obj, CAN_Message msg, int cc)
<> 144:ef7eb2e8f9f7 202 {
<> 144:ef7eb2e8f9f7 203 uint32_t transmitmailbox = 5;
<> 144:ef7eb2e8f9f7 204 CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
<> 144:ef7eb2e8f9f7 205
<> 144:ef7eb2e8f9f7 206 /* Select one empty transmit mailbox */
<> 144:ef7eb2e8f9f7 207 if ((can->TSR&CAN_TSR_TME0) == CAN_TSR_TME0) {
<> 144:ef7eb2e8f9f7 208 transmitmailbox = 0;
<> 144:ef7eb2e8f9f7 209 } else if ((can->TSR&CAN_TSR_TME1) == CAN_TSR_TME1) {
<> 144:ef7eb2e8f9f7 210 transmitmailbox = 1;
<> 144:ef7eb2e8f9f7 211 } else if ((can->TSR&CAN_TSR_TME2) == CAN_TSR_TME2) {
<> 144:ef7eb2e8f9f7 212 transmitmailbox = 2;
<> 144:ef7eb2e8f9f7 213 } else {
<> 144:ef7eb2e8f9f7 214 transmitmailbox = CAN_TXSTATUS_NOMAILBOX;
<> 144:ef7eb2e8f9f7 215 }
<> 144:ef7eb2e8f9f7 216
<> 144:ef7eb2e8f9f7 217 if (transmitmailbox != CAN_TXSTATUS_NOMAILBOX) {
<> 144:ef7eb2e8f9f7 218 can->sTxMailBox[transmitmailbox].TIR &= CAN_TI0R_TXRQ;
<> 144:ef7eb2e8f9f7 219 if (!(msg.format))
<> 144:ef7eb2e8f9f7 220 {
<> 144:ef7eb2e8f9f7 221 can->sTxMailBox[transmitmailbox].TIR |= ((msg.id << 21) | msg.type);
<> 144:ef7eb2e8f9f7 222 }
<> 144:ef7eb2e8f9f7 223 else
<> 144:ef7eb2e8f9f7 224 {
<> 144:ef7eb2e8f9f7 225 can->sTxMailBox[transmitmailbox].TIR |= ((msg.id << 3) | CAN_ID_EXT | msg.type);
<> 144:ef7eb2e8f9f7 226 }
<> 144:ef7eb2e8f9f7 227
<> 144:ef7eb2e8f9f7 228 /* Set up the DLC */
<> 144:ef7eb2e8f9f7 229 can->sTxMailBox[transmitmailbox].TDTR &= (uint32_t)0xFFFFFFF0;
<> 144:ef7eb2e8f9f7 230 can->sTxMailBox[transmitmailbox].TDTR |= (msg.len & (uint8_t)0x0000000F);
<> 144:ef7eb2e8f9f7 231
<> 144:ef7eb2e8f9f7 232 /* Set up the data field */
<> 144:ef7eb2e8f9f7 233 can->sTxMailBox[transmitmailbox].TDLR = (((uint32_t)msg.data[3] << 24) |
<> 144:ef7eb2e8f9f7 234 ((uint32_t)msg.data[2] << 16) |
<> 144:ef7eb2e8f9f7 235 ((uint32_t)msg.data[1] << 8) |
<> 144:ef7eb2e8f9f7 236 ((uint32_t)msg.data[0]));
<> 144:ef7eb2e8f9f7 237 can->sTxMailBox[transmitmailbox].TDHR = (((uint32_t)msg.data[7] << 24) |
<> 144:ef7eb2e8f9f7 238 ((uint32_t)msg.data[6] << 16) |
<> 144:ef7eb2e8f9f7 239 ((uint32_t)msg.data[5] << 8) |
<> 144:ef7eb2e8f9f7 240 ((uint32_t)msg.data[4]));
<> 144:ef7eb2e8f9f7 241 /* Request transmission */
<> 144:ef7eb2e8f9f7 242 can->sTxMailBox[transmitmailbox].TIR |= CAN_TI0R_TXRQ;
<> 144:ef7eb2e8f9f7 243 }
<> 144:ef7eb2e8f9f7 244
<> 144:ef7eb2e8f9f7 245 return 1;
<> 144:ef7eb2e8f9f7 246 }
<> 144:ef7eb2e8f9f7 247
<> 144:ef7eb2e8f9f7 248 int can_read(can_t *obj, CAN_Message *msg, int handle)
<> 144:ef7eb2e8f9f7 249 {
<> 144:ef7eb2e8f9f7 250 //handle is the FIFO number
<> 144:ef7eb2e8f9f7 251
<> 144:ef7eb2e8f9f7 252 CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
<> 144:ef7eb2e8f9f7 253
<> 144:ef7eb2e8f9f7 254 /* Get the Id */
<> 144:ef7eb2e8f9f7 255 msg->format = (CANFormat)((uint8_t)0x04 & can->sFIFOMailBox[handle].RIR);
<> 144:ef7eb2e8f9f7 256 if (!msg->format) {
<> 144:ef7eb2e8f9f7 257 msg->id = (uint32_t)0x000007FF & (can->sFIFOMailBox[handle].RIR >> 21);
<> 144:ef7eb2e8f9f7 258 } else {
<> 144:ef7eb2e8f9f7 259 msg->id = (uint32_t)0x1FFFFFFF & (can->sFIFOMailBox[handle].RIR >> 3);
<> 144:ef7eb2e8f9f7 260 }
<> 144:ef7eb2e8f9f7 261
<> 144:ef7eb2e8f9f7 262 msg->type = (CANType)((uint8_t)0x02 & can->sFIFOMailBox[handle].RIR);
<> 144:ef7eb2e8f9f7 263 /* Get the DLC */
<> 144:ef7eb2e8f9f7 264 msg->len = (uint8_t)0x0F & can->sFIFOMailBox[handle].RDTR;
<> 144:ef7eb2e8f9f7 265 // /* Get the FMI */
<> 144:ef7eb2e8f9f7 266 // msg->FMI = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDTR >> 8);
<> 144:ef7eb2e8f9f7 267 /* Get the data field */
<> 144:ef7eb2e8f9f7 268 msg->data[0] = (uint8_t)0xFF & can->sFIFOMailBox[handle].RDLR;
<> 144:ef7eb2e8f9f7 269 msg->data[1] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDLR >> 8);
<> 144:ef7eb2e8f9f7 270 msg->data[2] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDLR >> 16);
<> 144:ef7eb2e8f9f7 271 msg->data[3] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDLR >> 24);
<> 144:ef7eb2e8f9f7 272 msg->data[4] = (uint8_t)0xFF & can->sFIFOMailBox[handle].RDHR;
<> 144:ef7eb2e8f9f7 273 msg->data[5] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDHR >> 8);
<> 144:ef7eb2e8f9f7 274 msg->data[6] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDHR >> 16);
<> 144:ef7eb2e8f9f7 275 msg->data[7] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDHR >> 24);
<> 144:ef7eb2e8f9f7 276
<> 144:ef7eb2e8f9f7 277 /* Release the FIFO */
<> 144:ef7eb2e8f9f7 278 if(handle == CAN_FIFO0) {
<> 144:ef7eb2e8f9f7 279 /* Release FIFO0 */
<> 144:ef7eb2e8f9f7 280 can->RF0R = CAN_RF0R_RFOM0;
<> 144:ef7eb2e8f9f7 281 } else { /* FIFONumber == CAN_FIFO1 */
<> 144:ef7eb2e8f9f7 282 /* Release FIFO1 */
<> 144:ef7eb2e8f9f7 283 can->RF1R = CAN_RF1R_RFOM1;
<> 144:ef7eb2e8f9f7 284 }
<> 144:ef7eb2e8f9f7 285
<> 144:ef7eb2e8f9f7 286 return 1;
<> 144:ef7eb2e8f9f7 287 }
<> 144:ef7eb2e8f9f7 288
<> 144:ef7eb2e8f9f7 289 void can_reset(can_t *obj)
<> 144:ef7eb2e8f9f7 290 {
<> 144:ef7eb2e8f9f7 291 CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
<> 144:ef7eb2e8f9f7 292
<> 144:ef7eb2e8f9f7 293 can->MCR |= CAN_MCR_RESET;
<> 144:ef7eb2e8f9f7 294 can->ESR = 0x0;
<> 144:ef7eb2e8f9f7 295 }
<> 144:ef7eb2e8f9f7 296
<> 144:ef7eb2e8f9f7 297 unsigned char can_rderror(can_t *obj)
<> 144:ef7eb2e8f9f7 298 {
<> 144:ef7eb2e8f9f7 299 CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
<> 144:ef7eb2e8f9f7 300 return (can->ESR >> 24) & 0xFF;
<> 144:ef7eb2e8f9f7 301 }
<> 144:ef7eb2e8f9f7 302
<> 144:ef7eb2e8f9f7 303 unsigned char can_tderror(can_t *obj)
<> 144:ef7eb2e8f9f7 304 {
<> 144:ef7eb2e8f9f7 305 CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
<> 144:ef7eb2e8f9f7 306 return (can->ESR >> 16) & 0xFF;
<> 144:ef7eb2e8f9f7 307 }
<> 144:ef7eb2e8f9f7 308
<> 144:ef7eb2e8f9f7 309 void can_monitor(can_t *obj, int silent)
<> 144:ef7eb2e8f9f7 310 {
<> 144:ef7eb2e8f9f7 311 CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
<> 144:ef7eb2e8f9f7 312
<> 144:ef7eb2e8f9f7 313 can->MCR |= CAN_MCR_INRQ ;
<> 144:ef7eb2e8f9f7 314 while((can->MSR & CAN_MSR_INAK) != CAN_MSR_INAK) {
<> 144:ef7eb2e8f9f7 315 }
<> 144:ef7eb2e8f9f7 316 if (silent) {
<> 144:ef7eb2e8f9f7 317 can->BTR |= ((uint32_t)1 << 31);
<> 144:ef7eb2e8f9f7 318 } else {
<> 144:ef7eb2e8f9f7 319 can->BTR &= ~((uint32_t)1 << 31);
<> 144:ef7eb2e8f9f7 320 }
<> 144:ef7eb2e8f9f7 321 can->MCR &= ~(uint32_t)CAN_MCR_INRQ;
<> 144:ef7eb2e8f9f7 322 while((can->MSR & CAN_MSR_INAK) == CAN_MSR_INAK) {
<> 144:ef7eb2e8f9f7 323 }
<> 144:ef7eb2e8f9f7 324 }
<> 144:ef7eb2e8f9f7 325
<> 144:ef7eb2e8f9f7 326 int can_mode(can_t *obj, CanMode mode)
<> 144:ef7eb2e8f9f7 327 {
<> 144:ef7eb2e8f9f7 328 int success = 0;
<> 144:ef7eb2e8f9f7 329 CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
<> 144:ef7eb2e8f9f7 330 can->MCR |= CAN_MCR_INRQ ;
<> 144:ef7eb2e8f9f7 331 while((can->MSR & CAN_MSR_INAK) != CAN_MSR_INAK) {
<> 144:ef7eb2e8f9f7 332 }
<> 144:ef7eb2e8f9f7 333 switch (mode) {
<> 144:ef7eb2e8f9f7 334 case MODE_NORMAL:
<> 144:ef7eb2e8f9f7 335 can->BTR &= ~(CAN_BTR_SILM | CAN_BTR_LBKM);
<> 144:ef7eb2e8f9f7 336 success = 1;
<> 144:ef7eb2e8f9f7 337 break;
<> 144:ef7eb2e8f9f7 338 case MODE_SILENT:
<> 144:ef7eb2e8f9f7 339 can->BTR |= CAN_BTR_SILM;
<> 144:ef7eb2e8f9f7 340 can->BTR &= ~CAN_BTR_LBKM;
<> 144:ef7eb2e8f9f7 341 success = 1;
<> 144:ef7eb2e8f9f7 342 break;
<> 144:ef7eb2e8f9f7 343 case MODE_TEST_GLOBAL:
<> 144:ef7eb2e8f9f7 344 case MODE_TEST_LOCAL:
<> 144:ef7eb2e8f9f7 345 can->BTR |= CAN_BTR_LBKM;
<> 144:ef7eb2e8f9f7 346 can->BTR &= ~CAN_BTR_SILM;
<> 144:ef7eb2e8f9f7 347 success = 1;
<> 144:ef7eb2e8f9f7 348 break;
<> 144:ef7eb2e8f9f7 349 case MODE_TEST_SILENT:
<> 144:ef7eb2e8f9f7 350 can->BTR |= (CAN_BTR_SILM | CAN_BTR_LBKM);
<> 144:ef7eb2e8f9f7 351 success = 1;
<> 144:ef7eb2e8f9f7 352 break;
<> 144:ef7eb2e8f9f7 353 default:
<> 144:ef7eb2e8f9f7 354 success = 0;
<> 144:ef7eb2e8f9f7 355 break;
<> 144:ef7eb2e8f9f7 356 }
<> 144:ef7eb2e8f9f7 357 can->MCR &= ~(uint32_t)CAN_MCR_INRQ;
<> 144:ef7eb2e8f9f7 358 while((can->MSR & CAN_MSR_INAK) == CAN_MSR_INAK) {
<> 144:ef7eb2e8f9f7 359 }
<> 144:ef7eb2e8f9f7 360 return success;
<> 144:ef7eb2e8f9f7 361 }
<> 144:ef7eb2e8f9f7 362
<> 144:ef7eb2e8f9f7 363 int can_filter(can_t *obj, uint32_t id, uint32_t mask, CANFormat format, int32_t handle)
<> 144:ef7eb2e8f9f7 364 {
<> 144:ef7eb2e8f9f7 365 CanHandle.Instance = (CAN_TypeDef *)(obj->can);
<> 144:ef7eb2e8f9f7 366 CAN_FilterConfTypeDef sFilterConfig;
<> 144:ef7eb2e8f9f7 367
<> 144:ef7eb2e8f9f7 368 sFilterConfig.FilterNumber = handle;
<> 144:ef7eb2e8f9f7 369 sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
<> 144:ef7eb2e8f9f7 370 sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
<> 144:ef7eb2e8f9f7 371 sFilterConfig.FilterIdHigh = (uint8_t) (id >> 8);
<> 144:ef7eb2e8f9f7 372 sFilterConfig.FilterIdLow = (uint8_t) id;
<> 144:ef7eb2e8f9f7 373 sFilterConfig.FilterMaskIdHigh = (uint8_t) (mask >> 8);
<> 144:ef7eb2e8f9f7 374 sFilterConfig.FilterMaskIdLow = (uint8_t) mask;
<> 144:ef7eb2e8f9f7 375 sFilterConfig.FilterFIFOAssignment = 0;
<> 144:ef7eb2e8f9f7 376 sFilterConfig.FilterActivation = ENABLE;
<> 144:ef7eb2e8f9f7 377 sFilterConfig.BankNumber = 14;
<> 144:ef7eb2e8f9f7 378
<> 144:ef7eb2e8f9f7 379 HAL_CAN_ConfigFilter(&CanHandle, &sFilterConfig);
<> 144:ef7eb2e8f9f7 380
<> 144:ef7eb2e8f9f7 381 return 0;
<> 144:ef7eb2e8f9f7 382 }
<> 144:ef7eb2e8f9f7 383
<> 144:ef7eb2e8f9f7 384 static void can_irq(CANName name, int id)
<> 144:ef7eb2e8f9f7 385 {
<> 144:ef7eb2e8f9f7 386 uint32_t tmp1 = 0, tmp2 = 0, tmp3 = 0;
<> 144:ef7eb2e8f9f7 387 CanHandle.Instance = (CAN_TypeDef *)name;
<> 144:ef7eb2e8f9f7 388
<> 144:ef7eb2e8f9f7 389 if(__HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_TME)) {
<> 144:ef7eb2e8f9f7 390 tmp1 = __HAL_CAN_TRANSMIT_STATUS(&CanHandle, CAN_TXMAILBOX_0);
<> 144:ef7eb2e8f9f7 391 tmp2 = __HAL_CAN_TRANSMIT_STATUS(&CanHandle, CAN_TXMAILBOX_1);
<> 144:ef7eb2e8f9f7 392 tmp3 = __HAL_CAN_TRANSMIT_STATUS(&CanHandle, CAN_TXMAILBOX_2);
<> 144:ef7eb2e8f9f7 393 if(tmp1 || tmp2 || tmp3)
<> 144:ef7eb2e8f9f7 394 {
<> 144:ef7eb2e8f9f7 395 irq_handler(can_irq_ids[id], IRQ_TX);
<> 144:ef7eb2e8f9f7 396 }
<> 144:ef7eb2e8f9f7 397 }
<> 144:ef7eb2e8f9f7 398
<> 144:ef7eb2e8f9f7 399 tmp1 = __HAL_CAN_MSG_PENDING(&CanHandle, CAN_FIFO0);
<> 144:ef7eb2e8f9f7 400 tmp2 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_FMP0);
<> 144:ef7eb2e8f9f7 401
<> 144:ef7eb2e8f9f7 402 if((tmp1 != 0) && tmp2) {
<> 144:ef7eb2e8f9f7 403 irq_handler(can_irq_ids[id], IRQ_RX);
<> 144:ef7eb2e8f9f7 404 }
<> 144:ef7eb2e8f9f7 405
<> 144:ef7eb2e8f9f7 406 tmp1 = __HAL_CAN_GET_FLAG(&CanHandle, CAN_FLAG_EPV);
<> 144:ef7eb2e8f9f7 407 tmp2 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_EPV);
<> 144:ef7eb2e8f9f7 408 tmp3 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_ERR);
<> 144:ef7eb2e8f9f7 409
<> 144:ef7eb2e8f9f7 410 if(tmp1 && tmp2 && tmp3) {
<> 144:ef7eb2e8f9f7 411 irq_handler(can_irq_ids[id], IRQ_PASSIVE);
<> 144:ef7eb2e8f9f7 412 }
<> 144:ef7eb2e8f9f7 413
<> 144:ef7eb2e8f9f7 414 tmp1 = __HAL_CAN_GET_FLAG(&CanHandle, CAN_FLAG_BOF);
<> 144:ef7eb2e8f9f7 415 tmp2 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_BOF);
<> 144:ef7eb2e8f9f7 416 tmp3 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_ERR);
<> 144:ef7eb2e8f9f7 417 if(tmp1 && tmp2 && tmp3) {
<> 144:ef7eb2e8f9f7 418 irq_handler(can_irq_ids[id], IRQ_BUS);
<> 144:ef7eb2e8f9f7 419 }
<> 144:ef7eb2e8f9f7 420
<> 144:ef7eb2e8f9f7 421 tmp3 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_ERR);
<> 144:ef7eb2e8f9f7 422 if(tmp1 && tmp2 && tmp3) {
<> 144:ef7eb2e8f9f7 423 irq_handler(can_irq_ids[id], IRQ_ERROR);
<> 144:ef7eb2e8f9f7 424 }
<> 144:ef7eb2e8f9f7 425 }
<> 144:ef7eb2e8f9f7 426
<> 144:ef7eb2e8f9f7 427 void CAN1_RX0_IRQHandler(void)
<> 144:ef7eb2e8f9f7 428 {
<> 144:ef7eb2e8f9f7 429 can_irq(CAN_1, 0);
<> 144:ef7eb2e8f9f7 430 }
<> 144:ef7eb2e8f9f7 431
<> 144:ef7eb2e8f9f7 432 void CAN1_TX_IRQHandler(void)
<> 144:ef7eb2e8f9f7 433 {
<> 144:ef7eb2e8f9f7 434 can_irq(CAN_1, 0);
<> 144:ef7eb2e8f9f7 435 }
<> 144:ef7eb2e8f9f7 436
<> 144:ef7eb2e8f9f7 437 void CAN1_SCE_IRQHandler(void)
<> 144:ef7eb2e8f9f7 438 {
<> 144:ef7eb2e8f9f7 439 can_irq(CAN_1, 0);
<> 144:ef7eb2e8f9f7 440 }
<> 144:ef7eb2e8f9f7 441
<> 144:ef7eb2e8f9f7 442 void CAN2_RX0_IRQHandler(void)
<> 144:ef7eb2e8f9f7 443 {
<> 144:ef7eb2e8f9f7 444 can_irq(CAN_2, 1);
<> 144:ef7eb2e8f9f7 445 }
<> 144:ef7eb2e8f9f7 446
<> 144:ef7eb2e8f9f7 447 void CAN2_TX_IRQHandler(void)
<> 144:ef7eb2e8f9f7 448 {
<> 144:ef7eb2e8f9f7 449 can_irq(CAN_2, 1);
<> 144:ef7eb2e8f9f7 450 }
<> 144:ef7eb2e8f9f7 451
<> 144:ef7eb2e8f9f7 452 void CAN2_SCE_IRQHandler(void)
<> 144:ef7eb2e8f9f7 453 {
<> 144:ef7eb2e8f9f7 454 can_irq(CAN_2, 1);
<> 144:ef7eb2e8f9f7 455 }
<> 144:ef7eb2e8f9f7 456
<> 144:ef7eb2e8f9f7 457 void can_irq_set(can_t *obj, CanIrqType type, uint32_t enable)
<> 144:ef7eb2e8f9f7 458 {
<> 144:ef7eb2e8f9f7 459
<> 144:ef7eb2e8f9f7 460 CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
<> 144:ef7eb2e8f9f7 461 IRQn_Type irq_n = (IRQn_Type)0;
<> 144:ef7eb2e8f9f7 462 uint32_t vector = 0;
<> 144:ef7eb2e8f9f7 463 uint32_t ier;
<> 144:ef7eb2e8f9f7 464
<> 144:ef7eb2e8f9f7 465 if(obj->can == CAN_1) {
<> 144:ef7eb2e8f9f7 466 switch (type) {
<> 144:ef7eb2e8f9f7 467 case IRQ_RX:
<> 144:ef7eb2e8f9f7 468 ier = CAN_IT_FMP0;
<> 144:ef7eb2e8f9f7 469 irq_n = CAN1_RX0_IRQn;
<> 144:ef7eb2e8f9f7 470 vector = (uint32_t)&CAN1_RX0_IRQHandler;
<> 144:ef7eb2e8f9f7 471 break;
<> 144:ef7eb2e8f9f7 472 case IRQ_TX:
<> 144:ef7eb2e8f9f7 473 ier = CAN_IT_TME;
<> 144:ef7eb2e8f9f7 474 irq_n = CAN1_TX_IRQn;
<> 144:ef7eb2e8f9f7 475 vector = (uint32_t)&CAN1_TX_IRQHandler;
<> 144:ef7eb2e8f9f7 476 break;
<> 144:ef7eb2e8f9f7 477 case IRQ_ERROR:
<> 144:ef7eb2e8f9f7 478 ier = CAN_IT_ERR;
<> 144:ef7eb2e8f9f7 479 irq_n = CAN1_SCE_IRQn;
<> 144:ef7eb2e8f9f7 480 vector = (uint32_t)&CAN1_SCE_IRQHandler;
<> 144:ef7eb2e8f9f7 481 break;
<> 144:ef7eb2e8f9f7 482 case IRQ_PASSIVE:
<> 144:ef7eb2e8f9f7 483 ier = CAN_IT_EPV;
<> 144:ef7eb2e8f9f7 484 irq_n = CAN1_SCE_IRQn;
<> 144:ef7eb2e8f9f7 485 vector = (uint32_t)&CAN1_SCE_IRQHandler;
<> 144:ef7eb2e8f9f7 486 break;
<> 144:ef7eb2e8f9f7 487 case IRQ_BUS:
<> 144:ef7eb2e8f9f7 488 ier = CAN_IT_BOF;
<> 144:ef7eb2e8f9f7 489 irq_n = CAN1_SCE_IRQn;
<> 144:ef7eb2e8f9f7 490 vector = (uint32_t)&CAN1_SCE_IRQHandler;
<> 144:ef7eb2e8f9f7 491 break;
<> 144:ef7eb2e8f9f7 492 default: return;
<> 144:ef7eb2e8f9f7 493 }
<> 144:ef7eb2e8f9f7 494 } else {
<> 144:ef7eb2e8f9f7 495 switch (type) {
<> 144:ef7eb2e8f9f7 496 case IRQ_RX:
<> 144:ef7eb2e8f9f7 497 ier = CAN_IT_FMP0;
<> 144:ef7eb2e8f9f7 498 irq_n = CAN2_RX0_IRQn;
<> 144:ef7eb2e8f9f7 499 vector = (uint32_t)&CAN2_RX0_IRQHandler;
<> 144:ef7eb2e8f9f7 500 break;
<> 144:ef7eb2e8f9f7 501 case IRQ_TX:
<> 144:ef7eb2e8f9f7 502 ier = CAN_IT_TME;
<> 144:ef7eb2e8f9f7 503 irq_n = CAN2_TX_IRQn;
<> 144:ef7eb2e8f9f7 504 vector = (uint32_t)&CAN2_TX_IRQHandler;
<> 144:ef7eb2e8f9f7 505 break;
<> 144:ef7eb2e8f9f7 506 case IRQ_ERROR:
<> 144:ef7eb2e8f9f7 507 ier = CAN_IT_ERR;
<> 144:ef7eb2e8f9f7 508 irq_n = CAN2_SCE_IRQn;
<> 144:ef7eb2e8f9f7 509 vector = (uint32_t)&CAN2_SCE_IRQHandler;
<> 144:ef7eb2e8f9f7 510 break;
<> 144:ef7eb2e8f9f7 511 case IRQ_PASSIVE:
<> 144:ef7eb2e8f9f7 512 ier = CAN_IT_EPV;
<> 144:ef7eb2e8f9f7 513 irq_n = CAN2_SCE_IRQn;
<> 144:ef7eb2e8f9f7 514 vector = (uint32_t)&CAN2_SCE_IRQHandler;
<> 144:ef7eb2e8f9f7 515 break;
<> 144:ef7eb2e8f9f7 516 case IRQ_BUS:
<> 144:ef7eb2e8f9f7 517 ier = CAN_IT_BOF;
<> 144:ef7eb2e8f9f7 518 irq_n = CAN2_SCE_IRQn;
<> 144:ef7eb2e8f9f7 519 vector = (uint32_t)&CAN2_SCE_IRQHandler;
<> 144:ef7eb2e8f9f7 520 break;
<> 144:ef7eb2e8f9f7 521 default: return;
<> 144:ef7eb2e8f9f7 522 }
<> 144:ef7eb2e8f9f7 523 }
<> 144:ef7eb2e8f9f7 524
<> 144:ef7eb2e8f9f7 525 if(enable) {
<> 144:ef7eb2e8f9f7 526 can->IER |= ier;
<> 144:ef7eb2e8f9f7 527 } else {
<> 144:ef7eb2e8f9f7 528 can->IER &= ~ier;
<> 144:ef7eb2e8f9f7 529 }
<> 144:ef7eb2e8f9f7 530
<> 144:ef7eb2e8f9f7 531 NVIC_SetVector(irq_n, vector);
<> 144:ef7eb2e8f9f7 532 NVIC_EnableIRQ(irq_n);
<> 144:ef7eb2e8f9f7 533 }
<> 144:ef7eb2e8f9f7 534
<> 144:ef7eb2e8f9f7 535 #endif // DEVICE_CAN
<> 144:ef7eb2e8f9f7 536