John Karatka / mbed

mbed

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targets/TARGET_NUVOTON/TARGET_M451/can_api.c@182:57724642e740, 2018-02-16 (annotated)

Committer:
AnnaBridge
Date:
Fri Feb 16 16:09:33 2018 +0000
Revision:
182:57724642e740
Parent:
167:e84263d55307 
mbed-dev library. Release version 159.

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"
<> 160:d5399cc887bb 29 #include "mbed_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
AnnaBridge 167:e84263d55307 45 void can_init_freq(can_t *obj, PinName rd, PinName td, int hz)
AnnaBridge 167:e84263d55307 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
AnnaBridge 167:e84263d55307 72 CAN_Open((CAN_T *)NU_MODBASE(obj->can), hz, CAN_NORMAL_MODE);
<> 150:02e0a0aed4ec 73
<> 150:02e0a0aed4ec 74 can_filter(obj, 0, 0, CANStandard, 0);
<> 150:02e0a0aed4ec 75 }
AnnaBridge 167:e84263d55307 76
AnnaBridge 167:e84263d55307 77
AnnaBridge 167:e84263d55307 78 void can_init(can_t *obj, PinName rd, PinName td)
AnnaBridge 167:e84263d55307 79 {
AnnaBridge 167:e84263d55307 80 can_init_freq(obj, rd, td, 500000);
AnnaBridge 167:e84263d55307 81 }
AnnaBridge 167:e84263d55307 82
AnnaBridge 167:e84263d55307 83
<> 150:02e0a0aed4ec 84 void can_free(can_t *obj)
<> 150:02e0a0aed4ec 85 {
<> 150:02e0a0aed4ec 86
<> 150:02e0a0aed4ec 87 const struct nu_modinit_s *modinit = get_modinit(obj->can, can_modinit_tab);
<> 150:02e0a0aed4ec 88
<> 150:02e0a0aed4ec 89 MBED_ASSERT(modinit != NULL);
<> 150:02e0a0aed4ec 90 MBED_ASSERT(modinit->modname == obj->can);
<> 150:02e0a0aed4ec 91
<> 150:02e0a0aed4ec 92 // Reset this module
<> 150:02e0a0aed4ec 93 SYS_ResetModule(modinit->rsetidx);
<> 150:02e0a0aed4ec 94
<> 150:02e0a0aed4ec 95 CLK_DisableModuleClock(modinit->clkidx);
<> 150:02e0a0aed4ec 96 }
<> 150:02e0a0aed4ec 97
<> 150:02e0a0aed4ec 98 int can_frequency(can_t *obj, int hz)
<> 150:02e0a0aed4ec 99 {
<> 161:2cc1468da177 100 CAN_SetBaudRate((CAN_T *)NU_MODBASE(obj->can), hz);
<> 150:02e0a0aed4ec 101
<> 161:2cc1468da177 102 return CAN_GetCANBitRate((CAN_T *)NU_MODBASE(obj->can));
<> 150:02e0a0aed4ec 103 }
<> 150:02e0a0aed4ec 104
<> 150:02e0a0aed4ec 105 static void can_irq(CANName name, int id)
<> 150:02e0a0aed4ec 106 {
<> 150:02e0a0aed4ec 107
<> 150:02e0a0aed4ec 108 CAN_T *can = (CAN_T *)NU_MODBASE(name);
<> 150:02e0a0aed4ec 109 uint32_t u8IIDRstatus;
<> 150:02e0a0aed4ec 110
<> 150:02e0a0aed4ec 111 u8IIDRstatus = can->IIDR;
<> 150:02e0a0aed4ec 112
<> 150:02e0a0aed4ec 113 if(u8IIDRstatus == 0x00008000) { /* Check Status Interrupt Flag (Error status Int and Status change Int) */
<> 150:02e0a0aed4ec 114 /**************************/
<> 150:02e0a0aed4ec 115 /* Status Change interrupt*/
<> 150:02e0a0aed4ec 116 /**************************/
<> 150:02e0a0aed4ec 117 if(can->STATUS & CAN_STATUS_RXOK_Msk) {
<> 150:02e0a0aed4ec 118 can->STATUS &= ~CAN_STATUS_RXOK_Msk; /* Clear Rx Ok status*/
<> 150:02e0a0aed4ec 119 can0_irq_handler(can_irq_ids[id], IRQ_RX);
<> 150:02e0a0aed4ec 120 }
<> 150:02e0a0aed4ec 121
<> 150:02e0a0aed4ec 122 if(can->STATUS & CAN_STATUS_TXOK_Msk) {
<> 150:02e0a0aed4ec 123 can->STATUS &= ~CAN_STATUS_TXOK_Msk; /* Clear Tx Ok status*/
<> 150:02e0a0aed4ec 124 can0_irq_handler(can_irq_ids[id], IRQ_TX);
<> 150:02e0a0aed4ec 125 }
<> 150:02e0a0aed4ec 126
<> 150:02e0a0aed4ec 127 /**************************/
<> 150:02e0a0aed4ec 128 /* Error Status interrupt */
<> 150:02e0a0aed4ec 129 /**************************/
<> 150:02e0a0aed4ec 130 if(can->STATUS & CAN_STATUS_EWARN_Msk) {
<> 150:02e0a0aed4ec 131 can0_irq_handler(can_irq_ids[id], IRQ_ERROR);
<> 150:02e0a0aed4ec 132 }
<> 150:02e0a0aed4ec 133
<> 150:02e0a0aed4ec 134 if(can->STATUS & CAN_STATUS_BOFF_Msk) {
<> 150:02e0a0aed4ec 135 can0_irq_handler(can_irq_ids[id], IRQ_BUS);
<> 150:02e0a0aed4ec 136 }
<> 150:02e0a0aed4ec 137 } else if (u8IIDRstatus!=0) {
<> 150:02e0a0aed4ec 138
<> 150:02e0a0aed4ec 139 can0_irq_handler(can_irq_ids[id], IRQ_OVERRUN);
<> 150:02e0a0aed4ec 140
<> 150:02e0a0aed4ec 141 CAN_CLR_INT_PENDING_BIT(can, ((can->IIDR) -1)); /* Clear Interrupt Pending */
<> 150:02e0a0aed4ec 142
<> 150:02e0a0aed4ec 143 } else if(can->WU_STATUS == 1) {
<> 150:02e0a0aed4ec 144
<> 150:02e0a0aed4ec 145 can->WU_STATUS = 0; /* Write '0' to clear */
<> 150:02e0a0aed4ec 146 can0_irq_handler(can_irq_ids[id], IRQ_WAKEUP);
<> 150:02e0a0aed4ec 147 }
<> 150:02e0a0aed4ec 148 }
<> 150:02e0a0aed4ec 149
<> 150:02e0a0aed4ec 150 void CAN0_IRQHandler(void)
<> 150:02e0a0aed4ec 151 {
<> 150:02e0a0aed4ec 152 can_irq(CAN_0, 0);
<> 150:02e0a0aed4ec 153 }
<> 150:02e0a0aed4ec 154
<> 150:02e0a0aed4ec 155 void can_irq_init(can_t *obj, can_irq_handler handler, uint32_t id)
<> 150:02e0a0aed4ec 156 {
<> 150:02e0a0aed4ec 157 can0_irq_handler = handler;
<> 150:02e0a0aed4ec 158 can_irq_ids[obj->index] = id;
<> 150:02e0a0aed4ec 159 }
<> 150:02e0a0aed4ec 160
<> 150:02e0a0aed4ec 161 void can_irq_free(can_t *obj)
<> 150:02e0a0aed4ec 162 {
<> 161:2cc1468da177 163 CAN_DisableInt((CAN_T *)NU_MODBASE(obj->can), (CAN_CON_IE_Msk|CAN_CON_SIE_Msk|CAN_CON_EIE_Msk));
<> 150:02e0a0aed4ec 164
<> 150:02e0a0aed4ec 165 can_irq_ids[obj->index] = 0;
<> 150:02e0a0aed4ec 166
<> 150:02e0a0aed4ec 167 NVIC_DisableIRQ(CAN0_IRQn);
<> 150:02e0a0aed4ec 168 }
<> 150:02e0a0aed4ec 169
<> 150:02e0a0aed4ec 170 void can_irq_set(can_t *obj, CanIrqType irq, uint32_t enable)
<> 150:02e0a0aed4ec 171 {
<> 161:2cc1468da177 172 CAN_T *can_base = (CAN_T *) NU_MODBASE(obj->can);
<> 150:02e0a0aed4ec 173
<> 161:2cc1468da177 174 CAN_EnterInitMode(can_base, ((enable != 0 )? CAN_CON_IE_Msk :0) );
<> 150:02e0a0aed4ec 175
<> 150:02e0a0aed4ec 176
<> 150:02e0a0aed4ec 177 switch (irq)
<> 150:02e0a0aed4ec 178 {
<> 150:02e0a0aed4ec 179 case IRQ_ERROR:
<> 150:02e0a0aed4ec 180 case IRQ_BUS:
<> 150:02e0a0aed4ec 181 case IRQ_PASSIVE:
<> 161:2cc1468da177 182 can_base->CON = can_base->CON |CAN_CON_EIE_Msk;
<> 161:2cc1468da177 183 can_base->CON = can_base->CON |CAN_CON_SIE_Msk;
<> 150:02e0a0aed4ec 184 break;
<> 150:02e0a0aed4ec 185
<> 150:02e0a0aed4ec 186 case IRQ_RX:
<> 150:02e0a0aed4ec 187 case IRQ_TX:
<> 150:02e0a0aed4ec 188 case IRQ_OVERRUN:
<> 150:02e0a0aed4ec 189 case IRQ_WAKEUP:
<> 161:2cc1468da177 190 can_base->CON = can_base->CON |CAN_CON_SIE_Msk;
<> 150:02e0a0aed4ec 191 break;
<> 150:02e0a0aed4ec 192
<> 150:02e0a0aed4ec 193 default:
<> 150:02e0a0aed4ec 194 break;
<> 150:02e0a0aed4ec 195
<> 150:02e0a0aed4ec 196 }
<> 150:02e0a0aed4ec 197
<> 161:2cc1468da177 198 CAN_LeaveInitMode(can_base);
<> 150:02e0a0aed4ec 199
<> 150:02e0a0aed4ec 200 NVIC_SetVector(CAN0_IRQn, (uint32_t)&CAN0_IRQHandler);
<> 150:02e0a0aed4ec 201 NVIC_EnableIRQ(CAN0_IRQn);
<> 150:02e0a0aed4ec 202
<> 150:02e0a0aed4ec 203 }
<> 150:02e0a0aed4ec 204
<> 150:02e0a0aed4ec 205 int can_write(can_t *obj, CAN_Message msg, int cc)
<> 150:02e0a0aed4ec 206 {
<> 150:02e0a0aed4ec 207 STR_CANMSG_T CMsg;
<> 150:02e0a0aed4ec 208
<> 150:02e0a0aed4ec 209 CMsg.IdType = (uint32_t)msg.format;
<> 150:02e0a0aed4ec 210 CMsg.FrameType = (uint32_t)!msg.type;
<> 150:02e0a0aed4ec 211 CMsg.Id = msg.id;
<> 150:02e0a0aed4ec 212 CMsg.DLC = msg.len;
<> 150:02e0a0aed4ec 213 memcpy((void *)&CMsg.Data[0],(const void *)&msg.data[0], (unsigned int)8);
<> 150:02e0a0aed4ec 214
<> 161:2cc1468da177 215 return CAN_Transmit((CAN_T *)NU_MODBASE(obj->can), cc, &CMsg);
<> 150:02e0a0aed4ec 216 }
<> 150:02e0a0aed4ec 217
<> 150:02e0a0aed4ec 218 int can_read(can_t *obj, CAN_Message *msg, int handle)
<> 150:02e0a0aed4ec 219 {
<> 150:02e0a0aed4ec 220 STR_CANMSG_T CMsg;
<> 150:02e0a0aed4ec 221
<> 161:2cc1468da177 222 if(!CAN_Receive((CAN_T *)NU_MODBASE(obj->can), handle, &CMsg))
<> 150:02e0a0aed4ec 223 return 0;
<> 150:02e0a0aed4ec 224
<> 150:02e0a0aed4ec 225 msg->format = (CANFormat)CMsg.IdType;
<> 150:02e0a0aed4ec 226 msg->type = (CANType)!CMsg.FrameType;
<> 150:02e0a0aed4ec 227 msg->id = CMsg.Id;
<> 150:02e0a0aed4ec 228 msg->len = CMsg.DLC;
<> 150:02e0a0aed4ec 229 memcpy(&msg->data[0], &CMsg.Data[0], 8);
<> 150:02e0a0aed4ec 230
<> 150:02e0a0aed4ec 231 return 1;
<> 150:02e0a0aed4ec 232 }
<> 150:02e0a0aed4ec 233
<> 150:02e0a0aed4ec 234 int can_mode(can_t *obj, CanMode mode)
<> 150:02e0a0aed4ec 235 {
<> 161:2cc1468da177 236 CAN_T *can_base = (CAN_T *) NU_MODBASE(obj->can);
<> 161:2cc1468da177 237
<> 150:02e0a0aed4ec 238 int success = 0;
<> 150:02e0a0aed4ec 239 switch (mode)
<> 150:02e0a0aed4ec 240 {
<> 150:02e0a0aed4ec 241 case MODE_RESET:
<> 161:2cc1468da177 242 CAN_LeaveTestMode(can_base);
<> 150:02e0a0aed4ec 243 success = 1;
<> 150:02e0a0aed4ec 244 break;
<> 150:02e0a0aed4ec 245
<> 150:02e0a0aed4ec 246 case MODE_NORMAL:
<> 161:2cc1468da177 247 CAN_EnterTestMode(can_base, CAN_TEST_BASIC_Msk);
<> 150:02e0a0aed4ec 248 success = 1;
<> 150:02e0a0aed4ec 249 break;
<> 150:02e0a0aed4ec 250
<> 150:02e0a0aed4ec 251 case MODE_SILENT:
<> 161:2cc1468da177 252 CAN_EnterTestMode(can_base, CAN_TEST_SILENT_Msk);
<> 150:02e0a0aed4ec 253 success = 1;
<> 150:02e0a0aed4ec 254 break;
<> 150:02e0a0aed4ec 255
<> 150:02e0a0aed4ec 256 case MODE_TEST_LOCAL:
<> 150:02e0a0aed4ec 257 case MODE_TEST_GLOBAL:
<> 161:2cc1468da177 258 CAN_EnterTestMode(can_base, CAN_TEST_LBACK_Msk);
<> 150:02e0a0aed4ec 259 success = 1;
<> 150:02e0a0aed4ec 260 break;
<> 150:02e0a0aed4ec 261
<> 150:02e0a0aed4ec 262 case MODE_TEST_SILENT:
<> 161:2cc1468da177 263 CAN_EnterTestMode(can_base, CAN_TEST_SILENT_Msk | CAN_TEST_LBACK_Msk);
<> 150:02e0a0aed4ec 264 success = 1;
<> 150:02e0a0aed4ec 265 break;
<> 150:02e0a0aed4ec 266
<> 150:02e0a0aed4ec 267 default:
<> 150:02e0a0aed4ec 268 success = 0;
<> 150:02e0a0aed4ec 269 break;
<> 150:02e0a0aed4ec 270
<> 150:02e0a0aed4ec 271 }
<> 150:02e0a0aed4ec 272
<> 150:02e0a0aed4ec 273
<> 150:02e0a0aed4ec 274 return success;
<> 150:02e0a0aed4ec 275 }
<> 150:02e0a0aed4ec 276
<> 150:02e0a0aed4ec 277 int can_filter(can_t *obj, uint32_t id, uint32_t mask, CANFormat format, int32_t handle)
<> 150:02e0a0aed4ec 278 {
<> 161:2cc1468da177 279 return CAN_SetRxMsg((CAN_T *)NU_MODBASE(obj->can), handle , (uint32_t)format, id);
<> 150:02e0a0aed4ec 280 }
<> 150:02e0a0aed4ec 281
<> 150:02e0a0aed4ec 282
<> 150:02e0a0aed4ec 283 void can_reset(can_t *obj)
<> 150:02e0a0aed4ec 284 {
<> 150:02e0a0aed4ec 285 const struct nu_modinit_s *modinit = get_modinit(obj->can, can_modinit_tab);
<> 150:02e0a0aed4ec 286
<> 150:02e0a0aed4ec 287 MBED_ASSERT(modinit != NULL);
<> 150:02e0a0aed4ec 288 MBED_ASSERT(modinit->modname == obj->can);
<> 150:02e0a0aed4ec 289
<> 150:02e0a0aed4ec 290 // Reset this module
<> 150:02e0a0aed4ec 291 SYS_ResetModule(modinit->rsetidx);
<> 150:02e0a0aed4ec 292
<> 150:02e0a0aed4ec 293 }
<> 150:02e0a0aed4ec 294
<> 150:02e0a0aed4ec 295 unsigned char can_rderror(can_t *obj)
<> 150:02e0a0aed4ec 296 {
<> 161:2cc1468da177 297 CAN_T *can = (CAN_T *)NU_MODBASE(obj->can);
<> 150:02e0a0aed4ec 298 return ((can->ERR>>8)&0xFF);
<> 150:02e0a0aed4ec 299 }
<> 150:02e0a0aed4ec 300
<> 150:02e0a0aed4ec 301 unsigned char can_tderror(can_t *obj)
<> 150:02e0a0aed4ec 302 {
<> 161:2cc1468da177 303 CAN_T *can = (CAN_T *)NU_MODBASE(obj->can);
<> 150:02e0a0aed4ec 304 return ((can->ERR)&0xFF);
<> 150:02e0a0aed4ec 305 }
<> 150:02e0a0aed4ec 306
<> 150:02e0a0aed4ec 307 void can_monitor(can_t *obj, int silent)
<> 150:02e0a0aed4ec 308 {
<> 161:2cc1468da177 309 CAN_EnterTestMode((CAN_T *)NU_MODBASE(obj->can), CAN_TEST_SILENT_Msk);
<> 150:02e0a0aed4ec 310 }
<> 150:02e0a0aed4ec 311
<> 150:02e0a0aed4ec 312 #endif // DEVICE_CAN