John Karatka
mbed
Fork of
mbed-dev
by 
mbed official
Diff: targets/TARGET_STM/can_api.c
- Revision:
- 160:d5399cc887bb
- Child:
- 167:e84263d55307
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/targets/TARGET_STM/can_api.c Tue Mar 14 16:40:56 2017 +0000
@@ -0,0 +1,595 @@
+/* mbed Microcontroller Library
+ * Copyright (c) 2006-2017 ARM Limited
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+#include "can_api.h"
+
+#if DEVICE_CAN
+
+#include "cmsis.h"
+#include "pinmap.h"
+#include "PeripheralPins.h"
+#include "mbed_error.h"
+#include "can_device.h" // Specific to STM32 serie
+#include <math.h>
+#include <string.h>
+
+static CAN_HandleTypeDef CanHandle;
+static uint32_t can_irq_ids[CAN_NUM] = {0};
+static can_irq_handler irq_handler;
+
+void can_init(can_t *obj, PinName rd, PinName td)
+{
+ CANName can_rd = (CANName)pinmap_peripheral(rd, PinMap_CAN_RD);
+ CANName can_td = (CANName)pinmap_peripheral(td, PinMap_CAN_TD);
+
+ obj->can = (CANName)pinmap_merge(can_rd, can_td);
+ MBED_ASSERT((int)obj->can != NC);
+
+ if (obj->can == CAN_1) {
+ __HAL_RCC_CAN1_CLK_ENABLE();
+ obj->index = 0;
+ }
+#if defined(CAN2_BASE) && (CAN_NUM == 2)
+ else if (obj->can == CAN_2) {
+ __HAL_RCC_CAN1_CLK_ENABLE(); // needed to set filters
+ __HAL_RCC_CAN2_CLK_ENABLE();
+ obj->index = 1;
+ }
+#endif
+ else {
+ return;
+ }
+
+ // Configure the CAN pins
+ pinmap_pinout(rd, PinMap_CAN_RD);
+ pinmap_pinout(td, PinMap_CAN_TD);
+ if (rd != NC) {
+ pin_mode(rd, PullUp);
+ }
+ if (td != NC) {
+ pin_mode(td, PullUp);
+ }
+
+ CanHandle.Instance = (CAN_TypeDef *)(obj->can);
+
+ CanHandle.Init.TTCM = DISABLE;
+ CanHandle.Init.ABOM = DISABLE;
+ CanHandle.Init.AWUM = DISABLE;
+ CanHandle.Init.NART = DISABLE;
+ CanHandle.Init.RFLM = DISABLE;
+ CanHandle.Init.TXFP = DISABLE;
+ CanHandle.Init.Mode = CAN_MODE_NORMAL;
+ CanHandle.Init.SJW = CAN_SJW_1TQ;
+ CanHandle.Init.BS1 = CAN_BS1_6TQ;
+ CanHandle.Init.BS2 = CAN_BS2_8TQ;
+ CanHandle.Init.Prescaler = 2;
+
+ if (HAL_CAN_Init(&CanHandle) != HAL_OK) {
+ error("Cannot initialize CAN");
+ }
+
+ // Set initial CAN frequency to 100 kb/s
+ can_frequency(obj, 100000);
+
+ uint32_t filter_number = (obj->can == CAN_1) ? 0 : 14;
+ can_filter(obj, 0, 0, CANStandard, filter_number);
+}
+
+void can_irq_init(can_t *obj, can_irq_handler handler, uint32_t id)
+{
+ irq_handler = handler;
+ can_irq_ids[obj->index] = id;
+}
+
+void can_irq_free(can_t *obj)
+{
+ CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
+
+ can->IER &= ~(CAN_IT_FMP0 | CAN_IT_FMP1 | CAN_IT_TME | \
+ CAN_IT_ERR | CAN_IT_EPV | CAN_IT_BOF);
+ can_irq_ids[obj->can] = 0;
+}
+
+void can_free(can_t *obj)
+{
+ // Reset CAN and disable clock
+ if (obj->can == CAN_1) {
+ __HAL_RCC_CAN1_FORCE_RESET();
+ __HAL_RCC_CAN1_RELEASE_RESET();
+ __HAL_RCC_CAN1_CLK_DISABLE();
+ }
+#if defined(CAN2_BASE) && (CAN_NUM == 2)
+ if (obj->can == CAN_2) {
+ __HAL_RCC_CAN2_FORCE_RESET();
+ __HAL_RCC_CAN2_RELEASE_RESET();
+ __HAL_RCC_CAN2_CLK_DISABLE();
+ }
+#endif
+}
+
+// The following table is used to program bit_timing. It is an adjustment of the sample
+// point by synchronizing on the start-bit edge and resynchronizing on the following edges.
+// This table has the sampling points as close to 75% as possible (most commonly used).
+// The first value is TSEG1, the second TSEG2.
+static const int timing_pts[23][2] = {
+ {0x0, 0x0}, // 2, 50%
+ {0x1, 0x0}, // 3, 67%
+ {0x2, 0x0}, // 4, 75%
+ {0x3, 0x0}, // 5, 80%
+ {0x3, 0x1}, // 6, 67%
+ {0x4, 0x1}, // 7, 71%
+ {0x5, 0x1}, // 8, 75%
+ {0x6, 0x1}, // 9, 78%
+ {0x6, 0x2}, // 10, 70%
+ {0x7, 0x2}, // 11, 73%
+ {0x8, 0x2}, // 12, 75%
+ {0x9, 0x2}, // 13, 77%
+ {0x9, 0x3}, // 14, 71%
+ {0xA, 0x3}, // 15, 73%
+ {0xB, 0x3}, // 16, 75%
+ {0xC, 0x3}, // 17, 76%
+ {0xD, 0x3}, // 18, 78%
+ {0xD, 0x4}, // 19, 74%
+ {0xE, 0x4}, // 20, 75%
+ {0xF, 0x4}, // 21, 76%
+ {0xF, 0x5}, // 22, 73%
+ {0xF, 0x6}, // 23, 70%
+ {0xF, 0x7}, // 24, 67%
+};
+
+static unsigned int can_speed(unsigned int pclk, unsigned int cclk, unsigned char psjw)
+{
+ uint32_t btr;
+ uint16_t brp = 0;
+ uint32_t calcbit;
+ uint32_t bitwidth;
+ int hit = 0;
+ int bits;
+
+ bitwidth = (pclk / cclk);
+
+ brp = bitwidth / 0x18;
+ while ((!hit) && (brp < bitwidth / 4)) {
+ brp++;
+ for (bits = 22; bits > 0; bits--) {
+ calcbit = (bits + 3) * (brp + 1);
+ if (calcbit == bitwidth) {
+ hit = 1;
+ break;
+ }
+ }
+ }
+
+ if (hit) {
+ btr = ((timing_pts[bits][1] << 20) & 0x00700000)
+ | ((timing_pts[bits][0] << 16) & 0x000F0000)
+ | ((psjw << 24) & 0x0000C000)
+ | ((brp << 0) & 0x000003FF);
+ } else {
+ btr = 0xFFFFFFFF;
+ }
+
+ return btr;
+
+}
+
+int can_frequency(can_t *obj, int f)
+{
+ int pclk = HAL_RCC_GetPCLK1Freq();
+ int btr = can_speed(pclk, (unsigned int)f, 1);
+ CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
+
+ if (btr > 0) {
+ can->MCR |= CAN_MCR_INRQ ;
+ while ((can->MSR & CAN_MSR_INAK) != CAN_MSR_INAK) {
+ }
+ can->BTR = btr;
+ can->MCR &= ~(uint32_t)CAN_MCR_INRQ;
+ while ((can->MSR & CAN_MSR_INAK) == CAN_MSR_INAK) {
+ }
+ return 1;
+ } else {
+ return 0;
+ }
+}
+
+int can_write(can_t *obj, CAN_Message msg, int cc)
+{
+ uint32_t transmitmailbox = CAN_TXSTATUS_NOMAILBOX;
+ CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
+
+ /* Select one empty transmit mailbox */
+ if ((can->TSR & CAN_TSR_TME0) == CAN_TSR_TME0) {
+ transmitmailbox = 0;
+ } else if ((can->TSR & CAN_TSR_TME1) == CAN_TSR_TME1) {
+ transmitmailbox = 1;
+ } else if ((can->TSR & CAN_TSR_TME2) == CAN_TSR_TME2) {
+ transmitmailbox = 2;
+ } else {
+ return 0;
+ }
+
+ can->sTxMailBox[transmitmailbox].TIR &= CAN_TI0R_TXRQ;
+ if (!(msg.format)) {
+ can->sTxMailBox[transmitmailbox].TIR |= ((msg.id << 21) | msg.type);
+ } else {
+ can->sTxMailBox[transmitmailbox].TIR |= ((msg.id << 3) | CAN_ID_EXT | msg.type);
+ }
+
+ /* Set up the DLC */
+ can->sTxMailBox[transmitmailbox].TDTR &= (uint32_t)0xFFFFFFF0;
+ can->sTxMailBox[transmitmailbox].TDTR |= (msg.len & (uint8_t)0x0000000F);
+
+ /* Set up the data field */
+ can->sTxMailBox[transmitmailbox].TDLR = (((uint32_t)msg.data[3] << 24) |
+ ((uint32_t)msg.data[2] << 16) |
+ ((uint32_t)msg.data[1] << 8) |
+ ((uint32_t)msg.data[0]));
+ can->sTxMailBox[transmitmailbox].TDHR = (((uint32_t)msg.data[7] << 24) |
+ ((uint32_t)msg.data[6] << 16) |
+ ((uint32_t)msg.data[5] << 8) |
+ ((uint32_t)msg.data[4]));
+ /* Request transmission */
+ can->sTxMailBox[transmitmailbox].TIR |= CAN_TI0R_TXRQ;
+
+ return 1;
+}
+
+int can_read(can_t *obj, CAN_Message *msg, int handle)
+{
+ //handle is the FIFO number
+
+ CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
+
+ // check FPM0 which holds the pending message count in FIFO 0
+ // if no message is pending, return 0
+ if ((can->RF0R & CAN_RF0R_FMP0) == 0) {
+ return 0;
+ }
+
+ /* Get the Id */
+ msg->format = (CANFormat)(((uint8_t)0x04 & can->sFIFOMailBox[handle].RIR) >> 2);
+ if (!msg->format) {
+ msg->id = (uint32_t)0x000007FF & (can->sFIFOMailBox[handle].RIR >> 21);
+ } else {
+ msg->id = (uint32_t)0x1FFFFFFF & (can->sFIFOMailBox[handle].RIR >> 3);
+ }
+
+ msg->type = (CANType)(((uint8_t)0x02 & can->sFIFOMailBox[handle].RIR) >> 1);
+ /* Get the DLC */
+ msg->len = (uint8_t)0x0F & can->sFIFOMailBox[handle].RDTR;
+ /* Get the FMI */
+ // msg->FMI = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDTR >> 8);
+ /* Get the data field */
+ msg->data[0] = (uint8_t)0xFF & can->sFIFOMailBox[handle].RDLR;
+ msg->data[1] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDLR >> 8);
+ msg->data[2] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDLR >> 16);
+ msg->data[3] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDLR >> 24);
+ msg->data[4] = (uint8_t)0xFF & can->sFIFOMailBox[handle].RDHR;
+ msg->data[5] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDHR >> 8);
+ msg->data[6] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDHR >> 16);
+ msg->data[7] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDHR >> 24);
+
+ /* Release the FIFO */
+ if (handle == CAN_FIFO0) {
+ /* Release FIFO0 */
+ can->RF0R |= CAN_RF0R_RFOM0;
+ } else { /* FIFONumber == CAN_FIFO1 */
+ /* Release FIFO1 */
+ can->RF1R |= CAN_RF1R_RFOM1;
+ }
+
+ return 1;
+}
+
+void can_reset(can_t *obj)
+{
+ CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
+ can->MCR |= CAN_MCR_RESET;
+ can->ESR = 0x0;
+}
+
+unsigned char can_rderror(can_t *obj)
+{
+ CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
+ return (can->ESR >> 24) & 0xFF;
+}
+
+unsigned char can_tderror(can_t *obj)
+{
+ CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
+ return (can->ESR >> 16) & 0xFF;
+}
+
+void can_monitor(can_t *obj, int silent)
+{
+ CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
+
+ can->MCR |= CAN_MCR_INRQ ;
+ while ((can->MSR & CAN_MSR_INAK) != CAN_MSR_INAK) {
+ }
+
+ if (silent) {
+ can->BTR |= ((uint32_t)1 << 31);
+ } else {
+ can->BTR &= ~((uint32_t)1 << 31);
+ }
+
+ can->MCR &= ~(uint32_t)CAN_MCR_INRQ;
+ while ((can->MSR & CAN_MSR_INAK) == CAN_MSR_INAK) {
+ }
+}
+
+int can_mode(can_t *obj, CanMode mode)
+{
+ int success = 0;
+ CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
+
+ can->MCR |= CAN_MCR_INRQ ;
+ while ((can->MSR & CAN_MSR_INAK) != CAN_MSR_INAK) {
+ }
+
+ switch (mode) {
+ case MODE_NORMAL:
+ can->BTR &= ~(CAN_BTR_SILM | CAN_BTR_LBKM);
+ success = 1;
+ break;
+ case MODE_SILENT:
+ can->BTR |= CAN_BTR_SILM;
+ can->BTR &= ~CAN_BTR_LBKM;
+ success = 1;
+ break;
+ case MODE_TEST_GLOBAL:
+ case MODE_TEST_LOCAL:
+ can->BTR |= CAN_BTR_LBKM;
+ can->BTR &= ~CAN_BTR_SILM;
+ success = 1;
+ break;
+ case MODE_TEST_SILENT:
+ can->BTR |= (CAN_BTR_SILM | CAN_BTR_LBKM);
+ success = 1;
+ break;
+ default:
+ success = 0;
+ break;
+ }
+
+ can->MCR &= ~(uint32_t)CAN_MCR_INRQ;
+ while ((can->MSR & CAN_MSR_INAK) == CAN_MSR_INAK) {
+ }
+
+ return success;
+}
+
+int can_filter(can_t *obj, uint32_t id, uint32_t mask, CANFormat format, int32_t handle)
+{
+ int retval = 0;
+
+ // filter for CANAny format cannot be configured for STM32
+ if ((format == CANStandard) || (format == CANExtended)) {
+ CanHandle.Instance = (CAN_TypeDef *)(obj->can);
+ CAN_FilterConfTypeDef sFilterConfig;
+ sFilterConfig.FilterNumber = handle;
+ sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
+ sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
+
+ if (format == CANStandard) {
+ sFilterConfig.FilterIdHigh = id << 5;
+ sFilterConfig.FilterIdLow = 0x0;
+ sFilterConfig.FilterMaskIdHigh = mask << 5;
+ sFilterConfig.FilterMaskIdLow = 0x0; // allows both remote and data frames
+ } else if (format == CANExtended) {
+ sFilterConfig.FilterIdHigh = id >> 13; // EXTID[28:13]
+ sFilterConfig.FilterIdLow = (0x00FF & (id << 3)) | (1 << 2); // EXTID[12:0]
+ sFilterConfig.FilterMaskIdHigh = mask >> 13;
+ sFilterConfig.FilterMaskIdLow = (0x00FF & (mask << 3)) | (1 << 2);
+ }
+
+ sFilterConfig.FilterFIFOAssignment = 0;
+ sFilterConfig.FilterActivation = ENABLE;
+ sFilterConfig.BankNumber = 14 + handle;
+
+ HAL_CAN_ConfigFilter(&CanHandle, &sFilterConfig);
+ retval = handle;
+ }
+ return retval;
+}
+
+static void can_irq(CANName name, int id)
+{
+ uint32_t tmp1 = 0, tmp2 = 0, tmp3 = 0;
+ CanHandle.Instance = (CAN_TypeDef *)name;
+
+ if (__HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_TME)) {
+ tmp1 = __HAL_CAN_TRANSMIT_STATUS(&CanHandle, CAN_TXMAILBOX_0);
+ tmp2 = __HAL_CAN_TRANSMIT_STATUS(&CanHandle, CAN_TXMAILBOX_1);
+ tmp3 = __HAL_CAN_TRANSMIT_STATUS(&CanHandle, CAN_TXMAILBOX_2);
+ if (tmp1) {
+ __HAL_CAN_CLEAR_FLAG(&CanHandle, CAN_FLAG_RQCP0);
+ }
+ if (tmp2) {
+ __HAL_CAN_CLEAR_FLAG(&CanHandle, CAN_FLAG_RQCP1);
+ }
+ if (tmp3) {
+ __HAL_CAN_CLEAR_FLAG(&CanHandle, CAN_FLAG_RQCP2);
+ }
+ if (tmp1 || tmp2 || tmp3) {
+ irq_handler(can_irq_ids[id], IRQ_TX);
+ }
+ }
+
+ tmp1 = __HAL_CAN_MSG_PENDING(&CanHandle, CAN_FIFO0);
+ tmp2 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_FMP0);
+
+ if ((tmp1 != 0) && tmp2) {
+ irq_handler(can_irq_ids[id], IRQ_RX);
+ }
+
+ tmp1 = __HAL_CAN_GET_FLAG(&CanHandle, CAN_FLAG_EPV);
+ tmp2 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_EPV);
+ tmp3 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_ERR);
+
+ if (tmp1 && tmp2 && tmp3) {
+ irq_handler(can_irq_ids[id], IRQ_PASSIVE);
+ }
+
+ tmp1 = __HAL_CAN_GET_FLAG(&CanHandle, CAN_FLAG_BOF);
+ tmp2 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_BOF);
+ tmp3 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_ERR);
+ if (tmp1 && tmp2 && tmp3) {
+ irq_handler(can_irq_ids[id], IRQ_BUS);
+ }
+
+ tmp3 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_ERR);
+ if (tmp1 && tmp2 && tmp3) {
+ irq_handler(can_irq_ids[id], IRQ_ERROR);
+ }
+}
+
+#if defined(TARGET_STM32F0)
+void CAN_IRQHandler(void)
+{
+ can_irq(CAN_1, 0);
+}
+#elif defined(TARGET_STM32F3)
+void CAN_RX0_IRQHandler(void)
+{
+ can_irq(CAN_1, 0);
+}
+void CAN_TX_IRQHandler(void)
+{
+ can_irq(CAN_1, 0);
+}
+void CAN_SCE_IRQHandler(void)
+{
+ can_irq(CAN_1, 0);
+}
+#else
+void CAN1_RX0_IRQHandler(void)
+{
+ can_irq(CAN_1, 0);
+}
+void CAN1_TX_IRQHandler(void)
+{
+ can_irq(CAN_1, 0);
+}
+void CAN1_SCE_IRQHandler(void)
+{
+ can_irq(CAN_1, 0);
+}
+#if defined(CAN2_BASE) && (CAN_NUM == 2)
+void CAN2_RX0_IRQHandler(void)
+{
+ can_irq(CAN_2, 1);
+}
+void CAN2_TX_IRQHandler(void)
+{
+ can_irq(CAN_2, 1);
+}
+void CAN2_SCE_IRQHandler(void)
+{
+ can_irq(CAN_2, 1);
+}
+#endif // defined(CAN2_BASE) && (CAN_NUM == 2)
+#endif // else
+
+void can_irq_set(can_t *obj, CanIrqType type, uint32_t enable)
+{
+
+ CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
+ IRQn_Type irq_n = (IRQn_Type)0;
+ uint32_t vector = 0;
+ uint32_t ier;
+
+ if (obj->can == CAN_1) {
+ switch (type) {
+ case IRQ_RX:
+ ier = CAN_IT_FMP0;
+ irq_n = CAN1_IRQ_RX_IRQN;
+ vector = (uint32_t)&CAN1_IRQ_RX_VECT;
+ break;
+ case IRQ_TX:
+ ier = CAN_IT_TME;
+ irq_n = CAN1_IRQ_TX_IRQN;
+ vector = (uint32_t)&CAN1_IRQ_TX_VECT;
+ break;
+ case IRQ_ERROR:
+ ier = CAN_IT_ERR;
+ irq_n = CAN1_IRQ_ERROR_IRQN;
+ vector = (uint32_t)&CAN1_IRQ_ERROR_VECT;
+ break;
+ case IRQ_PASSIVE:
+ ier = CAN_IT_EPV;
+ irq_n = CAN1_IRQ_PASSIVE_IRQN;
+ vector = (uint32_t)&CAN1_IRQ_PASSIVE_VECT;
+ break;
+ case IRQ_BUS:
+ ier = CAN_IT_BOF;
+ irq_n = CAN1_IRQ_BUS_IRQN;
+ vector = (uint32_t)&CAN1_IRQ_BUS_VECT;
+ break;
+ default:
+ return;
+ }
+ }
+#if defined(CAN2_BASE) && (CAN_NUM == 2)
+ else if (obj->can == CAN_2) {
+ switch (type) {
+ case IRQ_RX:
+ ier = CAN_IT_FMP0;
+ irq_n = CAN2_IRQ_RX_IRQN;
+ vector = (uint32_t)&CAN2_IRQ_RX_VECT;
+ break;
+ case IRQ_TX:
+ ier = CAN_IT_TME;
+ irq_n = CAN2_IRQ_TX_IRQN;
+ vector = (uint32_t)&CAN2_IRQ_TX_VECT;
+ break;
+ case IRQ_ERROR:
+ ier = CAN_IT_ERR;
+ irq_n = CAN2_IRQ_ERROR_IRQN;
+ vector = (uint32_t)&CAN2_IRQ_ERROR_VECT;
+ break;
+ case IRQ_PASSIVE:
+ ier = CAN_IT_EPV;
+ irq_n = CAN2_IRQ_PASSIVE_IRQN;
+ vector = (uint32_t)&CAN2_IRQ_PASSIVE_VECT;
+ break;
+ case IRQ_BUS:
+ ier = CAN_IT_BOF;
+ irq_n = CAN2_IRQ_BUS_IRQN;
+ vector = (uint32_t)&CAN2_IRQ_BUS_VECT;
+ break;
+ default:
+ return;
+ }
+ }
+#endif
+ else {
+ return;
+ }
+
+ if (enable) {
+ can->IER |= ier;
+ } else {
+ can->IER &= ~ier;
+ }
+
+ NVIC_SetVector(irq_n, vector);
+ NVIC_EnableIRQ(irq_n);
+}
+
+#endif // DEVICE_CAN
+