Gordon Craig
Forked.
Fork of
mbed-dev
by 
mbed official
Diff: targets/TARGET_STM/TARGET_STM32F4/can_api.c
- Revision:
- 160:d5399cc887bb
- Parent:
- 159:612c381a210f
- Child:
- 161:2cc1468da177
--- a/targets/TARGET_STM/TARGET_STM32F4/can_api.c Tue Feb 28 17:13:35 2017 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,542 +0,0 @@
-/* mbed Microcontroller Library
- * Copyright (c) 2006-2016 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 <math.h>
-#include <string.h>
-
-#define CAN_NUM 2
-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)
-{
- uint32_t filter_number;
- 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;
- } else {
- __HAL_RCC_CAN2_CLK_ENABLE();
- obj->index = 1;
- }
-
- // 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");
- }
-
- filter_number = (obj->can == CAN_1) ? 0 : 14;
-
- // Set initial CAN frequency to 100kb/s
- can_frequency(obj, 100000);
-
- 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 (obj->can == CAN_2) {
- __HAL_RCC_CAN2_FORCE_RESET();
- __HAL_RCC_CAN2_RELEASE_RESET();
- __HAL_RCC_CAN2_CLK_DISABLE();
- }
-}
-
-// 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 = 5;
- 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 {
- transmitmailbox = CAN_TXSTATUS_NOMAILBOX;
- }
-
- if (transmitmailbox != CAN_TXSTATUS_NOMAILBOX) {
- 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);
- 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);
- /* 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)
-{
- CanHandle.Instance = (CAN_TypeDef *)(obj->can);
- CAN_FilterConfTypeDef sFilterConfig;
-
- sFilterConfig.FilterNumber = handle;
- sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
- sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
- sFilterConfig.FilterIdHigh = (uint8_t) (id >> 8);
- sFilterConfig.FilterIdLow = (uint8_t) id;
- sFilterConfig.FilterMaskIdHigh = (uint8_t) (mask >> 8);
- sFilterConfig.FilterMaskIdLow = (uint8_t) mask;
- sFilterConfig.FilterFIFOAssignment = 0;
- sFilterConfig.FilterActivation = ENABLE;
- sFilterConfig.BankNumber = 14 + handle;
-
- HAL_CAN_ConfigFilter(&CanHandle, &sFilterConfig);
-
- return 0;
-}
-
-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 || 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);
- }
-}
-
-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);
-}
-
-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);
-}
-
-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_RX0_IRQn;
- vector = (uint32_t)&CAN1_RX0_IRQHandler;
- break;
- case IRQ_TX:
- ier = CAN_IT_TME;
- irq_n = CAN1_TX_IRQn;
- vector = (uint32_t)&CAN1_TX_IRQHandler;
- break;
- case IRQ_ERROR:
- ier = CAN_IT_ERR;
- irq_n = CAN1_SCE_IRQn;
- vector = (uint32_t)&CAN1_SCE_IRQHandler;
- break;
- case IRQ_PASSIVE:
- ier = CAN_IT_EPV;
- irq_n = CAN1_SCE_IRQn;
- vector = (uint32_t)&CAN1_SCE_IRQHandler;
- break;
- case IRQ_BUS:
- ier = CAN_IT_BOF;
- irq_n = CAN1_SCE_IRQn;
- vector = (uint32_t)&CAN1_SCE_IRQHandler;
- break;
- default: return;
- }
- } else {
- switch (type) {
- case IRQ_RX:
- ier = CAN_IT_FMP0;
- irq_n = CAN2_RX0_IRQn;
- vector = (uint32_t)&CAN2_RX0_IRQHandler;
- break;
- case IRQ_TX:
- ier = CAN_IT_TME;
- irq_n = CAN2_TX_IRQn;
- vector = (uint32_t)&CAN2_TX_IRQHandler;
- break;
- case IRQ_ERROR:
- ier = CAN_IT_ERR;
- irq_n = CAN2_SCE_IRQn;
- vector = (uint32_t)&CAN2_SCE_IRQHandler;
- break;
- case IRQ_PASSIVE:
- ier = CAN_IT_EPV;
- irq_n = CAN2_SCE_IRQn;
- vector = (uint32_t)&CAN2_SCE_IRQHandler;
- break;
- case IRQ_BUS:
- ier = CAN_IT_BOF;
- irq_n = CAN2_SCE_IRQn;
- vector = (uint32_t)&CAN2_SCE_IRQHandler;
- break;
- default: return;
- }
- }
-
- if(enable) {
- can->IER |= ier;
- } else {
- can->IER &= ~ier;
- }
-
- NVIC_SetVector(irq_n, vector);
- NVIC_EnableIRQ(irq_n);
-}
-
-#endif // DEVICE_CAN
-