Takaaki Numai / mbed-dev

inport from local

Dependents:   Hobbyking_Cheetah_0511

targets/TARGET_STM/can_api.c@0:85b3fd62ea1a, 2020-03-16 (annotated)

Committer:
NYX
Date:
Mon Mar 16 06:35:48 2020 +0000
Revision:
0:85b3fd62ea1a
reinport to mbed;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
NYX 0:85b3fd62ea1a 1 /* mbed Microcontroller Library
NYX 0:85b3fd62ea1a 2 * Copyright (c) 2006-2017 ARM Limited
NYX 0:85b3fd62ea1a 3 *
NYX 0:85b3fd62ea1a 4 * Licensed under the Apache License, Version 2.0 (the "License");
NYX 0:85b3fd62ea1a 5 * you may not use this file except in compliance with the License.
NYX 0:85b3fd62ea1a 6 * You may obtain a copy of the License at
NYX 0:85b3fd62ea1a 7 *
NYX 0:85b3fd62ea1a 8 * http://www.apache.org/licenses/LICENSE-2.0
NYX 0:85b3fd62ea1a 9 *
NYX 0:85b3fd62ea1a 10 * Unless required by applicable law or agreed to in writing, software
NYX 0:85b3fd62ea1a 11 * distributed under the License is distributed on an "AS IS" BASIS,
NYX 0:85b3fd62ea1a 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
NYX 0:85b3fd62ea1a 13 * See the License for the specific language governing permissions and
NYX 0:85b3fd62ea1a 14 * limitations under the License.
NYX 0:85b3fd62ea1a 15 */
NYX 0:85b3fd62ea1a 16 #include "can_api.h"
NYX 0:85b3fd62ea1a 17
NYX 0:85b3fd62ea1a 18 #if DEVICE_CAN
NYX 0:85b3fd62ea1a 19
NYX 0:85b3fd62ea1a 20 #include "cmsis.h"
NYX 0:85b3fd62ea1a 21 #include "pinmap.h"
NYX 0:85b3fd62ea1a 22 #include "PeripheralPins.h"
NYX 0:85b3fd62ea1a 23 #include "mbed_error.h"
NYX 0:85b3fd62ea1a 24 #include "can_device.h" // Specific to STM32 serie
NYX 0:85b3fd62ea1a 25 #include <math.h>
NYX 0:85b3fd62ea1a 26 #include <string.h>
NYX 0:85b3fd62ea1a 27
NYX 0:85b3fd62ea1a 28 static uint32_t can_irq_ids[CAN_NUM] = {0};
NYX 0:85b3fd62ea1a 29 static can_irq_handler irq_handler;
NYX 0:85b3fd62ea1a 30
NYX 0:85b3fd62ea1a 31 static void can_registers_init(can_t *obj)
NYX 0:85b3fd62ea1a 32 {
NYX 0:85b3fd62ea1a 33 if (HAL_CAN_Init(&obj->CanHandle) != HAL_OK) {
NYX 0:85b3fd62ea1a 34 error("Cannot initialize CAN");
NYX 0:85b3fd62ea1a 35 }
NYX 0:85b3fd62ea1a 36
NYX 0:85b3fd62ea1a 37 // Set initial CAN frequency to specified frequency
NYX 0:85b3fd62ea1a 38 if (can_frequency(obj, obj->hz) != 1) {
NYX 0:85b3fd62ea1a 39 error("Can frequency could not be set\n");
NYX 0:85b3fd62ea1a 40 }
NYX 0:85b3fd62ea1a 41 }
NYX 0:85b3fd62ea1a 42
NYX 0:85b3fd62ea1a 43 void can_init(can_t *obj, PinName rd, PinName td)
NYX 0:85b3fd62ea1a 44 {
NYX 0:85b3fd62ea1a 45 can_init_freq(obj, rd, td, 100000);
NYX 0:85b3fd62ea1a 46 }
NYX 0:85b3fd62ea1a 47
NYX 0:85b3fd62ea1a 48 void can_init_freq (can_t *obj, PinName rd, PinName td, int hz)
NYX 0:85b3fd62ea1a 49 {
NYX 0:85b3fd62ea1a 50 CANName can_rd = (CANName)pinmap_peripheral(rd, PinMap_CAN_RD);
NYX 0:85b3fd62ea1a 51 CANName can_td = (CANName)pinmap_peripheral(td, PinMap_CAN_TD);
NYX 0:85b3fd62ea1a 52 CANName can = (CANName)pinmap_merge(can_rd, can_td);
NYX 0:85b3fd62ea1a 53
NYX 0:85b3fd62ea1a 54 MBED_ASSERT((int)can != NC);
NYX 0:85b3fd62ea1a 55
NYX 0:85b3fd62ea1a 56 if (can == CAN_1) {
NYX 0:85b3fd62ea1a 57 __HAL_RCC_CAN1_CLK_ENABLE();
NYX 0:85b3fd62ea1a 58 obj->index = 0;
NYX 0:85b3fd62ea1a 59 }
NYX 0:85b3fd62ea1a 60 #if defined(CAN2_BASE) && (CAN_NUM == 2)
NYX 0:85b3fd62ea1a 61 else if (can == CAN_2) {
NYX 0:85b3fd62ea1a 62 __HAL_RCC_CAN1_CLK_ENABLE(); // needed to set filters
NYX 0:85b3fd62ea1a 63 __HAL_RCC_CAN2_CLK_ENABLE();
NYX 0:85b3fd62ea1a 64 obj->index = 1;
NYX 0:85b3fd62ea1a 65 }
NYX 0:85b3fd62ea1a 66 #endif
NYX 0:85b3fd62ea1a 67 else {
NYX 0:85b3fd62ea1a 68 return;
NYX 0:85b3fd62ea1a 69 }
NYX 0:85b3fd62ea1a 70
NYX 0:85b3fd62ea1a 71 // Configure the CAN pins
NYX 0:85b3fd62ea1a 72 pinmap_pinout(rd, PinMap_CAN_RD);
NYX 0:85b3fd62ea1a 73 pinmap_pinout(td, PinMap_CAN_TD);
NYX 0:85b3fd62ea1a 74 if (rd != NC) {
NYX 0:85b3fd62ea1a 75 pin_mode(rd, PullUp);
NYX 0:85b3fd62ea1a 76 }
NYX 0:85b3fd62ea1a 77 if (td != NC) {
NYX 0:85b3fd62ea1a 78 pin_mode(td, PullUp);
NYX 0:85b3fd62ea1a 79 }
NYX 0:85b3fd62ea1a 80
NYX 0:85b3fd62ea1a 81 /* Use default values for rist init */
NYX 0:85b3fd62ea1a 82 obj->CanHandle.Instance = (CAN_TypeDef *)can;
NYX 0:85b3fd62ea1a 83 obj->CanHandle.Init.TTCM = DISABLE;
NYX 0:85b3fd62ea1a 84 obj->CanHandle.Init.ABOM = DISABLE;
NYX 0:85b3fd62ea1a 85 obj->CanHandle.Init.AWUM = DISABLE;
NYX 0:85b3fd62ea1a 86 obj->CanHandle.Init.NART = DISABLE;
NYX 0:85b3fd62ea1a 87 obj->CanHandle.Init.RFLM = DISABLE;
NYX 0:85b3fd62ea1a 88 obj->CanHandle.Init.TXFP = DISABLE;
NYX 0:85b3fd62ea1a 89 obj->CanHandle.Init.Mode = CAN_MODE_NORMAL;
NYX 0:85b3fd62ea1a 90 obj->CanHandle.Init.SJW = CAN_SJW_1TQ;
NYX 0:85b3fd62ea1a 91 obj->CanHandle.Init.BS1 = CAN_BS1_6TQ;
NYX 0:85b3fd62ea1a 92 obj->CanHandle.Init.BS2 = CAN_BS2_8TQ;
NYX 0:85b3fd62ea1a 93 obj->CanHandle.Init.Prescaler = 2;
NYX 0:85b3fd62ea1a 94
NYX 0:85b3fd62ea1a 95 /* Store frequency to be restored in case of reset */
NYX 0:85b3fd62ea1a 96 obj->hz = hz;
NYX 0:85b3fd62ea1a 97
NYX 0:85b3fd62ea1a 98 can_registers_init(obj);
NYX 0:85b3fd62ea1a 99
NYX 0:85b3fd62ea1a 100 uint32_t filter_number = (can == CAN_1) ? 0 : 14;
NYX 0:85b3fd62ea1a 101 can_filter(obj, 0, 0, CANStandard, filter_number);
NYX 0:85b3fd62ea1a 102 }
NYX 0:85b3fd62ea1a 103
NYX 0:85b3fd62ea1a 104
NYX 0:85b3fd62ea1a 105 void can_irq_init(can_t *obj, can_irq_handler handler, uint32_t id)
NYX 0:85b3fd62ea1a 106 {
NYX 0:85b3fd62ea1a 107 irq_handler = handler;
NYX 0:85b3fd62ea1a 108 can_irq_ids[obj->index] = id;
NYX 0:85b3fd62ea1a 109 }
NYX 0:85b3fd62ea1a 110
NYX 0:85b3fd62ea1a 111 void can_irq_free(can_t *obj)
NYX 0:85b3fd62ea1a 112 {
NYX 0:85b3fd62ea1a 113 CAN_TypeDef *can = obj->CanHandle.Instance;
NYX 0:85b3fd62ea1a 114
NYX 0:85b3fd62ea1a 115 can->IER &= ~(CAN_IT_FMP0 | CAN_IT_FMP1 | CAN_IT_TME | \
NYX 0:85b3fd62ea1a 116 CAN_IT_ERR | CAN_IT_EPV | CAN_IT_BOF);
NYX 0:85b3fd62ea1a 117 can_irq_ids[obj->index] = 0;
NYX 0:85b3fd62ea1a 118 }
NYX 0:85b3fd62ea1a 119
NYX 0:85b3fd62ea1a 120 void can_free(can_t *obj)
NYX 0:85b3fd62ea1a 121 {
NYX 0:85b3fd62ea1a 122 CANName can = (CANName) obj->CanHandle.Instance;
NYX 0:85b3fd62ea1a 123 // Reset CAN and disable clock
NYX 0:85b3fd62ea1a 124 if (can == CAN_1) {
NYX 0:85b3fd62ea1a 125 __HAL_RCC_CAN1_FORCE_RESET();
NYX 0:85b3fd62ea1a 126 __HAL_RCC_CAN1_RELEASE_RESET();
NYX 0:85b3fd62ea1a 127 __HAL_RCC_CAN1_CLK_DISABLE();
NYX 0:85b3fd62ea1a 128 }
NYX 0:85b3fd62ea1a 129 #if defined(CAN2_BASE) && (CAN_NUM == 2)
NYX 0:85b3fd62ea1a 130 if (can == CAN_2) {
NYX 0:85b3fd62ea1a 131 __HAL_RCC_CAN2_FORCE_RESET();
NYX 0:85b3fd62ea1a 132 __HAL_RCC_CAN2_RELEASE_RESET();
NYX 0:85b3fd62ea1a 133 __HAL_RCC_CAN2_CLK_DISABLE();
NYX 0:85b3fd62ea1a 134 }
NYX 0:85b3fd62ea1a 135 #endif
NYX 0:85b3fd62ea1a 136 }
NYX 0:85b3fd62ea1a 137
NYX 0:85b3fd62ea1a 138 // The following table is used to program bit_timing. It is an adjustment of the sample
NYX 0:85b3fd62ea1a 139 // point by synchronizing on the start-bit edge and resynchronizing on the following edges.
NYX 0:85b3fd62ea1a 140 // This table has the sampling points as close to 75% as possible (most commonly used).
NYX 0:85b3fd62ea1a 141 // The first value is TSEG1, the second TSEG2.
NYX 0:85b3fd62ea1a 142 static const int timing_pts[23][2] = {
NYX 0:85b3fd62ea1a 143 {0x0, 0x0}, // 2, 50%
NYX 0:85b3fd62ea1a 144 {0x1, 0x0}, // 3, 67%
NYX 0:85b3fd62ea1a 145 {0x2, 0x0}, // 4, 75%
NYX 0:85b3fd62ea1a 146 {0x3, 0x0}, // 5, 80%
NYX 0:85b3fd62ea1a 147 {0x3, 0x1}, // 6, 67%
NYX 0:85b3fd62ea1a 148 {0x4, 0x1}, // 7, 71%
NYX 0:85b3fd62ea1a 149 {0x5, 0x1}, // 8, 75%
NYX 0:85b3fd62ea1a 150 {0x6, 0x1}, // 9, 78%
NYX 0:85b3fd62ea1a 151 {0x6, 0x2}, // 10, 70%
NYX 0:85b3fd62ea1a 152 {0x7, 0x2}, // 11, 73%
NYX 0:85b3fd62ea1a 153 {0x8, 0x2}, // 12, 75%
NYX 0:85b3fd62ea1a 154 {0x9, 0x2}, // 13, 77%
NYX 0:85b3fd62ea1a 155 {0x9, 0x3}, // 14, 71%
NYX 0:85b3fd62ea1a 156 {0xA, 0x3}, // 15, 73%
NYX 0:85b3fd62ea1a 157 {0xB, 0x3}, // 16, 75%
NYX 0:85b3fd62ea1a 158 {0xC, 0x3}, // 17, 76%
NYX 0:85b3fd62ea1a 159 {0xD, 0x3}, // 18, 78%
NYX 0:85b3fd62ea1a 160 {0xD, 0x4}, // 19, 74%
NYX 0:85b3fd62ea1a 161 {0xE, 0x4}, // 20, 75%
NYX 0:85b3fd62ea1a 162 {0xF, 0x4}, // 21, 76%
NYX 0:85b3fd62ea1a 163 {0xF, 0x5}, // 22, 73%
NYX 0:85b3fd62ea1a 164 {0xF, 0x6}, // 23, 70%
NYX 0:85b3fd62ea1a 165 {0xF, 0x7}, // 24, 67%
NYX 0:85b3fd62ea1a 166 };
NYX 0:85b3fd62ea1a 167
NYX 0:85b3fd62ea1a 168 static unsigned int can_speed(unsigned int pclk, unsigned int cclk, unsigned char psjw)
NYX 0:85b3fd62ea1a 169 {
NYX 0:85b3fd62ea1a 170 uint32_t btr;
NYX 0:85b3fd62ea1a 171 uint16_t brp = 0;
NYX 0:85b3fd62ea1a 172 uint32_t calcbit;
NYX 0:85b3fd62ea1a 173 uint32_t bitwidth;
NYX 0:85b3fd62ea1a 174 int hit = 0;
NYX 0:85b3fd62ea1a 175 int bits;
NYX 0:85b3fd62ea1a 176
NYX 0:85b3fd62ea1a 177 bitwidth = (pclk / cclk);
NYX 0:85b3fd62ea1a 178
NYX 0:85b3fd62ea1a 179 brp = bitwidth / 0x18;
NYX 0:85b3fd62ea1a 180 while ((!hit) && (brp < bitwidth / 4)) {
NYX 0:85b3fd62ea1a 181 brp++;
NYX 0:85b3fd62ea1a 182 for (bits = 22; bits > 0; bits--) {
NYX 0:85b3fd62ea1a 183 calcbit = (bits + 3) * (brp + 1);
NYX 0:85b3fd62ea1a 184 if (calcbit == bitwidth) {
NYX 0:85b3fd62ea1a 185 hit = 1;
NYX 0:85b3fd62ea1a 186 break;
NYX 0:85b3fd62ea1a 187 }
NYX 0:85b3fd62ea1a 188 }
NYX 0:85b3fd62ea1a 189 }
NYX 0:85b3fd62ea1a 190
NYX 0:85b3fd62ea1a 191 if (hit) {
NYX 0:85b3fd62ea1a 192 btr = ((timing_pts[bits][1] << CAN_BTR_TS2_Pos) & CAN_BTR_TS2) |
NYX 0:85b3fd62ea1a 193 ((timing_pts[bits][0] << CAN_BTR_TS1_Pos) & CAN_BTR_TS1) |
NYX 0:85b3fd62ea1a 194 ((psjw << CAN_BTR_SJW_Pos) & CAN_BTR_SJW) |
NYX 0:85b3fd62ea1a 195 ((brp << CAN_BTR_BRP_Pos) & CAN_BTR_BRP);
NYX 0:85b3fd62ea1a 196 } else {
NYX 0:85b3fd62ea1a 197 btr = 0xFFFFFFFF;
NYX 0:85b3fd62ea1a 198 }
NYX 0:85b3fd62ea1a 199
NYX 0:85b3fd62ea1a 200 return btr;
NYX 0:85b3fd62ea1a 201
NYX 0:85b3fd62ea1a 202 }
NYX 0:85b3fd62ea1a 203
NYX 0:85b3fd62ea1a 204 int can_frequency(can_t *obj, int f)
NYX 0:85b3fd62ea1a 205 {
NYX 0:85b3fd62ea1a 206 int pclk = HAL_RCC_GetPCLK1Freq();
NYX 0:85b3fd62ea1a 207 int btr = can_speed(pclk, (unsigned int)f, 1);
NYX 0:85b3fd62ea1a 208 CAN_TypeDef *can = obj->CanHandle.Instance;
NYX 0:85b3fd62ea1a 209 uint32_t tickstart = 0;
NYX 0:85b3fd62ea1a 210 int status = 1;
NYX 0:85b3fd62ea1a 211
NYX 0:85b3fd62ea1a 212 if (btr > 0) {
NYX 0:85b3fd62ea1a 213 can->MCR |= CAN_MCR_INRQ ;
NYX 0:85b3fd62ea1a 214 /* Get tick */
NYX 0:85b3fd62ea1a 215 tickstart = HAL_GetTick();
NYX 0:85b3fd62ea1a 216 while ((can->MSR & CAN_MSR_INAK) != CAN_MSR_INAK) {
NYX 0:85b3fd62ea1a 217 if ((HAL_GetTick() - tickstart) > 2) {
NYX 0:85b3fd62ea1a 218 status = 0;
NYX 0:85b3fd62ea1a 219 break;
NYX 0:85b3fd62ea1a 220 }
NYX 0:85b3fd62ea1a 221 }
NYX 0:85b3fd62ea1a 222 if (status != 0) {
NYX 0:85b3fd62ea1a 223 /* Do not erase all BTR registers (e.g. silent mode), only the
NYX 0:85b3fd62ea1a 224 * ones calculated in can_speed */
NYX 0:85b3fd62ea1a 225 can->BTR &= ~(CAN_BTR_TS2 | CAN_BTR_TS1 | CAN_BTR_SJW | CAN_BTR_BRP);
NYX 0:85b3fd62ea1a 226 can->BTR |= btr;
NYX 0:85b3fd62ea1a 227
NYX 0:85b3fd62ea1a 228 can->MCR &= ~(uint32_t)CAN_MCR_INRQ;
NYX 0:85b3fd62ea1a 229 /* Get tick */
NYX 0:85b3fd62ea1a 230 tickstart = HAL_GetTick();
NYX 0:85b3fd62ea1a 231 while ((can->MSR & CAN_MSR_INAK) == CAN_MSR_INAK) {
NYX 0:85b3fd62ea1a 232 if ((HAL_GetTick() - tickstart) > 2) {
NYX 0:85b3fd62ea1a 233 status = 0;
NYX 0:85b3fd62ea1a 234 break;
NYX 0:85b3fd62ea1a 235 }
NYX 0:85b3fd62ea1a 236 }
NYX 0:85b3fd62ea1a 237 if (status == 0) {
NYX 0:85b3fd62ea1a 238 error("can ESR 0x%04x.%04x + timeout status %d", (can->ESR & 0xFFFF0000) >> 16, (can->ESR & 0xFFFF), status);
NYX 0:85b3fd62ea1a 239 }
NYX 0:85b3fd62ea1a 240 } else {
NYX 0:85b3fd62ea1a 241 error("can init request timeout\n");
NYX 0:85b3fd62ea1a 242 }
NYX 0:85b3fd62ea1a 243 } else {
NYX 0:85b3fd62ea1a 244 status = 0;
NYX 0:85b3fd62ea1a 245 }
NYX 0:85b3fd62ea1a 246 return status;
NYX 0:85b3fd62ea1a 247 }
NYX 0:85b3fd62ea1a 248
NYX 0:85b3fd62ea1a 249 int can_write(can_t *obj, CAN_Message msg, int cc)
NYX 0:85b3fd62ea1a 250 {
NYX 0:85b3fd62ea1a 251 uint32_t transmitmailbox = CAN_TXSTATUS_NOMAILBOX;
NYX 0:85b3fd62ea1a 252 CAN_TypeDef *can = obj->CanHandle.Instance;
NYX 0:85b3fd62ea1a 253
NYX 0:85b3fd62ea1a 254 /* Select one empty transmit mailbox */
NYX 0:85b3fd62ea1a 255 if ((can->TSR & CAN_TSR_TME0) == CAN_TSR_TME0) {
NYX 0:85b3fd62ea1a 256 transmitmailbox = 0;
NYX 0:85b3fd62ea1a 257 } else if ((can->TSR & CAN_TSR_TME1) == CAN_TSR_TME1) {
NYX 0:85b3fd62ea1a 258 transmitmailbox = 1;
NYX 0:85b3fd62ea1a 259 } else if ((can->TSR & CAN_TSR_TME2) == CAN_TSR_TME2) {
NYX 0:85b3fd62ea1a 260 transmitmailbox = 2;
NYX 0:85b3fd62ea1a 261 } else {
NYX 0:85b3fd62ea1a 262 return 0;
NYX 0:85b3fd62ea1a 263 }
NYX 0:85b3fd62ea1a 264
NYX 0:85b3fd62ea1a 265 can->sTxMailBox[transmitmailbox].TIR &= CAN_TI0R_TXRQ;
NYX 0:85b3fd62ea1a 266 if (!(msg.format)) {
NYX 0:85b3fd62ea1a 267 can->sTxMailBox[transmitmailbox].TIR |= ((msg.id << 21) | msg.type);
NYX 0:85b3fd62ea1a 268 } else {
NYX 0:85b3fd62ea1a 269 can->sTxMailBox[transmitmailbox].TIR |= ((msg.id << 3) | CAN_ID_EXT | msg.type);
NYX 0:85b3fd62ea1a 270 }
NYX 0:85b3fd62ea1a 271
NYX 0:85b3fd62ea1a 272 /* Set up the DLC */
NYX 0:85b3fd62ea1a 273 can->sTxMailBox[transmitmailbox].TDTR &= (uint32_t)0xFFFFFFF0;
NYX 0:85b3fd62ea1a 274 can->sTxMailBox[transmitmailbox].TDTR |= (msg.len & (uint8_t)0x0000000F);
NYX 0:85b3fd62ea1a 275
NYX 0:85b3fd62ea1a 276 /* Set up the data field */
NYX 0:85b3fd62ea1a 277 can->sTxMailBox[transmitmailbox].TDLR = (((uint32_t)msg.data[3] << 24) |
NYX 0:85b3fd62ea1a 278 ((uint32_t)msg.data[2] << 16) |
NYX 0:85b3fd62ea1a 279 ((uint32_t)msg.data[1] << 8) |
NYX 0:85b3fd62ea1a 280 ((uint32_t)msg.data[0]));
NYX 0:85b3fd62ea1a 281 can->sTxMailBox[transmitmailbox].TDHR = (((uint32_t)msg.data[7] << 24) |
NYX 0:85b3fd62ea1a 282 ((uint32_t)msg.data[6] << 16) |
NYX 0:85b3fd62ea1a 283 ((uint32_t)msg.data[5] << 8) |
NYX 0:85b3fd62ea1a 284 ((uint32_t)msg.data[4]));
NYX 0:85b3fd62ea1a 285 /* Request transmission */
NYX 0:85b3fd62ea1a 286 can->sTxMailBox[transmitmailbox].TIR |= CAN_TI0R_TXRQ;
NYX 0:85b3fd62ea1a 287
NYX 0:85b3fd62ea1a 288 return 1;
NYX 0:85b3fd62ea1a 289 }
NYX 0:85b3fd62ea1a 290
NYX 0:85b3fd62ea1a 291 int can_read(can_t *obj, CAN_Message *msg, int handle)
NYX 0:85b3fd62ea1a 292 {
NYX 0:85b3fd62ea1a 293 //handle is the FIFO number
NYX 0:85b3fd62ea1a 294
NYX 0:85b3fd62ea1a 295 CAN_TypeDef *can = obj->CanHandle.Instance;
NYX 0:85b3fd62ea1a 296
NYX 0:85b3fd62ea1a 297 // check FPM0 which holds the pending message count in FIFO 0
NYX 0:85b3fd62ea1a 298 // if no message is pending, return 0
NYX 0:85b3fd62ea1a 299 if ((can->RF0R & CAN_RF0R_FMP0) == 0) {
NYX 0:85b3fd62ea1a 300 return 0;
NYX 0:85b3fd62ea1a 301 }
NYX 0:85b3fd62ea1a 302
NYX 0:85b3fd62ea1a 303 /* Get the Id */
NYX 0:85b3fd62ea1a 304 msg->format = (CANFormat)(((uint8_t)0x04 & can->sFIFOMailBox[handle].RIR) >> 2);
NYX 0:85b3fd62ea1a 305 if (!msg->format) {
NYX 0:85b3fd62ea1a 306 msg->id = (uint32_t)0x000007FF & (can->sFIFOMailBox[handle].RIR >> 21);
NYX 0:85b3fd62ea1a 307 } else {
NYX 0:85b3fd62ea1a 308 msg->id = (uint32_t)0x1FFFFFFF & (can->sFIFOMailBox[handle].RIR >> 3);
NYX 0:85b3fd62ea1a 309 }
NYX 0:85b3fd62ea1a 310
NYX 0:85b3fd62ea1a 311 msg->type = (CANType)(((uint8_t)0x02 & can->sFIFOMailBox[handle].RIR) >> 1);
NYX 0:85b3fd62ea1a 312 /* Get the DLC */
NYX 0:85b3fd62ea1a 313 msg->len = (uint8_t)0x0F & can->sFIFOMailBox[handle].RDTR;
NYX 0:85b3fd62ea1a 314 /* Get the FMI */
NYX 0:85b3fd62ea1a 315 // msg->FMI = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDTR >> 8);
NYX 0:85b3fd62ea1a 316 /* Get the data field */
NYX 0:85b3fd62ea1a 317 msg->data[0] = (uint8_t)0xFF & can->sFIFOMailBox[handle].RDLR;
NYX 0:85b3fd62ea1a 318 msg->data[1] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDLR >> 8);
NYX 0:85b3fd62ea1a 319 msg->data[2] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDLR >> 16);
NYX 0:85b3fd62ea1a 320 msg->data[3] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDLR >> 24);
NYX 0:85b3fd62ea1a 321 msg->data[4] = (uint8_t)0xFF & can->sFIFOMailBox[handle].RDHR;
NYX 0:85b3fd62ea1a 322 msg->data[5] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDHR >> 8);
NYX 0:85b3fd62ea1a 323 msg->data[6] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDHR >> 16);
NYX 0:85b3fd62ea1a 324 msg->data[7] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDHR >> 24);
NYX 0:85b3fd62ea1a 325
NYX 0:85b3fd62ea1a 326 /* Release the FIFO */
NYX 0:85b3fd62ea1a 327 if (handle == CAN_FIFO0) {
NYX 0:85b3fd62ea1a 328 /* Release FIFO0 */
NYX 0:85b3fd62ea1a 329 can->RF0R |= CAN_RF0R_RFOM0;
NYX 0:85b3fd62ea1a 330 } else { /* FIFONumber == CAN_FIFO1 */
NYX 0:85b3fd62ea1a 331 /* Release FIFO1 */
NYX 0:85b3fd62ea1a 332 can->RF1R |= CAN_RF1R_RFOM1;
NYX 0:85b3fd62ea1a 333 }
NYX 0:85b3fd62ea1a 334
NYX 0:85b3fd62ea1a 335 return 1;
NYX 0:85b3fd62ea1a 336 }
NYX 0:85b3fd62ea1a 337
NYX 0:85b3fd62ea1a 338 void can_reset(can_t *obj)
NYX 0:85b3fd62ea1a 339 {
NYX 0:85b3fd62ea1a 340 CAN_TypeDef *can = obj->CanHandle.Instance;
NYX 0:85b3fd62ea1a 341
NYX 0:85b3fd62ea1a 342 /* Reset IP and delete errors */
NYX 0:85b3fd62ea1a 343 can->MCR |= CAN_MCR_RESET;
NYX 0:85b3fd62ea1a 344 can->ESR = 0x0;
NYX 0:85b3fd62ea1a 345
NYX 0:85b3fd62ea1a 346 /* restore registers state as saved in obj context */
NYX 0:85b3fd62ea1a 347 can_registers_init(obj);
NYX 0:85b3fd62ea1a 348 }
NYX 0:85b3fd62ea1a 349
NYX 0:85b3fd62ea1a 350 unsigned char can_rderror(can_t *obj)
NYX 0:85b3fd62ea1a 351 {
NYX 0:85b3fd62ea1a 352 CAN_TypeDef *can = obj->CanHandle.Instance;
NYX 0:85b3fd62ea1a 353 return (can->ESR >> 24) & 0xFF;
NYX 0:85b3fd62ea1a 354 }
NYX 0:85b3fd62ea1a 355
NYX 0:85b3fd62ea1a 356 unsigned char can_tderror(can_t *obj)
NYX 0:85b3fd62ea1a 357 {
NYX 0:85b3fd62ea1a 358 CAN_TypeDef *can = obj->CanHandle.Instance;
NYX 0:85b3fd62ea1a 359 return (can->ESR >> 16) & 0xFF;
NYX 0:85b3fd62ea1a 360 }
NYX 0:85b3fd62ea1a 361
NYX 0:85b3fd62ea1a 362 void can_monitor(can_t *obj, int silent)
NYX 0:85b3fd62ea1a 363 {
NYX 0:85b3fd62ea1a 364 CanMode mode = MODE_NORMAL;
NYX 0:85b3fd62ea1a 365 /* Update current state w/ or w/o silent */
NYX 0:85b3fd62ea1a 366 if(silent) {
NYX 0:85b3fd62ea1a 367 switch (obj->CanHandle.Init.Mode) {
NYX 0:85b3fd62ea1a 368 case CAN_MODE_LOOPBACK:
NYX 0:85b3fd62ea1a 369 case CAN_MODE_SILENT_LOOPBACK:
NYX 0:85b3fd62ea1a 370 mode = MODE_TEST_SILENT;
NYX 0:85b3fd62ea1a 371 break;
NYX 0:85b3fd62ea1a 372 default:
NYX 0:85b3fd62ea1a 373 mode = MODE_SILENT;
NYX 0:85b3fd62ea1a 374 break;
NYX 0:85b3fd62ea1a 375 }
NYX 0:85b3fd62ea1a 376 } else {
NYX 0:85b3fd62ea1a 377 switch (obj->CanHandle.Init.Mode) {
NYX 0:85b3fd62ea1a 378 case CAN_MODE_LOOPBACK:
NYX 0:85b3fd62ea1a 379 case CAN_MODE_SILENT_LOOPBACK:
NYX 0:85b3fd62ea1a 380 mode = MODE_TEST_LOCAL;
NYX 0:85b3fd62ea1a 381 break;
NYX 0:85b3fd62ea1a 382 default:
NYX 0:85b3fd62ea1a 383 mode = MODE_NORMAL;
NYX 0:85b3fd62ea1a 384 break;
NYX 0:85b3fd62ea1a 385 }
NYX 0:85b3fd62ea1a 386 }
NYX 0:85b3fd62ea1a 387
NYX 0:85b3fd62ea1a 388 can_mode(obj, mode);
NYX 0:85b3fd62ea1a 389 }
NYX 0:85b3fd62ea1a 390
NYX 0:85b3fd62ea1a 391 int can_mode(can_t *obj, CanMode mode)
NYX 0:85b3fd62ea1a 392 {
NYX 0:85b3fd62ea1a 393 int success = 0;
NYX 0:85b3fd62ea1a 394 CAN_TypeDef *can = obj->CanHandle.Instance;
NYX 0:85b3fd62ea1a 395
NYX 0:85b3fd62ea1a 396 can->MCR |= CAN_MCR_INRQ ;
NYX 0:85b3fd62ea1a 397 while ((can->MSR & CAN_MSR_INAK) != CAN_MSR_INAK) {
NYX 0:85b3fd62ea1a 398 }
NYX 0:85b3fd62ea1a 399
NYX 0:85b3fd62ea1a 400 switch (mode) {
NYX 0:85b3fd62ea1a 401 case MODE_NORMAL:
NYX 0:85b3fd62ea1a 402 obj->CanHandle.Init.Mode = CAN_MODE_NORMAL;
NYX 0:85b3fd62ea1a 403 can->BTR &= ~(CAN_BTR_SILM | CAN_BTR_LBKM);
NYX 0:85b3fd62ea1a 404 success = 1;
NYX 0:85b3fd62ea1a 405 break;
NYX 0:85b3fd62ea1a 406 case MODE_SILENT:
NYX 0:85b3fd62ea1a 407 obj->CanHandle.Init.Mode = CAN_MODE_SILENT;
NYX 0:85b3fd62ea1a 408 can->BTR |= CAN_BTR_SILM;
NYX 0:85b3fd62ea1a 409 can->BTR &= ~CAN_BTR_LBKM;
NYX 0:85b3fd62ea1a 410 success = 1;
NYX 0:85b3fd62ea1a 411 break;
NYX 0:85b3fd62ea1a 412 case MODE_TEST_GLOBAL:
NYX 0:85b3fd62ea1a 413 case MODE_TEST_LOCAL:
NYX 0:85b3fd62ea1a 414 obj->CanHandle.Init.Mode = CAN_MODE_LOOPBACK;
NYX 0:85b3fd62ea1a 415 can->BTR |= CAN_BTR_LBKM;
NYX 0:85b3fd62ea1a 416 can->BTR &= ~CAN_BTR_SILM;
NYX 0:85b3fd62ea1a 417 success = 1;
NYX 0:85b3fd62ea1a 418 break;
NYX 0:85b3fd62ea1a 419 case MODE_TEST_SILENT:
NYX 0:85b3fd62ea1a 420 obj->CanHandle.Init.Mode = CAN_MODE_SILENT_LOOPBACK;
NYX 0:85b3fd62ea1a 421 can->BTR |= (CAN_BTR_SILM | CAN_BTR_LBKM);
NYX 0:85b3fd62ea1a 422 success = 1;
NYX 0:85b3fd62ea1a 423 break;
NYX 0:85b3fd62ea1a 424 default:
NYX 0:85b3fd62ea1a 425 success = 0;
NYX 0:85b3fd62ea1a 426 break;
NYX 0:85b3fd62ea1a 427 }
NYX 0:85b3fd62ea1a 428
NYX 0:85b3fd62ea1a 429 can->MCR &= ~(uint32_t)CAN_MCR_INRQ;
NYX 0:85b3fd62ea1a 430 while ((can->MSR & CAN_MSR_INAK) == CAN_MSR_INAK) {
NYX 0:85b3fd62ea1a 431 }
NYX 0:85b3fd62ea1a 432
NYX 0:85b3fd62ea1a 433 return success;
NYX 0:85b3fd62ea1a 434 }
NYX 0:85b3fd62ea1a 435
NYX 0:85b3fd62ea1a 436 int can_filter(can_t *obj, uint32_t id, uint32_t mask, CANFormat format, int32_t handle)
NYX 0:85b3fd62ea1a 437 {
NYX 0:85b3fd62ea1a 438 int retval = 0;
NYX 0:85b3fd62ea1a 439
NYX 0:85b3fd62ea1a 440 // filter for CANAny format cannot be configured for STM32
NYX 0:85b3fd62ea1a 441 if ((format == CANStandard) || (format == CANExtended)) {
NYX 0:85b3fd62ea1a 442 CAN_FilterConfTypeDef sFilterConfig;
NYX 0:85b3fd62ea1a 443 sFilterConfig.FilterNumber = handle;
NYX 0:85b3fd62ea1a 444 sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
NYX 0:85b3fd62ea1a 445 sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
NYX 0:85b3fd62ea1a 446
NYX 0:85b3fd62ea1a 447 if (format == CANStandard) {
NYX 0:85b3fd62ea1a 448 sFilterConfig.FilterIdHigh = id << 5;
NYX 0:85b3fd62ea1a 449 sFilterConfig.FilterIdLow = 0x0;
NYX 0:85b3fd62ea1a 450 sFilterConfig.FilterMaskIdHigh = mask << 5;
NYX 0:85b3fd62ea1a 451 sFilterConfig.FilterMaskIdLow = 0x0; // allows both remote and data frames
NYX 0:85b3fd62ea1a 452 } else if (format == CANExtended) {
NYX 0:85b3fd62ea1a 453 sFilterConfig.FilterIdHigh = id >> 13; // EXTID[28:13]
NYX 0:85b3fd62ea1a 454 sFilterConfig.FilterIdLow = (0x00FF & (id << 3)) | (1 << 2); // EXTID[12:0]
NYX 0:85b3fd62ea1a 455 sFilterConfig.FilterMaskIdHigh = mask >> 13;
NYX 0:85b3fd62ea1a 456 sFilterConfig.FilterMaskIdLow = (0x00FF & (mask << 3)) | (1 << 2);
NYX 0:85b3fd62ea1a 457 }
NYX 0:85b3fd62ea1a 458
NYX 0:85b3fd62ea1a 459 sFilterConfig.FilterFIFOAssignment = 0;
NYX 0:85b3fd62ea1a 460 sFilterConfig.FilterActivation = ENABLE;
NYX 0:85b3fd62ea1a 461 sFilterConfig.BankNumber = 14 + handle;
NYX 0:85b3fd62ea1a 462
NYX 0:85b3fd62ea1a 463 HAL_CAN_ConfigFilter(&obj->CanHandle, &sFilterConfig);
NYX 0:85b3fd62ea1a 464 retval = handle;
NYX 0:85b3fd62ea1a 465 }
NYX 0:85b3fd62ea1a 466 return retval;
NYX 0:85b3fd62ea1a 467 }
NYX 0:85b3fd62ea1a 468
NYX 0:85b3fd62ea1a 469 static void can_irq(CANName name, int id)
NYX 0:85b3fd62ea1a 470 {
NYX 0:85b3fd62ea1a 471 uint32_t tmp1 = 0, tmp2 = 0, tmp3 = 0;
NYX 0:85b3fd62ea1a 472 CAN_HandleTypeDef CanHandle;
NYX 0:85b3fd62ea1a 473 CanHandle.Instance = (CAN_TypeDef *)name;
NYX 0:85b3fd62ea1a 474
NYX 0:85b3fd62ea1a 475 if (__HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_TME)) {
NYX 0:85b3fd62ea1a 476 tmp1 = __HAL_CAN_TRANSMIT_STATUS(&CanHandle, CAN_TXMAILBOX_0);
NYX 0:85b3fd62ea1a 477 tmp2 = __HAL_CAN_TRANSMIT_STATUS(&CanHandle, CAN_TXMAILBOX_1);
NYX 0:85b3fd62ea1a 478 tmp3 = __HAL_CAN_TRANSMIT_STATUS(&CanHandle, CAN_TXMAILBOX_2);
NYX 0:85b3fd62ea1a 479 if (tmp1) {
NYX 0:85b3fd62ea1a 480 __HAL_CAN_CLEAR_FLAG(&CanHandle, CAN_FLAG_RQCP0);
NYX 0:85b3fd62ea1a 481 }
NYX 0:85b3fd62ea1a 482 if (tmp2) {
NYX 0:85b3fd62ea1a 483 __HAL_CAN_CLEAR_FLAG(&CanHandle, CAN_FLAG_RQCP1);
NYX 0:85b3fd62ea1a 484 }
NYX 0:85b3fd62ea1a 485 if (tmp3) {
NYX 0:85b3fd62ea1a 486 __HAL_CAN_CLEAR_FLAG(&CanHandle, CAN_FLAG_RQCP2);
NYX 0:85b3fd62ea1a 487 }
NYX 0:85b3fd62ea1a 488 if (tmp1 || tmp2 || tmp3) {
NYX 0:85b3fd62ea1a 489 irq_handler(can_irq_ids[id], IRQ_TX);
NYX 0:85b3fd62ea1a 490 }
NYX 0:85b3fd62ea1a 491 }
NYX 0:85b3fd62ea1a 492
NYX 0:85b3fd62ea1a 493 tmp1 = __HAL_CAN_MSG_PENDING(&CanHandle, CAN_FIFO0);
NYX 0:85b3fd62ea1a 494 tmp2 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_FMP0);
NYX 0:85b3fd62ea1a 495
NYX 0:85b3fd62ea1a 496 if ((tmp1 != 0) && tmp2) {
NYX 0:85b3fd62ea1a 497 irq_handler(can_irq_ids[id], IRQ_RX);
NYX 0:85b3fd62ea1a 498 }
NYX 0:85b3fd62ea1a 499
NYX 0:85b3fd62ea1a 500 tmp1 = __HAL_CAN_GET_FLAG(&CanHandle, CAN_FLAG_EPV);
NYX 0:85b3fd62ea1a 501 tmp2 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_EPV);
NYX 0:85b3fd62ea1a 502 tmp3 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_ERR);
NYX 0:85b3fd62ea1a 503
NYX 0:85b3fd62ea1a 504 if (tmp1 && tmp2 && tmp3) {
NYX 0:85b3fd62ea1a 505 irq_handler(can_irq_ids[id], IRQ_PASSIVE);
NYX 0:85b3fd62ea1a 506 }
NYX 0:85b3fd62ea1a 507
NYX 0:85b3fd62ea1a 508 tmp1 = __HAL_CAN_GET_FLAG(&CanHandle, CAN_FLAG_BOF);
NYX 0:85b3fd62ea1a 509 tmp2 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_BOF);
NYX 0:85b3fd62ea1a 510 tmp3 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_ERR);
NYX 0:85b3fd62ea1a 511 if (tmp1 && tmp2 && tmp3) {
NYX 0:85b3fd62ea1a 512 irq_handler(can_irq_ids[id], IRQ_BUS);
NYX 0:85b3fd62ea1a 513 }
NYX 0:85b3fd62ea1a 514
NYX 0:85b3fd62ea1a 515 tmp3 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_ERR);
NYX 0:85b3fd62ea1a 516 if (tmp1 && tmp2 && tmp3) {
NYX 0:85b3fd62ea1a 517 irq_handler(can_irq_ids[id], IRQ_ERROR);
NYX 0:85b3fd62ea1a 518 }
NYX 0:85b3fd62ea1a 519 }
NYX 0:85b3fd62ea1a 520
NYX 0:85b3fd62ea1a 521 #if defined(TARGET_STM32F0)
NYX 0:85b3fd62ea1a 522 void CAN_IRQHandler(void)
NYX 0:85b3fd62ea1a 523 {
NYX 0:85b3fd62ea1a 524 can_irq(CAN_1, 0);
NYX 0:85b3fd62ea1a 525 }
NYX 0:85b3fd62ea1a 526 #elif defined(TARGET_STM32F3)
NYX 0:85b3fd62ea1a 527 void CAN_RX0_IRQHandler(void)
NYX 0:85b3fd62ea1a 528 {
NYX 0:85b3fd62ea1a 529 can_irq(CAN_1, 0);
NYX 0:85b3fd62ea1a 530 }
NYX 0:85b3fd62ea1a 531 void CAN_TX_IRQHandler(void)
NYX 0:85b3fd62ea1a 532 {
NYX 0:85b3fd62ea1a 533 can_irq(CAN_1, 0);
NYX 0:85b3fd62ea1a 534 }
NYX 0:85b3fd62ea1a 535 void CAN_SCE_IRQHandler(void)
NYX 0:85b3fd62ea1a 536 {
NYX 0:85b3fd62ea1a 537 can_irq(CAN_1, 0);
NYX 0:85b3fd62ea1a 538 }
NYX 0:85b3fd62ea1a 539 #else
NYX 0:85b3fd62ea1a 540 void CAN1_RX0_IRQHandler(void)
NYX 0:85b3fd62ea1a 541 {
NYX 0:85b3fd62ea1a 542 can_irq(CAN_1, 0);
NYX 0:85b3fd62ea1a 543 }
NYX 0:85b3fd62ea1a 544 void CAN1_TX_IRQHandler(void)
NYX 0:85b3fd62ea1a 545 {
NYX 0:85b3fd62ea1a 546 can_irq(CAN_1, 0);
NYX 0:85b3fd62ea1a 547 }
NYX 0:85b3fd62ea1a 548 void CAN1_SCE_IRQHandler(void)
NYX 0:85b3fd62ea1a 549 {
NYX 0:85b3fd62ea1a 550 can_irq(CAN_1, 0);
NYX 0:85b3fd62ea1a 551 }
NYX 0:85b3fd62ea1a 552 #if defined(CAN2_BASE) && (CAN_NUM == 2)
NYX 0:85b3fd62ea1a 553 void CAN2_RX0_IRQHandler(void)
NYX 0:85b3fd62ea1a 554 {
NYX 0:85b3fd62ea1a 555 can_irq(CAN_2, 1);
NYX 0:85b3fd62ea1a 556 }
NYX 0:85b3fd62ea1a 557 void CAN2_TX_IRQHandler(void)
NYX 0:85b3fd62ea1a 558 {
NYX 0:85b3fd62ea1a 559 can_irq(CAN_2, 1);
NYX 0:85b3fd62ea1a 560 }
NYX 0:85b3fd62ea1a 561 void CAN2_SCE_IRQHandler(void)
NYX 0:85b3fd62ea1a 562 {
NYX 0:85b3fd62ea1a 563 can_irq(CAN_2, 1);
NYX 0:85b3fd62ea1a 564 }
NYX 0:85b3fd62ea1a 565 #endif // defined(CAN2_BASE) && (CAN_NUM == 2)
NYX 0:85b3fd62ea1a 566 #endif // else
NYX 0:85b3fd62ea1a 567
NYX 0:85b3fd62ea1a 568 void can_irq_set(can_t *obj, CanIrqType type, uint32_t enable)
NYX 0:85b3fd62ea1a 569 {
NYX 0:85b3fd62ea1a 570 CAN_TypeDef *can = obj->CanHandle.Instance;
NYX 0:85b3fd62ea1a 571 IRQn_Type irq_n = (IRQn_Type)0;
NYX 0:85b3fd62ea1a 572 uint32_t vector = 0;
NYX 0:85b3fd62ea1a 573 uint32_t ier;
NYX 0:85b3fd62ea1a 574
NYX 0:85b3fd62ea1a 575 if ((CANName) can == CAN_1) {
NYX 0:85b3fd62ea1a 576 switch (type) {
NYX 0:85b3fd62ea1a 577 case IRQ_RX:
NYX 0:85b3fd62ea1a 578 ier = CAN_IT_FMP0;
NYX 0:85b3fd62ea1a 579 irq_n = CAN1_IRQ_RX_IRQN;
NYX 0:85b3fd62ea1a 580 vector = (uint32_t)&CAN1_IRQ_RX_VECT;
NYX 0:85b3fd62ea1a 581 break;
NYX 0:85b3fd62ea1a 582 case IRQ_TX:
NYX 0:85b3fd62ea1a 583 ier = CAN_IT_TME;
NYX 0:85b3fd62ea1a 584 irq_n = CAN1_IRQ_TX_IRQN;
NYX 0:85b3fd62ea1a 585 vector = (uint32_t)&CAN1_IRQ_TX_VECT;
NYX 0:85b3fd62ea1a 586 break;
NYX 0:85b3fd62ea1a 587 case IRQ_ERROR:
NYX 0:85b3fd62ea1a 588 ier = CAN_IT_ERR;
NYX 0:85b3fd62ea1a 589 irq_n = CAN1_IRQ_ERROR_IRQN;
NYX 0:85b3fd62ea1a 590 vector = (uint32_t)&CAN1_IRQ_ERROR_VECT;
NYX 0:85b3fd62ea1a 591 break;
NYX 0:85b3fd62ea1a 592 case IRQ_PASSIVE:
NYX 0:85b3fd62ea1a 593 ier = CAN_IT_EPV;
NYX 0:85b3fd62ea1a 594 irq_n = CAN1_IRQ_PASSIVE_IRQN;
NYX 0:85b3fd62ea1a 595 vector = (uint32_t)&CAN1_IRQ_PASSIVE_VECT;
NYX 0:85b3fd62ea1a 596 break;
NYX 0:85b3fd62ea1a 597 case IRQ_BUS:
NYX 0:85b3fd62ea1a 598 ier = CAN_IT_BOF;
NYX 0:85b3fd62ea1a 599 irq_n = CAN1_IRQ_BUS_IRQN;
NYX 0:85b3fd62ea1a 600 vector = (uint32_t)&CAN1_IRQ_BUS_VECT;
NYX 0:85b3fd62ea1a 601 break;
NYX 0:85b3fd62ea1a 602 default:
NYX 0:85b3fd62ea1a 603 return;
NYX 0:85b3fd62ea1a 604 }
NYX 0:85b3fd62ea1a 605 }
NYX 0:85b3fd62ea1a 606 #if defined(CAN2_BASE) && (CAN_NUM == 2)
NYX 0:85b3fd62ea1a 607 else if ((CANName) can == CAN_2) {
NYX 0:85b3fd62ea1a 608 switch (type) {
NYX 0:85b3fd62ea1a 609 case IRQ_RX:
NYX 0:85b3fd62ea1a 610 ier = CAN_IT_FMP0;
NYX 0:85b3fd62ea1a 611 irq_n = CAN2_IRQ_RX_IRQN;
NYX 0:85b3fd62ea1a 612 vector = (uint32_t)&CAN2_IRQ_RX_VECT;
NYX 0:85b3fd62ea1a 613 break;
NYX 0:85b3fd62ea1a 614 case IRQ_TX:
NYX 0:85b3fd62ea1a 615 ier = CAN_IT_TME;
NYX 0:85b3fd62ea1a 616 irq_n = CAN2_IRQ_TX_IRQN;
NYX 0:85b3fd62ea1a 617 vector = (uint32_t)&CAN2_IRQ_TX_VECT;
NYX 0:85b3fd62ea1a 618 break;
NYX 0:85b3fd62ea1a 619 case IRQ_ERROR:
NYX 0:85b3fd62ea1a 620 ier = CAN_IT_ERR;
NYX 0:85b3fd62ea1a 621 irq_n = CAN2_IRQ_ERROR_IRQN;
NYX 0:85b3fd62ea1a 622 vector = (uint32_t)&CAN2_IRQ_ERROR_VECT;
NYX 0:85b3fd62ea1a 623 break;
NYX 0:85b3fd62ea1a 624 case IRQ_PASSIVE:
NYX 0:85b3fd62ea1a 625 ier = CAN_IT_EPV;
NYX 0:85b3fd62ea1a 626 irq_n = CAN2_IRQ_PASSIVE_IRQN;
NYX 0:85b3fd62ea1a 627 vector = (uint32_t)&CAN2_IRQ_PASSIVE_VECT;
NYX 0:85b3fd62ea1a 628 break;
NYX 0:85b3fd62ea1a 629 case IRQ_BUS:
NYX 0:85b3fd62ea1a 630 ier = CAN_IT_BOF;
NYX 0:85b3fd62ea1a 631 irq_n = CAN2_IRQ_BUS_IRQN;
NYX 0:85b3fd62ea1a 632 vector = (uint32_t)&CAN2_IRQ_BUS_VECT;
NYX 0:85b3fd62ea1a 633 break;
NYX 0:85b3fd62ea1a 634 default:
NYX 0:85b3fd62ea1a 635 return;
NYX 0:85b3fd62ea1a 636 }
NYX 0:85b3fd62ea1a 637 }
NYX 0:85b3fd62ea1a 638 #endif
NYX 0:85b3fd62ea1a 639 else {
NYX 0:85b3fd62ea1a 640 return;
NYX 0:85b3fd62ea1a 641 }
NYX 0:85b3fd62ea1a 642
NYX 0:85b3fd62ea1a 643 if (enable) {
NYX 0:85b3fd62ea1a 644 can->IER |= ier;
NYX 0:85b3fd62ea1a 645 } else {
NYX 0:85b3fd62ea1a 646 can->IER &= ~ier;
NYX 0:85b3fd62ea1a 647 }
NYX 0:85b3fd62ea1a 648
NYX 0:85b3fd62ea1a 649 NVIC_SetVector(irq_n, vector);
NYX 0:85b3fd62ea1a 650 NVIC_EnableIRQ(irq_n);
NYX 0:85b3fd62ea1a 651 }
NYX 0:85b3fd62ea1a 652
NYX 0:85b3fd62ea1a 653 #endif // DEVICE_CAN
NYX 0:85b3fd62ea1a 654