Knight KE / Mbed OS Game_Master

游戏王对战板，目前code还是空的

mbed-os/targets/TARGET_STM/can_api.c@0:9b3d4731edbb, 2018-06-21 (annotated)

Committer:
WFKnight
Date:
Thu Jun 21 13:51:43 2018 +0000
Revision:
0:9b3d4731edbb
UART, RTOS, LED

Who changed what in which revision?

UserRevisionLine numberNew contents of line
WFKnight 0:9b3d4731edbb 1 /* mbed Microcontroller Library
WFKnight 0:9b3d4731edbb 2 * Copyright (c) 2006-2017 ARM Limited
WFKnight 0:9b3d4731edbb 3 *
WFKnight 0:9b3d4731edbb 4 * Licensed under the Apache License, Version 2.0 (the "License");
WFKnight 0:9b3d4731edbb 5 * you may not use this file except in compliance with the License.
WFKnight 0:9b3d4731edbb 6 * You may obtain a copy of the License at
WFKnight 0:9b3d4731edbb 7 *
WFKnight 0:9b3d4731edbb 8 * http://www.apache.org/licenses/LICENSE-2.0
WFKnight 0:9b3d4731edbb 9 *
WFKnight 0:9b3d4731edbb 10 * Unless required by applicable law or agreed to in writing, software
WFKnight 0:9b3d4731edbb 11 * distributed under the License is distributed on an "AS IS" BASIS,
WFKnight 0:9b3d4731edbb 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
WFKnight 0:9b3d4731edbb 13 * See the License for the specific language governing permissions and
WFKnight 0:9b3d4731edbb 14 * limitations under the License.
WFKnight 0:9b3d4731edbb 15 */
WFKnight 0:9b3d4731edbb 16 #include "can_api.h"
WFKnight 0:9b3d4731edbb 17
WFKnight 0:9b3d4731edbb 18 #if DEVICE_CAN
WFKnight 0:9b3d4731edbb 19
WFKnight 0:9b3d4731edbb 20 #include "cmsis.h"
WFKnight 0:9b3d4731edbb 21 #include "pinmap.h"
WFKnight 0:9b3d4731edbb 22 #include "PeripheralPins.h"
WFKnight 0:9b3d4731edbb 23 #include "mbed_error.h"
WFKnight 0:9b3d4731edbb 24 #include "can_device.h" // Specific to STM32 serie
WFKnight 0:9b3d4731edbb 25 #include <math.h>
WFKnight 0:9b3d4731edbb 26 #include <string.h>
WFKnight 0:9b3d4731edbb 27
WFKnight 0:9b3d4731edbb 28 static uint32_t can_irq_ids[CAN_NUM] = {0};
WFKnight 0:9b3d4731edbb 29 static can_irq_handler irq_handler;
WFKnight 0:9b3d4731edbb 30
WFKnight 0:9b3d4731edbb 31 static void can_registers_init(can_t *obj)
WFKnight 0:9b3d4731edbb 32 {
WFKnight 0:9b3d4731edbb 33 if (HAL_CAN_Init(&obj->CanHandle) != HAL_OK) {
WFKnight 0:9b3d4731edbb 34 error("Cannot initialize CAN");
WFKnight 0:9b3d4731edbb 35 }
WFKnight 0:9b3d4731edbb 36
WFKnight 0:9b3d4731edbb 37 // Set initial CAN frequency to specified frequency
WFKnight 0:9b3d4731edbb 38 if (can_frequency(obj, obj->hz) != 1) {
WFKnight 0:9b3d4731edbb 39 error("Can frequency could not be set\n");
WFKnight 0:9b3d4731edbb 40 }
WFKnight 0:9b3d4731edbb 41 }
WFKnight 0:9b3d4731edbb 42
WFKnight 0:9b3d4731edbb 43 void can_init(can_t *obj, PinName rd, PinName td)
WFKnight 0:9b3d4731edbb 44 {
WFKnight 0:9b3d4731edbb 45 can_init_freq(obj, rd, td, 100000);
WFKnight 0:9b3d4731edbb 46 }
WFKnight 0:9b3d4731edbb 47
WFKnight 0:9b3d4731edbb 48 void can_init_freq (can_t *obj, PinName rd, PinName td, int hz)
WFKnight 0:9b3d4731edbb 49 {
WFKnight 0:9b3d4731edbb 50 CANName can_rd = (CANName)pinmap_peripheral(rd, PinMap_CAN_RD);
WFKnight 0:9b3d4731edbb 51 CANName can_td = (CANName)pinmap_peripheral(td, PinMap_CAN_TD);
WFKnight 0:9b3d4731edbb 52 CANName can = (CANName)pinmap_merge(can_rd, can_td);
WFKnight 0:9b3d4731edbb 53
WFKnight 0:9b3d4731edbb 54 MBED_ASSERT((int)can != NC);
WFKnight 0:9b3d4731edbb 55
WFKnight 0:9b3d4731edbb 56 if (can == CAN_1) {
WFKnight 0:9b3d4731edbb 57 __HAL_RCC_CAN1_CLK_ENABLE();
WFKnight 0:9b3d4731edbb 58 obj->index = 0;
WFKnight 0:9b3d4731edbb 59 }
WFKnight 0:9b3d4731edbb 60 #if defined(CAN2_BASE) && (CAN_NUM > 1)
WFKnight 0:9b3d4731edbb 61 else if (can == CAN_2) {
WFKnight 0:9b3d4731edbb 62 __HAL_RCC_CAN1_CLK_ENABLE(); // needed to set filters
WFKnight 0:9b3d4731edbb 63 __HAL_RCC_CAN2_CLK_ENABLE();
WFKnight 0:9b3d4731edbb 64 obj->index = 1;
WFKnight 0:9b3d4731edbb 65 }
WFKnight 0:9b3d4731edbb 66 #endif
WFKnight 0:9b3d4731edbb 67 #if defined(CAN3_BASE) && (CAN_NUM > 2)
WFKnight 0:9b3d4731edbb 68 else if (can == CAN_3) {
WFKnight 0:9b3d4731edbb 69 __HAL_RCC_CAN3_CLK_ENABLE();
WFKnight 0:9b3d4731edbb 70 obj->index = 2;
WFKnight 0:9b3d4731edbb 71 }
WFKnight 0:9b3d4731edbb 72 #endif
WFKnight 0:9b3d4731edbb 73 else {
WFKnight 0:9b3d4731edbb 74 return;
WFKnight 0:9b3d4731edbb 75 }
WFKnight 0:9b3d4731edbb 76
WFKnight 0:9b3d4731edbb 77 // Configure the CAN pins
WFKnight 0:9b3d4731edbb 78 pinmap_pinout(rd, PinMap_CAN_RD);
WFKnight 0:9b3d4731edbb 79 pinmap_pinout(td, PinMap_CAN_TD);
WFKnight 0:9b3d4731edbb 80 if (rd != NC) {
WFKnight 0:9b3d4731edbb 81 pin_mode(rd, PullUp);
WFKnight 0:9b3d4731edbb 82 }
WFKnight 0:9b3d4731edbb 83 if (td != NC) {
WFKnight 0:9b3d4731edbb 84 pin_mode(td, PullUp);
WFKnight 0:9b3d4731edbb 85 }
WFKnight 0:9b3d4731edbb 86
WFKnight 0:9b3d4731edbb 87 /* Use default values for rist init */
WFKnight 0:9b3d4731edbb 88 obj->CanHandle.Instance = (CAN_TypeDef *)can;
WFKnight 0:9b3d4731edbb 89 obj->CanHandle.Init.TTCM = DISABLE;
WFKnight 0:9b3d4731edbb 90 obj->CanHandle.Init.ABOM = DISABLE;
WFKnight 0:9b3d4731edbb 91 obj->CanHandle.Init.AWUM = DISABLE;
WFKnight 0:9b3d4731edbb 92 obj->CanHandle.Init.NART = DISABLE;
WFKnight 0:9b3d4731edbb 93 obj->CanHandle.Init.RFLM = DISABLE;
WFKnight 0:9b3d4731edbb 94 obj->CanHandle.Init.TXFP = DISABLE;
WFKnight 0:9b3d4731edbb 95 obj->CanHandle.Init.Mode = CAN_MODE_NORMAL;
WFKnight 0:9b3d4731edbb 96 obj->CanHandle.Init.SJW = CAN_SJW_1TQ;
WFKnight 0:9b3d4731edbb 97 obj->CanHandle.Init.BS1 = CAN_BS1_6TQ;
WFKnight 0:9b3d4731edbb 98 obj->CanHandle.Init.BS2 = CAN_BS2_8TQ;
WFKnight 0:9b3d4731edbb 99 obj->CanHandle.Init.Prescaler = 2;
WFKnight 0:9b3d4731edbb 100
WFKnight 0:9b3d4731edbb 101 /* Store frequency to be restored in case of reset */
WFKnight 0:9b3d4731edbb 102 obj->hz = hz;
WFKnight 0:9b3d4731edbb 103
WFKnight 0:9b3d4731edbb 104 can_registers_init(obj);
WFKnight 0:9b3d4731edbb 105
WFKnight 0:9b3d4731edbb 106 /* Bits 27:14 are available for dual CAN configuration and are reserved for
WFKnight 0:9b3d4731edbb 107 single CAN configuration: */
WFKnight 0:9b3d4731edbb 108 #if defined(CAN3_BASE) && (CAN_NUM > 2)
WFKnight 0:9b3d4731edbb 109 uint32_t filter_number = (can == CAN_1 || can == CAN_3) ? 0 : 14;
WFKnight 0:9b3d4731edbb 110 #else
WFKnight 0:9b3d4731edbb 111 uint32_t filter_number = (can == CAN_1) ? 0 : 14;
WFKnight 0:9b3d4731edbb 112 #endif
WFKnight 0:9b3d4731edbb 113 can_filter(obj, 0, 0, CANStandard, filter_number);
WFKnight 0:9b3d4731edbb 114 }
WFKnight 0:9b3d4731edbb 115
WFKnight 0:9b3d4731edbb 116
WFKnight 0:9b3d4731edbb 117 void can_irq_init(can_t *obj, can_irq_handler handler, uint32_t id)
WFKnight 0:9b3d4731edbb 118 {
WFKnight 0:9b3d4731edbb 119 irq_handler = handler;
WFKnight 0:9b3d4731edbb 120 can_irq_ids[obj->index] = id;
WFKnight 0:9b3d4731edbb 121 }
WFKnight 0:9b3d4731edbb 122
WFKnight 0:9b3d4731edbb 123 void can_irq_free(can_t *obj)
WFKnight 0:9b3d4731edbb 124 {
WFKnight 0:9b3d4731edbb 125 CAN_TypeDef *can = obj->CanHandle.Instance;
WFKnight 0:9b3d4731edbb 126
WFKnight 0:9b3d4731edbb 127 can->IER &= ~(CAN_IT_FMP0 | CAN_IT_FMP1 | CAN_IT_TME | \
WFKnight 0:9b3d4731edbb 128 CAN_IT_ERR | CAN_IT_EPV | CAN_IT_BOF);
WFKnight 0:9b3d4731edbb 129 can_irq_ids[obj->index] = 0;
WFKnight 0:9b3d4731edbb 130 }
WFKnight 0:9b3d4731edbb 131
WFKnight 0:9b3d4731edbb 132 void can_free(can_t *obj)
WFKnight 0:9b3d4731edbb 133 {
WFKnight 0:9b3d4731edbb 134 CANName can = (CANName) obj->CanHandle.Instance;
WFKnight 0:9b3d4731edbb 135 // Reset CAN and disable clock
WFKnight 0:9b3d4731edbb 136 if (can == CAN_1) {
WFKnight 0:9b3d4731edbb 137 __HAL_RCC_CAN1_FORCE_RESET();
WFKnight 0:9b3d4731edbb 138 __HAL_RCC_CAN1_RELEASE_RESET();
WFKnight 0:9b3d4731edbb 139 __HAL_RCC_CAN1_CLK_DISABLE();
WFKnight 0:9b3d4731edbb 140 }
WFKnight 0:9b3d4731edbb 141 #if defined(CAN2_BASE) && (CAN_NUM > 1)
WFKnight 0:9b3d4731edbb 142 if (can == CAN_2) {
WFKnight 0:9b3d4731edbb 143 __HAL_RCC_CAN2_FORCE_RESET();
WFKnight 0:9b3d4731edbb 144 __HAL_RCC_CAN2_RELEASE_RESET();
WFKnight 0:9b3d4731edbb 145 __HAL_RCC_CAN2_CLK_DISABLE();
WFKnight 0:9b3d4731edbb 146 }
WFKnight 0:9b3d4731edbb 147 #endif
WFKnight 0:9b3d4731edbb 148 #if defined(CAN3_BASE) && (CAN_NUM > 2)
WFKnight 0:9b3d4731edbb 149 if (can == CAN_3) {
WFKnight 0:9b3d4731edbb 150 __HAL_RCC_CAN3_FORCE_RESET();
WFKnight 0:9b3d4731edbb 151 __HAL_RCC_CAN3_RELEASE_RESET();
WFKnight 0:9b3d4731edbb 152 __HAL_RCC_CAN3_CLK_DISABLE();
WFKnight 0:9b3d4731edbb 153 }
WFKnight 0:9b3d4731edbb 154 #endif
WFKnight 0:9b3d4731edbb 155 }
WFKnight 0:9b3d4731edbb 156
WFKnight 0:9b3d4731edbb 157 // The following table is used to program bit_timing. It is an adjustment of the sample
WFKnight 0:9b3d4731edbb 158 // point by synchronizing on the start-bit edge and resynchronizing on the following edges.
WFKnight 0:9b3d4731edbb 159 // This table has the sampling points as close to 75% as possible (most commonly used).
WFKnight 0:9b3d4731edbb 160 // The first value is TSEG1, the second TSEG2.
WFKnight 0:9b3d4731edbb 161 static const int timing_pts[23][2] = {
WFKnight 0:9b3d4731edbb 162 {0x0, 0x0}, // 2, 50%
WFKnight 0:9b3d4731edbb 163 {0x1, 0x0}, // 3, 67%
WFKnight 0:9b3d4731edbb 164 {0x2, 0x0}, // 4, 75%
WFKnight 0:9b3d4731edbb 165 {0x3, 0x0}, // 5, 80%
WFKnight 0:9b3d4731edbb 166 {0x3, 0x1}, // 6, 67%
WFKnight 0:9b3d4731edbb 167 {0x4, 0x1}, // 7, 71%
WFKnight 0:9b3d4731edbb 168 {0x5, 0x1}, // 8, 75%
WFKnight 0:9b3d4731edbb 169 {0x6, 0x1}, // 9, 78%
WFKnight 0:9b3d4731edbb 170 {0x6, 0x2}, // 10, 70%
WFKnight 0:9b3d4731edbb 171 {0x7, 0x2}, // 11, 73%
WFKnight 0:9b3d4731edbb 172 {0x8, 0x2}, // 12, 75%
WFKnight 0:9b3d4731edbb 173 {0x9, 0x2}, // 13, 77%
WFKnight 0:9b3d4731edbb 174 {0x9, 0x3}, // 14, 71%
WFKnight 0:9b3d4731edbb 175 {0xA, 0x3}, // 15, 73%
WFKnight 0:9b3d4731edbb 176 {0xB, 0x3}, // 16, 75%
WFKnight 0:9b3d4731edbb 177 {0xC, 0x3}, // 17, 76%
WFKnight 0:9b3d4731edbb 178 {0xD, 0x3}, // 18, 78%
WFKnight 0:9b3d4731edbb 179 {0xD, 0x4}, // 19, 74%
WFKnight 0:9b3d4731edbb 180 {0xE, 0x4}, // 20, 75%
WFKnight 0:9b3d4731edbb 181 {0xF, 0x4}, // 21, 76%
WFKnight 0:9b3d4731edbb 182 {0xF, 0x5}, // 22, 73%
WFKnight 0:9b3d4731edbb 183 {0xF, 0x6}, // 23, 70%
WFKnight 0:9b3d4731edbb 184 {0xF, 0x7}, // 24, 67%
WFKnight 0:9b3d4731edbb 185 };
WFKnight 0:9b3d4731edbb 186
WFKnight 0:9b3d4731edbb 187 static unsigned int can_speed(unsigned int pclk, unsigned int cclk, unsigned char psjw)
WFKnight 0:9b3d4731edbb 188 {
WFKnight 0:9b3d4731edbb 189 uint32_t btr;
WFKnight 0:9b3d4731edbb 190 uint16_t brp = 0;
WFKnight 0:9b3d4731edbb 191 uint32_t calcbit;
WFKnight 0:9b3d4731edbb 192 uint32_t bitwidth;
WFKnight 0:9b3d4731edbb 193 int hit = 0;
WFKnight 0:9b3d4731edbb 194 int bits;
WFKnight 0:9b3d4731edbb 195
WFKnight 0:9b3d4731edbb 196 bitwidth = (pclk / cclk);
WFKnight 0:9b3d4731edbb 197
WFKnight 0:9b3d4731edbb 198 brp = bitwidth / 0x18;
WFKnight 0:9b3d4731edbb 199 while ((!hit) && (brp < bitwidth / 4)) {
WFKnight 0:9b3d4731edbb 200 brp++;
WFKnight 0:9b3d4731edbb 201 for (bits = 22; bits > 0; bits--) {
WFKnight 0:9b3d4731edbb 202 calcbit = (bits + 3) * (brp + 1);
WFKnight 0:9b3d4731edbb 203 if (calcbit == bitwidth) {
WFKnight 0:9b3d4731edbb 204 hit = 1;
WFKnight 0:9b3d4731edbb 205 break;
WFKnight 0:9b3d4731edbb 206 }
WFKnight 0:9b3d4731edbb 207 }
WFKnight 0:9b3d4731edbb 208 }
WFKnight 0:9b3d4731edbb 209
WFKnight 0:9b3d4731edbb 210 if (hit) {
WFKnight 0:9b3d4731edbb 211 btr = ((timing_pts[bits][1] << CAN_BTR_TS2_Pos) & CAN_BTR_TS2) |
WFKnight 0:9b3d4731edbb 212 ((timing_pts[bits][0] << CAN_BTR_TS1_Pos) & CAN_BTR_TS1) |
WFKnight 0:9b3d4731edbb 213 ((psjw << CAN_BTR_SJW_Pos) & CAN_BTR_SJW) |
WFKnight 0:9b3d4731edbb 214 ((brp << CAN_BTR_BRP_Pos) & CAN_BTR_BRP);
WFKnight 0:9b3d4731edbb 215 } else {
WFKnight 0:9b3d4731edbb 216 btr = 0xFFFFFFFF;
WFKnight 0:9b3d4731edbb 217 }
WFKnight 0:9b3d4731edbb 218
WFKnight 0:9b3d4731edbb 219 return btr;
WFKnight 0:9b3d4731edbb 220
WFKnight 0:9b3d4731edbb 221 }
WFKnight 0:9b3d4731edbb 222
WFKnight 0:9b3d4731edbb 223 int can_frequency(can_t *obj, int f)
WFKnight 0:9b3d4731edbb 224 {
WFKnight 0:9b3d4731edbb 225 int pclk = HAL_RCC_GetPCLK1Freq();
WFKnight 0:9b3d4731edbb 226 int btr = can_speed(pclk, (unsigned int)f, 1);
WFKnight 0:9b3d4731edbb 227 CAN_TypeDef *can = obj->CanHandle.Instance;
WFKnight 0:9b3d4731edbb 228 uint32_t tickstart = 0;
WFKnight 0:9b3d4731edbb 229 int status = 1;
WFKnight 0:9b3d4731edbb 230
WFKnight 0:9b3d4731edbb 231 if (btr > 0) {
WFKnight 0:9b3d4731edbb 232 can->MCR |= CAN_MCR_INRQ ;
WFKnight 0:9b3d4731edbb 233 /* Get tick */
WFKnight 0:9b3d4731edbb 234 tickstart = HAL_GetTick();
WFKnight 0:9b3d4731edbb 235 while ((can->MSR & CAN_MSR_INAK) != CAN_MSR_INAK) {
WFKnight 0:9b3d4731edbb 236 if ((HAL_GetTick() - tickstart) > 2) {
WFKnight 0:9b3d4731edbb 237 status = 0;
WFKnight 0:9b3d4731edbb 238 break;
WFKnight 0:9b3d4731edbb 239 }
WFKnight 0:9b3d4731edbb 240 }
WFKnight 0:9b3d4731edbb 241 if (status != 0) {
WFKnight 0:9b3d4731edbb 242 /* Do not erase all BTR registers (e.g. silent mode), only the
WFKnight 0:9b3d4731edbb 243 * ones calculated in can_speed */
WFKnight 0:9b3d4731edbb 244 can->BTR &= ~(CAN_BTR_TS2 | CAN_BTR_TS1 | CAN_BTR_SJW | CAN_BTR_BRP);
WFKnight 0:9b3d4731edbb 245 can->BTR |= btr;
WFKnight 0:9b3d4731edbb 246
WFKnight 0:9b3d4731edbb 247 can->MCR &= ~(uint32_t)CAN_MCR_INRQ;
WFKnight 0:9b3d4731edbb 248 /* Get tick */
WFKnight 0:9b3d4731edbb 249 tickstart = HAL_GetTick();
WFKnight 0:9b3d4731edbb 250 while ((can->MSR & CAN_MSR_INAK) == CAN_MSR_INAK) {
WFKnight 0:9b3d4731edbb 251 if ((HAL_GetTick() - tickstart) > 2) {
WFKnight 0:9b3d4731edbb 252 status = 0;
WFKnight 0:9b3d4731edbb 253 break;
WFKnight 0:9b3d4731edbb 254 }
WFKnight 0:9b3d4731edbb 255 }
WFKnight 0:9b3d4731edbb 256 if (status == 0) {
WFKnight 0:9b3d4731edbb 257 error("can ESR 0x%04x.%04x + timeout status %d", (can->ESR & 0xFFFF0000) >> 16, (can->ESR & 0xFFFF), status);
WFKnight 0:9b3d4731edbb 258 }
WFKnight 0:9b3d4731edbb 259 } else {
WFKnight 0:9b3d4731edbb 260 error("can init request timeout\n");
WFKnight 0:9b3d4731edbb 261 }
WFKnight 0:9b3d4731edbb 262 } else {
WFKnight 0:9b3d4731edbb 263 status = 0;
WFKnight 0:9b3d4731edbb 264 }
WFKnight 0:9b3d4731edbb 265 return status;
WFKnight 0:9b3d4731edbb 266 }
WFKnight 0:9b3d4731edbb 267
WFKnight 0:9b3d4731edbb 268 int can_write(can_t *obj, CAN_Message msg, int cc)
WFKnight 0:9b3d4731edbb 269 {
WFKnight 0:9b3d4731edbb 270 uint32_t transmitmailbox = CAN_TXSTATUS_NOMAILBOX;
WFKnight 0:9b3d4731edbb 271 CAN_TypeDef *can = obj->CanHandle.Instance;
WFKnight 0:9b3d4731edbb 272
WFKnight 0:9b3d4731edbb 273 /* Select one empty transmit mailbox */
WFKnight 0:9b3d4731edbb 274 if ((can->TSR & CAN_TSR_TME0) == CAN_TSR_TME0) {
WFKnight 0:9b3d4731edbb 275 transmitmailbox = 0;
WFKnight 0:9b3d4731edbb 276 } else if ((can->TSR & CAN_TSR_TME1) == CAN_TSR_TME1) {
WFKnight 0:9b3d4731edbb 277 transmitmailbox = 1;
WFKnight 0:9b3d4731edbb 278 } else if ((can->TSR & CAN_TSR_TME2) == CAN_TSR_TME2) {
WFKnight 0:9b3d4731edbb 279 transmitmailbox = 2;
WFKnight 0:9b3d4731edbb 280 } else {
WFKnight 0:9b3d4731edbb 281 return 0;
WFKnight 0:9b3d4731edbb 282 }
WFKnight 0:9b3d4731edbb 283
WFKnight 0:9b3d4731edbb 284 can->sTxMailBox[transmitmailbox].TIR &= CAN_TI0R_TXRQ;
WFKnight 0:9b3d4731edbb 285 if (!(msg.format)) {
WFKnight 0:9b3d4731edbb 286 can->sTxMailBox[transmitmailbox].TIR |= ((msg.id << 21) | (msg.type << 1));
WFKnight 0:9b3d4731edbb 287 } else {
WFKnight 0:9b3d4731edbb 288 can->sTxMailBox[transmitmailbox].TIR |= ((msg.id << 3) | CAN_ID_EXT | (msg.type << 1));
WFKnight 0:9b3d4731edbb 289 }
WFKnight 0:9b3d4731edbb 290
WFKnight 0:9b3d4731edbb 291 /* Set up the DLC */
WFKnight 0:9b3d4731edbb 292 can->sTxMailBox[transmitmailbox].TDTR &= (uint32_t)0xFFFFFFF0;
WFKnight 0:9b3d4731edbb 293 can->sTxMailBox[transmitmailbox].TDTR |= (msg.len & (uint8_t)0x0000000F);
WFKnight 0:9b3d4731edbb 294
WFKnight 0:9b3d4731edbb 295 /* Set up the data field */
WFKnight 0:9b3d4731edbb 296 can->sTxMailBox[transmitmailbox].TDLR = (((uint32_t)msg.data[3] << 24) |
WFKnight 0:9b3d4731edbb 297 ((uint32_t)msg.data[2] << 16) |
WFKnight 0:9b3d4731edbb 298 ((uint32_t)msg.data[1] << 8) |
WFKnight 0:9b3d4731edbb 299 ((uint32_t)msg.data[0]));
WFKnight 0:9b3d4731edbb 300 can->sTxMailBox[transmitmailbox].TDHR = (((uint32_t)msg.data[7] << 24) |
WFKnight 0:9b3d4731edbb 301 ((uint32_t)msg.data[6] << 16) |
WFKnight 0:9b3d4731edbb 302 ((uint32_t)msg.data[5] << 8) |
WFKnight 0:9b3d4731edbb 303 ((uint32_t)msg.data[4]));
WFKnight 0:9b3d4731edbb 304 /* Request transmission */
WFKnight 0:9b3d4731edbb 305 can->sTxMailBox[transmitmailbox].TIR |= CAN_TI0R_TXRQ;
WFKnight 0:9b3d4731edbb 306
WFKnight 0:9b3d4731edbb 307 return 1;
WFKnight 0:9b3d4731edbb 308 }
WFKnight 0:9b3d4731edbb 309
WFKnight 0:9b3d4731edbb 310 int can_read(can_t *obj, CAN_Message *msg, int handle)
WFKnight 0:9b3d4731edbb 311 {
WFKnight 0:9b3d4731edbb 312 //handle is the FIFO number
WFKnight 0:9b3d4731edbb 313
WFKnight 0:9b3d4731edbb 314 CAN_TypeDef *can = obj->CanHandle.Instance;
WFKnight 0:9b3d4731edbb 315
WFKnight 0:9b3d4731edbb 316 // check FPM0 which holds the pending message count in FIFO 0
WFKnight 0:9b3d4731edbb 317 // if no message is pending, return 0
WFKnight 0:9b3d4731edbb 318 if ((can->RF0R & CAN_RF0R_FMP0) == 0) {
WFKnight 0:9b3d4731edbb 319 return 0;
WFKnight 0:9b3d4731edbb 320 }
WFKnight 0:9b3d4731edbb 321
WFKnight 0:9b3d4731edbb 322 /* Get the Id */
WFKnight 0:9b3d4731edbb 323 msg->format = (CANFormat)(((uint8_t)0x04 & can->sFIFOMailBox[handle].RIR) >> 2);
WFKnight 0:9b3d4731edbb 324 if (!msg->format) {
WFKnight 0:9b3d4731edbb 325 msg->id = (uint32_t)0x000007FF & (can->sFIFOMailBox[handle].RIR >> 21);
WFKnight 0:9b3d4731edbb 326 } else {
WFKnight 0:9b3d4731edbb 327 msg->id = (uint32_t)0x1FFFFFFF & (can->sFIFOMailBox[handle].RIR >> 3);
WFKnight 0:9b3d4731edbb 328 }
WFKnight 0:9b3d4731edbb 329
WFKnight 0:9b3d4731edbb 330 msg->type = (CANType)(((uint8_t)0x02 & can->sFIFOMailBox[handle].RIR) >> 1);
WFKnight 0:9b3d4731edbb 331 /* Get the DLC */
WFKnight 0:9b3d4731edbb 332 msg->len = (uint8_t)0x0F & can->sFIFOMailBox[handle].RDTR;
WFKnight 0:9b3d4731edbb 333 /* Get the FMI */
WFKnight 0:9b3d4731edbb 334 // msg->FMI = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDTR >> 8);
WFKnight 0:9b3d4731edbb 335 /* Get the data field */
WFKnight 0:9b3d4731edbb 336 msg->data[0] = (uint8_t)0xFF & can->sFIFOMailBox[handle].RDLR;
WFKnight 0:9b3d4731edbb 337 msg->data[1] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDLR >> 8);
WFKnight 0:9b3d4731edbb 338 msg->data[2] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDLR >> 16);
WFKnight 0:9b3d4731edbb 339 msg->data[3] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDLR >> 24);
WFKnight 0:9b3d4731edbb 340 msg->data[4] = (uint8_t)0xFF & can->sFIFOMailBox[handle].RDHR;
WFKnight 0:9b3d4731edbb 341 msg->data[5] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDHR >> 8);
WFKnight 0:9b3d4731edbb 342 msg->data[6] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDHR >> 16);
WFKnight 0:9b3d4731edbb 343 msg->data[7] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDHR >> 24);
WFKnight 0:9b3d4731edbb 344
WFKnight 0:9b3d4731edbb 345 /* Release the FIFO */
WFKnight 0:9b3d4731edbb 346 if (handle == CAN_FIFO0) {
WFKnight 0:9b3d4731edbb 347 /* Release FIFO0 */
WFKnight 0:9b3d4731edbb 348 can->RF0R |= CAN_RF0R_RFOM0;
WFKnight 0:9b3d4731edbb 349 } else { /* FIFONumber == CAN_FIFO1 */
WFKnight 0:9b3d4731edbb 350 /* Release FIFO1 */
WFKnight 0:9b3d4731edbb 351 can->RF1R |= CAN_RF1R_RFOM1;
WFKnight 0:9b3d4731edbb 352 }
WFKnight 0:9b3d4731edbb 353
WFKnight 0:9b3d4731edbb 354 return 1;
WFKnight 0:9b3d4731edbb 355 }
WFKnight 0:9b3d4731edbb 356
WFKnight 0:9b3d4731edbb 357 void can_reset(can_t *obj)
WFKnight 0:9b3d4731edbb 358 {
WFKnight 0:9b3d4731edbb 359 CAN_TypeDef *can = obj->CanHandle.Instance;
WFKnight 0:9b3d4731edbb 360
WFKnight 0:9b3d4731edbb 361 /* Reset IP and delete errors */
WFKnight 0:9b3d4731edbb 362 can->MCR |= CAN_MCR_RESET;
WFKnight 0:9b3d4731edbb 363 can->ESR = 0x0;
WFKnight 0:9b3d4731edbb 364
WFKnight 0:9b3d4731edbb 365 /* restore registers state as saved in obj context */
WFKnight 0:9b3d4731edbb 366 can_registers_init(obj);
WFKnight 0:9b3d4731edbb 367 }
WFKnight 0:9b3d4731edbb 368
WFKnight 0:9b3d4731edbb 369 unsigned char can_rderror(can_t *obj)
WFKnight 0:9b3d4731edbb 370 {
WFKnight 0:9b3d4731edbb 371 CAN_TypeDef *can = obj->CanHandle.Instance;
WFKnight 0:9b3d4731edbb 372 return (can->ESR >> 24) & 0xFF;
WFKnight 0:9b3d4731edbb 373 }
WFKnight 0:9b3d4731edbb 374
WFKnight 0:9b3d4731edbb 375 unsigned char can_tderror(can_t *obj)
WFKnight 0:9b3d4731edbb 376 {
WFKnight 0:9b3d4731edbb 377 CAN_TypeDef *can = obj->CanHandle.Instance;
WFKnight 0:9b3d4731edbb 378 return (can->ESR >> 16) & 0xFF;
WFKnight 0:9b3d4731edbb 379 }
WFKnight 0:9b3d4731edbb 380
WFKnight 0:9b3d4731edbb 381 void can_monitor(can_t *obj, int silent)
WFKnight 0:9b3d4731edbb 382 {
WFKnight 0:9b3d4731edbb 383 CanMode mode = MODE_NORMAL;
WFKnight 0:9b3d4731edbb 384 /* Update current state w/ or w/o silent */
WFKnight 0:9b3d4731edbb 385 if(silent) {
WFKnight 0:9b3d4731edbb 386 switch (obj->CanHandle.Init.Mode) {
WFKnight 0:9b3d4731edbb 387 case CAN_MODE_LOOPBACK:
WFKnight 0:9b3d4731edbb 388 case CAN_MODE_SILENT_LOOPBACK:
WFKnight 0:9b3d4731edbb 389 mode = MODE_TEST_SILENT;
WFKnight 0:9b3d4731edbb 390 break;
WFKnight 0:9b3d4731edbb 391 default:
WFKnight 0:9b3d4731edbb 392 mode = MODE_SILENT;
WFKnight 0:9b3d4731edbb 393 break;
WFKnight 0:9b3d4731edbb 394 }
WFKnight 0:9b3d4731edbb 395 } else {
WFKnight 0:9b3d4731edbb 396 switch (obj->CanHandle.Init.Mode) {
WFKnight 0:9b3d4731edbb 397 case CAN_MODE_LOOPBACK:
WFKnight 0:9b3d4731edbb 398 case CAN_MODE_SILENT_LOOPBACK:
WFKnight 0:9b3d4731edbb 399 mode = MODE_TEST_LOCAL;
WFKnight 0:9b3d4731edbb 400 break;
WFKnight 0:9b3d4731edbb 401 default:
WFKnight 0:9b3d4731edbb 402 mode = MODE_NORMAL;
WFKnight 0:9b3d4731edbb 403 break;
WFKnight 0:9b3d4731edbb 404 }
WFKnight 0:9b3d4731edbb 405 }
WFKnight 0:9b3d4731edbb 406
WFKnight 0:9b3d4731edbb 407 can_mode(obj, mode);
WFKnight 0:9b3d4731edbb 408 }
WFKnight 0:9b3d4731edbb 409
WFKnight 0:9b3d4731edbb 410 int can_mode(can_t *obj, CanMode mode)
WFKnight 0:9b3d4731edbb 411 {
WFKnight 0:9b3d4731edbb 412 int success = 0;
WFKnight 0:9b3d4731edbb 413 CAN_TypeDef *can = obj->CanHandle.Instance;
WFKnight 0:9b3d4731edbb 414
WFKnight 0:9b3d4731edbb 415 can->MCR |= CAN_MCR_INRQ ;
WFKnight 0:9b3d4731edbb 416 while ((can->MSR & CAN_MSR_INAK) != CAN_MSR_INAK) {
WFKnight 0:9b3d4731edbb 417 }
WFKnight 0:9b3d4731edbb 418
WFKnight 0:9b3d4731edbb 419 switch (mode) {
WFKnight 0:9b3d4731edbb 420 case MODE_NORMAL:
WFKnight 0:9b3d4731edbb 421 obj->CanHandle.Init.Mode = CAN_MODE_NORMAL;
WFKnight 0:9b3d4731edbb 422 can->BTR &= ~(CAN_BTR_SILM | CAN_BTR_LBKM);
WFKnight 0:9b3d4731edbb 423 success = 1;
WFKnight 0:9b3d4731edbb 424 break;
WFKnight 0:9b3d4731edbb 425 case MODE_SILENT:
WFKnight 0:9b3d4731edbb 426 obj->CanHandle.Init.Mode = CAN_MODE_SILENT;
WFKnight 0:9b3d4731edbb 427 can->BTR |= CAN_BTR_SILM;
WFKnight 0:9b3d4731edbb 428 can->BTR &= ~CAN_BTR_LBKM;
WFKnight 0:9b3d4731edbb 429 success = 1;
WFKnight 0:9b3d4731edbb 430 break;
WFKnight 0:9b3d4731edbb 431 case MODE_TEST_GLOBAL:
WFKnight 0:9b3d4731edbb 432 case MODE_TEST_LOCAL:
WFKnight 0:9b3d4731edbb 433 obj->CanHandle.Init.Mode = CAN_MODE_LOOPBACK;
WFKnight 0:9b3d4731edbb 434 can->BTR |= CAN_BTR_LBKM;
WFKnight 0:9b3d4731edbb 435 can->BTR &= ~CAN_BTR_SILM;
WFKnight 0:9b3d4731edbb 436 success = 1;
WFKnight 0:9b3d4731edbb 437 break;
WFKnight 0:9b3d4731edbb 438 case MODE_TEST_SILENT:
WFKnight 0:9b3d4731edbb 439 obj->CanHandle.Init.Mode = CAN_MODE_SILENT_LOOPBACK;
WFKnight 0:9b3d4731edbb 440 can->BTR |= (CAN_BTR_SILM | CAN_BTR_LBKM);
WFKnight 0:9b3d4731edbb 441 success = 1;
WFKnight 0:9b3d4731edbb 442 break;
WFKnight 0:9b3d4731edbb 443 default:
WFKnight 0:9b3d4731edbb 444 success = 0;
WFKnight 0:9b3d4731edbb 445 break;
WFKnight 0:9b3d4731edbb 446 }
WFKnight 0:9b3d4731edbb 447
WFKnight 0:9b3d4731edbb 448 can->MCR &= ~(uint32_t)CAN_MCR_INRQ;
WFKnight 0:9b3d4731edbb 449 while ((can->MSR & CAN_MSR_INAK) == CAN_MSR_INAK) {
WFKnight 0:9b3d4731edbb 450 }
WFKnight 0:9b3d4731edbb 451
WFKnight 0:9b3d4731edbb 452 return success;
WFKnight 0:9b3d4731edbb 453 }
WFKnight 0:9b3d4731edbb 454
WFKnight 0:9b3d4731edbb 455 int can_filter(can_t *obj, uint32_t id, uint32_t mask, CANFormat format, int32_t handle)
WFKnight 0:9b3d4731edbb 456 {
WFKnight 0:9b3d4731edbb 457 int retval = 0;
WFKnight 0:9b3d4731edbb 458
WFKnight 0:9b3d4731edbb 459 // filter for CANAny format cannot be configured for STM32
WFKnight 0:9b3d4731edbb 460 if ((format == CANStandard) || (format == CANExtended)) {
WFKnight 0:9b3d4731edbb 461 CAN_FilterConfTypeDef sFilterConfig;
WFKnight 0:9b3d4731edbb 462 sFilterConfig.FilterNumber = handle;
WFKnight 0:9b3d4731edbb 463 sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
WFKnight 0:9b3d4731edbb 464 sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
WFKnight 0:9b3d4731edbb 465
WFKnight 0:9b3d4731edbb 466 if (format == CANStandard) {
WFKnight 0:9b3d4731edbb 467 sFilterConfig.FilterIdHigh = id << 5;
WFKnight 0:9b3d4731edbb 468 sFilterConfig.FilterIdLow = 0x0;
WFKnight 0:9b3d4731edbb 469 sFilterConfig.FilterMaskIdHigh = mask << 5;
WFKnight 0:9b3d4731edbb 470 sFilterConfig.FilterMaskIdLow = 0x0; // allows both remote and data frames
WFKnight 0:9b3d4731edbb 471 } else { // format == CANExtended
WFKnight 0:9b3d4731edbb 472 sFilterConfig.FilterIdHigh = id >> 13; // EXTID[28:13]
WFKnight 0:9b3d4731edbb 473 sFilterConfig.FilterIdLow = (0xFFFF & (id << 3)) | (1 << 2); // EXTID[12:0] + IDE
WFKnight 0:9b3d4731edbb 474 sFilterConfig.FilterMaskIdHigh = mask >> 13;
WFKnight 0:9b3d4731edbb 475 sFilterConfig.FilterMaskIdLow = (0xFFFF & (mask << 3)) | (1 << 2);
WFKnight 0:9b3d4731edbb 476 }
WFKnight 0:9b3d4731edbb 477
WFKnight 0:9b3d4731edbb 478 sFilterConfig.FilterFIFOAssignment = 0;
WFKnight 0:9b3d4731edbb 479 sFilterConfig.FilterActivation = ENABLE;
WFKnight 0:9b3d4731edbb 480 sFilterConfig.BankNumber = 14 + handle;
WFKnight 0:9b3d4731edbb 481
WFKnight 0:9b3d4731edbb 482 HAL_CAN_ConfigFilter(&obj->CanHandle, &sFilterConfig);
WFKnight 0:9b3d4731edbb 483 retval = handle;
WFKnight 0:9b3d4731edbb 484 }
WFKnight 0:9b3d4731edbb 485 return retval;
WFKnight 0:9b3d4731edbb 486 }
WFKnight 0:9b3d4731edbb 487
WFKnight 0:9b3d4731edbb 488 static void can_irq(CANName name, int id)
WFKnight 0:9b3d4731edbb 489 {
WFKnight 0:9b3d4731edbb 490 uint32_t tmp1 = 0, tmp2 = 0, tmp3 = 0;
WFKnight 0:9b3d4731edbb 491 CAN_HandleTypeDef CanHandle;
WFKnight 0:9b3d4731edbb 492 CanHandle.Instance = (CAN_TypeDef *)name;
WFKnight 0:9b3d4731edbb 493
WFKnight 0:9b3d4731edbb 494 if (__HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_TME)) {
WFKnight 0:9b3d4731edbb 495 tmp1 = __HAL_CAN_TRANSMIT_STATUS(&CanHandle, CAN_TXMAILBOX_0);
WFKnight 0:9b3d4731edbb 496 tmp2 = __HAL_CAN_TRANSMIT_STATUS(&CanHandle, CAN_TXMAILBOX_1);
WFKnight 0:9b3d4731edbb 497 tmp3 = __HAL_CAN_TRANSMIT_STATUS(&CanHandle, CAN_TXMAILBOX_2);
WFKnight 0:9b3d4731edbb 498 if (tmp1) {
WFKnight 0:9b3d4731edbb 499 __HAL_CAN_CLEAR_FLAG(&CanHandle, CAN_FLAG_RQCP0);
WFKnight 0:9b3d4731edbb 500 }
WFKnight 0:9b3d4731edbb 501 if (tmp2) {
WFKnight 0:9b3d4731edbb 502 __HAL_CAN_CLEAR_FLAG(&CanHandle, CAN_FLAG_RQCP1);
WFKnight 0:9b3d4731edbb 503 }
WFKnight 0:9b3d4731edbb 504 if (tmp3) {
WFKnight 0:9b3d4731edbb 505 __HAL_CAN_CLEAR_FLAG(&CanHandle, CAN_FLAG_RQCP2);
WFKnight 0:9b3d4731edbb 506 }
WFKnight 0:9b3d4731edbb 507 if (tmp1 || tmp2 || tmp3) {
WFKnight 0:9b3d4731edbb 508 irq_handler(can_irq_ids[id], IRQ_TX);
WFKnight 0:9b3d4731edbb 509 }
WFKnight 0:9b3d4731edbb 510 }
WFKnight 0:9b3d4731edbb 511
WFKnight 0:9b3d4731edbb 512 tmp1 = __HAL_CAN_MSG_PENDING(&CanHandle, CAN_FIFO0);
WFKnight 0:9b3d4731edbb 513 tmp2 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_FMP0);
WFKnight 0:9b3d4731edbb 514
WFKnight 0:9b3d4731edbb 515 if ((tmp1 != 0) && tmp2) {
WFKnight 0:9b3d4731edbb 516 irq_handler(can_irq_ids[id], IRQ_RX);
WFKnight 0:9b3d4731edbb 517 }
WFKnight 0:9b3d4731edbb 518
WFKnight 0:9b3d4731edbb 519 tmp1 = __HAL_CAN_GET_FLAG(&CanHandle, CAN_FLAG_EPV);
WFKnight 0:9b3d4731edbb 520 tmp2 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_EPV);
WFKnight 0:9b3d4731edbb 521 tmp3 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_ERR);
WFKnight 0:9b3d4731edbb 522
WFKnight 0:9b3d4731edbb 523 if (tmp1 && tmp2 && tmp3) {
WFKnight 0:9b3d4731edbb 524 irq_handler(can_irq_ids[id], IRQ_PASSIVE);
WFKnight 0:9b3d4731edbb 525 }
WFKnight 0:9b3d4731edbb 526
WFKnight 0:9b3d4731edbb 527 tmp1 = __HAL_CAN_GET_FLAG(&CanHandle, CAN_FLAG_BOF);
WFKnight 0:9b3d4731edbb 528 tmp2 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_BOF);
WFKnight 0:9b3d4731edbb 529 tmp3 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_ERR);
WFKnight 0:9b3d4731edbb 530 if (tmp1 && tmp2 && tmp3) {
WFKnight 0:9b3d4731edbb 531 irq_handler(can_irq_ids[id], IRQ_BUS);
WFKnight 0:9b3d4731edbb 532 }
WFKnight 0:9b3d4731edbb 533
WFKnight 0:9b3d4731edbb 534 tmp3 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_ERR);
WFKnight 0:9b3d4731edbb 535 if (tmp1 && tmp2 && tmp3) {
WFKnight 0:9b3d4731edbb 536 irq_handler(can_irq_ids[id], IRQ_ERROR);
WFKnight 0:9b3d4731edbb 537 }
WFKnight 0:9b3d4731edbb 538 }
WFKnight 0:9b3d4731edbb 539
WFKnight 0:9b3d4731edbb 540 #if defined(TARGET_STM32F0)
WFKnight 0:9b3d4731edbb 541 void CAN_IRQHandler(void)
WFKnight 0:9b3d4731edbb 542 {
WFKnight 0:9b3d4731edbb 543 can_irq(CAN_1, 0);
WFKnight 0:9b3d4731edbb 544 }
WFKnight 0:9b3d4731edbb 545 #elif defined(TARGET_STM32F3)
WFKnight 0:9b3d4731edbb 546 void CAN_RX0_IRQHandler(void)
WFKnight 0:9b3d4731edbb 547 {
WFKnight 0:9b3d4731edbb 548 can_irq(CAN_1, 0);
WFKnight 0:9b3d4731edbb 549 }
WFKnight 0:9b3d4731edbb 550 void CAN_TX_IRQHandler(void)
WFKnight 0:9b3d4731edbb 551 {
WFKnight 0:9b3d4731edbb 552 can_irq(CAN_1, 0);
WFKnight 0:9b3d4731edbb 553 }
WFKnight 0:9b3d4731edbb 554 void CAN_SCE_IRQHandler(void)
WFKnight 0:9b3d4731edbb 555 {
WFKnight 0:9b3d4731edbb 556 can_irq(CAN_1, 0);
WFKnight 0:9b3d4731edbb 557 }
WFKnight 0:9b3d4731edbb 558 #else
WFKnight 0:9b3d4731edbb 559 void CAN1_RX0_IRQHandler(void)
WFKnight 0:9b3d4731edbb 560 {
WFKnight 0:9b3d4731edbb 561 can_irq(CAN_1, 0);
WFKnight 0:9b3d4731edbb 562 }
WFKnight 0:9b3d4731edbb 563 void CAN1_TX_IRQHandler(void)
WFKnight 0:9b3d4731edbb 564 {
WFKnight 0:9b3d4731edbb 565 can_irq(CAN_1, 0);
WFKnight 0:9b3d4731edbb 566 }
WFKnight 0:9b3d4731edbb 567 void CAN1_SCE_IRQHandler(void)
WFKnight 0:9b3d4731edbb 568 {
WFKnight 0:9b3d4731edbb 569 can_irq(CAN_1, 0);
WFKnight 0:9b3d4731edbb 570 }
WFKnight 0:9b3d4731edbb 571 #if defined(CAN2_BASE) && (CAN_NUM > 1)
WFKnight 0:9b3d4731edbb 572 void CAN2_RX0_IRQHandler(void)
WFKnight 0:9b3d4731edbb 573 {
WFKnight 0:9b3d4731edbb 574 can_irq(CAN_2, 1);
WFKnight 0:9b3d4731edbb 575 }
WFKnight 0:9b3d4731edbb 576 void CAN2_TX_IRQHandler(void)
WFKnight 0:9b3d4731edbb 577 {
WFKnight 0:9b3d4731edbb 578 can_irq(CAN_2, 1);
WFKnight 0:9b3d4731edbb 579 }
WFKnight 0:9b3d4731edbb 580 void CAN2_SCE_IRQHandler(void)
WFKnight 0:9b3d4731edbb 581 {
WFKnight 0:9b3d4731edbb 582 can_irq(CAN_2, 1);
WFKnight 0:9b3d4731edbb 583 }
WFKnight 0:9b3d4731edbb 584 #endif
WFKnight 0:9b3d4731edbb 585 #if defined(CAN3_BASE) && (CAN_NUM > 2)
WFKnight 0:9b3d4731edbb 586 void CAN3_RX0_IRQHandler(void)
WFKnight 0:9b3d4731edbb 587 {
WFKnight 0:9b3d4731edbb 588 can_irq(CAN_3, 2);
WFKnight 0:9b3d4731edbb 589 }
WFKnight 0:9b3d4731edbb 590 void CAN3_TX_IRQHandler(void)
WFKnight 0:9b3d4731edbb 591 {
WFKnight 0:9b3d4731edbb 592 can_irq(CAN_3, 2);
WFKnight 0:9b3d4731edbb 593 }
WFKnight 0:9b3d4731edbb 594 void CAN3_SCE_IRQHandler(void)
WFKnight 0:9b3d4731edbb 595 {
WFKnight 0:9b3d4731edbb 596 can_irq(CAN_3, 2);
WFKnight 0:9b3d4731edbb 597 }
WFKnight 0:9b3d4731edbb 598 #endif
WFKnight 0:9b3d4731edbb 599 #endif // else
WFKnight 0:9b3d4731edbb 600
WFKnight 0:9b3d4731edbb 601 void can_irq_set(can_t *obj, CanIrqType type, uint32_t enable)
WFKnight 0:9b3d4731edbb 602 {
WFKnight 0:9b3d4731edbb 603 CAN_TypeDef *can = obj->CanHandle.Instance;
WFKnight 0:9b3d4731edbb 604 IRQn_Type irq_n = (IRQn_Type)0;
WFKnight 0:9b3d4731edbb 605 uint32_t vector = 0;
WFKnight 0:9b3d4731edbb 606 uint32_t ier;
WFKnight 0:9b3d4731edbb 607
WFKnight 0:9b3d4731edbb 608 if ((CANName) can == CAN_1) {
WFKnight 0:9b3d4731edbb 609 switch (type) {
WFKnight 0:9b3d4731edbb 610 case IRQ_RX:
WFKnight 0:9b3d4731edbb 611 ier = CAN_IT_FMP0;
WFKnight 0:9b3d4731edbb 612 irq_n = CAN1_IRQ_RX_IRQN;
WFKnight 0:9b3d4731edbb 613 vector = (uint32_t)&CAN1_IRQ_RX_VECT;
WFKnight 0:9b3d4731edbb 614 break;
WFKnight 0:9b3d4731edbb 615 case IRQ_TX:
WFKnight 0:9b3d4731edbb 616 ier = CAN_IT_TME;
WFKnight 0:9b3d4731edbb 617 irq_n = CAN1_IRQ_TX_IRQN;
WFKnight 0:9b3d4731edbb 618 vector = (uint32_t)&CAN1_IRQ_TX_VECT;
WFKnight 0:9b3d4731edbb 619 break;
WFKnight 0:9b3d4731edbb 620 case IRQ_ERROR:
WFKnight 0:9b3d4731edbb 621 ier = CAN_IT_ERR;
WFKnight 0:9b3d4731edbb 622 irq_n = CAN1_IRQ_ERROR_IRQN;
WFKnight 0:9b3d4731edbb 623 vector = (uint32_t)&CAN1_IRQ_ERROR_VECT;
WFKnight 0:9b3d4731edbb 624 break;
WFKnight 0:9b3d4731edbb 625 case IRQ_PASSIVE:
WFKnight 0:9b3d4731edbb 626 ier = CAN_IT_EPV;
WFKnight 0:9b3d4731edbb 627 irq_n = CAN1_IRQ_PASSIVE_IRQN;
WFKnight 0:9b3d4731edbb 628 vector = (uint32_t)&CAN1_IRQ_PASSIVE_VECT;
WFKnight 0:9b3d4731edbb 629 break;
WFKnight 0:9b3d4731edbb 630 case IRQ_BUS:
WFKnight 0:9b3d4731edbb 631 ier = CAN_IT_BOF;
WFKnight 0:9b3d4731edbb 632 irq_n = CAN1_IRQ_BUS_IRQN;
WFKnight 0:9b3d4731edbb 633 vector = (uint32_t)&CAN1_IRQ_BUS_VECT;
WFKnight 0:9b3d4731edbb 634 break;
WFKnight 0:9b3d4731edbb 635 default:
WFKnight 0:9b3d4731edbb 636 return;
WFKnight 0:9b3d4731edbb 637 }
WFKnight 0:9b3d4731edbb 638 }
WFKnight 0:9b3d4731edbb 639 #if defined(CAN2_BASE) && (CAN_NUM > 1)
WFKnight 0:9b3d4731edbb 640 else if ((CANName) can == CAN_2) {
WFKnight 0:9b3d4731edbb 641 switch (type) {
WFKnight 0:9b3d4731edbb 642 case IRQ_RX:
WFKnight 0:9b3d4731edbb 643 ier = CAN_IT_FMP0;
WFKnight 0:9b3d4731edbb 644 irq_n = CAN2_IRQ_RX_IRQN;
WFKnight 0:9b3d4731edbb 645 vector = (uint32_t)&CAN2_IRQ_RX_VECT;
WFKnight 0:9b3d4731edbb 646 break;
WFKnight 0:9b3d4731edbb 647 case IRQ_TX:
WFKnight 0:9b3d4731edbb 648 ier = CAN_IT_TME;
WFKnight 0:9b3d4731edbb 649 irq_n = CAN2_IRQ_TX_IRQN;
WFKnight 0:9b3d4731edbb 650 vector = (uint32_t)&CAN2_IRQ_TX_VECT;
WFKnight 0:9b3d4731edbb 651 break;
WFKnight 0:9b3d4731edbb 652 case IRQ_ERROR:
WFKnight 0:9b3d4731edbb 653 ier = CAN_IT_ERR;
WFKnight 0:9b3d4731edbb 654 irq_n = CAN2_IRQ_ERROR_IRQN;
WFKnight 0:9b3d4731edbb 655 vector = (uint32_t)&CAN2_IRQ_ERROR_VECT;
WFKnight 0:9b3d4731edbb 656 break;
WFKnight 0:9b3d4731edbb 657 case IRQ_PASSIVE:
WFKnight 0:9b3d4731edbb 658 ier = CAN_IT_EPV;
WFKnight 0:9b3d4731edbb 659 irq_n = CAN2_IRQ_PASSIVE_IRQN;
WFKnight 0:9b3d4731edbb 660 vector = (uint32_t)&CAN2_IRQ_PASSIVE_VECT;
WFKnight 0:9b3d4731edbb 661 break;
WFKnight 0:9b3d4731edbb 662 case IRQ_BUS:
WFKnight 0:9b3d4731edbb 663 ier = CAN_IT_BOF;
WFKnight 0:9b3d4731edbb 664 irq_n = CAN2_IRQ_BUS_IRQN;
WFKnight 0:9b3d4731edbb 665 vector = (uint32_t)&CAN2_IRQ_BUS_VECT;
WFKnight 0:9b3d4731edbb 666 break;
WFKnight 0:9b3d4731edbb 667 default:
WFKnight 0:9b3d4731edbb 668 return;
WFKnight 0:9b3d4731edbb 669 }
WFKnight 0:9b3d4731edbb 670 }
WFKnight 0:9b3d4731edbb 671 #endif
WFKnight 0:9b3d4731edbb 672 #if defined(CAN3_BASE) && (CAN_NUM > 2)
WFKnight 0:9b3d4731edbb 673 else if ((CANName) can == CAN_3) {
WFKnight 0:9b3d4731edbb 674 switch (type) {
WFKnight 0:9b3d4731edbb 675 case IRQ_RX:
WFKnight 0:9b3d4731edbb 676 ier = CAN_IT_FMP0;
WFKnight 0:9b3d4731edbb 677 irq_n = CAN3_IRQ_RX_IRQN;
WFKnight 0:9b3d4731edbb 678 vector = (uint32_t)&CAN3_IRQ_RX_VECT;
WFKnight 0:9b3d4731edbb 679 break;
WFKnight 0:9b3d4731edbb 680 case IRQ_TX:
WFKnight 0:9b3d4731edbb 681 ier = CAN_IT_TME;
WFKnight 0:9b3d4731edbb 682 irq_n = CAN3_IRQ_TX_IRQN;
WFKnight 0:9b3d4731edbb 683 vector = (uint32_t)&CAN3_IRQ_TX_VECT;
WFKnight 0:9b3d4731edbb 684 break;
WFKnight 0:9b3d4731edbb 685 case IRQ_ERROR:
WFKnight 0:9b3d4731edbb 686 ier = CAN_IT_ERR;
WFKnight 0:9b3d4731edbb 687 irq_n = CAN3_IRQ_ERROR_IRQN;
WFKnight 0:9b3d4731edbb 688 vector = (uint32_t)&CAN3_IRQ_ERROR_VECT;
WFKnight 0:9b3d4731edbb 689 break;
WFKnight 0:9b3d4731edbb 690 case IRQ_PASSIVE:
WFKnight 0:9b3d4731edbb 691 ier = CAN_IT_EPV;
WFKnight 0:9b3d4731edbb 692 irq_n = CAN3_IRQ_PASSIVE_IRQN;
WFKnight 0:9b3d4731edbb 693 vector = (uint32_t)&CAN3_IRQ_PASSIVE_VECT;
WFKnight 0:9b3d4731edbb 694 break;
WFKnight 0:9b3d4731edbb 695 case IRQ_BUS:
WFKnight 0:9b3d4731edbb 696 ier = CAN_IT_BOF;
WFKnight 0:9b3d4731edbb 697 irq_n = CAN3_IRQ_BUS_IRQN;
WFKnight 0:9b3d4731edbb 698 vector = (uint32_t)&CAN3_IRQ_BUS_VECT;
WFKnight 0:9b3d4731edbb 699 break;
WFKnight 0:9b3d4731edbb 700 default:
WFKnight 0:9b3d4731edbb 701 return;
WFKnight 0:9b3d4731edbb 702 }
WFKnight 0:9b3d4731edbb 703 }
WFKnight 0:9b3d4731edbb 704 #endif
WFKnight 0:9b3d4731edbb 705 else {
WFKnight 0:9b3d4731edbb 706 return;
WFKnight 0:9b3d4731edbb 707 }
WFKnight 0:9b3d4731edbb 708
WFKnight 0:9b3d4731edbb 709 if (enable) {
WFKnight 0:9b3d4731edbb 710 can->IER |= ier;
WFKnight 0:9b3d4731edbb 711 } else {
WFKnight 0:9b3d4731edbb 712 can->IER &= ~ier;
WFKnight 0:9b3d4731edbb 713 }
WFKnight 0:9b3d4731edbb 714
WFKnight 0:9b3d4731edbb 715 NVIC_SetVector(irq_n, vector);
WFKnight 0:9b3d4731edbb 716 NVIC_EnableIRQ(irq_n);
WFKnight 0:9b3d4731edbb 717 }
WFKnight 0:9b3d4731edbb 718
WFKnight 0:9b3d4731edbb 719 #endif // DEVICE_CAN