Aditya Mehrotra / mbed-dev

Biomimetics MBED Library w/ Added Support for CAN3

Dependents:   CAN_TEST SPIne_Plus_DYNO_SENSORS SPIne_Plus_v2 SPIne_Plus_Dyno_v2

targets/TARGET_STM/can_api.c@3:993b4d6ff61e, 2021-03-09 (annotated)

Committer:
adimmit
Date:
Tue Mar 09 20:33:24 2021 +0000
Revision:
3:993b4d6ff61e
Parent:
0:083111ae2a11 
added CAN3

Who changed what in which revision?

UserRevisionLine numberNew contents of line
saloutos 0:083111ae2a11 1 /* mbed Microcontroller Library
saloutos 0:083111ae2a11 2 * Copyright (c) 2006-2017 ARM Limited
saloutos 0:083111ae2a11 3 *
saloutos 0:083111ae2a11 4 * Licensed under the Apache License, Version 2.0 (the "License");
saloutos 0:083111ae2a11 5 * you may not use this file except in compliance with the License.
saloutos 0:083111ae2a11 6 * You may obtain a copy of the License at
saloutos 0:083111ae2a11 7 *
saloutos 0:083111ae2a11 8 * http://www.apache.org/licenses/LICENSE-2.0
saloutos 0:083111ae2a11 9 *
saloutos 0:083111ae2a11 10 * Unless required by applicable law or agreed to in writing, software
saloutos 0:083111ae2a11 11 * distributed under the License is distributed on an "AS IS" BASIS,
saloutos 0:083111ae2a11 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
saloutos 0:083111ae2a11 13 * See the License for the specific language governing permissions and
saloutos 0:083111ae2a11 14 * limitations under the License.
saloutos 0:083111ae2a11 15 */
saloutos 0:083111ae2a11 16 #include "can_api.h"
saloutos 0:083111ae2a11 17
saloutos 0:083111ae2a11 18 #if DEVICE_CAN
saloutos 0:083111ae2a11 19
saloutos 0:083111ae2a11 20 #include "cmsis.h"
saloutos 0:083111ae2a11 21 #include "pinmap.h"
saloutos 0:083111ae2a11 22 #include "PeripheralPins.h"
saloutos 0:083111ae2a11 23 #include "mbed_error.h"
saloutos 0:083111ae2a11 24 #include "can_device.h" // Specific to STM32 serie
saloutos 0:083111ae2a11 25 #include <math.h>
saloutos 0:083111ae2a11 26 #include <string.h>
saloutos 0:083111ae2a11 27
saloutos 0:083111ae2a11 28 static uint32_t can_irq_ids[CAN_NUM] = {0};
saloutos 0:083111ae2a11 29 static can_irq_handler irq_handler;
saloutos 0:083111ae2a11 30
saloutos 0:083111ae2a11 31 static void can_registers_init(can_t *obj)
saloutos 0:083111ae2a11 32 {
saloutos 0:083111ae2a11 33 if (HAL_CAN_Init(&obj->CanHandle) != HAL_OK) {
saloutos 0:083111ae2a11 34 error("Cannot initialize CAN");
saloutos 0:083111ae2a11 35 }
saloutos 0:083111ae2a11 36
saloutos 0:083111ae2a11 37 // Set initial CAN frequency to specified frequency
saloutos 0:083111ae2a11 38 if (can_frequency(obj, obj->hz) != 1) {
saloutos 0:083111ae2a11 39 error("Can frequency could not be set\n");
saloutos 0:083111ae2a11 40 }
saloutos 0:083111ae2a11 41 }
saloutos 0:083111ae2a11 42
saloutos 0:083111ae2a11 43 void can_init(can_t *obj, PinName rd, PinName td)
saloutos 0:083111ae2a11 44 {
saloutos 0:083111ae2a11 45 can_init_freq(obj, rd, td, 100000);
saloutos 0:083111ae2a11 46 }
saloutos 0:083111ae2a11 47
saloutos 0:083111ae2a11 48 void can_init_freq (can_t *obj, PinName rd, PinName td, int hz)
saloutos 0:083111ae2a11 49 {
saloutos 0:083111ae2a11 50 CANName can_rd = (CANName)pinmap_peripheral(rd, PinMap_CAN_RD);
saloutos 0:083111ae2a11 51 CANName can_td = (CANName)pinmap_peripheral(td, PinMap_CAN_TD);
saloutos 0:083111ae2a11 52 CANName can = (CANName)pinmap_merge(can_rd, can_td);
saloutos 0:083111ae2a11 53
saloutos 0:083111ae2a11 54 MBED_ASSERT((int)can != NC);
saloutos 0:083111ae2a11 55
adimmit 3:993b4d6ff61e 56 if (can == CAN_1) { //NOTE CAN1 and CAN3 are independent, CAN2 must have CAN1 running (slave only)
saloutos 0:083111ae2a11 57 __HAL_RCC_CAN1_CLK_ENABLE();
saloutos 0:083111ae2a11 58 obj->index = 0;
saloutos 0:083111ae2a11 59 }
saloutos 0:083111ae2a11 60 #if defined(CAN2_BASE) && (CAN_NUM == 2)
saloutos 0:083111ae2a11 61 else if (can == CAN_2) {
saloutos 0:083111ae2a11 62 __HAL_RCC_CAN1_CLK_ENABLE(); // needed to set filters
saloutos 0:083111ae2a11 63 __HAL_RCC_CAN2_CLK_ENABLE();
saloutos 0:083111ae2a11 64 obj->index = 1;
saloutos 0:083111ae2a11 65 }
saloutos 0:083111ae2a11 66 #endif
adimmit 3:993b4d6ff61e 67 else if (can == CAN_3) { //EDITED
adimmit 3:993b4d6ff61e 68 __HAL_RCC_CAN3_CLK_ENABLE(); //EDITED
adimmit 3:993b4d6ff61e 69 obj->index = 2; //EDITED
adimmit 3:993b4d6ff61e 70 }
saloutos 0:083111ae2a11 71 else {
saloutos 0:083111ae2a11 72 return;
saloutos 0:083111ae2a11 73 }
saloutos 0:083111ae2a11 74
saloutos 0:083111ae2a11 75 // Configure the CAN pins
saloutos 0:083111ae2a11 76 pinmap_pinout(rd, PinMap_CAN_RD);
saloutos 0:083111ae2a11 77 pinmap_pinout(td, PinMap_CAN_TD);
saloutos 0:083111ae2a11 78 if (rd != NC) {
saloutos 0:083111ae2a11 79 pin_mode(rd, PullUp);
saloutos 0:083111ae2a11 80 }
saloutos 0:083111ae2a11 81 if (td != NC) {
saloutos 0:083111ae2a11 82 pin_mode(td, PullUp);
saloutos 0:083111ae2a11 83 }
saloutos 0:083111ae2a11 84
saloutos 0:083111ae2a11 85 /* Use default values for rist init */
saloutos 0:083111ae2a11 86 obj->CanHandle.Instance = (CAN_TypeDef *)can;
saloutos 0:083111ae2a11 87 obj->CanHandle.Init.TTCM = DISABLE;
saloutos 0:083111ae2a11 88 obj->CanHandle.Init.ABOM = DISABLE;
saloutos 0:083111ae2a11 89 obj->CanHandle.Init.AWUM = DISABLE;
saloutos 0:083111ae2a11 90 obj->CanHandle.Init.NART = DISABLE;
saloutos 0:083111ae2a11 91 obj->CanHandle.Init.RFLM = DISABLE;
saloutos 0:083111ae2a11 92 obj->CanHandle.Init.TXFP = DISABLE;
saloutos 0:083111ae2a11 93 obj->CanHandle.Init.Mode = CAN_MODE_NORMAL;
saloutos 0:083111ae2a11 94 obj->CanHandle.Init.SJW = CAN_SJW_1TQ;
saloutos 0:083111ae2a11 95 obj->CanHandle.Init.BS1 = CAN_BS1_6TQ;
saloutos 0:083111ae2a11 96 obj->CanHandle.Init.BS2 = CAN_BS2_8TQ;
saloutos 0:083111ae2a11 97 obj->CanHandle.Init.Prescaler = 2;
saloutos 0:083111ae2a11 98
saloutos 0:083111ae2a11 99 /* Store frequency to be restored in case of reset */
saloutos 0:083111ae2a11 100 obj->hz = hz;
saloutos 0:083111ae2a11 101
saloutos 0:083111ae2a11 102 can_registers_init(obj);
saloutos 0:083111ae2a11 103
saloutos 0:083111ae2a11 104 uint32_t filter_number = (can == CAN_1) ? 0 : 14;
saloutos 0:083111ae2a11 105 can_filter(obj, 0, 0, CANStandard, filter_number);
saloutos 0:083111ae2a11 106 }
saloutos 0:083111ae2a11 107
saloutos 0:083111ae2a11 108
saloutos 0:083111ae2a11 109 void can_irq_init(can_t *obj, can_irq_handler handler, uint32_t id)
saloutos 0:083111ae2a11 110 {
saloutos 0:083111ae2a11 111 irq_handler = handler;
saloutos 0:083111ae2a11 112 can_irq_ids[obj->index] = id;
saloutos 0:083111ae2a11 113 }
saloutos 0:083111ae2a11 114
saloutos 0:083111ae2a11 115 void can_irq_free(can_t *obj)
saloutos 0:083111ae2a11 116 {
saloutos 0:083111ae2a11 117 CAN_TypeDef *can = obj->CanHandle.Instance;
saloutos 0:083111ae2a11 118
saloutos 0:083111ae2a11 119 can->IER &= ~(CAN_IT_FMP0 | CAN_IT_FMP1 | CAN_IT_TME | \
saloutos 0:083111ae2a11 120 CAN_IT_ERR | CAN_IT_EPV | CAN_IT_BOF);
saloutos 0:083111ae2a11 121 can_irq_ids[obj->index] = 0;
saloutos 0:083111ae2a11 122 }
saloutos 0:083111ae2a11 123
saloutos 0:083111ae2a11 124 void can_free(can_t *obj)
saloutos 0:083111ae2a11 125 {
saloutos 0:083111ae2a11 126 CANName can = (CANName) obj->CanHandle.Instance;
saloutos 0:083111ae2a11 127 // Reset CAN and disable clock
saloutos 0:083111ae2a11 128 if (can == CAN_1) {
saloutos 0:083111ae2a11 129 __HAL_RCC_CAN1_FORCE_RESET();
saloutos 0:083111ae2a11 130 __HAL_RCC_CAN1_RELEASE_RESET();
saloutos 0:083111ae2a11 131 __HAL_RCC_CAN1_CLK_DISABLE();
saloutos 0:083111ae2a11 132 }
saloutos 0:083111ae2a11 133 #if defined(CAN2_BASE) && (CAN_NUM == 2)
saloutos 0:083111ae2a11 134 if (can == CAN_2) {
saloutos 0:083111ae2a11 135 __HAL_RCC_CAN2_FORCE_RESET();
saloutos 0:083111ae2a11 136 __HAL_RCC_CAN2_RELEASE_RESET();
saloutos 0:083111ae2a11 137 __HAL_RCC_CAN2_CLK_DISABLE();
saloutos 0:083111ae2a11 138 }
saloutos 0:083111ae2a11 139 #endif
adimmit 3:993b4d6ff61e 140 if (can == CAN_3) {
adimmit 3:993b4d6ff61e 141 __HAL_RCC_CAN3_FORCE_RESET(); //EDITED
adimmit 3:993b4d6ff61e 142 __HAL_RCC_CAN3_RELEASE_RESET(); //EDITED
adimmit 3:993b4d6ff61e 143 __HAL_RCC_CAN3_CLK_DISABLE(); //EDITED
adimmit 3:993b4d6ff61e 144 }
saloutos 0:083111ae2a11 145 }
saloutos 0:083111ae2a11 146
saloutos 0:083111ae2a11 147 // The following table is used to program bit_timing. It is an adjustment of the sample
saloutos 0:083111ae2a11 148 // point by synchronizing on the start-bit edge and resynchronizing on the following edges.
saloutos 0:083111ae2a11 149 // This table has the sampling points as close to 75% as possible (most commonly used).
saloutos 0:083111ae2a11 150 // The first value is TSEG1, the second TSEG2.
saloutos 0:083111ae2a11 151 static const int timing_pts[23][2] = {
saloutos 0:083111ae2a11 152 {0x0, 0x0}, // 2, 50%
saloutos 0:083111ae2a11 153 {0x1, 0x0}, // 3, 67%
saloutos 0:083111ae2a11 154 {0x2, 0x0}, // 4, 75%
saloutos 0:083111ae2a11 155 {0x3, 0x0}, // 5, 80%
saloutos 0:083111ae2a11 156 {0x3, 0x1}, // 6, 67%
saloutos 0:083111ae2a11 157 {0x4, 0x1}, // 7, 71%
saloutos 0:083111ae2a11 158 {0x5, 0x1}, // 8, 75%
saloutos 0:083111ae2a11 159 {0x6, 0x1}, // 9, 78%
saloutos 0:083111ae2a11 160 {0x6, 0x2}, // 10, 70%
saloutos 0:083111ae2a11 161 {0x7, 0x2}, // 11, 73%
saloutos 0:083111ae2a11 162 {0x8, 0x2}, // 12, 75%
saloutos 0:083111ae2a11 163 {0x9, 0x2}, // 13, 77%
saloutos 0:083111ae2a11 164 {0x9, 0x3}, // 14, 71%
saloutos 0:083111ae2a11 165 {0xA, 0x3}, // 15, 73%
saloutos 0:083111ae2a11 166 {0xB, 0x3}, // 16, 75%
saloutos 0:083111ae2a11 167 {0xC, 0x3}, // 17, 76%
saloutos 0:083111ae2a11 168 {0xD, 0x3}, // 18, 78%
saloutos 0:083111ae2a11 169 {0xD, 0x4}, // 19, 74%
saloutos 0:083111ae2a11 170 {0xE, 0x4}, // 20, 75%
saloutos 0:083111ae2a11 171 {0xF, 0x4}, // 21, 76%
saloutos 0:083111ae2a11 172 {0xF, 0x5}, // 22, 73%
saloutos 0:083111ae2a11 173 {0xF, 0x6}, // 23, 70%
saloutos 0:083111ae2a11 174 {0xF, 0x7}, // 24, 67%
saloutos 0:083111ae2a11 175 };
saloutos 0:083111ae2a11 176
saloutos 0:083111ae2a11 177 static unsigned int can_speed(unsigned int pclk, unsigned int cclk, unsigned char psjw)
saloutos 0:083111ae2a11 178 {
saloutos 0:083111ae2a11 179 uint32_t btr;
saloutos 0:083111ae2a11 180 uint16_t brp = 0;
saloutos 0:083111ae2a11 181 uint32_t calcbit;
saloutos 0:083111ae2a11 182 uint32_t bitwidth;
saloutos 0:083111ae2a11 183 int hit = 0;
saloutos 0:083111ae2a11 184 int bits;
saloutos 0:083111ae2a11 185
saloutos 0:083111ae2a11 186 bitwidth = (pclk / cclk);
saloutos 0:083111ae2a11 187
saloutos 0:083111ae2a11 188 brp = bitwidth / 0x18;
saloutos 0:083111ae2a11 189 while ((!hit) && (brp < bitwidth / 4)) {
saloutos 0:083111ae2a11 190 brp++;
saloutos 0:083111ae2a11 191 for (bits = 22; bits > 0; bits--) {
saloutos 0:083111ae2a11 192 calcbit = (bits + 3) * (brp + 1);
saloutos 0:083111ae2a11 193 if (calcbit == bitwidth) {
saloutos 0:083111ae2a11 194 hit = 1;
saloutos 0:083111ae2a11 195 break;
saloutos 0:083111ae2a11 196 }
saloutos 0:083111ae2a11 197 }
saloutos 0:083111ae2a11 198 }
saloutos 0:083111ae2a11 199
saloutos 0:083111ae2a11 200 if (hit) {
saloutos 0:083111ae2a11 201 btr = ((timing_pts[bits][1] << CAN_BTR_TS2_Pos) & CAN_BTR_TS2) |
saloutos 0:083111ae2a11 202 ((timing_pts[bits][0] << CAN_BTR_TS1_Pos) & CAN_BTR_TS1) |
saloutos 0:083111ae2a11 203 ((psjw << CAN_BTR_SJW_Pos) & CAN_BTR_SJW) |
saloutos 0:083111ae2a11 204 ((brp << CAN_BTR_BRP_Pos) & CAN_BTR_BRP);
saloutos 0:083111ae2a11 205 } else {
saloutos 0:083111ae2a11 206 btr = 0xFFFFFFFF;
saloutos 0:083111ae2a11 207 }
saloutos 0:083111ae2a11 208
saloutos 0:083111ae2a11 209 return btr;
saloutos 0:083111ae2a11 210
saloutos 0:083111ae2a11 211 }
saloutos 0:083111ae2a11 212
saloutos 0:083111ae2a11 213 int can_frequency(can_t *obj, int f)
saloutos 0:083111ae2a11 214 {
saloutos 0:083111ae2a11 215 int pclk = HAL_RCC_GetPCLK1Freq();
saloutos 0:083111ae2a11 216 int btr = can_speed(pclk, (unsigned int)f, 1);
saloutos 0:083111ae2a11 217 CAN_TypeDef *can = obj->CanHandle.Instance;
saloutos 0:083111ae2a11 218 uint32_t tickstart = 0;
saloutos 0:083111ae2a11 219 int status = 1;
saloutos 0:083111ae2a11 220
saloutos 0:083111ae2a11 221 if (btr > 0) {
saloutos 0:083111ae2a11 222 can->MCR |= CAN_MCR_INRQ ;
saloutos 0:083111ae2a11 223 /* Get tick */
saloutos 0:083111ae2a11 224 tickstart = HAL_GetTick();
saloutos 0:083111ae2a11 225 while ((can->MSR & CAN_MSR_INAK) != CAN_MSR_INAK) {
saloutos 0:083111ae2a11 226 if ((HAL_GetTick() - tickstart) > 2) {
saloutos 0:083111ae2a11 227 status = 0;
saloutos 0:083111ae2a11 228 break;
saloutos 0:083111ae2a11 229 }
saloutos 0:083111ae2a11 230 }
saloutos 0:083111ae2a11 231 if (status != 0) {
saloutos 0:083111ae2a11 232 /* Do not erase all BTR registers (e.g. silent mode), only the
saloutos 0:083111ae2a11 233 * ones calculated in can_speed */
saloutos 0:083111ae2a11 234 can->BTR &= ~(CAN_BTR_TS2 | CAN_BTR_TS1 | CAN_BTR_SJW | CAN_BTR_BRP);
saloutos 0:083111ae2a11 235 can->BTR |= btr;
saloutos 0:083111ae2a11 236
saloutos 0:083111ae2a11 237 can->MCR &= ~(uint32_t)CAN_MCR_INRQ;
saloutos 0:083111ae2a11 238 /* Get tick */
saloutos 0:083111ae2a11 239 tickstart = HAL_GetTick();
saloutos 0:083111ae2a11 240 while ((can->MSR & CAN_MSR_INAK) == CAN_MSR_INAK) {
saloutos 0:083111ae2a11 241 if ((HAL_GetTick() - tickstart) > 2) {
saloutos 0:083111ae2a11 242 status = 0;
saloutos 0:083111ae2a11 243 break;
saloutos 0:083111ae2a11 244 }
saloutos 0:083111ae2a11 245 }
saloutos 0:083111ae2a11 246 if (status == 0) {
saloutos 0:083111ae2a11 247 error("can ESR 0x%04x.%04x + timeout status %d", (can->ESR & 0xFFFF0000) >> 16, (can->ESR & 0xFFFF), status);
saloutos 0:083111ae2a11 248 }
saloutos 0:083111ae2a11 249 } else {
saloutos 0:083111ae2a11 250 error("can init request timeout\n");
saloutos 0:083111ae2a11 251 }
saloutos 0:083111ae2a11 252 } else {
saloutos 0:083111ae2a11 253 status = 0;
saloutos 0:083111ae2a11 254 }
saloutos 0:083111ae2a11 255 return status;
saloutos 0:083111ae2a11 256 }
saloutos 0:083111ae2a11 257
saloutos 0:083111ae2a11 258 int can_write(can_t *obj, CAN_Message msg, int cc)
saloutos 0:083111ae2a11 259 {
saloutos 0:083111ae2a11 260 uint32_t transmitmailbox = CAN_TXSTATUS_NOMAILBOX;
saloutos 0:083111ae2a11 261 CAN_TypeDef *can = obj->CanHandle.Instance;
saloutos 0:083111ae2a11 262
saloutos 0:083111ae2a11 263 /* Select one empty transmit mailbox */
saloutos 0:083111ae2a11 264 if ((can->TSR & CAN_TSR_TME0) == CAN_TSR_TME0) {
saloutos 0:083111ae2a11 265 transmitmailbox = 0;
saloutos 0:083111ae2a11 266 } else if ((can->TSR & CAN_TSR_TME1) == CAN_TSR_TME1) {
saloutos 0:083111ae2a11 267 transmitmailbox = 1;
saloutos 0:083111ae2a11 268 } else if ((can->TSR & CAN_TSR_TME2) == CAN_TSR_TME2) {
saloutos 0:083111ae2a11 269 transmitmailbox = 2;
saloutos 0:083111ae2a11 270 } else {
saloutos 0:083111ae2a11 271 return 0;
saloutos 0:083111ae2a11 272 }
saloutos 0:083111ae2a11 273
saloutos 0:083111ae2a11 274 can->sTxMailBox[transmitmailbox].TIR &= CAN_TI0R_TXRQ;
saloutos 0:083111ae2a11 275 if (!(msg.format)) {
saloutos 0:083111ae2a11 276 can->sTxMailBox[transmitmailbox].TIR |= ((msg.id << 21) | msg.type);
saloutos 0:083111ae2a11 277 } else {
saloutos 0:083111ae2a11 278 can->sTxMailBox[transmitmailbox].TIR |= ((msg.id << 3) | CAN_ID_EXT | msg.type);
saloutos 0:083111ae2a11 279 }
saloutos 0:083111ae2a11 280
saloutos 0:083111ae2a11 281 /* Set up the DLC */
saloutos 0:083111ae2a11 282 can->sTxMailBox[transmitmailbox].TDTR &= (uint32_t)0xFFFFFFF0;
saloutos 0:083111ae2a11 283 can->sTxMailBox[transmitmailbox].TDTR |= (msg.len & (uint8_t)0x0000000F);
saloutos 0:083111ae2a11 284
saloutos 0:083111ae2a11 285 /* Set up the data field */
saloutos 0:083111ae2a11 286 can->sTxMailBox[transmitmailbox].TDLR = (((uint32_t)msg.data[3] << 24) |
saloutos 0:083111ae2a11 287 ((uint32_t)msg.data[2] << 16) |
saloutos 0:083111ae2a11 288 ((uint32_t)msg.data[1] << 8) |
saloutos 0:083111ae2a11 289 ((uint32_t)msg.data[0]));
saloutos 0:083111ae2a11 290 can->sTxMailBox[transmitmailbox].TDHR = (((uint32_t)msg.data[7] << 24) |
saloutos 0:083111ae2a11 291 ((uint32_t)msg.data[6] << 16) |
saloutos 0:083111ae2a11 292 ((uint32_t)msg.data[5] << 8) |
saloutos 0:083111ae2a11 293 ((uint32_t)msg.data[4]));
saloutos 0:083111ae2a11 294 /* Request transmission */
saloutos 0:083111ae2a11 295 can->sTxMailBox[transmitmailbox].TIR |= CAN_TI0R_TXRQ;
saloutos 0:083111ae2a11 296
saloutos 0:083111ae2a11 297 return 1;
saloutos 0:083111ae2a11 298 }
saloutos 0:083111ae2a11 299
saloutos 0:083111ae2a11 300 int can_read(can_t *obj, CAN_Message *msg, int handle)
saloutos 0:083111ae2a11 301 {
saloutos 0:083111ae2a11 302 //handle is the FIFO number
saloutos 0:083111ae2a11 303
saloutos 0:083111ae2a11 304 CAN_TypeDef *can = obj->CanHandle.Instance;
saloutos 0:083111ae2a11 305
saloutos 0:083111ae2a11 306 // check FPM0 which holds the pending message count in FIFO 0
saloutos 0:083111ae2a11 307 // if no message is pending, return 0
saloutos 0:083111ae2a11 308 if ((can->RF0R & CAN_RF0R_FMP0) == 0) {
saloutos 0:083111ae2a11 309 return 0;
saloutos 0:083111ae2a11 310 }
saloutos 0:083111ae2a11 311
saloutos 0:083111ae2a11 312 /* Get the Id */
saloutos 0:083111ae2a11 313 msg->format = (CANFormat)(((uint8_t)0x04 & can->sFIFOMailBox[handle].RIR) >> 2);
saloutos 0:083111ae2a11 314 if (!msg->format) {
saloutos 0:083111ae2a11 315 msg->id = (uint32_t)0x000007FF & (can->sFIFOMailBox[handle].RIR >> 21);
saloutos 0:083111ae2a11 316 } else {
saloutos 0:083111ae2a11 317 msg->id = (uint32_t)0x1FFFFFFF & (can->sFIFOMailBox[handle].RIR >> 3);
saloutos 0:083111ae2a11 318 }
saloutos 0:083111ae2a11 319
saloutos 0:083111ae2a11 320 msg->type = (CANType)(((uint8_t)0x02 & can->sFIFOMailBox[handle].RIR) >> 1);
saloutos 0:083111ae2a11 321 /* Get the DLC */
saloutos 0:083111ae2a11 322 msg->len = (uint8_t)0x0F & can->sFIFOMailBox[handle].RDTR;
saloutos 0:083111ae2a11 323 /* Get the FMI */
saloutos 0:083111ae2a11 324 // msg->FMI = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDTR >> 8);
saloutos 0:083111ae2a11 325 /* Get the data field */
saloutos 0:083111ae2a11 326 msg->data[0] = (uint8_t)0xFF & can->sFIFOMailBox[handle].RDLR;
saloutos 0:083111ae2a11 327 msg->data[1] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDLR >> 8);
saloutos 0:083111ae2a11 328 msg->data[2] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDLR >> 16);
saloutos 0:083111ae2a11 329 msg->data[3] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDLR >> 24);
saloutos 0:083111ae2a11 330 msg->data[4] = (uint8_t)0xFF & can->sFIFOMailBox[handle].RDHR;
saloutos 0:083111ae2a11 331 msg->data[5] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDHR >> 8);
saloutos 0:083111ae2a11 332 msg->data[6] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDHR >> 16);
saloutos 0:083111ae2a11 333 msg->data[7] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDHR >> 24);
saloutos 0:083111ae2a11 334
saloutos 0:083111ae2a11 335 /* Release the FIFO */
saloutos 0:083111ae2a11 336 if (handle == CAN_FIFO0) {
saloutos 0:083111ae2a11 337 /* Release FIFO0 */
saloutos 0:083111ae2a11 338 can->RF0R |= CAN_RF0R_RFOM0;
saloutos 0:083111ae2a11 339 } else { /* FIFONumber == CAN_FIFO1 */
saloutos 0:083111ae2a11 340 /* Release FIFO1 */
saloutos 0:083111ae2a11 341 can->RF1R |= CAN_RF1R_RFOM1;
saloutos 0:083111ae2a11 342 }
saloutos 0:083111ae2a11 343
saloutos 0:083111ae2a11 344 return 1;
saloutos 0:083111ae2a11 345 }
saloutos 0:083111ae2a11 346
saloutos 0:083111ae2a11 347 void can_reset(can_t *obj)
saloutos 0:083111ae2a11 348 {
saloutos 0:083111ae2a11 349 CAN_TypeDef *can = obj->CanHandle.Instance;
saloutos 0:083111ae2a11 350
saloutos 0:083111ae2a11 351 /* Reset IP and delete errors */
saloutos 0:083111ae2a11 352 can->MCR |= CAN_MCR_RESET;
saloutos 0:083111ae2a11 353 can->ESR = 0x0;
saloutos 0:083111ae2a11 354
saloutos 0:083111ae2a11 355 /* restore registers state as saved in obj context */
saloutos 0:083111ae2a11 356 can_registers_init(obj);
saloutos 0:083111ae2a11 357 }
saloutos 0:083111ae2a11 358
saloutos 0:083111ae2a11 359 unsigned char can_rderror(can_t *obj)
saloutos 0:083111ae2a11 360 {
saloutos 0:083111ae2a11 361 CAN_TypeDef *can = obj->CanHandle.Instance;
saloutos 0:083111ae2a11 362 return (can->ESR >> 24) & 0xFF;
saloutos 0:083111ae2a11 363 }
saloutos 0:083111ae2a11 364
saloutos 0:083111ae2a11 365 unsigned char can_tderror(can_t *obj)
saloutos 0:083111ae2a11 366 {
saloutos 0:083111ae2a11 367 CAN_TypeDef *can = obj->CanHandle.Instance;
saloutos 0:083111ae2a11 368 return (can->ESR >> 16) & 0xFF;
saloutos 0:083111ae2a11 369 }
saloutos 0:083111ae2a11 370
saloutos 0:083111ae2a11 371 void can_monitor(can_t *obj, int silent)
saloutos 0:083111ae2a11 372 {
saloutos 0:083111ae2a11 373 CanMode mode = MODE_NORMAL;
saloutos 0:083111ae2a11 374 /* Update current state w/ or w/o silent */
saloutos 0:083111ae2a11 375 if(silent) {
saloutos 0:083111ae2a11 376 switch (obj->CanHandle.Init.Mode) {
saloutos 0:083111ae2a11 377 case CAN_MODE_LOOPBACK:
saloutos 0:083111ae2a11 378 case CAN_MODE_SILENT_LOOPBACK:
saloutos 0:083111ae2a11 379 mode = MODE_TEST_SILENT;
saloutos 0:083111ae2a11 380 break;
saloutos 0:083111ae2a11 381 default:
saloutos 0:083111ae2a11 382 mode = MODE_SILENT;
saloutos 0:083111ae2a11 383 break;
saloutos 0:083111ae2a11 384 }
saloutos 0:083111ae2a11 385 } else {
saloutos 0:083111ae2a11 386 switch (obj->CanHandle.Init.Mode) {
saloutos 0:083111ae2a11 387 case CAN_MODE_LOOPBACK:
saloutos 0:083111ae2a11 388 case CAN_MODE_SILENT_LOOPBACK:
saloutos 0:083111ae2a11 389 mode = MODE_TEST_LOCAL;
saloutos 0:083111ae2a11 390 break;
saloutos 0:083111ae2a11 391 default:
saloutos 0:083111ae2a11 392 mode = MODE_NORMAL;
saloutos 0:083111ae2a11 393 break;
saloutos 0:083111ae2a11 394 }
saloutos 0:083111ae2a11 395 }
saloutos 0:083111ae2a11 396
saloutos 0:083111ae2a11 397 can_mode(obj, mode);
saloutos 0:083111ae2a11 398 }
saloutos 0:083111ae2a11 399
saloutos 0:083111ae2a11 400 int can_mode(can_t *obj, CanMode mode)
saloutos 0:083111ae2a11 401 {
saloutos 0:083111ae2a11 402 int success = 0;
saloutos 0:083111ae2a11 403 CAN_TypeDef *can = obj->CanHandle.Instance;
saloutos 0:083111ae2a11 404
saloutos 0:083111ae2a11 405 can->MCR |= CAN_MCR_INRQ ;
saloutos 0:083111ae2a11 406 while ((can->MSR & CAN_MSR_INAK) != CAN_MSR_INAK) {
saloutos 0:083111ae2a11 407 }
saloutos 0:083111ae2a11 408
saloutos 0:083111ae2a11 409 switch (mode) {
saloutos 0:083111ae2a11 410 case MODE_NORMAL:
saloutos 0:083111ae2a11 411 obj->CanHandle.Init.Mode = CAN_MODE_NORMAL;
saloutos 0:083111ae2a11 412 can->BTR &= ~(CAN_BTR_SILM | CAN_BTR_LBKM);
saloutos 0:083111ae2a11 413 success = 1;
saloutos 0:083111ae2a11 414 break;
saloutos 0:083111ae2a11 415 case MODE_SILENT:
saloutos 0:083111ae2a11 416 obj->CanHandle.Init.Mode = CAN_MODE_SILENT;
saloutos 0:083111ae2a11 417 can->BTR |= CAN_BTR_SILM;
saloutos 0:083111ae2a11 418 can->BTR &= ~CAN_BTR_LBKM;
saloutos 0:083111ae2a11 419 success = 1;
saloutos 0:083111ae2a11 420 break;
saloutos 0:083111ae2a11 421 case MODE_TEST_GLOBAL:
saloutos 0:083111ae2a11 422 case MODE_TEST_LOCAL:
saloutos 0:083111ae2a11 423 obj->CanHandle.Init.Mode = CAN_MODE_LOOPBACK;
saloutos 0:083111ae2a11 424 can->BTR |= CAN_BTR_LBKM;
saloutos 0:083111ae2a11 425 can->BTR &= ~CAN_BTR_SILM;
saloutos 0:083111ae2a11 426 success = 1;
saloutos 0:083111ae2a11 427 break;
saloutos 0:083111ae2a11 428 case MODE_TEST_SILENT:
saloutos 0:083111ae2a11 429 obj->CanHandle.Init.Mode = CAN_MODE_SILENT_LOOPBACK;
saloutos 0:083111ae2a11 430 can->BTR |= (CAN_BTR_SILM | CAN_BTR_LBKM);
saloutos 0:083111ae2a11 431 success = 1;
saloutos 0:083111ae2a11 432 break;
saloutos 0:083111ae2a11 433 default:
saloutos 0:083111ae2a11 434 success = 0;
saloutos 0:083111ae2a11 435 break;
saloutos 0:083111ae2a11 436 }
saloutos 0:083111ae2a11 437
saloutos 0:083111ae2a11 438 can->MCR &= ~(uint32_t)CAN_MCR_INRQ;
saloutos 0:083111ae2a11 439 while ((can->MSR & CAN_MSR_INAK) == CAN_MSR_INAK) {
saloutos 0:083111ae2a11 440 }
saloutos 0:083111ae2a11 441
saloutos 0:083111ae2a11 442 return success;
saloutos 0:083111ae2a11 443 }
saloutos 0:083111ae2a11 444
saloutos 0:083111ae2a11 445 int can_filter(can_t *obj, uint32_t id, uint32_t mask, CANFormat format, int32_t handle)
saloutos 0:083111ae2a11 446 {
saloutos 0:083111ae2a11 447 int retval = 0;
saloutos 0:083111ae2a11 448
saloutos 0:083111ae2a11 449 // filter for CANAny format cannot be configured for STM32
saloutos 0:083111ae2a11 450 if ((format == CANStandard) || (format == CANExtended)) {
saloutos 0:083111ae2a11 451 CAN_FilterConfTypeDef sFilterConfig;
saloutos 0:083111ae2a11 452 sFilterConfig.FilterNumber = handle;
saloutos 0:083111ae2a11 453 sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
saloutos 0:083111ae2a11 454 sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
saloutos 0:083111ae2a11 455
saloutos 0:083111ae2a11 456 if (format == CANStandard) {
saloutos 0:083111ae2a11 457 sFilterConfig.FilterIdHigh = id << 5;
saloutos 0:083111ae2a11 458 sFilterConfig.FilterIdLow = 0x0;
saloutos 0:083111ae2a11 459 sFilterConfig.FilterMaskIdHigh = mask << 5;
saloutos 0:083111ae2a11 460 sFilterConfig.FilterMaskIdLow = 0x0; // allows both remote and data frames
saloutos 0:083111ae2a11 461 } else if (format == CANExtended) {
saloutos 0:083111ae2a11 462 sFilterConfig.FilterIdHigh = id >> 13; // EXTID[28:13]
saloutos 0:083111ae2a11 463 sFilterConfig.FilterIdLow = (0x00FF & (id << 3)) | (1 << 2); // EXTID[12:0]
saloutos 0:083111ae2a11 464 sFilterConfig.FilterMaskIdHigh = mask >> 13;
saloutos 0:083111ae2a11 465 sFilterConfig.FilterMaskIdLow = (0x00FF & (mask << 3)) | (1 << 2);
saloutos 0:083111ae2a11 466 }
saloutos 0:083111ae2a11 467
saloutos 0:083111ae2a11 468 sFilterConfig.FilterFIFOAssignment = 0;
saloutos 0:083111ae2a11 469 sFilterConfig.FilterActivation = ENABLE;
saloutos 0:083111ae2a11 470 sFilterConfig.BankNumber = 14 + handle;
saloutos 0:083111ae2a11 471
saloutos 0:083111ae2a11 472 HAL_CAN_ConfigFilter(&obj->CanHandle, &sFilterConfig);
saloutos 0:083111ae2a11 473 retval = handle;
saloutos 0:083111ae2a11 474 }
saloutos 0:083111ae2a11 475 return retval;
saloutos 0:083111ae2a11 476 }
saloutos 0:083111ae2a11 477
saloutos 0:083111ae2a11 478 static void can_irq(CANName name, int id)
saloutos 0:083111ae2a11 479 {
saloutos 0:083111ae2a11 480 uint32_t tmp1 = 0, tmp2 = 0, tmp3 = 0;
saloutos 0:083111ae2a11 481 CAN_HandleTypeDef CanHandle;
saloutos 0:083111ae2a11 482 CanHandle.Instance = (CAN_TypeDef *)name;
saloutos 0:083111ae2a11 483
saloutos 0:083111ae2a11 484 if (__HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_TME)) {
saloutos 0:083111ae2a11 485 tmp1 = __HAL_CAN_TRANSMIT_STATUS(&CanHandle, CAN_TXMAILBOX_0);
saloutos 0:083111ae2a11 486 tmp2 = __HAL_CAN_TRANSMIT_STATUS(&CanHandle, CAN_TXMAILBOX_1);
saloutos 0:083111ae2a11 487 tmp3 = __HAL_CAN_TRANSMIT_STATUS(&CanHandle, CAN_TXMAILBOX_2);
saloutos 0:083111ae2a11 488 if (tmp1) {
saloutos 0:083111ae2a11 489 __HAL_CAN_CLEAR_FLAG(&CanHandle, CAN_FLAG_RQCP0);
saloutos 0:083111ae2a11 490 }
saloutos 0:083111ae2a11 491 if (tmp2) {
saloutos 0:083111ae2a11 492 __HAL_CAN_CLEAR_FLAG(&CanHandle, CAN_FLAG_RQCP1);
saloutos 0:083111ae2a11 493 }
saloutos 0:083111ae2a11 494 if (tmp3) {
saloutos 0:083111ae2a11 495 __HAL_CAN_CLEAR_FLAG(&CanHandle, CAN_FLAG_RQCP2);
saloutos 0:083111ae2a11 496 }
saloutos 0:083111ae2a11 497 if (tmp1 || tmp2 || tmp3) {
saloutos 0:083111ae2a11 498 irq_handler(can_irq_ids[id], IRQ_TX);
saloutos 0:083111ae2a11 499 }
saloutos 0:083111ae2a11 500 }
saloutos 0:083111ae2a11 501
saloutos 0:083111ae2a11 502 tmp1 = __HAL_CAN_MSG_PENDING(&CanHandle, CAN_FIFO0);
saloutos 0:083111ae2a11 503 tmp2 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_FMP0);
saloutos 0:083111ae2a11 504
saloutos 0:083111ae2a11 505 if ((tmp1 != 0) && tmp2) {
saloutos 0:083111ae2a11 506 irq_handler(can_irq_ids[id], IRQ_RX);
saloutos 0:083111ae2a11 507 }
saloutos 0:083111ae2a11 508
saloutos 0:083111ae2a11 509 tmp1 = __HAL_CAN_GET_FLAG(&CanHandle, CAN_FLAG_EPV);
saloutos 0:083111ae2a11 510 tmp2 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_EPV);
saloutos 0:083111ae2a11 511 tmp3 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_ERR);
saloutos 0:083111ae2a11 512
saloutos 0:083111ae2a11 513 if (tmp1 && tmp2 && tmp3) {
saloutos 0:083111ae2a11 514 irq_handler(can_irq_ids[id], IRQ_PASSIVE);
saloutos 0:083111ae2a11 515 }
saloutos 0:083111ae2a11 516
saloutos 0:083111ae2a11 517 tmp1 = __HAL_CAN_GET_FLAG(&CanHandle, CAN_FLAG_BOF);
saloutos 0:083111ae2a11 518 tmp2 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_BOF);
saloutos 0:083111ae2a11 519 tmp3 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_ERR);
saloutos 0:083111ae2a11 520 if (tmp1 && tmp2 && tmp3) {
saloutos 0:083111ae2a11 521 irq_handler(can_irq_ids[id], IRQ_BUS);
saloutos 0:083111ae2a11 522 }
saloutos 0:083111ae2a11 523
saloutos 0:083111ae2a11 524 tmp3 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_ERR);
saloutos 0:083111ae2a11 525 if (tmp1 && tmp2 && tmp3) {
saloutos 0:083111ae2a11 526 irq_handler(can_irq_ids[id], IRQ_ERROR);
saloutos 0:083111ae2a11 527 }
saloutos 0:083111ae2a11 528 }
saloutos 0:083111ae2a11 529
saloutos 0:083111ae2a11 530 #if defined(TARGET_STM32F0)
saloutos 0:083111ae2a11 531 void CAN_IRQHandler(void)
saloutos 0:083111ae2a11 532 {
saloutos 0:083111ae2a11 533 can_irq(CAN_1, 0);
saloutos 0:083111ae2a11 534 }
saloutos 0:083111ae2a11 535 #elif defined(TARGET_STM32F3)
saloutos 0:083111ae2a11 536 void CAN_RX0_IRQHandler(void)
saloutos 0:083111ae2a11 537 {
saloutos 0:083111ae2a11 538 can_irq(CAN_1, 0);
saloutos 0:083111ae2a11 539 }
saloutos 0:083111ae2a11 540 void CAN_TX_IRQHandler(void)
saloutos 0:083111ae2a11 541 {
saloutos 0:083111ae2a11 542 can_irq(CAN_1, 0);
saloutos 0:083111ae2a11 543 }
saloutos 0:083111ae2a11 544 void CAN_SCE_IRQHandler(void)
saloutos 0:083111ae2a11 545 {
saloutos 0:083111ae2a11 546 can_irq(CAN_1, 0);
saloutos 0:083111ae2a11 547 }
saloutos 0:083111ae2a11 548 #else
saloutos 0:083111ae2a11 549 void CAN1_RX0_IRQHandler(void)
saloutos 0:083111ae2a11 550 {
saloutos 0:083111ae2a11 551 can_irq(CAN_1, 0);
saloutos 0:083111ae2a11 552 }
saloutos 0:083111ae2a11 553 void CAN1_TX_IRQHandler(void)
saloutos 0:083111ae2a11 554 {
saloutos 0:083111ae2a11 555 can_irq(CAN_1, 0);
saloutos 0:083111ae2a11 556 }
saloutos 0:083111ae2a11 557 void CAN1_SCE_IRQHandler(void)
saloutos 0:083111ae2a11 558 {
saloutos 0:083111ae2a11 559 can_irq(CAN_1, 0);
saloutos 0:083111ae2a11 560 }
saloutos 0:083111ae2a11 561 #if defined(CAN2_BASE) && (CAN_NUM == 2)
saloutos 0:083111ae2a11 562 void CAN2_RX0_IRQHandler(void)
saloutos 0:083111ae2a11 563 {
saloutos 0:083111ae2a11 564 can_irq(CAN_2, 1);
saloutos 0:083111ae2a11 565 }
saloutos 0:083111ae2a11 566 void CAN2_TX_IRQHandler(void)
saloutos 0:083111ae2a11 567 {
saloutos 0:083111ae2a11 568 can_irq(CAN_2, 1);
saloutos 0:083111ae2a11 569 }
saloutos 0:083111ae2a11 570 void CAN2_SCE_IRQHandler(void)
saloutos 0:083111ae2a11 571 {
saloutos 0:083111ae2a11 572 can_irq(CAN_2, 1);
saloutos 0:083111ae2a11 573 }
saloutos 0:083111ae2a11 574 #endif // defined(CAN2_BASE) && (CAN_NUM == 2)
saloutos 0:083111ae2a11 575 #endif // else
saloutos 0:083111ae2a11 576
adimmit 3:993b4d6ff61e 577 //ADDIING IN CAN3
adimmit 3:993b4d6ff61e 578 #if defined(TARGET_STM32F0) // Starting here is ADDED CODE /*
adimmit 3:993b4d6ff61e 579 void CAN_IRQHandler(void)
adimmit 3:993b4d6ff61e 580 {
adimmit 3:993b4d6ff61e 581 can_irq(CAN_3, 0);
adimmit 3:993b4d6ff61e 582 }
adimmit 3:993b4d6ff61e 583 #elif defined(TARGET_STM32F3)
adimmit 3:993b4d6ff61e 584 void CAN_RX0_IRQHandler(void)
adimmit 3:993b4d6ff61e 585 {
adimmit 3:993b4d6ff61e 586 can_irq(CAN_3, 0);
adimmit 3:993b4d6ff61e 587 }
adimmit 3:993b4d6ff61e 588 void CAN_TX_IRQHandler(void)
adimmit 3:993b4d6ff61e 589 {
adimmit 3:993b4d6ff61e 590 can_irq(CAN_3, 0);
adimmit 3:993b4d6ff61e 591 }
adimmit 3:993b4d6ff61e 592 void CAN_SCE_IRQHandler(void)
adimmit 3:993b4d6ff61e 593 {
adimmit 3:993b4d6ff61e 594 can_irq(CAN_3, 0);
adimmit 3:993b4d6ff61e 595 }
adimmit 3:993b4d6ff61e 596 #else
adimmit 3:993b4d6ff61e 597 void CAN3_RX0_IRQHandler(void)
adimmit 3:993b4d6ff61e 598 {
adimmit 3:993b4d6ff61e 599 can_irq(CAN_3, 0);
adimmit 3:993b4d6ff61e 600 }
adimmit 3:993b4d6ff61e 601 void CAN3_TX_IRQHandler(void)
adimmit 3:993b4d6ff61e 602 {
adimmit 3:993b4d6ff61e 603 can_irq(CAN_3, 0);
adimmit 3:993b4d6ff61e 604 }
adimmit 3:993b4d6ff61e 605 void CAN3_SCE_IRQHandler(void)
adimmit 3:993b4d6ff61e 606 {
adimmit 3:993b4d6ff61e 607 can_irq(CAN_3, 0);
adimmit 3:993b4d6ff61e 608 }
adimmit 3:993b4d6ff61e 609 #endif // else */ Ending here is ADDED CODE //
adimmit 3:993b4d6ff61e 610
saloutos 0:083111ae2a11 611 void can_irq_set(can_t *obj, CanIrqType type, uint32_t enable)
saloutos 0:083111ae2a11 612 {
saloutos 0:083111ae2a11 613 CAN_TypeDef *can = obj->CanHandle.Instance;
saloutos 0:083111ae2a11 614 IRQn_Type irq_n = (IRQn_Type)0;
saloutos 0:083111ae2a11 615 uint32_t vector = 0;
saloutos 0:083111ae2a11 616 uint32_t ier;
saloutos 0:083111ae2a11 617
saloutos 0:083111ae2a11 618 if ((CANName) can == CAN_1) {
saloutos 0:083111ae2a11 619 switch (type) {
saloutos 0:083111ae2a11 620 case IRQ_RX:
saloutos 0:083111ae2a11 621 ier = CAN_IT_FMP0;
saloutos 0:083111ae2a11 622 irq_n = CAN1_IRQ_RX_IRQN;
saloutos 0:083111ae2a11 623 vector = (uint32_t)&CAN1_IRQ_RX_VECT;
saloutos 0:083111ae2a11 624 break;
saloutos 0:083111ae2a11 625 case IRQ_TX:
saloutos 0:083111ae2a11 626 ier = CAN_IT_TME;
saloutos 0:083111ae2a11 627 irq_n = CAN1_IRQ_TX_IRQN;
saloutos 0:083111ae2a11 628 vector = (uint32_t)&CAN1_IRQ_TX_VECT;
saloutos 0:083111ae2a11 629 break;
saloutos 0:083111ae2a11 630 case IRQ_ERROR:
saloutos 0:083111ae2a11 631 ier = CAN_IT_ERR;
saloutos 0:083111ae2a11 632 irq_n = CAN1_IRQ_ERROR_IRQN;
saloutos 0:083111ae2a11 633 vector = (uint32_t)&CAN1_IRQ_ERROR_VECT;
saloutos 0:083111ae2a11 634 break;
saloutos 0:083111ae2a11 635 case IRQ_PASSIVE:
saloutos 0:083111ae2a11 636 ier = CAN_IT_EPV;
saloutos 0:083111ae2a11 637 irq_n = CAN1_IRQ_PASSIVE_IRQN;
saloutos 0:083111ae2a11 638 vector = (uint32_t)&CAN1_IRQ_PASSIVE_VECT;
saloutos 0:083111ae2a11 639 break;
saloutos 0:083111ae2a11 640 case IRQ_BUS:
saloutos 0:083111ae2a11 641 ier = CAN_IT_BOF;
saloutos 0:083111ae2a11 642 irq_n = CAN1_IRQ_BUS_IRQN;
saloutos 0:083111ae2a11 643 vector = (uint32_t)&CAN1_IRQ_BUS_VECT;
saloutos 0:083111ae2a11 644 break;
saloutos 0:083111ae2a11 645 default:
saloutos 0:083111ae2a11 646 return;
saloutos 0:083111ae2a11 647 }
saloutos 0:083111ae2a11 648 }
saloutos 0:083111ae2a11 649 #if defined(CAN2_BASE) && (CAN_NUM == 2)
saloutos 0:083111ae2a11 650 else if ((CANName) can == CAN_2) {
saloutos 0:083111ae2a11 651 switch (type) {
saloutos 0:083111ae2a11 652 case IRQ_RX:
saloutos 0:083111ae2a11 653 ier = CAN_IT_FMP0;
saloutos 0:083111ae2a11 654 irq_n = CAN2_IRQ_RX_IRQN;
saloutos 0:083111ae2a11 655 vector = (uint32_t)&CAN2_IRQ_RX_VECT;
saloutos 0:083111ae2a11 656 break;
saloutos 0:083111ae2a11 657 case IRQ_TX:
saloutos 0:083111ae2a11 658 ier = CAN_IT_TME;
saloutos 0:083111ae2a11 659 irq_n = CAN2_IRQ_TX_IRQN;
saloutos 0:083111ae2a11 660 vector = (uint32_t)&CAN2_IRQ_TX_VECT;
saloutos 0:083111ae2a11 661 break;
saloutos 0:083111ae2a11 662 case IRQ_ERROR:
saloutos 0:083111ae2a11 663 ier = CAN_IT_ERR;
saloutos 0:083111ae2a11 664 irq_n = CAN2_IRQ_ERROR_IRQN;
saloutos 0:083111ae2a11 665 vector = (uint32_t)&CAN2_IRQ_ERROR_VECT;
saloutos 0:083111ae2a11 666 break;
saloutos 0:083111ae2a11 667 case IRQ_PASSIVE:
saloutos 0:083111ae2a11 668 ier = CAN_IT_EPV;
saloutos 0:083111ae2a11 669 irq_n = CAN2_IRQ_PASSIVE_IRQN;
saloutos 0:083111ae2a11 670 vector = (uint32_t)&CAN2_IRQ_PASSIVE_VECT;
saloutos 0:083111ae2a11 671 break;
saloutos 0:083111ae2a11 672 case IRQ_BUS:
saloutos 0:083111ae2a11 673 ier = CAN_IT_BOF;
saloutos 0:083111ae2a11 674 irq_n = CAN2_IRQ_BUS_IRQN;
saloutos 0:083111ae2a11 675 vector = (uint32_t)&CAN2_IRQ_BUS_VECT;
saloutos 0:083111ae2a11 676 break;
saloutos 0:083111ae2a11 677 default:
saloutos 0:083111ae2a11 678 return;
saloutos 0:083111ae2a11 679 }
saloutos 0:083111ae2a11 680 }
saloutos 0:083111ae2a11 681 #endif
adimmit 3:993b4d6ff61e 682 //ADDED CODE FOR CAN3
adimmit 3:993b4d6ff61e 683 else if ((CANName) can == CAN_3) { // STARTING HERE IS ADDED CODE /*
adimmit 3:993b4d6ff61e 684 switch (type) {
adimmit 3:993b4d6ff61e 685 case IRQ_RX:
adimmit 3:993b4d6ff61e 686 ier = CAN_IT_FMP0;
adimmit 3:993b4d6ff61e 687 irq_n = CAN3_IRQ_RX_IRQN; //CAUSED AN ERROR ON FIRST COMPILE
adimmit 3:993b4d6ff61e 688 vector = (uint32_t)&CAN3_IRQ_RX_VECT;
adimmit 3:993b4d6ff61e 689 break;
adimmit 3:993b4d6ff61e 690 case IRQ_TX:
adimmit 3:993b4d6ff61e 691 ier = CAN_IT_TME;
adimmit 3:993b4d6ff61e 692 irq_n = CAN3_IRQ_TX_IRQN;
adimmit 3:993b4d6ff61e 693 vector = (uint32_t)&CAN3_IRQ_TX_VECT;
adimmit 3:993b4d6ff61e 694 break;
adimmit 3:993b4d6ff61e 695 case IRQ_ERROR:
adimmit 3:993b4d6ff61e 696 ier = CAN_IT_ERR;
adimmit 3:993b4d6ff61e 697 irq_n = CAN3_IRQ_ERROR_IRQN;
adimmit 3:993b4d6ff61e 698 vector = (uint32_t)&CAN3_IRQ_ERROR_VECT;
adimmit 3:993b4d6ff61e 699 break;
adimmit 3:993b4d6ff61e 700 case IRQ_PASSIVE:
adimmit 3:993b4d6ff61e 701 ier = CAN_IT_EPV;
adimmit 3:993b4d6ff61e 702 irq_n = CAN3_IRQ_PASSIVE_IRQN;
adimmit 3:993b4d6ff61e 703 vector = (uint32_t)&CAN3_IRQ_PASSIVE_VECT;
adimmit 3:993b4d6ff61e 704 break;
adimmit 3:993b4d6ff61e 705 case IRQ_BUS:
adimmit 3:993b4d6ff61e 706 ier = CAN_IT_BOF;
adimmit 3:993b4d6ff61e 707 irq_n = CAN3_IRQ_BUS_IRQN;
adimmit 3:993b4d6ff61e 708 vector = (uint32_t)&CAN3_IRQ_BUS_VECT; // ENDING HERE IS ADDED CODE
adimmit 3:993b4d6ff61e 709 break;
adimmit 3:993b4d6ff61e 710 default:
adimmit 3:993b4d6ff61e 711 return;
adimmit 3:993b4d6ff61e 712 }
adimmit 3:993b4d6ff61e 713 }
adimmit 3:993b4d6ff61e 714
saloutos 0:083111ae2a11 715 else {
saloutos 0:083111ae2a11 716 return;
saloutos 0:083111ae2a11 717 }
saloutos 0:083111ae2a11 718
saloutos 0:083111ae2a11 719 if (enable) {
saloutos 0:083111ae2a11 720 can->IER |= ier;
saloutos 0:083111ae2a11 721 } else {
saloutos 0:083111ae2a11 722 can->IER &= ~ier;
saloutos 0:083111ae2a11 723 }
saloutos 0:083111ae2a11 724
saloutos 0:083111ae2a11 725 NVIC_SetVector(irq_n, vector);
saloutos 0:083111ae2a11 726 NVIC_EnableIRQ(irq_n);
saloutos 0:083111ae2a11 727 }
saloutos 0:083111ae2a11 728
saloutos 0:083111ae2a11 729 #endif // DEVICE_CAN
saloutos 0:083111ae2a11 730