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?
User | Revision | Line number | New 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 |