Amit Gandhi
test
Fork of
mbed-dev
by 
mbed official
Diff: targets/TARGET_STM/can_api.c
- Revision:
- 175:b96e65c34a4d
- Parent:
- 173:7d866c31b3c5
diff -r e131a1973e81 -r b96e65c34a4d targets/TARGET_STM/can_api.c
--- a/targets/TARGET_STM/can_api.c Fri Sep 15 14:59:18 2017 +0100
+++ b/targets/TARGET_STM/can_api.c Mon Oct 02 15:33:19 2017 +0100
@@ -25,10 +25,21 @@
#include <math.h>
#include <string.h>
-static CAN_HandleTypeDef CanHandle;
static uint32_t can_irq_ids[CAN_NUM] = {0};
static can_irq_handler irq_handler;
+static void can_registers_init(can_t *obj)
+{
+ if (HAL_CAN_Init(&obj->CanHandle) != HAL_OK) {
+ error("Cannot initialize CAN");
+ }
+
+ // Set initial CAN frequency to specified frequency
+ if (can_frequency(obj, obj->hz) != 1) {
+ error("Can frequency could not be set\n");
+ }
+}
+
void can_init(can_t *obj, PinName rd, PinName td)
{
can_init_freq(obj, rd, td, 100000);
@@ -38,16 +49,16 @@
{
CANName can_rd = (CANName)pinmap_peripheral(rd, PinMap_CAN_RD);
CANName can_td = (CANName)pinmap_peripheral(td, PinMap_CAN_TD);
+ CANName can = (CANName)pinmap_merge(can_rd, can_td);
- obj->can = (CANName)pinmap_merge(can_rd, can_td);
- MBED_ASSERT((int)obj->can != NC);
+ MBED_ASSERT((int)can != NC);
- if (obj->can == CAN_1) {
+ if (can == CAN_1) {
__HAL_RCC_CAN1_CLK_ENABLE();
obj->index = 0;
}
#if defined(CAN2_BASE) && (CAN_NUM == 2)
- else if (obj->can == CAN_2) {
+ else if (can == CAN_2) {
__HAL_RCC_CAN1_CLK_ENABLE(); // needed to set filters
__HAL_RCC_CAN2_CLK_ENABLE();
obj->index = 1;
@@ -67,33 +78,30 @@
pin_mode(td, PullUp);
}
- CanHandle.Instance = (CAN_TypeDef *)(obj->can);
+ /* Use default values for rist init */
+ obj->CanHandle.Instance = (CAN_TypeDef *)can;
+ obj->CanHandle.Init.TTCM = DISABLE;
+ obj->CanHandle.Init.ABOM = DISABLE;
+ obj->CanHandle.Init.AWUM = DISABLE;
+ obj->CanHandle.Init.NART = DISABLE;
+ obj->CanHandle.Init.RFLM = DISABLE;
+ obj->CanHandle.Init.TXFP = DISABLE;
+ obj->CanHandle.Init.Mode = CAN_MODE_NORMAL;
+ obj->CanHandle.Init.SJW = CAN_SJW_1TQ;
+ obj->CanHandle.Init.BS1 = CAN_BS1_6TQ;
+ obj->CanHandle.Init.BS2 = CAN_BS2_8TQ;
+ obj->CanHandle.Init.Prescaler = 2;
- CanHandle.Init.TTCM = DISABLE;
- CanHandle.Init.ABOM = DISABLE;
- CanHandle.Init.AWUM = DISABLE;
- CanHandle.Init.NART = DISABLE;
- CanHandle.Init.RFLM = DISABLE;
- CanHandle.Init.TXFP = DISABLE;
- CanHandle.Init.Mode = CAN_MODE_NORMAL;
- CanHandle.Init.SJW = CAN_SJW_1TQ;
- CanHandle.Init.BS1 = CAN_BS1_6TQ;
- CanHandle.Init.BS2 = CAN_BS2_8TQ;
- CanHandle.Init.Prescaler = 2;
+ /* Store frequency to be restored in case of reset */
+ obj->hz = hz;
- if (HAL_CAN_Init(&CanHandle) != HAL_OK) {
- error("Cannot initialize CAN");
- }
+ can_registers_init(obj);
- // Set initial CAN frequency to specified frequency
- if (can_frequency(obj, hz) != 1) {
- error("Can frequency could not be set\n");
- }
-
- uint32_t filter_number = (obj->can == CAN_1) ? 0 : 14;
+ uint32_t filter_number = (can == CAN_1) ? 0 : 14;
can_filter(obj, 0, 0, CANStandard, filter_number);
}
+
void can_irq_init(can_t *obj, can_irq_handler handler, uint32_t id)
{
irq_handler = handler;
@@ -102,7 +110,7 @@
void can_irq_free(can_t *obj)
{
- CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
+ CAN_TypeDef *can = obj->CanHandle.Instance;
can->IER &= ~(CAN_IT_FMP0 | CAN_IT_FMP1 | CAN_IT_TME | \
CAN_IT_ERR | CAN_IT_EPV | CAN_IT_BOF);
@@ -111,14 +119,15 @@
void can_free(can_t *obj)
{
+ CANName can = (CANName) obj->CanHandle.Instance;
// Reset CAN and disable clock
- if (obj->can == CAN_1) {
+ if (can == CAN_1) {
__HAL_RCC_CAN1_FORCE_RESET();
__HAL_RCC_CAN1_RELEASE_RESET();
__HAL_RCC_CAN1_CLK_DISABLE();
}
#if defined(CAN2_BASE) && (CAN_NUM == 2)
- if (obj->can == CAN_2) {
+ if (can == CAN_2) {
__HAL_RCC_CAN2_FORCE_RESET();
__HAL_RCC_CAN2_RELEASE_RESET();
__HAL_RCC_CAN2_CLK_DISABLE();
@@ -196,7 +205,7 @@
{
int pclk = HAL_RCC_GetPCLK1Freq();
int btr = can_speed(pclk, (unsigned int)f, 1);
- CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
+ CAN_TypeDef *can = obj->CanHandle.Instance;
uint32_t tickstart = 0;
int status = 1;
@@ -211,7 +220,11 @@
}
}
if (status != 0) {
- can->BTR = btr;
+ /* Do not erase all BTR registers (e.g. silent mode), only the
+ * ones calculated in can_speed */
+ can->BTR &= ~(CAN_BTR_TS2 | CAN_BTR_TS1 | CAN_BTR_SJW | CAN_BTR_BRP);
+ can->BTR |= btr;
+
can->MCR &= ~(uint32_t)CAN_MCR_INRQ;
/* Get tick */
tickstart = HAL_GetTick();
@@ -236,7 +249,7 @@
int can_write(can_t *obj, CAN_Message msg, int cc)
{
uint32_t transmitmailbox = CAN_TXSTATUS_NOMAILBOX;
- CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
+ CAN_TypeDef *can = obj->CanHandle.Instance;
/* Select one empty transmit mailbox */
if ((can->TSR & CAN_TSR_TME0) == CAN_TSR_TME0) {
@@ -279,7 +292,7 @@
{
//handle is the FIFO number
- CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
+ CAN_TypeDef *can = obj->CanHandle.Instance;
// check FPM0 which holds the pending message count in FIFO 0
// if no message is pending, return 0
@@ -324,46 +337,61 @@
void can_reset(can_t *obj)
{
- CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
+ CAN_TypeDef *can = obj->CanHandle.Instance;
+
+ /* Reset IP and delete errors */
can->MCR |= CAN_MCR_RESET;
can->ESR = 0x0;
+
+ /* restore registers state as saved in obj context */
+ can_registers_init(obj);
}
unsigned char can_rderror(can_t *obj)
{
- CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
+ CAN_TypeDef *can = obj->CanHandle.Instance;
return (can->ESR >> 24) & 0xFF;
}
unsigned char can_tderror(can_t *obj)
{
- CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
+ CAN_TypeDef *can = obj->CanHandle.Instance;
return (can->ESR >> 16) & 0xFF;
}
void can_monitor(can_t *obj, int silent)
{
- CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
-
- can->MCR |= CAN_MCR_INRQ ;
- while ((can->MSR & CAN_MSR_INAK) != CAN_MSR_INAK) {
+ CanMode mode = MODE_NORMAL;
+ /* Update current state w/ or w/o silent */
+ if(silent) {
+ switch (obj->CanHandle.Init.Mode) {
+ case CAN_MODE_LOOPBACK:
+ case CAN_MODE_SILENT_LOOPBACK:
+ mode = MODE_TEST_SILENT;
+ break;
+ default:
+ mode = MODE_SILENT;
+ break;
+ }
+ } else {
+ switch (obj->CanHandle.Init.Mode) {
+ case CAN_MODE_LOOPBACK:
+ case CAN_MODE_SILENT_LOOPBACK:
+ mode = MODE_TEST_LOCAL;
+ break;
+ default:
+ mode = MODE_NORMAL;
+ break;
+ }
}
- if (silent) {
- can->BTR |= ((uint32_t)1 << 31);
- } else {
- can->BTR &= ~((uint32_t)1 << 31);
- }
-
- can->MCR &= ~(uint32_t)CAN_MCR_INRQ;
- while ((can->MSR & CAN_MSR_INAK) == CAN_MSR_INAK) {
- }
+ can_mode(obj, mode);
}
int can_mode(can_t *obj, CanMode mode)
{
int success = 0;
- CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
+ CAN_TypeDef *can = obj->CanHandle.Instance;
can->MCR |= CAN_MCR_INRQ ;
while ((can->MSR & CAN_MSR_INAK) != CAN_MSR_INAK) {
@@ -371,21 +399,25 @@
switch (mode) {
case MODE_NORMAL:
+ obj->CanHandle.Init.Mode = CAN_MODE_NORMAL;
can->BTR &= ~(CAN_BTR_SILM | CAN_BTR_LBKM);
success = 1;
break;
case MODE_SILENT:
+ obj->CanHandle.Init.Mode = CAN_MODE_SILENT;
can->BTR |= CAN_BTR_SILM;
can->BTR &= ~CAN_BTR_LBKM;
success = 1;
break;
case MODE_TEST_GLOBAL:
case MODE_TEST_LOCAL:
+ obj->CanHandle.Init.Mode = CAN_MODE_LOOPBACK;
can->BTR |= CAN_BTR_LBKM;
can->BTR &= ~CAN_BTR_SILM;
success = 1;
break;
case MODE_TEST_SILENT:
+ obj->CanHandle.Init.Mode = CAN_MODE_SILENT_LOOPBACK;
can->BTR |= (CAN_BTR_SILM | CAN_BTR_LBKM);
success = 1;
break;
@@ -407,7 +439,6 @@
// filter for CANAny format cannot be configured for STM32
if ((format == CANStandard) || (format == CANExtended)) {
- CanHandle.Instance = (CAN_TypeDef *)(obj->can);
CAN_FilterConfTypeDef sFilterConfig;
sFilterConfig.FilterNumber = handle;
sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
@@ -429,7 +460,7 @@
sFilterConfig.FilterActivation = ENABLE;
sFilterConfig.BankNumber = 14 + handle;
- HAL_CAN_ConfigFilter(&CanHandle, &sFilterConfig);
+ HAL_CAN_ConfigFilter(&obj->CanHandle, &sFilterConfig);
retval = handle;
}
return retval;
@@ -438,6 +469,7 @@
static void can_irq(CANName name, int id)
{
uint32_t tmp1 = 0, tmp2 = 0, tmp3 = 0;
+ CAN_HandleTypeDef CanHandle;
CanHandle.Instance = (CAN_TypeDef *)name;
if (__HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_TME)) {
@@ -535,13 +567,12 @@
void can_irq_set(can_t *obj, CanIrqType type, uint32_t enable)
{
-
- CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
+ CAN_TypeDef *can = obj->CanHandle.Instance;
IRQn_Type irq_n = (IRQn_Type)0;
uint32_t vector = 0;
uint32_t ier;
- if (obj->can == CAN_1) {
+ if ((CANName) can == CAN_1) {
switch (type) {
case IRQ_RX:
ier = CAN_IT_FMP0;
@@ -573,7 +604,7 @@
}
}
#if defined(CAN2_BASE) && (CAN_NUM == 2)
- else if (obj->can == CAN_2) {
+ else if ((CANName) can == CAN_2) {
switch (type) {
case IRQ_RX:
ier = CAN_IT_FMP0;