Elijah Stanger-Jones / mbed-dev-f303

test

targets/TARGET_STM/can_api.c@1:8a094db1347f, 2020-11-09 (annotated)

Committer:
elijahsj
Date:
Mon Nov 09 00:02:47 2020 -0500
Revision:
1:8a094db1347f
test

Who changed what in which revision?

UserRevisionLine numberNew contents of line
elijahsj 1:8a094db1347f 1 /* mbed Microcontroller Library
elijahsj 1:8a094db1347f 2 * Copyright (c) 2006-2017 ARM Limited
elijahsj 1:8a094db1347f 3 *
elijahsj 1:8a094db1347f 4 * Licensed under the Apache License, Version 2.0 (the "License");
elijahsj 1:8a094db1347f 5 * you may not use this file except in compliance with the License.
elijahsj 1:8a094db1347f 6 * You may obtain a copy of the License at
elijahsj 1:8a094db1347f 7 *
elijahsj 1:8a094db1347f 8 * http://www.apache.org/licenses/LICENSE-2.0
elijahsj 1:8a094db1347f 9 *
elijahsj 1:8a094db1347f 10 * Unless required by applicable law or agreed to in writing, software
elijahsj 1:8a094db1347f 11 * distributed under the License is distributed on an "AS IS" BASIS,
elijahsj 1:8a094db1347f 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
elijahsj 1:8a094db1347f 13 * See the License for the specific language governing permissions and
elijahsj 1:8a094db1347f 14 * limitations under the License.
elijahsj 1:8a094db1347f 15 */
elijahsj 1:8a094db1347f 16 #include "can_api.h"
elijahsj 1:8a094db1347f 17
elijahsj 1:8a094db1347f 18 #if DEVICE_CAN
elijahsj 1:8a094db1347f 19
elijahsj 1:8a094db1347f 20 #include "cmsis.h"
elijahsj 1:8a094db1347f 21 #include "pinmap.h"
elijahsj 1:8a094db1347f 22 #include "PeripheralPins.h"
elijahsj 1:8a094db1347f 23 #include "mbed_error.h"
elijahsj 1:8a094db1347f 24 #include "can_device.h" // Specific to STM32 serie
elijahsj 1:8a094db1347f 25 #include <math.h>
elijahsj 1:8a094db1347f 26 #include <string.h>
elijahsj 1:8a094db1347f 27
elijahsj 1:8a094db1347f 28 static uint32_t can_irq_ids[CAN_NUM] = {0};
elijahsj 1:8a094db1347f 29 static can_irq_handler irq_handler;
elijahsj 1:8a094db1347f 30
elijahsj 1:8a094db1347f 31 static void can_registers_init(can_t *obj)
elijahsj 1:8a094db1347f 32 {
elijahsj 1:8a094db1347f 33 if (HAL_CAN_Init(&obj->CanHandle) != HAL_OK) {
elijahsj 1:8a094db1347f 34 error("Cannot initialize CAN");
elijahsj 1:8a094db1347f 35 }
elijahsj 1:8a094db1347f 36
elijahsj 1:8a094db1347f 37 // Set initial CAN frequency to specified frequency
elijahsj 1:8a094db1347f 38 if (can_frequency(obj, obj->hz) != 1) {
elijahsj 1:8a094db1347f 39 error("Can frequency could not be set\n");
elijahsj 1:8a094db1347f 40 }
elijahsj 1:8a094db1347f 41 }
elijahsj 1:8a094db1347f 42
elijahsj 1:8a094db1347f 43 void can_init(can_t *obj, PinName rd, PinName td)
elijahsj 1:8a094db1347f 44 {
elijahsj 1:8a094db1347f 45 can_init_freq(obj, rd, td, 100000);
elijahsj 1:8a094db1347f 46 }
elijahsj 1:8a094db1347f 47
elijahsj 1:8a094db1347f 48 void can_init_freq (can_t *obj, PinName rd, PinName td, int hz)
elijahsj 1:8a094db1347f 49 {
elijahsj 1:8a094db1347f 50 CANName can_rd = (CANName)pinmap_peripheral(rd, PinMap_CAN_RD);
elijahsj 1:8a094db1347f 51 CANName can_td = (CANName)pinmap_peripheral(td, PinMap_CAN_TD);
elijahsj 1:8a094db1347f 52 CANName can = (CANName)pinmap_merge(can_rd, can_td);
elijahsj 1:8a094db1347f 53
elijahsj 1:8a094db1347f 54 MBED_ASSERT((int)can != NC);
elijahsj 1:8a094db1347f 55
elijahsj 1:8a094db1347f 56 if (can == CAN_1) {
elijahsj 1:8a094db1347f 57 __HAL_RCC_CAN1_CLK_ENABLE();
elijahsj 1:8a094db1347f 58 obj->index = 0;
elijahsj 1:8a094db1347f 59 }
elijahsj 1:8a094db1347f 60 #if defined(CAN2_BASE) && (CAN_NUM == 2)
elijahsj 1:8a094db1347f 61 else if (can == CAN_2) {
elijahsj 1:8a094db1347f 62 __HAL_RCC_CAN1_CLK_ENABLE(); // needed to set filters
elijahsj 1:8a094db1347f 63 __HAL_RCC_CAN2_CLK_ENABLE();
elijahsj 1:8a094db1347f 64 obj->index = 1;
elijahsj 1:8a094db1347f 65 }
elijahsj 1:8a094db1347f 66 #endif
elijahsj 1:8a094db1347f 67 else {
elijahsj 1:8a094db1347f 68 return;
elijahsj 1:8a094db1347f 69 }
elijahsj 1:8a094db1347f 70
elijahsj 1:8a094db1347f 71 // Configure the CAN pins
elijahsj 1:8a094db1347f 72 pinmap_pinout(rd, PinMap_CAN_RD);
elijahsj 1:8a094db1347f 73 pinmap_pinout(td, PinMap_CAN_TD);
elijahsj 1:8a094db1347f 74 if (rd != NC) {
elijahsj 1:8a094db1347f 75 pin_mode(rd, PullUp);
elijahsj 1:8a094db1347f 76 }
elijahsj 1:8a094db1347f 77 if (td != NC) {
elijahsj 1:8a094db1347f 78 pin_mode(td, PullUp);
elijahsj 1:8a094db1347f 79 }
elijahsj 1:8a094db1347f 80
elijahsj 1:8a094db1347f 81 /* Use default values for rist init */
elijahsj 1:8a094db1347f 82 obj->CanHandle.Instance = (CAN_TypeDef *)can;
elijahsj 1:8a094db1347f 83 obj->CanHandle.Init.TTCM = DISABLE;
elijahsj 1:8a094db1347f 84 obj->CanHandle.Init.ABOM = DISABLE;
elijahsj 1:8a094db1347f 85 obj->CanHandle.Init.AWUM = DISABLE;
elijahsj 1:8a094db1347f 86 obj->CanHandle.Init.NART = DISABLE;
elijahsj 1:8a094db1347f 87 obj->CanHandle.Init.RFLM = DISABLE;
elijahsj 1:8a094db1347f 88 obj->CanHandle.Init.TXFP = DISABLE;
elijahsj 1:8a094db1347f 89 obj->CanHandle.Init.Mode = CAN_MODE_NORMAL;
elijahsj 1:8a094db1347f 90 obj->CanHandle.Init.SJW = CAN_SJW_1TQ;
elijahsj 1:8a094db1347f 91 obj->CanHandle.Init.BS1 = CAN_BS1_6TQ;
elijahsj 1:8a094db1347f 92 obj->CanHandle.Init.BS2 = CAN_BS2_8TQ;
elijahsj 1:8a094db1347f 93 obj->CanHandle.Init.Prescaler = 2;
elijahsj 1:8a094db1347f 94
elijahsj 1:8a094db1347f 95 /* Store frequency to be restored in case of reset */
elijahsj 1:8a094db1347f 96 obj->hz = hz;
elijahsj 1:8a094db1347f 97
elijahsj 1:8a094db1347f 98 can_registers_init(obj);
elijahsj 1:8a094db1347f 99
elijahsj 1:8a094db1347f 100 uint32_t filter_number = (can == CAN_1) ? 0 : 14;
elijahsj 1:8a094db1347f 101 can_filter(obj, 0, 0, CANStandard, filter_number);
elijahsj 1:8a094db1347f 102 }
elijahsj 1:8a094db1347f 103
elijahsj 1:8a094db1347f 104
elijahsj 1:8a094db1347f 105 void can_irq_init(can_t *obj, can_irq_handler handler, uint32_t id)
elijahsj 1:8a094db1347f 106 {
elijahsj 1:8a094db1347f 107 irq_handler = handler;
elijahsj 1:8a094db1347f 108 can_irq_ids[obj->index] = id;
elijahsj 1:8a094db1347f 109 }
elijahsj 1:8a094db1347f 110
elijahsj 1:8a094db1347f 111 void can_irq_free(can_t *obj)
elijahsj 1:8a094db1347f 112 {
elijahsj 1:8a094db1347f 113 CAN_TypeDef *can = obj->CanHandle.Instance;
elijahsj 1:8a094db1347f 114
elijahsj 1:8a094db1347f 115 can->IER &= ~(CAN_IT_FMP0 | CAN_IT_FMP1 | CAN_IT_TME | \
elijahsj 1:8a094db1347f 116 CAN_IT_ERR | CAN_IT_EPV | CAN_IT_BOF);
elijahsj 1:8a094db1347f 117 can_irq_ids[obj->index] = 0;
elijahsj 1:8a094db1347f 118 }
elijahsj 1:8a094db1347f 119
elijahsj 1:8a094db1347f 120 void can_free(can_t *obj)
elijahsj 1:8a094db1347f 121 {
elijahsj 1:8a094db1347f 122 CANName can = (CANName) obj->CanHandle.Instance;
elijahsj 1:8a094db1347f 123 // Reset CAN and disable clock
elijahsj 1:8a094db1347f 124 if (can == CAN_1) {
elijahsj 1:8a094db1347f 125 __HAL_RCC_CAN1_FORCE_RESET();
elijahsj 1:8a094db1347f 126 __HAL_RCC_CAN1_RELEASE_RESET();
elijahsj 1:8a094db1347f 127 __HAL_RCC_CAN1_CLK_DISABLE();
elijahsj 1:8a094db1347f 128 }
elijahsj 1:8a094db1347f 129 #if defined(CAN2_BASE) && (CAN_NUM == 2)
elijahsj 1:8a094db1347f 130 if (can == CAN_2) {
elijahsj 1:8a094db1347f 131 __HAL_RCC_CAN2_FORCE_RESET();
elijahsj 1:8a094db1347f 132 __HAL_RCC_CAN2_RELEASE_RESET();
elijahsj 1:8a094db1347f 133 __HAL_RCC_CAN2_CLK_DISABLE();
elijahsj 1:8a094db1347f 134 }
elijahsj 1:8a094db1347f 135 #endif
elijahsj 1:8a094db1347f 136 }
elijahsj 1:8a094db1347f 137
elijahsj 1:8a094db1347f 138 // The following table is used to program bit_timing. It is an adjustment of the sample
elijahsj 1:8a094db1347f 139 // point by synchronizing on the start-bit edge and resynchronizing on the following edges.
elijahsj 1:8a094db1347f 140 // This table has the sampling points as close to 75% as possible (most commonly used).
elijahsj 1:8a094db1347f 141 // The first value is TSEG1, the second TSEG2.
elijahsj 1:8a094db1347f 142 static const int timing_pts[23][2] = {
elijahsj 1:8a094db1347f 143 {0x0, 0x0}, // 2, 50%
elijahsj 1:8a094db1347f 144 {0x1, 0x0}, // 3, 67%
elijahsj 1:8a094db1347f 145 {0x2, 0x0}, // 4, 75%
elijahsj 1:8a094db1347f 146 {0x3, 0x0}, // 5, 80%
elijahsj 1:8a094db1347f 147 {0x3, 0x1}, // 6, 67%
elijahsj 1:8a094db1347f 148 {0x4, 0x1}, // 7, 71%
elijahsj 1:8a094db1347f 149 {0x5, 0x1}, // 8, 75%
elijahsj 1:8a094db1347f 150 {0x6, 0x1}, // 9, 78%
elijahsj 1:8a094db1347f 151 {0x6, 0x2}, // 10, 70%
elijahsj 1:8a094db1347f 152 {0x7, 0x2}, // 11, 73%
elijahsj 1:8a094db1347f 153 {0x8, 0x2}, // 12, 75%
elijahsj 1:8a094db1347f 154 {0x9, 0x2}, // 13, 77%
elijahsj 1:8a094db1347f 155 {0x9, 0x3}, // 14, 71%
elijahsj 1:8a094db1347f 156 {0xA, 0x3}, // 15, 73%
elijahsj 1:8a094db1347f 157 {0xB, 0x3}, // 16, 75%
elijahsj 1:8a094db1347f 158 {0xC, 0x3}, // 17, 76%
elijahsj 1:8a094db1347f 159 {0xD, 0x3}, // 18, 78%
elijahsj 1:8a094db1347f 160 {0xD, 0x4}, // 19, 74%
elijahsj 1:8a094db1347f 161 {0xE, 0x4}, // 20, 75%
elijahsj 1:8a094db1347f 162 {0xF, 0x4}, // 21, 76%
elijahsj 1:8a094db1347f 163 {0xF, 0x5}, // 22, 73%
elijahsj 1:8a094db1347f 164 {0xF, 0x6}, // 23, 70%
elijahsj 1:8a094db1347f 165 {0xF, 0x7}, // 24, 67%
elijahsj 1:8a094db1347f 166 };
elijahsj 1:8a094db1347f 167
elijahsj 1:8a094db1347f 168 static unsigned int can_speed(unsigned int pclk, unsigned int cclk, unsigned char psjw)
elijahsj 1:8a094db1347f 169 {
elijahsj 1:8a094db1347f 170 uint32_t btr;
elijahsj 1:8a094db1347f 171 uint16_t brp = 0;
elijahsj 1:8a094db1347f 172 uint32_t calcbit;
elijahsj 1:8a094db1347f 173 uint32_t bitwidth;
elijahsj 1:8a094db1347f 174 int hit = 0;
elijahsj 1:8a094db1347f 175 int bits;
elijahsj 1:8a094db1347f 176
elijahsj 1:8a094db1347f 177 bitwidth = (pclk / cclk);
elijahsj 1:8a094db1347f 178
elijahsj 1:8a094db1347f 179 brp = bitwidth / 0x18;
elijahsj 1:8a094db1347f 180 while ((!hit) && (brp < bitwidth / 4)) {
elijahsj 1:8a094db1347f 181 brp++;
elijahsj 1:8a094db1347f 182 for (bits = 22; bits > 0; bits--) {
elijahsj 1:8a094db1347f 183 calcbit = (bits + 3) * (brp + 1);
elijahsj 1:8a094db1347f 184 if (calcbit == bitwidth) {
elijahsj 1:8a094db1347f 185 hit = 1;
elijahsj 1:8a094db1347f 186 break;
elijahsj 1:8a094db1347f 187 }
elijahsj 1:8a094db1347f 188 }
elijahsj 1:8a094db1347f 189 }
elijahsj 1:8a094db1347f 190
elijahsj 1:8a094db1347f 191 if (hit) {
elijahsj 1:8a094db1347f 192 btr = ((timing_pts[bits][1] << CAN_BTR_TS2_Pos) & CAN_BTR_TS2) |
elijahsj 1:8a094db1347f 193 ((timing_pts[bits][0] << CAN_BTR_TS1_Pos) & CAN_BTR_TS1) |
elijahsj 1:8a094db1347f 194 ((psjw << CAN_BTR_SJW_Pos) & CAN_BTR_SJW) |
elijahsj 1:8a094db1347f 195 ((brp << CAN_BTR_BRP_Pos) & CAN_BTR_BRP);
elijahsj 1:8a094db1347f 196 } else {
elijahsj 1:8a094db1347f 197 btr = 0xFFFFFFFF;
elijahsj 1:8a094db1347f 198 }
elijahsj 1:8a094db1347f 199
elijahsj 1:8a094db1347f 200 return btr;
elijahsj 1:8a094db1347f 201
elijahsj 1:8a094db1347f 202 }
elijahsj 1:8a094db1347f 203
elijahsj 1:8a094db1347f 204 int can_frequency(can_t *obj, int f)
elijahsj 1:8a094db1347f 205 {
elijahsj 1:8a094db1347f 206 int pclk = HAL_RCC_GetPCLK1Freq();
elijahsj 1:8a094db1347f 207 int btr = can_speed(pclk, (unsigned int)f, 1);
elijahsj 1:8a094db1347f 208 CAN_TypeDef *can = obj->CanHandle.Instance;
elijahsj 1:8a094db1347f 209 uint32_t tickstart = 0;
elijahsj 1:8a094db1347f 210 int status = 1;
elijahsj 1:8a094db1347f 211
elijahsj 1:8a094db1347f 212 if (btr > 0) {
elijahsj 1:8a094db1347f 213 can->MCR |= CAN_MCR_INRQ ;
elijahsj 1:8a094db1347f 214 /* Get tick */
elijahsj 1:8a094db1347f 215 tickstart = HAL_GetTick();
elijahsj 1:8a094db1347f 216 while ((can->MSR & CAN_MSR_INAK) != CAN_MSR_INAK) {
elijahsj 1:8a094db1347f 217 if ((HAL_GetTick() - tickstart) > 2) {
elijahsj 1:8a094db1347f 218 status = 0;
elijahsj 1:8a094db1347f 219 break;
elijahsj 1:8a094db1347f 220 }
elijahsj 1:8a094db1347f 221 }
elijahsj 1:8a094db1347f 222 if (status != 0) {
elijahsj 1:8a094db1347f 223 /* Do not erase all BTR registers (e.g. silent mode), only the
elijahsj 1:8a094db1347f 224 * ones calculated in can_speed */
elijahsj 1:8a094db1347f 225 can->BTR &= ~(CAN_BTR_TS2 | CAN_BTR_TS1 | CAN_BTR_SJW | CAN_BTR_BRP);
elijahsj 1:8a094db1347f 226 can->BTR |= btr;
elijahsj 1:8a094db1347f 227
elijahsj 1:8a094db1347f 228 can->MCR &= ~(uint32_t)CAN_MCR_INRQ;
elijahsj 1:8a094db1347f 229 /* Get tick */
elijahsj 1:8a094db1347f 230 tickstart = HAL_GetTick();
elijahsj 1:8a094db1347f 231 while ((can->MSR & CAN_MSR_INAK) == CAN_MSR_INAK) {
elijahsj 1:8a094db1347f 232 if ((HAL_GetTick() - tickstart) > 2) {
elijahsj 1:8a094db1347f 233 status = 0;
elijahsj 1:8a094db1347f 234 break;
elijahsj 1:8a094db1347f 235 }
elijahsj 1:8a094db1347f 236 }
elijahsj 1:8a094db1347f 237 if (status == 0) {
elijahsj 1:8a094db1347f 238 error("can ESR 0x%04x.%04x + timeout status %d", (can->ESR & 0xFFFF0000) >> 16, (can->ESR & 0xFFFF), status);
elijahsj 1:8a094db1347f 239 }
elijahsj 1:8a094db1347f 240 } else {
elijahsj 1:8a094db1347f 241 error("can init request timeout\n");
elijahsj 1:8a094db1347f 242 }
elijahsj 1:8a094db1347f 243 } else {
elijahsj 1:8a094db1347f 244 status = 0;
elijahsj 1:8a094db1347f 245 }
elijahsj 1:8a094db1347f 246 return status;
elijahsj 1:8a094db1347f 247 }
elijahsj 1:8a094db1347f 248
elijahsj 1:8a094db1347f 249 int can_write(can_t *obj, CAN_Message msg, int cc)
elijahsj 1:8a094db1347f 250 {
elijahsj 1:8a094db1347f 251 uint32_t transmitmailbox = CAN_TXSTATUS_NOMAILBOX;
elijahsj 1:8a094db1347f 252 CAN_TypeDef *can = obj->CanHandle.Instance;
elijahsj 1:8a094db1347f 253
elijahsj 1:8a094db1347f 254 /* Select one empty transmit mailbox */
elijahsj 1:8a094db1347f 255 if ((can->TSR & CAN_TSR_TME0) == CAN_TSR_TME0) {
elijahsj 1:8a094db1347f 256 transmitmailbox = 0;
elijahsj 1:8a094db1347f 257 } else if ((can->TSR & CAN_TSR_TME1) == CAN_TSR_TME1) {
elijahsj 1:8a094db1347f 258 transmitmailbox = 1;
elijahsj 1:8a094db1347f 259 } else if ((can->TSR & CAN_TSR_TME2) == CAN_TSR_TME2) {
elijahsj 1:8a094db1347f 260 transmitmailbox = 2;
elijahsj 1:8a094db1347f 261 } else {
elijahsj 1:8a094db1347f 262 return 0;
elijahsj 1:8a094db1347f 263 }
elijahsj 1:8a094db1347f 264
elijahsj 1:8a094db1347f 265 can->sTxMailBox[transmitmailbox].TIR &= CAN_TI0R_TXRQ;
elijahsj 1:8a094db1347f 266 if (!(msg.format)) {
elijahsj 1:8a094db1347f 267 can->sTxMailBox[transmitmailbox].TIR |= ((msg.id << 21) | msg.type);
elijahsj 1:8a094db1347f 268 } else {
elijahsj 1:8a094db1347f 269 can->sTxMailBox[transmitmailbox].TIR |= ((msg.id << 3) | CAN_ID_EXT | msg.type);
elijahsj 1:8a094db1347f 270 }
elijahsj 1:8a094db1347f 271
elijahsj 1:8a094db1347f 272 /* Set up the DLC */
elijahsj 1:8a094db1347f 273 can->sTxMailBox[transmitmailbox].TDTR &= (uint32_t)0xFFFFFFF0;
elijahsj 1:8a094db1347f 274 can->sTxMailBox[transmitmailbox].TDTR |= (msg.len & (uint8_t)0x0000000F);
elijahsj 1:8a094db1347f 275
elijahsj 1:8a094db1347f 276 /* Set up the data field */
elijahsj 1:8a094db1347f 277 can->sTxMailBox[transmitmailbox].TDLR = (((uint32_t)msg.data[3] << 24) |
elijahsj 1:8a094db1347f 278 ((uint32_t)msg.data[2] << 16) |
elijahsj 1:8a094db1347f 279 ((uint32_t)msg.data[1] << 8) |
elijahsj 1:8a094db1347f 280 ((uint32_t)msg.data[0]));
elijahsj 1:8a094db1347f 281 can->sTxMailBox[transmitmailbox].TDHR = (((uint32_t)msg.data[7] << 24) |
elijahsj 1:8a094db1347f 282 ((uint32_t)msg.data[6] << 16) |
elijahsj 1:8a094db1347f 283 ((uint32_t)msg.data[5] << 8) |
elijahsj 1:8a094db1347f 284 ((uint32_t)msg.data[4]));
elijahsj 1:8a094db1347f 285 /* Request transmission */
elijahsj 1:8a094db1347f 286 can->sTxMailBox[transmitmailbox].TIR |= CAN_TI0R_TXRQ;
elijahsj 1:8a094db1347f 287
elijahsj 1:8a094db1347f 288 return 1;
elijahsj 1:8a094db1347f 289 }
elijahsj 1:8a094db1347f 290
elijahsj 1:8a094db1347f 291 int can_read(can_t *obj, CAN_Message *msg, int handle)
elijahsj 1:8a094db1347f 292 {
elijahsj 1:8a094db1347f 293 //handle is the FIFO number
elijahsj 1:8a094db1347f 294
elijahsj 1:8a094db1347f 295 CAN_TypeDef *can = obj->CanHandle.Instance;
elijahsj 1:8a094db1347f 296
elijahsj 1:8a094db1347f 297 // check FPM0 which holds the pending message count in FIFO 0
elijahsj 1:8a094db1347f 298 // if no message is pending, return 0
elijahsj 1:8a094db1347f 299 if ((can->RF0R & CAN_RF0R_FMP0) == 0) {
elijahsj 1:8a094db1347f 300 return 0;
elijahsj 1:8a094db1347f 301 }
elijahsj 1:8a094db1347f 302
elijahsj 1:8a094db1347f 303 /* Get the Id */
elijahsj 1:8a094db1347f 304 msg->format = (CANFormat)(((uint8_t)0x04 & can->sFIFOMailBox[handle].RIR) >> 2);
elijahsj 1:8a094db1347f 305 if (!msg->format) {
elijahsj 1:8a094db1347f 306 msg->id = (uint32_t)0x000007FF & (can->sFIFOMailBox[handle].RIR >> 21);
elijahsj 1:8a094db1347f 307 } else {
elijahsj 1:8a094db1347f 308 msg->id = (uint32_t)0x1FFFFFFF & (can->sFIFOMailBox[handle].RIR >> 3);
elijahsj 1:8a094db1347f 309 }
elijahsj 1:8a094db1347f 310
elijahsj 1:8a094db1347f 311 msg->type = (CANType)(((uint8_t)0x02 & can->sFIFOMailBox[handle].RIR) >> 1);
elijahsj 1:8a094db1347f 312 /* Get the DLC */
elijahsj 1:8a094db1347f 313 msg->len = (uint8_t)0x0F & can->sFIFOMailBox[handle].RDTR;
elijahsj 1:8a094db1347f 314 /* Get the FMI */
elijahsj 1:8a094db1347f 315 // msg->FMI = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDTR >> 8);
elijahsj 1:8a094db1347f 316 /* Get the data field */
elijahsj 1:8a094db1347f 317 msg->data[0] = (uint8_t)0xFF & can->sFIFOMailBox[handle].RDLR;
elijahsj 1:8a094db1347f 318 msg->data[1] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDLR >> 8);
elijahsj 1:8a094db1347f 319 msg->data[2] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDLR >> 16);
elijahsj 1:8a094db1347f 320 msg->data[3] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDLR >> 24);
elijahsj 1:8a094db1347f 321 msg->data[4] = (uint8_t)0xFF & can->sFIFOMailBox[handle].RDHR;
elijahsj 1:8a094db1347f 322 msg->data[5] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDHR >> 8);
elijahsj 1:8a094db1347f 323 msg->data[6] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDHR >> 16);
elijahsj 1:8a094db1347f 324 msg->data[7] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDHR >> 24);
elijahsj 1:8a094db1347f 325
elijahsj 1:8a094db1347f 326 /* Release the FIFO */
elijahsj 1:8a094db1347f 327 if (handle == CAN_FIFO0) {
elijahsj 1:8a094db1347f 328 /* Release FIFO0 */
elijahsj 1:8a094db1347f 329 can->RF0R |= CAN_RF0R_RFOM0;
elijahsj 1:8a094db1347f 330 } else { /* FIFONumber == CAN_FIFO1 */
elijahsj 1:8a094db1347f 331 /* Release FIFO1 */
elijahsj 1:8a094db1347f 332 can->RF1R |= CAN_RF1R_RFOM1;
elijahsj 1:8a094db1347f 333 }
elijahsj 1:8a094db1347f 334
elijahsj 1:8a094db1347f 335 return 1;
elijahsj 1:8a094db1347f 336 }
elijahsj 1:8a094db1347f 337
elijahsj 1:8a094db1347f 338 void can_reset(can_t *obj)
elijahsj 1:8a094db1347f 339 {
elijahsj 1:8a094db1347f 340 CAN_TypeDef *can = obj->CanHandle.Instance;
elijahsj 1:8a094db1347f 341
elijahsj 1:8a094db1347f 342 /* Reset IP and delete errors */
elijahsj 1:8a094db1347f 343 can->MCR |= CAN_MCR_RESET;
elijahsj 1:8a094db1347f 344 can->ESR = 0x0;
elijahsj 1:8a094db1347f 345
elijahsj 1:8a094db1347f 346 /* restore registers state as saved in obj context */
elijahsj 1:8a094db1347f 347 can_registers_init(obj);
elijahsj 1:8a094db1347f 348 }
elijahsj 1:8a094db1347f 349
elijahsj 1:8a094db1347f 350 unsigned char can_rderror(can_t *obj)
elijahsj 1:8a094db1347f 351 {
elijahsj 1:8a094db1347f 352 CAN_TypeDef *can = obj->CanHandle.Instance;
elijahsj 1:8a094db1347f 353 return (can->ESR >> 24) & 0xFF;
elijahsj 1:8a094db1347f 354 }
elijahsj 1:8a094db1347f 355
elijahsj 1:8a094db1347f 356 unsigned char can_tderror(can_t *obj)
elijahsj 1:8a094db1347f 357 {
elijahsj 1:8a094db1347f 358 CAN_TypeDef *can = obj->CanHandle.Instance;
elijahsj 1:8a094db1347f 359 return (can->ESR >> 16) & 0xFF;
elijahsj 1:8a094db1347f 360 }
elijahsj 1:8a094db1347f 361
elijahsj 1:8a094db1347f 362 void can_monitor(can_t *obj, int silent)
elijahsj 1:8a094db1347f 363 {
elijahsj 1:8a094db1347f 364 CanMode mode = MODE_NORMAL;
elijahsj 1:8a094db1347f 365 /* Update current state w/ or w/o silent */
elijahsj 1:8a094db1347f 366 if(silent) {
elijahsj 1:8a094db1347f 367 switch (obj->CanHandle.Init.Mode) {
elijahsj 1:8a094db1347f 368 case CAN_MODE_LOOPBACK:
elijahsj 1:8a094db1347f 369 case CAN_MODE_SILENT_LOOPBACK:
elijahsj 1:8a094db1347f 370 mode = MODE_TEST_SILENT;
elijahsj 1:8a094db1347f 371 break;
elijahsj 1:8a094db1347f 372 default:
elijahsj 1:8a094db1347f 373 mode = MODE_SILENT;
elijahsj 1:8a094db1347f 374 break;
elijahsj 1:8a094db1347f 375 }
elijahsj 1:8a094db1347f 376 } else {
elijahsj 1:8a094db1347f 377 switch (obj->CanHandle.Init.Mode) {
elijahsj 1:8a094db1347f 378 case CAN_MODE_LOOPBACK:
elijahsj 1:8a094db1347f 379 case CAN_MODE_SILENT_LOOPBACK:
elijahsj 1:8a094db1347f 380 mode = MODE_TEST_LOCAL;
elijahsj 1:8a094db1347f 381 break;
elijahsj 1:8a094db1347f 382 default:
elijahsj 1:8a094db1347f 383 mode = MODE_NORMAL;
elijahsj 1:8a094db1347f 384 break;
elijahsj 1:8a094db1347f 385 }
elijahsj 1:8a094db1347f 386 }
elijahsj 1:8a094db1347f 387
elijahsj 1:8a094db1347f 388 can_mode(obj, mode);
elijahsj 1:8a094db1347f 389 }
elijahsj 1:8a094db1347f 390
elijahsj 1:8a094db1347f 391 int can_mode(can_t *obj, CanMode mode)
elijahsj 1:8a094db1347f 392 {
elijahsj 1:8a094db1347f 393 int success = 0;
elijahsj 1:8a094db1347f 394 CAN_TypeDef *can = obj->CanHandle.Instance;
elijahsj 1:8a094db1347f 395
elijahsj 1:8a094db1347f 396 can->MCR |= CAN_MCR_INRQ ;
elijahsj 1:8a094db1347f 397 while ((can->MSR & CAN_MSR_INAK) != CAN_MSR_INAK) {
elijahsj 1:8a094db1347f 398 }
elijahsj 1:8a094db1347f 399
elijahsj 1:8a094db1347f 400 switch (mode) {
elijahsj 1:8a094db1347f 401 case MODE_NORMAL:
elijahsj 1:8a094db1347f 402 obj->CanHandle.Init.Mode = CAN_MODE_NORMAL;
elijahsj 1:8a094db1347f 403 can->BTR &= ~(CAN_BTR_SILM | CAN_BTR_LBKM);
elijahsj 1:8a094db1347f 404 success = 1;
elijahsj 1:8a094db1347f 405 break;
elijahsj 1:8a094db1347f 406 case MODE_SILENT:
elijahsj 1:8a094db1347f 407 obj->CanHandle.Init.Mode = CAN_MODE_SILENT;
elijahsj 1:8a094db1347f 408 can->BTR |= CAN_BTR_SILM;
elijahsj 1:8a094db1347f 409 can->BTR &= ~CAN_BTR_LBKM;
elijahsj 1:8a094db1347f 410 success = 1;
elijahsj 1:8a094db1347f 411 break;
elijahsj 1:8a094db1347f 412 case MODE_TEST_GLOBAL:
elijahsj 1:8a094db1347f 413 case MODE_TEST_LOCAL:
elijahsj 1:8a094db1347f 414 obj->CanHandle.Init.Mode = CAN_MODE_LOOPBACK;
elijahsj 1:8a094db1347f 415 can->BTR |= CAN_BTR_LBKM;
elijahsj 1:8a094db1347f 416 can->BTR &= ~CAN_BTR_SILM;
elijahsj 1:8a094db1347f 417 success = 1;
elijahsj 1:8a094db1347f 418 break;
elijahsj 1:8a094db1347f 419 case MODE_TEST_SILENT:
elijahsj 1:8a094db1347f 420 obj->CanHandle.Init.Mode = CAN_MODE_SILENT_LOOPBACK;
elijahsj 1:8a094db1347f 421 can->BTR |= (CAN_BTR_SILM | CAN_BTR_LBKM);
elijahsj 1:8a094db1347f 422 success = 1;
elijahsj 1:8a094db1347f 423 break;
elijahsj 1:8a094db1347f 424 default:
elijahsj 1:8a094db1347f 425 success = 0;
elijahsj 1:8a094db1347f 426 break;
elijahsj 1:8a094db1347f 427 }
elijahsj 1:8a094db1347f 428
elijahsj 1:8a094db1347f 429 can->MCR &= ~(uint32_t)CAN_MCR_INRQ;
elijahsj 1:8a094db1347f 430 while ((can->MSR & CAN_MSR_INAK) == CAN_MSR_INAK) {
elijahsj 1:8a094db1347f 431 }
elijahsj 1:8a094db1347f 432
elijahsj 1:8a094db1347f 433 return success;
elijahsj 1:8a094db1347f 434 }
elijahsj 1:8a094db1347f 435
elijahsj 1:8a094db1347f 436 int can_filter(can_t *obj, uint32_t id, uint32_t mask, CANFormat format, int32_t handle)
elijahsj 1:8a094db1347f 437 {
elijahsj 1:8a094db1347f 438 int retval = 0;
elijahsj 1:8a094db1347f 439
elijahsj 1:8a094db1347f 440 // filter for CANAny format cannot be configured for STM32
elijahsj 1:8a094db1347f 441 if ((format == CANStandard) || (format == CANExtended)) {
elijahsj 1:8a094db1347f 442 CAN_FilterConfTypeDef sFilterConfig;
elijahsj 1:8a094db1347f 443 sFilterConfig.FilterNumber = handle;
elijahsj 1:8a094db1347f 444 sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
elijahsj 1:8a094db1347f 445 sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
elijahsj 1:8a094db1347f 446
elijahsj 1:8a094db1347f 447 if (format == CANStandard) {
elijahsj 1:8a094db1347f 448 sFilterConfig.FilterIdHigh = id << 5;
elijahsj 1:8a094db1347f 449 sFilterConfig.FilterIdLow = 0x0;
elijahsj 1:8a094db1347f 450 sFilterConfig.FilterMaskIdHigh = mask << 5;
elijahsj 1:8a094db1347f 451 sFilterConfig.FilterMaskIdLow = 0x0; // allows both remote and data frames
elijahsj 1:8a094db1347f 452 } else if (format == CANExtended) {
elijahsj 1:8a094db1347f 453 sFilterConfig.FilterIdHigh = id >> 13; // EXTID[28:13]
elijahsj 1:8a094db1347f 454 sFilterConfig.FilterIdLow = (0x00FF & (id << 3)) | (1 << 2); // EXTID[12:0]
elijahsj 1:8a094db1347f 455 sFilterConfig.FilterMaskIdHigh = mask >> 13;
elijahsj 1:8a094db1347f 456 sFilterConfig.FilterMaskIdLow = (0x00FF & (mask << 3)) | (1 << 2);
elijahsj 1:8a094db1347f 457 }
elijahsj 1:8a094db1347f 458
elijahsj 1:8a094db1347f 459 sFilterConfig.FilterFIFOAssignment = 0;
elijahsj 1:8a094db1347f 460 sFilterConfig.FilterActivation = ENABLE;
elijahsj 1:8a094db1347f 461 sFilterConfig.BankNumber = 14 + handle;
elijahsj 1:8a094db1347f 462
elijahsj 1:8a094db1347f 463 HAL_CAN_ConfigFilter(&obj->CanHandle, &sFilterConfig);
elijahsj 1:8a094db1347f 464 retval = handle;
elijahsj 1:8a094db1347f 465 }
elijahsj 1:8a094db1347f 466 return retval;
elijahsj 1:8a094db1347f 467 }
elijahsj 1:8a094db1347f 468
elijahsj 1:8a094db1347f 469 static void can_irq(CANName name, int id)
elijahsj 1:8a094db1347f 470 {
elijahsj 1:8a094db1347f 471 uint32_t tmp1 = 0, tmp2 = 0, tmp3 = 0;
elijahsj 1:8a094db1347f 472 CAN_HandleTypeDef CanHandle;
elijahsj 1:8a094db1347f 473 CanHandle.Instance = (CAN_TypeDef *)name;
elijahsj 1:8a094db1347f 474
elijahsj 1:8a094db1347f 475 if (__HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_TME)) {
elijahsj 1:8a094db1347f 476 tmp1 = __HAL_CAN_TRANSMIT_STATUS(&CanHandle, CAN_TXMAILBOX_0);
elijahsj 1:8a094db1347f 477 tmp2 = __HAL_CAN_TRANSMIT_STATUS(&CanHandle, CAN_TXMAILBOX_1);
elijahsj 1:8a094db1347f 478 tmp3 = __HAL_CAN_TRANSMIT_STATUS(&CanHandle, CAN_TXMAILBOX_2);
elijahsj 1:8a094db1347f 479 if (tmp1) {
elijahsj 1:8a094db1347f 480 __HAL_CAN_CLEAR_FLAG(&CanHandle, CAN_FLAG_RQCP0);
elijahsj 1:8a094db1347f 481 }
elijahsj 1:8a094db1347f 482 if (tmp2) {
elijahsj 1:8a094db1347f 483 __HAL_CAN_CLEAR_FLAG(&CanHandle, CAN_FLAG_RQCP1);
elijahsj 1:8a094db1347f 484 }
elijahsj 1:8a094db1347f 485 if (tmp3) {
elijahsj 1:8a094db1347f 486 __HAL_CAN_CLEAR_FLAG(&CanHandle, CAN_FLAG_RQCP2);
elijahsj 1:8a094db1347f 487 }
elijahsj 1:8a094db1347f 488 if (tmp1 || tmp2 || tmp3) {
elijahsj 1:8a094db1347f 489 irq_handler(can_irq_ids[id], IRQ_TX);
elijahsj 1:8a094db1347f 490 }
elijahsj 1:8a094db1347f 491 }
elijahsj 1:8a094db1347f 492
elijahsj 1:8a094db1347f 493 tmp1 = __HAL_CAN_MSG_PENDING(&CanHandle, CAN_FIFO0);
elijahsj 1:8a094db1347f 494 tmp2 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_FMP0);
elijahsj 1:8a094db1347f 495
elijahsj 1:8a094db1347f 496 if ((tmp1 != 0) && tmp2) {
elijahsj 1:8a094db1347f 497 irq_handler(can_irq_ids[id], IRQ_RX);
elijahsj 1:8a094db1347f 498 }
elijahsj 1:8a094db1347f 499
elijahsj 1:8a094db1347f 500 tmp1 = __HAL_CAN_GET_FLAG(&CanHandle, CAN_FLAG_EPV);
elijahsj 1:8a094db1347f 501 tmp2 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_EPV);
elijahsj 1:8a094db1347f 502 tmp3 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_ERR);
elijahsj 1:8a094db1347f 503
elijahsj 1:8a094db1347f 504 if (tmp1 && tmp2 && tmp3) {
elijahsj 1:8a094db1347f 505 irq_handler(can_irq_ids[id], IRQ_PASSIVE);
elijahsj 1:8a094db1347f 506 }
elijahsj 1:8a094db1347f 507
elijahsj 1:8a094db1347f 508 tmp1 = __HAL_CAN_GET_FLAG(&CanHandle, CAN_FLAG_BOF);
elijahsj 1:8a094db1347f 509 tmp2 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_BOF);
elijahsj 1:8a094db1347f 510 tmp3 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_ERR);
elijahsj 1:8a094db1347f 511 if (tmp1 && tmp2 && tmp3) {
elijahsj 1:8a094db1347f 512 irq_handler(can_irq_ids[id], IRQ_BUS);
elijahsj 1:8a094db1347f 513 }
elijahsj 1:8a094db1347f 514
elijahsj 1:8a094db1347f 515 tmp3 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_ERR);
elijahsj 1:8a094db1347f 516 if (tmp1 && tmp2 && tmp3) {
elijahsj 1:8a094db1347f 517 irq_handler(can_irq_ids[id], IRQ_ERROR);
elijahsj 1:8a094db1347f 518 }
elijahsj 1:8a094db1347f 519 }
elijahsj 1:8a094db1347f 520
elijahsj 1:8a094db1347f 521 #if defined(TARGET_STM32F0)
elijahsj 1:8a094db1347f 522 void CAN_IRQHandler(void)
elijahsj 1:8a094db1347f 523 {
elijahsj 1:8a094db1347f 524 can_irq(CAN_1, 0);
elijahsj 1:8a094db1347f 525 }
elijahsj 1:8a094db1347f 526 #elif defined(TARGET_STM32F3)
elijahsj 1:8a094db1347f 527 void CAN_RX0_IRQHandler(void)
elijahsj 1:8a094db1347f 528 {
elijahsj 1:8a094db1347f 529 can_irq(CAN_1, 0);
elijahsj 1:8a094db1347f 530 }
elijahsj 1:8a094db1347f 531 void CAN_TX_IRQHandler(void)
elijahsj 1:8a094db1347f 532 {
elijahsj 1:8a094db1347f 533 can_irq(CAN_1, 0);
elijahsj 1:8a094db1347f 534 }
elijahsj 1:8a094db1347f 535 void CAN_SCE_IRQHandler(void)
elijahsj 1:8a094db1347f 536 {
elijahsj 1:8a094db1347f 537 can_irq(CAN_1, 0);
elijahsj 1:8a094db1347f 538 }
elijahsj 1:8a094db1347f 539 #else
elijahsj 1:8a094db1347f 540 void CAN1_RX0_IRQHandler(void)
elijahsj 1:8a094db1347f 541 {
elijahsj 1:8a094db1347f 542 can_irq(CAN_1, 0);
elijahsj 1:8a094db1347f 543 }
elijahsj 1:8a094db1347f 544 void CAN1_TX_IRQHandler(void)
elijahsj 1:8a094db1347f 545 {
elijahsj 1:8a094db1347f 546 can_irq(CAN_1, 0);
elijahsj 1:8a094db1347f 547 }
elijahsj 1:8a094db1347f 548 void CAN1_SCE_IRQHandler(void)
elijahsj 1:8a094db1347f 549 {
elijahsj 1:8a094db1347f 550 can_irq(CAN_1, 0);
elijahsj 1:8a094db1347f 551 }
elijahsj 1:8a094db1347f 552 #if defined(CAN2_BASE) && (CAN_NUM == 2)
elijahsj 1:8a094db1347f 553 void CAN2_RX0_IRQHandler(void)
elijahsj 1:8a094db1347f 554 {
elijahsj 1:8a094db1347f 555 can_irq(CAN_2, 1);
elijahsj 1:8a094db1347f 556 }
elijahsj 1:8a094db1347f 557 void CAN2_TX_IRQHandler(void)
elijahsj 1:8a094db1347f 558 {
elijahsj 1:8a094db1347f 559 can_irq(CAN_2, 1);
elijahsj 1:8a094db1347f 560 }
elijahsj 1:8a094db1347f 561 void CAN2_SCE_IRQHandler(void)
elijahsj 1:8a094db1347f 562 {
elijahsj 1:8a094db1347f 563 can_irq(CAN_2, 1);
elijahsj 1:8a094db1347f 564 }
elijahsj 1:8a094db1347f 565 #endif // defined(CAN2_BASE) && (CAN_NUM == 2)
elijahsj 1:8a094db1347f 566 #endif // else
elijahsj 1:8a094db1347f 567
elijahsj 1:8a094db1347f 568 void can_irq_set(can_t *obj, CanIrqType type, uint32_t enable)
elijahsj 1:8a094db1347f 569 {
elijahsj 1:8a094db1347f 570 CAN_TypeDef *can = obj->CanHandle.Instance;
elijahsj 1:8a094db1347f 571 IRQn_Type irq_n = (IRQn_Type)0;
elijahsj 1:8a094db1347f 572 uint32_t vector = 0;
elijahsj 1:8a094db1347f 573 uint32_t ier;
elijahsj 1:8a094db1347f 574
elijahsj 1:8a094db1347f 575 if ((CANName) can == CAN_1) {
elijahsj 1:8a094db1347f 576 switch (type) {
elijahsj 1:8a094db1347f 577 case IRQ_RX:
elijahsj 1:8a094db1347f 578 ier = CAN_IT_FMP0;
elijahsj 1:8a094db1347f 579 irq_n = CAN1_IRQ_RX_IRQN;
elijahsj 1:8a094db1347f 580 vector = (uint32_t)&CAN1_IRQ_RX_VECT;
elijahsj 1:8a094db1347f 581 break;
elijahsj 1:8a094db1347f 582 case IRQ_TX:
elijahsj 1:8a094db1347f 583 ier = CAN_IT_TME;
elijahsj 1:8a094db1347f 584 irq_n = CAN1_IRQ_TX_IRQN;
elijahsj 1:8a094db1347f 585 vector = (uint32_t)&CAN1_IRQ_TX_VECT;
elijahsj 1:8a094db1347f 586 break;
elijahsj 1:8a094db1347f 587 case IRQ_ERROR:
elijahsj 1:8a094db1347f 588 ier = CAN_IT_ERR;
elijahsj 1:8a094db1347f 589 irq_n = CAN1_IRQ_ERROR_IRQN;
elijahsj 1:8a094db1347f 590 vector = (uint32_t)&CAN1_IRQ_ERROR_VECT;
elijahsj 1:8a094db1347f 591 break;
elijahsj 1:8a094db1347f 592 case IRQ_PASSIVE:
elijahsj 1:8a094db1347f 593 ier = CAN_IT_EPV;
elijahsj 1:8a094db1347f 594 irq_n = CAN1_IRQ_PASSIVE_IRQN;
elijahsj 1:8a094db1347f 595 vector = (uint32_t)&CAN1_IRQ_PASSIVE_VECT;
elijahsj 1:8a094db1347f 596 break;
elijahsj 1:8a094db1347f 597 case IRQ_BUS:
elijahsj 1:8a094db1347f 598 ier = CAN_IT_BOF;
elijahsj 1:8a094db1347f 599 irq_n = CAN1_IRQ_BUS_IRQN;
elijahsj 1:8a094db1347f 600 vector = (uint32_t)&CAN1_IRQ_BUS_VECT;
elijahsj 1:8a094db1347f 601 break;
elijahsj 1:8a094db1347f 602 default:
elijahsj 1:8a094db1347f 603 return;
elijahsj 1:8a094db1347f 604 }
elijahsj 1:8a094db1347f 605 }
elijahsj 1:8a094db1347f 606 #if defined(CAN2_BASE) && (CAN_NUM == 2)
elijahsj 1:8a094db1347f 607 else if ((CANName) can == CAN_2) {
elijahsj 1:8a094db1347f 608 switch (type) {
elijahsj 1:8a094db1347f 609 case IRQ_RX:
elijahsj 1:8a094db1347f 610 ier = CAN_IT_FMP0;
elijahsj 1:8a094db1347f 611 irq_n = CAN2_IRQ_RX_IRQN;
elijahsj 1:8a094db1347f 612 vector = (uint32_t)&CAN2_IRQ_RX_VECT;
elijahsj 1:8a094db1347f 613 break;
elijahsj 1:8a094db1347f 614 case IRQ_TX:
elijahsj 1:8a094db1347f 615 ier = CAN_IT_TME;
elijahsj 1:8a094db1347f 616 irq_n = CAN2_IRQ_TX_IRQN;
elijahsj 1:8a094db1347f 617 vector = (uint32_t)&CAN2_IRQ_TX_VECT;
elijahsj 1:8a094db1347f 618 break;
elijahsj 1:8a094db1347f 619 case IRQ_ERROR:
elijahsj 1:8a094db1347f 620 ier = CAN_IT_ERR;
elijahsj 1:8a094db1347f 621 irq_n = CAN2_IRQ_ERROR_IRQN;
elijahsj 1:8a094db1347f 622 vector = (uint32_t)&CAN2_IRQ_ERROR_VECT;
elijahsj 1:8a094db1347f 623 break;
elijahsj 1:8a094db1347f 624 case IRQ_PASSIVE:
elijahsj 1:8a094db1347f 625 ier = CAN_IT_EPV;
elijahsj 1:8a094db1347f 626 irq_n = CAN2_IRQ_PASSIVE_IRQN;
elijahsj 1:8a094db1347f 627 vector = (uint32_t)&CAN2_IRQ_PASSIVE_VECT;
elijahsj 1:8a094db1347f 628 break;
elijahsj 1:8a094db1347f 629 case IRQ_BUS:
elijahsj 1:8a094db1347f 630 ier = CAN_IT_BOF;
elijahsj 1:8a094db1347f 631 irq_n = CAN2_IRQ_BUS_IRQN;
elijahsj 1:8a094db1347f 632 vector = (uint32_t)&CAN2_IRQ_BUS_VECT;
elijahsj 1:8a094db1347f 633 break;
elijahsj 1:8a094db1347f 634 default:
elijahsj 1:8a094db1347f 635 return;
elijahsj 1:8a094db1347f 636 }
elijahsj 1:8a094db1347f 637 }
elijahsj 1:8a094db1347f 638 #endif
elijahsj 1:8a094db1347f 639 else {
elijahsj 1:8a094db1347f 640 return;
elijahsj 1:8a094db1347f 641 }
elijahsj 1:8a094db1347f 642
elijahsj 1:8a094db1347f 643 if (enable) {
elijahsj 1:8a094db1347f 644 can->IER |= ier;
elijahsj 1:8a094db1347f 645 } else {
elijahsj 1:8a094db1347f 646 can->IER &= ~ier;
elijahsj 1:8a094db1347f 647 }
elijahsj 1:8a094db1347f 648
elijahsj 1:8a094db1347f 649 NVIC_SetVector(irq_n, vector);
elijahsj 1:8a094db1347f 650 NVIC_EnableIRQ(irq_n);
elijahsj 1:8a094db1347f 651 }
elijahsj 1:8a094db1347f 652
elijahsj 1:8a094db1347f 653 #endif // DEVICE_CAN
elijahsj 1:8a094db1347f 654