Gan likun / The prosthetic control

The prosthetic control（MIT）

targets/TARGET_STM/can_api.c@0:20e0c61e0684, 2022-06-23 (annotated)

Committer:
ganlikun
Date:
Thu Jun 23 05:23:34 2022 +0000
Revision:
0:20e0c61e0684
01

Who changed what in which revision?

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ganlikun 0:20e0c61e0684 1 /* mbed Microcontroller Library
ganlikun 0:20e0c61e0684 2 * Copyright (c) 2006-2017 ARM Limited
ganlikun 0:20e0c61e0684 3 *
ganlikun 0:20e0c61e0684 4 * Licensed under the Apache License, Version 2.0 (the "License");
ganlikun 0:20e0c61e0684 5 * you may not use this file except in compliance with the License.
ganlikun 0:20e0c61e0684 6 * You may obtain a copy of the License at
ganlikun 0:20e0c61e0684 7 *
ganlikun 0:20e0c61e0684 8 * http://www.apache.org/licenses/LICENSE-2.0
ganlikun 0:20e0c61e0684 9 *
ganlikun 0:20e0c61e0684 10 * Unless required by applicable law or agreed to in writing, software
ganlikun 0:20e0c61e0684 11 * distributed under the License is distributed on an "AS IS" BASIS,
ganlikun 0:20e0c61e0684 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
ganlikun 0:20e0c61e0684 13 * See the License for the specific language governing permissions and
ganlikun 0:20e0c61e0684 14 * limitations under the License.
ganlikun 0:20e0c61e0684 15 */
ganlikun 0:20e0c61e0684 16 #include "can_api.h"
ganlikun 0:20e0c61e0684 17
ganlikun 0:20e0c61e0684 18 #if DEVICE_CAN
ganlikun 0:20e0c61e0684 19
ganlikun 0:20e0c61e0684 20 #include "cmsis.h"
ganlikun 0:20e0c61e0684 21 #include "pinmap.h"
ganlikun 0:20e0c61e0684 22 #include "PeripheralPins.h"
ganlikun 0:20e0c61e0684 23 #include "mbed_error.h"
ganlikun 0:20e0c61e0684 24 #include "can_device.h" // Specific to STM32 serie
ganlikun 0:20e0c61e0684 25 #include <math.h>
ganlikun 0:20e0c61e0684 26 #include <string.h>
ganlikun 0:20e0c61e0684 27
ganlikun 0:20e0c61e0684 28 static uint32_t can_irq_ids[CAN_NUM] = {0};
ganlikun 0:20e0c61e0684 29 static can_irq_handler irq_handler;
ganlikun 0:20e0c61e0684 30
ganlikun 0:20e0c61e0684 31 static void can_registers_init(can_t *obj)
ganlikun 0:20e0c61e0684 32 {
ganlikun 0:20e0c61e0684 33 if (HAL_CAN_Init(&obj->CanHandle) != HAL_OK) {
ganlikun 0:20e0c61e0684 34 error("Cannot initialize CAN");
ganlikun 0:20e0c61e0684 35 }
ganlikun 0:20e0c61e0684 36
ganlikun 0:20e0c61e0684 37 // Set initial CAN frequency to specified frequency
ganlikun 0:20e0c61e0684 38 if (can_frequency(obj, obj->hz) != 1) {
ganlikun 0:20e0c61e0684 39 error("Can frequency could not be set\n");
ganlikun 0:20e0c61e0684 40 }
ganlikun 0:20e0c61e0684 41 }
ganlikun 0:20e0c61e0684 42
ganlikun 0:20e0c61e0684 43 void can_init(can_t *obj, PinName rd, PinName td)
ganlikun 0:20e0c61e0684 44 {
ganlikun 0:20e0c61e0684 45 can_init_freq(obj, rd, td, 100000);
ganlikun 0:20e0c61e0684 46 }
ganlikun 0:20e0c61e0684 47
ganlikun 0:20e0c61e0684 48 void can_init_freq (can_t *obj, PinName rd, PinName td, int hz)
ganlikun 0:20e0c61e0684 49 {
ganlikun 0:20e0c61e0684 50 CANName can_rd = (CANName)pinmap_peripheral(rd, PinMap_CAN_RD);
ganlikun 0:20e0c61e0684 51 CANName can_td = (CANName)pinmap_peripheral(td, PinMap_CAN_TD);
ganlikun 0:20e0c61e0684 52 CANName can = (CANName)pinmap_merge(can_rd, can_td);
ganlikun 0:20e0c61e0684 53
ganlikun 0:20e0c61e0684 54 MBED_ASSERT((int)can != NC);
ganlikun 0:20e0c61e0684 55
ganlikun 0:20e0c61e0684 56 if (can == CAN_1) {
ganlikun 0:20e0c61e0684 57 __HAL_RCC_CAN1_CLK_ENABLE();
ganlikun 0:20e0c61e0684 58 obj->index = 0;
ganlikun 0:20e0c61e0684 59 }
ganlikun 0:20e0c61e0684 60 #if defined(CAN2_BASE) && (CAN_NUM == 2)
ganlikun 0:20e0c61e0684 61 else if (can == CAN_2) {
ganlikun 0:20e0c61e0684 62 __HAL_RCC_CAN1_CLK_ENABLE(); // needed to set filters
ganlikun 0:20e0c61e0684 63 __HAL_RCC_CAN2_CLK_ENABLE();
ganlikun 0:20e0c61e0684 64 obj->index = 1;
ganlikun 0:20e0c61e0684 65 }
ganlikun 0:20e0c61e0684 66 #endif
ganlikun 0:20e0c61e0684 67 else {
ganlikun 0:20e0c61e0684 68 return;
ganlikun 0:20e0c61e0684 69 }
ganlikun 0:20e0c61e0684 70
ganlikun 0:20e0c61e0684 71 // Configure the CAN pins
ganlikun 0:20e0c61e0684 72 pinmap_pinout(rd, PinMap_CAN_RD);
ganlikun 0:20e0c61e0684 73 pinmap_pinout(td, PinMap_CAN_TD);
ganlikun 0:20e0c61e0684 74 if (rd != NC) {
ganlikun 0:20e0c61e0684 75 pin_mode(rd, PullUp);
ganlikun 0:20e0c61e0684 76 }
ganlikun 0:20e0c61e0684 77 if (td != NC) {
ganlikun 0:20e0c61e0684 78 pin_mode(td, PullUp);
ganlikun 0:20e0c61e0684 79 }
ganlikun 0:20e0c61e0684 80
ganlikun 0:20e0c61e0684 81 /* Use default values for rist init */
ganlikun 0:20e0c61e0684 82 obj->CanHandle.Instance = (CAN_TypeDef *)can;
ganlikun 0:20e0c61e0684 83 obj->CanHandle.Init.TTCM = DISABLE;
ganlikun 0:20e0c61e0684 84 obj->CanHandle.Init.ABOM = DISABLE;
ganlikun 0:20e0c61e0684 85 obj->CanHandle.Init.AWUM = DISABLE;
ganlikun 0:20e0c61e0684 86 obj->CanHandle.Init.NART = DISABLE;
ganlikun 0:20e0c61e0684 87 obj->CanHandle.Init.RFLM = DISABLE;
ganlikun 0:20e0c61e0684 88 obj->CanHandle.Init.TXFP = DISABLE;
ganlikun 0:20e0c61e0684 89 obj->CanHandle.Init.Mode = CAN_MODE_NORMAL;
ganlikun 0:20e0c61e0684 90 obj->CanHandle.Init.SJW = CAN_SJW_1TQ;
ganlikun 0:20e0c61e0684 91 obj->CanHandle.Init.BS1 = CAN_BS1_6TQ;
ganlikun 0:20e0c61e0684 92 obj->CanHandle.Init.BS2 = CAN_BS2_8TQ;
ganlikun 0:20e0c61e0684 93 obj->CanHandle.Init.Prescaler = 2;
ganlikun 0:20e0c61e0684 94
ganlikun 0:20e0c61e0684 95 /* Store frequency to be restored in case of reset */
ganlikun 0:20e0c61e0684 96 obj->hz = hz;
ganlikun 0:20e0c61e0684 97
ganlikun 0:20e0c61e0684 98 can_registers_init(obj);
ganlikun 0:20e0c61e0684 99
ganlikun 0:20e0c61e0684 100 uint32_t filter_number = (can == CAN_1) ? 0 : 14;
ganlikun 0:20e0c61e0684 101 can_filter(obj, 0, 0, CANStandard, filter_number);
ganlikun 0:20e0c61e0684 102 }
ganlikun 0:20e0c61e0684 103
ganlikun 0:20e0c61e0684 104
ganlikun 0:20e0c61e0684 105 void can_irq_init(can_t *obj, can_irq_handler handler, uint32_t id)
ganlikun 0:20e0c61e0684 106 {
ganlikun 0:20e0c61e0684 107 irq_handler = handler;
ganlikun 0:20e0c61e0684 108 can_irq_ids[obj->index] = id;
ganlikun 0:20e0c61e0684 109 }
ganlikun 0:20e0c61e0684 110
ganlikun 0:20e0c61e0684 111 void can_irq_free(can_t *obj)
ganlikun 0:20e0c61e0684 112 {
ganlikun 0:20e0c61e0684 113 CAN_TypeDef *can = obj->CanHandle.Instance;
ganlikun 0:20e0c61e0684 114
ganlikun 0:20e0c61e0684 115 can->IER &= ~(CAN_IT_FMP0 | CAN_IT_FMP1 | CAN_IT_TME | \
ganlikun 0:20e0c61e0684 116 CAN_IT_ERR | CAN_IT_EPV | CAN_IT_BOF);
ganlikun 0:20e0c61e0684 117 can_irq_ids[obj->index] = 0;
ganlikun 0:20e0c61e0684 118 }
ganlikun 0:20e0c61e0684 119
ganlikun 0:20e0c61e0684 120 void can_free(can_t *obj)
ganlikun 0:20e0c61e0684 121 {
ganlikun 0:20e0c61e0684 122 CANName can = (CANName) obj->CanHandle.Instance;
ganlikun 0:20e0c61e0684 123 // Reset CAN and disable clock
ganlikun 0:20e0c61e0684 124 if (can == CAN_1) {
ganlikun 0:20e0c61e0684 125 __HAL_RCC_CAN1_FORCE_RESET();
ganlikun 0:20e0c61e0684 126 __HAL_RCC_CAN1_RELEASE_RESET();
ganlikun 0:20e0c61e0684 127 __HAL_RCC_CAN1_CLK_DISABLE();
ganlikun 0:20e0c61e0684 128 }
ganlikun 0:20e0c61e0684 129 #if defined(CAN2_BASE) && (CAN_NUM == 2)
ganlikun 0:20e0c61e0684 130 if (can == CAN_2) {
ganlikun 0:20e0c61e0684 131 __HAL_RCC_CAN2_FORCE_RESET();
ganlikun 0:20e0c61e0684 132 __HAL_RCC_CAN2_RELEASE_RESET();
ganlikun 0:20e0c61e0684 133 __HAL_RCC_CAN2_CLK_DISABLE();
ganlikun 0:20e0c61e0684 134 }
ganlikun 0:20e0c61e0684 135 #endif
ganlikun 0:20e0c61e0684 136 }
ganlikun 0:20e0c61e0684 137
ganlikun 0:20e0c61e0684 138 // The following table is used to program bit_timing. It is an adjustment of the sample
ganlikun 0:20e0c61e0684 139 // point by synchronizing on the start-bit edge and resynchronizing on the following edges.
ganlikun 0:20e0c61e0684 140 // This table has the sampling points as close to 75% as possible (most commonly used).
ganlikun 0:20e0c61e0684 141 // The first value is TSEG1, the second TSEG2.
ganlikun 0:20e0c61e0684 142 static const int timing_pts[23][2] = {
ganlikun 0:20e0c61e0684 143 {0x0, 0x0}, // 2, 50%
ganlikun 0:20e0c61e0684 144 {0x1, 0x0}, // 3, 67%
ganlikun 0:20e0c61e0684 145 {0x2, 0x0}, // 4, 75%
ganlikun 0:20e0c61e0684 146 {0x3, 0x0}, // 5, 80%
ganlikun 0:20e0c61e0684 147 {0x3, 0x1}, // 6, 67%
ganlikun 0:20e0c61e0684 148 {0x4, 0x1}, // 7, 71%
ganlikun 0:20e0c61e0684 149 {0x5, 0x1}, // 8, 75%
ganlikun 0:20e0c61e0684 150 {0x6, 0x1}, // 9, 78%
ganlikun 0:20e0c61e0684 151 {0x6, 0x2}, // 10, 70%
ganlikun 0:20e0c61e0684 152 {0x7, 0x2}, // 11, 73%
ganlikun 0:20e0c61e0684 153 {0x8, 0x2}, // 12, 75%
ganlikun 0:20e0c61e0684 154 {0x9, 0x2}, // 13, 77%
ganlikun 0:20e0c61e0684 155 {0x9, 0x3}, // 14, 71%
ganlikun 0:20e0c61e0684 156 {0xA, 0x3}, // 15, 73%
ganlikun 0:20e0c61e0684 157 {0xB, 0x3}, // 16, 75%
ganlikun 0:20e0c61e0684 158 {0xC, 0x3}, // 17, 76%
ganlikun 0:20e0c61e0684 159 {0xD, 0x3}, // 18, 78%
ganlikun 0:20e0c61e0684 160 {0xD, 0x4}, // 19, 74%
ganlikun 0:20e0c61e0684 161 {0xE, 0x4}, // 20, 75%
ganlikun 0:20e0c61e0684 162 {0xF, 0x4}, // 21, 76%
ganlikun 0:20e0c61e0684 163 {0xF, 0x5}, // 22, 73%
ganlikun 0:20e0c61e0684 164 {0xF, 0x6}, // 23, 70%
ganlikun 0:20e0c61e0684 165 {0xF, 0x7}, // 24, 67%
ganlikun 0:20e0c61e0684 166 };
ganlikun 0:20e0c61e0684 167
ganlikun 0:20e0c61e0684 168 static unsigned int can_speed(unsigned int pclk, unsigned int cclk, unsigned char psjw)
ganlikun 0:20e0c61e0684 169 {
ganlikun 0:20e0c61e0684 170 uint32_t btr;
ganlikun 0:20e0c61e0684 171 uint16_t brp = 0;
ganlikun 0:20e0c61e0684 172 uint32_t calcbit;
ganlikun 0:20e0c61e0684 173 uint32_t bitwidth;
ganlikun 0:20e0c61e0684 174 int hit = 0;
ganlikun 0:20e0c61e0684 175 int bits;
ganlikun 0:20e0c61e0684 176
ganlikun 0:20e0c61e0684 177 bitwidth = (pclk / cclk);
ganlikun 0:20e0c61e0684 178
ganlikun 0:20e0c61e0684 179 brp = bitwidth / 0x18;
ganlikun 0:20e0c61e0684 180 while ((!hit) && (brp < bitwidth / 4)) {
ganlikun 0:20e0c61e0684 181 brp++;
ganlikun 0:20e0c61e0684 182 for (bits = 22; bits > 0; bits--) {
ganlikun 0:20e0c61e0684 183 calcbit = (bits + 3) * (brp + 1);
ganlikun 0:20e0c61e0684 184 if (calcbit == bitwidth) {
ganlikun 0:20e0c61e0684 185 hit = 1;
ganlikun 0:20e0c61e0684 186 break;
ganlikun 0:20e0c61e0684 187 }
ganlikun 0:20e0c61e0684 188 }
ganlikun 0:20e0c61e0684 189 }
ganlikun 0:20e0c61e0684 190
ganlikun 0:20e0c61e0684 191 if (hit) {
ganlikun 0:20e0c61e0684 192 btr = ((timing_pts[bits][1] << CAN_BTR_TS2_Pos) & CAN_BTR_TS2) |
ganlikun 0:20e0c61e0684 193 ((timing_pts[bits][0] << CAN_BTR_TS1_Pos) & CAN_BTR_TS1) |
ganlikun 0:20e0c61e0684 194 ((psjw << CAN_BTR_SJW_Pos) & CAN_BTR_SJW) |
ganlikun 0:20e0c61e0684 195 ((brp << CAN_BTR_BRP_Pos) & CAN_BTR_BRP);
ganlikun 0:20e0c61e0684 196 } else {
ganlikun 0:20e0c61e0684 197 btr = 0xFFFFFFFF;
ganlikun 0:20e0c61e0684 198 }
ganlikun 0:20e0c61e0684 199
ganlikun 0:20e0c61e0684 200 return btr;
ganlikun 0:20e0c61e0684 201
ganlikun 0:20e0c61e0684 202 }
ganlikun 0:20e0c61e0684 203
ganlikun 0:20e0c61e0684 204 int can_frequency(can_t *obj, int f)
ganlikun 0:20e0c61e0684 205 {
ganlikun 0:20e0c61e0684 206 int pclk = HAL_RCC_GetPCLK1Freq();
ganlikun 0:20e0c61e0684 207 int btr = can_speed(pclk, (unsigned int)f, 1);
ganlikun 0:20e0c61e0684 208 CAN_TypeDef *can = obj->CanHandle.Instance;
ganlikun 0:20e0c61e0684 209 uint32_t tickstart = 0;
ganlikun 0:20e0c61e0684 210 int status = 1;
ganlikun 0:20e0c61e0684 211
ganlikun 0:20e0c61e0684 212 if (btr > 0) {
ganlikun 0:20e0c61e0684 213 can->MCR |= CAN_MCR_INRQ ;
ganlikun 0:20e0c61e0684 214 /* Get tick */
ganlikun 0:20e0c61e0684 215 tickstart = HAL_GetTick();
ganlikun 0:20e0c61e0684 216 while ((can->MSR & CAN_MSR_INAK) != CAN_MSR_INAK) {
ganlikun 0:20e0c61e0684 217 if ((HAL_GetTick() - tickstart) > 2) {
ganlikun 0:20e0c61e0684 218 status = 0;
ganlikun 0:20e0c61e0684 219 break;
ganlikun 0:20e0c61e0684 220 }
ganlikun 0:20e0c61e0684 221 }
ganlikun 0:20e0c61e0684 222 if (status != 0) {
ganlikun 0:20e0c61e0684 223 /* Do not erase all BTR registers (e.g. silent mode), only the
ganlikun 0:20e0c61e0684 224 * ones calculated in can_speed */
ganlikun 0:20e0c61e0684 225 can->BTR &= ~(CAN_BTR_TS2 | CAN_BTR_TS1 | CAN_BTR_SJW | CAN_BTR_BRP);
ganlikun 0:20e0c61e0684 226 can->BTR |= btr;
ganlikun 0:20e0c61e0684 227
ganlikun 0:20e0c61e0684 228 can->MCR &= ~(uint32_t)CAN_MCR_INRQ;
ganlikun 0:20e0c61e0684 229 /* Get tick */
ganlikun 0:20e0c61e0684 230 tickstart = HAL_GetTick();
ganlikun 0:20e0c61e0684 231 while ((can->MSR & CAN_MSR_INAK) == CAN_MSR_INAK) {
ganlikun 0:20e0c61e0684 232 if ((HAL_GetTick() - tickstart) > 2) {
ganlikun 0:20e0c61e0684 233 status = 0;
ganlikun 0:20e0c61e0684 234 break;
ganlikun 0:20e0c61e0684 235 }
ganlikun 0:20e0c61e0684 236 }
ganlikun 0:20e0c61e0684 237 if (status == 0) {
ganlikun 0:20e0c61e0684 238 error("can ESR 0x%04x.%04x + timeout status %d", (can->ESR & 0xFFFF0000) >> 16, (can->ESR & 0xFFFF), status);
ganlikun 0:20e0c61e0684 239 }
ganlikun 0:20e0c61e0684 240 } else {
ganlikun 0:20e0c61e0684 241 error("can init request timeout\n");
ganlikun 0:20e0c61e0684 242 }
ganlikun 0:20e0c61e0684 243 } else {
ganlikun 0:20e0c61e0684 244 status = 0;
ganlikun 0:20e0c61e0684 245 }
ganlikun 0:20e0c61e0684 246 return status;
ganlikun 0:20e0c61e0684 247 }
ganlikun 0:20e0c61e0684 248
ganlikun 0:20e0c61e0684 249 int can_write(can_t *obj, CAN_Message msg, int cc)
ganlikun 0:20e0c61e0684 250 {
ganlikun 0:20e0c61e0684 251 uint32_t transmitmailbox = CAN_TXSTATUS_NOMAILBOX;
ganlikun 0:20e0c61e0684 252 CAN_TypeDef *can = obj->CanHandle.Instance;
ganlikun 0:20e0c61e0684 253
ganlikun 0:20e0c61e0684 254 /* Select one empty transmit mailbox */
ganlikun 0:20e0c61e0684 255 if ((can->TSR & CAN_TSR_TME0) == CAN_TSR_TME0) {
ganlikun 0:20e0c61e0684 256 transmitmailbox = 0;
ganlikun 0:20e0c61e0684 257 } else if ((can->TSR & CAN_TSR_TME1) == CAN_TSR_TME1) {
ganlikun 0:20e0c61e0684 258 transmitmailbox = 1;
ganlikun 0:20e0c61e0684 259 } else if ((can->TSR & CAN_TSR_TME2) == CAN_TSR_TME2) {
ganlikun 0:20e0c61e0684 260 transmitmailbox = 2;
ganlikun 0:20e0c61e0684 261 } else {
ganlikun 0:20e0c61e0684 262 return 0;
ganlikun 0:20e0c61e0684 263 }
ganlikun 0:20e0c61e0684 264
ganlikun 0:20e0c61e0684 265 can->sTxMailBox[transmitmailbox].TIR &= CAN_TI0R_TXRQ;
ganlikun 0:20e0c61e0684 266 if (!(msg.format)) {
ganlikun 0:20e0c61e0684 267 can->sTxMailBox[transmitmailbox].TIR |= ((msg.id << 21) | msg.type);
ganlikun 0:20e0c61e0684 268 } else {
ganlikun 0:20e0c61e0684 269 can->sTxMailBox[transmitmailbox].TIR |= ((msg.id << 3) | CAN_ID_EXT | msg.type);
ganlikun 0:20e0c61e0684 270 }
ganlikun 0:20e0c61e0684 271
ganlikun 0:20e0c61e0684 272 /* Set up the DLC */
ganlikun 0:20e0c61e0684 273 can->sTxMailBox[transmitmailbox].TDTR &= (uint32_t)0xFFFFFFF0;
ganlikun 0:20e0c61e0684 274 can->sTxMailBox[transmitmailbox].TDTR |= (msg.len & (uint8_t)0x0000000F);
ganlikun 0:20e0c61e0684 275
ganlikun 0:20e0c61e0684 276 /* Set up the data field */
ganlikun 0:20e0c61e0684 277 can->sTxMailBox[transmitmailbox].TDLR = (((uint32_t)msg.data[3] << 24) |
ganlikun 0:20e0c61e0684 278 ((uint32_t)msg.data[2] << 16) |
ganlikun 0:20e0c61e0684 279 ((uint32_t)msg.data[1] << 8) |
ganlikun 0:20e0c61e0684 280 ((uint32_t)msg.data[0]));
ganlikun 0:20e0c61e0684 281 can->sTxMailBox[transmitmailbox].TDHR = (((uint32_t)msg.data[7] << 24) |
ganlikun 0:20e0c61e0684 282 ((uint32_t)msg.data[6] << 16) |
ganlikun 0:20e0c61e0684 283 ((uint32_t)msg.data[5] << 8) |
ganlikun 0:20e0c61e0684 284 ((uint32_t)msg.data[4]));
ganlikun 0:20e0c61e0684 285 /* Request transmission */
ganlikun 0:20e0c61e0684 286 can->sTxMailBox[transmitmailbox].TIR |= CAN_TI0R_TXRQ;
ganlikun 0:20e0c61e0684 287
ganlikun 0:20e0c61e0684 288 return 1;
ganlikun 0:20e0c61e0684 289 }
ganlikun 0:20e0c61e0684 290
ganlikun 0:20e0c61e0684 291 int can_read(can_t *obj, CAN_Message *msg, int handle)
ganlikun 0:20e0c61e0684 292 {
ganlikun 0:20e0c61e0684 293 //handle is the FIFO number
ganlikun 0:20e0c61e0684 294
ganlikun 0:20e0c61e0684 295 CAN_TypeDef *can = obj->CanHandle.Instance;
ganlikun 0:20e0c61e0684 296
ganlikun 0:20e0c61e0684 297 // check FPM0 which holds the pending message count in FIFO 0
ganlikun 0:20e0c61e0684 298 // if no message is pending, return 0
ganlikun 0:20e0c61e0684 299 if ((can->RF0R & CAN_RF0R_FMP0) == 0) {
ganlikun 0:20e0c61e0684 300 return 0;
ganlikun 0:20e0c61e0684 301 }
ganlikun 0:20e0c61e0684 302
ganlikun 0:20e0c61e0684 303 /* Get the Id */
ganlikun 0:20e0c61e0684 304 msg->format = (CANFormat)(((uint8_t)0x04 & can->sFIFOMailBox[handle].RIR) >> 2);
ganlikun 0:20e0c61e0684 305 if (!msg->format) {
ganlikun 0:20e0c61e0684 306 msg->id = (uint32_t)0x000007FF & (can->sFIFOMailBox[handle].RIR >> 21);
ganlikun 0:20e0c61e0684 307 } else {
ganlikun 0:20e0c61e0684 308 msg->id = (uint32_t)0x1FFFFFFF & (can->sFIFOMailBox[handle].RIR >> 3);
ganlikun 0:20e0c61e0684 309 }
ganlikun 0:20e0c61e0684 310
ganlikun 0:20e0c61e0684 311 msg->type = (CANType)(((uint8_t)0x02 & can->sFIFOMailBox[handle].RIR) >> 1);
ganlikun 0:20e0c61e0684 312 /* Get the DLC */
ganlikun 0:20e0c61e0684 313 msg->len = (uint8_t)0x0F & can->sFIFOMailBox[handle].RDTR;
ganlikun 0:20e0c61e0684 314 /* Get the FMI */
ganlikun 0:20e0c61e0684 315 // msg->FMI = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDTR >> 8);
ganlikun 0:20e0c61e0684 316 /* Get the data field */
ganlikun 0:20e0c61e0684 317 msg->data[0] = (uint8_t)0xFF & can->sFIFOMailBox[handle].RDLR;
ganlikun 0:20e0c61e0684 318 msg->data[1] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDLR >> 8);
ganlikun 0:20e0c61e0684 319 msg->data[2] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDLR >> 16);
ganlikun 0:20e0c61e0684 320 msg->data[3] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDLR >> 24);
ganlikun 0:20e0c61e0684 321 msg->data[4] = (uint8_t)0xFF & can->sFIFOMailBox[handle].RDHR;
ganlikun 0:20e0c61e0684 322 msg->data[5] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDHR >> 8);
ganlikun 0:20e0c61e0684 323 msg->data[6] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDHR >> 16);
ganlikun 0:20e0c61e0684 324 msg->data[7] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDHR >> 24);
ganlikun 0:20e0c61e0684 325
ganlikun 0:20e0c61e0684 326 /* Release the FIFO */
ganlikun 0:20e0c61e0684 327 if (handle == CAN_FIFO0) {
ganlikun 0:20e0c61e0684 328 /* Release FIFO0 */
ganlikun 0:20e0c61e0684 329 can->RF0R |= CAN_RF0R_RFOM0;
ganlikun 0:20e0c61e0684 330 } else { /* FIFONumber == CAN_FIFO1 */
ganlikun 0:20e0c61e0684 331 /* Release FIFO1 */
ganlikun 0:20e0c61e0684 332 can->RF1R |= CAN_RF1R_RFOM1;
ganlikun 0:20e0c61e0684 333 }
ganlikun 0:20e0c61e0684 334
ganlikun 0:20e0c61e0684 335 return 1;
ganlikun 0:20e0c61e0684 336 }
ganlikun 0:20e0c61e0684 337
ganlikun 0:20e0c61e0684 338 void can_reset(can_t *obj)
ganlikun 0:20e0c61e0684 339 {
ganlikun 0:20e0c61e0684 340 CAN_TypeDef *can = obj->CanHandle.Instance;
ganlikun 0:20e0c61e0684 341
ganlikun 0:20e0c61e0684 342 /* Reset IP and delete errors */
ganlikun 0:20e0c61e0684 343 can->MCR |= CAN_MCR_RESET;
ganlikun 0:20e0c61e0684 344 can->ESR = 0x0;
ganlikun 0:20e0c61e0684 345
ganlikun 0:20e0c61e0684 346 /* restore registers state as saved in obj context */
ganlikun 0:20e0c61e0684 347 can_registers_init(obj);
ganlikun 0:20e0c61e0684 348 }
ganlikun 0:20e0c61e0684 349
ganlikun 0:20e0c61e0684 350 unsigned char can_rderror(can_t *obj)
ganlikun 0:20e0c61e0684 351 {
ganlikun 0:20e0c61e0684 352 CAN_TypeDef *can = obj->CanHandle.Instance;
ganlikun 0:20e0c61e0684 353 return (can->ESR >> 24) & 0xFF;
ganlikun 0:20e0c61e0684 354 }
ganlikun 0:20e0c61e0684 355
ganlikun 0:20e0c61e0684 356 unsigned char can_tderror(can_t *obj)
ganlikun 0:20e0c61e0684 357 {
ganlikun 0:20e0c61e0684 358 CAN_TypeDef *can = obj->CanHandle.Instance;
ganlikun 0:20e0c61e0684 359 return (can->ESR >> 16) & 0xFF;
ganlikun 0:20e0c61e0684 360 }
ganlikun 0:20e0c61e0684 361
ganlikun 0:20e0c61e0684 362 void can_monitor(can_t *obj, int silent)
ganlikun 0:20e0c61e0684 363 {
ganlikun 0:20e0c61e0684 364 CanMode mode = MODE_NORMAL;
ganlikun 0:20e0c61e0684 365 /* Update current state w/ or w/o silent */
ganlikun 0:20e0c61e0684 366 if(silent) {
ganlikun 0:20e0c61e0684 367 switch (obj->CanHandle.Init.Mode) {
ganlikun 0:20e0c61e0684 368 case CAN_MODE_LOOPBACK:
ganlikun 0:20e0c61e0684 369 case CAN_MODE_SILENT_LOOPBACK:
ganlikun 0:20e0c61e0684 370 mode = MODE_TEST_SILENT;
ganlikun 0:20e0c61e0684 371 break;
ganlikun 0:20e0c61e0684 372 default:
ganlikun 0:20e0c61e0684 373 mode = MODE_SILENT;
ganlikun 0:20e0c61e0684 374 break;
ganlikun 0:20e0c61e0684 375 }
ganlikun 0:20e0c61e0684 376 } else {
ganlikun 0:20e0c61e0684 377 switch (obj->CanHandle.Init.Mode) {
ganlikun 0:20e0c61e0684 378 case CAN_MODE_LOOPBACK:
ganlikun 0:20e0c61e0684 379 case CAN_MODE_SILENT_LOOPBACK:
ganlikun 0:20e0c61e0684 380 mode = MODE_TEST_LOCAL;
ganlikun 0:20e0c61e0684 381 break;
ganlikun 0:20e0c61e0684 382 default:
ganlikun 0:20e0c61e0684 383 mode = MODE_NORMAL;
ganlikun 0:20e0c61e0684 384 break;
ganlikun 0:20e0c61e0684 385 }
ganlikun 0:20e0c61e0684 386 }
ganlikun 0:20e0c61e0684 387
ganlikun 0:20e0c61e0684 388 can_mode(obj, mode);
ganlikun 0:20e0c61e0684 389 }
ganlikun 0:20e0c61e0684 390
ganlikun 0:20e0c61e0684 391 int can_mode(can_t *obj, CanMode mode)
ganlikun 0:20e0c61e0684 392 {
ganlikun 0:20e0c61e0684 393 int success = 0;
ganlikun 0:20e0c61e0684 394 CAN_TypeDef *can = obj->CanHandle.Instance;
ganlikun 0:20e0c61e0684 395
ganlikun 0:20e0c61e0684 396 can->MCR |= CAN_MCR_INRQ ;
ganlikun 0:20e0c61e0684 397 while ((can->MSR & CAN_MSR_INAK) != CAN_MSR_INAK) {
ganlikun 0:20e0c61e0684 398 }
ganlikun 0:20e0c61e0684 399
ganlikun 0:20e0c61e0684 400 switch (mode) {
ganlikun 0:20e0c61e0684 401 case MODE_NORMAL:
ganlikun 0:20e0c61e0684 402 obj->CanHandle.Init.Mode = CAN_MODE_NORMAL;
ganlikun 0:20e0c61e0684 403 can->BTR &= ~(CAN_BTR_SILM | CAN_BTR_LBKM);
ganlikun 0:20e0c61e0684 404 success = 1;
ganlikun 0:20e0c61e0684 405 break;
ganlikun 0:20e0c61e0684 406 case MODE_SILENT:
ganlikun 0:20e0c61e0684 407 obj->CanHandle.Init.Mode = CAN_MODE_SILENT;
ganlikun 0:20e0c61e0684 408 can->BTR |= CAN_BTR_SILM;
ganlikun 0:20e0c61e0684 409 can->BTR &= ~CAN_BTR_LBKM;
ganlikun 0:20e0c61e0684 410 success = 1;
ganlikun 0:20e0c61e0684 411 break;
ganlikun 0:20e0c61e0684 412 case MODE_TEST_GLOBAL:
ganlikun 0:20e0c61e0684 413 case MODE_TEST_LOCAL:
ganlikun 0:20e0c61e0684 414 obj->CanHandle.Init.Mode = CAN_MODE_LOOPBACK;
ganlikun 0:20e0c61e0684 415 can->BTR |= CAN_BTR_LBKM;
ganlikun 0:20e0c61e0684 416 can->BTR &= ~CAN_BTR_SILM;
ganlikun 0:20e0c61e0684 417 success = 1;
ganlikun 0:20e0c61e0684 418 break;
ganlikun 0:20e0c61e0684 419 case MODE_TEST_SILENT:
ganlikun 0:20e0c61e0684 420 obj->CanHandle.Init.Mode = CAN_MODE_SILENT_LOOPBACK;
ganlikun 0:20e0c61e0684 421 can->BTR |= (CAN_BTR_SILM | CAN_BTR_LBKM);
ganlikun 0:20e0c61e0684 422 success = 1;
ganlikun 0:20e0c61e0684 423 break;
ganlikun 0:20e0c61e0684 424 default:
ganlikun 0:20e0c61e0684 425 success = 0;
ganlikun 0:20e0c61e0684 426 break;
ganlikun 0:20e0c61e0684 427 }
ganlikun 0:20e0c61e0684 428
ganlikun 0:20e0c61e0684 429 can->MCR &= ~(uint32_t)CAN_MCR_INRQ;
ganlikun 0:20e0c61e0684 430 while ((can->MSR & CAN_MSR_INAK) == CAN_MSR_INAK) {
ganlikun 0:20e0c61e0684 431 }
ganlikun 0:20e0c61e0684 432
ganlikun 0:20e0c61e0684 433 return success;
ganlikun 0:20e0c61e0684 434 }
ganlikun 0:20e0c61e0684 435
ganlikun 0:20e0c61e0684 436 int can_filter(can_t *obj, uint32_t id, uint32_t mask, CANFormat format, int32_t handle)
ganlikun 0:20e0c61e0684 437 {
ganlikun 0:20e0c61e0684 438 int retval = 0;
ganlikun 0:20e0c61e0684 439
ganlikun 0:20e0c61e0684 440 // filter for CANAny format cannot be configured for STM32
ganlikun 0:20e0c61e0684 441 if ((format == CANStandard) || (format == CANExtended)) {
ganlikun 0:20e0c61e0684 442 CAN_FilterConfTypeDef sFilterConfig;
ganlikun 0:20e0c61e0684 443 sFilterConfig.FilterNumber = handle;
ganlikun 0:20e0c61e0684 444 sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
ganlikun 0:20e0c61e0684 445 sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
ganlikun 0:20e0c61e0684 446
ganlikun 0:20e0c61e0684 447 if (format == CANStandard) {
ganlikun 0:20e0c61e0684 448 sFilterConfig.FilterIdHigh = id << 5;
ganlikun 0:20e0c61e0684 449 sFilterConfig.FilterIdLow = 0x0;
ganlikun 0:20e0c61e0684 450 sFilterConfig.FilterMaskIdHigh = mask << 5;
ganlikun 0:20e0c61e0684 451 sFilterConfig.FilterMaskIdLow = 0x0; // allows both remote and data frames
ganlikun 0:20e0c61e0684 452 } else if (format == CANExtended) {
ganlikun 0:20e0c61e0684 453 sFilterConfig.FilterIdHigh = id >> 13; // EXTID[28:13]
ganlikun 0:20e0c61e0684 454 sFilterConfig.FilterIdLow = (0x00FF & (id << 3)) | (1 << 2); // EXTID[12:0]
ganlikun 0:20e0c61e0684 455 sFilterConfig.FilterMaskIdHigh = mask >> 13;
ganlikun 0:20e0c61e0684 456 sFilterConfig.FilterMaskIdLow = (0x00FF & (mask << 3)) | (1 << 2);
ganlikun 0:20e0c61e0684 457 }
ganlikun 0:20e0c61e0684 458
ganlikun 0:20e0c61e0684 459 sFilterConfig.FilterFIFOAssignment = 0;
ganlikun 0:20e0c61e0684 460 sFilterConfig.FilterActivation = ENABLE;
ganlikun 0:20e0c61e0684 461 sFilterConfig.BankNumber = 14 + handle;
ganlikun 0:20e0c61e0684 462
ganlikun 0:20e0c61e0684 463 HAL_CAN_ConfigFilter(&obj->CanHandle, &sFilterConfig);
ganlikun 0:20e0c61e0684 464 retval = handle;
ganlikun 0:20e0c61e0684 465 }
ganlikun 0:20e0c61e0684 466 return retval;
ganlikun 0:20e0c61e0684 467 }
ganlikun 0:20e0c61e0684 468
ganlikun 0:20e0c61e0684 469 static void can_irq(CANName name, int id)
ganlikun 0:20e0c61e0684 470 {
ganlikun 0:20e0c61e0684 471 uint32_t tmp1 = 0, tmp2 = 0, tmp3 = 0;
ganlikun 0:20e0c61e0684 472 CAN_HandleTypeDef CanHandle;
ganlikun 0:20e0c61e0684 473 CanHandle.Instance = (CAN_TypeDef *)name;
ganlikun 0:20e0c61e0684 474
ganlikun 0:20e0c61e0684 475 if (__HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_TME)) {
ganlikun 0:20e0c61e0684 476 tmp1 = __HAL_CAN_TRANSMIT_STATUS(&CanHandle, CAN_TXMAILBOX_0);
ganlikun 0:20e0c61e0684 477 tmp2 = __HAL_CAN_TRANSMIT_STATUS(&CanHandle, CAN_TXMAILBOX_1);
ganlikun 0:20e0c61e0684 478 tmp3 = __HAL_CAN_TRANSMIT_STATUS(&CanHandle, CAN_TXMAILBOX_2);
ganlikun 0:20e0c61e0684 479 if (tmp1) {
ganlikun 0:20e0c61e0684 480 __HAL_CAN_CLEAR_FLAG(&CanHandle, CAN_FLAG_RQCP0);
ganlikun 0:20e0c61e0684 481 }
ganlikun 0:20e0c61e0684 482 if (tmp2) {
ganlikun 0:20e0c61e0684 483 __HAL_CAN_CLEAR_FLAG(&CanHandle, CAN_FLAG_RQCP1);
ganlikun 0:20e0c61e0684 484 }
ganlikun 0:20e0c61e0684 485 if (tmp3) {
ganlikun 0:20e0c61e0684 486 __HAL_CAN_CLEAR_FLAG(&CanHandle, CAN_FLAG_RQCP2);
ganlikun 0:20e0c61e0684 487 }
ganlikun 0:20e0c61e0684 488 if (tmp1 || tmp2 || tmp3) {
ganlikun 0:20e0c61e0684 489 irq_handler(can_irq_ids[id], IRQ_TX);
ganlikun 0:20e0c61e0684 490 }
ganlikun 0:20e0c61e0684 491 }
ganlikun 0:20e0c61e0684 492
ganlikun 0:20e0c61e0684 493 tmp1 = __HAL_CAN_MSG_PENDING(&CanHandle, CAN_FIFO0);
ganlikun 0:20e0c61e0684 494 tmp2 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_FMP0);
ganlikun 0:20e0c61e0684 495
ganlikun 0:20e0c61e0684 496 if ((tmp1 != 0) && tmp2) {
ganlikun 0:20e0c61e0684 497 irq_handler(can_irq_ids[id], IRQ_RX);
ganlikun 0:20e0c61e0684 498 }
ganlikun 0:20e0c61e0684 499
ganlikun 0:20e0c61e0684 500 tmp1 = __HAL_CAN_GET_FLAG(&CanHandle, CAN_FLAG_EPV);
ganlikun 0:20e0c61e0684 501 tmp2 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_EPV);
ganlikun 0:20e0c61e0684 502 tmp3 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_ERR);
ganlikun 0:20e0c61e0684 503
ganlikun 0:20e0c61e0684 504 if (tmp1 && tmp2 && tmp3) {
ganlikun 0:20e0c61e0684 505 irq_handler(can_irq_ids[id], IRQ_PASSIVE);
ganlikun 0:20e0c61e0684 506 }
ganlikun 0:20e0c61e0684 507
ganlikun 0:20e0c61e0684 508 tmp1 = __HAL_CAN_GET_FLAG(&CanHandle, CAN_FLAG_BOF);
ganlikun 0:20e0c61e0684 509 tmp2 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_BOF);
ganlikun 0:20e0c61e0684 510 tmp3 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_ERR);
ganlikun 0:20e0c61e0684 511 if (tmp1 && tmp2 && tmp3) {
ganlikun 0:20e0c61e0684 512 irq_handler(can_irq_ids[id], IRQ_BUS);
ganlikun 0:20e0c61e0684 513 }
ganlikun 0:20e0c61e0684 514
ganlikun 0:20e0c61e0684 515 tmp3 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_ERR);
ganlikun 0:20e0c61e0684 516 if (tmp1 && tmp2 && tmp3) {
ganlikun 0:20e0c61e0684 517 irq_handler(can_irq_ids[id], IRQ_ERROR);
ganlikun 0:20e0c61e0684 518 }
ganlikun 0:20e0c61e0684 519 }
ganlikun 0:20e0c61e0684 520
ganlikun 0:20e0c61e0684 521 #if defined(TARGET_STM32F0)
ganlikun 0:20e0c61e0684 522 void CAN_IRQHandler(void)
ganlikun 0:20e0c61e0684 523 {
ganlikun 0:20e0c61e0684 524 can_irq(CAN_1, 0);
ganlikun 0:20e0c61e0684 525 }
ganlikun 0:20e0c61e0684 526 #elif defined(TARGET_STM32F3)
ganlikun 0:20e0c61e0684 527 void CAN_RX0_IRQHandler(void)
ganlikun 0:20e0c61e0684 528 {
ganlikun 0:20e0c61e0684 529 can_irq(CAN_1, 0);
ganlikun 0:20e0c61e0684 530 }
ganlikun 0:20e0c61e0684 531 void CAN_TX_IRQHandler(void)
ganlikun 0:20e0c61e0684 532 {
ganlikun 0:20e0c61e0684 533 can_irq(CAN_1, 0);
ganlikun 0:20e0c61e0684 534 }
ganlikun 0:20e0c61e0684 535 void CAN_SCE_IRQHandler(void)
ganlikun 0:20e0c61e0684 536 {
ganlikun 0:20e0c61e0684 537 can_irq(CAN_1, 0);
ganlikun 0:20e0c61e0684 538 }
ganlikun 0:20e0c61e0684 539 #else
ganlikun 0:20e0c61e0684 540 void CAN1_RX0_IRQHandler(void)
ganlikun 0:20e0c61e0684 541 {
ganlikun 0:20e0c61e0684 542 can_irq(CAN_1, 0);
ganlikun 0:20e0c61e0684 543 }
ganlikun 0:20e0c61e0684 544 void CAN1_TX_IRQHandler(void)
ganlikun 0:20e0c61e0684 545 {
ganlikun 0:20e0c61e0684 546 can_irq(CAN_1, 0);
ganlikun 0:20e0c61e0684 547 }
ganlikun 0:20e0c61e0684 548 void CAN1_SCE_IRQHandler(void)
ganlikun 0:20e0c61e0684 549 {
ganlikun 0:20e0c61e0684 550 can_irq(CAN_1, 0);
ganlikun 0:20e0c61e0684 551 }
ganlikun 0:20e0c61e0684 552 #if defined(CAN2_BASE) && (CAN_NUM == 2)
ganlikun 0:20e0c61e0684 553 void CAN2_RX0_IRQHandler(void)
ganlikun 0:20e0c61e0684 554 {
ganlikun 0:20e0c61e0684 555 can_irq(CAN_2, 1);
ganlikun 0:20e0c61e0684 556 }
ganlikun 0:20e0c61e0684 557 void CAN2_TX_IRQHandler(void)
ganlikun 0:20e0c61e0684 558 {
ganlikun 0:20e0c61e0684 559 can_irq(CAN_2, 1);
ganlikun 0:20e0c61e0684 560 }
ganlikun 0:20e0c61e0684 561 void CAN2_SCE_IRQHandler(void)
ganlikun 0:20e0c61e0684 562 {
ganlikun 0:20e0c61e0684 563 can_irq(CAN_2, 1);
ganlikun 0:20e0c61e0684 564 }
ganlikun 0:20e0c61e0684 565 #endif // defined(CAN2_BASE) && (CAN_NUM == 2)
ganlikun 0:20e0c61e0684 566 #endif // else
ganlikun 0:20e0c61e0684 567
ganlikun 0:20e0c61e0684 568 void can_irq_set(can_t *obj, CanIrqType type, uint32_t enable)
ganlikun 0:20e0c61e0684 569 {
ganlikun 0:20e0c61e0684 570 CAN_TypeDef *can = obj->CanHandle.Instance;
ganlikun 0:20e0c61e0684 571 IRQn_Type irq_n = (IRQn_Type)0;
ganlikun 0:20e0c61e0684 572 uint32_t vector = 0;
ganlikun 0:20e0c61e0684 573 uint32_t ier;
ganlikun 0:20e0c61e0684 574
ganlikun 0:20e0c61e0684 575 if ((CANName) can == CAN_1) {
ganlikun 0:20e0c61e0684 576 switch (type) {
ganlikun 0:20e0c61e0684 577 case IRQ_RX:
ganlikun 0:20e0c61e0684 578 ier = CAN_IT_FMP0;
ganlikun 0:20e0c61e0684 579 irq_n = CAN1_IRQ_RX_IRQN;
ganlikun 0:20e0c61e0684 580 vector = (uint32_t)&CAN1_IRQ_RX_VECT;
ganlikun 0:20e0c61e0684 581 break;
ganlikun 0:20e0c61e0684 582 case IRQ_TX:
ganlikun 0:20e0c61e0684 583 ier = CAN_IT_TME;
ganlikun 0:20e0c61e0684 584 irq_n = CAN1_IRQ_TX_IRQN;
ganlikun 0:20e0c61e0684 585 vector = (uint32_t)&CAN1_IRQ_TX_VECT;
ganlikun 0:20e0c61e0684 586 break;
ganlikun 0:20e0c61e0684 587 case IRQ_ERROR:
ganlikun 0:20e0c61e0684 588 ier = CAN_IT_ERR;
ganlikun 0:20e0c61e0684 589 irq_n = CAN1_IRQ_ERROR_IRQN;
ganlikun 0:20e0c61e0684 590 vector = (uint32_t)&CAN1_IRQ_ERROR_VECT;
ganlikun 0:20e0c61e0684 591 break;
ganlikun 0:20e0c61e0684 592 case IRQ_PASSIVE:
ganlikun 0:20e0c61e0684 593 ier = CAN_IT_EPV;
ganlikun 0:20e0c61e0684 594 irq_n = CAN1_IRQ_PASSIVE_IRQN;
ganlikun 0:20e0c61e0684 595 vector = (uint32_t)&CAN1_IRQ_PASSIVE_VECT;
ganlikun 0:20e0c61e0684 596 break;
ganlikun 0:20e0c61e0684 597 case IRQ_BUS:
ganlikun 0:20e0c61e0684 598 ier = CAN_IT_BOF;
ganlikun 0:20e0c61e0684 599 irq_n = CAN1_IRQ_BUS_IRQN;
ganlikun 0:20e0c61e0684 600 vector = (uint32_t)&CAN1_IRQ_BUS_VECT;
ganlikun 0:20e0c61e0684 601 break;
ganlikun 0:20e0c61e0684 602 default:
ganlikun 0:20e0c61e0684 603 return;
ganlikun 0:20e0c61e0684 604 }
ganlikun 0:20e0c61e0684 605 }
ganlikun 0:20e0c61e0684 606 #if defined(CAN2_BASE) && (CAN_NUM == 2)
ganlikun 0:20e0c61e0684 607 else if ((CANName) can == CAN_2) {
ganlikun 0:20e0c61e0684 608 switch (type) {
ganlikun 0:20e0c61e0684 609 case IRQ_RX:
ganlikun 0:20e0c61e0684 610 ier = CAN_IT_FMP0;
ganlikun 0:20e0c61e0684 611 irq_n = CAN2_IRQ_RX_IRQN;
ganlikun 0:20e0c61e0684 612 vector = (uint32_t)&CAN2_IRQ_RX_VECT;
ganlikun 0:20e0c61e0684 613 break;
ganlikun 0:20e0c61e0684 614 case IRQ_TX:
ganlikun 0:20e0c61e0684 615 ier = CAN_IT_TME;
ganlikun 0:20e0c61e0684 616 irq_n = CAN2_IRQ_TX_IRQN;
ganlikun 0:20e0c61e0684 617 vector = (uint32_t)&CAN2_IRQ_TX_VECT;
ganlikun 0:20e0c61e0684 618 break;
ganlikun 0:20e0c61e0684 619 case IRQ_ERROR:
ganlikun 0:20e0c61e0684 620 ier = CAN_IT_ERR;
ganlikun 0:20e0c61e0684 621 irq_n = CAN2_IRQ_ERROR_IRQN;
ganlikun 0:20e0c61e0684 622 vector = (uint32_t)&CAN2_IRQ_ERROR_VECT;
ganlikun 0:20e0c61e0684 623 break;
ganlikun 0:20e0c61e0684 624 case IRQ_PASSIVE:
ganlikun 0:20e0c61e0684 625 ier = CAN_IT_EPV;
ganlikun 0:20e0c61e0684 626 irq_n = CAN2_IRQ_PASSIVE_IRQN;
ganlikun 0:20e0c61e0684 627 vector = (uint32_t)&CAN2_IRQ_PASSIVE_VECT;
ganlikun 0:20e0c61e0684 628 break;
ganlikun 0:20e0c61e0684 629 case IRQ_BUS:
ganlikun 0:20e0c61e0684 630 ier = CAN_IT_BOF;
ganlikun 0:20e0c61e0684 631 irq_n = CAN2_IRQ_BUS_IRQN;
ganlikun 0:20e0c61e0684 632 vector = (uint32_t)&CAN2_IRQ_BUS_VECT;
ganlikun 0:20e0c61e0684 633 break;
ganlikun 0:20e0c61e0684 634 default:
ganlikun 0:20e0c61e0684 635 return;
ganlikun 0:20e0c61e0684 636 }
ganlikun 0:20e0c61e0684 637 }
ganlikun 0:20e0c61e0684 638 #endif
ganlikun 0:20e0c61e0684 639 else {
ganlikun 0:20e0c61e0684 640 return;
ganlikun 0:20e0c61e0684 641 }
ganlikun 0:20e0c61e0684 642
ganlikun 0:20e0c61e0684 643 if (enable) {
ganlikun 0:20e0c61e0684 644 can->IER |= ier;
ganlikun 0:20e0c61e0684 645 } else {
ganlikun 0:20e0c61e0684 646 can->IER &= ~ier;
ganlikun 0:20e0c61e0684 647 }
ganlikun 0:20e0c61e0684 648
ganlikun 0:20e0c61e0684 649 NVIC_SetVector(irq_n, vector);
ganlikun 0:20e0c61e0684 650 NVIC_EnableIRQ(irq_n);
ganlikun 0:20e0c61e0684 651 }
ganlikun 0:20e0c61e0684 652
ganlikun 0:20e0c61e0684 653 #endif // DEVICE_CAN
ganlikun 0:20e0c61e0684 654
ganlikun 0:20e0c61e0684 655