Gan likun / mbed1-dev

001

targets/TARGET_STM/can_api.c@0:13413ea9a877, 2022-06-12 (annotated)

Committer:
ganlikun
Date:
Sun Jun 12 14:02:44 2022 +0000
Revision:
0:13413ea9a877
00

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ganlikun 0:13413ea9a877 1 /* mbed Microcontroller Library
ganlikun 0:13413ea9a877 2 * Copyright (c) 2006-2017 ARM Limited
ganlikun 0:13413ea9a877 3 *
ganlikun 0:13413ea9a877 4 * Licensed under the Apache License, Version 2.0 (the "License");
ganlikun 0:13413ea9a877 5 * you may not use this file except in compliance with the License.
ganlikun 0:13413ea9a877 6 * You may obtain a copy of the License at
ganlikun 0:13413ea9a877 7 *
ganlikun 0:13413ea9a877 8 * http://www.apache.org/licenses/LICENSE-2.0
ganlikun 0:13413ea9a877 9 *
ganlikun 0:13413ea9a877 10 * Unless required by applicable law or agreed to in writing, software
ganlikun 0:13413ea9a877 11 * distributed under the License is distributed on an "AS IS" BASIS,
ganlikun 0:13413ea9a877 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
ganlikun 0:13413ea9a877 13 * See the License for the specific language governing permissions and
ganlikun 0:13413ea9a877 14 * limitations under the License.
ganlikun 0:13413ea9a877 15 */
ganlikun 0:13413ea9a877 16 #include "can_api.h"
ganlikun 0:13413ea9a877 17
ganlikun 0:13413ea9a877 18 #if DEVICE_CAN
ganlikun 0:13413ea9a877 19
ganlikun 0:13413ea9a877 20 #include "cmsis.h"
ganlikun 0:13413ea9a877 21 #include "pinmap.h"
ganlikun 0:13413ea9a877 22 #include "PeripheralPins.h"
ganlikun 0:13413ea9a877 23 #include "mbed_error.h"
ganlikun 0:13413ea9a877 24 #include "can_device.h" // Specific to STM32 serie
ganlikun 0:13413ea9a877 25 #include <math.h>
ganlikun 0:13413ea9a877 26 #include <string.h>
ganlikun 0:13413ea9a877 27
ganlikun 0:13413ea9a877 28 static uint32_t can_irq_ids[CAN_NUM] = {0};
ganlikun 0:13413ea9a877 29 static can_irq_handler irq_handler;
ganlikun 0:13413ea9a877 30
ganlikun 0:13413ea9a877 31 static void can_registers_init(can_t *obj)
ganlikun 0:13413ea9a877 32 {
ganlikun 0:13413ea9a877 33 if (HAL_CAN_Init(&obj->CanHandle) != HAL_OK) {
ganlikun 0:13413ea9a877 34 error("Cannot initialize CAN");
ganlikun 0:13413ea9a877 35 }
ganlikun 0:13413ea9a877 36
ganlikun 0:13413ea9a877 37 // Set initial CAN frequency to specified frequency
ganlikun 0:13413ea9a877 38 if (can_frequency(obj, obj->hz) != 1) {
ganlikun 0:13413ea9a877 39 error("Can frequency could not be set\n");
ganlikun 0:13413ea9a877 40 }
ganlikun 0:13413ea9a877 41 }
ganlikun 0:13413ea9a877 42
ganlikun 0:13413ea9a877 43 void can_init(can_t *obj, PinName rd, PinName td)
ganlikun 0:13413ea9a877 44 {
ganlikun 0:13413ea9a877 45 can_init_freq(obj, rd, td, 100000);
ganlikun 0:13413ea9a877 46 }
ganlikun 0:13413ea9a877 47
ganlikun 0:13413ea9a877 48 void can_init_freq (can_t *obj, PinName rd, PinName td, int hz)
ganlikun 0:13413ea9a877 49 {
ganlikun 0:13413ea9a877 50 CANName can_rd = (CANName)pinmap_peripheral(rd, PinMap_CAN_RD);
ganlikun 0:13413ea9a877 51 CANName can_td = (CANName)pinmap_peripheral(td, PinMap_CAN_TD);
ganlikun 0:13413ea9a877 52 CANName can = (CANName)pinmap_merge(can_rd, can_td);
ganlikun 0:13413ea9a877 53
ganlikun 0:13413ea9a877 54 MBED_ASSERT((int)can != NC);
ganlikun 0:13413ea9a877 55
ganlikun 0:13413ea9a877 56 if (can == CAN_1) {
ganlikun 0:13413ea9a877 57 __HAL_RCC_CAN1_CLK_ENABLE();
ganlikun 0:13413ea9a877 58 obj->index = 0;
ganlikun 0:13413ea9a877 59 }
ganlikun 0:13413ea9a877 60 #if defined(CAN2_BASE) && (CAN_NUM == 2)
ganlikun 0:13413ea9a877 61 else if (can == CAN_2) {
ganlikun 0:13413ea9a877 62 __HAL_RCC_CAN1_CLK_ENABLE(); // needed to set filters
ganlikun 0:13413ea9a877 63 __HAL_RCC_CAN2_CLK_ENABLE();
ganlikun 0:13413ea9a877 64 obj->index = 1;
ganlikun 0:13413ea9a877 65 }
ganlikun 0:13413ea9a877 66 #endif
ganlikun 0:13413ea9a877 67 else {
ganlikun 0:13413ea9a877 68 return;
ganlikun 0:13413ea9a877 69 }
ganlikun 0:13413ea9a877 70
ganlikun 0:13413ea9a877 71 // Configure the CAN pins
ganlikun 0:13413ea9a877 72 pinmap_pinout(rd, PinMap_CAN_RD);
ganlikun 0:13413ea9a877 73 pinmap_pinout(td, PinMap_CAN_TD);
ganlikun 0:13413ea9a877 74 if (rd != NC) {
ganlikun 0:13413ea9a877 75 pin_mode(rd, PullUp);
ganlikun 0:13413ea9a877 76 }
ganlikun 0:13413ea9a877 77 if (td != NC) {
ganlikun 0:13413ea9a877 78 pin_mode(td, PullUp);
ganlikun 0:13413ea9a877 79 }
ganlikun 0:13413ea9a877 80
ganlikun 0:13413ea9a877 81 /* Use default values for rist init */
ganlikun 0:13413ea9a877 82 obj->CanHandle.Instance = (CAN_TypeDef *)can;
ganlikun 0:13413ea9a877 83 obj->CanHandle.Init.TTCM = DISABLE;
ganlikun 0:13413ea9a877 84 obj->CanHandle.Init.ABOM = DISABLE;
ganlikun 0:13413ea9a877 85 obj->CanHandle.Init.AWUM = DISABLE;
ganlikun 0:13413ea9a877 86 obj->CanHandle.Init.NART = DISABLE;
ganlikun 0:13413ea9a877 87 obj->CanHandle.Init.RFLM = DISABLE;
ganlikun 0:13413ea9a877 88 obj->CanHandle.Init.TXFP = DISABLE;
ganlikun 0:13413ea9a877 89 obj->CanHandle.Init.Mode = CAN_MODE_NORMAL;
ganlikun 0:13413ea9a877 90 obj->CanHandle.Init.SJW = CAN_SJW_1TQ;
ganlikun 0:13413ea9a877 91 obj->CanHandle.Init.BS1 = CAN_BS1_6TQ;
ganlikun 0:13413ea9a877 92 obj->CanHandle.Init.BS2 = CAN_BS2_8TQ;
ganlikun 0:13413ea9a877 93 obj->CanHandle.Init.Prescaler = 2;
ganlikun 0:13413ea9a877 94
ganlikun 0:13413ea9a877 95 /* Store frequency to be restored in case of reset */
ganlikun 0:13413ea9a877 96 obj->hz = hz;
ganlikun 0:13413ea9a877 97
ganlikun 0:13413ea9a877 98 can_registers_init(obj);
ganlikun 0:13413ea9a877 99
ganlikun 0:13413ea9a877 100 uint32_t filter_number = (can == CAN_1) ? 0 : 14;
ganlikun 0:13413ea9a877 101 can_filter(obj, 0, 0, CANStandard, filter_number);
ganlikun 0:13413ea9a877 102 }
ganlikun 0:13413ea9a877 103
ganlikun 0:13413ea9a877 104
ganlikun 0:13413ea9a877 105 void can_irq_init(can_t *obj, can_irq_handler handler, uint32_t id)
ganlikun 0:13413ea9a877 106 {
ganlikun 0:13413ea9a877 107 irq_handler = handler;
ganlikun 0:13413ea9a877 108 can_irq_ids[obj->index] = id;
ganlikun 0:13413ea9a877 109 }
ganlikun 0:13413ea9a877 110
ganlikun 0:13413ea9a877 111 void can_irq_free(can_t *obj)
ganlikun 0:13413ea9a877 112 {
ganlikun 0:13413ea9a877 113 CAN_TypeDef *can = obj->CanHandle.Instance;
ganlikun 0:13413ea9a877 114
ganlikun 0:13413ea9a877 115 can->IER &= ~(CAN_IT_FMP0 | CAN_IT_FMP1 | CAN_IT_TME | \
ganlikun 0:13413ea9a877 116 CAN_IT_ERR | CAN_IT_EPV | CAN_IT_BOF);
ganlikun 0:13413ea9a877 117 can_irq_ids[obj->index] = 0;
ganlikun 0:13413ea9a877 118 }
ganlikun 0:13413ea9a877 119
ganlikun 0:13413ea9a877 120 void can_free(can_t *obj)
ganlikun 0:13413ea9a877 121 {
ganlikun 0:13413ea9a877 122 CANName can = (CANName) obj->CanHandle.Instance;
ganlikun 0:13413ea9a877 123 // Reset CAN and disable clock
ganlikun 0:13413ea9a877 124 if (can == CAN_1) {
ganlikun 0:13413ea9a877 125 __HAL_RCC_CAN1_FORCE_RESET();
ganlikun 0:13413ea9a877 126 __HAL_RCC_CAN1_RELEASE_RESET();
ganlikun 0:13413ea9a877 127 __HAL_RCC_CAN1_CLK_DISABLE();
ganlikun 0:13413ea9a877 128 }
ganlikun 0:13413ea9a877 129 #if defined(CAN2_BASE) && (CAN_NUM == 2)
ganlikun 0:13413ea9a877 130 if (can == CAN_2) {
ganlikun 0:13413ea9a877 131 __HAL_RCC_CAN2_FORCE_RESET();
ganlikun 0:13413ea9a877 132 __HAL_RCC_CAN2_RELEASE_RESET();
ganlikun 0:13413ea9a877 133 __HAL_RCC_CAN2_CLK_DISABLE();
ganlikun 0:13413ea9a877 134 }
ganlikun 0:13413ea9a877 135 #endif
ganlikun 0:13413ea9a877 136 }
ganlikun 0:13413ea9a877 137
ganlikun 0:13413ea9a877 138 // The following table is used to program bit_timing. It is an adjustment of the sample
ganlikun 0:13413ea9a877 139 // point by synchronizing on the start-bit edge and resynchronizing on the following edges.
ganlikun 0:13413ea9a877 140 // This table has the sampling points as close to 75% as possible (most commonly used).
ganlikun 0:13413ea9a877 141 // The first value is TSEG1, the second TSEG2.
ganlikun 0:13413ea9a877 142 static const int timing_pts[23][2] = {
ganlikun 0:13413ea9a877 143 {0x0, 0x0}, // 2, 50%
ganlikun 0:13413ea9a877 144 {0x1, 0x0}, // 3, 67%
ganlikun 0:13413ea9a877 145 {0x2, 0x0}, // 4, 75%
ganlikun 0:13413ea9a877 146 {0x3, 0x0}, // 5, 80%
ganlikun 0:13413ea9a877 147 {0x3, 0x1}, // 6, 67%
ganlikun 0:13413ea9a877 148 {0x4, 0x1}, // 7, 71%
ganlikun 0:13413ea9a877 149 {0x5, 0x1}, // 8, 75%
ganlikun 0:13413ea9a877 150 {0x6, 0x1}, // 9, 78%
ganlikun 0:13413ea9a877 151 {0x6, 0x2}, // 10, 70%
ganlikun 0:13413ea9a877 152 {0x7, 0x2}, // 11, 73%
ganlikun 0:13413ea9a877 153 {0x8, 0x2}, // 12, 75%
ganlikun 0:13413ea9a877 154 {0x9, 0x2}, // 13, 77%
ganlikun 0:13413ea9a877 155 {0x9, 0x3}, // 14, 71%
ganlikun 0:13413ea9a877 156 {0xA, 0x3}, // 15, 73%
ganlikun 0:13413ea9a877 157 {0xB, 0x3}, // 16, 75%
ganlikun 0:13413ea9a877 158 {0xC, 0x3}, // 17, 76%
ganlikun 0:13413ea9a877 159 {0xD, 0x3}, // 18, 78%
ganlikun 0:13413ea9a877 160 {0xD, 0x4}, // 19, 74%
ganlikun 0:13413ea9a877 161 {0xE, 0x4}, // 20, 75%
ganlikun 0:13413ea9a877 162 {0xF, 0x4}, // 21, 76%
ganlikun 0:13413ea9a877 163 {0xF, 0x5}, // 22, 73%
ganlikun 0:13413ea9a877 164 {0xF, 0x6}, // 23, 70%
ganlikun 0:13413ea9a877 165 {0xF, 0x7}, // 24, 67%
ganlikun 0:13413ea9a877 166 };
ganlikun 0:13413ea9a877 167
ganlikun 0:13413ea9a877 168 static unsigned int can_speed(unsigned int pclk, unsigned int cclk, unsigned char psjw)
ganlikun 0:13413ea9a877 169 {
ganlikun 0:13413ea9a877 170 uint32_t btr;
ganlikun 0:13413ea9a877 171 uint16_t brp = 0;
ganlikun 0:13413ea9a877 172 uint32_t calcbit;
ganlikun 0:13413ea9a877 173 uint32_t bitwidth;
ganlikun 0:13413ea9a877 174 int hit = 0;
ganlikun 0:13413ea9a877 175 int bits;
ganlikun 0:13413ea9a877 176
ganlikun 0:13413ea9a877 177 bitwidth = (pclk / cclk);
ganlikun 0:13413ea9a877 178
ganlikun 0:13413ea9a877 179 brp = bitwidth / 0x18;
ganlikun 0:13413ea9a877 180 while ((!hit) && (brp < bitwidth / 4)) {
ganlikun 0:13413ea9a877 181 brp++;
ganlikun 0:13413ea9a877 182 for (bits = 22; bits > 0; bits--) {
ganlikun 0:13413ea9a877 183 calcbit = (bits + 3) * (brp + 1);
ganlikun 0:13413ea9a877 184 if (calcbit == bitwidth) {
ganlikun 0:13413ea9a877 185 hit = 1;
ganlikun 0:13413ea9a877 186 break;
ganlikun 0:13413ea9a877 187 }
ganlikun 0:13413ea9a877 188 }
ganlikun 0:13413ea9a877 189 }
ganlikun 0:13413ea9a877 190
ganlikun 0:13413ea9a877 191 if (hit) {
ganlikun 0:13413ea9a877 192 btr = ((timing_pts[bits][1] << CAN_BTR_TS2_Pos) & CAN_BTR_TS2) |
ganlikun 0:13413ea9a877 193 ((timing_pts[bits][0] << CAN_BTR_TS1_Pos) & CAN_BTR_TS1) |
ganlikun 0:13413ea9a877 194 ((psjw << CAN_BTR_SJW_Pos) & CAN_BTR_SJW) |
ganlikun 0:13413ea9a877 195 ((brp << CAN_BTR_BRP_Pos) & CAN_BTR_BRP);
ganlikun 0:13413ea9a877 196 } else {
ganlikun 0:13413ea9a877 197 btr = 0xFFFFFFFF;
ganlikun 0:13413ea9a877 198 }
ganlikun 0:13413ea9a877 199
ganlikun 0:13413ea9a877 200 return btr;
ganlikun 0:13413ea9a877 201
ganlikun 0:13413ea9a877 202 }
ganlikun 0:13413ea9a877 203
ganlikun 0:13413ea9a877 204 int can_frequency(can_t *obj, int f)
ganlikun 0:13413ea9a877 205 {
ganlikun 0:13413ea9a877 206 int pclk = HAL_RCC_GetPCLK1Freq();
ganlikun 0:13413ea9a877 207 int btr = can_speed(pclk, (unsigned int)f, 1);
ganlikun 0:13413ea9a877 208 CAN_TypeDef *can = obj->CanHandle.Instance;
ganlikun 0:13413ea9a877 209 uint32_t tickstart = 0;
ganlikun 0:13413ea9a877 210 int status = 1;
ganlikun 0:13413ea9a877 211
ganlikun 0:13413ea9a877 212 if (btr > 0) {
ganlikun 0:13413ea9a877 213 can->MCR |= CAN_MCR_INRQ ;
ganlikun 0:13413ea9a877 214 /* Get tick */
ganlikun 0:13413ea9a877 215 tickstart = HAL_GetTick();
ganlikun 0:13413ea9a877 216 while ((can->MSR & CAN_MSR_INAK) != CAN_MSR_INAK) {
ganlikun 0:13413ea9a877 217 if ((HAL_GetTick() - tickstart) > 2) {
ganlikun 0:13413ea9a877 218 status = 0;
ganlikun 0:13413ea9a877 219 break;
ganlikun 0:13413ea9a877 220 }
ganlikun 0:13413ea9a877 221 }
ganlikun 0:13413ea9a877 222 if (status != 0) {
ganlikun 0:13413ea9a877 223 /* Do not erase all BTR registers (e.g. silent mode), only the
ganlikun 0:13413ea9a877 224 * ones calculated in can_speed */
ganlikun 0:13413ea9a877 225 can->BTR &= ~(CAN_BTR_TS2 | CAN_BTR_TS1 | CAN_BTR_SJW | CAN_BTR_BRP);
ganlikun 0:13413ea9a877 226 can->BTR |= btr;
ganlikun 0:13413ea9a877 227
ganlikun 0:13413ea9a877 228 can->MCR &= ~(uint32_t)CAN_MCR_INRQ;
ganlikun 0:13413ea9a877 229 /* Get tick */
ganlikun 0:13413ea9a877 230 tickstart = HAL_GetTick();
ganlikun 0:13413ea9a877 231 while ((can->MSR & CAN_MSR_INAK) == CAN_MSR_INAK) {
ganlikun 0:13413ea9a877 232 if ((HAL_GetTick() - tickstart) > 2) {
ganlikun 0:13413ea9a877 233 status = 0;
ganlikun 0:13413ea9a877 234 break;
ganlikun 0:13413ea9a877 235 }
ganlikun 0:13413ea9a877 236 }
ganlikun 0:13413ea9a877 237 if (status == 0) {
ganlikun 0:13413ea9a877 238 error("can ESR 0x%04x.%04x + timeout status %d", (can->ESR & 0xFFFF0000) >> 16, (can->ESR & 0xFFFF), status);
ganlikun 0:13413ea9a877 239 }
ganlikun 0:13413ea9a877 240 } else {
ganlikun 0:13413ea9a877 241 error("can init request timeout\n");
ganlikun 0:13413ea9a877 242 }
ganlikun 0:13413ea9a877 243 } else {
ganlikun 0:13413ea9a877 244 status = 0;
ganlikun 0:13413ea9a877 245 }
ganlikun 0:13413ea9a877 246 return status;
ganlikun 0:13413ea9a877 247 }
ganlikun 0:13413ea9a877 248
ganlikun 0:13413ea9a877 249 int can_write(can_t *obj, CAN_Message msg, int cc)
ganlikun 0:13413ea9a877 250 {
ganlikun 0:13413ea9a877 251 uint32_t transmitmailbox = CAN_TXSTATUS_NOMAILBOX;
ganlikun 0:13413ea9a877 252 CAN_TypeDef *can = obj->CanHandle.Instance;
ganlikun 0:13413ea9a877 253
ganlikun 0:13413ea9a877 254 /* Select one empty transmit mailbox */
ganlikun 0:13413ea9a877 255 if ((can->TSR & CAN_TSR_TME0) == CAN_TSR_TME0) {
ganlikun 0:13413ea9a877 256 transmitmailbox = 0;
ganlikun 0:13413ea9a877 257 } else if ((can->TSR & CAN_TSR_TME1) == CAN_TSR_TME1) {
ganlikun 0:13413ea9a877 258 transmitmailbox = 1;
ganlikun 0:13413ea9a877 259 } else if ((can->TSR & CAN_TSR_TME2) == CAN_TSR_TME2) {
ganlikun 0:13413ea9a877 260 transmitmailbox = 2;
ganlikun 0:13413ea9a877 261 } else {
ganlikun 0:13413ea9a877 262 return 0;
ganlikun 0:13413ea9a877 263 }
ganlikun 0:13413ea9a877 264
ganlikun 0:13413ea9a877 265 can->sTxMailBox[transmitmailbox].TIR &= CAN_TI0R_TXRQ;
ganlikun 0:13413ea9a877 266 if (!(msg.format)) {
ganlikun 0:13413ea9a877 267 can->sTxMailBox[transmitmailbox].TIR |= ((msg.id << 21) | msg.type);
ganlikun 0:13413ea9a877 268 } else {
ganlikun 0:13413ea9a877 269 can->sTxMailBox[transmitmailbox].TIR |= ((msg.id << 3) | CAN_ID_EXT | msg.type);
ganlikun 0:13413ea9a877 270 }
ganlikun 0:13413ea9a877 271
ganlikun 0:13413ea9a877 272 /* Set up the DLC */
ganlikun 0:13413ea9a877 273 can->sTxMailBox[transmitmailbox].TDTR &= (uint32_t)0xFFFFFFF0;
ganlikun 0:13413ea9a877 274 can->sTxMailBox[transmitmailbox].TDTR |= (msg.len & (uint8_t)0x0000000F);
ganlikun 0:13413ea9a877 275
ganlikun 0:13413ea9a877 276 /* Set up the data field */
ganlikun 0:13413ea9a877 277 can->sTxMailBox[transmitmailbox].TDLR = (((uint32_t)msg.data[3] << 24) |
ganlikun 0:13413ea9a877 278 ((uint32_t)msg.data[2] << 16) |
ganlikun 0:13413ea9a877 279 ((uint32_t)msg.data[1] << 8) |
ganlikun 0:13413ea9a877 280 ((uint32_t)msg.data[0]));
ganlikun 0:13413ea9a877 281 can->sTxMailBox[transmitmailbox].TDHR = (((uint32_t)msg.data[7] << 24) |
ganlikun 0:13413ea9a877 282 ((uint32_t)msg.data[6] << 16) |
ganlikun 0:13413ea9a877 283 ((uint32_t)msg.data[5] << 8) |
ganlikun 0:13413ea9a877 284 ((uint32_t)msg.data[4]));
ganlikun 0:13413ea9a877 285 /* Request transmission */
ganlikun 0:13413ea9a877 286 can->sTxMailBox[transmitmailbox].TIR |= CAN_TI0R_TXRQ;
ganlikun 0:13413ea9a877 287
ganlikun 0:13413ea9a877 288 return 1;
ganlikun 0:13413ea9a877 289 }
ganlikun 0:13413ea9a877 290
ganlikun 0:13413ea9a877 291 int can_read(can_t *obj, CAN_Message *msg, int handle)
ganlikun 0:13413ea9a877 292 {
ganlikun 0:13413ea9a877 293 //handle is the FIFO number
ganlikun 0:13413ea9a877 294
ganlikun 0:13413ea9a877 295 CAN_TypeDef *can = obj->CanHandle.Instance;
ganlikun 0:13413ea9a877 296
ganlikun 0:13413ea9a877 297 // check FPM0 which holds the pending message count in FIFO 0
ganlikun 0:13413ea9a877 298 // if no message is pending, return 0
ganlikun 0:13413ea9a877 299 if ((can->RF0R & CAN_RF0R_FMP0) == 0) {
ganlikun 0:13413ea9a877 300 return 0;
ganlikun 0:13413ea9a877 301 }
ganlikun 0:13413ea9a877 302
ganlikun 0:13413ea9a877 303 /* Get the Id */
ganlikun 0:13413ea9a877 304 msg->format = (CANFormat)(((uint8_t)0x04 & can->sFIFOMailBox[handle].RIR) >> 2);
ganlikun 0:13413ea9a877 305 if (!msg->format) {
ganlikun 0:13413ea9a877 306 msg->id = (uint32_t)0x000007FF & (can->sFIFOMailBox[handle].RIR >> 21);
ganlikun 0:13413ea9a877 307 } else {
ganlikun 0:13413ea9a877 308 msg->id = (uint32_t)0x1FFFFFFF & (can->sFIFOMailBox[handle].RIR >> 3);
ganlikun 0:13413ea9a877 309 }
ganlikun 0:13413ea9a877 310
ganlikun 0:13413ea9a877 311 msg->type = (CANType)(((uint8_t)0x02 & can->sFIFOMailBox[handle].RIR) >> 1);
ganlikun 0:13413ea9a877 312 /* Get the DLC */
ganlikun 0:13413ea9a877 313 msg->len = (uint8_t)0x0F & can->sFIFOMailBox[handle].RDTR;
ganlikun 0:13413ea9a877 314 /* Get the FMI */
ganlikun 0:13413ea9a877 315 // msg->FMI = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDTR >> 8);
ganlikun 0:13413ea9a877 316 /* Get the data field */
ganlikun 0:13413ea9a877 317 msg->data[0] = (uint8_t)0xFF & can->sFIFOMailBox[handle].RDLR;
ganlikun 0:13413ea9a877 318 msg->data[1] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDLR >> 8);
ganlikun 0:13413ea9a877 319 msg->data[2] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDLR >> 16);
ganlikun 0:13413ea9a877 320 msg->data[3] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDLR >> 24);
ganlikun 0:13413ea9a877 321 msg->data[4] = (uint8_t)0xFF & can->sFIFOMailBox[handle].RDHR;
ganlikun 0:13413ea9a877 322 msg->data[5] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDHR >> 8);
ganlikun 0:13413ea9a877 323 msg->data[6] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDHR >> 16);
ganlikun 0:13413ea9a877 324 msg->data[7] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDHR >> 24);
ganlikun 0:13413ea9a877 325
ganlikun 0:13413ea9a877 326 /* Release the FIFO */
ganlikun 0:13413ea9a877 327 if (handle == CAN_FIFO0) {
ganlikun 0:13413ea9a877 328 /* Release FIFO0 */
ganlikun 0:13413ea9a877 329 can->RF0R |= CAN_RF0R_RFOM0;
ganlikun 0:13413ea9a877 330 } else { /* FIFONumber == CAN_FIFO1 */
ganlikun 0:13413ea9a877 331 /* Release FIFO1 */
ganlikun 0:13413ea9a877 332 can->RF1R |= CAN_RF1R_RFOM1;
ganlikun 0:13413ea9a877 333 }
ganlikun 0:13413ea9a877 334
ganlikun 0:13413ea9a877 335 return 1;
ganlikun 0:13413ea9a877 336 }
ganlikun 0:13413ea9a877 337
ganlikun 0:13413ea9a877 338 void can_reset(can_t *obj)
ganlikun 0:13413ea9a877 339 {
ganlikun 0:13413ea9a877 340 CAN_TypeDef *can = obj->CanHandle.Instance;
ganlikun 0:13413ea9a877 341
ganlikun 0:13413ea9a877 342 /* Reset IP and delete errors */
ganlikun 0:13413ea9a877 343 can->MCR |= CAN_MCR_RESET;
ganlikun 0:13413ea9a877 344 can->ESR = 0x0;
ganlikun 0:13413ea9a877 345
ganlikun 0:13413ea9a877 346 /* restore registers state as saved in obj context */
ganlikun 0:13413ea9a877 347 can_registers_init(obj);
ganlikun 0:13413ea9a877 348 }
ganlikun 0:13413ea9a877 349
ganlikun 0:13413ea9a877 350 unsigned char can_rderror(can_t *obj)
ganlikun 0:13413ea9a877 351 {
ganlikun 0:13413ea9a877 352 CAN_TypeDef *can = obj->CanHandle.Instance;
ganlikun 0:13413ea9a877 353 return (can->ESR >> 24) & 0xFF;
ganlikun 0:13413ea9a877 354 }
ganlikun 0:13413ea9a877 355
ganlikun 0:13413ea9a877 356 unsigned char can_tderror(can_t *obj)
ganlikun 0:13413ea9a877 357 {
ganlikun 0:13413ea9a877 358 CAN_TypeDef *can = obj->CanHandle.Instance;
ganlikun 0:13413ea9a877 359 return (can->ESR >> 16) & 0xFF;
ganlikun 0:13413ea9a877 360 }
ganlikun 0:13413ea9a877 361
ganlikun 0:13413ea9a877 362 void can_monitor(can_t *obj, int silent)
ganlikun 0:13413ea9a877 363 {
ganlikun 0:13413ea9a877 364 CanMode mode = MODE_NORMAL;
ganlikun 0:13413ea9a877 365 /* Update current state w/ or w/o silent */
ganlikun 0:13413ea9a877 366 if(silent) {
ganlikun 0:13413ea9a877 367 switch (obj->CanHandle.Init.Mode) {
ganlikun 0:13413ea9a877 368 case CAN_MODE_LOOPBACK:
ganlikun 0:13413ea9a877 369 case CAN_MODE_SILENT_LOOPBACK:
ganlikun 0:13413ea9a877 370 mode = MODE_TEST_SILENT;
ganlikun 0:13413ea9a877 371 break;
ganlikun 0:13413ea9a877 372 default:
ganlikun 0:13413ea9a877 373 mode = MODE_SILENT;
ganlikun 0:13413ea9a877 374 break;
ganlikun 0:13413ea9a877 375 }
ganlikun 0:13413ea9a877 376 } else {
ganlikun 0:13413ea9a877 377 switch (obj->CanHandle.Init.Mode) {
ganlikun 0:13413ea9a877 378 case CAN_MODE_LOOPBACK:
ganlikun 0:13413ea9a877 379 case CAN_MODE_SILENT_LOOPBACK:
ganlikun 0:13413ea9a877 380 mode = MODE_TEST_LOCAL;
ganlikun 0:13413ea9a877 381 break;
ganlikun 0:13413ea9a877 382 default:
ganlikun 0:13413ea9a877 383 mode = MODE_NORMAL;
ganlikun 0:13413ea9a877 384 break;
ganlikun 0:13413ea9a877 385 }
ganlikun 0:13413ea9a877 386 }
ganlikun 0:13413ea9a877 387
ganlikun 0:13413ea9a877 388 can_mode(obj, mode);
ganlikun 0:13413ea9a877 389 }
ganlikun 0:13413ea9a877 390
ganlikun 0:13413ea9a877 391 int can_mode(can_t *obj, CanMode mode)
ganlikun 0:13413ea9a877 392 {
ganlikun 0:13413ea9a877 393 int success = 0;
ganlikun 0:13413ea9a877 394 CAN_TypeDef *can = obj->CanHandle.Instance;
ganlikun 0:13413ea9a877 395
ganlikun 0:13413ea9a877 396 can->MCR |= CAN_MCR_INRQ ;
ganlikun 0:13413ea9a877 397 while ((can->MSR & CAN_MSR_INAK) != CAN_MSR_INAK) {
ganlikun 0:13413ea9a877 398 }
ganlikun 0:13413ea9a877 399
ganlikun 0:13413ea9a877 400 switch (mode) {
ganlikun 0:13413ea9a877 401 case MODE_NORMAL:
ganlikun 0:13413ea9a877 402 obj->CanHandle.Init.Mode = CAN_MODE_NORMAL;
ganlikun 0:13413ea9a877 403 can->BTR &= ~(CAN_BTR_SILM | CAN_BTR_LBKM);
ganlikun 0:13413ea9a877 404 success = 1;
ganlikun 0:13413ea9a877 405 break;
ganlikun 0:13413ea9a877 406 case MODE_SILENT:
ganlikun 0:13413ea9a877 407 obj->CanHandle.Init.Mode = CAN_MODE_SILENT;
ganlikun 0:13413ea9a877 408 can->BTR |= CAN_BTR_SILM;
ganlikun 0:13413ea9a877 409 can->BTR &= ~CAN_BTR_LBKM;
ganlikun 0:13413ea9a877 410 success = 1;
ganlikun 0:13413ea9a877 411 break;
ganlikun 0:13413ea9a877 412 case MODE_TEST_GLOBAL:
ganlikun 0:13413ea9a877 413 case MODE_TEST_LOCAL:
ganlikun 0:13413ea9a877 414 obj->CanHandle.Init.Mode = CAN_MODE_LOOPBACK;
ganlikun 0:13413ea9a877 415 can->BTR |= CAN_BTR_LBKM;
ganlikun 0:13413ea9a877 416 can->BTR &= ~CAN_BTR_SILM;
ganlikun 0:13413ea9a877 417 success = 1;
ganlikun 0:13413ea9a877 418 break;
ganlikun 0:13413ea9a877 419 case MODE_TEST_SILENT:
ganlikun 0:13413ea9a877 420 obj->CanHandle.Init.Mode = CAN_MODE_SILENT_LOOPBACK;
ganlikun 0:13413ea9a877 421 can->BTR |= (CAN_BTR_SILM | CAN_BTR_LBKM);
ganlikun 0:13413ea9a877 422 success = 1;
ganlikun 0:13413ea9a877 423 break;
ganlikun 0:13413ea9a877 424 default:
ganlikun 0:13413ea9a877 425 success = 0;
ganlikun 0:13413ea9a877 426 break;
ganlikun 0:13413ea9a877 427 }
ganlikun 0:13413ea9a877 428
ganlikun 0:13413ea9a877 429 can->MCR &= ~(uint32_t)CAN_MCR_INRQ;
ganlikun 0:13413ea9a877 430 while ((can->MSR & CAN_MSR_INAK) == CAN_MSR_INAK) {
ganlikun 0:13413ea9a877 431 }
ganlikun 0:13413ea9a877 432
ganlikun 0:13413ea9a877 433 return success;
ganlikun 0:13413ea9a877 434 }
ganlikun 0:13413ea9a877 435
ganlikun 0:13413ea9a877 436 int can_filter(can_t *obj, uint32_t id, uint32_t mask, CANFormat format, int32_t handle)
ganlikun 0:13413ea9a877 437 {
ganlikun 0:13413ea9a877 438 int retval = 0;
ganlikun 0:13413ea9a877 439
ganlikun 0:13413ea9a877 440 // filter for CANAny format cannot be configured for STM32
ganlikun 0:13413ea9a877 441 if ((format == CANStandard) || (format == CANExtended)) {
ganlikun 0:13413ea9a877 442 CAN_FilterConfTypeDef sFilterConfig;
ganlikun 0:13413ea9a877 443 sFilterConfig.FilterNumber = handle;
ganlikun 0:13413ea9a877 444 sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
ganlikun 0:13413ea9a877 445 sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
ganlikun 0:13413ea9a877 446
ganlikun 0:13413ea9a877 447 if (format == CANStandard) {
ganlikun 0:13413ea9a877 448 sFilterConfig.FilterIdHigh = id << 5;
ganlikun 0:13413ea9a877 449 sFilterConfig.FilterIdLow = 0x0;
ganlikun 0:13413ea9a877 450 sFilterConfig.FilterMaskIdHigh = mask << 5;
ganlikun 0:13413ea9a877 451 sFilterConfig.FilterMaskIdLow = 0x0; // allows both remote and data frames
ganlikun 0:13413ea9a877 452 } else if (format == CANExtended) {
ganlikun 0:13413ea9a877 453 sFilterConfig.FilterIdHigh = id >> 13; // EXTID[28:13]
ganlikun 0:13413ea9a877 454 sFilterConfig.FilterIdLow = (0x00FF & (id << 3)) | (1 << 2); // EXTID[12:0]
ganlikun 0:13413ea9a877 455 sFilterConfig.FilterMaskIdHigh = mask >> 13;
ganlikun 0:13413ea9a877 456 sFilterConfig.FilterMaskIdLow = (0x00FF & (mask << 3)) | (1 << 2);
ganlikun 0:13413ea9a877 457 }
ganlikun 0:13413ea9a877 458
ganlikun 0:13413ea9a877 459 sFilterConfig.FilterFIFOAssignment = 0;
ganlikun 0:13413ea9a877 460 sFilterConfig.FilterActivation = ENABLE;
ganlikun 0:13413ea9a877 461 sFilterConfig.BankNumber = 14 + handle;
ganlikun 0:13413ea9a877 462
ganlikun 0:13413ea9a877 463 HAL_CAN_ConfigFilter(&obj->CanHandle, &sFilterConfig);
ganlikun 0:13413ea9a877 464 retval = handle;
ganlikun 0:13413ea9a877 465 }
ganlikun 0:13413ea9a877 466 return retval;
ganlikun 0:13413ea9a877 467 }
ganlikun 0:13413ea9a877 468
ganlikun 0:13413ea9a877 469 static void can_irq(CANName name, int id)
ganlikun 0:13413ea9a877 470 {
ganlikun 0:13413ea9a877 471 uint32_t tmp1 = 0, tmp2 = 0, tmp3 = 0;
ganlikun 0:13413ea9a877 472 CAN_HandleTypeDef CanHandle;
ganlikun 0:13413ea9a877 473 CanHandle.Instance = (CAN_TypeDef *)name;
ganlikun 0:13413ea9a877 474
ganlikun 0:13413ea9a877 475 if (__HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_TME)) {
ganlikun 0:13413ea9a877 476 tmp1 = __HAL_CAN_TRANSMIT_STATUS(&CanHandle, CAN_TXMAILBOX_0);
ganlikun 0:13413ea9a877 477 tmp2 = __HAL_CAN_TRANSMIT_STATUS(&CanHandle, CAN_TXMAILBOX_1);
ganlikun 0:13413ea9a877 478 tmp3 = __HAL_CAN_TRANSMIT_STATUS(&CanHandle, CAN_TXMAILBOX_2);
ganlikun 0:13413ea9a877 479 if (tmp1) {
ganlikun 0:13413ea9a877 480 __HAL_CAN_CLEAR_FLAG(&CanHandle, CAN_FLAG_RQCP0);
ganlikun 0:13413ea9a877 481 }
ganlikun 0:13413ea9a877 482 if (tmp2) {
ganlikun 0:13413ea9a877 483 __HAL_CAN_CLEAR_FLAG(&CanHandle, CAN_FLAG_RQCP1);
ganlikun 0:13413ea9a877 484 }
ganlikun 0:13413ea9a877 485 if (tmp3) {
ganlikun 0:13413ea9a877 486 __HAL_CAN_CLEAR_FLAG(&CanHandle, CAN_FLAG_RQCP2);
ganlikun 0:13413ea9a877 487 }
ganlikun 0:13413ea9a877 488 if (tmp1 || tmp2 || tmp3) {
ganlikun 0:13413ea9a877 489 irq_handler(can_irq_ids[id], IRQ_TX);
ganlikun 0:13413ea9a877 490 }
ganlikun 0:13413ea9a877 491 }
ganlikun 0:13413ea9a877 492
ganlikun 0:13413ea9a877 493 tmp1 = __HAL_CAN_MSG_PENDING(&CanHandle, CAN_FIFO0);
ganlikun 0:13413ea9a877 494 tmp2 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_FMP0);
ganlikun 0:13413ea9a877 495
ganlikun 0:13413ea9a877 496 if ((tmp1 != 0) && tmp2) {
ganlikun 0:13413ea9a877 497 irq_handler(can_irq_ids[id], IRQ_RX);
ganlikun 0:13413ea9a877 498 }
ganlikun 0:13413ea9a877 499
ganlikun 0:13413ea9a877 500 tmp1 = __HAL_CAN_GET_FLAG(&CanHandle, CAN_FLAG_EPV);
ganlikun 0:13413ea9a877 501 tmp2 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_EPV);
ganlikun 0:13413ea9a877 502 tmp3 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_ERR);
ganlikun 0:13413ea9a877 503
ganlikun 0:13413ea9a877 504 if (tmp1 && tmp2 && tmp3) {
ganlikun 0:13413ea9a877 505 irq_handler(can_irq_ids[id], IRQ_PASSIVE);
ganlikun 0:13413ea9a877 506 }
ganlikun 0:13413ea9a877 507
ganlikun 0:13413ea9a877 508 tmp1 = __HAL_CAN_GET_FLAG(&CanHandle, CAN_FLAG_BOF);
ganlikun 0:13413ea9a877 509 tmp2 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_BOF);
ganlikun 0:13413ea9a877 510 tmp3 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_ERR);
ganlikun 0:13413ea9a877 511 if (tmp1 && tmp2 && tmp3) {
ganlikun 0:13413ea9a877 512 irq_handler(can_irq_ids[id], IRQ_BUS);
ganlikun 0:13413ea9a877 513 }
ganlikun 0:13413ea9a877 514
ganlikun 0:13413ea9a877 515 tmp3 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_ERR);
ganlikun 0:13413ea9a877 516 if (tmp1 && tmp2 && tmp3) {
ganlikun 0:13413ea9a877 517 irq_handler(can_irq_ids[id], IRQ_ERROR);
ganlikun 0:13413ea9a877 518 }
ganlikun 0:13413ea9a877 519 }
ganlikun 0:13413ea9a877 520
ganlikun 0:13413ea9a877 521 #if defined(TARGET_STM32F0)
ganlikun 0:13413ea9a877 522 void CAN_IRQHandler(void)
ganlikun 0:13413ea9a877 523 {
ganlikun 0:13413ea9a877 524 can_irq(CAN_1, 0);
ganlikun 0:13413ea9a877 525 }
ganlikun 0:13413ea9a877 526 #elif defined(TARGET_STM32F3)
ganlikun 0:13413ea9a877 527 void CAN_RX0_IRQHandler(void)
ganlikun 0:13413ea9a877 528 {
ganlikun 0:13413ea9a877 529 can_irq(CAN_1, 0);
ganlikun 0:13413ea9a877 530 }
ganlikun 0:13413ea9a877 531 void CAN_TX_IRQHandler(void)
ganlikun 0:13413ea9a877 532 {
ganlikun 0:13413ea9a877 533 can_irq(CAN_1, 0);
ganlikun 0:13413ea9a877 534 }
ganlikun 0:13413ea9a877 535 void CAN_SCE_IRQHandler(void)
ganlikun 0:13413ea9a877 536 {
ganlikun 0:13413ea9a877 537 can_irq(CAN_1, 0);
ganlikun 0:13413ea9a877 538 }
ganlikun 0:13413ea9a877 539 #else
ganlikun 0:13413ea9a877 540 void CAN1_RX0_IRQHandler(void)
ganlikun 0:13413ea9a877 541 {
ganlikun 0:13413ea9a877 542 can_irq(CAN_1, 0);
ganlikun 0:13413ea9a877 543 }
ganlikun 0:13413ea9a877 544 void CAN1_TX_IRQHandler(void)
ganlikun 0:13413ea9a877 545 {
ganlikun 0:13413ea9a877 546 can_irq(CAN_1, 0);
ganlikun 0:13413ea9a877 547 }
ganlikun 0:13413ea9a877 548 void CAN1_SCE_IRQHandler(void)
ganlikun 0:13413ea9a877 549 {
ganlikun 0:13413ea9a877 550 can_irq(CAN_1, 0);
ganlikun 0:13413ea9a877 551 }
ganlikun 0:13413ea9a877 552 #if defined(CAN2_BASE) && (CAN_NUM == 2)
ganlikun 0:13413ea9a877 553 void CAN2_RX0_IRQHandler(void)
ganlikun 0:13413ea9a877 554 {
ganlikun 0:13413ea9a877 555 can_irq(CAN_2, 1);
ganlikun 0:13413ea9a877 556 }
ganlikun 0:13413ea9a877 557 void CAN2_TX_IRQHandler(void)
ganlikun 0:13413ea9a877 558 {
ganlikun 0:13413ea9a877 559 can_irq(CAN_2, 1);
ganlikun 0:13413ea9a877 560 }
ganlikun 0:13413ea9a877 561 void CAN2_SCE_IRQHandler(void)
ganlikun 0:13413ea9a877 562 {
ganlikun 0:13413ea9a877 563 can_irq(CAN_2, 1);
ganlikun 0:13413ea9a877 564 }
ganlikun 0:13413ea9a877 565 #endif // defined(CAN2_BASE) && (CAN_NUM == 2)
ganlikun 0:13413ea9a877 566 #endif // else
ganlikun 0:13413ea9a877 567
ganlikun 0:13413ea9a877 568 void can_irq_set(can_t *obj, CanIrqType type, uint32_t enable)
ganlikun 0:13413ea9a877 569 {
ganlikun 0:13413ea9a877 570 CAN_TypeDef *can = obj->CanHandle.Instance;
ganlikun 0:13413ea9a877 571 IRQn_Type irq_n = (IRQn_Type)0;
ganlikun 0:13413ea9a877 572 uint32_t vector = 0;
ganlikun 0:13413ea9a877 573 uint32_t ier;
ganlikun 0:13413ea9a877 574
ganlikun 0:13413ea9a877 575 if ((CANName) can == CAN_1) {
ganlikun 0:13413ea9a877 576 switch (type) {
ganlikun 0:13413ea9a877 577 case IRQ_RX:
ganlikun 0:13413ea9a877 578 ier = CAN_IT_FMP0;
ganlikun 0:13413ea9a877 579 irq_n = CAN1_IRQ_RX_IRQN;
ganlikun 0:13413ea9a877 580 vector = (uint32_t)&CAN1_IRQ_RX_VECT;
ganlikun 0:13413ea9a877 581 break;
ganlikun 0:13413ea9a877 582 case IRQ_TX:
ganlikun 0:13413ea9a877 583 ier = CAN_IT_TME;
ganlikun 0:13413ea9a877 584 irq_n = CAN1_IRQ_TX_IRQN;
ganlikun 0:13413ea9a877 585 vector = (uint32_t)&CAN1_IRQ_TX_VECT;
ganlikun 0:13413ea9a877 586 break;
ganlikun 0:13413ea9a877 587 case IRQ_ERROR:
ganlikun 0:13413ea9a877 588 ier = CAN_IT_ERR;
ganlikun 0:13413ea9a877 589 irq_n = CAN1_IRQ_ERROR_IRQN;
ganlikun 0:13413ea9a877 590 vector = (uint32_t)&CAN1_IRQ_ERROR_VECT;
ganlikun 0:13413ea9a877 591 break;
ganlikun 0:13413ea9a877 592 case IRQ_PASSIVE:
ganlikun 0:13413ea9a877 593 ier = CAN_IT_EPV;
ganlikun 0:13413ea9a877 594 irq_n = CAN1_IRQ_PASSIVE_IRQN;
ganlikun 0:13413ea9a877 595 vector = (uint32_t)&CAN1_IRQ_PASSIVE_VECT;
ganlikun 0:13413ea9a877 596 break;
ganlikun 0:13413ea9a877 597 case IRQ_BUS:
ganlikun 0:13413ea9a877 598 ier = CAN_IT_BOF;
ganlikun 0:13413ea9a877 599 irq_n = CAN1_IRQ_BUS_IRQN;
ganlikun 0:13413ea9a877 600 vector = (uint32_t)&CAN1_IRQ_BUS_VECT;
ganlikun 0:13413ea9a877 601 break;
ganlikun 0:13413ea9a877 602 default:
ganlikun 0:13413ea9a877 603 return;
ganlikun 0:13413ea9a877 604 }
ganlikun 0:13413ea9a877 605 }
ganlikun 0:13413ea9a877 606 #if defined(CAN2_BASE) && (CAN_NUM == 2)
ganlikun 0:13413ea9a877 607 else if ((CANName) can == CAN_2) {
ganlikun 0:13413ea9a877 608 switch (type) {
ganlikun 0:13413ea9a877 609 case IRQ_RX:
ganlikun 0:13413ea9a877 610 ier = CAN_IT_FMP0;
ganlikun 0:13413ea9a877 611 irq_n = CAN2_IRQ_RX_IRQN;
ganlikun 0:13413ea9a877 612 vector = (uint32_t)&CAN2_IRQ_RX_VECT;
ganlikun 0:13413ea9a877 613 break;
ganlikun 0:13413ea9a877 614 case IRQ_TX:
ganlikun 0:13413ea9a877 615 ier = CAN_IT_TME;
ganlikun 0:13413ea9a877 616 irq_n = CAN2_IRQ_TX_IRQN;
ganlikun 0:13413ea9a877 617 vector = (uint32_t)&CAN2_IRQ_TX_VECT;
ganlikun 0:13413ea9a877 618 break;
ganlikun 0:13413ea9a877 619 case IRQ_ERROR:
ganlikun 0:13413ea9a877 620 ier = CAN_IT_ERR;
ganlikun 0:13413ea9a877 621 irq_n = CAN2_IRQ_ERROR_IRQN;
ganlikun 0:13413ea9a877 622 vector = (uint32_t)&CAN2_IRQ_ERROR_VECT;
ganlikun 0:13413ea9a877 623 break;
ganlikun 0:13413ea9a877 624 case IRQ_PASSIVE:
ganlikun 0:13413ea9a877 625 ier = CAN_IT_EPV;
ganlikun 0:13413ea9a877 626 irq_n = CAN2_IRQ_PASSIVE_IRQN;
ganlikun 0:13413ea9a877 627 vector = (uint32_t)&CAN2_IRQ_PASSIVE_VECT;
ganlikun 0:13413ea9a877 628 break;
ganlikun 0:13413ea9a877 629 case IRQ_BUS:
ganlikun 0:13413ea9a877 630 ier = CAN_IT_BOF;
ganlikun 0:13413ea9a877 631 irq_n = CAN2_IRQ_BUS_IRQN;
ganlikun 0:13413ea9a877 632 vector = (uint32_t)&CAN2_IRQ_BUS_VECT;
ganlikun 0:13413ea9a877 633 break;
ganlikun 0:13413ea9a877 634 default:
ganlikun 0:13413ea9a877 635 return;
ganlikun 0:13413ea9a877 636 }
ganlikun 0:13413ea9a877 637 }
ganlikun 0:13413ea9a877 638 #endif
ganlikun 0:13413ea9a877 639 else {
ganlikun 0:13413ea9a877 640 return;
ganlikun 0:13413ea9a877 641 }
ganlikun 0:13413ea9a877 642
ganlikun 0:13413ea9a877 643 if (enable) {
ganlikun 0:13413ea9a877 644 can->IER |= ier;
ganlikun 0:13413ea9a877 645 } else {
ganlikun 0:13413ea9a877 646 can->IER &= ~ier;
ganlikun 0:13413ea9a877 647 }
ganlikun 0:13413ea9a877 648
ganlikun 0:13413ea9a877 649 NVIC_SetVector(irq_n, vector);
ganlikun 0:13413ea9a877 650 NVIC_EnableIRQ(irq_n);
ganlikun 0:13413ea9a877 651 }
ganlikun 0:13413ea9a877 652
ganlikun 0:13413ea9a877 653 #endif // DEVICE_CAN
ganlikun 0:13413ea9a877 654
ganlikun 0:13413ea9a877 655