takashi kadono / Mbed OS Nucleo_446

Color Oled(SSD1331) connect to STMicroelectronics Nucleo-F466

Dependencies:   ssd1331

mbed-os/targets/TARGET_STM/can_api.c@3:f3764f852aa8, 2018-10-11 (annotated)

Committer:
kadonotakashi
Date:
Thu Oct 11 02:27:46 2018 +0000
Revision:
3:f3764f852aa8
Parent:
0:8fdf9a60065b 
Nucreo 446 + SSD1331 test version;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kadonotakashi 0:8fdf9a60065b 1 /* mbed Microcontroller Library
kadonotakashi 0:8fdf9a60065b 2 * Copyright (c) 2006-2017 ARM Limited
kadonotakashi 0:8fdf9a60065b 3 *
kadonotakashi 0:8fdf9a60065b 4 * Licensed under the Apache License, Version 2.0 (the "License");
kadonotakashi 0:8fdf9a60065b 5 * you may not use this file except in compliance with the License.
kadonotakashi 0:8fdf9a60065b 6 * You may obtain a copy of the License at
kadonotakashi 0:8fdf9a60065b 7 *
kadonotakashi 0:8fdf9a60065b 8 * http://www.apache.org/licenses/LICENSE-2.0
kadonotakashi 0:8fdf9a60065b 9 *
kadonotakashi 0:8fdf9a60065b 10 * Unless required by applicable law or agreed to in writing, software
kadonotakashi 0:8fdf9a60065b 11 * distributed under the License is distributed on an "AS IS" BASIS,
kadonotakashi 0:8fdf9a60065b 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
kadonotakashi 0:8fdf9a60065b 13 * See the License for the specific language governing permissions and
kadonotakashi 0:8fdf9a60065b 14 * limitations under the License.
kadonotakashi 0:8fdf9a60065b 15 */
kadonotakashi 0:8fdf9a60065b 16 #include "can_api.h"
kadonotakashi 0:8fdf9a60065b 17
kadonotakashi 0:8fdf9a60065b 18 #if DEVICE_CAN
kadonotakashi 0:8fdf9a60065b 19
kadonotakashi 0:8fdf9a60065b 20 #include "cmsis.h"
kadonotakashi 0:8fdf9a60065b 21 #include "pinmap.h"
kadonotakashi 0:8fdf9a60065b 22 #include "PeripheralPins.h"
kadonotakashi 0:8fdf9a60065b 23 #include "mbed_error.h"
kadonotakashi 0:8fdf9a60065b 24 #include "can_device.h" // Specific to STM32 serie
kadonotakashi 0:8fdf9a60065b 25 #include <math.h>
kadonotakashi 0:8fdf9a60065b 26 #include <string.h>
kadonotakashi 0:8fdf9a60065b 27
kadonotakashi 0:8fdf9a60065b 28 static uint32_t can_irq_ids[CAN_NUM] = {0};
kadonotakashi 0:8fdf9a60065b 29 static can_irq_handler irq_handler;
kadonotakashi 0:8fdf9a60065b 30
kadonotakashi 0:8fdf9a60065b 31 static void can_registers_init(can_t *obj)
kadonotakashi 0:8fdf9a60065b 32 {
kadonotakashi 0:8fdf9a60065b 33 if (HAL_CAN_Init(&obj->CanHandle) != HAL_OK) {
kadonotakashi 0:8fdf9a60065b 34 error("Cannot initialize CAN");
kadonotakashi 0:8fdf9a60065b 35 }
kadonotakashi 0:8fdf9a60065b 36
kadonotakashi 0:8fdf9a60065b 37 // Set initial CAN frequency to specified frequency
kadonotakashi 0:8fdf9a60065b 38 if (can_frequency(obj, obj->hz) != 1) {
kadonotakashi 0:8fdf9a60065b 39 error("Can frequency could not be set\n");
kadonotakashi 0:8fdf9a60065b 40 }
kadonotakashi 0:8fdf9a60065b 41 }
kadonotakashi 0:8fdf9a60065b 42
kadonotakashi 0:8fdf9a60065b 43 void can_init(can_t *obj, PinName rd, PinName td)
kadonotakashi 0:8fdf9a60065b 44 {
kadonotakashi 0:8fdf9a60065b 45 can_init_freq(obj, rd, td, 100000);
kadonotakashi 0:8fdf9a60065b 46 }
kadonotakashi 0:8fdf9a60065b 47
kadonotakashi 0:8fdf9a60065b 48 void can_init_freq(can_t *obj, PinName rd, PinName td, int hz)
kadonotakashi 0:8fdf9a60065b 49 {
kadonotakashi 0:8fdf9a60065b 50 CANName can_rd = (CANName)pinmap_peripheral(rd, PinMap_CAN_RD);
kadonotakashi 0:8fdf9a60065b 51 CANName can_td = (CANName)pinmap_peripheral(td, PinMap_CAN_TD);
kadonotakashi 0:8fdf9a60065b 52 CANName can = (CANName)pinmap_merge(can_rd, can_td);
kadonotakashi 0:8fdf9a60065b 53
kadonotakashi 0:8fdf9a60065b 54 MBED_ASSERT((int)can != NC);
kadonotakashi 0:8fdf9a60065b 55
kadonotakashi 0:8fdf9a60065b 56 if (can == CAN_1) {
kadonotakashi 0:8fdf9a60065b 57 __HAL_RCC_CAN1_CLK_ENABLE();
kadonotakashi 0:8fdf9a60065b 58 obj->index = 0;
kadonotakashi 0:8fdf9a60065b 59 }
kadonotakashi 0:8fdf9a60065b 60 #if defined(CAN2_BASE) && (CAN_NUM > 1)
kadonotakashi 0:8fdf9a60065b 61 else if (can == CAN_2) {
kadonotakashi 0:8fdf9a60065b 62 __HAL_RCC_CAN1_CLK_ENABLE(); // needed to set filters
kadonotakashi 0:8fdf9a60065b 63 __HAL_RCC_CAN2_CLK_ENABLE();
kadonotakashi 0:8fdf9a60065b 64 obj->index = 1;
kadonotakashi 0:8fdf9a60065b 65 }
kadonotakashi 0:8fdf9a60065b 66 #endif
kadonotakashi 0:8fdf9a60065b 67 #if defined(CAN3_BASE) && (CAN_NUM > 2)
kadonotakashi 0:8fdf9a60065b 68 else if (can == CAN_3) {
kadonotakashi 0:8fdf9a60065b 69 __HAL_RCC_CAN3_CLK_ENABLE();
kadonotakashi 0:8fdf9a60065b 70 obj->index = 2;
kadonotakashi 0:8fdf9a60065b 71 }
kadonotakashi 0:8fdf9a60065b 72 #endif
kadonotakashi 0:8fdf9a60065b 73 else {
kadonotakashi 0:8fdf9a60065b 74 return;
kadonotakashi 0:8fdf9a60065b 75 }
kadonotakashi 0:8fdf9a60065b 76
kadonotakashi 0:8fdf9a60065b 77 // Configure the CAN pins
kadonotakashi 0:8fdf9a60065b 78 pinmap_pinout(rd, PinMap_CAN_RD);
kadonotakashi 0:8fdf9a60065b 79 pinmap_pinout(td, PinMap_CAN_TD);
kadonotakashi 0:8fdf9a60065b 80 if (rd != NC) {
kadonotakashi 0:8fdf9a60065b 81 pin_mode(rd, PullUp);
kadonotakashi 0:8fdf9a60065b 82 }
kadonotakashi 0:8fdf9a60065b 83 if (td != NC) {
kadonotakashi 0:8fdf9a60065b 84 pin_mode(td, PullUp);
kadonotakashi 0:8fdf9a60065b 85 }
kadonotakashi 0:8fdf9a60065b 86
kadonotakashi 0:8fdf9a60065b 87 /* Use default values for rist init */
kadonotakashi 0:8fdf9a60065b 88 obj->CanHandle.Instance = (CAN_TypeDef *)can;
kadonotakashi 0:8fdf9a60065b 89 obj->CanHandle.Init.TTCM = DISABLE;
kadonotakashi 0:8fdf9a60065b 90 obj->CanHandle.Init.ABOM = DISABLE;
kadonotakashi 0:8fdf9a60065b 91 obj->CanHandle.Init.AWUM = DISABLE;
kadonotakashi 0:8fdf9a60065b 92 obj->CanHandle.Init.NART = DISABLE;
kadonotakashi 0:8fdf9a60065b 93 obj->CanHandle.Init.RFLM = DISABLE;
kadonotakashi 0:8fdf9a60065b 94 obj->CanHandle.Init.TXFP = DISABLE;
kadonotakashi 0:8fdf9a60065b 95 obj->CanHandle.Init.Mode = CAN_MODE_NORMAL;
kadonotakashi 0:8fdf9a60065b 96 obj->CanHandle.Init.SJW = CAN_SJW_1TQ;
kadonotakashi 0:8fdf9a60065b 97 obj->CanHandle.Init.BS1 = CAN_BS1_6TQ;
kadonotakashi 0:8fdf9a60065b 98 obj->CanHandle.Init.BS2 = CAN_BS2_8TQ;
kadonotakashi 0:8fdf9a60065b 99 obj->CanHandle.Init.Prescaler = 2;
kadonotakashi 0:8fdf9a60065b 100
kadonotakashi 0:8fdf9a60065b 101 /* Store frequency to be restored in case of reset */
kadonotakashi 0:8fdf9a60065b 102 obj->hz = hz;
kadonotakashi 0:8fdf9a60065b 103
kadonotakashi 0:8fdf9a60065b 104 can_registers_init(obj);
kadonotakashi 0:8fdf9a60065b 105
kadonotakashi 0:8fdf9a60065b 106 /* Bits 27:14 are available for dual CAN configuration and are reserved for
kadonotakashi 0:8fdf9a60065b 107 single CAN configuration: */
kadonotakashi 0:8fdf9a60065b 108 #if defined(CAN3_BASE) && (CAN_NUM > 2)
kadonotakashi 0:8fdf9a60065b 109 uint32_t filter_number = (can == CAN_1 || can == CAN_3) ? 0 : 14;
kadonotakashi 0:8fdf9a60065b 110 #else
kadonotakashi 0:8fdf9a60065b 111 uint32_t filter_number = (can == CAN_1) ? 0 : 14;
kadonotakashi 0:8fdf9a60065b 112 #endif
kadonotakashi 0:8fdf9a60065b 113 can_filter(obj, 0, 0, CANStandard, filter_number);
kadonotakashi 0:8fdf9a60065b 114 }
kadonotakashi 0:8fdf9a60065b 115
kadonotakashi 0:8fdf9a60065b 116
kadonotakashi 0:8fdf9a60065b 117 void can_irq_init(can_t *obj, can_irq_handler handler, uint32_t id)
kadonotakashi 0:8fdf9a60065b 118 {
kadonotakashi 0:8fdf9a60065b 119 irq_handler = handler;
kadonotakashi 0:8fdf9a60065b 120 can_irq_ids[obj->index] = id;
kadonotakashi 0:8fdf9a60065b 121 }
kadonotakashi 0:8fdf9a60065b 122
kadonotakashi 0:8fdf9a60065b 123 void can_irq_free(can_t *obj)
kadonotakashi 0:8fdf9a60065b 124 {
kadonotakashi 0:8fdf9a60065b 125 CAN_TypeDef *can = obj->CanHandle.Instance;
kadonotakashi 0:8fdf9a60065b 126
kadonotakashi 0:8fdf9a60065b 127 can->IER &= ~(CAN_IT_FMP0 | CAN_IT_FMP1 | CAN_IT_TME | \
kadonotakashi 0:8fdf9a60065b 128 CAN_IT_ERR | CAN_IT_EPV | CAN_IT_BOF);
kadonotakashi 0:8fdf9a60065b 129 can_irq_ids[obj->index] = 0;
kadonotakashi 0:8fdf9a60065b 130 }
kadonotakashi 0:8fdf9a60065b 131
kadonotakashi 0:8fdf9a60065b 132 void can_free(can_t *obj)
kadonotakashi 0:8fdf9a60065b 133 {
kadonotakashi 0:8fdf9a60065b 134 CANName can = (CANName) obj->CanHandle.Instance;
kadonotakashi 0:8fdf9a60065b 135 // Reset CAN and disable clock
kadonotakashi 0:8fdf9a60065b 136 if (can == CAN_1) {
kadonotakashi 0:8fdf9a60065b 137 __HAL_RCC_CAN1_FORCE_RESET();
kadonotakashi 0:8fdf9a60065b 138 __HAL_RCC_CAN1_RELEASE_RESET();
kadonotakashi 0:8fdf9a60065b 139 __HAL_RCC_CAN1_CLK_DISABLE();
kadonotakashi 0:8fdf9a60065b 140 }
kadonotakashi 0:8fdf9a60065b 141 #if defined(CAN2_BASE) && (CAN_NUM > 1)
kadonotakashi 0:8fdf9a60065b 142 if (can == CAN_2) {
kadonotakashi 0:8fdf9a60065b 143 __HAL_RCC_CAN2_FORCE_RESET();
kadonotakashi 0:8fdf9a60065b 144 __HAL_RCC_CAN2_RELEASE_RESET();
kadonotakashi 0:8fdf9a60065b 145 __HAL_RCC_CAN2_CLK_DISABLE();
kadonotakashi 0:8fdf9a60065b 146 }
kadonotakashi 0:8fdf9a60065b 147 #endif
kadonotakashi 0:8fdf9a60065b 148 #if defined(CAN3_BASE) && (CAN_NUM > 2)
kadonotakashi 0:8fdf9a60065b 149 if (can == CAN_3) {
kadonotakashi 0:8fdf9a60065b 150 __HAL_RCC_CAN3_FORCE_RESET();
kadonotakashi 0:8fdf9a60065b 151 __HAL_RCC_CAN3_RELEASE_RESET();
kadonotakashi 0:8fdf9a60065b 152 __HAL_RCC_CAN3_CLK_DISABLE();
kadonotakashi 0:8fdf9a60065b 153 }
kadonotakashi 0:8fdf9a60065b 154 #endif
kadonotakashi 0:8fdf9a60065b 155 }
kadonotakashi 0:8fdf9a60065b 156
kadonotakashi 0:8fdf9a60065b 157 // The following table is used to program bit_timing. It is an adjustment of the sample
kadonotakashi 0:8fdf9a60065b 158 // point by synchronizing on the start-bit edge and resynchronizing on the following edges.
kadonotakashi 0:8fdf9a60065b 159 // This table has the sampling points as close to 75% as possible (most commonly used).
kadonotakashi 0:8fdf9a60065b 160 // The first value is TSEG1, the second TSEG2.
kadonotakashi 0:8fdf9a60065b 161 static const int timing_pts[23][2] = {
kadonotakashi 0:8fdf9a60065b 162 {0x0, 0x0}, // 2, 50%
kadonotakashi 0:8fdf9a60065b 163 {0x1, 0x0}, // 3, 67%
kadonotakashi 0:8fdf9a60065b 164 {0x2, 0x0}, // 4, 75%
kadonotakashi 0:8fdf9a60065b 165 {0x3, 0x0}, // 5, 80%
kadonotakashi 0:8fdf9a60065b 166 {0x3, 0x1}, // 6, 67%
kadonotakashi 0:8fdf9a60065b 167 {0x4, 0x1}, // 7, 71%
kadonotakashi 0:8fdf9a60065b 168 {0x5, 0x1}, // 8, 75%
kadonotakashi 0:8fdf9a60065b 169 {0x6, 0x1}, // 9, 78%
kadonotakashi 0:8fdf9a60065b 170 {0x6, 0x2}, // 10, 70%
kadonotakashi 0:8fdf9a60065b 171 {0x7, 0x2}, // 11, 73%
kadonotakashi 0:8fdf9a60065b 172 {0x8, 0x2}, // 12, 75%
kadonotakashi 0:8fdf9a60065b 173 {0x9, 0x2}, // 13, 77%
kadonotakashi 0:8fdf9a60065b 174 {0x9, 0x3}, // 14, 71%
kadonotakashi 0:8fdf9a60065b 175 {0xA, 0x3}, // 15, 73%
kadonotakashi 0:8fdf9a60065b 176 {0xB, 0x3}, // 16, 75%
kadonotakashi 0:8fdf9a60065b 177 {0xC, 0x3}, // 17, 76%
kadonotakashi 0:8fdf9a60065b 178 {0xD, 0x3}, // 18, 78%
kadonotakashi 0:8fdf9a60065b 179 {0xD, 0x4}, // 19, 74%
kadonotakashi 0:8fdf9a60065b 180 {0xE, 0x4}, // 20, 75%
kadonotakashi 0:8fdf9a60065b 181 {0xF, 0x4}, // 21, 76%
kadonotakashi 0:8fdf9a60065b 182 {0xF, 0x5}, // 22, 73%
kadonotakashi 0:8fdf9a60065b 183 {0xF, 0x6}, // 23, 70%
kadonotakashi 0:8fdf9a60065b 184 {0xF, 0x7}, // 24, 67%
kadonotakashi 0:8fdf9a60065b 185 };
kadonotakashi 0:8fdf9a60065b 186
kadonotakashi 0:8fdf9a60065b 187 static unsigned int can_speed(unsigned int pclk, unsigned int cclk, unsigned char psjw)
kadonotakashi 0:8fdf9a60065b 188 {
kadonotakashi 0:8fdf9a60065b 189 uint32_t btr;
kadonotakashi 0:8fdf9a60065b 190 uint16_t brp = 0;
kadonotakashi 0:8fdf9a60065b 191 uint32_t calcbit;
kadonotakashi 0:8fdf9a60065b 192 uint32_t bitwidth;
kadonotakashi 0:8fdf9a60065b 193 int hit = 0;
kadonotakashi 0:8fdf9a60065b 194 int bits;
kadonotakashi 0:8fdf9a60065b 195
kadonotakashi 0:8fdf9a60065b 196 bitwidth = (pclk / cclk);
kadonotakashi 0:8fdf9a60065b 197
kadonotakashi 0:8fdf9a60065b 198 brp = bitwidth / 0x18;
kadonotakashi 0:8fdf9a60065b 199 while ((!hit) && (brp < bitwidth / 4)) {
kadonotakashi 0:8fdf9a60065b 200 brp++;
kadonotakashi 0:8fdf9a60065b 201 for (bits = 22; bits > 0; bits--) {
kadonotakashi 0:8fdf9a60065b 202 calcbit = (bits + 3) * (brp + 1);
kadonotakashi 0:8fdf9a60065b 203 if (calcbit == bitwidth) {
kadonotakashi 0:8fdf9a60065b 204 hit = 1;
kadonotakashi 0:8fdf9a60065b 205 break;
kadonotakashi 0:8fdf9a60065b 206 }
kadonotakashi 0:8fdf9a60065b 207 }
kadonotakashi 0:8fdf9a60065b 208 }
kadonotakashi 0:8fdf9a60065b 209
kadonotakashi 0:8fdf9a60065b 210 if (hit) {
kadonotakashi 0:8fdf9a60065b 211 btr = ((timing_pts[bits][1] << CAN_BTR_TS2_Pos) & CAN_BTR_TS2) |
kadonotakashi 0:8fdf9a60065b 212 ((timing_pts[bits][0] << CAN_BTR_TS1_Pos) & CAN_BTR_TS1) |
kadonotakashi 0:8fdf9a60065b 213 ((psjw << CAN_BTR_SJW_Pos) & CAN_BTR_SJW) |
kadonotakashi 0:8fdf9a60065b 214 ((brp << CAN_BTR_BRP_Pos) & CAN_BTR_BRP);
kadonotakashi 0:8fdf9a60065b 215 } else {
kadonotakashi 0:8fdf9a60065b 216 btr = 0xFFFFFFFF;
kadonotakashi 0:8fdf9a60065b 217 }
kadonotakashi 0:8fdf9a60065b 218
kadonotakashi 0:8fdf9a60065b 219 return btr;
kadonotakashi 0:8fdf9a60065b 220
kadonotakashi 0:8fdf9a60065b 221 }
kadonotakashi 0:8fdf9a60065b 222
kadonotakashi 0:8fdf9a60065b 223 int can_frequency(can_t *obj, int f)
kadonotakashi 0:8fdf9a60065b 224 {
kadonotakashi 0:8fdf9a60065b 225 int pclk = HAL_RCC_GetPCLK1Freq();
kadonotakashi 0:8fdf9a60065b 226 int btr = can_speed(pclk, (unsigned int)f, 1);
kadonotakashi 0:8fdf9a60065b 227 CAN_TypeDef *can = obj->CanHandle.Instance;
kadonotakashi 0:8fdf9a60065b 228 uint32_t tickstart = 0;
kadonotakashi 0:8fdf9a60065b 229 int status = 1;
kadonotakashi 0:8fdf9a60065b 230
kadonotakashi 0:8fdf9a60065b 231 if (btr > 0) {
kadonotakashi 0:8fdf9a60065b 232 can->MCR |= CAN_MCR_INRQ ;
kadonotakashi 0:8fdf9a60065b 233 /* Get tick */
kadonotakashi 0:8fdf9a60065b 234 tickstart = HAL_GetTick();
kadonotakashi 0:8fdf9a60065b 235 while ((can->MSR & CAN_MSR_INAK) != CAN_MSR_INAK) {
kadonotakashi 0:8fdf9a60065b 236 if ((HAL_GetTick() - tickstart) > 2) {
kadonotakashi 0:8fdf9a60065b 237 status = 0;
kadonotakashi 0:8fdf9a60065b 238 break;
kadonotakashi 0:8fdf9a60065b 239 }
kadonotakashi 0:8fdf9a60065b 240 }
kadonotakashi 0:8fdf9a60065b 241 if (status != 0) {
kadonotakashi 0:8fdf9a60065b 242 /* Do not erase all BTR registers (e.g. silent mode), only the
kadonotakashi 0:8fdf9a60065b 243 * ones calculated in can_speed */
kadonotakashi 0:8fdf9a60065b 244 can->BTR &= ~(CAN_BTR_TS2 | CAN_BTR_TS1 | CAN_BTR_SJW | CAN_BTR_BRP);
kadonotakashi 0:8fdf9a60065b 245 can->BTR |= btr;
kadonotakashi 0:8fdf9a60065b 246
kadonotakashi 0:8fdf9a60065b 247 can->MCR &= ~(uint32_t)CAN_MCR_INRQ;
kadonotakashi 0:8fdf9a60065b 248 /* Get tick */
kadonotakashi 0:8fdf9a60065b 249 tickstart = HAL_GetTick();
kadonotakashi 0:8fdf9a60065b 250 while ((can->MSR & CAN_MSR_INAK) == CAN_MSR_INAK) {
kadonotakashi 0:8fdf9a60065b 251 if ((HAL_GetTick() - tickstart) > 2) {
kadonotakashi 0:8fdf9a60065b 252 status = 0;
kadonotakashi 0:8fdf9a60065b 253 break;
kadonotakashi 0:8fdf9a60065b 254 }
kadonotakashi 0:8fdf9a60065b 255 }
kadonotakashi 0:8fdf9a60065b 256 if (status == 0) {
kadonotakashi 0:8fdf9a60065b 257 error("can ESR 0x%04x.%04x + timeout status %d", (can->ESR & 0xFFFF0000) >> 16, (can->ESR & 0xFFFF), status);
kadonotakashi 0:8fdf9a60065b 258 }
kadonotakashi 0:8fdf9a60065b 259 } else {
kadonotakashi 0:8fdf9a60065b 260 error("can init request timeout\n");
kadonotakashi 0:8fdf9a60065b 261 }
kadonotakashi 0:8fdf9a60065b 262 } else {
kadonotakashi 0:8fdf9a60065b 263 status = 0;
kadonotakashi 0:8fdf9a60065b 264 }
kadonotakashi 0:8fdf9a60065b 265 return status;
kadonotakashi 0:8fdf9a60065b 266 }
kadonotakashi 0:8fdf9a60065b 267
kadonotakashi 0:8fdf9a60065b 268 int can_write(can_t *obj, CAN_Message msg, int cc)
kadonotakashi 0:8fdf9a60065b 269 {
kadonotakashi 0:8fdf9a60065b 270 uint32_t transmitmailbox = CAN_TXSTATUS_NOMAILBOX;
kadonotakashi 0:8fdf9a60065b 271 CAN_TypeDef *can = obj->CanHandle.Instance;
kadonotakashi 0:8fdf9a60065b 272
kadonotakashi 0:8fdf9a60065b 273 /* Select one empty transmit mailbox */
kadonotakashi 0:8fdf9a60065b 274 if ((can->TSR & CAN_TSR_TME0) == CAN_TSR_TME0) {
kadonotakashi 0:8fdf9a60065b 275 transmitmailbox = 0;
kadonotakashi 0:8fdf9a60065b 276 } else if ((can->TSR & CAN_TSR_TME1) == CAN_TSR_TME1) {
kadonotakashi 0:8fdf9a60065b 277 transmitmailbox = 1;
kadonotakashi 0:8fdf9a60065b 278 } else if ((can->TSR & CAN_TSR_TME2) == CAN_TSR_TME2) {
kadonotakashi 0:8fdf9a60065b 279 transmitmailbox = 2;
kadonotakashi 0:8fdf9a60065b 280 } else {
kadonotakashi 0:8fdf9a60065b 281 return 0;
kadonotakashi 0:8fdf9a60065b 282 }
kadonotakashi 0:8fdf9a60065b 283
kadonotakashi 0:8fdf9a60065b 284 can->sTxMailBox[transmitmailbox].TIR &= CAN_TI0R_TXRQ;
kadonotakashi 0:8fdf9a60065b 285 if (!(msg.format)) {
kadonotakashi 0:8fdf9a60065b 286 can->sTxMailBox[transmitmailbox].TIR |= ((msg.id << 21) | (msg.type << 1));
kadonotakashi 0:8fdf9a60065b 287 } else {
kadonotakashi 0:8fdf9a60065b 288 can->sTxMailBox[transmitmailbox].TIR |= ((msg.id << 3) | CAN_ID_EXT | (msg.type << 1));
kadonotakashi 0:8fdf9a60065b 289 }
kadonotakashi 0:8fdf9a60065b 290
kadonotakashi 0:8fdf9a60065b 291 /* Set up the DLC */
kadonotakashi 0:8fdf9a60065b 292 can->sTxMailBox[transmitmailbox].TDTR &= (uint32_t)0xFFFFFFF0;
kadonotakashi 0:8fdf9a60065b 293 can->sTxMailBox[transmitmailbox].TDTR |= (msg.len & (uint8_t)0x0000000F);
kadonotakashi 0:8fdf9a60065b 294
kadonotakashi 0:8fdf9a60065b 295 /* Set up the data field */
kadonotakashi 0:8fdf9a60065b 296 can->sTxMailBox[transmitmailbox].TDLR = (((uint32_t)msg.data[3] << 24) |
kadonotakashi 0:8fdf9a60065b 297 ((uint32_t)msg.data[2] << 16) |
kadonotakashi 0:8fdf9a60065b 298 ((uint32_t)msg.data[1] << 8) |
kadonotakashi 0:8fdf9a60065b 299 ((uint32_t)msg.data[0]));
kadonotakashi 0:8fdf9a60065b 300 can->sTxMailBox[transmitmailbox].TDHR = (((uint32_t)msg.data[7] << 24) |
kadonotakashi 0:8fdf9a60065b 301 ((uint32_t)msg.data[6] << 16) |
kadonotakashi 0:8fdf9a60065b 302 ((uint32_t)msg.data[5] << 8) |
kadonotakashi 0:8fdf9a60065b 303 ((uint32_t)msg.data[4]));
kadonotakashi 0:8fdf9a60065b 304 /* Request transmission */
kadonotakashi 0:8fdf9a60065b 305 can->sTxMailBox[transmitmailbox].TIR |= CAN_TI0R_TXRQ;
kadonotakashi 0:8fdf9a60065b 306
kadonotakashi 0:8fdf9a60065b 307 return 1;
kadonotakashi 0:8fdf9a60065b 308 }
kadonotakashi 0:8fdf9a60065b 309
kadonotakashi 0:8fdf9a60065b 310 int can_read(can_t *obj, CAN_Message *msg, int handle)
kadonotakashi 0:8fdf9a60065b 311 {
kadonotakashi 0:8fdf9a60065b 312 //handle is the FIFO number
kadonotakashi 0:8fdf9a60065b 313
kadonotakashi 0:8fdf9a60065b 314 CAN_TypeDef *can = obj->CanHandle.Instance;
kadonotakashi 0:8fdf9a60065b 315
kadonotakashi 0:8fdf9a60065b 316 // check FPM0 which holds the pending message count in FIFO 0
kadonotakashi 0:8fdf9a60065b 317 // if no message is pending, return 0
kadonotakashi 0:8fdf9a60065b 318 if ((can->RF0R & CAN_RF0R_FMP0) == 0) {
kadonotakashi 0:8fdf9a60065b 319 return 0;
kadonotakashi 0:8fdf9a60065b 320 }
kadonotakashi 0:8fdf9a60065b 321
kadonotakashi 0:8fdf9a60065b 322 /* Get the Id */
kadonotakashi 0:8fdf9a60065b 323 msg->format = (CANFormat)(((uint8_t)0x04 & can->sFIFOMailBox[handle].RIR) >> 2);
kadonotakashi 0:8fdf9a60065b 324 if (!msg->format) {
kadonotakashi 0:8fdf9a60065b 325 msg->id = (uint32_t)0x000007FF & (can->sFIFOMailBox[handle].RIR >> 21);
kadonotakashi 0:8fdf9a60065b 326 } else {
kadonotakashi 0:8fdf9a60065b 327 msg->id = (uint32_t)0x1FFFFFFF & (can->sFIFOMailBox[handle].RIR >> 3);
kadonotakashi 0:8fdf9a60065b 328 }
kadonotakashi 0:8fdf9a60065b 329
kadonotakashi 0:8fdf9a60065b 330 msg->type = (CANType)(((uint8_t)0x02 & can->sFIFOMailBox[handle].RIR) >> 1);
kadonotakashi 0:8fdf9a60065b 331 /* Get the DLC */
kadonotakashi 0:8fdf9a60065b 332 msg->len = (uint8_t)0x0F & can->sFIFOMailBox[handle].RDTR;
kadonotakashi 0:8fdf9a60065b 333 /* Get the FMI */
kadonotakashi 0:8fdf9a60065b 334 // msg->FMI = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDTR >> 8);
kadonotakashi 0:8fdf9a60065b 335 /* Get the data field */
kadonotakashi 0:8fdf9a60065b 336 msg->data[0] = (uint8_t)0xFF & can->sFIFOMailBox[handle].RDLR;
kadonotakashi 0:8fdf9a60065b 337 msg->data[1] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDLR >> 8);
kadonotakashi 0:8fdf9a60065b 338 msg->data[2] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDLR >> 16);
kadonotakashi 0:8fdf9a60065b 339 msg->data[3] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDLR >> 24);
kadonotakashi 0:8fdf9a60065b 340 msg->data[4] = (uint8_t)0xFF & can->sFIFOMailBox[handle].RDHR;
kadonotakashi 0:8fdf9a60065b 341 msg->data[5] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDHR >> 8);
kadonotakashi 0:8fdf9a60065b 342 msg->data[6] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDHR >> 16);
kadonotakashi 0:8fdf9a60065b 343 msg->data[7] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDHR >> 24);
kadonotakashi 0:8fdf9a60065b 344
kadonotakashi 0:8fdf9a60065b 345 /* Release the FIFO */
kadonotakashi 0:8fdf9a60065b 346 if (handle == CAN_FIFO0) {
kadonotakashi 0:8fdf9a60065b 347 /* Release FIFO0 */
kadonotakashi 0:8fdf9a60065b 348 can->RF0R |= CAN_RF0R_RFOM0;
kadonotakashi 0:8fdf9a60065b 349 } else { /* FIFONumber == CAN_FIFO1 */
kadonotakashi 0:8fdf9a60065b 350 /* Release FIFO1 */
kadonotakashi 0:8fdf9a60065b 351 can->RF1R |= CAN_RF1R_RFOM1;
kadonotakashi 0:8fdf9a60065b 352 }
kadonotakashi 0:8fdf9a60065b 353
kadonotakashi 0:8fdf9a60065b 354 return 1;
kadonotakashi 0:8fdf9a60065b 355 }
kadonotakashi 0:8fdf9a60065b 356
kadonotakashi 0:8fdf9a60065b 357 void can_reset(can_t *obj)
kadonotakashi 0:8fdf9a60065b 358 {
kadonotakashi 0:8fdf9a60065b 359 CAN_TypeDef *can = obj->CanHandle.Instance;
kadonotakashi 0:8fdf9a60065b 360
kadonotakashi 0:8fdf9a60065b 361 /* Reset IP and delete errors */
kadonotakashi 0:8fdf9a60065b 362 can->MCR |= CAN_MCR_RESET;
kadonotakashi 0:8fdf9a60065b 363 can->ESR = 0x0;
kadonotakashi 0:8fdf9a60065b 364
kadonotakashi 0:8fdf9a60065b 365 /* restore registers state as saved in obj context */
kadonotakashi 0:8fdf9a60065b 366 can_registers_init(obj);
kadonotakashi 0:8fdf9a60065b 367 }
kadonotakashi 0:8fdf9a60065b 368
kadonotakashi 0:8fdf9a60065b 369 unsigned char can_rderror(can_t *obj)
kadonotakashi 0:8fdf9a60065b 370 {
kadonotakashi 0:8fdf9a60065b 371 CAN_TypeDef *can = obj->CanHandle.Instance;
kadonotakashi 0:8fdf9a60065b 372 return (can->ESR >> 24) & 0xFF;
kadonotakashi 0:8fdf9a60065b 373 }
kadonotakashi 0:8fdf9a60065b 374
kadonotakashi 0:8fdf9a60065b 375 unsigned char can_tderror(can_t *obj)
kadonotakashi 0:8fdf9a60065b 376 {
kadonotakashi 0:8fdf9a60065b 377 CAN_TypeDef *can = obj->CanHandle.Instance;
kadonotakashi 0:8fdf9a60065b 378 return (can->ESR >> 16) & 0xFF;
kadonotakashi 0:8fdf9a60065b 379 }
kadonotakashi 0:8fdf9a60065b 380
kadonotakashi 0:8fdf9a60065b 381 void can_monitor(can_t *obj, int silent)
kadonotakashi 0:8fdf9a60065b 382 {
kadonotakashi 0:8fdf9a60065b 383 CanMode mode = MODE_NORMAL;
kadonotakashi 0:8fdf9a60065b 384 /* Update current state w/ or w/o silent */
kadonotakashi 0:8fdf9a60065b 385 if (silent) {
kadonotakashi 0:8fdf9a60065b 386 switch (obj->CanHandle.Init.Mode) {
kadonotakashi 0:8fdf9a60065b 387 case CAN_MODE_LOOPBACK:
kadonotakashi 0:8fdf9a60065b 388 case CAN_MODE_SILENT_LOOPBACK:
kadonotakashi 0:8fdf9a60065b 389 mode = MODE_TEST_SILENT;
kadonotakashi 0:8fdf9a60065b 390 break;
kadonotakashi 0:8fdf9a60065b 391 default:
kadonotakashi 0:8fdf9a60065b 392 mode = MODE_SILENT;
kadonotakashi 0:8fdf9a60065b 393 break;
kadonotakashi 0:8fdf9a60065b 394 }
kadonotakashi 0:8fdf9a60065b 395 } else {
kadonotakashi 0:8fdf9a60065b 396 switch (obj->CanHandle.Init.Mode) {
kadonotakashi 0:8fdf9a60065b 397 case CAN_MODE_LOOPBACK:
kadonotakashi 0:8fdf9a60065b 398 case CAN_MODE_SILENT_LOOPBACK:
kadonotakashi 0:8fdf9a60065b 399 mode = MODE_TEST_LOCAL;
kadonotakashi 0:8fdf9a60065b 400 break;
kadonotakashi 0:8fdf9a60065b 401 default:
kadonotakashi 0:8fdf9a60065b 402 mode = MODE_NORMAL;
kadonotakashi 0:8fdf9a60065b 403 break;
kadonotakashi 0:8fdf9a60065b 404 }
kadonotakashi 0:8fdf9a60065b 405 }
kadonotakashi 0:8fdf9a60065b 406
kadonotakashi 0:8fdf9a60065b 407 can_mode(obj, mode);
kadonotakashi 0:8fdf9a60065b 408 }
kadonotakashi 0:8fdf9a60065b 409
kadonotakashi 0:8fdf9a60065b 410 int can_mode(can_t *obj, CanMode mode)
kadonotakashi 0:8fdf9a60065b 411 {
kadonotakashi 0:8fdf9a60065b 412 int success = 0;
kadonotakashi 0:8fdf9a60065b 413 CAN_TypeDef *can = obj->CanHandle.Instance;
kadonotakashi 0:8fdf9a60065b 414
kadonotakashi 0:8fdf9a60065b 415 can->MCR |= CAN_MCR_INRQ ;
kadonotakashi 0:8fdf9a60065b 416 while ((can->MSR & CAN_MSR_INAK) != CAN_MSR_INAK) {
kadonotakashi 0:8fdf9a60065b 417 }
kadonotakashi 0:8fdf9a60065b 418
kadonotakashi 0:8fdf9a60065b 419 switch (mode) {
kadonotakashi 0:8fdf9a60065b 420 case MODE_NORMAL:
kadonotakashi 0:8fdf9a60065b 421 obj->CanHandle.Init.Mode = CAN_MODE_NORMAL;
kadonotakashi 0:8fdf9a60065b 422 can->BTR &= ~(CAN_BTR_SILM | CAN_BTR_LBKM);
kadonotakashi 0:8fdf9a60065b 423 success = 1;
kadonotakashi 0:8fdf9a60065b 424 break;
kadonotakashi 0:8fdf9a60065b 425 case MODE_SILENT:
kadonotakashi 0:8fdf9a60065b 426 obj->CanHandle.Init.Mode = CAN_MODE_SILENT;
kadonotakashi 0:8fdf9a60065b 427 can->BTR |= CAN_BTR_SILM;
kadonotakashi 0:8fdf9a60065b 428 can->BTR &= ~CAN_BTR_LBKM;
kadonotakashi 0:8fdf9a60065b 429 success = 1;
kadonotakashi 0:8fdf9a60065b 430 break;
kadonotakashi 0:8fdf9a60065b 431 case MODE_TEST_GLOBAL:
kadonotakashi 0:8fdf9a60065b 432 case MODE_TEST_LOCAL:
kadonotakashi 0:8fdf9a60065b 433 obj->CanHandle.Init.Mode = CAN_MODE_LOOPBACK;
kadonotakashi 0:8fdf9a60065b 434 can->BTR |= CAN_BTR_LBKM;
kadonotakashi 0:8fdf9a60065b 435 can->BTR &= ~CAN_BTR_SILM;
kadonotakashi 0:8fdf9a60065b 436 success = 1;
kadonotakashi 0:8fdf9a60065b 437 break;
kadonotakashi 0:8fdf9a60065b 438 case MODE_TEST_SILENT:
kadonotakashi 0:8fdf9a60065b 439 obj->CanHandle.Init.Mode = CAN_MODE_SILENT_LOOPBACK;
kadonotakashi 0:8fdf9a60065b 440 can->BTR |= (CAN_BTR_SILM | CAN_BTR_LBKM);
kadonotakashi 0:8fdf9a60065b 441 success = 1;
kadonotakashi 0:8fdf9a60065b 442 break;
kadonotakashi 0:8fdf9a60065b 443 default:
kadonotakashi 0:8fdf9a60065b 444 success = 0;
kadonotakashi 0:8fdf9a60065b 445 break;
kadonotakashi 0:8fdf9a60065b 446 }
kadonotakashi 0:8fdf9a60065b 447
kadonotakashi 0:8fdf9a60065b 448 can->MCR &= ~(uint32_t)CAN_MCR_INRQ;
kadonotakashi 0:8fdf9a60065b 449 while ((can->MSR & CAN_MSR_INAK) == CAN_MSR_INAK) {
kadonotakashi 0:8fdf9a60065b 450 }
kadonotakashi 0:8fdf9a60065b 451
kadonotakashi 0:8fdf9a60065b 452 return success;
kadonotakashi 0:8fdf9a60065b 453 }
kadonotakashi 0:8fdf9a60065b 454
kadonotakashi 0:8fdf9a60065b 455 int can_filter(can_t *obj, uint32_t id, uint32_t mask, CANFormat format, int32_t handle)
kadonotakashi 0:8fdf9a60065b 456 {
kadonotakashi 0:8fdf9a60065b 457 int retval = 0;
kadonotakashi 0:8fdf9a60065b 458
kadonotakashi 0:8fdf9a60065b 459 // filter for CANAny format cannot be configured for STM32
kadonotakashi 0:8fdf9a60065b 460 if ((format == CANStandard) || (format == CANExtended)) {
kadonotakashi 0:8fdf9a60065b 461 CAN_FilterConfTypeDef sFilterConfig;
kadonotakashi 0:8fdf9a60065b 462 sFilterConfig.FilterNumber = handle;
kadonotakashi 0:8fdf9a60065b 463 sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
kadonotakashi 0:8fdf9a60065b 464 sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
kadonotakashi 0:8fdf9a60065b 465
kadonotakashi 0:8fdf9a60065b 466 if (format == CANStandard) {
kadonotakashi 0:8fdf9a60065b 467 sFilterConfig.FilterIdHigh = id << 5;
kadonotakashi 0:8fdf9a60065b 468 sFilterConfig.FilterIdLow = 0x0;
kadonotakashi 0:8fdf9a60065b 469 sFilterConfig.FilterMaskIdHigh = mask << 5;
kadonotakashi 0:8fdf9a60065b 470 sFilterConfig.FilterMaskIdLow = 0x0; // allows both remote and data frames
kadonotakashi 0:8fdf9a60065b 471 } else { // format == CANExtended
kadonotakashi 0:8fdf9a60065b 472 sFilterConfig.FilterIdHigh = id >> 13; // EXTID[28:13]
kadonotakashi 0:8fdf9a60065b 473 sFilterConfig.FilterIdLow = (0xFFFF & (id << 3)) | (1 << 2); // EXTID[12:0] + IDE
kadonotakashi 0:8fdf9a60065b 474 sFilterConfig.FilterMaskIdHigh = mask >> 13;
kadonotakashi 0:8fdf9a60065b 475 sFilterConfig.FilterMaskIdLow = (0xFFFF & (mask << 3)) | (1 << 2);
kadonotakashi 0:8fdf9a60065b 476 }
kadonotakashi 0:8fdf9a60065b 477
kadonotakashi 0:8fdf9a60065b 478 sFilterConfig.FilterFIFOAssignment = 0;
kadonotakashi 0:8fdf9a60065b 479 sFilterConfig.FilterActivation = ENABLE;
kadonotakashi 0:8fdf9a60065b 480 sFilterConfig.BankNumber = 14 + handle;
kadonotakashi 0:8fdf9a60065b 481
kadonotakashi 0:8fdf9a60065b 482 HAL_CAN_ConfigFilter(&obj->CanHandle, &sFilterConfig);
kadonotakashi 0:8fdf9a60065b 483 retval = handle;
kadonotakashi 0:8fdf9a60065b 484 }
kadonotakashi 0:8fdf9a60065b 485 return retval;
kadonotakashi 0:8fdf9a60065b 486 }
kadonotakashi 0:8fdf9a60065b 487
kadonotakashi 0:8fdf9a60065b 488 static void can_irq(CANName name, int id)
kadonotakashi 0:8fdf9a60065b 489 {
kadonotakashi 0:8fdf9a60065b 490 uint32_t tmp1 = 0, tmp2 = 0, tmp3 = 0;
kadonotakashi 0:8fdf9a60065b 491 CAN_HandleTypeDef CanHandle;
kadonotakashi 0:8fdf9a60065b 492 CanHandle.Instance = (CAN_TypeDef *)name;
kadonotakashi 0:8fdf9a60065b 493
kadonotakashi 0:8fdf9a60065b 494 if (__HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_TME)) {
kadonotakashi 0:8fdf9a60065b 495 tmp1 = __HAL_CAN_TRANSMIT_STATUS(&CanHandle, CAN_TXMAILBOX_0);
kadonotakashi 0:8fdf9a60065b 496 tmp2 = __HAL_CAN_TRANSMIT_STATUS(&CanHandle, CAN_TXMAILBOX_1);
kadonotakashi 0:8fdf9a60065b 497 tmp3 = __HAL_CAN_TRANSMIT_STATUS(&CanHandle, CAN_TXMAILBOX_2);
kadonotakashi 0:8fdf9a60065b 498 if (tmp1) {
kadonotakashi 0:8fdf9a60065b 499 __HAL_CAN_CLEAR_FLAG(&CanHandle, CAN_FLAG_RQCP0);
kadonotakashi 0:8fdf9a60065b 500 }
kadonotakashi 0:8fdf9a60065b 501 if (tmp2) {
kadonotakashi 0:8fdf9a60065b 502 __HAL_CAN_CLEAR_FLAG(&CanHandle, CAN_FLAG_RQCP1);
kadonotakashi 0:8fdf9a60065b 503 }
kadonotakashi 0:8fdf9a60065b 504 if (tmp3) {
kadonotakashi 0:8fdf9a60065b 505 __HAL_CAN_CLEAR_FLAG(&CanHandle, CAN_FLAG_RQCP2);
kadonotakashi 0:8fdf9a60065b 506 }
kadonotakashi 0:8fdf9a60065b 507 if (tmp1 || tmp2 || tmp3) {
kadonotakashi 0:8fdf9a60065b 508 irq_handler(can_irq_ids[id], IRQ_TX);
kadonotakashi 0:8fdf9a60065b 509 }
kadonotakashi 0:8fdf9a60065b 510 }
kadonotakashi 0:8fdf9a60065b 511
kadonotakashi 0:8fdf9a60065b 512 tmp1 = __HAL_CAN_MSG_PENDING(&CanHandle, CAN_FIFO0);
kadonotakashi 0:8fdf9a60065b 513 tmp2 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_FMP0);
kadonotakashi 0:8fdf9a60065b 514
kadonotakashi 0:8fdf9a60065b 515 if ((tmp1 != 0) && tmp2) {
kadonotakashi 0:8fdf9a60065b 516 irq_handler(can_irq_ids[id], IRQ_RX);
kadonotakashi 0:8fdf9a60065b 517 }
kadonotakashi 0:8fdf9a60065b 518
kadonotakashi 0:8fdf9a60065b 519 tmp1 = __HAL_CAN_GET_FLAG(&CanHandle, CAN_FLAG_EPV);
kadonotakashi 0:8fdf9a60065b 520 tmp2 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_EPV);
kadonotakashi 0:8fdf9a60065b 521 tmp3 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_ERR);
kadonotakashi 0:8fdf9a60065b 522
kadonotakashi 0:8fdf9a60065b 523 if (tmp1 && tmp2 && tmp3) {
kadonotakashi 0:8fdf9a60065b 524 irq_handler(can_irq_ids[id], IRQ_PASSIVE);
kadonotakashi 0:8fdf9a60065b 525 }
kadonotakashi 0:8fdf9a60065b 526
kadonotakashi 0:8fdf9a60065b 527 tmp1 = __HAL_CAN_GET_FLAG(&CanHandle, CAN_FLAG_BOF);
kadonotakashi 0:8fdf9a60065b 528 tmp2 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_BOF);
kadonotakashi 0:8fdf9a60065b 529 tmp3 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_ERR);
kadonotakashi 0:8fdf9a60065b 530 if (tmp1 && tmp2 && tmp3) {
kadonotakashi 0:8fdf9a60065b 531 irq_handler(can_irq_ids[id], IRQ_BUS);
kadonotakashi 0:8fdf9a60065b 532 }
kadonotakashi 0:8fdf9a60065b 533
kadonotakashi 0:8fdf9a60065b 534 tmp3 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_ERR);
kadonotakashi 0:8fdf9a60065b 535 if (tmp1 && tmp2 && tmp3) {
kadonotakashi 0:8fdf9a60065b 536 irq_handler(can_irq_ids[id], IRQ_ERROR);
kadonotakashi 0:8fdf9a60065b 537 }
kadonotakashi 0:8fdf9a60065b 538 }
kadonotakashi 0:8fdf9a60065b 539
kadonotakashi 0:8fdf9a60065b 540 #if defined(TARGET_STM32F0)
kadonotakashi 0:8fdf9a60065b 541 void CAN_IRQHandler(void)
kadonotakashi 0:8fdf9a60065b 542 {
kadonotakashi 0:8fdf9a60065b 543 can_irq(CAN_1, 0);
kadonotakashi 0:8fdf9a60065b 544 }
kadonotakashi 0:8fdf9a60065b 545 #elif defined(TARGET_STM32F3)
kadonotakashi 0:8fdf9a60065b 546 void CAN_RX0_IRQHandler(void)
kadonotakashi 0:8fdf9a60065b 547 {
kadonotakashi 0:8fdf9a60065b 548 can_irq(CAN_1, 0);
kadonotakashi 0:8fdf9a60065b 549 }
kadonotakashi 0:8fdf9a60065b 550 void CAN_TX_IRQHandler(void)
kadonotakashi 0:8fdf9a60065b 551 {
kadonotakashi 0:8fdf9a60065b 552 can_irq(CAN_1, 0);
kadonotakashi 0:8fdf9a60065b 553 }
kadonotakashi 0:8fdf9a60065b 554 void CAN_SCE_IRQHandler(void)
kadonotakashi 0:8fdf9a60065b 555 {
kadonotakashi 0:8fdf9a60065b 556 can_irq(CAN_1, 0);
kadonotakashi 0:8fdf9a60065b 557 }
kadonotakashi 0:8fdf9a60065b 558 #else
kadonotakashi 0:8fdf9a60065b 559 void CAN1_RX0_IRQHandler(void)
kadonotakashi 0:8fdf9a60065b 560 {
kadonotakashi 0:8fdf9a60065b 561 can_irq(CAN_1, 0);
kadonotakashi 0:8fdf9a60065b 562 }
kadonotakashi 0:8fdf9a60065b 563 void CAN1_TX_IRQHandler(void)
kadonotakashi 0:8fdf9a60065b 564 {
kadonotakashi 0:8fdf9a60065b 565 can_irq(CAN_1, 0);
kadonotakashi 0:8fdf9a60065b 566 }
kadonotakashi 0:8fdf9a60065b 567 void CAN1_SCE_IRQHandler(void)
kadonotakashi 0:8fdf9a60065b 568 {
kadonotakashi 0:8fdf9a60065b 569 can_irq(CAN_1, 0);
kadonotakashi 0:8fdf9a60065b 570 }
kadonotakashi 0:8fdf9a60065b 571 #if defined(CAN2_BASE) && (CAN_NUM > 1)
kadonotakashi 0:8fdf9a60065b 572 void CAN2_RX0_IRQHandler(void)
kadonotakashi 0:8fdf9a60065b 573 {
kadonotakashi 0:8fdf9a60065b 574 can_irq(CAN_2, 1);
kadonotakashi 0:8fdf9a60065b 575 }
kadonotakashi 0:8fdf9a60065b 576 void CAN2_TX_IRQHandler(void)
kadonotakashi 0:8fdf9a60065b 577 {
kadonotakashi 0:8fdf9a60065b 578 can_irq(CAN_2, 1);
kadonotakashi 0:8fdf9a60065b 579 }
kadonotakashi 0:8fdf9a60065b 580 void CAN2_SCE_IRQHandler(void)
kadonotakashi 0:8fdf9a60065b 581 {
kadonotakashi 0:8fdf9a60065b 582 can_irq(CAN_2, 1);
kadonotakashi 0:8fdf9a60065b 583 }
kadonotakashi 0:8fdf9a60065b 584 #endif
kadonotakashi 0:8fdf9a60065b 585 #if defined(CAN3_BASE) && (CAN_NUM > 2)
kadonotakashi 0:8fdf9a60065b 586 void CAN3_RX0_IRQHandler(void)
kadonotakashi 0:8fdf9a60065b 587 {
kadonotakashi 0:8fdf9a60065b 588 can_irq(CAN_3, 2);
kadonotakashi 0:8fdf9a60065b 589 }
kadonotakashi 0:8fdf9a60065b 590 void CAN3_TX_IRQHandler(void)
kadonotakashi 0:8fdf9a60065b 591 {
kadonotakashi 0:8fdf9a60065b 592 can_irq(CAN_3, 2);
kadonotakashi 0:8fdf9a60065b 593 }
kadonotakashi 0:8fdf9a60065b 594 void CAN3_SCE_IRQHandler(void)
kadonotakashi 0:8fdf9a60065b 595 {
kadonotakashi 0:8fdf9a60065b 596 can_irq(CAN_3, 2);
kadonotakashi 0:8fdf9a60065b 597 }
kadonotakashi 0:8fdf9a60065b 598 #endif
kadonotakashi 0:8fdf9a60065b 599 #endif // else
kadonotakashi 0:8fdf9a60065b 600
kadonotakashi 0:8fdf9a60065b 601 void can_irq_set(can_t *obj, CanIrqType type, uint32_t enable)
kadonotakashi 0:8fdf9a60065b 602 {
kadonotakashi 0:8fdf9a60065b 603 CAN_TypeDef *can = obj->CanHandle.Instance;
kadonotakashi 0:8fdf9a60065b 604 IRQn_Type irq_n = (IRQn_Type)0;
kadonotakashi 0:8fdf9a60065b 605 uint32_t vector = 0;
kadonotakashi 0:8fdf9a60065b 606 uint32_t ier;
kadonotakashi 0:8fdf9a60065b 607
kadonotakashi 0:8fdf9a60065b 608 if ((CANName) can == CAN_1) {
kadonotakashi 0:8fdf9a60065b 609 switch (type) {
kadonotakashi 0:8fdf9a60065b 610 case IRQ_RX:
kadonotakashi 0:8fdf9a60065b 611 ier = CAN_IT_FMP0;
kadonotakashi 0:8fdf9a60065b 612 irq_n = CAN1_IRQ_RX_IRQN;
kadonotakashi 0:8fdf9a60065b 613 vector = (uint32_t)&CAN1_IRQ_RX_VECT;
kadonotakashi 0:8fdf9a60065b 614 break;
kadonotakashi 0:8fdf9a60065b 615 case IRQ_TX:
kadonotakashi 0:8fdf9a60065b 616 ier = CAN_IT_TME;
kadonotakashi 0:8fdf9a60065b 617 irq_n = CAN1_IRQ_TX_IRQN;
kadonotakashi 0:8fdf9a60065b 618 vector = (uint32_t)&CAN1_IRQ_TX_VECT;
kadonotakashi 0:8fdf9a60065b 619 break;
kadonotakashi 0:8fdf9a60065b 620 case IRQ_ERROR:
kadonotakashi 0:8fdf9a60065b 621 ier = CAN_IT_ERR;
kadonotakashi 0:8fdf9a60065b 622 irq_n = CAN1_IRQ_ERROR_IRQN;
kadonotakashi 0:8fdf9a60065b 623 vector = (uint32_t)&CAN1_IRQ_ERROR_VECT;
kadonotakashi 0:8fdf9a60065b 624 break;
kadonotakashi 0:8fdf9a60065b 625 case IRQ_PASSIVE:
kadonotakashi 0:8fdf9a60065b 626 ier = CAN_IT_EPV;
kadonotakashi 0:8fdf9a60065b 627 irq_n = CAN1_IRQ_PASSIVE_IRQN;
kadonotakashi 0:8fdf9a60065b 628 vector = (uint32_t)&CAN1_IRQ_PASSIVE_VECT;
kadonotakashi 0:8fdf9a60065b 629 break;
kadonotakashi 0:8fdf9a60065b 630 case IRQ_BUS:
kadonotakashi 0:8fdf9a60065b 631 ier = CAN_IT_BOF;
kadonotakashi 0:8fdf9a60065b 632 irq_n = CAN1_IRQ_BUS_IRQN;
kadonotakashi 0:8fdf9a60065b 633 vector = (uint32_t)&CAN1_IRQ_BUS_VECT;
kadonotakashi 0:8fdf9a60065b 634 break;
kadonotakashi 0:8fdf9a60065b 635 default:
kadonotakashi 0:8fdf9a60065b 636 return;
kadonotakashi 0:8fdf9a60065b 637 }
kadonotakashi 0:8fdf9a60065b 638 }
kadonotakashi 0:8fdf9a60065b 639 #if defined(CAN2_BASE) && (CAN_NUM > 1)
kadonotakashi 0:8fdf9a60065b 640 else if ((CANName) can == CAN_2) {
kadonotakashi 0:8fdf9a60065b 641 switch (type) {
kadonotakashi 0:8fdf9a60065b 642 case IRQ_RX:
kadonotakashi 0:8fdf9a60065b 643 ier = CAN_IT_FMP0;
kadonotakashi 0:8fdf9a60065b 644 irq_n = CAN2_IRQ_RX_IRQN;
kadonotakashi 0:8fdf9a60065b 645 vector = (uint32_t)&CAN2_IRQ_RX_VECT;
kadonotakashi 0:8fdf9a60065b 646 break;
kadonotakashi 0:8fdf9a60065b 647 case IRQ_TX:
kadonotakashi 0:8fdf9a60065b 648 ier = CAN_IT_TME;
kadonotakashi 0:8fdf9a60065b 649 irq_n = CAN2_IRQ_TX_IRQN;
kadonotakashi 0:8fdf9a60065b 650 vector = (uint32_t)&CAN2_IRQ_TX_VECT;
kadonotakashi 0:8fdf9a60065b 651 break;
kadonotakashi 0:8fdf9a60065b 652 case IRQ_ERROR:
kadonotakashi 0:8fdf9a60065b 653 ier = CAN_IT_ERR;
kadonotakashi 0:8fdf9a60065b 654 irq_n = CAN2_IRQ_ERROR_IRQN;
kadonotakashi 0:8fdf9a60065b 655 vector = (uint32_t)&CAN2_IRQ_ERROR_VECT;
kadonotakashi 0:8fdf9a60065b 656 break;
kadonotakashi 0:8fdf9a60065b 657 case IRQ_PASSIVE:
kadonotakashi 0:8fdf9a60065b 658 ier = CAN_IT_EPV;
kadonotakashi 0:8fdf9a60065b 659 irq_n = CAN2_IRQ_PASSIVE_IRQN;
kadonotakashi 0:8fdf9a60065b 660 vector = (uint32_t)&CAN2_IRQ_PASSIVE_VECT;
kadonotakashi 0:8fdf9a60065b 661 break;
kadonotakashi 0:8fdf9a60065b 662 case IRQ_BUS:
kadonotakashi 0:8fdf9a60065b 663 ier = CAN_IT_BOF;
kadonotakashi 0:8fdf9a60065b 664 irq_n = CAN2_IRQ_BUS_IRQN;
kadonotakashi 0:8fdf9a60065b 665 vector = (uint32_t)&CAN2_IRQ_BUS_VECT;
kadonotakashi 0:8fdf9a60065b 666 break;
kadonotakashi 0:8fdf9a60065b 667 default:
kadonotakashi 0:8fdf9a60065b 668 return;
kadonotakashi 0:8fdf9a60065b 669 }
kadonotakashi 0:8fdf9a60065b 670 }
kadonotakashi 0:8fdf9a60065b 671 #endif
kadonotakashi 0:8fdf9a60065b 672 #if defined(CAN3_BASE) && (CAN_NUM > 2)
kadonotakashi 0:8fdf9a60065b 673 else if ((CANName) can == CAN_3) {
kadonotakashi 0:8fdf9a60065b 674 switch (type) {
kadonotakashi 0:8fdf9a60065b 675 case IRQ_RX:
kadonotakashi 0:8fdf9a60065b 676 ier = CAN_IT_FMP0;
kadonotakashi 0:8fdf9a60065b 677 irq_n = CAN3_IRQ_RX_IRQN;
kadonotakashi 0:8fdf9a60065b 678 vector = (uint32_t)&CAN3_IRQ_RX_VECT;
kadonotakashi 0:8fdf9a60065b 679 break;
kadonotakashi 0:8fdf9a60065b 680 case IRQ_TX:
kadonotakashi 0:8fdf9a60065b 681 ier = CAN_IT_TME;
kadonotakashi 0:8fdf9a60065b 682 irq_n = CAN3_IRQ_TX_IRQN;
kadonotakashi 0:8fdf9a60065b 683 vector = (uint32_t)&CAN3_IRQ_TX_VECT;
kadonotakashi 0:8fdf9a60065b 684 break;
kadonotakashi 0:8fdf9a60065b 685 case IRQ_ERROR:
kadonotakashi 0:8fdf9a60065b 686 ier = CAN_IT_ERR;
kadonotakashi 0:8fdf9a60065b 687 irq_n = CAN3_IRQ_ERROR_IRQN;
kadonotakashi 0:8fdf9a60065b 688 vector = (uint32_t)&CAN3_IRQ_ERROR_VECT;
kadonotakashi 0:8fdf9a60065b 689 break;
kadonotakashi 0:8fdf9a60065b 690 case IRQ_PASSIVE:
kadonotakashi 0:8fdf9a60065b 691 ier = CAN_IT_EPV;
kadonotakashi 0:8fdf9a60065b 692 irq_n = CAN3_IRQ_PASSIVE_IRQN;
kadonotakashi 0:8fdf9a60065b 693 vector = (uint32_t)&CAN3_IRQ_PASSIVE_VECT;
kadonotakashi 0:8fdf9a60065b 694 break;
kadonotakashi 0:8fdf9a60065b 695 case IRQ_BUS:
kadonotakashi 0:8fdf9a60065b 696 ier = CAN_IT_BOF;
kadonotakashi 0:8fdf9a60065b 697 irq_n = CAN3_IRQ_BUS_IRQN;
kadonotakashi 0:8fdf9a60065b 698 vector = (uint32_t)&CAN3_IRQ_BUS_VECT;
kadonotakashi 0:8fdf9a60065b 699 break;
kadonotakashi 0:8fdf9a60065b 700 default:
kadonotakashi 0:8fdf9a60065b 701 return;
kadonotakashi 0:8fdf9a60065b 702 }
kadonotakashi 0:8fdf9a60065b 703 }
kadonotakashi 0:8fdf9a60065b 704 #endif
kadonotakashi 0:8fdf9a60065b 705 else {
kadonotakashi 0:8fdf9a60065b 706 return;
kadonotakashi 0:8fdf9a60065b 707 }
kadonotakashi 0:8fdf9a60065b 708
kadonotakashi 0:8fdf9a60065b 709 if (enable) {
kadonotakashi 0:8fdf9a60065b 710 can->IER |= ier;
kadonotakashi 0:8fdf9a60065b 711 } else {
kadonotakashi 0:8fdf9a60065b 712 can->IER &= ~ier;
kadonotakashi 0:8fdf9a60065b 713 }
kadonotakashi 0:8fdf9a60065b 714
kadonotakashi 0:8fdf9a60065b 715 NVIC_SetVector(irq_n, vector);
kadonotakashi 0:8fdf9a60065b 716 NVIC_EnableIRQ(irq_n);
kadonotakashi 0:8fdf9a60065b 717 }
kadonotakashi 0:8fdf9a60065b 718
kadonotakashi 0:8fdf9a60065b 719 #endif // DEVICE_CAN