Thomas Lyp / DevLibMemoryController

Initial commit

Dependencies:   FastPWM

mbed-dev-master/targets/TARGET_STM/can_api.c@0:bb348c97df44, 2020-09-16 (annotated)

Committer:
lypinator
Date:
Wed Sep 16 01:11:49 2020 +0000
Revision:
0:bb348c97df44
Added PWM

Who changed what in which revision?

UserRevisionLine numberNew contents of line
lypinator 0:bb348c97df44 1 /* mbed Microcontroller Library
lypinator 0:bb348c97df44 2 * Copyright (c) 2006-2017 ARM Limited
lypinator 0:bb348c97df44 3 *
lypinator 0:bb348c97df44 4 * Licensed under the Apache License, Version 2.0 (the "License");
lypinator 0:bb348c97df44 5 * you may not use this file except in compliance with the License.
lypinator 0:bb348c97df44 6 * You may obtain a copy of the License at
lypinator 0:bb348c97df44 7 *
lypinator 0:bb348c97df44 8 * http://www.apache.org/licenses/LICENSE-2.0
lypinator 0:bb348c97df44 9 *
lypinator 0:bb348c97df44 10 * Unless required by applicable law or agreed to in writing, software
lypinator 0:bb348c97df44 11 * distributed under the License is distributed on an "AS IS" BASIS,
lypinator 0:bb348c97df44 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
lypinator 0:bb348c97df44 13 * See the License for the specific language governing permissions and
lypinator 0:bb348c97df44 14 * limitations under the License.
lypinator 0:bb348c97df44 15 */
lypinator 0:bb348c97df44 16 #include "can_api.h"
lypinator 0:bb348c97df44 17
lypinator 0:bb348c97df44 18 #if DEVICE_CAN
lypinator 0:bb348c97df44 19
lypinator 0:bb348c97df44 20 #include "cmsis.h"
lypinator 0:bb348c97df44 21 #include "pinmap.h"
lypinator 0:bb348c97df44 22 #include "PeripheralPins.h"
lypinator 0:bb348c97df44 23 #include "mbed_error.h"
lypinator 0:bb348c97df44 24 #include "can_device.h" // Specific to STM32 serie
lypinator 0:bb348c97df44 25 #include <math.h>
lypinator 0:bb348c97df44 26 #include <string.h>
lypinator 0:bb348c97df44 27
lypinator 0:bb348c97df44 28 static uint32_t can_irq_ids[CAN_NUM] = {0};
lypinator 0:bb348c97df44 29 static can_irq_handler irq_handler;
lypinator 0:bb348c97df44 30
lypinator 0:bb348c97df44 31 static void can_registers_init(can_t *obj)
lypinator 0:bb348c97df44 32 {
lypinator 0:bb348c97df44 33 if (HAL_CAN_Init(&obj->CanHandle) != HAL_OK) {
lypinator 0:bb348c97df44 34 error("Cannot initialize CAN");
lypinator 0:bb348c97df44 35 }
lypinator 0:bb348c97df44 36
lypinator 0:bb348c97df44 37 // Set initial CAN frequency to specified frequency
lypinator 0:bb348c97df44 38 if (can_frequency(obj, obj->hz) != 1) {
lypinator 0:bb348c97df44 39 error("Can frequency could not be set\n");
lypinator 0:bb348c97df44 40 }
lypinator 0:bb348c97df44 41 }
lypinator 0:bb348c97df44 42
lypinator 0:bb348c97df44 43 void can_init(can_t *obj, PinName rd, PinName td)
lypinator 0:bb348c97df44 44 {
lypinator 0:bb348c97df44 45 can_init_freq(obj, rd, td, 100000);
lypinator 0:bb348c97df44 46 }
lypinator 0:bb348c97df44 47
lypinator 0:bb348c97df44 48 void can_init_freq(can_t *obj, PinName rd, PinName td, int hz)
lypinator 0:bb348c97df44 49 {
lypinator 0:bb348c97df44 50 CANName can_rd = (CANName)pinmap_peripheral(rd, PinMap_CAN_RD);
lypinator 0:bb348c97df44 51 CANName can_td = (CANName)pinmap_peripheral(td, PinMap_CAN_TD);
lypinator 0:bb348c97df44 52 CANName can = (CANName)pinmap_merge(can_rd, can_td);
lypinator 0:bb348c97df44 53
lypinator 0:bb348c97df44 54 MBED_ASSERT((int)can != NC);
lypinator 0:bb348c97df44 55
lypinator 0:bb348c97df44 56 if (can == CAN_1) {
lypinator 0:bb348c97df44 57 __HAL_RCC_CAN1_CLK_ENABLE();
lypinator 0:bb348c97df44 58 obj->index = 0;
lypinator 0:bb348c97df44 59 }
lypinator 0:bb348c97df44 60 #if defined(CAN2_BASE) && (CAN_NUM > 1)
lypinator 0:bb348c97df44 61 else if (can == CAN_2) {
lypinator 0:bb348c97df44 62 __HAL_RCC_CAN1_CLK_ENABLE(); // needed to set filters
lypinator 0:bb348c97df44 63 __HAL_RCC_CAN2_CLK_ENABLE();
lypinator 0:bb348c97df44 64 obj->index = 1;
lypinator 0:bb348c97df44 65 }
lypinator 0:bb348c97df44 66 #endif
lypinator 0:bb348c97df44 67 #if defined(CAN3_BASE) && (CAN_NUM > 2)
lypinator 0:bb348c97df44 68 else if (can == CAN_3) {
lypinator 0:bb348c97df44 69 __HAL_RCC_CAN3_CLK_ENABLE();
lypinator 0:bb348c97df44 70 obj->index = 2;
lypinator 0:bb348c97df44 71 }
lypinator 0:bb348c97df44 72 #endif
lypinator 0:bb348c97df44 73 else {
lypinator 0:bb348c97df44 74 return;
lypinator 0:bb348c97df44 75 }
lypinator 0:bb348c97df44 76
lypinator 0:bb348c97df44 77 // Configure the CAN pins
lypinator 0:bb348c97df44 78 pinmap_pinout(rd, PinMap_CAN_RD);
lypinator 0:bb348c97df44 79 pinmap_pinout(td, PinMap_CAN_TD);
lypinator 0:bb348c97df44 80 if (rd != NC) {
lypinator 0:bb348c97df44 81 pin_mode(rd, PullUp);
lypinator 0:bb348c97df44 82 }
lypinator 0:bb348c97df44 83 if (td != NC) {
lypinator 0:bb348c97df44 84 pin_mode(td, PullUp);
lypinator 0:bb348c97df44 85 }
lypinator 0:bb348c97df44 86
lypinator 0:bb348c97df44 87 /* Use default values for rist init */
lypinator 0:bb348c97df44 88 obj->CanHandle.Instance = (CAN_TypeDef *)can;
lypinator 0:bb348c97df44 89 obj->CanHandle.Init.TTCM = DISABLE;
lypinator 0:bb348c97df44 90 obj->CanHandle.Init.ABOM = DISABLE;
lypinator 0:bb348c97df44 91 obj->CanHandle.Init.AWUM = DISABLE;
lypinator 0:bb348c97df44 92 obj->CanHandle.Init.NART = DISABLE;
lypinator 0:bb348c97df44 93 obj->CanHandle.Init.RFLM = DISABLE;
lypinator 0:bb348c97df44 94 obj->CanHandle.Init.TXFP = DISABLE;
lypinator 0:bb348c97df44 95 obj->CanHandle.Init.Mode = CAN_MODE_NORMAL;
lypinator 0:bb348c97df44 96 obj->CanHandle.Init.SJW = CAN_SJW_1TQ;
lypinator 0:bb348c97df44 97 obj->CanHandle.Init.BS1 = CAN_BS1_6TQ;
lypinator 0:bb348c97df44 98 obj->CanHandle.Init.BS2 = CAN_BS2_8TQ;
lypinator 0:bb348c97df44 99 obj->CanHandle.Init.Prescaler = 2;
lypinator 0:bb348c97df44 100
lypinator 0:bb348c97df44 101 /* Store frequency to be restored in case of reset */
lypinator 0:bb348c97df44 102 obj->hz = hz;
lypinator 0:bb348c97df44 103
lypinator 0:bb348c97df44 104 can_registers_init(obj);
lypinator 0:bb348c97df44 105
lypinator 0:bb348c97df44 106 /* Bits 27:14 are available for dual CAN configuration and are reserved for
lypinator 0:bb348c97df44 107 single CAN configuration: */
lypinator 0:bb348c97df44 108 #if defined(CAN3_BASE) && (CAN_NUM > 2)
lypinator 0:bb348c97df44 109 uint32_t filter_number = (can == CAN_1 || can == CAN_3) ? 0 : 14;
lypinator 0:bb348c97df44 110 #else
lypinator 0:bb348c97df44 111 uint32_t filter_number = (can == CAN_1) ? 0 : 14;
lypinator 0:bb348c97df44 112 #endif
lypinator 0:bb348c97df44 113 can_filter(obj, 0, 0, CANStandard, filter_number);
lypinator 0:bb348c97df44 114 }
lypinator 0:bb348c97df44 115
lypinator 0:bb348c97df44 116
lypinator 0:bb348c97df44 117 void can_irq_init(can_t *obj, can_irq_handler handler, uint32_t id)
lypinator 0:bb348c97df44 118 {
lypinator 0:bb348c97df44 119 irq_handler = handler;
lypinator 0:bb348c97df44 120 can_irq_ids[obj->index] = id;
lypinator 0:bb348c97df44 121 }
lypinator 0:bb348c97df44 122
lypinator 0:bb348c97df44 123 void can_irq_free(can_t *obj)
lypinator 0:bb348c97df44 124 {
lypinator 0:bb348c97df44 125 CAN_TypeDef *can = obj->CanHandle.Instance;
lypinator 0:bb348c97df44 126
lypinator 0:bb348c97df44 127 can->IER &= ~(CAN_IT_FMP0 | CAN_IT_FMP1 | CAN_IT_TME | \
lypinator 0:bb348c97df44 128 CAN_IT_ERR | CAN_IT_EPV | CAN_IT_BOF);
lypinator 0:bb348c97df44 129 can_irq_ids[obj->index] = 0;
lypinator 0:bb348c97df44 130 }
lypinator 0:bb348c97df44 131
lypinator 0:bb348c97df44 132 void can_free(can_t *obj)
lypinator 0:bb348c97df44 133 {
lypinator 0:bb348c97df44 134 CANName can = (CANName) obj->CanHandle.Instance;
lypinator 0:bb348c97df44 135 // Reset CAN and disable clock
lypinator 0:bb348c97df44 136 if (can == CAN_1) {
lypinator 0:bb348c97df44 137 __HAL_RCC_CAN1_FORCE_RESET();
lypinator 0:bb348c97df44 138 __HAL_RCC_CAN1_RELEASE_RESET();
lypinator 0:bb348c97df44 139 __HAL_RCC_CAN1_CLK_DISABLE();
lypinator 0:bb348c97df44 140 }
lypinator 0:bb348c97df44 141 #if defined(CAN2_BASE) && (CAN_NUM > 1)
lypinator 0:bb348c97df44 142 if (can == CAN_2) {
lypinator 0:bb348c97df44 143 __HAL_RCC_CAN2_FORCE_RESET();
lypinator 0:bb348c97df44 144 __HAL_RCC_CAN2_RELEASE_RESET();
lypinator 0:bb348c97df44 145 __HAL_RCC_CAN2_CLK_DISABLE();
lypinator 0:bb348c97df44 146 }
lypinator 0:bb348c97df44 147 #endif
lypinator 0:bb348c97df44 148 #if defined(CAN3_BASE) && (CAN_NUM > 2)
lypinator 0:bb348c97df44 149 if (can == CAN_3) {
lypinator 0:bb348c97df44 150 __HAL_RCC_CAN3_FORCE_RESET();
lypinator 0:bb348c97df44 151 __HAL_RCC_CAN3_RELEASE_RESET();
lypinator 0:bb348c97df44 152 __HAL_RCC_CAN3_CLK_DISABLE();
lypinator 0:bb348c97df44 153 }
lypinator 0:bb348c97df44 154 #endif
lypinator 0:bb348c97df44 155 }
lypinator 0:bb348c97df44 156
lypinator 0:bb348c97df44 157 // The following table is used to program bit_timing. It is an adjustment of the sample
lypinator 0:bb348c97df44 158 // point by synchronizing on the start-bit edge and resynchronizing on the following edges.
lypinator 0:bb348c97df44 159 // This table has the sampling points as close to 75% as possible (most commonly used).
lypinator 0:bb348c97df44 160 // The first value is TSEG1, the second TSEG2.
lypinator 0:bb348c97df44 161 static const int timing_pts[23][2] = {
lypinator 0:bb348c97df44 162 {0x0, 0x0}, // 2, 50%
lypinator 0:bb348c97df44 163 {0x1, 0x0}, // 3, 67%
lypinator 0:bb348c97df44 164 {0x2, 0x0}, // 4, 75%
lypinator 0:bb348c97df44 165 {0x3, 0x0}, // 5, 80%
lypinator 0:bb348c97df44 166 {0x3, 0x1}, // 6, 67%
lypinator 0:bb348c97df44 167 {0x4, 0x1}, // 7, 71%
lypinator 0:bb348c97df44 168 {0x5, 0x1}, // 8, 75%
lypinator 0:bb348c97df44 169 {0x6, 0x1}, // 9, 78%
lypinator 0:bb348c97df44 170 {0x6, 0x2}, // 10, 70%
lypinator 0:bb348c97df44 171 {0x7, 0x2}, // 11, 73%
lypinator 0:bb348c97df44 172 {0x8, 0x2}, // 12, 75%
lypinator 0:bb348c97df44 173 {0x9, 0x2}, // 13, 77%
lypinator 0:bb348c97df44 174 {0x9, 0x3}, // 14, 71%
lypinator 0:bb348c97df44 175 {0xA, 0x3}, // 15, 73%
lypinator 0:bb348c97df44 176 {0xB, 0x3}, // 16, 75%
lypinator 0:bb348c97df44 177 {0xC, 0x3}, // 17, 76%
lypinator 0:bb348c97df44 178 {0xD, 0x3}, // 18, 78%
lypinator 0:bb348c97df44 179 {0xD, 0x4}, // 19, 74%
lypinator 0:bb348c97df44 180 {0xE, 0x4}, // 20, 75%
lypinator 0:bb348c97df44 181 {0xF, 0x4}, // 21, 76%
lypinator 0:bb348c97df44 182 {0xF, 0x5}, // 22, 73%
lypinator 0:bb348c97df44 183 {0xF, 0x6}, // 23, 70%
lypinator 0:bb348c97df44 184 {0xF, 0x7}, // 24, 67%
lypinator 0:bb348c97df44 185 };
lypinator 0:bb348c97df44 186
lypinator 0:bb348c97df44 187 static unsigned int can_speed(unsigned int pclk, unsigned int cclk, unsigned char psjw)
lypinator 0:bb348c97df44 188 {
lypinator 0:bb348c97df44 189 uint32_t btr;
lypinator 0:bb348c97df44 190 uint16_t brp = 0;
lypinator 0:bb348c97df44 191 uint32_t calcbit;
lypinator 0:bb348c97df44 192 uint32_t bitwidth;
lypinator 0:bb348c97df44 193 int hit = 0;
lypinator 0:bb348c97df44 194 int bits;
lypinator 0:bb348c97df44 195
lypinator 0:bb348c97df44 196 bitwidth = (pclk / cclk);
lypinator 0:bb348c97df44 197
lypinator 0:bb348c97df44 198 brp = bitwidth / 0x18;
lypinator 0:bb348c97df44 199 while ((!hit) && (brp < bitwidth / 4)) {
lypinator 0:bb348c97df44 200 brp++;
lypinator 0:bb348c97df44 201 for (bits = 22; bits > 0; bits--) {
lypinator 0:bb348c97df44 202 calcbit = (bits + 3) * (brp + 1);
lypinator 0:bb348c97df44 203 if (calcbit == bitwidth) {
lypinator 0:bb348c97df44 204 hit = 1;
lypinator 0:bb348c97df44 205 break;
lypinator 0:bb348c97df44 206 }
lypinator 0:bb348c97df44 207 }
lypinator 0:bb348c97df44 208 }
lypinator 0:bb348c97df44 209
lypinator 0:bb348c97df44 210 if (hit) {
lypinator 0:bb348c97df44 211 btr = ((timing_pts[bits][1] << CAN_BTR_TS2_Pos) & CAN_BTR_TS2) |
lypinator 0:bb348c97df44 212 ((timing_pts[bits][0] << CAN_BTR_TS1_Pos) & CAN_BTR_TS1) |
lypinator 0:bb348c97df44 213 ((psjw << CAN_BTR_SJW_Pos) & CAN_BTR_SJW) |
lypinator 0:bb348c97df44 214 ((brp << CAN_BTR_BRP_Pos) & CAN_BTR_BRP);
lypinator 0:bb348c97df44 215 } else {
lypinator 0:bb348c97df44 216 btr = 0xFFFFFFFF;
lypinator 0:bb348c97df44 217 }
lypinator 0:bb348c97df44 218
lypinator 0:bb348c97df44 219 return btr;
lypinator 0:bb348c97df44 220
lypinator 0:bb348c97df44 221 }
lypinator 0:bb348c97df44 222
lypinator 0:bb348c97df44 223 int can_frequency(can_t *obj, int f)
lypinator 0:bb348c97df44 224 {
lypinator 0:bb348c97df44 225 int pclk = HAL_RCC_GetPCLK1Freq();
lypinator 0:bb348c97df44 226 int btr = can_speed(pclk, (unsigned int)f, 1);
lypinator 0:bb348c97df44 227 CAN_TypeDef *can = obj->CanHandle.Instance;
lypinator 0:bb348c97df44 228 uint32_t tickstart = 0;
lypinator 0:bb348c97df44 229 int status = 1;
lypinator 0:bb348c97df44 230
lypinator 0:bb348c97df44 231 if (btr > 0) {
lypinator 0:bb348c97df44 232 can->MCR |= CAN_MCR_INRQ ;
lypinator 0:bb348c97df44 233 /* Get tick */
lypinator 0:bb348c97df44 234 tickstart = HAL_GetTick();
lypinator 0:bb348c97df44 235 while ((can->MSR & CAN_MSR_INAK) != CAN_MSR_INAK) {
lypinator 0:bb348c97df44 236 if ((HAL_GetTick() - tickstart) > 2) {
lypinator 0:bb348c97df44 237 status = 0;
lypinator 0:bb348c97df44 238 break;
lypinator 0:bb348c97df44 239 }
lypinator 0:bb348c97df44 240 }
lypinator 0:bb348c97df44 241 if (status != 0) {
lypinator 0:bb348c97df44 242 /* Do not erase all BTR registers (e.g. silent mode), only the
lypinator 0:bb348c97df44 243 * ones calculated in can_speed */
lypinator 0:bb348c97df44 244 can->BTR &= ~(CAN_BTR_TS2 | CAN_BTR_TS1 | CAN_BTR_SJW | CAN_BTR_BRP);
lypinator 0:bb348c97df44 245 can->BTR |= btr;
lypinator 0:bb348c97df44 246
lypinator 0:bb348c97df44 247 can->MCR &= ~(uint32_t)CAN_MCR_INRQ;
lypinator 0:bb348c97df44 248 /* Get tick */
lypinator 0:bb348c97df44 249 tickstart = HAL_GetTick();
lypinator 0:bb348c97df44 250 while ((can->MSR & CAN_MSR_INAK) == CAN_MSR_INAK) {
lypinator 0:bb348c97df44 251 if ((HAL_GetTick() - tickstart) > 2) {
lypinator 0:bb348c97df44 252 status = 0;
lypinator 0:bb348c97df44 253 break;
lypinator 0:bb348c97df44 254 }
lypinator 0:bb348c97df44 255 }
lypinator 0:bb348c97df44 256 if (status == 0) {
lypinator 0:bb348c97df44 257 error("can ESR 0x%04x.%04x + timeout status %d", (can->ESR & 0xFFFF0000) >> 16, (can->ESR & 0xFFFF), status);
lypinator 0:bb348c97df44 258 }
lypinator 0:bb348c97df44 259 } else {
lypinator 0:bb348c97df44 260 error("can init request timeout\n");
lypinator 0:bb348c97df44 261 }
lypinator 0:bb348c97df44 262 } else {
lypinator 0:bb348c97df44 263 status = 0;
lypinator 0:bb348c97df44 264 }
lypinator 0:bb348c97df44 265 return status;
lypinator 0:bb348c97df44 266 }
lypinator 0:bb348c97df44 267
lypinator 0:bb348c97df44 268 int can_write(can_t *obj, CAN_Message msg, int cc)
lypinator 0:bb348c97df44 269 {
lypinator 0:bb348c97df44 270 uint32_t transmitmailbox = CAN_TXSTATUS_NOMAILBOX;
lypinator 0:bb348c97df44 271 CAN_TypeDef *can = obj->CanHandle.Instance;
lypinator 0:bb348c97df44 272
lypinator 0:bb348c97df44 273 /* Select one empty transmit mailbox */
lypinator 0:bb348c97df44 274 if ((can->TSR & CAN_TSR_TME0) == CAN_TSR_TME0) {
lypinator 0:bb348c97df44 275 transmitmailbox = 0;
lypinator 0:bb348c97df44 276 } else if ((can->TSR & CAN_TSR_TME1) == CAN_TSR_TME1) {
lypinator 0:bb348c97df44 277 transmitmailbox = 1;
lypinator 0:bb348c97df44 278 } else if ((can->TSR & CAN_TSR_TME2) == CAN_TSR_TME2) {
lypinator 0:bb348c97df44 279 transmitmailbox = 2;
lypinator 0:bb348c97df44 280 } else {
lypinator 0:bb348c97df44 281 return 0;
lypinator 0:bb348c97df44 282 }
lypinator 0:bb348c97df44 283
lypinator 0:bb348c97df44 284 can->sTxMailBox[transmitmailbox].TIR &= CAN_TI0R_TXRQ;
lypinator 0:bb348c97df44 285 if (!(msg.format)) {
lypinator 0:bb348c97df44 286 can->sTxMailBox[transmitmailbox].TIR |= ((msg.id << 21) | (msg.type << 1));
lypinator 0:bb348c97df44 287 } else {
lypinator 0:bb348c97df44 288 can->sTxMailBox[transmitmailbox].TIR |= ((msg.id << 3) | CAN_ID_EXT | (msg.type << 1));
lypinator 0:bb348c97df44 289 }
lypinator 0:bb348c97df44 290
lypinator 0:bb348c97df44 291 /* Set up the DLC */
lypinator 0:bb348c97df44 292 can->sTxMailBox[transmitmailbox].TDTR &= (uint32_t)0xFFFFFFF0;
lypinator 0:bb348c97df44 293 can->sTxMailBox[transmitmailbox].TDTR |= (msg.len & (uint8_t)0x0000000F);
lypinator 0:bb348c97df44 294
lypinator 0:bb348c97df44 295 /* Set up the data field */
lypinator 0:bb348c97df44 296 can->sTxMailBox[transmitmailbox].TDLR = (((uint32_t)msg.data[3] << 24) |
lypinator 0:bb348c97df44 297 ((uint32_t)msg.data[2] << 16) |
lypinator 0:bb348c97df44 298 ((uint32_t)msg.data[1] << 8) |
lypinator 0:bb348c97df44 299 ((uint32_t)msg.data[0]));
lypinator 0:bb348c97df44 300 can->sTxMailBox[transmitmailbox].TDHR = (((uint32_t)msg.data[7] << 24) |
lypinator 0:bb348c97df44 301 ((uint32_t)msg.data[6] << 16) |
lypinator 0:bb348c97df44 302 ((uint32_t)msg.data[5] << 8) |
lypinator 0:bb348c97df44 303 ((uint32_t)msg.data[4]));
lypinator 0:bb348c97df44 304 /* Request transmission */
lypinator 0:bb348c97df44 305 can->sTxMailBox[transmitmailbox].TIR |= CAN_TI0R_TXRQ;
lypinator 0:bb348c97df44 306
lypinator 0:bb348c97df44 307 return 1;
lypinator 0:bb348c97df44 308 }
lypinator 0:bb348c97df44 309
lypinator 0:bb348c97df44 310 int can_read(can_t *obj, CAN_Message *msg, int handle)
lypinator 0:bb348c97df44 311 {
lypinator 0:bb348c97df44 312 //handle is the FIFO number
lypinator 0:bb348c97df44 313
lypinator 0:bb348c97df44 314 CAN_TypeDef *can = obj->CanHandle.Instance;
lypinator 0:bb348c97df44 315
lypinator 0:bb348c97df44 316 // check FPM0 which holds the pending message count in FIFO 0
lypinator 0:bb348c97df44 317 // if no message is pending, return 0
lypinator 0:bb348c97df44 318 if ((can->RF0R & CAN_RF0R_FMP0) == 0) {
lypinator 0:bb348c97df44 319 return 0;
lypinator 0:bb348c97df44 320 }
lypinator 0:bb348c97df44 321
lypinator 0:bb348c97df44 322 /* Get the Id */
lypinator 0:bb348c97df44 323 msg->format = (CANFormat)(((uint8_t)0x04 & can->sFIFOMailBox[handle].RIR) >> 2);
lypinator 0:bb348c97df44 324 if (!msg->format) {
lypinator 0:bb348c97df44 325 msg->id = (uint32_t)0x000007FF & (can->sFIFOMailBox[handle].RIR >> 21);
lypinator 0:bb348c97df44 326 } else {
lypinator 0:bb348c97df44 327 msg->id = (uint32_t)0x1FFFFFFF & (can->sFIFOMailBox[handle].RIR >> 3);
lypinator 0:bb348c97df44 328 }
lypinator 0:bb348c97df44 329
lypinator 0:bb348c97df44 330 msg->type = (CANType)(((uint8_t)0x02 & can->sFIFOMailBox[handle].RIR) >> 1);
lypinator 0:bb348c97df44 331 /* Get the DLC */
lypinator 0:bb348c97df44 332 msg->len = (uint8_t)0x0F & can->sFIFOMailBox[handle].RDTR;
lypinator 0:bb348c97df44 333 /* Get the FMI */
lypinator 0:bb348c97df44 334 // msg->FMI = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDTR >> 8);
lypinator 0:bb348c97df44 335 /* Get the data field */
lypinator 0:bb348c97df44 336 msg->data[0] = (uint8_t)0xFF & can->sFIFOMailBox[handle].RDLR;
lypinator 0:bb348c97df44 337 msg->data[1] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDLR >> 8);
lypinator 0:bb348c97df44 338 msg->data[2] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDLR >> 16);
lypinator 0:bb348c97df44 339 msg->data[3] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDLR >> 24);
lypinator 0:bb348c97df44 340 msg->data[4] = (uint8_t)0xFF & can->sFIFOMailBox[handle].RDHR;
lypinator 0:bb348c97df44 341 msg->data[5] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDHR >> 8);
lypinator 0:bb348c97df44 342 msg->data[6] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDHR >> 16);
lypinator 0:bb348c97df44 343 msg->data[7] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDHR >> 24);
lypinator 0:bb348c97df44 344
lypinator 0:bb348c97df44 345 /* Release the FIFO */
lypinator 0:bb348c97df44 346 if (handle == CAN_FIFO0) {
lypinator 0:bb348c97df44 347 /* Release FIFO0 */
lypinator 0:bb348c97df44 348 can->RF0R |= CAN_RF0R_RFOM0;
lypinator 0:bb348c97df44 349 } else { /* FIFONumber == CAN_FIFO1 */
lypinator 0:bb348c97df44 350 /* Release FIFO1 */
lypinator 0:bb348c97df44 351 can->RF1R |= CAN_RF1R_RFOM1;
lypinator 0:bb348c97df44 352 }
lypinator 0:bb348c97df44 353
lypinator 0:bb348c97df44 354 return 1;
lypinator 0:bb348c97df44 355 }
lypinator 0:bb348c97df44 356
lypinator 0:bb348c97df44 357 void can_reset(can_t *obj)
lypinator 0:bb348c97df44 358 {
lypinator 0:bb348c97df44 359 CAN_TypeDef *can = obj->CanHandle.Instance;
lypinator 0:bb348c97df44 360
lypinator 0:bb348c97df44 361 /* Reset IP and delete errors */
lypinator 0:bb348c97df44 362 can->MCR |= CAN_MCR_RESET;
lypinator 0:bb348c97df44 363 can->ESR = 0x0;
lypinator 0:bb348c97df44 364
lypinator 0:bb348c97df44 365 /* restore registers state as saved in obj context */
lypinator 0:bb348c97df44 366 can_registers_init(obj);
lypinator 0:bb348c97df44 367 }
lypinator 0:bb348c97df44 368
lypinator 0:bb348c97df44 369 unsigned char can_rderror(can_t *obj)
lypinator 0:bb348c97df44 370 {
lypinator 0:bb348c97df44 371 CAN_TypeDef *can = obj->CanHandle.Instance;
lypinator 0:bb348c97df44 372 return (can->ESR >> 24) & 0xFF;
lypinator 0:bb348c97df44 373 }
lypinator 0:bb348c97df44 374
lypinator 0:bb348c97df44 375 unsigned char can_tderror(can_t *obj)
lypinator 0:bb348c97df44 376 {
lypinator 0:bb348c97df44 377 CAN_TypeDef *can = obj->CanHandle.Instance;
lypinator 0:bb348c97df44 378 return (can->ESR >> 16) & 0xFF;
lypinator 0:bb348c97df44 379 }
lypinator 0:bb348c97df44 380
lypinator 0:bb348c97df44 381 void can_monitor(can_t *obj, int silent)
lypinator 0:bb348c97df44 382 {
lypinator 0:bb348c97df44 383 CanMode mode = MODE_NORMAL;
lypinator 0:bb348c97df44 384 /* Update current state w/ or w/o silent */
lypinator 0:bb348c97df44 385 if (silent) {
lypinator 0:bb348c97df44 386 switch (obj->CanHandle.Init.Mode) {
lypinator 0:bb348c97df44 387 case CAN_MODE_LOOPBACK:
lypinator 0:bb348c97df44 388 case CAN_MODE_SILENT_LOOPBACK:
lypinator 0:bb348c97df44 389 mode = MODE_TEST_SILENT;
lypinator 0:bb348c97df44 390 break;
lypinator 0:bb348c97df44 391 default:
lypinator 0:bb348c97df44 392 mode = MODE_SILENT;
lypinator 0:bb348c97df44 393 break;
lypinator 0:bb348c97df44 394 }
lypinator 0:bb348c97df44 395 } else {
lypinator 0:bb348c97df44 396 switch (obj->CanHandle.Init.Mode) {
lypinator 0:bb348c97df44 397 case CAN_MODE_LOOPBACK:
lypinator 0:bb348c97df44 398 case CAN_MODE_SILENT_LOOPBACK:
lypinator 0:bb348c97df44 399 mode = MODE_TEST_LOCAL;
lypinator 0:bb348c97df44 400 break;
lypinator 0:bb348c97df44 401 default:
lypinator 0:bb348c97df44 402 mode = MODE_NORMAL;
lypinator 0:bb348c97df44 403 break;
lypinator 0:bb348c97df44 404 }
lypinator 0:bb348c97df44 405 }
lypinator 0:bb348c97df44 406
lypinator 0:bb348c97df44 407 can_mode(obj, mode);
lypinator 0:bb348c97df44 408 }
lypinator 0:bb348c97df44 409
lypinator 0:bb348c97df44 410 int can_mode(can_t *obj, CanMode mode)
lypinator 0:bb348c97df44 411 {
lypinator 0:bb348c97df44 412 int success = 0;
lypinator 0:bb348c97df44 413 CAN_TypeDef *can = obj->CanHandle.Instance;
lypinator 0:bb348c97df44 414
lypinator 0:bb348c97df44 415 can->MCR |= CAN_MCR_INRQ ;
lypinator 0:bb348c97df44 416 while ((can->MSR & CAN_MSR_INAK) != CAN_MSR_INAK) {
lypinator 0:bb348c97df44 417 }
lypinator 0:bb348c97df44 418
lypinator 0:bb348c97df44 419 switch (mode) {
lypinator 0:bb348c97df44 420 case MODE_NORMAL:
lypinator 0:bb348c97df44 421 obj->CanHandle.Init.Mode = CAN_MODE_NORMAL;
lypinator 0:bb348c97df44 422 can->BTR &= ~(CAN_BTR_SILM | CAN_BTR_LBKM);
lypinator 0:bb348c97df44 423 success = 1;
lypinator 0:bb348c97df44 424 break;
lypinator 0:bb348c97df44 425 case MODE_SILENT:
lypinator 0:bb348c97df44 426 obj->CanHandle.Init.Mode = CAN_MODE_SILENT;
lypinator 0:bb348c97df44 427 can->BTR |= CAN_BTR_SILM;
lypinator 0:bb348c97df44 428 can->BTR &= ~CAN_BTR_LBKM;
lypinator 0:bb348c97df44 429 success = 1;
lypinator 0:bb348c97df44 430 break;
lypinator 0:bb348c97df44 431 case MODE_TEST_GLOBAL:
lypinator 0:bb348c97df44 432 case MODE_TEST_LOCAL:
lypinator 0:bb348c97df44 433 obj->CanHandle.Init.Mode = CAN_MODE_LOOPBACK;
lypinator 0:bb348c97df44 434 can->BTR |= CAN_BTR_LBKM;
lypinator 0:bb348c97df44 435 can->BTR &= ~CAN_BTR_SILM;
lypinator 0:bb348c97df44 436 success = 1;
lypinator 0:bb348c97df44 437 break;
lypinator 0:bb348c97df44 438 case MODE_TEST_SILENT:
lypinator 0:bb348c97df44 439 obj->CanHandle.Init.Mode = CAN_MODE_SILENT_LOOPBACK;
lypinator 0:bb348c97df44 440 can->BTR |= (CAN_BTR_SILM | CAN_BTR_LBKM);
lypinator 0:bb348c97df44 441 success = 1;
lypinator 0:bb348c97df44 442 break;
lypinator 0:bb348c97df44 443 default:
lypinator 0:bb348c97df44 444 success = 0;
lypinator 0:bb348c97df44 445 break;
lypinator 0:bb348c97df44 446 }
lypinator 0:bb348c97df44 447
lypinator 0:bb348c97df44 448 can->MCR &= ~(uint32_t)CAN_MCR_INRQ;
lypinator 0:bb348c97df44 449 while ((can->MSR & CAN_MSR_INAK) == CAN_MSR_INAK) {
lypinator 0:bb348c97df44 450 }
lypinator 0:bb348c97df44 451
lypinator 0:bb348c97df44 452 return success;
lypinator 0:bb348c97df44 453 }
lypinator 0:bb348c97df44 454
lypinator 0:bb348c97df44 455 int can_filter(can_t *obj, uint32_t id, uint32_t mask, CANFormat format, int32_t handle)
lypinator 0:bb348c97df44 456 {
lypinator 0:bb348c97df44 457 int retval = 0;
lypinator 0:bb348c97df44 458
lypinator 0:bb348c97df44 459 // filter for CANAny format cannot be configured for STM32
lypinator 0:bb348c97df44 460 if ((format == CANStandard) || (format == CANExtended)) {
lypinator 0:bb348c97df44 461 CAN_FilterConfTypeDef sFilterConfig;
lypinator 0:bb348c97df44 462 sFilterConfig.FilterNumber = handle;
lypinator 0:bb348c97df44 463 sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
lypinator 0:bb348c97df44 464 sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
lypinator 0:bb348c97df44 465
lypinator 0:bb348c97df44 466 if (format == CANStandard) {
lypinator 0:bb348c97df44 467 sFilterConfig.FilterIdHigh = id << 5;
lypinator 0:bb348c97df44 468 sFilterConfig.FilterIdLow = 0x0;
lypinator 0:bb348c97df44 469 sFilterConfig.FilterMaskIdHigh = mask << 5;
lypinator 0:bb348c97df44 470 sFilterConfig.FilterMaskIdLow = 0x0; // allows both remote and data frames
lypinator 0:bb348c97df44 471 } else { // format == CANExtended
lypinator 0:bb348c97df44 472 sFilterConfig.FilterIdHigh = id >> 13; // EXTID[28:13]
lypinator 0:bb348c97df44 473 sFilterConfig.FilterIdLow = (0xFFFF & (id << 3)) | (1 << 2); // EXTID[12:0] + IDE
lypinator 0:bb348c97df44 474 sFilterConfig.FilterMaskIdHigh = mask >> 13;
lypinator 0:bb348c97df44 475 sFilterConfig.FilterMaskIdLow = (0xFFFF & (mask << 3)) | (1 << 2);
lypinator 0:bb348c97df44 476 }
lypinator 0:bb348c97df44 477
lypinator 0:bb348c97df44 478 sFilterConfig.FilterFIFOAssignment = 0;
lypinator 0:bb348c97df44 479 sFilterConfig.FilterActivation = ENABLE;
lypinator 0:bb348c97df44 480 sFilterConfig.BankNumber = 14 + handle;
lypinator 0:bb348c97df44 481
lypinator 0:bb348c97df44 482 HAL_CAN_ConfigFilter(&obj->CanHandle, &sFilterConfig);
lypinator 0:bb348c97df44 483 retval = handle;
lypinator 0:bb348c97df44 484 }
lypinator 0:bb348c97df44 485 return retval;
lypinator 0:bb348c97df44 486 }
lypinator 0:bb348c97df44 487
lypinator 0:bb348c97df44 488 static void can_irq(CANName name, int id)
lypinator 0:bb348c97df44 489 {
lypinator 0:bb348c97df44 490 uint32_t tmp1 = 0, tmp2 = 0, tmp3 = 0;
lypinator 0:bb348c97df44 491 CAN_HandleTypeDef CanHandle;
lypinator 0:bb348c97df44 492 CanHandle.Instance = (CAN_TypeDef *)name;
lypinator 0:bb348c97df44 493
lypinator 0:bb348c97df44 494 if (__HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_TME)) {
lypinator 0:bb348c97df44 495 tmp1 = __HAL_CAN_TRANSMIT_STATUS(&CanHandle, CAN_TXMAILBOX_0);
lypinator 0:bb348c97df44 496 tmp2 = __HAL_CAN_TRANSMIT_STATUS(&CanHandle, CAN_TXMAILBOX_1);
lypinator 0:bb348c97df44 497 tmp3 = __HAL_CAN_TRANSMIT_STATUS(&CanHandle, CAN_TXMAILBOX_2);
lypinator 0:bb348c97df44 498 if (tmp1) {
lypinator 0:bb348c97df44 499 __HAL_CAN_CLEAR_FLAG(&CanHandle, CAN_FLAG_RQCP0);
lypinator 0:bb348c97df44 500 }
lypinator 0:bb348c97df44 501 if (tmp2) {
lypinator 0:bb348c97df44 502 __HAL_CAN_CLEAR_FLAG(&CanHandle, CAN_FLAG_RQCP1);
lypinator 0:bb348c97df44 503 }
lypinator 0:bb348c97df44 504 if (tmp3) {
lypinator 0:bb348c97df44 505 __HAL_CAN_CLEAR_FLAG(&CanHandle, CAN_FLAG_RQCP2);
lypinator 0:bb348c97df44 506 }
lypinator 0:bb348c97df44 507 if (tmp1 || tmp2 || tmp3) {
lypinator 0:bb348c97df44 508 irq_handler(can_irq_ids[id], IRQ_TX);
lypinator 0:bb348c97df44 509 }
lypinator 0:bb348c97df44 510 }
lypinator 0:bb348c97df44 511
lypinator 0:bb348c97df44 512 tmp1 = __HAL_CAN_MSG_PENDING(&CanHandle, CAN_FIFO0);
lypinator 0:bb348c97df44 513 tmp2 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_FMP0);
lypinator 0:bb348c97df44 514
lypinator 0:bb348c97df44 515 if ((tmp1 != 0) && tmp2) {
lypinator 0:bb348c97df44 516 irq_handler(can_irq_ids[id], IRQ_RX);
lypinator 0:bb348c97df44 517 }
lypinator 0:bb348c97df44 518
lypinator 0:bb348c97df44 519 tmp1 = __HAL_CAN_GET_FLAG(&CanHandle, CAN_FLAG_EPV);
lypinator 0:bb348c97df44 520 tmp2 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_EPV);
lypinator 0:bb348c97df44 521 tmp3 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_ERR);
lypinator 0:bb348c97df44 522
lypinator 0:bb348c97df44 523 if (tmp1 && tmp2 && tmp3) {
lypinator 0:bb348c97df44 524 irq_handler(can_irq_ids[id], IRQ_PASSIVE);
lypinator 0:bb348c97df44 525 }
lypinator 0:bb348c97df44 526
lypinator 0:bb348c97df44 527 tmp1 = __HAL_CAN_GET_FLAG(&CanHandle, CAN_FLAG_BOF);
lypinator 0:bb348c97df44 528 tmp2 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_BOF);
lypinator 0:bb348c97df44 529 tmp3 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_ERR);
lypinator 0:bb348c97df44 530 if (tmp1 && tmp2 && tmp3) {
lypinator 0:bb348c97df44 531 irq_handler(can_irq_ids[id], IRQ_BUS);
lypinator 0:bb348c97df44 532 }
lypinator 0:bb348c97df44 533
lypinator 0:bb348c97df44 534 tmp3 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_ERR);
lypinator 0:bb348c97df44 535 if (tmp1 && tmp2 && tmp3) {
lypinator 0:bb348c97df44 536 irq_handler(can_irq_ids[id], IRQ_ERROR);
lypinator 0:bb348c97df44 537 }
lypinator 0:bb348c97df44 538 }
lypinator 0:bb348c97df44 539
lypinator 0:bb348c97df44 540 #if defined(TARGET_STM32F0)
lypinator 0:bb348c97df44 541 void CAN_IRQHandler(void)
lypinator 0:bb348c97df44 542 {
lypinator 0:bb348c97df44 543 can_irq(CAN_1, 0);
lypinator 0:bb348c97df44 544 }
lypinator 0:bb348c97df44 545 #elif defined(TARGET_STM32F3)
lypinator 0:bb348c97df44 546 void CAN_RX0_IRQHandler(void)
lypinator 0:bb348c97df44 547 {
lypinator 0:bb348c97df44 548 can_irq(CAN_1, 0);
lypinator 0:bb348c97df44 549 }
lypinator 0:bb348c97df44 550 void CAN_TX_IRQHandler(void)
lypinator 0:bb348c97df44 551 {
lypinator 0:bb348c97df44 552 can_irq(CAN_1, 0);
lypinator 0:bb348c97df44 553 }
lypinator 0:bb348c97df44 554 void CAN_SCE_IRQHandler(void)
lypinator 0:bb348c97df44 555 {
lypinator 0:bb348c97df44 556 can_irq(CAN_1, 0);
lypinator 0:bb348c97df44 557 }
lypinator 0:bb348c97df44 558 #else
lypinator 0:bb348c97df44 559 void CAN1_RX0_IRQHandler(void)
lypinator 0:bb348c97df44 560 {
lypinator 0:bb348c97df44 561 can_irq(CAN_1, 0);
lypinator 0:bb348c97df44 562 }
lypinator 0:bb348c97df44 563 void CAN1_TX_IRQHandler(void)
lypinator 0:bb348c97df44 564 {
lypinator 0:bb348c97df44 565 can_irq(CAN_1, 0);
lypinator 0:bb348c97df44 566 }
lypinator 0:bb348c97df44 567 void CAN1_SCE_IRQHandler(void)
lypinator 0:bb348c97df44 568 {
lypinator 0:bb348c97df44 569 can_irq(CAN_1, 0);
lypinator 0:bb348c97df44 570 }
lypinator 0:bb348c97df44 571 #if defined(CAN2_BASE) && (CAN_NUM > 1)
lypinator 0:bb348c97df44 572 void CAN2_RX0_IRQHandler(void)
lypinator 0:bb348c97df44 573 {
lypinator 0:bb348c97df44 574 can_irq(CAN_2, 1);
lypinator 0:bb348c97df44 575 }
lypinator 0:bb348c97df44 576 void CAN2_TX_IRQHandler(void)
lypinator 0:bb348c97df44 577 {
lypinator 0:bb348c97df44 578 can_irq(CAN_2, 1);
lypinator 0:bb348c97df44 579 }
lypinator 0:bb348c97df44 580 void CAN2_SCE_IRQHandler(void)
lypinator 0:bb348c97df44 581 {
lypinator 0:bb348c97df44 582 can_irq(CAN_2, 1);
lypinator 0:bb348c97df44 583 }
lypinator 0:bb348c97df44 584 #endif
lypinator 0:bb348c97df44 585 #if defined(CAN3_BASE) && (CAN_NUM > 2)
lypinator 0:bb348c97df44 586 void CAN3_RX0_IRQHandler(void)
lypinator 0:bb348c97df44 587 {
lypinator 0:bb348c97df44 588 can_irq(CAN_3, 2);
lypinator 0:bb348c97df44 589 }
lypinator 0:bb348c97df44 590 void CAN3_TX_IRQHandler(void)
lypinator 0:bb348c97df44 591 {
lypinator 0:bb348c97df44 592 can_irq(CAN_3, 2);
lypinator 0:bb348c97df44 593 }
lypinator 0:bb348c97df44 594 void CAN3_SCE_IRQHandler(void)
lypinator 0:bb348c97df44 595 {
lypinator 0:bb348c97df44 596 can_irq(CAN_3, 2);
lypinator 0:bb348c97df44 597 }
lypinator 0:bb348c97df44 598 #endif
lypinator 0:bb348c97df44 599 #endif // else
lypinator 0:bb348c97df44 600
lypinator 0:bb348c97df44 601 void can_irq_set(can_t *obj, CanIrqType type, uint32_t enable)
lypinator 0:bb348c97df44 602 {
lypinator 0:bb348c97df44 603 CAN_TypeDef *can = obj->CanHandle.Instance;
lypinator 0:bb348c97df44 604 IRQn_Type irq_n = (IRQn_Type)0;
lypinator 0:bb348c97df44 605 uint32_t vector = 0;
lypinator 0:bb348c97df44 606 uint32_t ier;
lypinator 0:bb348c97df44 607
lypinator 0:bb348c97df44 608 if ((CANName) can == CAN_1) {
lypinator 0:bb348c97df44 609 switch (type) {
lypinator 0:bb348c97df44 610 case IRQ_RX:
lypinator 0:bb348c97df44 611 ier = CAN_IT_FMP0;
lypinator 0:bb348c97df44 612 irq_n = CAN1_IRQ_RX_IRQN;
lypinator 0:bb348c97df44 613 vector = (uint32_t)&CAN1_IRQ_RX_VECT;
lypinator 0:bb348c97df44 614 break;
lypinator 0:bb348c97df44 615 case IRQ_TX:
lypinator 0:bb348c97df44 616 ier = CAN_IT_TME;
lypinator 0:bb348c97df44 617 irq_n = CAN1_IRQ_TX_IRQN;
lypinator 0:bb348c97df44 618 vector = (uint32_t)&CAN1_IRQ_TX_VECT;
lypinator 0:bb348c97df44 619 break;
lypinator 0:bb348c97df44 620 case IRQ_ERROR:
lypinator 0:bb348c97df44 621 ier = CAN_IT_ERR;
lypinator 0:bb348c97df44 622 irq_n = CAN1_IRQ_ERROR_IRQN;
lypinator 0:bb348c97df44 623 vector = (uint32_t)&CAN1_IRQ_ERROR_VECT;
lypinator 0:bb348c97df44 624 break;
lypinator 0:bb348c97df44 625 case IRQ_PASSIVE:
lypinator 0:bb348c97df44 626 ier = CAN_IT_EPV;
lypinator 0:bb348c97df44 627 irq_n = CAN1_IRQ_PASSIVE_IRQN;
lypinator 0:bb348c97df44 628 vector = (uint32_t)&CAN1_IRQ_PASSIVE_VECT;
lypinator 0:bb348c97df44 629 break;
lypinator 0:bb348c97df44 630 case IRQ_BUS:
lypinator 0:bb348c97df44 631 ier = CAN_IT_BOF;
lypinator 0:bb348c97df44 632 irq_n = CAN1_IRQ_BUS_IRQN;
lypinator 0:bb348c97df44 633 vector = (uint32_t)&CAN1_IRQ_BUS_VECT;
lypinator 0:bb348c97df44 634 break;
lypinator 0:bb348c97df44 635 default:
lypinator 0:bb348c97df44 636 return;
lypinator 0:bb348c97df44 637 }
lypinator 0:bb348c97df44 638 }
lypinator 0:bb348c97df44 639 #if defined(CAN2_BASE) && (CAN_NUM > 1)
lypinator 0:bb348c97df44 640 else if ((CANName) can == CAN_2) {
lypinator 0:bb348c97df44 641 switch (type) {
lypinator 0:bb348c97df44 642 case IRQ_RX:
lypinator 0:bb348c97df44 643 ier = CAN_IT_FMP0;
lypinator 0:bb348c97df44 644 irq_n = CAN2_IRQ_RX_IRQN;
lypinator 0:bb348c97df44 645 vector = (uint32_t)&CAN2_IRQ_RX_VECT;
lypinator 0:bb348c97df44 646 break;
lypinator 0:bb348c97df44 647 case IRQ_TX:
lypinator 0:bb348c97df44 648 ier = CAN_IT_TME;
lypinator 0:bb348c97df44 649 irq_n = CAN2_IRQ_TX_IRQN;
lypinator 0:bb348c97df44 650 vector = (uint32_t)&CAN2_IRQ_TX_VECT;
lypinator 0:bb348c97df44 651 break;
lypinator 0:bb348c97df44 652 case IRQ_ERROR:
lypinator 0:bb348c97df44 653 ier = CAN_IT_ERR;
lypinator 0:bb348c97df44 654 irq_n = CAN2_IRQ_ERROR_IRQN;
lypinator 0:bb348c97df44 655 vector = (uint32_t)&CAN2_IRQ_ERROR_VECT;
lypinator 0:bb348c97df44 656 break;
lypinator 0:bb348c97df44 657 case IRQ_PASSIVE:
lypinator 0:bb348c97df44 658 ier = CAN_IT_EPV;
lypinator 0:bb348c97df44 659 irq_n = CAN2_IRQ_PASSIVE_IRQN;
lypinator 0:bb348c97df44 660 vector = (uint32_t)&CAN2_IRQ_PASSIVE_VECT;
lypinator 0:bb348c97df44 661 break;
lypinator 0:bb348c97df44 662 case IRQ_BUS:
lypinator 0:bb348c97df44 663 ier = CAN_IT_BOF;
lypinator 0:bb348c97df44 664 irq_n = CAN2_IRQ_BUS_IRQN;
lypinator 0:bb348c97df44 665 vector = (uint32_t)&CAN2_IRQ_BUS_VECT;
lypinator 0:bb348c97df44 666 break;
lypinator 0:bb348c97df44 667 default:
lypinator 0:bb348c97df44 668 return;
lypinator 0:bb348c97df44 669 }
lypinator 0:bb348c97df44 670 }
lypinator 0:bb348c97df44 671 #endif
lypinator 0:bb348c97df44 672 #if defined(CAN3_BASE) && (CAN_NUM > 2)
lypinator 0:bb348c97df44 673 else if ((CANName) can == CAN_3) {
lypinator 0:bb348c97df44 674 switch (type) {
lypinator 0:bb348c97df44 675 case IRQ_RX:
lypinator 0:bb348c97df44 676 ier = CAN_IT_FMP0;
lypinator 0:bb348c97df44 677 irq_n = CAN3_IRQ_RX_IRQN;
lypinator 0:bb348c97df44 678 vector = (uint32_t)&CAN3_IRQ_RX_VECT;
lypinator 0:bb348c97df44 679 break;
lypinator 0:bb348c97df44 680 case IRQ_TX:
lypinator 0:bb348c97df44 681 ier = CAN_IT_TME;
lypinator 0:bb348c97df44 682 irq_n = CAN3_IRQ_TX_IRQN;
lypinator 0:bb348c97df44 683 vector = (uint32_t)&CAN3_IRQ_TX_VECT;
lypinator 0:bb348c97df44 684 break;
lypinator 0:bb348c97df44 685 case IRQ_ERROR:
lypinator 0:bb348c97df44 686 ier = CAN_IT_ERR;
lypinator 0:bb348c97df44 687 irq_n = CAN3_IRQ_ERROR_IRQN;
lypinator 0:bb348c97df44 688 vector = (uint32_t)&CAN3_IRQ_ERROR_VECT;
lypinator 0:bb348c97df44 689 break;
lypinator 0:bb348c97df44 690 case IRQ_PASSIVE:
lypinator 0:bb348c97df44 691 ier = CAN_IT_EPV;
lypinator 0:bb348c97df44 692 irq_n = CAN3_IRQ_PASSIVE_IRQN;
lypinator 0:bb348c97df44 693 vector = (uint32_t)&CAN3_IRQ_PASSIVE_VECT;
lypinator 0:bb348c97df44 694 break;
lypinator 0:bb348c97df44 695 case IRQ_BUS:
lypinator 0:bb348c97df44 696 ier = CAN_IT_BOF;
lypinator 0:bb348c97df44 697 irq_n = CAN3_IRQ_BUS_IRQN;
lypinator 0:bb348c97df44 698 vector = (uint32_t)&CAN3_IRQ_BUS_VECT;
lypinator 0:bb348c97df44 699 break;
lypinator 0:bb348c97df44 700 default:
lypinator 0:bb348c97df44 701 return;
lypinator 0:bb348c97df44 702 }
lypinator 0:bb348c97df44 703 }
lypinator 0:bb348c97df44 704 #endif
lypinator 0:bb348c97df44 705 else {
lypinator 0:bb348c97df44 706 return;
lypinator 0:bb348c97df44 707 }
lypinator 0:bb348c97df44 708
lypinator 0:bb348c97df44 709 if (enable) {
lypinator 0:bb348c97df44 710 can->IER |= ier;
lypinator 0:bb348c97df44 711 } else {
lypinator 0:bb348c97df44 712 can->IER &= ~ier;
lypinator 0:bb348c97df44 713 }
lypinator 0:bb348c97df44 714
lypinator 0:bb348c97df44 715 NVIC_SetVector(irq_n, vector);
lypinator 0:bb348c97df44 716 NVIC_EnableIRQ(irq_n);
lypinator 0:bb348c97df44 717 }
lypinator 0:bb348c97df44 718
lypinator 0:bb348c97df44 719 #endif // DEVICE_CAN