mbed official / mbed-dev

mbed library sources. Supersedes mbed-src.

Dependents:   Nucleo_Hello_Encoder BLE_iBeaconScan AM1805_DEMO DISCO-F429ZI_ExportTemplate1 ... more

targets/TARGET_STM/can_api.c@178:79309dc6340a, 2017-11-23 (annotated)

Committer:
AnnaBridge
Date:
Thu Nov 23 11:57:25 2017 +0000
Revision:
178:79309dc6340a
Parent:
174:b96e65c34a4d
Child:
180:96ed750bd169
mbed-dev library. Release version 156

Who changed what in which revision?

UserRevisionLine numberNew contents of line
<> 160:d5399cc887bb 1 /* mbed Microcontroller Library
<> 160:d5399cc887bb 2 * Copyright (c) 2006-2017 ARM Limited
<> 160:d5399cc887bb 3 *
<> 160:d5399cc887bb 4 * Licensed under the Apache License, Version 2.0 (the "License");
<> 160:d5399cc887bb 5 * you may not use this file except in compliance with the License.
<> 160:d5399cc887bb 6 * You may obtain a copy of the License at
<> 160:d5399cc887bb 7 *
<> 160:d5399cc887bb 8 * http://www.apache.org/licenses/LICENSE-2.0
<> 160:d5399cc887bb 9 *
<> 160:d5399cc887bb 10 * Unless required by applicable law or agreed to in writing, software
<> 160:d5399cc887bb 11 * distributed under the License is distributed on an "AS IS" BASIS,
<> 160:d5399cc887bb 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
<> 160:d5399cc887bb 13 * See the License for the specific language governing permissions and
<> 160:d5399cc887bb 14 * limitations under the License.
<> 160:d5399cc887bb 15 */
<> 160:d5399cc887bb 16 #include "can_api.h"
<> 160:d5399cc887bb 17
<> 160:d5399cc887bb 18 #if DEVICE_CAN
<> 160:d5399cc887bb 19
<> 160:d5399cc887bb 20 #include "cmsis.h"
<> 160:d5399cc887bb 21 #include "pinmap.h"
<> 160:d5399cc887bb 22 #include "PeripheralPins.h"
<> 160:d5399cc887bb 23 #include "mbed_error.h"
<> 160:d5399cc887bb 24 #include "can_device.h" // Specific to STM32 serie
<> 160:d5399cc887bb 25 #include <math.h>
<> 160:d5399cc887bb 26 #include <string.h>
<> 160:d5399cc887bb 27
<> 160:d5399cc887bb 28 static uint32_t can_irq_ids[CAN_NUM] = {0};
<> 160:d5399cc887bb 29 static can_irq_handler irq_handler;
<> 160:d5399cc887bb 30
AnnaBridge 174:b96e65c34a4d 31 static void can_registers_init(can_t *obj)
AnnaBridge 174:b96e65c34a4d 32 {
AnnaBridge 174:b96e65c34a4d 33 if (HAL_CAN_Init(&obj->CanHandle) != HAL_OK) {
AnnaBridge 174:b96e65c34a4d 34 error("Cannot initialize CAN");
AnnaBridge 174:b96e65c34a4d 35 }
AnnaBridge 174:b96e65c34a4d 36
AnnaBridge 174:b96e65c34a4d 37 // Set initial CAN frequency to specified frequency
AnnaBridge 174:b96e65c34a4d 38 if (can_frequency(obj, obj->hz) != 1) {
AnnaBridge 174:b96e65c34a4d 39 error("Can frequency could not be set\n");
AnnaBridge 174:b96e65c34a4d 40 }
AnnaBridge 174:b96e65c34a4d 41 }
AnnaBridge 174:b96e65c34a4d 42
<> 160:d5399cc887bb 43 void can_init(can_t *obj, PinName rd, PinName td)
<> 160:d5399cc887bb 44 {
AnnaBridge 167:e84263d55307 45 can_init_freq(obj, rd, td, 100000);
AnnaBridge 167:e84263d55307 46 }
AnnaBridge 167:e84263d55307 47
AnnaBridge 167:e84263d55307 48 void can_init_freq (can_t *obj, PinName rd, PinName td, int hz)
AnnaBridge 167:e84263d55307 49 {
<> 160:d5399cc887bb 50 CANName can_rd = (CANName)pinmap_peripheral(rd, PinMap_CAN_RD);
<> 160:d5399cc887bb 51 CANName can_td = (CANName)pinmap_peripheral(td, PinMap_CAN_TD);
AnnaBridge 174:b96e65c34a4d 52 CANName can = (CANName)pinmap_merge(can_rd, can_td);
<> 160:d5399cc887bb 53
AnnaBridge 174:b96e65c34a4d 54 MBED_ASSERT((int)can != NC);
<> 160:d5399cc887bb 55
AnnaBridge 174:b96e65c34a4d 56 if (can == CAN_1) {
<> 160:d5399cc887bb 57 __HAL_RCC_CAN1_CLK_ENABLE();
<> 160:d5399cc887bb 58 obj->index = 0;
<> 160:d5399cc887bb 59 }
AnnaBridge 178:79309dc6340a 60 #if defined(CAN2_BASE) && defined(CAN_2)
AnnaBridge 174:b96e65c34a4d 61 else if (can == CAN_2) {
<> 160:d5399cc887bb 62 __HAL_RCC_CAN1_CLK_ENABLE(); // needed to set filters
<> 160:d5399cc887bb 63 __HAL_RCC_CAN2_CLK_ENABLE();
<> 160:d5399cc887bb 64 obj->index = 1;
<> 160:d5399cc887bb 65 }
<> 160:d5399cc887bb 66 #endif
AnnaBridge 178:79309dc6340a 67 #if defined(CAN3_BASE) && defined(CAN_3)
AnnaBridge 178:79309dc6340a 68 else if (can == CAN_3) {
AnnaBridge 178:79309dc6340a 69 __HAL_RCC_CAN3_CLK_ENABLE();
AnnaBridge 178:79309dc6340a 70 obj->index = 2;
AnnaBridge 178:79309dc6340a 71 }
AnnaBridge 178:79309dc6340a 72 #endif
<> 160:d5399cc887bb 73 else {
<> 160:d5399cc887bb 74 return;
<> 160:d5399cc887bb 75 }
<> 160:d5399cc887bb 76
<> 160:d5399cc887bb 77 // Configure the CAN pins
<> 160:d5399cc887bb 78 pinmap_pinout(rd, PinMap_CAN_RD);
<> 160:d5399cc887bb 79 pinmap_pinout(td, PinMap_CAN_TD);
<> 160:d5399cc887bb 80 if (rd != NC) {
<> 160:d5399cc887bb 81 pin_mode(rd, PullUp);
<> 160:d5399cc887bb 82 }
<> 160:d5399cc887bb 83 if (td != NC) {
<> 160:d5399cc887bb 84 pin_mode(td, PullUp);
<> 160:d5399cc887bb 85 }
<> 160:d5399cc887bb 86
AnnaBridge 174:b96e65c34a4d 87 /* Use default values for rist init */
AnnaBridge 174:b96e65c34a4d 88 obj->CanHandle.Instance = (CAN_TypeDef *)can;
AnnaBridge 174:b96e65c34a4d 89 obj->CanHandle.Init.TTCM = DISABLE;
AnnaBridge 174:b96e65c34a4d 90 obj->CanHandle.Init.ABOM = DISABLE;
AnnaBridge 174:b96e65c34a4d 91 obj->CanHandle.Init.AWUM = DISABLE;
AnnaBridge 174:b96e65c34a4d 92 obj->CanHandle.Init.NART = DISABLE;
AnnaBridge 174:b96e65c34a4d 93 obj->CanHandle.Init.RFLM = DISABLE;
AnnaBridge 174:b96e65c34a4d 94 obj->CanHandle.Init.TXFP = DISABLE;
AnnaBridge 174:b96e65c34a4d 95 obj->CanHandle.Init.Mode = CAN_MODE_NORMAL;
AnnaBridge 174:b96e65c34a4d 96 obj->CanHandle.Init.SJW = CAN_SJW_1TQ;
AnnaBridge 174:b96e65c34a4d 97 obj->CanHandle.Init.BS1 = CAN_BS1_6TQ;
AnnaBridge 174:b96e65c34a4d 98 obj->CanHandle.Init.BS2 = CAN_BS2_8TQ;
AnnaBridge 174:b96e65c34a4d 99 obj->CanHandle.Init.Prescaler = 2;
<> 160:d5399cc887bb 100
AnnaBridge 174:b96e65c34a4d 101 /* Store frequency to be restored in case of reset */
AnnaBridge 174:b96e65c34a4d 102 obj->hz = hz;
<> 160:d5399cc887bb 103
AnnaBridge 174:b96e65c34a4d 104 can_registers_init(obj);
<> 160:d5399cc887bb 105
AnnaBridge 174:b96e65c34a4d 106 uint32_t filter_number = (can == CAN_1) ? 0 : 14;
<> 160:d5399cc887bb 107 can_filter(obj, 0, 0, CANStandard, filter_number);
<> 160:d5399cc887bb 108 }
<> 160:d5399cc887bb 109
AnnaBridge 174:b96e65c34a4d 110
<> 160:d5399cc887bb 111 void can_irq_init(can_t *obj, can_irq_handler handler, uint32_t id)
<> 160:d5399cc887bb 112 {
<> 160:d5399cc887bb 113 irq_handler = handler;
<> 160:d5399cc887bb 114 can_irq_ids[obj->index] = id;
<> 160:d5399cc887bb 115 }
<> 160:d5399cc887bb 116
<> 160:d5399cc887bb 117 void can_irq_free(can_t *obj)
<> 160:d5399cc887bb 118 {
AnnaBridge 174:b96e65c34a4d 119 CAN_TypeDef *can = obj->CanHandle.Instance;
<> 160:d5399cc887bb 120
<> 160:d5399cc887bb 121 can->IER &= ~(CAN_IT_FMP0 | CAN_IT_FMP1 | CAN_IT_TME | \
<> 160:d5399cc887bb 122 CAN_IT_ERR | CAN_IT_EPV | CAN_IT_BOF);
AnnaBridge 167:e84263d55307 123 can_irq_ids[obj->index] = 0;
<> 160:d5399cc887bb 124 }
<> 160:d5399cc887bb 125
<> 160:d5399cc887bb 126 void can_free(can_t *obj)
<> 160:d5399cc887bb 127 {
AnnaBridge 174:b96e65c34a4d 128 CANName can = (CANName) obj->CanHandle.Instance;
<> 160:d5399cc887bb 129 // Reset CAN and disable clock
AnnaBridge 174:b96e65c34a4d 130 if (can == CAN_1) {
<> 160:d5399cc887bb 131 __HAL_RCC_CAN1_FORCE_RESET();
<> 160:d5399cc887bb 132 __HAL_RCC_CAN1_RELEASE_RESET();
<> 160:d5399cc887bb 133 __HAL_RCC_CAN1_CLK_DISABLE();
<> 160:d5399cc887bb 134 }
AnnaBridge 178:79309dc6340a 135 #if defined(CAN2_BASE) && defined(CAN_2)
AnnaBridge 174:b96e65c34a4d 136 if (can == CAN_2) {
<> 160:d5399cc887bb 137 __HAL_RCC_CAN2_FORCE_RESET();
<> 160:d5399cc887bb 138 __HAL_RCC_CAN2_RELEASE_RESET();
<> 160:d5399cc887bb 139 __HAL_RCC_CAN2_CLK_DISABLE();
<> 160:d5399cc887bb 140 }
<> 160:d5399cc887bb 141 #endif
AnnaBridge 178:79309dc6340a 142 #if defined(CAN3_BASE) && defined(CAN_3)
AnnaBridge 178:79309dc6340a 143 if (can == CAN_3) {
AnnaBridge 178:79309dc6340a 144 __HAL_RCC_CAN3_FORCE_RESET();
AnnaBridge 178:79309dc6340a 145 __HAL_RCC_CAN3_RELEASE_RESET();
AnnaBridge 178:79309dc6340a 146 __HAL_RCC_CAN3_CLK_DISABLE();
AnnaBridge 178:79309dc6340a 147 }
AnnaBridge 178:79309dc6340a 148 #endif
<> 160:d5399cc887bb 149 }
<> 160:d5399cc887bb 150
<> 160:d5399cc887bb 151 // The following table is used to program bit_timing. It is an adjustment of the sample
<> 160:d5399cc887bb 152 // point by synchronizing on the start-bit edge and resynchronizing on the following edges.
<> 160:d5399cc887bb 153 // This table has the sampling points as close to 75% as possible (most commonly used).
<> 160:d5399cc887bb 154 // The first value is TSEG1, the second TSEG2.
<> 160:d5399cc887bb 155 static const int timing_pts[23][2] = {
<> 160:d5399cc887bb 156 {0x0, 0x0}, // 2, 50%
<> 160:d5399cc887bb 157 {0x1, 0x0}, // 3, 67%
<> 160:d5399cc887bb 158 {0x2, 0x0}, // 4, 75%
<> 160:d5399cc887bb 159 {0x3, 0x0}, // 5, 80%
<> 160:d5399cc887bb 160 {0x3, 0x1}, // 6, 67%
<> 160:d5399cc887bb 161 {0x4, 0x1}, // 7, 71%
<> 160:d5399cc887bb 162 {0x5, 0x1}, // 8, 75%
<> 160:d5399cc887bb 163 {0x6, 0x1}, // 9, 78%
<> 160:d5399cc887bb 164 {0x6, 0x2}, // 10, 70%
<> 160:d5399cc887bb 165 {0x7, 0x2}, // 11, 73%
<> 160:d5399cc887bb 166 {0x8, 0x2}, // 12, 75%
<> 160:d5399cc887bb 167 {0x9, 0x2}, // 13, 77%
<> 160:d5399cc887bb 168 {0x9, 0x3}, // 14, 71%
<> 160:d5399cc887bb 169 {0xA, 0x3}, // 15, 73%
<> 160:d5399cc887bb 170 {0xB, 0x3}, // 16, 75%
<> 160:d5399cc887bb 171 {0xC, 0x3}, // 17, 76%
<> 160:d5399cc887bb 172 {0xD, 0x3}, // 18, 78%
<> 160:d5399cc887bb 173 {0xD, 0x4}, // 19, 74%
<> 160:d5399cc887bb 174 {0xE, 0x4}, // 20, 75%
<> 160:d5399cc887bb 175 {0xF, 0x4}, // 21, 76%
<> 160:d5399cc887bb 176 {0xF, 0x5}, // 22, 73%
<> 160:d5399cc887bb 177 {0xF, 0x6}, // 23, 70%
<> 160:d5399cc887bb 178 {0xF, 0x7}, // 24, 67%
<> 160:d5399cc887bb 179 };
<> 160:d5399cc887bb 180
<> 160:d5399cc887bb 181 static unsigned int can_speed(unsigned int pclk, unsigned int cclk, unsigned char psjw)
<> 160:d5399cc887bb 182 {
<> 160:d5399cc887bb 183 uint32_t btr;
<> 160:d5399cc887bb 184 uint16_t brp = 0;
<> 160:d5399cc887bb 185 uint32_t calcbit;
<> 160:d5399cc887bb 186 uint32_t bitwidth;
<> 160:d5399cc887bb 187 int hit = 0;
<> 160:d5399cc887bb 188 int bits;
<> 160:d5399cc887bb 189
<> 160:d5399cc887bb 190 bitwidth = (pclk / cclk);
<> 160:d5399cc887bb 191
<> 160:d5399cc887bb 192 brp = bitwidth / 0x18;
<> 160:d5399cc887bb 193 while ((!hit) && (brp < bitwidth / 4)) {
<> 160:d5399cc887bb 194 brp++;
<> 160:d5399cc887bb 195 for (bits = 22; bits > 0; bits--) {
<> 160:d5399cc887bb 196 calcbit = (bits + 3) * (brp + 1);
<> 160:d5399cc887bb 197 if (calcbit == bitwidth) {
<> 160:d5399cc887bb 198 hit = 1;
<> 160:d5399cc887bb 199 break;
<> 160:d5399cc887bb 200 }
<> 160:d5399cc887bb 201 }
<> 160:d5399cc887bb 202 }
<> 160:d5399cc887bb 203
<> 160:d5399cc887bb 204 if (hit) {
AnnaBridge 172:7d866c31b3c5 205 btr = ((timing_pts[bits][1] << CAN_BTR_TS2_Pos) & CAN_BTR_TS2) |
AnnaBridge 172:7d866c31b3c5 206 ((timing_pts[bits][0] << CAN_BTR_TS1_Pos) & CAN_BTR_TS1) |
AnnaBridge 172:7d866c31b3c5 207 ((psjw << CAN_BTR_SJW_Pos) & CAN_BTR_SJW) |
AnnaBridge 172:7d866c31b3c5 208 ((brp << CAN_BTR_BRP_Pos) & CAN_BTR_BRP);
<> 160:d5399cc887bb 209 } else {
<> 160:d5399cc887bb 210 btr = 0xFFFFFFFF;
<> 160:d5399cc887bb 211 }
<> 160:d5399cc887bb 212
<> 160:d5399cc887bb 213 return btr;
<> 160:d5399cc887bb 214
<> 160:d5399cc887bb 215 }
<> 160:d5399cc887bb 216
<> 160:d5399cc887bb 217 int can_frequency(can_t *obj, int f)
<> 160:d5399cc887bb 218 {
<> 160:d5399cc887bb 219 int pclk = HAL_RCC_GetPCLK1Freq();
<> 160:d5399cc887bb 220 int btr = can_speed(pclk, (unsigned int)f, 1);
AnnaBridge 174:b96e65c34a4d 221 CAN_TypeDef *can = obj->CanHandle.Instance;
AnnaBridge 167:e84263d55307 222 uint32_t tickstart = 0;
AnnaBridge 167:e84263d55307 223 int status = 1;
<> 160:d5399cc887bb 224
<> 160:d5399cc887bb 225 if (btr > 0) {
<> 160:d5399cc887bb 226 can->MCR |= CAN_MCR_INRQ ;
AnnaBridge 167:e84263d55307 227 /* Get tick */
AnnaBridge 167:e84263d55307 228 tickstart = HAL_GetTick();
<> 160:d5399cc887bb 229 while ((can->MSR & CAN_MSR_INAK) != CAN_MSR_INAK) {
AnnaBridge 167:e84263d55307 230 if ((HAL_GetTick() - tickstart) > 2) {
AnnaBridge 167:e84263d55307 231 status = 0;
AnnaBridge 167:e84263d55307 232 break;
AnnaBridge 167:e84263d55307 233 }
<> 160:d5399cc887bb 234 }
AnnaBridge 167:e84263d55307 235 if (status != 0) {
AnnaBridge 174:b96e65c34a4d 236 /* Do not erase all BTR registers (e.g. silent mode), only the
AnnaBridge 174:b96e65c34a4d 237 * ones calculated in can_speed */
AnnaBridge 174:b96e65c34a4d 238 can->BTR &= ~(CAN_BTR_TS2 | CAN_BTR_TS1 | CAN_BTR_SJW | CAN_BTR_BRP);
AnnaBridge 174:b96e65c34a4d 239 can->BTR |= btr;
AnnaBridge 174:b96e65c34a4d 240
AnnaBridge 167:e84263d55307 241 can->MCR &= ~(uint32_t)CAN_MCR_INRQ;
AnnaBridge 167:e84263d55307 242 /* Get tick */
AnnaBridge 167:e84263d55307 243 tickstart = HAL_GetTick();
AnnaBridge 167:e84263d55307 244 while ((can->MSR & CAN_MSR_INAK) == CAN_MSR_INAK) {
AnnaBridge 167:e84263d55307 245 if ((HAL_GetTick() - tickstart) > 2) {
AnnaBridge 167:e84263d55307 246 status = 0;
AnnaBridge 167:e84263d55307 247 break;
AnnaBridge 167:e84263d55307 248 }
AnnaBridge 167:e84263d55307 249 }
AnnaBridge 167:e84263d55307 250 if (status == 0) {
AnnaBridge 167:e84263d55307 251 error("can ESR 0x%04x.%04x + timeout status %d", (can->ESR & 0xFFFF0000) >> 16, (can->ESR & 0xFFFF), status);
AnnaBridge 167:e84263d55307 252 }
AnnaBridge 167:e84263d55307 253 } else {
AnnaBridge 167:e84263d55307 254 error("can init request timeout\n");
<> 160:d5399cc887bb 255 }
<> 160:d5399cc887bb 256 } else {
AnnaBridge 167:e84263d55307 257 status = 0;
<> 160:d5399cc887bb 258 }
AnnaBridge 167:e84263d55307 259 return status;
<> 160:d5399cc887bb 260 }
<> 160:d5399cc887bb 261
<> 160:d5399cc887bb 262 int can_write(can_t *obj, CAN_Message msg, int cc)
<> 160:d5399cc887bb 263 {
<> 160:d5399cc887bb 264 uint32_t transmitmailbox = CAN_TXSTATUS_NOMAILBOX;
AnnaBridge 174:b96e65c34a4d 265 CAN_TypeDef *can = obj->CanHandle.Instance;
<> 160:d5399cc887bb 266
<> 160:d5399cc887bb 267 /* Select one empty transmit mailbox */
<> 160:d5399cc887bb 268 if ((can->TSR & CAN_TSR_TME0) == CAN_TSR_TME0) {
<> 160:d5399cc887bb 269 transmitmailbox = 0;
<> 160:d5399cc887bb 270 } else if ((can->TSR & CAN_TSR_TME1) == CAN_TSR_TME1) {
<> 160:d5399cc887bb 271 transmitmailbox = 1;
<> 160:d5399cc887bb 272 } else if ((can->TSR & CAN_TSR_TME2) == CAN_TSR_TME2) {
<> 160:d5399cc887bb 273 transmitmailbox = 2;
<> 160:d5399cc887bb 274 } else {
<> 160:d5399cc887bb 275 return 0;
<> 160:d5399cc887bb 276 }
<> 160:d5399cc887bb 277
<> 160:d5399cc887bb 278 can->sTxMailBox[transmitmailbox].TIR &= CAN_TI0R_TXRQ;
<> 160:d5399cc887bb 279 if (!(msg.format)) {
<> 160:d5399cc887bb 280 can->sTxMailBox[transmitmailbox].TIR |= ((msg.id << 21) | msg.type);
<> 160:d5399cc887bb 281 } else {
<> 160:d5399cc887bb 282 can->sTxMailBox[transmitmailbox].TIR |= ((msg.id << 3) | CAN_ID_EXT | msg.type);
<> 160:d5399cc887bb 283 }
AnnaBridge 167:e84263d55307 284
<> 160:d5399cc887bb 285 /* Set up the DLC */
<> 160:d5399cc887bb 286 can->sTxMailBox[transmitmailbox].TDTR &= (uint32_t)0xFFFFFFF0;
<> 160:d5399cc887bb 287 can->sTxMailBox[transmitmailbox].TDTR |= (msg.len & (uint8_t)0x0000000F);
AnnaBridge 167:e84263d55307 288
<> 160:d5399cc887bb 289 /* Set up the data field */
<> 160:d5399cc887bb 290 can->sTxMailBox[transmitmailbox].TDLR = (((uint32_t)msg.data[3] << 24) |
AnnaBridge 167:e84263d55307 291 ((uint32_t)msg.data[2] << 16) |
AnnaBridge 167:e84263d55307 292 ((uint32_t)msg.data[1] << 8) |
AnnaBridge 167:e84263d55307 293 ((uint32_t)msg.data[0]));
<> 160:d5399cc887bb 294 can->sTxMailBox[transmitmailbox].TDHR = (((uint32_t)msg.data[7] << 24) |
AnnaBridge 167:e84263d55307 295 ((uint32_t)msg.data[6] << 16) |
AnnaBridge 167:e84263d55307 296 ((uint32_t)msg.data[5] << 8) |
<> 160:d5399cc887bb 297 ((uint32_t)msg.data[4]));
<> 160:d5399cc887bb 298 /* Request transmission */
<> 160:d5399cc887bb 299 can->sTxMailBox[transmitmailbox].TIR |= CAN_TI0R_TXRQ;
<> 160:d5399cc887bb 300
<> 160:d5399cc887bb 301 return 1;
<> 160:d5399cc887bb 302 }
<> 160:d5399cc887bb 303
<> 160:d5399cc887bb 304 int can_read(can_t *obj, CAN_Message *msg, int handle)
<> 160:d5399cc887bb 305 {
<> 160:d5399cc887bb 306 //handle is the FIFO number
<> 160:d5399cc887bb 307
AnnaBridge 174:b96e65c34a4d 308 CAN_TypeDef *can = obj->CanHandle.Instance;
<> 160:d5399cc887bb 309
<> 160:d5399cc887bb 310 // check FPM0 which holds the pending message count in FIFO 0
<> 160:d5399cc887bb 311 // if no message is pending, return 0
<> 160:d5399cc887bb 312 if ((can->RF0R & CAN_RF0R_FMP0) == 0) {
<> 160:d5399cc887bb 313 return 0;
<> 160:d5399cc887bb 314 }
<> 160:d5399cc887bb 315
<> 160:d5399cc887bb 316 /* Get the Id */
<> 160:d5399cc887bb 317 msg->format = (CANFormat)(((uint8_t)0x04 & can->sFIFOMailBox[handle].RIR) >> 2);
<> 160:d5399cc887bb 318 if (!msg->format) {
<> 160:d5399cc887bb 319 msg->id = (uint32_t)0x000007FF & (can->sFIFOMailBox[handle].RIR >> 21);
<> 160:d5399cc887bb 320 } else {
<> 160:d5399cc887bb 321 msg->id = (uint32_t)0x1FFFFFFF & (can->sFIFOMailBox[handle].RIR >> 3);
<> 160:d5399cc887bb 322 }
<> 160:d5399cc887bb 323
<> 160:d5399cc887bb 324 msg->type = (CANType)(((uint8_t)0x02 & can->sFIFOMailBox[handle].RIR) >> 1);
<> 160:d5399cc887bb 325 /* Get the DLC */
<> 160:d5399cc887bb 326 msg->len = (uint8_t)0x0F & can->sFIFOMailBox[handle].RDTR;
<> 160:d5399cc887bb 327 /* Get the FMI */
<> 160:d5399cc887bb 328 // msg->FMI = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDTR >> 8);
<> 160:d5399cc887bb 329 /* Get the data field */
<> 160:d5399cc887bb 330 msg->data[0] = (uint8_t)0xFF & can->sFIFOMailBox[handle].RDLR;
<> 160:d5399cc887bb 331 msg->data[1] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDLR >> 8);
<> 160:d5399cc887bb 332 msg->data[2] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDLR >> 16);
<> 160:d5399cc887bb 333 msg->data[3] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDLR >> 24);
<> 160:d5399cc887bb 334 msg->data[4] = (uint8_t)0xFF & can->sFIFOMailBox[handle].RDHR;
<> 160:d5399cc887bb 335 msg->data[5] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDHR >> 8);
<> 160:d5399cc887bb 336 msg->data[6] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDHR >> 16);
<> 160:d5399cc887bb 337 msg->data[7] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDHR >> 24);
<> 160:d5399cc887bb 338
<> 160:d5399cc887bb 339 /* Release the FIFO */
<> 160:d5399cc887bb 340 if (handle == CAN_FIFO0) {
<> 160:d5399cc887bb 341 /* Release FIFO0 */
<> 160:d5399cc887bb 342 can->RF0R |= CAN_RF0R_RFOM0;
<> 160:d5399cc887bb 343 } else { /* FIFONumber == CAN_FIFO1 */
<> 160:d5399cc887bb 344 /* Release FIFO1 */
<> 160:d5399cc887bb 345 can->RF1R |= CAN_RF1R_RFOM1;
<> 160:d5399cc887bb 346 }
<> 160:d5399cc887bb 347
<> 160:d5399cc887bb 348 return 1;
<> 160:d5399cc887bb 349 }
<> 160:d5399cc887bb 350
<> 160:d5399cc887bb 351 void can_reset(can_t *obj)
<> 160:d5399cc887bb 352 {
AnnaBridge 174:b96e65c34a4d 353 CAN_TypeDef *can = obj->CanHandle.Instance;
AnnaBridge 174:b96e65c34a4d 354
AnnaBridge 174:b96e65c34a4d 355 /* Reset IP and delete errors */
<> 160:d5399cc887bb 356 can->MCR |= CAN_MCR_RESET;
<> 160:d5399cc887bb 357 can->ESR = 0x0;
AnnaBridge 174:b96e65c34a4d 358
AnnaBridge 174:b96e65c34a4d 359 /* restore registers state as saved in obj context */
AnnaBridge 174:b96e65c34a4d 360 can_registers_init(obj);
<> 160:d5399cc887bb 361 }
<> 160:d5399cc887bb 362
<> 160:d5399cc887bb 363 unsigned char can_rderror(can_t *obj)
<> 160:d5399cc887bb 364 {
AnnaBridge 174:b96e65c34a4d 365 CAN_TypeDef *can = obj->CanHandle.Instance;
<> 160:d5399cc887bb 366 return (can->ESR >> 24) & 0xFF;
<> 160:d5399cc887bb 367 }
<> 160:d5399cc887bb 368
<> 160:d5399cc887bb 369 unsigned char can_tderror(can_t *obj)
<> 160:d5399cc887bb 370 {
AnnaBridge 174:b96e65c34a4d 371 CAN_TypeDef *can = obj->CanHandle.Instance;
<> 160:d5399cc887bb 372 return (can->ESR >> 16) & 0xFF;
<> 160:d5399cc887bb 373 }
<> 160:d5399cc887bb 374
<> 160:d5399cc887bb 375 void can_monitor(can_t *obj, int silent)
<> 160:d5399cc887bb 376 {
AnnaBridge 174:b96e65c34a4d 377 CanMode mode = MODE_NORMAL;
AnnaBridge 174:b96e65c34a4d 378 /* Update current state w/ or w/o silent */
AnnaBridge 174:b96e65c34a4d 379 if(silent) {
AnnaBridge 174:b96e65c34a4d 380 switch (obj->CanHandle.Init.Mode) {
AnnaBridge 174:b96e65c34a4d 381 case CAN_MODE_LOOPBACK:
AnnaBridge 174:b96e65c34a4d 382 case CAN_MODE_SILENT_LOOPBACK:
AnnaBridge 174:b96e65c34a4d 383 mode = MODE_TEST_SILENT;
AnnaBridge 174:b96e65c34a4d 384 break;
AnnaBridge 174:b96e65c34a4d 385 default:
AnnaBridge 174:b96e65c34a4d 386 mode = MODE_SILENT;
AnnaBridge 174:b96e65c34a4d 387 break;
AnnaBridge 174:b96e65c34a4d 388 }
AnnaBridge 174:b96e65c34a4d 389 } else {
AnnaBridge 174:b96e65c34a4d 390 switch (obj->CanHandle.Init.Mode) {
AnnaBridge 174:b96e65c34a4d 391 case CAN_MODE_LOOPBACK:
AnnaBridge 174:b96e65c34a4d 392 case CAN_MODE_SILENT_LOOPBACK:
AnnaBridge 174:b96e65c34a4d 393 mode = MODE_TEST_LOCAL;
AnnaBridge 174:b96e65c34a4d 394 break;
AnnaBridge 174:b96e65c34a4d 395 default:
AnnaBridge 174:b96e65c34a4d 396 mode = MODE_NORMAL;
AnnaBridge 174:b96e65c34a4d 397 break;
AnnaBridge 174:b96e65c34a4d 398 }
<> 160:d5399cc887bb 399 }
<> 160:d5399cc887bb 400
AnnaBridge 174:b96e65c34a4d 401 can_mode(obj, mode);
<> 160:d5399cc887bb 402 }
<> 160:d5399cc887bb 403
<> 160:d5399cc887bb 404 int can_mode(can_t *obj, CanMode mode)
<> 160:d5399cc887bb 405 {
<> 160:d5399cc887bb 406 int success = 0;
AnnaBridge 174:b96e65c34a4d 407 CAN_TypeDef *can = obj->CanHandle.Instance;
<> 160:d5399cc887bb 408
<> 160:d5399cc887bb 409 can->MCR |= CAN_MCR_INRQ ;
<> 160:d5399cc887bb 410 while ((can->MSR & CAN_MSR_INAK) != CAN_MSR_INAK) {
<> 160:d5399cc887bb 411 }
<> 160:d5399cc887bb 412
<> 160:d5399cc887bb 413 switch (mode) {
<> 160:d5399cc887bb 414 case MODE_NORMAL:
AnnaBridge 174:b96e65c34a4d 415 obj->CanHandle.Init.Mode = CAN_MODE_NORMAL;
<> 160:d5399cc887bb 416 can->BTR &= ~(CAN_BTR_SILM | CAN_BTR_LBKM);
<> 160:d5399cc887bb 417 success = 1;
<> 160:d5399cc887bb 418 break;
<> 160:d5399cc887bb 419 case MODE_SILENT:
AnnaBridge 174:b96e65c34a4d 420 obj->CanHandle.Init.Mode = CAN_MODE_SILENT;
<> 160:d5399cc887bb 421 can->BTR |= CAN_BTR_SILM;
<> 160:d5399cc887bb 422 can->BTR &= ~CAN_BTR_LBKM;
<> 160:d5399cc887bb 423 success = 1;
<> 160:d5399cc887bb 424 break;
<> 160:d5399cc887bb 425 case MODE_TEST_GLOBAL:
<> 160:d5399cc887bb 426 case MODE_TEST_LOCAL:
AnnaBridge 174:b96e65c34a4d 427 obj->CanHandle.Init.Mode = CAN_MODE_LOOPBACK;
<> 160:d5399cc887bb 428 can->BTR |= CAN_BTR_LBKM;
<> 160:d5399cc887bb 429 can->BTR &= ~CAN_BTR_SILM;
<> 160:d5399cc887bb 430 success = 1;
<> 160:d5399cc887bb 431 break;
<> 160:d5399cc887bb 432 case MODE_TEST_SILENT:
AnnaBridge 174:b96e65c34a4d 433 obj->CanHandle.Init.Mode = CAN_MODE_SILENT_LOOPBACK;
<> 160:d5399cc887bb 434 can->BTR |= (CAN_BTR_SILM | CAN_BTR_LBKM);
<> 160:d5399cc887bb 435 success = 1;
<> 160:d5399cc887bb 436 break;
<> 160:d5399cc887bb 437 default:
<> 160:d5399cc887bb 438 success = 0;
<> 160:d5399cc887bb 439 break;
<> 160:d5399cc887bb 440 }
<> 160:d5399cc887bb 441
<> 160:d5399cc887bb 442 can->MCR &= ~(uint32_t)CAN_MCR_INRQ;
<> 160:d5399cc887bb 443 while ((can->MSR & CAN_MSR_INAK) == CAN_MSR_INAK) {
<> 160:d5399cc887bb 444 }
<> 160:d5399cc887bb 445
<> 160:d5399cc887bb 446 return success;
<> 160:d5399cc887bb 447 }
<> 160:d5399cc887bb 448
<> 160:d5399cc887bb 449 int can_filter(can_t *obj, uint32_t id, uint32_t mask, CANFormat format, int32_t handle)
<> 160:d5399cc887bb 450 {
<> 160:d5399cc887bb 451 int retval = 0;
<> 160:d5399cc887bb 452
<> 160:d5399cc887bb 453 // filter for CANAny format cannot be configured for STM32
<> 160:d5399cc887bb 454 if ((format == CANStandard) || (format == CANExtended)) {
<> 160:d5399cc887bb 455 CAN_FilterConfTypeDef sFilterConfig;
<> 160:d5399cc887bb 456 sFilterConfig.FilterNumber = handle;
<> 160:d5399cc887bb 457 sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
<> 160:d5399cc887bb 458 sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
<> 160:d5399cc887bb 459
<> 160:d5399cc887bb 460 if (format == CANStandard) {
<> 160:d5399cc887bb 461 sFilterConfig.FilterIdHigh = id << 5;
<> 160:d5399cc887bb 462 sFilterConfig.FilterIdLow = 0x0;
<> 160:d5399cc887bb 463 sFilterConfig.FilterMaskIdHigh = mask << 5;
<> 160:d5399cc887bb 464 sFilterConfig.FilterMaskIdLow = 0x0; // allows both remote and data frames
<> 160:d5399cc887bb 465 } else if (format == CANExtended) {
<> 160:d5399cc887bb 466 sFilterConfig.FilterIdHigh = id >> 13; // EXTID[28:13]
<> 160:d5399cc887bb 467 sFilterConfig.FilterIdLow = (0x00FF & (id << 3)) | (1 << 2); // EXTID[12:0]
<> 160:d5399cc887bb 468 sFilterConfig.FilterMaskIdHigh = mask >> 13;
<> 160:d5399cc887bb 469 sFilterConfig.FilterMaskIdLow = (0x00FF & (mask << 3)) | (1 << 2);
<> 160:d5399cc887bb 470 }
<> 160:d5399cc887bb 471
<> 160:d5399cc887bb 472 sFilterConfig.FilterFIFOAssignment = 0;
<> 160:d5399cc887bb 473 sFilterConfig.FilterActivation = ENABLE;
<> 160:d5399cc887bb 474 sFilterConfig.BankNumber = 14 + handle;
<> 160:d5399cc887bb 475
AnnaBridge 174:b96e65c34a4d 476 HAL_CAN_ConfigFilter(&obj->CanHandle, &sFilterConfig);
<> 160:d5399cc887bb 477 retval = handle;
<> 160:d5399cc887bb 478 }
<> 160:d5399cc887bb 479 return retval;
<> 160:d5399cc887bb 480 }
<> 160:d5399cc887bb 481
<> 160:d5399cc887bb 482 static void can_irq(CANName name, int id)
<> 160:d5399cc887bb 483 {
<> 160:d5399cc887bb 484 uint32_t tmp1 = 0, tmp2 = 0, tmp3 = 0;
AnnaBridge 174:b96e65c34a4d 485 CAN_HandleTypeDef CanHandle;
<> 160:d5399cc887bb 486 CanHandle.Instance = (CAN_TypeDef *)name;
<> 160:d5399cc887bb 487
<> 160:d5399cc887bb 488 if (__HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_TME)) {
<> 160:d5399cc887bb 489 tmp1 = __HAL_CAN_TRANSMIT_STATUS(&CanHandle, CAN_TXMAILBOX_0);
<> 160:d5399cc887bb 490 tmp2 = __HAL_CAN_TRANSMIT_STATUS(&CanHandle, CAN_TXMAILBOX_1);
<> 160:d5399cc887bb 491 tmp3 = __HAL_CAN_TRANSMIT_STATUS(&CanHandle, CAN_TXMAILBOX_2);
<> 160:d5399cc887bb 492 if (tmp1) {
<> 160:d5399cc887bb 493 __HAL_CAN_CLEAR_FLAG(&CanHandle, CAN_FLAG_RQCP0);
<> 160:d5399cc887bb 494 }
<> 160:d5399cc887bb 495 if (tmp2) {
<> 160:d5399cc887bb 496 __HAL_CAN_CLEAR_FLAG(&CanHandle, CAN_FLAG_RQCP1);
<> 160:d5399cc887bb 497 }
<> 160:d5399cc887bb 498 if (tmp3) {
<> 160:d5399cc887bb 499 __HAL_CAN_CLEAR_FLAG(&CanHandle, CAN_FLAG_RQCP2);
<> 160:d5399cc887bb 500 }
<> 160:d5399cc887bb 501 if (tmp1 || tmp2 || tmp3) {
<> 160:d5399cc887bb 502 irq_handler(can_irq_ids[id], IRQ_TX);
<> 160:d5399cc887bb 503 }
<> 160:d5399cc887bb 504 }
<> 160:d5399cc887bb 505
<> 160:d5399cc887bb 506 tmp1 = __HAL_CAN_MSG_PENDING(&CanHandle, CAN_FIFO0);
<> 160:d5399cc887bb 507 tmp2 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_FMP0);
<> 160:d5399cc887bb 508
<> 160:d5399cc887bb 509 if ((tmp1 != 0) && tmp2) {
<> 160:d5399cc887bb 510 irq_handler(can_irq_ids[id], IRQ_RX);
<> 160:d5399cc887bb 511 }
<> 160:d5399cc887bb 512
<> 160:d5399cc887bb 513 tmp1 = __HAL_CAN_GET_FLAG(&CanHandle, CAN_FLAG_EPV);
<> 160:d5399cc887bb 514 tmp2 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_EPV);
<> 160:d5399cc887bb 515 tmp3 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_ERR);
<> 160:d5399cc887bb 516
<> 160:d5399cc887bb 517 if (tmp1 && tmp2 && tmp3) {
<> 160:d5399cc887bb 518 irq_handler(can_irq_ids[id], IRQ_PASSIVE);
<> 160:d5399cc887bb 519 }
<> 160:d5399cc887bb 520
<> 160:d5399cc887bb 521 tmp1 = __HAL_CAN_GET_FLAG(&CanHandle, CAN_FLAG_BOF);
<> 160:d5399cc887bb 522 tmp2 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_BOF);
<> 160:d5399cc887bb 523 tmp3 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_ERR);
<> 160:d5399cc887bb 524 if (tmp1 && tmp2 && tmp3) {
<> 160:d5399cc887bb 525 irq_handler(can_irq_ids[id], IRQ_BUS);
<> 160:d5399cc887bb 526 }
<> 160:d5399cc887bb 527
<> 160:d5399cc887bb 528 tmp3 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_ERR);
<> 160:d5399cc887bb 529 if (tmp1 && tmp2 && tmp3) {
<> 160:d5399cc887bb 530 irq_handler(can_irq_ids[id], IRQ_ERROR);
<> 160:d5399cc887bb 531 }
<> 160:d5399cc887bb 532 }
<> 160:d5399cc887bb 533
<> 160:d5399cc887bb 534 #if defined(TARGET_STM32F0)
<> 160:d5399cc887bb 535 void CAN_IRQHandler(void)
<> 160:d5399cc887bb 536 {
<> 160:d5399cc887bb 537 can_irq(CAN_1, 0);
<> 160:d5399cc887bb 538 }
<> 160:d5399cc887bb 539 #elif defined(TARGET_STM32F3)
<> 160:d5399cc887bb 540 void CAN_RX0_IRQHandler(void)
<> 160:d5399cc887bb 541 {
<> 160:d5399cc887bb 542 can_irq(CAN_1, 0);
<> 160:d5399cc887bb 543 }
<> 160:d5399cc887bb 544 void CAN_TX_IRQHandler(void)
<> 160:d5399cc887bb 545 {
<> 160:d5399cc887bb 546 can_irq(CAN_1, 0);
<> 160:d5399cc887bb 547 }
<> 160:d5399cc887bb 548 void CAN_SCE_IRQHandler(void)
<> 160:d5399cc887bb 549 {
<> 160:d5399cc887bb 550 can_irq(CAN_1, 0);
<> 160:d5399cc887bb 551 }
<> 160:d5399cc887bb 552 #else
<> 160:d5399cc887bb 553 void CAN1_RX0_IRQHandler(void)
<> 160:d5399cc887bb 554 {
<> 160:d5399cc887bb 555 can_irq(CAN_1, 0);
<> 160:d5399cc887bb 556 }
<> 160:d5399cc887bb 557 void CAN1_TX_IRQHandler(void)
<> 160:d5399cc887bb 558 {
<> 160:d5399cc887bb 559 can_irq(CAN_1, 0);
<> 160:d5399cc887bb 560 }
<> 160:d5399cc887bb 561 void CAN1_SCE_IRQHandler(void)
<> 160:d5399cc887bb 562 {
<> 160:d5399cc887bb 563 can_irq(CAN_1, 0);
<> 160:d5399cc887bb 564 }
AnnaBridge 178:79309dc6340a 565 #if defined(CAN2_BASE) && defined(CAN_2)
<> 160:d5399cc887bb 566 void CAN2_RX0_IRQHandler(void)
<> 160:d5399cc887bb 567 {
<> 160:d5399cc887bb 568 can_irq(CAN_2, 1);
<> 160:d5399cc887bb 569 }
<> 160:d5399cc887bb 570 void CAN2_TX_IRQHandler(void)
<> 160:d5399cc887bb 571 {
<> 160:d5399cc887bb 572 can_irq(CAN_2, 1);
<> 160:d5399cc887bb 573 }
<> 160:d5399cc887bb 574 void CAN2_SCE_IRQHandler(void)
<> 160:d5399cc887bb 575 {
<> 160:d5399cc887bb 576 can_irq(CAN_2, 1);
<> 160:d5399cc887bb 577 }
AnnaBridge 178:79309dc6340a 578 #endif
AnnaBridge 178:79309dc6340a 579 #if defined(CAN3_BASE) && defined(CAN_3)
AnnaBridge 178:79309dc6340a 580 void CAN3_RX0_IRQHandler(void)
AnnaBridge 178:79309dc6340a 581 {
AnnaBridge 178:79309dc6340a 582 can_irq(CAN_3, 1);
AnnaBridge 178:79309dc6340a 583 }
AnnaBridge 178:79309dc6340a 584 void CAN3_TX_IRQHandler(void)
AnnaBridge 178:79309dc6340a 585 {
AnnaBridge 178:79309dc6340a 586 can_irq(CAN_3, 1);
AnnaBridge 178:79309dc6340a 587 }
AnnaBridge 178:79309dc6340a 588 void CAN3_SCE_IRQHandler(void)
AnnaBridge 178:79309dc6340a 589 {
AnnaBridge 178:79309dc6340a 590 can_irq(CAN_3, 1);
AnnaBridge 178:79309dc6340a 591 }
AnnaBridge 178:79309dc6340a 592 #endif
<> 160:d5399cc887bb 593 #endif // else
<> 160:d5399cc887bb 594
<> 160:d5399cc887bb 595 void can_irq_set(can_t *obj, CanIrqType type, uint32_t enable)
<> 160:d5399cc887bb 596 {
AnnaBridge 174:b96e65c34a4d 597 CAN_TypeDef *can = obj->CanHandle.Instance;
<> 160:d5399cc887bb 598 IRQn_Type irq_n = (IRQn_Type)0;
<> 160:d5399cc887bb 599 uint32_t vector = 0;
<> 160:d5399cc887bb 600 uint32_t ier;
<> 160:d5399cc887bb 601
AnnaBridge 174:b96e65c34a4d 602 if ((CANName) can == CAN_1) {
<> 160:d5399cc887bb 603 switch (type) {
<> 160:d5399cc887bb 604 case IRQ_RX:
<> 160:d5399cc887bb 605 ier = CAN_IT_FMP0;
<> 160:d5399cc887bb 606 irq_n = CAN1_IRQ_RX_IRQN;
<> 160:d5399cc887bb 607 vector = (uint32_t)&CAN1_IRQ_RX_VECT;
<> 160:d5399cc887bb 608 break;
<> 160:d5399cc887bb 609 case IRQ_TX:
<> 160:d5399cc887bb 610 ier = CAN_IT_TME;
<> 160:d5399cc887bb 611 irq_n = CAN1_IRQ_TX_IRQN;
<> 160:d5399cc887bb 612 vector = (uint32_t)&CAN1_IRQ_TX_VECT;
<> 160:d5399cc887bb 613 break;
<> 160:d5399cc887bb 614 case IRQ_ERROR:
<> 160:d5399cc887bb 615 ier = CAN_IT_ERR;
<> 160:d5399cc887bb 616 irq_n = CAN1_IRQ_ERROR_IRQN;
<> 160:d5399cc887bb 617 vector = (uint32_t)&CAN1_IRQ_ERROR_VECT;
<> 160:d5399cc887bb 618 break;
<> 160:d5399cc887bb 619 case IRQ_PASSIVE:
<> 160:d5399cc887bb 620 ier = CAN_IT_EPV;
<> 160:d5399cc887bb 621 irq_n = CAN1_IRQ_PASSIVE_IRQN;
<> 160:d5399cc887bb 622 vector = (uint32_t)&CAN1_IRQ_PASSIVE_VECT;
<> 160:d5399cc887bb 623 break;
<> 160:d5399cc887bb 624 case IRQ_BUS:
<> 160:d5399cc887bb 625 ier = CAN_IT_BOF;
<> 160:d5399cc887bb 626 irq_n = CAN1_IRQ_BUS_IRQN;
<> 160:d5399cc887bb 627 vector = (uint32_t)&CAN1_IRQ_BUS_VECT;
<> 160:d5399cc887bb 628 break;
<> 160:d5399cc887bb 629 default:
<> 160:d5399cc887bb 630 return;
<> 160:d5399cc887bb 631 }
<> 160:d5399cc887bb 632 }
AnnaBridge 178:79309dc6340a 633 #if defined(CAN2_BASE) && defined(CAN_2)
AnnaBridge 174:b96e65c34a4d 634 else if ((CANName) can == CAN_2) {
<> 160:d5399cc887bb 635 switch (type) {
<> 160:d5399cc887bb 636 case IRQ_RX:
<> 160:d5399cc887bb 637 ier = CAN_IT_FMP0;
<> 160:d5399cc887bb 638 irq_n = CAN2_IRQ_RX_IRQN;
<> 160:d5399cc887bb 639 vector = (uint32_t)&CAN2_IRQ_RX_VECT;
<> 160:d5399cc887bb 640 break;
<> 160:d5399cc887bb 641 case IRQ_TX:
<> 160:d5399cc887bb 642 ier = CAN_IT_TME;
<> 160:d5399cc887bb 643 irq_n = CAN2_IRQ_TX_IRQN;
<> 160:d5399cc887bb 644 vector = (uint32_t)&CAN2_IRQ_TX_VECT;
<> 160:d5399cc887bb 645 break;
<> 160:d5399cc887bb 646 case IRQ_ERROR:
<> 160:d5399cc887bb 647 ier = CAN_IT_ERR;
<> 160:d5399cc887bb 648 irq_n = CAN2_IRQ_ERROR_IRQN;
<> 160:d5399cc887bb 649 vector = (uint32_t)&CAN2_IRQ_ERROR_VECT;
<> 160:d5399cc887bb 650 break;
<> 160:d5399cc887bb 651 case IRQ_PASSIVE:
<> 160:d5399cc887bb 652 ier = CAN_IT_EPV;
<> 160:d5399cc887bb 653 irq_n = CAN2_IRQ_PASSIVE_IRQN;
<> 160:d5399cc887bb 654 vector = (uint32_t)&CAN2_IRQ_PASSIVE_VECT;
<> 160:d5399cc887bb 655 break;
<> 160:d5399cc887bb 656 case IRQ_BUS:
<> 160:d5399cc887bb 657 ier = CAN_IT_BOF;
<> 160:d5399cc887bb 658 irq_n = CAN2_IRQ_BUS_IRQN;
<> 160:d5399cc887bb 659 vector = (uint32_t)&CAN2_IRQ_BUS_VECT;
<> 160:d5399cc887bb 660 break;
<> 160:d5399cc887bb 661 default:
<> 160:d5399cc887bb 662 return;
<> 160:d5399cc887bb 663 }
<> 160:d5399cc887bb 664 }
<> 160:d5399cc887bb 665 #endif
AnnaBridge 178:79309dc6340a 666 #if defined(CAN3_BASE) && defined(CAN_3)
AnnaBridge 178:79309dc6340a 667 else if ((CANName) can == CAN_3) {
AnnaBridge 178:79309dc6340a 668 switch (type) {
AnnaBridge 178:79309dc6340a 669 case IRQ_RX:
AnnaBridge 178:79309dc6340a 670 ier = CAN_IT_FMP0;
AnnaBridge 178:79309dc6340a 671 irq_n = CAN3_IRQ_RX_IRQN;
AnnaBridge 178:79309dc6340a 672 vector = (uint32_t)&CAN3_IRQ_RX_VECT;
AnnaBridge 178:79309dc6340a 673 break;
AnnaBridge 178:79309dc6340a 674 case IRQ_TX:
AnnaBridge 178:79309dc6340a 675 ier = CAN_IT_TME;
AnnaBridge 178:79309dc6340a 676 irq_n = CAN3_IRQ_TX_IRQN;
AnnaBridge 178:79309dc6340a 677 vector = (uint32_t)&CAN3_IRQ_TX_VECT;
AnnaBridge 178:79309dc6340a 678 break;
AnnaBridge 178:79309dc6340a 679 case IRQ_ERROR:
AnnaBridge 178:79309dc6340a 680 ier = CAN_IT_ERR;
AnnaBridge 178:79309dc6340a 681 irq_n = CAN3_IRQ_ERROR_IRQN;
AnnaBridge 178:79309dc6340a 682 vector = (uint32_t)&CAN3_IRQ_ERROR_VECT;
AnnaBridge 178:79309dc6340a 683 break;
AnnaBridge 178:79309dc6340a 684 case IRQ_PASSIVE:
AnnaBridge 178:79309dc6340a 685 ier = CAN_IT_EPV;
AnnaBridge 178:79309dc6340a 686 irq_n = CAN3_IRQ_PASSIVE_IRQN;
AnnaBridge 178:79309dc6340a 687 vector = (uint32_t)&CAN3_IRQ_PASSIVE_VECT;
AnnaBridge 178:79309dc6340a 688 break;
AnnaBridge 178:79309dc6340a 689 case IRQ_BUS:
AnnaBridge 178:79309dc6340a 690 ier = CAN_IT_BOF;
AnnaBridge 178:79309dc6340a 691 irq_n = CAN3_IRQ_BUS_IRQN;
AnnaBridge 178:79309dc6340a 692 vector = (uint32_t)&CAN3_IRQ_BUS_VECT;
AnnaBridge 178:79309dc6340a 693 break;
AnnaBridge 178:79309dc6340a 694 default:
AnnaBridge 178:79309dc6340a 695 return;
AnnaBridge 178:79309dc6340a 696 }
AnnaBridge 178:79309dc6340a 697 }
AnnaBridge 178:79309dc6340a 698 #endif
<> 160:d5399cc887bb 699 else {
<> 160:d5399cc887bb 700 return;
<> 160:d5399cc887bb 701 }
<> 160:d5399cc887bb 702
<> 160:d5399cc887bb 703 if (enable) {
<> 160:d5399cc887bb 704 can->IER |= ier;
<> 160:d5399cc887bb 705 } else {
<> 160:d5399cc887bb 706 can->IER &= ~ier;
<> 160:d5399cc887bb 707 }
<> 160:d5399cc887bb 708
<> 160:d5399cc887bb 709 NVIC_SetVector(irq_n, vector);
<> 160:d5399cc887bb 710 NVIC_EnableIRQ(irq_n);
<> 160:d5399cc887bb 711 }
<> 160:d5399cc887bb 712
<> 160:d5399cc887bb 713 #endif // DEVICE_CAN
<> 160:d5399cc887bb 714