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@174:b96e65c34a4d, 2017-10-02 (annotated)

Committer:
AnnaBridge
Date:
Mon Oct 02 15:33:19 2017 +0100
Revision:
174:b96e65c34a4d
Parent:
172:7d866c31b3c5
Child:
178:79309dc6340a
This updates the lib to the mbed lib v 152

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