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mbed library sources. Supersedes mbed-src.
Dependents: Nucleo_Hello_Encoder BLE_iBeaconScan AM1805_DEMO DISCO-F429ZI_ExportTemplate1 ... more
targets/TARGET_STM/can_api.c@189:f392fc9709a3, 2019-02-20 (annotated)
- Committer:
- AnnaBridge
- Date:
- Wed Feb 20 22:31:08 2019 +0000
- Revision:
- 189:f392fc9709a3
- Parent:
- 187:0387e8f68319
mbed library release version 165
Who changed what in which revision?
| User | Revision | Line number | New 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 | |
| AnnaBridge | 189:f392fc9709a3 | 20 | #ifdef FDCAN1 |
| AnnaBridge | 189:f392fc9709a3 | 21 | |
| AnnaBridge | 189:f392fc9709a3 | 22 | #include "pinmap.h" |
| AnnaBridge | 189:f392fc9709a3 | 23 | #include "PeripheralPins.h" |
| AnnaBridge | 189:f392fc9709a3 | 24 | #include "mbed_error.h" |
| AnnaBridge | 189:f392fc9709a3 | 25 | |
| AnnaBridge | 189:f392fc9709a3 | 26 | static uint32_t can_irq_ids[2] = {0}; |
| AnnaBridge | 189:f392fc9709a3 | 27 | static can_irq_handler irq_handler; |
| AnnaBridge | 189:f392fc9709a3 | 28 | |
| AnnaBridge | 189:f392fc9709a3 | 29 | /** Call all the init functions |
| AnnaBridge | 189:f392fc9709a3 | 30 | * |
| AnnaBridge | 189:f392fc9709a3 | 31 | * @returns |
| AnnaBridge | 189:f392fc9709a3 | 32 | * 0 if mode change failed or unsupported, |
| AnnaBridge | 189:f392fc9709a3 | 33 | * 1 if mode change was successful |
| AnnaBridge | 189:f392fc9709a3 | 34 | */ |
| AnnaBridge | 189:f392fc9709a3 | 35 | int can_internal_init(can_t *obj) |
| AnnaBridge | 189:f392fc9709a3 | 36 | { |
| AnnaBridge | 189:f392fc9709a3 | 37 | if (HAL_FDCAN_Init(&obj->CanHandle) != HAL_OK) { |
| AnnaBridge | 189:f392fc9709a3 | 38 | error("HAL_FDCAN_Init error\n"); |
| AnnaBridge | 189:f392fc9709a3 | 39 | } |
| AnnaBridge | 189:f392fc9709a3 | 40 | |
| AnnaBridge | 189:f392fc9709a3 | 41 | if (can_filter(obj, 0, 0, CANStandard, 0) == 0) { |
| AnnaBridge | 189:f392fc9709a3 | 42 | error("can_filter error\n"); |
| AnnaBridge | 189:f392fc9709a3 | 43 | } |
| AnnaBridge | 189:f392fc9709a3 | 44 | |
| AnnaBridge | 189:f392fc9709a3 | 45 | if (can_filter(obj, 0, 0, CANExtended, 0) == 0) { |
| AnnaBridge | 189:f392fc9709a3 | 46 | error("can_filter error\n"); |
| AnnaBridge | 189:f392fc9709a3 | 47 | } |
| AnnaBridge | 189:f392fc9709a3 | 48 | |
| AnnaBridge | 189:f392fc9709a3 | 49 | if (HAL_FDCAN_ConfigGlobalFilter(&obj->CanHandle, FDCAN_REJECT, FDCAN_REJECT, FDCAN_FILTER_REMOTE, FDCAN_FILTER_REMOTE) != HAL_OK) { |
| AnnaBridge | 189:f392fc9709a3 | 50 | error("HAL_FDCAN_ConfigGlobalFilter error\n"); |
| AnnaBridge | 189:f392fc9709a3 | 51 | } |
| AnnaBridge | 189:f392fc9709a3 | 52 | |
| AnnaBridge | 189:f392fc9709a3 | 53 | if (HAL_FDCAN_Start(&obj->CanHandle) != HAL_OK) { |
| AnnaBridge | 189:f392fc9709a3 | 54 | error("HAL_FDCAN_Start error\n"); |
| AnnaBridge | 189:f392fc9709a3 | 55 | } |
| AnnaBridge | 189:f392fc9709a3 | 56 | |
| AnnaBridge | 189:f392fc9709a3 | 57 | return 1; |
| AnnaBridge | 189:f392fc9709a3 | 58 | } |
| AnnaBridge | 189:f392fc9709a3 | 59 | |
| AnnaBridge | 189:f392fc9709a3 | 60 | void can_init(can_t *obj, PinName rd, PinName td) |
| AnnaBridge | 189:f392fc9709a3 | 61 | { |
| AnnaBridge | 189:f392fc9709a3 | 62 | /* default frequency is 100 kHz */ |
| AnnaBridge | 189:f392fc9709a3 | 63 | can_init_freq(obj, rd, td, 100000); |
| AnnaBridge | 189:f392fc9709a3 | 64 | } |
| AnnaBridge | 189:f392fc9709a3 | 65 | |
| AnnaBridge | 189:f392fc9709a3 | 66 | |
| AnnaBridge | 189:f392fc9709a3 | 67 | void can_init_freq(can_t *obj, PinName rd, PinName td, int hz) |
| AnnaBridge | 189:f392fc9709a3 | 68 | { |
| AnnaBridge | 189:f392fc9709a3 | 69 | CANName can_rd = (CANName)pinmap_peripheral(rd, PinMap_CAN_RD); |
| AnnaBridge | 189:f392fc9709a3 | 70 | CANName can_td = (CANName)pinmap_peripheral(td, PinMap_CAN_TD); |
| AnnaBridge | 189:f392fc9709a3 | 71 | CANName can = (CANName)pinmap_merge(can_rd, can_td); |
| AnnaBridge | 189:f392fc9709a3 | 72 | MBED_ASSERT((int)can != NC); |
| AnnaBridge | 189:f392fc9709a3 | 73 | |
| AnnaBridge | 189:f392fc9709a3 | 74 | __HAL_RCC_FDCAN_CLK_ENABLE(); |
| AnnaBridge | 189:f392fc9709a3 | 75 | |
| AnnaBridge | 189:f392fc9709a3 | 76 | if (can == CAN_1) { |
| AnnaBridge | 189:f392fc9709a3 | 77 | obj->index = 0; |
| AnnaBridge | 189:f392fc9709a3 | 78 | } |
| AnnaBridge | 189:f392fc9709a3 | 79 | #if defined(FDCAN2_BASE) |
| AnnaBridge | 189:f392fc9709a3 | 80 | else if (can == CAN_2) { |
| AnnaBridge | 189:f392fc9709a3 | 81 | obj->index = 1; |
| AnnaBridge | 189:f392fc9709a3 | 82 | } |
| AnnaBridge | 189:f392fc9709a3 | 83 | #endif |
| AnnaBridge | 189:f392fc9709a3 | 84 | else { |
| AnnaBridge | 189:f392fc9709a3 | 85 | error("can_init wrong instance\n"); |
| AnnaBridge | 189:f392fc9709a3 | 86 | return; |
| AnnaBridge | 189:f392fc9709a3 | 87 | } |
| AnnaBridge | 189:f392fc9709a3 | 88 | |
| AnnaBridge | 189:f392fc9709a3 | 89 | // Select PLL1Q as source of FDCAN clock |
| AnnaBridge | 189:f392fc9709a3 | 90 | RCC_PeriphCLKInitTypeDef RCC_PeriphClkInit; |
| AnnaBridge | 189:f392fc9709a3 | 91 | RCC_PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_FDCAN; |
| AnnaBridge | 189:f392fc9709a3 | 92 | RCC_PeriphClkInit.FdcanClockSelection = RCC_FDCANCLKSOURCE_PLL; // 10 MHz (RCC_OscInitStruct.PLL.PLLQ = 80) |
| AnnaBridge | 189:f392fc9709a3 | 93 | if (HAL_RCCEx_PeriphCLKConfig(&RCC_PeriphClkInit) != HAL_OK) { |
| AnnaBridge | 189:f392fc9709a3 | 94 | error("HAL_RCCEx_PeriphCLKConfig error\n"); |
| AnnaBridge | 189:f392fc9709a3 | 95 | } |
| AnnaBridge | 189:f392fc9709a3 | 96 | |
| AnnaBridge | 189:f392fc9709a3 | 97 | // Configure CAN pins |
| AnnaBridge | 189:f392fc9709a3 | 98 | pinmap_pinout(rd, PinMap_CAN_RD); |
| AnnaBridge | 189:f392fc9709a3 | 99 | pinmap_pinout(td, PinMap_CAN_TD); |
| AnnaBridge | 189:f392fc9709a3 | 100 | // Add pull-ups |
| AnnaBridge | 189:f392fc9709a3 | 101 | if (rd != NC) { |
| AnnaBridge | 189:f392fc9709a3 | 102 | pin_mode(rd, PullUp); |
| AnnaBridge | 189:f392fc9709a3 | 103 | } |
| AnnaBridge | 189:f392fc9709a3 | 104 | if (td != NC) { |
| AnnaBridge | 189:f392fc9709a3 | 105 | pin_mode(td, PullUp); |
| AnnaBridge | 189:f392fc9709a3 | 106 | } |
| AnnaBridge | 189:f392fc9709a3 | 107 | |
| AnnaBridge | 189:f392fc9709a3 | 108 | // Default values |
| AnnaBridge | 189:f392fc9709a3 | 109 | obj->CanHandle.Instance = (FDCAN_GlobalTypeDef *)can; |
| AnnaBridge | 189:f392fc9709a3 | 110 | |
| AnnaBridge | 189:f392fc9709a3 | 111 | /* Bit time parameter |
| AnnaBridge | 189:f392fc9709a3 | 112 | ex with 100 kHz requested frequency hz |
| AnnaBridge | 189:f392fc9709a3 | 113 | fdcan_ker_ck | 10 MHz | 10 MHz |
| AnnaBridge | 189:f392fc9709a3 | 114 | Prescaler | 1 | 1 |
| AnnaBridge | 189:f392fc9709a3 | 115 | Time_quantum (tq) | 100 ns | 100 ns |
| AnnaBridge | 189:f392fc9709a3 | 116 | Bit_rate | 0.1 MBit/s | <hz> |
| AnnaBridge | 189:f392fc9709a3 | 117 | Bit_length | 10 µs = 100 tq | <n_tq> = 10 000 000 / <hz> |
| AnnaBridge | 189:f392fc9709a3 | 118 | Synchronization_segment | 1 tq | 1 tq |
| AnnaBridge | 189:f392fc9709a3 | 119 | Phase_segment_1 | 69 tq | <nts1> = <n_tq> * 0.75 |
| AnnaBridge | 189:f392fc9709a3 | 120 | Phase_segment_2 | 30 tq | <nts2> = <n_tq> - 1 - <nts1> |
| AnnaBridge | 189:f392fc9709a3 | 121 | Synchronization_Jump_width | 30 tq | <nsjw> = <nts2> |
| AnnaBridge | 189:f392fc9709a3 | 122 | */ |
| AnnaBridge | 189:f392fc9709a3 | 123 | int ntq = 10000000 / hz; |
| AnnaBridge | 189:f392fc9709a3 | 124 | |
| AnnaBridge | 189:f392fc9709a3 | 125 | obj->CanHandle.Init.FrameFormat = FDCAN_FRAME_CLASSIC; |
| AnnaBridge | 189:f392fc9709a3 | 126 | obj->CanHandle.Init.Mode = FDCAN_MODE_NORMAL; |
| AnnaBridge | 189:f392fc9709a3 | 127 | obj->CanHandle.Init.AutoRetransmission = ENABLE; |
| AnnaBridge | 189:f392fc9709a3 | 128 | obj->CanHandle.Init.TransmitPause = DISABLE; |
| AnnaBridge | 189:f392fc9709a3 | 129 | obj->CanHandle.Init.ProtocolException = ENABLE; |
| AnnaBridge | 189:f392fc9709a3 | 130 | obj->CanHandle.Init.NominalPrescaler = 1; // Prescaler |
| AnnaBridge | 189:f392fc9709a3 | 131 | obj->CanHandle.Init.NominalTimeSeg1 = ntq * 0.75; // Phase_segment_1 |
| AnnaBridge | 189:f392fc9709a3 | 132 | obj->CanHandle.Init.NominalTimeSeg2 = ntq - 1 - obj->CanHandle.Init.NominalTimeSeg1; // Phase_segment_2 |
| AnnaBridge | 189:f392fc9709a3 | 133 | obj->CanHandle.Init.NominalSyncJumpWidth = obj->CanHandle.Init.NominalTimeSeg2; // Synchronization_Jump_width |
| AnnaBridge | 189:f392fc9709a3 | 134 | obj->CanHandle.Init.DataPrescaler = 0x1; // Not used - only in FDCAN |
| AnnaBridge | 189:f392fc9709a3 | 135 | obj->CanHandle.Init.DataSyncJumpWidth = 0x1; // Not used - only in FDCAN |
| AnnaBridge | 189:f392fc9709a3 | 136 | obj->CanHandle.Init.DataTimeSeg1 = 0x1; // Not used - only in FDCAN |
| AnnaBridge | 189:f392fc9709a3 | 137 | obj->CanHandle.Init.DataTimeSeg2 = 0x1; // Not used - only in FDCAN |
| AnnaBridge | 189:f392fc9709a3 | 138 | obj->CanHandle.Init.MessageRAMOffset = 0; |
| AnnaBridge | 189:f392fc9709a3 | 139 | obj->CanHandle.Init.StdFiltersNbr = 1; // to be aligned with the handle parameter in can_filter |
| AnnaBridge | 189:f392fc9709a3 | 140 | obj->CanHandle.Init.ExtFiltersNbr = 1; // to be aligned with the handle parameter in can_filter |
| AnnaBridge | 189:f392fc9709a3 | 141 | obj->CanHandle.Init.RxFifo0ElmtsNbr = 8; |
| AnnaBridge | 189:f392fc9709a3 | 142 | obj->CanHandle.Init.RxFifo0ElmtSize = FDCAN_DATA_BYTES_8; |
| AnnaBridge | 189:f392fc9709a3 | 143 | obj->CanHandle.Init.RxFifo1ElmtsNbr = 0; |
| AnnaBridge | 189:f392fc9709a3 | 144 | obj->CanHandle.Init.RxFifo1ElmtSize = FDCAN_DATA_BYTES_8; |
| AnnaBridge | 189:f392fc9709a3 | 145 | obj->CanHandle.Init.RxBuffersNbr = 0; |
| AnnaBridge | 189:f392fc9709a3 | 146 | obj->CanHandle.Init.RxBufferSize = FDCAN_DATA_BYTES_8; |
| AnnaBridge | 189:f392fc9709a3 | 147 | obj->CanHandle.Init.TxEventsNbr = 3; |
| AnnaBridge | 189:f392fc9709a3 | 148 | obj->CanHandle.Init.TxBuffersNbr = 0; |
| AnnaBridge | 189:f392fc9709a3 | 149 | obj->CanHandle.Init.TxFifoQueueElmtsNbr = 3; |
| AnnaBridge | 189:f392fc9709a3 | 150 | obj->CanHandle.Init.TxFifoQueueMode = FDCAN_TX_FIFO_OPERATION; |
| AnnaBridge | 189:f392fc9709a3 | 151 | obj->CanHandle.Init.TxElmtSize = FDCAN_DATA_BYTES_8; |
| AnnaBridge | 189:f392fc9709a3 | 152 | |
| AnnaBridge | 189:f392fc9709a3 | 153 | can_internal_init(obj); |
| AnnaBridge | 189:f392fc9709a3 | 154 | } |
| AnnaBridge | 189:f392fc9709a3 | 155 | |
| AnnaBridge | 189:f392fc9709a3 | 156 | |
| AnnaBridge | 189:f392fc9709a3 | 157 | void can_irq_init(can_t *obj, can_irq_handler handler, uint32_t id) |
| AnnaBridge | 189:f392fc9709a3 | 158 | { |
| AnnaBridge | 189:f392fc9709a3 | 159 | irq_handler = handler; |
| AnnaBridge | 189:f392fc9709a3 | 160 | can_irq_ids[obj->index] = id; |
| AnnaBridge | 189:f392fc9709a3 | 161 | } |
| AnnaBridge | 189:f392fc9709a3 | 162 | |
| AnnaBridge | 189:f392fc9709a3 | 163 | void can_irq_free(can_t *obj) |
| AnnaBridge | 189:f392fc9709a3 | 164 | { |
| AnnaBridge | 189:f392fc9709a3 | 165 | CANName can = (CANName)obj->CanHandle.Instance; |
| AnnaBridge | 189:f392fc9709a3 | 166 | if (can == CAN_1) { |
| AnnaBridge | 189:f392fc9709a3 | 167 | HAL_NVIC_DisableIRQ(FDCAN1_IT0_IRQn); |
| AnnaBridge | 189:f392fc9709a3 | 168 | HAL_NVIC_DisableIRQ(FDCAN1_IT1_IRQn); |
| AnnaBridge | 189:f392fc9709a3 | 169 | } |
| AnnaBridge | 189:f392fc9709a3 | 170 | #if defined(FDCAN2_BASE) |
| AnnaBridge | 189:f392fc9709a3 | 171 | else if (can == CAN_2) { |
| AnnaBridge | 189:f392fc9709a3 | 172 | HAL_NVIC_DisableIRQ(FDCAN2_IT0_IRQn); |
| AnnaBridge | 189:f392fc9709a3 | 173 | HAL_NVIC_DisableIRQ(FDCAN2_IT1_IRQn); |
| AnnaBridge | 189:f392fc9709a3 | 174 | } |
| AnnaBridge | 189:f392fc9709a3 | 175 | #endif |
| AnnaBridge | 189:f392fc9709a3 | 176 | else { |
| AnnaBridge | 189:f392fc9709a3 | 177 | return; |
| AnnaBridge | 189:f392fc9709a3 | 178 | } |
| AnnaBridge | 189:f392fc9709a3 | 179 | HAL_NVIC_DisableIRQ(FDCAN_CAL_IRQn); |
| AnnaBridge | 189:f392fc9709a3 | 180 | can_irq_ids[obj->index] = 0; |
| AnnaBridge | 189:f392fc9709a3 | 181 | } |
| AnnaBridge | 189:f392fc9709a3 | 182 | |
| AnnaBridge | 189:f392fc9709a3 | 183 | void can_free(can_t *obj) |
| AnnaBridge | 189:f392fc9709a3 | 184 | { |
| AnnaBridge | 189:f392fc9709a3 | 185 | __HAL_RCC_FDCAN_FORCE_RESET(); |
| AnnaBridge | 189:f392fc9709a3 | 186 | __HAL_RCC_FDCAN_RELEASE_RESET(); |
| AnnaBridge | 189:f392fc9709a3 | 187 | __HAL_RCC_FDCAN_CLK_DISABLE(); |
| AnnaBridge | 189:f392fc9709a3 | 188 | } |
| AnnaBridge | 189:f392fc9709a3 | 189 | |
| AnnaBridge | 189:f392fc9709a3 | 190 | |
| AnnaBridge | 189:f392fc9709a3 | 191 | /** Reset CAN interface. |
| AnnaBridge | 189:f392fc9709a3 | 192 | * |
| AnnaBridge | 189:f392fc9709a3 | 193 | * To use after error overflow. |
| AnnaBridge | 189:f392fc9709a3 | 194 | */ |
| AnnaBridge | 189:f392fc9709a3 | 195 | void can_reset(can_t *obj) |
| AnnaBridge | 189:f392fc9709a3 | 196 | { |
| AnnaBridge | 189:f392fc9709a3 | 197 | can_mode(obj, MODE_RESET); |
| AnnaBridge | 189:f392fc9709a3 | 198 | HAL_FDCAN_ResetTimeoutCounter(&obj->CanHandle); |
| AnnaBridge | 189:f392fc9709a3 | 199 | HAL_FDCAN_ResetTimestampCounter(&obj->CanHandle); |
| AnnaBridge | 189:f392fc9709a3 | 200 | } |
| AnnaBridge | 189:f392fc9709a3 | 201 | |
| AnnaBridge | 189:f392fc9709a3 | 202 | |
| AnnaBridge | 189:f392fc9709a3 | 203 | int can_frequency(can_t *obj, int f) |
| AnnaBridge | 189:f392fc9709a3 | 204 | { |
| AnnaBridge | 189:f392fc9709a3 | 205 | if (HAL_FDCAN_Stop(&obj->CanHandle) != HAL_OK) { |
| AnnaBridge | 189:f392fc9709a3 | 206 | error("HAL_FDCAN_Stop error\n"); |
| AnnaBridge | 189:f392fc9709a3 | 207 | } |
| AnnaBridge | 189:f392fc9709a3 | 208 | |
| AnnaBridge | 189:f392fc9709a3 | 209 | /* See can_init_freq function for calculation details */ |
| AnnaBridge | 189:f392fc9709a3 | 210 | int ntq = 10000000 / f; |
| AnnaBridge | 189:f392fc9709a3 | 211 | obj->CanHandle.Init.NominalTimeSeg1 = ntq * 0.75; // Phase_segment_1 |
| AnnaBridge | 189:f392fc9709a3 | 212 | obj->CanHandle.Init.NominalTimeSeg2 = ntq - 1 - obj->CanHandle.Init.NominalTimeSeg1; // Phase_segment_2 |
| AnnaBridge | 189:f392fc9709a3 | 213 | obj->CanHandle.Init.NominalSyncJumpWidth = obj->CanHandle.Init.NominalTimeSeg2; // Synchronization_Jump_width |
| AnnaBridge | 189:f392fc9709a3 | 214 | |
| AnnaBridge | 189:f392fc9709a3 | 215 | return can_internal_init(obj); |
| AnnaBridge | 189:f392fc9709a3 | 216 | } |
| AnnaBridge | 189:f392fc9709a3 | 217 | |
| AnnaBridge | 189:f392fc9709a3 | 218 | |
| AnnaBridge | 189:f392fc9709a3 | 219 | /** Filter out incoming messages |
| AnnaBridge | 189:f392fc9709a3 | 220 | * |
| AnnaBridge | 189:f392fc9709a3 | 221 | * @param obj CAN object |
| AnnaBridge | 189:f392fc9709a3 | 222 | * @param id the id to filter on |
| AnnaBridge | 189:f392fc9709a3 | 223 | * @param mask the mask applied to the id |
| AnnaBridge | 189:f392fc9709a3 | 224 | * @param format format to filter on |
| AnnaBridge | 189:f392fc9709a3 | 225 | * @param handle message filter handle (not supported yet) |
| AnnaBridge | 189:f392fc9709a3 | 226 | * |
| AnnaBridge | 189:f392fc9709a3 | 227 | * @returns |
| AnnaBridge | 189:f392fc9709a3 | 228 | * 0 if filter change failed or unsupported, |
| AnnaBridge | 189:f392fc9709a3 | 229 | * new filter handle if successful (not supported yet => returns 1) |
| AnnaBridge | 189:f392fc9709a3 | 230 | */ |
| AnnaBridge | 189:f392fc9709a3 | 231 | int can_filter(can_t *obj, uint32_t id, uint32_t mask, CANFormat format, int32_t handle) |
| AnnaBridge | 189:f392fc9709a3 | 232 | { |
| AnnaBridge | 189:f392fc9709a3 | 233 | UNUSED(handle); // Not supported yet (seems to be a used in read function?) |
| AnnaBridge | 189:f392fc9709a3 | 234 | |
| AnnaBridge | 189:f392fc9709a3 | 235 | FDCAN_FilterTypeDef sFilterConfig = {0}; |
| AnnaBridge | 189:f392fc9709a3 | 236 | |
| AnnaBridge | 189:f392fc9709a3 | 237 | if (format == CANStandard) { |
| AnnaBridge | 189:f392fc9709a3 | 238 | sFilterConfig.IdType = FDCAN_STANDARD_ID; |
| AnnaBridge | 189:f392fc9709a3 | 239 | sFilterConfig.FilterIndex = 0; |
| AnnaBridge | 189:f392fc9709a3 | 240 | sFilterConfig.FilterType = FDCAN_FILTER_MASK; |
| AnnaBridge | 189:f392fc9709a3 | 241 | sFilterConfig.FilterConfig = FDCAN_FILTER_TO_RXFIFO0; |
| AnnaBridge | 189:f392fc9709a3 | 242 | sFilterConfig.FilterID1 = id; |
| AnnaBridge | 189:f392fc9709a3 | 243 | sFilterConfig.FilterID2 = mask; |
| AnnaBridge | 189:f392fc9709a3 | 244 | } else if (format == CANExtended) { |
| AnnaBridge | 189:f392fc9709a3 | 245 | sFilterConfig.IdType = FDCAN_EXTENDED_ID; |
| AnnaBridge | 189:f392fc9709a3 | 246 | sFilterConfig.FilterIndex = 0; |
| AnnaBridge | 189:f392fc9709a3 | 247 | sFilterConfig.FilterType = FDCAN_FILTER_MASK; |
| AnnaBridge | 189:f392fc9709a3 | 248 | sFilterConfig.FilterConfig = FDCAN_FILTER_TO_RXFIFO0; |
| AnnaBridge | 189:f392fc9709a3 | 249 | sFilterConfig.FilterID1 = id; |
| AnnaBridge | 189:f392fc9709a3 | 250 | sFilterConfig.FilterID2 = mask; |
| AnnaBridge | 189:f392fc9709a3 | 251 | } else { // Filter for CANAny format cannot be configured for STM32 |
| AnnaBridge | 189:f392fc9709a3 | 252 | return 0; |
| AnnaBridge | 189:f392fc9709a3 | 253 | } |
| AnnaBridge | 189:f392fc9709a3 | 254 | |
| AnnaBridge | 189:f392fc9709a3 | 255 | if (HAL_FDCAN_ConfigFilter(&obj->CanHandle, &sFilterConfig) != HAL_OK) { |
| AnnaBridge | 189:f392fc9709a3 | 256 | return 0; |
| AnnaBridge | 189:f392fc9709a3 | 257 | } |
| AnnaBridge | 189:f392fc9709a3 | 258 | |
| AnnaBridge | 189:f392fc9709a3 | 259 | return 1; |
| AnnaBridge | 189:f392fc9709a3 | 260 | } |
| AnnaBridge | 189:f392fc9709a3 | 261 | |
| AnnaBridge | 189:f392fc9709a3 | 262 | |
| AnnaBridge | 189:f392fc9709a3 | 263 | int can_write(can_t *obj, CAN_Message msg, int cc) |
| AnnaBridge | 189:f392fc9709a3 | 264 | { |
| AnnaBridge | 189:f392fc9709a3 | 265 | FDCAN_TxHeaderTypeDef TxHeader = {0}; |
| AnnaBridge | 189:f392fc9709a3 | 266 | |
| AnnaBridge | 189:f392fc9709a3 | 267 | UNUSED(cc); |
| AnnaBridge | 189:f392fc9709a3 | 268 | |
| AnnaBridge | 189:f392fc9709a3 | 269 | // Configure Tx buffer message |
| AnnaBridge | 189:f392fc9709a3 | 270 | TxHeader.Identifier = msg.id; |
| AnnaBridge | 189:f392fc9709a3 | 271 | if (msg.format == CANStandard) { |
| AnnaBridge | 189:f392fc9709a3 | 272 | TxHeader.IdType = FDCAN_STANDARD_ID; |
| AnnaBridge | 189:f392fc9709a3 | 273 | } else { |
| AnnaBridge | 189:f392fc9709a3 | 274 | TxHeader.IdType = FDCAN_EXTENDED_ID; |
| AnnaBridge | 189:f392fc9709a3 | 275 | } |
| AnnaBridge | 189:f392fc9709a3 | 276 | |
| AnnaBridge | 189:f392fc9709a3 | 277 | TxHeader.TxFrameType = FDCAN_DATA_FRAME; |
| AnnaBridge | 189:f392fc9709a3 | 278 | TxHeader.DataLength = msg.len << 16; |
| AnnaBridge | 189:f392fc9709a3 | 279 | TxHeader.ErrorStateIndicator = FDCAN_ESI_ACTIVE; |
| AnnaBridge | 189:f392fc9709a3 | 280 | TxHeader.BitRateSwitch = FDCAN_BRS_OFF; |
| AnnaBridge | 189:f392fc9709a3 | 281 | TxHeader.FDFormat = FDCAN_CLASSIC_CAN; |
| AnnaBridge | 189:f392fc9709a3 | 282 | TxHeader.TxEventFifoControl = FDCAN_STORE_TX_EVENTS; |
| AnnaBridge | 189:f392fc9709a3 | 283 | TxHeader.MessageMarker = 0; |
| AnnaBridge | 189:f392fc9709a3 | 284 | |
| AnnaBridge | 189:f392fc9709a3 | 285 | if (HAL_FDCAN_AddMessageToTxFifoQ(&obj->CanHandle, &TxHeader, msg.data) != HAL_OK) { |
| AnnaBridge | 189:f392fc9709a3 | 286 | // Note for debug: you can get the error code calling HAL_FDCAN_GetError(&obj->CanHandle) |
| AnnaBridge | 189:f392fc9709a3 | 287 | return 0; |
| AnnaBridge | 189:f392fc9709a3 | 288 | } |
| AnnaBridge | 189:f392fc9709a3 | 289 | |
| AnnaBridge | 189:f392fc9709a3 | 290 | return 1; |
| AnnaBridge | 189:f392fc9709a3 | 291 | } |
| AnnaBridge | 189:f392fc9709a3 | 292 | |
| AnnaBridge | 189:f392fc9709a3 | 293 | int can_read(can_t *obj, CAN_Message *msg, int handle) |
| AnnaBridge | 189:f392fc9709a3 | 294 | { |
| AnnaBridge | 189:f392fc9709a3 | 295 | UNUSED(handle); // Not supported yet (seems to be a handle to a filter configuration?) |
| AnnaBridge | 189:f392fc9709a3 | 296 | |
| AnnaBridge | 189:f392fc9709a3 | 297 | if (HAL_FDCAN_GetRxFifoFillLevel(&obj->CanHandle, FDCAN_RX_FIFO0) == 0) { |
| AnnaBridge | 189:f392fc9709a3 | 298 | return 0; // No message arrived |
| AnnaBridge | 189:f392fc9709a3 | 299 | } |
| AnnaBridge | 189:f392fc9709a3 | 300 | |
| AnnaBridge | 189:f392fc9709a3 | 301 | FDCAN_RxHeaderTypeDef RxHeader = {0}; |
| AnnaBridge | 189:f392fc9709a3 | 302 | if (HAL_FDCAN_GetRxMessage(&obj->CanHandle, FDCAN_RX_FIFO0, &RxHeader, msg->data) != HAL_OK) { |
| AnnaBridge | 189:f392fc9709a3 | 303 | error("HAL_FDCAN_GetRxMessage error\n"); // Should not occur as previous HAL_FDCAN_GetRxFifoFillLevel call reported some data |
| AnnaBridge | 189:f392fc9709a3 | 304 | return 0; |
| AnnaBridge | 189:f392fc9709a3 | 305 | } |
| AnnaBridge | 189:f392fc9709a3 | 306 | |
| AnnaBridge | 189:f392fc9709a3 | 307 | if (RxHeader.IdType == FDCAN_STANDARD_ID) { |
| AnnaBridge | 189:f392fc9709a3 | 308 | msg->format = CANStandard; |
| AnnaBridge | 189:f392fc9709a3 | 309 | } else { |
| AnnaBridge | 189:f392fc9709a3 | 310 | msg->format = CANExtended; |
| AnnaBridge | 189:f392fc9709a3 | 311 | } |
| AnnaBridge | 189:f392fc9709a3 | 312 | msg->id = RxHeader.Identifier; |
| AnnaBridge | 189:f392fc9709a3 | 313 | msg->type = CANData; |
| AnnaBridge | 189:f392fc9709a3 | 314 | msg->len = RxHeader.DataLength >> 16; // see FDCAN_data_length_code value |
| AnnaBridge | 189:f392fc9709a3 | 315 | |
| AnnaBridge | 189:f392fc9709a3 | 316 | return 1; |
| AnnaBridge | 189:f392fc9709a3 | 317 | } |
| AnnaBridge | 189:f392fc9709a3 | 318 | |
| AnnaBridge | 189:f392fc9709a3 | 319 | unsigned char can_rderror(can_t *obj) |
| AnnaBridge | 189:f392fc9709a3 | 320 | { |
| AnnaBridge | 189:f392fc9709a3 | 321 | FDCAN_ErrorCountersTypeDef ErrorCounters; |
| AnnaBridge | 189:f392fc9709a3 | 322 | |
| AnnaBridge | 189:f392fc9709a3 | 323 | HAL_FDCAN_GetErrorCounters(&obj->CanHandle, &ErrorCounters); |
| AnnaBridge | 189:f392fc9709a3 | 324 | |
| AnnaBridge | 189:f392fc9709a3 | 325 | return (unsigned char)ErrorCounters.RxErrorCnt; |
| AnnaBridge | 189:f392fc9709a3 | 326 | } |
| AnnaBridge | 189:f392fc9709a3 | 327 | |
| AnnaBridge | 189:f392fc9709a3 | 328 | unsigned char can_tderror(can_t *obj) |
| AnnaBridge | 189:f392fc9709a3 | 329 | { |
| AnnaBridge | 189:f392fc9709a3 | 330 | FDCAN_ErrorCountersTypeDef ErrorCounters; |
| AnnaBridge | 189:f392fc9709a3 | 331 | |
| AnnaBridge | 189:f392fc9709a3 | 332 | HAL_FDCAN_GetErrorCounters(&obj->CanHandle, &ErrorCounters); |
| AnnaBridge | 189:f392fc9709a3 | 333 | |
| AnnaBridge | 189:f392fc9709a3 | 334 | return (unsigned char)ErrorCounters.TxErrorCnt; |
| AnnaBridge | 189:f392fc9709a3 | 335 | } |
| AnnaBridge | 189:f392fc9709a3 | 336 | |
| AnnaBridge | 189:f392fc9709a3 | 337 | void can_monitor(can_t *obj, int silent) |
| AnnaBridge | 189:f392fc9709a3 | 338 | { |
| AnnaBridge | 189:f392fc9709a3 | 339 | CanMode mode = MODE_NORMAL; |
| AnnaBridge | 189:f392fc9709a3 | 340 | if (silent) { |
| AnnaBridge | 189:f392fc9709a3 | 341 | switch (obj->CanHandle.Init.Mode) { |
| AnnaBridge | 189:f392fc9709a3 | 342 | case FDCAN_MODE_INTERNAL_LOOPBACK: |
| AnnaBridge | 189:f392fc9709a3 | 343 | mode = MODE_TEST_SILENT; |
| AnnaBridge | 189:f392fc9709a3 | 344 | break; |
| AnnaBridge | 189:f392fc9709a3 | 345 | default: |
| AnnaBridge | 189:f392fc9709a3 | 346 | mode = MODE_SILENT; |
| AnnaBridge | 189:f392fc9709a3 | 347 | break; |
| AnnaBridge | 189:f392fc9709a3 | 348 | } |
| AnnaBridge | 189:f392fc9709a3 | 349 | } else { |
| AnnaBridge | 189:f392fc9709a3 | 350 | switch (obj->CanHandle.Init.Mode) { |
| AnnaBridge | 189:f392fc9709a3 | 351 | case FDCAN_MODE_INTERNAL_LOOPBACK: |
| AnnaBridge | 189:f392fc9709a3 | 352 | case FDCAN_MODE_EXTERNAL_LOOPBACK: |
| AnnaBridge | 189:f392fc9709a3 | 353 | mode = MODE_TEST_LOCAL; |
| AnnaBridge | 189:f392fc9709a3 | 354 | break; |
| AnnaBridge | 189:f392fc9709a3 | 355 | default: |
| AnnaBridge | 189:f392fc9709a3 | 356 | mode = MODE_NORMAL; |
| AnnaBridge | 189:f392fc9709a3 | 357 | break; |
| AnnaBridge | 189:f392fc9709a3 | 358 | } |
| AnnaBridge | 189:f392fc9709a3 | 359 | } |
| AnnaBridge | 189:f392fc9709a3 | 360 | |
| AnnaBridge | 189:f392fc9709a3 | 361 | can_mode(obj, mode); |
| AnnaBridge | 189:f392fc9709a3 | 362 | } |
| AnnaBridge | 189:f392fc9709a3 | 363 | |
| AnnaBridge | 189:f392fc9709a3 | 364 | /** Change CAN operation to the specified mode |
| AnnaBridge | 189:f392fc9709a3 | 365 | * |
| AnnaBridge | 189:f392fc9709a3 | 366 | * @param mode The new operation mode (MODE_RESET, MODE_NORMAL, MODE_SILENT, MODE_TEST_LOCAL, MODE_TEST_GLOBAL, MODE_TEST_SILENT) |
| AnnaBridge | 189:f392fc9709a3 | 367 | * |
| AnnaBridge | 189:f392fc9709a3 | 368 | * @returns |
| AnnaBridge | 189:f392fc9709a3 | 369 | * 0 if mode change failed or unsupported, |
| AnnaBridge | 189:f392fc9709a3 | 370 | * 1 if mode change was successful |
| AnnaBridge | 189:f392fc9709a3 | 371 | */ |
| AnnaBridge | 189:f392fc9709a3 | 372 | int can_mode(can_t *obj, CanMode mode) |
| AnnaBridge | 189:f392fc9709a3 | 373 | { |
| AnnaBridge | 189:f392fc9709a3 | 374 | if (HAL_FDCAN_Stop(&obj->CanHandle) != HAL_OK) { |
| AnnaBridge | 189:f392fc9709a3 | 375 | error("HAL_FDCAN_Stop error\n"); |
| AnnaBridge | 189:f392fc9709a3 | 376 | } |
| AnnaBridge | 189:f392fc9709a3 | 377 | |
| AnnaBridge | 189:f392fc9709a3 | 378 | switch (mode) { |
| AnnaBridge | 189:f392fc9709a3 | 379 | case MODE_RESET: |
| AnnaBridge | 189:f392fc9709a3 | 380 | break; |
| AnnaBridge | 189:f392fc9709a3 | 381 | case MODE_NORMAL: |
| AnnaBridge | 189:f392fc9709a3 | 382 | obj->CanHandle.Init.Mode = FDCAN_MODE_NORMAL; |
| AnnaBridge | 189:f392fc9709a3 | 383 | // obj->CanHandle.Init.NominalPrescaler = 100; // Prescaler |
| AnnaBridge | 189:f392fc9709a3 | 384 | break; |
| AnnaBridge | 189:f392fc9709a3 | 385 | case MODE_SILENT: // Bus Monitoring |
| AnnaBridge | 189:f392fc9709a3 | 386 | obj->CanHandle.Init.Mode = FDCAN_MODE_BUS_MONITORING; |
| AnnaBridge | 189:f392fc9709a3 | 387 | break; |
| AnnaBridge | 189:f392fc9709a3 | 388 | case MODE_TEST_GLOBAL: // External LoopBack |
| AnnaBridge | 189:f392fc9709a3 | 389 | case MODE_TEST_LOCAL: |
| AnnaBridge | 189:f392fc9709a3 | 390 | obj->CanHandle.Init.Mode = FDCAN_MODE_EXTERNAL_LOOPBACK; |
| AnnaBridge | 189:f392fc9709a3 | 391 | break; |
| AnnaBridge | 189:f392fc9709a3 | 392 | case MODE_TEST_SILENT: // Internal LoopBack |
| AnnaBridge | 189:f392fc9709a3 | 393 | obj->CanHandle.Init.Mode = FDCAN_MODE_INTERNAL_LOOPBACK; |
| AnnaBridge | 189:f392fc9709a3 | 394 | // obj->CanHandle.Init.NominalPrescaler = 1; // Prescaler |
| AnnaBridge | 189:f392fc9709a3 | 395 | break; |
| AnnaBridge | 189:f392fc9709a3 | 396 | default: |
| AnnaBridge | 189:f392fc9709a3 | 397 | return 0; |
| AnnaBridge | 189:f392fc9709a3 | 398 | } |
| AnnaBridge | 189:f392fc9709a3 | 399 | |
| AnnaBridge | 189:f392fc9709a3 | 400 | return can_internal_init(obj); |
| AnnaBridge | 189:f392fc9709a3 | 401 | } |
| AnnaBridge | 189:f392fc9709a3 | 402 | |
| AnnaBridge | 189:f392fc9709a3 | 403 | |
| AnnaBridge | 189:f392fc9709a3 | 404 | static void can_irq(CANName name, int id) |
| AnnaBridge | 189:f392fc9709a3 | 405 | { |
| AnnaBridge | 189:f392fc9709a3 | 406 | FDCAN_HandleTypeDef CanHandle; |
| AnnaBridge | 189:f392fc9709a3 | 407 | CanHandle.Instance = (FDCAN_GlobalTypeDef *)name; |
| AnnaBridge | 189:f392fc9709a3 | 408 | |
| AnnaBridge | 189:f392fc9709a3 | 409 | if (__HAL_FDCAN_GET_IT_SOURCE(&CanHandle, FDCAN_IT_TX_COMPLETE)) { |
| AnnaBridge | 189:f392fc9709a3 | 410 | if (__HAL_FDCAN_GET_FLAG(&CanHandle, FDCAN_FLAG_TX_COMPLETE)) { |
| AnnaBridge | 189:f392fc9709a3 | 411 | __HAL_FDCAN_CLEAR_FLAG(&CanHandle, FDCAN_FLAG_TX_COMPLETE); |
| AnnaBridge | 189:f392fc9709a3 | 412 | irq_handler(can_irq_ids[id], IRQ_TX); |
| AnnaBridge | 189:f392fc9709a3 | 413 | } |
| AnnaBridge | 189:f392fc9709a3 | 414 | } |
| AnnaBridge | 189:f392fc9709a3 | 415 | |
| AnnaBridge | 189:f392fc9709a3 | 416 | if (__HAL_FDCAN_GET_IT_SOURCE(&CanHandle, FDCAN_IT_RX_BUFFER_NEW_MESSAGE)) { |
| AnnaBridge | 189:f392fc9709a3 | 417 | if (__HAL_FDCAN_GET_FLAG(&CanHandle, FDCAN_IT_RX_BUFFER_NEW_MESSAGE)) { |
| AnnaBridge | 189:f392fc9709a3 | 418 | __HAL_FDCAN_CLEAR_FLAG(&CanHandle, FDCAN_IT_RX_BUFFER_NEW_MESSAGE); |
| AnnaBridge | 189:f392fc9709a3 | 419 | irq_handler(can_irq_ids[id], IRQ_RX); |
| AnnaBridge | 189:f392fc9709a3 | 420 | } |
| AnnaBridge | 189:f392fc9709a3 | 421 | } |
| AnnaBridge | 189:f392fc9709a3 | 422 | |
| AnnaBridge | 189:f392fc9709a3 | 423 | if (__HAL_FDCAN_GET_IT_SOURCE(&CanHandle, FDCAN_IT_ERROR_WARNING)) { |
| AnnaBridge | 189:f392fc9709a3 | 424 | if (__HAL_FDCAN_GET_FLAG(&CanHandle, FDCAN_FLAG_ERROR_WARNING)) { |
| AnnaBridge | 189:f392fc9709a3 | 425 | __HAL_FDCAN_CLEAR_FLAG(&CanHandle, FDCAN_FLAG_ERROR_WARNING); |
| AnnaBridge | 189:f392fc9709a3 | 426 | irq_handler(can_irq_ids[id], IRQ_ERROR); |
| AnnaBridge | 189:f392fc9709a3 | 427 | } |
| AnnaBridge | 189:f392fc9709a3 | 428 | } |
| AnnaBridge | 189:f392fc9709a3 | 429 | |
| AnnaBridge | 189:f392fc9709a3 | 430 | if (__HAL_FDCAN_GET_IT_SOURCE(&CanHandle, FDCAN_IT_ERROR_PASSIVE)) { |
| AnnaBridge | 189:f392fc9709a3 | 431 | if (__HAL_FDCAN_GET_FLAG(&CanHandle, FDCAN_FLAG_ERROR_PASSIVE)) { |
| AnnaBridge | 189:f392fc9709a3 | 432 | __HAL_FDCAN_CLEAR_FLAG(&CanHandle, FDCAN_FLAG_ERROR_PASSIVE); |
| AnnaBridge | 189:f392fc9709a3 | 433 | irq_handler(can_irq_ids[id], IRQ_PASSIVE); |
| AnnaBridge | 189:f392fc9709a3 | 434 | } |
| AnnaBridge | 189:f392fc9709a3 | 435 | } |
| AnnaBridge | 189:f392fc9709a3 | 436 | |
| AnnaBridge | 189:f392fc9709a3 | 437 | if (__HAL_FDCAN_GET_IT_SOURCE(&CanHandle, FDCAN_IT_BUS_OFF)) { |
| AnnaBridge | 189:f392fc9709a3 | 438 | if (__HAL_FDCAN_GET_FLAG(&CanHandle, FDCAN_FLAG_BUS_OFF)) { |
| AnnaBridge | 189:f392fc9709a3 | 439 | __HAL_FDCAN_CLEAR_FLAG(&CanHandle, FDCAN_FLAG_BUS_OFF); |
| AnnaBridge | 189:f392fc9709a3 | 440 | irq_handler(can_irq_ids[id], IRQ_BUS); |
| AnnaBridge | 189:f392fc9709a3 | 441 | } |
| AnnaBridge | 189:f392fc9709a3 | 442 | } |
| AnnaBridge | 189:f392fc9709a3 | 443 | } |
| AnnaBridge | 189:f392fc9709a3 | 444 | |
| AnnaBridge | 189:f392fc9709a3 | 445 | void FDCAN1_IT0_IRQHandler(void) |
| AnnaBridge | 189:f392fc9709a3 | 446 | { |
| AnnaBridge | 189:f392fc9709a3 | 447 | can_irq(CAN_1, 0); |
| AnnaBridge | 189:f392fc9709a3 | 448 | } |
| AnnaBridge | 189:f392fc9709a3 | 449 | |
| AnnaBridge | 189:f392fc9709a3 | 450 | void FDCAN1_IT1_IRQHandler(void) |
| AnnaBridge | 189:f392fc9709a3 | 451 | { |
| AnnaBridge | 189:f392fc9709a3 | 452 | can_irq(CAN_1, 0); |
| AnnaBridge | 189:f392fc9709a3 | 453 | } |
| AnnaBridge | 189:f392fc9709a3 | 454 | |
| AnnaBridge | 189:f392fc9709a3 | 455 | void FDCAN2_IT0_IRQHandler(void) |
| AnnaBridge | 189:f392fc9709a3 | 456 | { |
| AnnaBridge | 189:f392fc9709a3 | 457 | can_irq(CAN_2, 1); |
| AnnaBridge | 189:f392fc9709a3 | 458 | } |
| AnnaBridge | 189:f392fc9709a3 | 459 | |
| AnnaBridge | 189:f392fc9709a3 | 460 | void FDCAN2_IT1_IRQHandler(void) |
| AnnaBridge | 189:f392fc9709a3 | 461 | { |
| AnnaBridge | 189:f392fc9709a3 | 462 | can_irq(CAN_2, 1); |
| AnnaBridge | 189:f392fc9709a3 | 463 | } |
| AnnaBridge | 189:f392fc9709a3 | 464 | |
| AnnaBridge | 189:f392fc9709a3 | 465 | // TODO Add other interrupts ? |
| AnnaBridge | 189:f392fc9709a3 | 466 | void can_irq_set(can_t *obj, CanIrqType type, uint32_t enable) |
| AnnaBridge | 189:f392fc9709a3 | 467 | { |
| AnnaBridge | 189:f392fc9709a3 | 468 | uint32_t interrupts = 0; |
| AnnaBridge | 189:f392fc9709a3 | 469 | |
| AnnaBridge | 189:f392fc9709a3 | 470 | switch (type) { |
| AnnaBridge | 189:f392fc9709a3 | 471 | case IRQ_TX: |
| AnnaBridge | 189:f392fc9709a3 | 472 | interrupts = FDCAN_IT_TX_COMPLETE; |
| AnnaBridge | 189:f392fc9709a3 | 473 | break; |
| AnnaBridge | 189:f392fc9709a3 | 474 | case IRQ_RX: |
| AnnaBridge | 189:f392fc9709a3 | 475 | interrupts = FDCAN_IT_RX_BUFFER_NEW_MESSAGE; |
| AnnaBridge | 189:f392fc9709a3 | 476 | break; |
| AnnaBridge | 189:f392fc9709a3 | 477 | case IRQ_ERROR: |
| AnnaBridge | 189:f392fc9709a3 | 478 | interrupts = FDCAN_IT_ERROR_WARNING; |
| AnnaBridge | 189:f392fc9709a3 | 479 | break; |
| AnnaBridge | 189:f392fc9709a3 | 480 | case IRQ_PASSIVE: |
| AnnaBridge | 189:f392fc9709a3 | 481 | interrupts = FDCAN_IT_ERROR_PASSIVE; |
| AnnaBridge | 189:f392fc9709a3 | 482 | break; |
| AnnaBridge | 189:f392fc9709a3 | 483 | case IRQ_BUS: |
| AnnaBridge | 189:f392fc9709a3 | 484 | interrupts = FDCAN_IT_BUS_OFF; |
| AnnaBridge | 189:f392fc9709a3 | 485 | default: |
| AnnaBridge | 189:f392fc9709a3 | 486 | return; |
| AnnaBridge | 189:f392fc9709a3 | 487 | } |
| AnnaBridge | 189:f392fc9709a3 | 488 | |
| AnnaBridge | 189:f392fc9709a3 | 489 | if (enable) { |
| AnnaBridge | 189:f392fc9709a3 | 490 | HAL_FDCAN_ActivateNotification(&obj->CanHandle, interrupts, 0); |
| AnnaBridge | 189:f392fc9709a3 | 491 | } else { |
| AnnaBridge | 189:f392fc9709a3 | 492 | HAL_FDCAN_DeactivateNotification(&obj->CanHandle, interrupts); |
| AnnaBridge | 189:f392fc9709a3 | 493 | } |
| AnnaBridge | 189:f392fc9709a3 | 494 | |
| AnnaBridge | 189:f392fc9709a3 | 495 | NVIC_SetVector(FDCAN1_IT0_IRQn, (uint32_t)&FDCAN1_IT0_IRQHandler); |
| AnnaBridge | 189:f392fc9709a3 | 496 | NVIC_EnableIRQ(FDCAN1_IT0_IRQn); |
| AnnaBridge | 189:f392fc9709a3 | 497 | NVIC_SetVector(FDCAN1_IT1_IRQn, (uint32_t)&FDCAN1_IT1_IRQHandler); |
| AnnaBridge | 189:f392fc9709a3 | 498 | NVIC_EnableIRQ(FDCAN1_IT1_IRQn); |
| AnnaBridge | 189:f392fc9709a3 | 499 | #if defined(FDCAN2_BASE) |
| AnnaBridge | 189:f392fc9709a3 | 500 | NVIC_SetVector(FDCAN2_IT0_IRQn, (uint32_t)&FDCAN2_IT0_IRQHandler); |
| AnnaBridge | 189:f392fc9709a3 | 501 | NVIC_EnableIRQ(FDCAN2_IT0_IRQn); |
| AnnaBridge | 189:f392fc9709a3 | 502 | NVIC_SetVector(FDCAN2_IT1_IRQn, (uint32_t)&FDCAN2_IT1_IRQHandler); |
| AnnaBridge | 189:f392fc9709a3 | 503 | NVIC_EnableIRQ(FDCAN2_IT1_IRQn); |
| AnnaBridge | 189:f392fc9709a3 | 504 | #endif |
| AnnaBridge | 189:f392fc9709a3 | 505 | } |
| AnnaBridge | 189:f392fc9709a3 | 506 | |
| AnnaBridge | 189:f392fc9709a3 | 507 | #else /* FDCAN1 */ |
| AnnaBridge | 189:f392fc9709a3 | 508 | |
| <> | 160:d5399cc887bb | 509 | #include "cmsis.h" |
| <> | 160:d5399cc887bb | 510 | #include "pinmap.h" |
| <> | 160:d5399cc887bb | 511 | #include "PeripheralPins.h" |
| <> | 160:d5399cc887bb | 512 | #include "mbed_error.h" |
| <> | 160:d5399cc887bb | 513 | #include "can_device.h" // Specific to STM32 serie |
| <> | 160:d5399cc887bb | 514 | #include <math.h> |
| <> | 160:d5399cc887bb | 515 | #include <string.h> |
| <> | 160:d5399cc887bb | 516 | |
| <> | 160:d5399cc887bb | 517 | static uint32_t can_irq_ids[CAN_NUM] = {0}; |
| <> | 160:d5399cc887bb | 518 | static can_irq_handler irq_handler; |
| <> | 160:d5399cc887bb | 519 | |
| AnnaBridge | 174:b96e65c34a4d | 520 | static void can_registers_init(can_t *obj) |
| AnnaBridge | 174:b96e65c34a4d | 521 | { |
| AnnaBridge | 174:b96e65c34a4d | 522 | if (HAL_CAN_Init(&obj->CanHandle) != HAL_OK) { |
| AnnaBridge | 174:b96e65c34a4d | 523 | error("Cannot initialize CAN"); |
| AnnaBridge | 174:b96e65c34a4d | 524 | } |
| AnnaBridge | 174:b96e65c34a4d | 525 | |
| AnnaBridge | 174:b96e65c34a4d | 526 | // Set initial CAN frequency to specified frequency |
| AnnaBridge | 174:b96e65c34a4d | 527 | if (can_frequency(obj, obj->hz) != 1) { |
| AnnaBridge | 174:b96e65c34a4d | 528 | error("Can frequency could not be set\n"); |
| AnnaBridge | 174:b96e65c34a4d | 529 | } |
| AnnaBridge | 174:b96e65c34a4d | 530 | } |
| AnnaBridge | 174:b96e65c34a4d | 531 | |
| <> | 160:d5399cc887bb | 532 | void can_init(can_t *obj, PinName rd, PinName td) |
| <> | 160:d5399cc887bb | 533 | { |
| AnnaBridge | 167:e84263d55307 | 534 | can_init_freq(obj, rd, td, 100000); |
| AnnaBridge | 167:e84263d55307 | 535 | } |
| AnnaBridge | 167:e84263d55307 | 536 | |
| AnnaBridge | 187:0387e8f68319 | 537 | void can_init_freq(can_t *obj, PinName rd, PinName td, int hz) |
| AnnaBridge | 167:e84263d55307 | 538 | { |
| <> | 160:d5399cc887bb | 539 | CANName can_rd = (CANName)pinmap_peripheral(rd, PinMap_CAN_RD); |
| <> | 160:d5399cc887bb | 540 | CANName can_td = (CANName)pinmap_peripheral(td, PinMap_CAN_TD); |
| AnnaBridge | 174:b96e65c34a4d | 541 | CANName can = (CANName)pinmap_merge(can_rd, can_td); |
| <> | 160:d5399cc887bb | 542 | |
| AnnaBridge | 174:b96e65c34a4d | 543 | MBED_ASSERT((int)can != NC); |
| <> | 160:d5399cc887bb | 544 | |
| AnnaBridge | 174:b96e65c34a4d | 545 | if (can == CAN_1) { |
| <> | 160:d5399cc887bb | 546 | __HAL_RCC_CAN1_CLK_ENABLE(); |
| <> | 160:d5399cc887bb | 547 | obj->index = 0; |
| <> | 160:d5399cc887bb | 548 | } |
| Anna Bridge |
180:96ed750bd169 | 549 | #if defined(CAN2_BASE) && (CAN_NUM > 1) |
| AnnaBridge | 174:b96e65c34a4d | 550 | else if (can == CAN_2) { |
| <> | 160:d5399cc887bb | 551 | __HAL_RCC_CAN1_CLK_ENABLE(); // needed to set filters |
| <> | 160:d5399cc887bb | 552 | __HAL_RCC_CAN2_CLK_ENABLE(); |
| <> | 160:d5399cc887bb | 553 | obj->index = 1; |
| <> | 160:d5399cc887bb | 554 | } |
| <> | 160:d5399cc887bb | 555 | #endif |
| Anna Bridge |
180:96ed750bd169 | 556 | #if defined(CAN3_BASE) && (CAN_NUM > 2) |
| AnnaBridge | 178:79309dc6340a | 557 | else if (can == CAN_3) { |
| AnnaBridge | 178:79309dc6340a | 558 | __HAL_RCC_CAN3_CLK_ENABLE(); |
| AnnaBridge | 178:79309dc6340a | 559 | obj->index = 2; |
| AnnaBridge | 178:79309dc6340a | 560 | } |
| AnnaBridge | 178:79309dc6340a | 561 | #endif |
| <> | 160:d5399cc887bb | 562 | else { |
| <> | 160:d5399cc887bb | 563 | return; |
| <> | 160:d5399cc887bb | 564 | } |
| <> | 160:d5399cc887bb | 565 | |
| <> | 160:d5399cc887bb | 566 | // Configure the CAN pins |
| <> | 160:d5399cc887bb | 567 | pinmap_pinout(rd, PinMap_CAN_RD); |
| <> | 160:d5399cc887bb | 568 | pinmap_pinout(td, PinMap_CAN_TD); |
| <> | 160:d5399cc887bb | 569 | if (rd != NC) { |
| <> | 160:d5399cc887bb | 570 | pin_mode(rd, PullUp); |
| <> | 160:d5399cc887bb | 571 | } |
| <> | 160:d5399cc887bb | 572 | if (td != NC) { |
| <> | 160:d5399cc887bb | 573 | pin_mode(td, PullUp); |
| <> | 160:d5399cc887bb | 574 | } |
| <> | 160:d5399cc887bb | 575 | |
| AnnaBridge | 174:b96e65c34a4d | 576 | /* Use default values for rist init */ |
| AnnaBridge | 174:b96e65c34a4d | 577 | obj->CanHandle.Instance = (CAN_TypeDef *)can; |
| AnnaBridge | 174:b96e65c34a4d | 578 | obj->CanHandle.Init.TTCM = DISABLE; |
| AnnaBridge | 174:b96e65c34a4d | 579 | obj->CanHandle.Init.ABOM = DISABLE; |
| AnnaBridge | 174:b96e65c34a4d | 580 | obj->CanHandle.Init.AWUM = DISABLE; |
| AnnaBridge | 174:b96e65c34a4d | 581 | obj->CanHandle.Init.NART = DISABLE; |
| AnnaBridge | 174:b96e65c34a4d | 582 | obj->CanHandle.Init.RFLM = DISABLE; |
| AnnaBridge | 174:b96e65c34a4d | 583 | obj->CanHandle.Init.TXFP = DISABLE; |
| AnnaBridge | 174:b96e65c34a4d | 584 | obj->CanHandle.Init.Mode = CAN_MODE_NORMAL; |
| AnnaBridge | 174:b96e65c34a4d | 585 | obj->CanHandle.Init.SJW = CAN_SJW_1TQ; |
| AnnaBridge | 174:b96e65c34a4d | 586 | obj->CanHandle.Init.BS1 = CAN_BS1_6TQ; |
| AnnaBridge | 174:b96e65c34a4d | 587 | obj->CanHandle.Init.BS2 = CAN_BS2_8TQ; |
| AnnaBridge | 174:b96e65c34a4d | 588 | obj->CanHandle.Init.Prescaler = 2; |
| <> | 160:d5399cc887bb | 589 | |
| AnnaBridge | 174:b96e65c34a4d | 590 | /* Store frequency to be restored in case of reset */ |
| AnnaBridge | 174:b96e65c34a4d | 591 | obj->hz = hz; |
| <> | 160:d5399cc887bb | 592 | |
| AnnaBridge | 174:b96e65c34a4d | 593 | can_registers_init(obj); |
| <> | 160:d5399cc887bb | 594 | |
| Anna Bridge |
180:96ed750bd169 | 595 | /* Bits 27:14 are available for dual CAN configuration and are reserved for |
| Anna Bridge |
180:96ed750bd169 | 596 | single CAN configuration: */ |
| Anna Bridge |
180:96ed750bd169 | 597 | #if defined(CAN3_BASE) && (CAN_NUM > 2) |
| Anna Bridge |
180:96ed750bd169 | 598 | uint32_t filter_number = (can == CAN_1 || can == CAN_3) ? 0 : 14; |
| Anna Bridge |
180:96ed750bd169 | 599 | #else |
| AnnaBridge | 174:b96e65c34a4d | 600 | uint32_t filter_number = (can == CAN_1) ? 0 : 14; |
| Anna Bridge |
180:96ed750bd169 | 601 | #endif |
| <> | 160:d5399cc887bb | 602 | can_filter(obj, 0, 0, CANStandard, filter_number); |
| <> | 160:d5399cc887bb | 603 | } |
| <> | 160:d5399cc887bb | 604 | |
| AnnaBridge | 174:b96e65c34a4d | 605 | |
| <> | 160:d5399cc887bb | 606 | void can_irq_init(can_t *obj, can_irq_handler handler, uint32_t id) |
| <> | 160:d5399cc887bb | 607 | { |
| <> | 160:d5399cc887bb | 608 | irq_handler = handler; |
| <> | 160:d5399cc887bb | 609 | can_irq_ids[obj->index] = id; |
| <> | 160:d5399cc887bb | 610 | } |
| <> | 160:d5399cc887bb | 611 | |
| <> | 160:d5399cc887bb | 612 | void can_irq_free(can_t *obj) |
| <> | 160:d5399cc887bb | 613 | { |
| AnnaBridge | 174:b96e65c34a4d | 614 | CAN_TypeDef *can = obj->CanHandle.Instance; |
| <> | 160:d5399cc887bb | 615 | |
| <> | 160:d5399cc887bb | 616 | can->IER &= ~(CAN_IT_FMP0 | CAN_IT_FMP1 | CAN_IT_TME | \ |
| <> | 160:d5399cc887bb | 617 | CAN_IT_ERR | CAN_IT_EPV | CAN_IT_BOF); |
| AnnaBridge | 167:e84263d55307 | 618 | can_irq_ids[obj->index] = 0; |
| <> | 160:d5399cc887bb | 619 | } |
| <> | 160:d5399cc887bb | 620 | |
| <> | 160:d5399cc887bb | 621 | void can_free(can_t *obj) |
| <> | 160:d5399cc887bb | 622 | { |
| AnnaBridge | 174:b96e65c34a4d | 623 | CANName can = (CANName) obj->CanHandle.Instance; |
| <> | 160:d5399cc887bb | 624 | // Reset CAN and disable clock |
| AnnaBridge | 174:b96e65c34a4d | 625 | if (can == CAN_1) { |
| <> | 160:d5399cc887bb | 626 | __HAL_RCC_CAN1_FORCE_RESET(); |
| <> | 160:d5399cc887bb | 627 | __HAL_RCC_CAN1_RELEASE_RESET(); |
| <> | 160:d5399cc887bb | 628 | __HAL_RCC_CAN1_CLK_DISABLE(); |
| <> | 160:d5399cc887bb | 629 | } |
| Anna Bridge |
180:96ed750bd169 | 630 | #if defined(CAN2_BASE) && (CAN_NUM > 1) |
| AnnaBridge | 174:b96e65c34a4d | 631 | if (can == CAN_2) { |
| <> | 160:d5399cc887bb | 632 | __HAL_RCC_CAN2_FORCE_RESET(); |
| <> | 160:d5399cc887bb | 633 | __HAL_RCC_CAN2_RELEASE_RESET(); |
| <> | 160:d5399cc887bb | 634 | __HAL_RCC_CAN2_CLK_DISABLE(); |
| <> | 160:d5399cc887bb | 635 | } |
| <> | 160:d5399cc887bb | 636 | #endif |
| Anna Bridge |
180:96ed750bd169 | 637 | #if defined(CAN3_BASE) && (CAN_NUM > 2) |
| AnnaBridge | 178:79309dc6340a | 638 | if (can == CAN_3) { |
| AnnaBridge | 178:79309dc6340a | 639 | __HAL_RCC_CAN3_FORCE_RESET(); |
| AnnaBridge | 178:79309dc6340a | 640 | __HAL_RCC_CAN3_RELEASE_RESET(); |
| AnnaBridge | 178:79309dc6340a | 641 | __HAL_RCC_CAN3_CLK_DISABLE(); |
| AnnaBridge | 178:79309dc6340a | 642 | } |
| AnnaBridge | 178:79309dc6340a | 643 | #endif |
| <> | 160:d5399cc887bb | 644 | } |
| <> | 160:d5399cc887bb | 645 | |
| <> | 160:d5399cc887bb | 646 | // The following table is used to program bit_timing. It is an adjustment of the sample |
| <> | 160:d5399cc887bb | 647 | // point by synchronizing on the start-bit edge and resynchronizing on the following edges. |
| <> | 160:d5399cc887bb | 648 | // This table has the sampling points as close to 75% as possible (most commonly used). |
| <> | 160:d5399cc887bb | 649 | // The first value is TSEG1, the second TSEG2. |
| <> | 160:d5399cc887bb | 650 | static const int timing_pts[23][2] = { |
| <> | 160:d5399cc887bb | 651 | {0x0, 0x0}, // 2, 50% |
| <> | 160:d5399cc887bb | 652 | {0x1, 0x0}, // 3, 67% |
| <> | 160:d5399cc887bb | 653 | {0x2, 0x0}, // 4, 75% |
| <> | 160:d5399cc887bb | 654 | {0x3, 0x0}, // 5, 80% |
| <> | 160:d5399cc887bb | 655 | {0x3, 0x1}, // 6, 67% |
| <> | 160:d5399cc887bb | 656 | {0x4, 0x1}, // 7, 71% |
| <> | 160:d5399cc887bb | 657 | {0x5, 0x1}, // 8, 75% |
| <> | 160:d5399cc887bb | 658 | {0x6, 0x1}, // 9, 78% |
| <> | 160:d5399cc887bb | 659 | {0x6, 0x2}, // 10, 70% |
| <> | 160:d5399cc887bb | 660 | {0x7, 0x2}, // 11, 73% |
| <> | 160:d5399cc887bb | 661 | {0x8, 0x2}, // 12, 75% |
| <> | 160:d5399cc887bb | 662 | {0x9, 0x2}, // 13, 77% |
| <> | 160:d5399cc887bb | 663 | {0x9, 0x3}, // 14, 71% |
| <> | 160:d5399cc887bb | 664 | {0xA, 0x3}, // 15, 73% |
| <> | 160:d5399cc887bb | 665 | {0xB, 0x3}, // 16, 75% |
| <> | 160:d5399cc887bb | 666 | {0xC, 0x3}, // 17, 76% |
| <> | 160:d5399cc887bb | 667 | {0xD, 0x3}, // 18, 78% |
| <> | 160:d5399cc887bb | 668 | {0xD, 0x4}, // 19, 74% |
| <> | 160:d5399cc887bb | 669 | {0xE, 0x4}, // 20, 75% |
| <> | 160:d5399cc887bb | 670 | {0xF, 0x4}, // 21, 76% |
| <> | 160:d5399cc887bb | 671 | {0xF, 0x5}, // 22, 73% |
| <> | 160:d5399cc887bb | 672 | {0xF, 0x6}, // 23, 70% |
| <> | 160:d5399cc887bb | 673 | {0xF, 0x7}, // 24, 67% |
| <> | 160:d5399cc887bb | 674 | }; |
| <> | 160:d5399cc887bb | 675 | |
| <> | 160:d5399cc887bb | 676 | static unsigned int can_speed(unsigned int pclk, unsigned int cclk, unsigned char psjw) |
| <> | 160:d5399cc887bb | 677 | { |
| <> | 160:d5399cc887bb | 678 | uint32_t btr; |
| <> | 160:d5399cc887bb | 679 | uint16_t brp = 0; |
| <> | 160:d5399cc887bb | 680 | uint32_t calcbit; |
| <> | 160:d5399cc887bb | 681 | uint32_t bitwidth; |
| <> | 160:d5399cc887bb | 682 | int hit = 0; |
| <> | 160:d5399cc887bb | 683 | int bits; |
| <> | 160:d5399cc887bb | 684 | |
| <> | 160:d5399cc887bb | 685 | bitwidth = (pclk / cclk); |
| <> | 160:d5399cc887bb | 686 | |
| <> | 160:d5399cc887bb | 687 | brp = bitwidth / 0x18; |
| <> | 160:d5399cc887bb | 688 | while ((!hit) && (brp < bitwidth / 4)) { |
| <> | 160:d5399cc887bb | 689 | brp++; |
| <> | 160:d5399cc887bb | 690 | for (bits = 22; bits > 0; bits--) { |
| <> | 160:d5399cc887bb | 691 | calcbit = (bits + 3) * (brp + 1); |
| <> | 160:d5399cc887bb | 692 | if (calcbit == bitwidth) { |
| <> | 160:d5399cc887bb | 693 | hit = 1; |
| <> | 160:d5399cc887bb | 694 | break; |
| <> | 160:d5399cc887bb | 695 | } |
| <> | 160:d5399cc887bb | 696 | } |
| <> | 160:d5399cc887bb | 697 | } |
| <> | 160:d5399cc887bb | 698 | |
| <> | 160:d5399cc887bb | 699 | if (hit) { |
| AnnaBridge | 172:7d866c31b3c5 | 700 | btr = ((timing_pts[bits][1] << CAN_BTR_TS2_Pos) & CAN_BTR_TS2) | |
| AnnaBridge | 172:7d866c31b3c5 | 701 | ((timing_pts[bits][0] << CAN_BTR_TS1_Pos) & CAN_BTR_TS1) | |
| AnnaBridge | 172:7d866c31b3c5 | 702 | ((psjw << CAN_BTR_SJW_Pos) & CAN_BTR_SJW) | |
| AnnaBridge | 172:7d866c31b3c5 | 703 | ((brp << CAN_BTR_BRP_Pos) & CAN_BTR_BRP); |
| <> | 160:d5399cc887bb | 704 | } else { |
| <> | 160:d5399cc887bb | 705 | btr = 0xFFFFFFFF; |
| <> | 160:d5399cc887bb | 706 | } |
| <> | 160:d5399cc887bb | 707 | |
| <> | 160:d5399cc887bb | 708 | return btr; |
| <> | 160:d5399cc887bb | 709 | |
| <> | 160:d5399cc887bb | 710 | } |
| <> | 160:d5399cc887bb | 711 | |
| <> | 160:d5399cc887bb | 712 | int can_frequency(can_t *obj, int f) |
| <> | 160:d5399cc887bb | 713 | { |
| <> | 160:d5399cc887bb | 714 | int pclk = HAL_RCC_GetPCLK1Freq(); |
| <> | 160:d5399cc887bb | 715 | int btr = can_speed(pclk, (unsigned int)f, 1); |
| AnnaBridge | 174:b96e65c34a4d | 716 | CAN_TypeDef *can = obj->CanHandle.Instance; |
| AnnaBridge | 167:e84263d55307 | 717 | uint32_t tickstart = 0; |
| AnnaBridge | 167:e84263d55307 | 718 | int status = 1; |
| <> | 160:d5399cc887bb | 719 | |
| <> | 160:d5399cc887bb | 720 | if (btr > 0) { |
| <> | 160:d5399cc887bb | 721 | can->MCR |= CAN_MCR_INRQ ; |
| AnnaBridge | 167:e84263d55307 | 722 | /* Get tick */ |
| AnnaBridge | 167:e84263d55307 | 723 | tickstart = HAL_GetTick(); |
| <> | 160:d5399cc887bb | 724 | while ((can->MSR & CAN_MSR_INAK) != CAN_MSR_INAK) { |
| AnnaBridge | 167:e84263d55307 | 725 | if ((HAL_GetTick() - tickstart) > 2) { |
| AnnaBridge | 167:e84263d55307 | 726 | status = 0; |
| AnnaBridge | 167:e84263d55307 | 727 | break; |
| AnnaBridge | 167:e84263d55307 | 728 | } |
| <> | 160:d5399cc887bb | 729 | } |
| AnnaBridge | 167:e84263d55307 | 730 | if (status != 0) { |
| AnnaBridge | 174:b96e65c34a4d | 731 | /* Do not erase all BTR registers (e.g. silent mode), only the |
| AnnaBridge | 174:b96e65c34a4d | 732 | * ones calculated in can_speed */ |
| AnnaBridge | 174:b96e65c34a4d | 733 | can->BTR &= ~(CAN_BTR_TS2 | CAN_BTR_TS1 | CAN_BTR_SJW | CAN_BTR_BRP); |
| AnnaBridge | 174:b96e65c34a4d | 734 | can->BTR |= btr; |
| AnnaBridge | 174:b96e65c34a4d | 735 | |
| AnnaBridge | 167:e84263d55307 | 736 | can->MCR &= ~(uint32_t)CAN_MCR_INRQ; |
| AnnaBridge | 167:e84263d55307 | 737 | /* Get tick */ |
| AnnaBridge | 167:e84263d55307 | 738 | tickstart = HAL_GetTick(); |
| AnnaBridge | 167:e84263d55307 | 739 | while ((can->MSR & CAN_MSR_INAK) == CAN_MSR_INAK) { |
| AnnaBridge | 167:e84263d55307 | 740 | if ((HAL_GetTick() - tickstart) > 2) { |
| AnnaBridge | 167:e84263d55307 | 741 | status = 0; |
| AnnaBridge | 167:e84263d55307 | 742 | break; |
| AnnaBridge | 167:e84263d55307 | 743 | } |
| AnnaBridge | 167:e84263d55307 | 744 | } |
| AnnaBridge | 167:e84263d55307 | 745 | if (status == 0) { |
| AnnaBridge | 167:e84263d55307 | 746 | error("can ESR 0x%04x.%04x + timeout status %d", (can->ESR & 0xFFFF0000) >> 16, (can->ESR & 0xFFFF), status); |
| AnnaBridge | 167:e84263d55307 | 747 | } |
| AnnaBridge | 167:e84263d55307 | 748 | } else { |
| AnnaBridge | 167:e84263d55307 | 749 | error("can init request timeout\n"); |
| <> | 160:d5399cc887bb | 750 | } |
| <> | 160:d5399cc887bb | 751 | } else { |
| AnnaBridge | 167:e84263d55307 | 752 | status = 0; |
| <> | 160:d5399cc887bb | 753 | } |
| AnnaBridge | 167:e84263d55307 | 754 | return status; |
| <> | 160:d5399cc887bb | 755 | } |
| <> | 160:d5399cc887bb | 756 | |
| <> | 160:d5399cc887bb | 757 | int can_write(can_t *obj, CAN_Message msg, int cc) |
| <> | 160:d5399cc887bb | 758 | { |
| <> | 160:d5399cc887bb | 759 | uint32_t transmitmailbox = CAN_TXSTATUS_NOMAILBOX; |
| AnnaBridge | 174:b96e65c34a4d | 760 | CAN_TypeDef *can = obj->CanHandle.Instance; |
| <> | 160:d5399cc887bb | 761 | |
| <> | 160:d5399cc887bb | 762 | /* Select one empty transmit mailbox */ |
| <> | 160:d5399cc887bb | 763 | if ((can->TSR & CAN_TSR_TME0) == CAN_TSR_TME0) { |
| <> | 160:d5399cc887bb | 764 | transmitmailbox = 0; |
| <> | 160:d5399cc887bb | 765 | } else if ((can->TSR & CAN_TSR_TME1) == CAN_TSR_TME1) { |
| <> | 160:d5399cc887bb | 766 | transmitmailbox = 1; |
| <> | 160:d5399cc887bb | 767 | } else if ((can->TSR & CAN_TSR_TME2) == CAN_TSR_TME2) { |
| <> | 160:d5399cc887bb | 768 | transmitmailbox = 2; |
| <> | 160:d5399cc887bb | 769 | } else { |
| AnnaBridge | 187:0387e8f68319 | 770 | return 0; |
| <> | 160:d5399cc887bb | 771 | } |
| <> | 160:d5399cc887bb | 772 | |
| <> | 160:d5399cc887bb | 773 | can->sTxMailBox[transmitmailbox].TIR &= CAN_TI0R_TXRQ; |
| <> | 160:d5399cc887bb | 774 | if (!(msg.format)) { |
| AnnaBridge | 187:0387e8f68319 | 775 | can->sTxMailBox[transmitmailbox].TIR |= ((msg.id << 21) | (msg.type << 1)); |
| <> | 160:d5399cc887bb | 776 | } else { |
| AnnaBridge | 187:0387e8f68319 | 777 | can->sTxMailBox[transmitmailbox].TIR |= ((msg.id << 3) | CAN_ID_EXT | (msg.type << 1)); |
| <> | 160:d5399cc887bb | 778 | } |
| AnnaBridge | 167:e84263d55307 | 779 | |
| <> | 160:d5399cc887bb | 780 | /* Set up the DLC */ |
| <> | 160:d5399cc887bb | 781 | can->sTxMailBox[transmitmailbox].TDTR &= (uint32_t)0xFFFFFFF0; |
| <> | 160:d5399cc887bb | 782 | can->sTxMailBox[transmitmailbox].TDTR |= (msg.len & (uint8_t)0x0000000F); |
| AnnaBridge | 167:e84263d55307 | 783 | |
| <> | 160:d5399cc887bb | 784 | /* Set up the data field */ |
| <> | 160:d5399cc887bb | 785 | can->sTxMailBox[transmitmailbox].TDLR = (((uint32_t)msg.data[3] << 24) | |
| AnnaBridge | 187:0387e8f68319 | 786 | ((uint32_t)msg.data[2] << 16) | |
| AnnaBridge | 187:0387e8f68319 | 787 | ((uint32_t)msg.data[1] << 8) | |
| AnnaBridge | 187:0387e8f68319 | 788 | ((uint32_t)msg.data[0])); |
| <> | 160:d5399cc887bb | 789 | can->sTxMailBox[transmitmailbox].TDHR = (((uint32_t)msg.data[7] << 24) | |
| AnnaBridge | 187:0387e8f68319 | 790 | ((uint32_t)msg.data[6] << 16) | |
| AnnaBridge | 187:0387e8f68319 | 791 | ((uint32_t)msg.data[5] << 8) | |
| AnnaBridge | 187:0387e8f68319 | 792 | ((uint32_t)msg.data[4])); |
| <> | 160:d5399cc887bb | 793 | /* Request transmission */ |
| <> | 160:d5399cc887bb | 794 | can->sTxMailBox[transmitmailbox].TIR |= CAN_TI0R_TXRQ; |
| <> | 160:d5399cc887bb | 795 | |
| <> | 160:d5399cc887bb | 796 | return 1; |
| <> | 160:d5399cc887bb | 797 | } |
| <> | 160:d5399cc887bb | 798 | |
| <> | 160:d5399cc887bb | 799 | int can_read(can_t *obj, CAN_Message *msg, int handle) |
| <> | 160:d5399cc887bb | 800 | { |
| <> | 160:d5399cc887bb | 801 | //handle is the FIFO number |
| <> | 160:d5399cc887bb | 802 | |
| AnnaBridge | 174:b96e65c34a4d | 803 | CAN_TypeDef *can = obj->CanHandle.Instance; |
| <> | 160:d5399cc887bb | 804 | |
| <> | 160:d5399cc887bb | 805 | // check FPM0 which holds the pending message count in FIFO 0 |
| <> | 160:d5399cc887bb | 806 | // if no message is pending, return 0 |
| <> | 160:d5399cc887bb | 807 | if ((can->RF0R & CAN_RF0R_FMP0) == 0) { |
| <> | 160:d5399cc887bb | 808 | return 0; |
| <> | 160:d5399cc887bb | 809 | } |
| <> | 160:d5399cc887bb | 810 | |
| <> | 160:d5399cc887bb | 811 | /* Get the Id */ |
| <> | 160:d5399cc887bb | 812 | msg->format = (CANFormat)(((uint8_t)0x04 & can->sFIFOMailBox[handle].RIR) >> 2); |
| <> | 160:d5399cc887bb | 813 | if (!msg->format) { |
| <> | 160:d5399cc887bb | 814 | msg->id = (uint32_t)0x000007FF & (can->sFIFOMailBox[handle].RIR >> 21); |
| <> | 160:d5399cc887bb | 815 | } else { |
| <> | 160:d5399cc887bb | 816 | msg->id = (uint32_t)0x1FFFFFFF & (can->sFIFOMailBox[handle].RIR >> 3); |
| <> | 160:d5399cc887bb | 817 | } |
| <> | 160:d5399cc887bb | 818 | |
| <> | 160:d5399cc887bb | 819 | msg->type = (CANType)(((uint8_t)0x02 & can->sFIFOMailBox[handle].RIR) >> 1); |
| <> | 160:d5399cc887bb | 820 | /* Get the DLC */ |
| <> | 160:d5399cc887bb | 821 | msg->len = (uint8_t)0x0F & can->sFIFOMailBox[handle].RDTR; |
| <> | 160:d5399cc887bb | 822 | /* Get the FMI */ |
| <> | 160:d5399cc887bb | 823 | // msg->FMI = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDTR >> 8); |
| <> | 160:d5399cc887bb | 824 | /* Get the data field */ |
| <> | 160:d5399cc887bb | 825 | msg->data[0] = (uint8_t)0xFF & can->sFIFOMailBox[handle].RDLR; |
| <> | 160:d5399cc887bb | 826 | msg->data[1] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDLR >> 8); |
| <> | 160:d5399cc887bb | 827 | msg->data[2] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDLR >> 16); |
| <> | 160:d5399cc887bb | 828 | msg->data[3] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDLR >> 24); |
| <> | 160:d5399cc887bb | 829 | msg->data[4] = (uint8_t)0xFF & can->sFIFOMailBox[handle].RDHR; |
| <> | 160:d5399cc887bb | 830 | msg->data[5] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDHR >> 8); |
| <> | 160:d5399cc887bb | 831 | msg->data[6] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDHR >> 16); |
| <> | 160:d5399cc887bb | 832 | msg->data[7] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDHR >> 24); |
| <> | 160:d5399cc887bb | 833 | |
| <> | 160:d5399cc887bb | 834 | /* Release the FIFO */ |
| <> | 160:d5399cc887bb | 835 | if (handle == CAN_FIFO0) { |
| <> | 160:d5399cc887bb | 836 | /* Release FIFO0 */ |
| <> | 160:d5399cc887bb | 837 | can->RF0R |= CAN_RF0R_RFOM0; |
| <> | 160:d5399cc887bb | 838 | } else { /* FIFONumber == CAN_FIFO1 */ |
| <> | 160:d5399cc887bb | 839 | /* Release FIFO1 */ |
| <> | 160:d5399cc887bb | 840 | can->RF1R |= CAN_RF1R_RFOM1; |
| <> | 160:d5399cc887bb | 841 | } |
| <> | 160:d5399cc887bb | 842 | |
| <> | 160:d5399cc887bb | 843 | return 1; |
| <> | 160:d5399cc887bb | 844 | } |
| <> | 160:d5399cc887bb | 845 | |
| <> | 160:d5399cc887bb | 846 | void can_reset(can_t *obj) |
| <> | 160:d5399cc887bb | 847 | { |
| AnnaBridge | 174:b96e65c34a4d | 848 | CAN_TypeDef *can = obj->CanHandle.Instance; |
| AnnaBridge | 174:b96e65c34a4d | 849 | |
| AnnaBridge | 174:b96e65c34a4d | 850 | /* Reset IP and delete errors */ |
| <> | 160:d5399cc887bb | 851 | can->MCR |= CAN_MCR_RESET; |
| <> | 160:d5399cc887bb | 852 | can->ESR = 0x0; |
| AnnaBridge | 174:b96e65c34a4d | 853 | |
| AnnaBridge | 174:b96e65c34a4d | 854 | /* restore registers state as saved in obj context */ |
| AnnaBridge | 174:b96e65c34a4d | 855 | can_registers_init(obj); |
| <> | 160:d5399cc887bb | 856 | } |
| <> | 160:d5399cc887bb | 857 | |
| <> | 160:d5399cc887bb | 858 | unsigned char can_rderror(can_t *obj) |
| <> | 160:d5399cc887bb | 859 | { |
| AnnaBridge | 174:b96e65c34a4d | 860 | CAN_TypeDef *can = obj->CanHandle.Instance; |
| <> | 160:d5399cc887bb | 861 | return (can->ESR >> 24) & 0xFF; |
| <> | 160:d5399cc887bb | 862 | } |
| <> | 160:d5399cc887bb | 863 | |
| <> | 160:d5399cc887bb | 864 | unsigned char can_tderror(can_t *obj) |
| <> | 160:d5399cc887bb | 865 | { |
| AnnaBridge | 174:b96e65c34a4d | 866 | CAN_TypeDef *can = obj->CanHandle.Instance; |
| <> | 160:d5399cc887bb | 867 | return (can->ESR >> 16) & 0xFF; |
| <> | 160:d5399cc887bb | 868 | } |
| <> | 160:d5399cc887bb | 869 | |
| <> | 160:d5399cc887bb | 870 | void can_monitor(can_t *obj, int silent) |
| <> | 160:d5399cc887bb | 871 | { |
| AnnaBridge | 174:b96e65c34a4d | 872 | CanMode mode = MODE_NORMAL; |
| AnnaBridge | 174:b96e65c34a4d | 873 | /* Update current state w/ or w/o silent */ |
| AnnaBridge | 187:0387e8f68319 | 874 | if (silent) { |
| AnnaBridge | 174:b96e65c34a4d | 875 | switch (obj->CanHandle.Init.Mode) { |
| AnnaBridge | 174:b96e65c34a4d | 876 | case CAN_MODE_LOOPBACK: |
| AnnaBridge | 174:b96e65c34a4d | 877 | case CAN_MODE_SILENT_LOOPBACK: |
| AnnaBridge | 174:b96e65c34a4d | 878 | mode = MODE_TEST_SILENT; |
| AnnaBridge | 174:b96e65c34a4d | 879 | break; |
| AnnaBridge | 174:b96e65c34a4d | 880 | default: |
| AnnaBridge | 174:b96e65c34a4d | 881 | mode = MODE_SILENT; |
| AnnaBridge | 174:b96e65c34a4d | 882 | break; |
| AnnaBridge | 174:b96e65c34a4d | 883 | } |
| AnnaBridge | 174:b96e65c34a4d | 884 | } else { |
| AnnaBridge | 174:b96e65c34a4d | 885 | switch (obj->CanHandle.Init.Mode) { |
| AnnaBridge | 174:b96e65c34a4d | 886 | case CAN_MODE_LOOPBACK: |
| AnnaBridge | 174:b96e65c34a4d | 887 | case CAN_MODE_SILENT_LOOPBACK: |
| AnnaBridge | 174:b96e65c34a4d | 888 | mode = MODE_TEST_LOCAL; |
| AnnaBridge | 174:b96e65c34a4d | 889 | break; |
| AnnaBridge | 174:b96e65c34a4d | 890 | default: |
| AnnaBridge | 174:b96e65c34a4d | 891 | mode = MODE_NORMAL; |
| AnnaBridge | 174:b96e65c34a4d | 892 | break; |
| AnnaBridge | 174:b96e65c34a4d | 893 | } |
| <> | 160:d5399cc887bb | 894 | } |
| <> | 160:d5399cc887bb | 895 | |
| AnnaBridge | 174:b96e65c34a4d | 896 | can_mode(obj, mode); |
| <> | 160:d5399cc887bb | 897 | } |
| <> | 160:d5399cc887bb | 898 | |
| <> | 160:d5399cc887bb | 899 | int can_mode(can_t *obj, CanMode mode) |
| <> | 160:d5399cc887bb | 900 | { |
| <> | 160:d5399cc887bb | 901 | int success = 0; |
| AnnaBridge | 174:b96e65c34a4d | 902 | CAN_TypeDef *can = obj->CanHandle.Instance; |
| <> | 160:d5399cc887bb | 903 | |
| <> | 160:d5399cc887bb | 904 | can->MCR |= CAN_MCR_INRQ ; |
| <> | 160:d5399cc887bb | 905 | while ((can->MSR & CAN_MSR_INAK) != CAN_MSR_INAK) { |
| <> | 160:d5399cc887bb | 906 | } |
| <> | 160:d5399cc887bb | 907 | |
| <> | 160:d5399cc887bb | 908 | switch (mode) { |
| <> | 160:d5399cc887bb | 909 | case MODE_NORMAL: |
| AnnaBridge | 174:b96e65c34a4d | 910 | obj->CanHandle.Init.Mode = CAN_MODE_NORMAL; |
| <> | 160:d5399cc887bb | 911 | can->BTR &= ~(CAN_BTR_SILM | CAN_BTR_LBKM); |
| <> | 160:d5399cc887bb | 912 | success = 1; |
| <> | 160:d5399cc887bb | 913 | break; |
| <> | 160:d5399cc887bb | 914 | case MODE_SILENT: |
| AnnaBridge | 174:b96e65c34a4d | 915 | obj->CanHandle.Init.Mode = CAN_MODE_SILENT; |
| <> | 160:d5399cc887bb | 916 | can->BTR |= CAN_BTR_SILM; |
| <> | 160:d5399cc887bb | 917 | can->BTR &= ~CAN_BTR_LBKM; |
| <> | 160:d5399cc887bb | 918 | success = 1; |
| <> | 160:d5399cc887bb | 919 | break; |
| <> | 160:d5399cc887bb | 920 | case MODE_TEST_GLOBAL: |
| <> | 160:d5399cc887bb | 921 | case MODE_TEST_LOCAL: |
| AnnaBridge | 174:b96e65c34a4d | 922 | obj->CanHandle.Init.Mode = CAN_MODE_LOOPBACK; |
| <> | 160:d5399cc887bb | 923 | can->BTR |= CAN_BTR_LBKM; |
| <> | 160:d5399cc887bb | 924 | can->BTR &= ~CAN_BTR_SILM; |
| <> | 160:d5399cc887bb | 925 | success = 1; |
| <> | 160:d5399cc887bb | 926 | break; |
| <> | 160:d5399cc887bb | 927 | case MODE_TEST_SILENT: |
| AnnaBridge | 174:b96e65c34a4d | 928 | obj->CanHandle.Init.Mode = CAN_MODE_SILENT_LOOPBACK; |
| <> | 160:d5399cc887bb | 929 | can->BTR |= (CAN_BTR_SILM | CAN_BTR_LBKM); |
| <> | 160:d5399cc887bb | 930 | success = 1; |
| <> | 160:d5399cc887bb | 931 | break; |
| <> | 160:d5399cc887bb | 932 | default: |
| <> | 160:d5399cc887bb | 933 | success = 0; |
| <> | 160:d5399cc887bb | 934 | break; |
| <> | 160:d5399cc887bb | 935 | } |
| <> | 160:d5399cc887bb | 936 | |
| <> | 160:d5399cc887bb | 937 | can->MCR &= ~(uint32_t)CAN_MCR_INRQ; |
| <> | 160:d5399cc887bb | 938 | while ((can->MSR & CAN_MSR_INAK) == CAN_MSR_INAK) { |
| <> | 160:d5399cc887bb | 939 | } |
| <> | 160:d5399cc887bb | 940 | |
| <> | 160:d5399cc887bb | 941 | return success; |
| <> | 160:d5399cc887bb | 942 | } |
| <> | 160:d5399cc887bb | 943 | |
| <> | 160:d5399cc887bb | 944 | int can_filter(can_t *obj, uint32_t id, uint32_t mask, CANFormat format, int32_t handle) |
| <> | 160:d5399cc887bb | 945 | { |
| <> | 160:d5399cc887bb | 946 | // filter for CANAny format cannot be configured for STM32 |
| <> | 160:d5399cc887bb | 947 | if ((format == CANStandard) || (format == CANExtended)) { |
| <> | 160:d5399cc887bb | 948 | CAN_FilterConfTypeDef sFilterConfig; |
| <> | 160:d5399cc887bb | 949 | sFilterConfig.FilterNumber = handle; |
| <> | 160:d5399cc887bb | 950 | sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK; |
| <> | 160:d5399cc887bb | 951 | sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT; |
| <> | 160:d5399cc887bb | 952 | |
| <> | 160:d5399cc887bb | 953 | if (format == CANStandard) { |
| <> | 160:d5399cc887bb | 954 | sFilterConfig.FilterIdHigh = id << 5; |
| <> | 160:d5399cc887bb | 955 | sFilterConfig.FilterIdLow = 0x0; |
| <> | 160:d5399cc887bb | 956 | sFilterConfig.FilterMaskIdHigh = mask << 5; |
| <> | 160:d5399cc887bb | 957 | sFilterConfig.FilterMaskIdLow = 0x0; // allows both remote and data frames |
| AnnaBridge | 181:57724642e740 | 958 | } else { // format == CANExtended |
| <> | 160:d5399cc887bb | 959 | sFilterConfig.FilterIdHigh = id >> 13; // EXTID[28:13] |
| AnnaBridge | 181:57724642e740 | 960 | sFilterConfig.FilterIdLow = (0xFFFF & (id << 3)) | (1 << 2); // EXTID[12:0] + IDE |
| <> | 160:d5399cc887bb | 961 | sFilterConfig.FilterMaskIdHigh = mask >> 13; |
| AnnaBridge | 181:57724642e740 | 962 | sFilterConfig.FilterMaskIdLow = (0xFFFF & (mask << 3)) | (1 << 2); |
| <> | 160:d5399cc887bb | 963 | } |
| <> | 160:d5399cc887bb | 964 | |
| <> | 160:d5399cc887bb | 965 | sFilterConfig.FilterFIFOAssignment = 0; |
| <> | 160:d5399cc887bb | 966 | sFilterConfig.FilterActivation = ENABLE; |
| <> | 160:d5399cc887bb | 967 | sFilterConfig.BankNumber = 14 + handle; |
| <> | 160:d5399cc887bb | 968 | |
| AnnaBridge | 174:b96e65c34a4d | 969 | HAL_CAN_ConfigFilter(&obj->CanHandle, &sFilterConfig); |
| <> | 160:d5399cc887bb | 970 | } |
| AnnaBridge | 189:f392fc9709a3 | 971 | |
| AnnaBridge | 189:f392fc9709a3 | 972 | return 1; |
| <> | 160:d5399cc887bb | 973 | } |
| <> | 160:d5399cc887bb | 974 | |
| <> | 160:d5399cc887bb | 975 | static void can_irq(CANName name, int id) |
| <> | 160:d5399cc887bb | 976 | { |
| <> | 160:d5399cc887bb | 977 | uint32_t tmp1 = 0, tmp2 = 0, tmp3 = 0; |
| AnnaBridge | 174:b96e65c34a4d | 978 | CAN_HandleTypeDef CanHandle; |
| <> | 160:d5399cc887bb | 979 | CanHandle.Instance = (CAN_TypeDef *)name; |
| <> | 160:d5399cc887bb | 980 | |
| <> | 160:d5399cc887bb | 981 | if (__HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_TME)) { |
| <> | 160:d5399cc887bb | 982 | tmp1 = __HAL_CAN_TRANSMIT_STATUS(&CanHandle, CAN_TXMAILBOX_0); |
| <> | 160:d5399cc887bb | 983 | tmp2 = __HAL_CAN_TRANSMIT_STATUS(&CanHandle, CAN_TXMAILBOX_1); |
| <> | 160:d5399cc887bb | 984 | tmp3 = __HAL_CAN_TRANSMIT_STATUS(&CanHandle, CAN_TXMAILBOX_2); |
| <> | 160:d5399cc887bb | 985 | if (tmp1) { |
| <> | 160:d5399cc887bb | 986 | __HAL_CAN_CLEAR_FLAG(&CanHandle, CAN_FLAG_RQCP0); |
| <> | 160:d5399cc887bb | 987 | } |
| <> | 160:d5399cc887bb | 988 | if (tmp2) { |
| <> | 160:d5399cc887bb | 989 | __HAL_CAN_CLEAR_FLAG(&CanHandle, CAN_FLAG_RQCP1); |
| <> | 160:d5399cc887bb | 990 | } |
| <> | 160:d5399cc887bb | 991 | if (tmp3) { |
| <> | 160:d5399cc887bb | 992 | __HAL_CAN_CLEAR_FLAG(&CanHandle, CAN_FLAG_RQCP2); |
| <> | 160:d5399cc887bb | 993 | } |
| <> | 160:d5399cc887bb | 994 | if (tmp1 || tmp2 || tmp3) { |
| <> | 160:d5399cc887bb | 995 | irq_handler(can_irq_ids[id], IRQ_TX); |
| <> | 160:d5399cc887bb | 996 | } |
| <> | 160:d5399cc887bb | 997 | } |
| <> | 160:d5399cc887bb | 998 | |
| <> | 160:d5399cc887bb | 999 | tmp1 = __HAL_CAN_MSG_PENDING(&CanHandle, CAN_FIFO0); |
| <> | 160:d5399cc887bb | 1000 | tmp2 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_FMP0); |
| <> | 160:d5399cc887bb | 1001 | |
| <> | 160:d5399cc887bb | 1002 | if ((tmp1 != 0) && tmp2) { |
| <> | 160:d5399cc887bb | 1003 | irq_handler(can_irq_ids[id], IRQ_RX); |
| <> | 160:d5399cc887bb | 1004 | } |
| <> | 160:d5399cc887bb | 1005 | |
| <> | 160:d5399cc887bb | 1006 | tmp1 = __HAL_CAN_GET_FLAG(&CanHandle, CAN_FLAG_EPV); |
| <> | 160:d5399cc887bb | 1007 | tmp2 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_EPV); |
| <> | 160:d5399cc887bb | 1008 | tmp3 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_ERR); |
| <> | 160:d5399cc887bb | 1009 | |
| <> | 160:d5399cc887bb | 1010 | if (tmp1 && tmp2 && tmp3) { |
| <> | 160:d5399cc887bb | 1011 | irq_handler(can_irq_ids[id], IRQ_PASSIVE); |
| <> | 160:d5399cc887bb | 1012 | } |
| <> | 160:d5399cc887bb | 1013 | |
| <> | 160:d5399cc887bb | 1014 | tmp1 = __HAL_CAN_GET_FLAG(&CanHandle, CAN_FLAG_BOF); |
| <> | 160:d5399cc887bb | 1015 | tmp2 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_BOF); |
| <> | 160:d5399cc887bb | 1016 | tmp3 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_ERR); |
| <> | 160:d5399cc887bb | 1017 | if (tmp1 && tmp2 && tmp3) { |
| <> | 160:d5399cc887bb | 1018 | irq_handler(can_irq_ids[id], IRQ_BUS); |
| <> | 160:d5399cc887bb | 1019 | } |
| <> | 160:d5399cc887bb | 1020 | |
| <> | 160:d5399cc887bb | 1021 | tmp3 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_ERR); |
| <> | 160:d5399cc887bb | 1022 | if (tmp1 && tmp2 && tmp3) { |
| <> | 160:d5399cc887bb | 1023 | irq_handler(can_irq_ids[id], IRQ_ERROR); |
| <> | 160:d5399cc887bb | 1024 | } |
| <> | 160:d5399cc887bb | 1025 | } |
| <> | 160:d5399cc887bb | 1026 | |
| <> | 160:d5399cc887bb | 1027 | #if defined(TARGET_STM32F0) |
| <> | 160:d5399cc887bb | 1028 | void CAN_IRQHandler(void) |
| <> | 160:d5399cc887bb | 1029 | { |
| <> | 160:d5399cc887bb | 1030 | can_irq(CAN_1, 0); |
| <> | 160:d5399cc887bb | 1031 | } |
| <> | 160:d5399cc887bb | 1032 | #elif defined(TARGET_STM32F3) |
| <> | 160:d5399cc887bb | 1033 | void CAN_RX0_IRQHandler(void) |
| <> | 160:d5399cc887bb | 1034 | { |
| <> | 160:d5399cc887bb | 1035 | can_irq(CAN_1, 0); |
| <> | 160:d5399cc887bb | 1036 | } |
| <> | 160:d5399cc887bb | 1037 | void CAN_TX_IRQHandler(void) |
| <> | 160:d5399cc887bb | 1038 | { |
| <> | 160:d5399cc887bb | 1039 | can_irq(CAN_1, 0); |
| <> | 160:d5399cc887bb | 1040 | } |
| <> | 160:d5399cc887bb | 1041 | void CAN_SCE_IRQHandler(void) |
| <> | 160:d5399cc887bb | 1042 | { |
| <> | 160:d5399cc887bb | 1043 | can_irq(CAN_1, 0); |
| <> | 160:d5399cc887bb | 1044 | } |
| <> | 160:d5399cc887bb | 1045 | #else |
| <> | 160:d5399cc887bb | 1046 | void CAN1_RX0_IRQHandler(void) |
| <> | 160:d5399cc887bb | 1047 | { |
| <> | 160:d5399cc887bb | 1048 | can_irq(CAN_1, 0); |
| <> | 160:d5399cc887bb | 1049 | } |
| <> | 160:d5399cc887bb | 1050 | void CAN1_TX_IRQHandler(void) |
| <> | 160:d5399cc887bb | 1051 | { |
| <> | 160:d5399cc887bb | 1052 | can_irq(CAN_1, 0); |
| <> | 160:d5399cc887bb | 1053 | } |
| <> | 160:d5399cc887bb | 1054 | void CAN1_SCE_IRQHandler(void) |
| <> | 160:d5399cc887bb | 1055 | { |
| <> | 160:d5399cc887bb | 1056 | can_irq(CAN_1, 0); |
| <> | 160:d5399cc887bb | 1057 | } |
| Anna Bridge |
180:96ed750bd169 | 1058 | #if defined(CAN2_BASE) && (CAN_NUM > 1) |
| <> | 160:d5399cc887bb | 1059 | void CAN2_RX0_IRQHandler(void) |
| <> | 160:d5399cc887bb | 1060 | { |
| <> | 160:d5399cc887bb | 1061 | can_irq(CAN_2, 1); |
| <> | 160:d5399cc887bb | 1062 | } |
| <> | 160:d5399cc887bb | 1063 | void CAN2_TX_IRQHandler(void) |
| <> | 160:d5399cc887bb | 1064 | { |
| <> | 160:d5399cc887bb | 1065 | can_irq(CAN_2, 1); |
| <> | 160:d5399cc887bb | 1066 | } |
| <> | 160:d5399cc887bb | 1067 | void CAN2_SCE_IRQHandler(void) |
| <> | 160:d5399cc887bb | 1068 | { |
| <> | 160:d5399cc887bb | 1069 | can_irq(CAN_2, 1); |
| <> | 160:d5399cc887bb | 1070 | } |
| AnnaBridge | 178:79309dc6340a | 1071 | #endif |
| Anna Bridge |
180:96ed750bd169 | 1072 | #if defined(CAN3_BASE) && (CAN_NUM > 2) |
| AnnaBridge | 178:79309dc6340a | 1073 | void CAN3_RX0_IRQHandler(void) |
| AnnaBridge | 178:79309dc6340a | 1074 | { |
| Anna Bridge |
180:96ed750bd169 | 1075 | can_irq(CAN_3, 2); |
| AnnaBridge | 178:79309dc6340a | 1076 | } |
| AnnaBridge | 178:79309dc6340a | 1077 | void CAN3_TX_IRQHandler(void) |
| AnnaBridge | 178:79309dc6340a | 1078 | { |
| Anna Bridge |
180:96ed750bd169 | 1079 | can_irq(CAN_3, 2); |
| AnnaBridge | 178:79309dc6340a | 1080 | } |
| AnnaBridge | 178:79309dc6340a | 1081 | void CAN3_SCE_IRQHandler(void) |
| AnnaBridge | 178:79309dc6340a | 1082 | { |
| Anna Bridge |
180:96ed750bd169 | 1083 | can_irq(CAN_3, 2); |
| AnnaBridge | 178:79309dc6340a | 1084 | } |
| AnnaBridge | 178:79309dc6340a | 1085 | #endif |
| <> | 160:d5399cc887bb | 1086 | #endif // else |
| <> | 160:d5399cc887bb | 1087 | |
| <> | 160:d5399cc887bb | 1088 | void can_irq_set(can_t *obj, CanIrqType type, uint32_t enable) |
| <> | 160:d5399cc887bb | 1089 | { |
| AnnaBridge | 174:b96e65c34a4d | 1090 | CAN_TypeDef *can = obj->CanHandle.Instance; |
| <> | 160:d5399cc887bb | 1091 | IRQn_Type irq_n = (IRQn_Type)0; |
| <> | 160:d5399cc887bb | 1092 | uint32_t vector = 0; |
| <> | 160:d5399cc887bb | 1093 | uint32_t ier; |
| <> | 160:d5399cc887bb | 1094 | |
| AnnaBridge | 174:b96e65c34a4d | 1095 | if ((CANName) can == CAN_1) { |
| <> | 160:d5399cc887bb | 1096 | switch (type) { |
| <> | 160:d5399cc887bb | 1097 | case IRQ_RX: |
| <> | 160:d5399cc887bb | 1098 | ier = CAN_IT_FMP0; |
| <> | 160:d5399cc887bb | 1099 | irq_n = CAN1_IRQ_RX_IRQN; |
| <> | 160:d5399cc887bb | 1100 | vector = (uint32_t)&CAN1_IRQ_RX_VECT; |
| <> | 160:d5399cc887bb | 1101 | break; |
| <> | 160:d5399cc887bb | 1102 | case IRQ_TX: |
| <> | 160:d5399cc887bb | 1103 | ier = CAN_IT_TME; |
| <> | 160:d5399cc887bb | 1104 | irq_n = CAN1_IRQ_TX_IRQN; |
| <> | 160:d5399cc887bb | 1105 | vector = (uint32_t)&CAN1_IRQ_TX_VECT; |
| <> | 160:d5399cc887bb | 1106 | break; |
| <> | 160:d5399cc887bb | 1107 | case IRQ_ERROR: |
| <> | 160:d5399cc887bb | 1108 | ier = CAN_IT_ERR; |
| <> | 160:d5399cc887bb | 1109 | irq_n = CAN1_IRQ_ERROR_IRQN; |
| <> | 160:d5399cc887bb | 1110 | vector = (uint32_t)&CAN1_IRQ_ERROR_VECT; |
| <> | 160:d5399cc887bb | 1111 | break; |
| <> | 160:d5399cc887bb | 1112 | case IRQ_PASSIVE: |
| <> | 160:d5399cc887bb | 1113 | ier = CAN_IT_EPV; |
| <> | 160:d5399cc887bb | 1114 | irq_n = CAN1_IRQ_PASSIVE_IRQN; |
| <> | 160:d5399cc887bb | 1115 | vector = (uint32_t)&CAN1_IRQ_PASSIVE_VECT; |
| <> | 160:d5399cc887bb | 1116 | break; |
| <> | 160:d5399cc887bb | 1117 | case IRQ_BUS: |
| <> | 160:d5399cc887bb | 1118 | ier = CAN_IT_BOF; |
| <> | 160:d5399cc887bb | 1119 | irq_n = CAN1_IRQ_BUS_IRQN; |
| <> | 160:d5399cc887bb | 1120 | vector = (uint32_t)&CAN1_IRQ_BUS_VECT; |
| <> | 160:d5399cc887bb | 1121 | break; |
| <> | 160:d5399cc887bb | 1122 | default: |
| <> | 160:d5399cc887bb | 1123 | return; |
| <> | 160:d5399cc887bb | 1124 | } |
| <> | 160:d5399cc887bb | 1125 | } |
| Anna Bridge |
180:96ed750bd169 | 1126 | #if defined(CAN2_BASE) && (CAN_NUM > 1) |
| AnnaBridge | 174:b96e65c34a4d | 1127 | else if ((CANName) can == CAN_2) { |
| <> | 160:d5399cc887bb | 1128 | switch (type) { |
| <> | 160:d5399cc887bb | 1129 | case IRQ_RX: |
| <> | 160:d5399cc887bb | 1130 | ier = CAN_IT_FMP0; |
| <> | 160:d5399cc887bb | 1131 | irq_n = CAN2_IRQ_RX_IRQN; |
| <> | 160:d5399cc887bb | 1132 | vector = (uint32_t)&CAN2_IRQ_RX_VECT; |
| <> | 160:d5399cc887bb | 1133 | break; |
| <> | 160:d5399cc887bb | 1134 | case IRQ_TX: |
| <> | 160:d5399cc887bb | 1135 | ier = CAN_IT_TME; |
| <> | 160:d5399cc887bb | 1136 | irq_n = CAN2_IRQ_TX_IRQN; |
| <> | 160:d5399cc887bb | 1137 | vector = (uint32_t)&CAN2_IRQ_TX_VECT; |
| <> | 160:d5399cc887bb | 1138 | break; |
| <> | 160:d5399cc887bb | 1139 | case IRQ_ERROR: |
| <> | 160:d5399cc887bb | 1140 | ier = CAN_IT_ERR; |
| <> | 160:d5399cc887bb | 1141 | irq_n = CAN2_IRQ_ERROR_IRQN; |
| <> | 160:d5399cc887bb | 1142 | vector = (uint32_t)&CAN2_IRQ_ERROR_VECT; |
| <> | 160:d5399cc887bb | 1143 | break; |
| <> | 160:d5399cc887bb | 1144 | case IRQ_PASSIVE: |
| <> | 160:d5399cc887bb | 1145 | ier = CAN_IT_EPV; |
| <> | 160:d5399cc887bb | 1146 | irq_n = CAN2_IRQ_PASSIVE_IRQN; |
| <> | 160:d5399cc887bb | 1147 | vector = (uint32_t)&CAN2_IRQ_PASSIVE_VECT; |
| <> | 160:d5399cc887bb | 1148 | break; |
| <> | 160:d5399cc887bb | 1149 | case IRQ_BUS: |
| <> | 160:d5399cc887bb | 1150 | ier = CAN_IT_BOF; |
| <> | 160:d5399cc887bb | 1151 | irq_n = CAN2_IRQ_BUS_IRQN; |
| <> | 160:d5399cc887bb | 1152 | vector = (uint32_t)&CAN2_IRQ_BUS_VECT; |
| <> | 160:d5399cc887bb | 1153 | break; |
| <> | 160:d5399cc887bb | 1154 | default: |
| <> | 160:d5399cc887bb | 1155 | return; |
| <> | 160:d5399cc887bb | 1156 | } |
| <> | 160:d5399cc887bb | 1157 | } |
| <> | 160:d5399cc887bb | 1158 | #endif |
| Anna Bridge |
180:96ed750bd169 | 1159 | #if defined(CAN3_BASE) && (CAN_NUM > 2) |
| AnnaBridge | 178:79309dc6340a | 1160 | else if ((CANName) can == CAN_3) { |
| AnnaBridge | 178:79309dc6340a | 1161 | switch (type) { |
| AnnaBridge | 178:79309dc6340a | 1162 | case IRQ_RX: |
| AnnaBridge | 178:79309dc6340a | 1163 | ier = CAN_IT_FMP0; |
| AnnaBridge | 178:79309dc6340a | 1164 | irq_n = CAN3_IRQ_RX_IRQN; |
| AnnaBridge | 178:79309dc6340a | 1165 | vector = (uint32_t)&CAN3_IRQ_RX_VECT; |
| AnnaBridge | 178:79309dc6340a | 1166 | break; |
| AnnaBridge | 178:79309dc6340a | 1167 | case IRQ_TX: |
| AnnaBridge | 178:79309dc6340a | 1168 | ier = CAN_IT_TME; |
| AnnaBridge | 178:79309dc6340a | 1169 | irq_n = CAN3_IRQ_TX_IRQN; |
| AnnaBridge | 178:79309dc6340a | 1170 | vector = (uint32_t)&CAN3_IRQ_TX_VECT; |
| AnnaBridge | 178:79309dc6340a | 1171 | break; |
| AnnaBridge | 178:79309dc6340a | 1172 | case IRQ_ERROR: |
| AnnaBridge | 178:79309dc6340a | 1173 | ier = CAN_IT_ERR; |
| AnnaBridge | 178:79309dc6340a | 1174 | irq_n = CAN3_IRQ_ERROR_IRQN; |
| AnnaBridge | 178:79309dc6340a | 1175 | vector = (uint32_t)&CAN3_IRQ_ERROR_VECT; |
| AnnaBridge | 178:79309dc6340a | 1176 | break; |
| AnnaBridge | 178:79309dc6340a | 1177 | case IRQ_PASSIVE: |
| AnnaBridge | 178:79309dc6340a | 1178 | ier = CAN_IT_EPV; |
| AnnaBridge | 178:79309dc6340a | 1179 | irq_n = CAN3_IRQ_PASSIVE_IRQN; |
| AnnaBridge | 178:79309dc6340a | 1180 | vector = (uint32_t)&CAN3_IRQ_PASSIVE_VECT; |
| AnnaBridge | 178:79309dc6340a | 1181 | break; |
| AnnaBridge | 178:79309dc6340a | 1182 | case IRQ_BUS: |
| AnnaBridge | 178:79309dc6340a | 1183 | ier = CAN_IT_BOF; |
| AnnaBridge | 178:79309dc6340a | 1184 | irq_n = CAN3_IRQ_BUS_IRQN; |
| AnnaBridge | 178:79309dc6340a | 1185 | vector = (uint32_t)&CAN3_IRQ_BUS_VECT; |
| AnnaBridge | 178:79309dc6340a | 1186 | break; |
| AnnaBridge | 178:79309dc6340a | 1187 | default: |
| AnnaBridge | 178:79309dc6340a | 1188 | return; |
| AnnaBridge | 178:79309dc6340a | 1189 | } |
| AnnaBridge | 178:79309dc6340a | 1190 | } |
| AnnaBridge | 178:79309dc6340a | 1191 | #endif |
| <> | 160:d5399cc887bb | 1192 | else { |
| <> | 160:d5399cc887bb | 1193 | return; |
| <> | 160:d5399cc887bb | 1194 | } |
| <> | 160:d5399cc887bb | 1195 | |
| <> | 160:d5399cc887bb | 1196 | if (enable) { |
| <> | 160:d5399cc887bb | 1197 | can->IER |= ier; |
| <> | 160:d5399cc887bb | 1198 | } else { |
| <> | 160:d5399cc887bb | 1199 | can->IER &= ~ier; |
| <> | 160:d5399cc887bb | 1200 | } |
| <> | 160:d5399cc887bb | 1201 | |
| <> | 160:d5399cc887bb | 1202 | NVIC_SetVector(irq_n, vector); |
| <> | 160:d5399cc887bb | 1203 | NVIC_EnableIRQ(irq_n); |
| <> | 160:d5399cc887bb | 1204 | } |
| <> | 160:d5399cc887bb | 1205 | |
| AnnaBridge | 189:f392fc9709a3 | 1206 | #endif /* FDCAN1 */ |
| AnnaBridge | 189:f392fc9709a3 | 1207 | |
| <> | 160:d5399cc887bb | 1208 | #endif // DEVICE_CAN |
