Diff: targets/TARGET_STM/can_api.c

Revision:

146:03e976389d16

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/targets/TARGET_STM/can_api.c	Thu Mar 16 06:15:53 2017 +0000
@@ -0,0 +1,595 @@
+/* mbed Microcontroller Library
+ * Copyright (c) 2006-2017 ARM Limited
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+#include "can_api.h"
+
+#if DEVICE_CAN
+
+#include "cmsis.h"
+#include "pinmap.h"
+#include "PeripheralPins.h"
+#include "mbed_error.h"
+#include "can_device.h" // Specific to STM32 serie
+#include <math.h>
+#include <string.h>
+
+static CAN_HandleTypeDef CanHandle;
+static uint32_t can_irq_ids[CAN_NUM] = {0};
+static can_irq_handler irq_handler;
+
+void can_init(can_t *obj, PinName rd, PinName td)
+{
+    CANName can_rd = (CANName)pinmap_peripheral(rd, PinMap_CAN_RD);
+    CANName can_td = (CANName)pinmap_peripheral(td, PinMap_CAN_TD);
+
+    obj->can = (CANName)pinmap_merge(can_rd, can_td);
+    MBED_ASSERT((int)obj->can != NC);
+
+    if (obj->can == CAN_1) {
+        __HAL_RCC_CAN1_CLK_ENABLE();
+        obj->index = 0;
+    }
+#if defined(CAN2_BASE) && (CAN_NUM == 2)
+    else if (obj->can == CAN_2) {
+        __HAL_RCC_CAN1_CLK_ENABLE(); // needed to set filters
+        __HAL_RCC_CAN2_CLK_ENABLE();
+        obj->index = 1;
+    }
+#endif
+    else {
+        return;
+    }
+
+    // Configure the CAN pins
+    pinmap_pinout(rd, PinMap_CAN_RD);
+    pinmap_pinout(td, PinMap_CAN_TD);
+    if (rd != NC) {
+        pin_mode(rd, PullUp);
+    }
+    if (td != NC) {
+        pin_mode(td, PullUp);
+    }
+
+    CanHandle.Instance = (CAN_TypeDef *)(obj->can);
+
+    CanHandle.Init.TTCM = DISABLE;
+    CanHandle.Init.ABOM = DISABLE;
+    CanHandle.Init.AWUM = DISABLE;
+    CanHandle.Init.NART = DISABLE;
+    CanHandle.Init.RFLM = DISABLE;
+    CanHandle.Init.TXFP = DISABLE;
+    CanHandle.Init.Mode = CAN_MODE_NORMAL;
+    CanHandle.Init.SJW = CAN_SJW_1TQ;
+    CanHandle.Init.BS1 = CAN_BS1_6TQ;
+    CanHandle.Init.BS2 = CAN_BS2_8TQ;
+    CanHandle.Init.Prescaler = 2;
+
+    if (HAL_CAN_Init(&CanHandle) != HAL_OK) {
+        error("Cannot initialize CAN");
+    }
+
+    // Set initial CAN frequency to 100 kb/s
+    can_frequency(obj, 100000);
+
+    uint32_t filter_number = (obj->can == CAN_1) ? 0 : 14;
+    can_filter(obj, 0, 0, CANStandard, filter_number);
+}
+
+void can_irq_init(can_t *obj, can_irq_handler handler, uint32_t id)
+{
+    irq_handler = handler;
+    can_irq_ids[obj->index] = id;
+}
+
+void can_irq_free(can_t *obj)
+{
+    CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
+
+    can->IER &= ~(CAN_IT_FMP0 | CAN_IT_FMP1 | CAN_IT_TME | \
+                  CAN_IT_ERR | CAN_IT_EPV | CAN_IT_BOF);
+    can_irq_ids[obj->can] = 0;
+}
+
+void can_free(can_t *obj)
+{
+    // Reset CAN and disable clock
+    if (obj->can == CAN_1) {
+        __HAL_RCC_CAN1_FORCE_RESET();
+        __HAL_RCC_CAN1_RELEASE_RESET();
+        __HAL_RCC_CAN1_CLK_DISABLE();
+    }
+#if defined(CAN2_BASE) && (CAN_NUM == 2)
+    if (obj->can == CAN_2) {
+        __HAL_RCC_CAN2_FORCE_RESET();
+        __HAL_RCC_CAN2_RELEASE_RESET();
+        __HAL_RCC_CAN2_CLK_DISABLE();
+    }
+#endif
+}
+
+// The following table is used to program bit_timing. It is an adjustment of the sample
+// point by synchronizing on the start-bit edge and resynchronizing on the following edges.
+// This table has the sampling points as close to 75% as possible (most commonly used).
+// The first value is TSEG1, the second TSEG2.
+static const int timing_pts[23][2] = {
+    {0x0, 0x0},      // 2,  50%
+    {0x1, 0x0},      // 3,  67%
+    {0x2, 0x0},      // 4,  75%
+    {0x3, 0x0},      // 5,  80%
+    {0x3, 0x1},      // 6,  67%
+    {0x4, 0x1},      // 7,  71%
+    {0x5, 0x1},      // 8,  75%
+    {0x6, 0x1},      // 9,  78%
+    {0x6, 0x2},      // 10, 70%
+    {0x7, 0x2},      // 11, 73%
+    {0x8, 0x2},      // 12, 75%
+    {0x9, 0x2},      // 13, 77%
+    {0x9, 0x3},      // 14, 71%
+    {0xA, 0x3},      // 15, 73%
+    {0xB, 0x3},      // 16, 75%
+    {0xC, 0x3},      // 17, 76%
+    {0xD, 0x3},      // 18, 78%
+    {0xD, 0x4},      // 19, 74%
+    {0xE, 0x4},      // 20, 75%
+    {0xF, 0x4},      // 21, 76%
+    {0xF, 0x5},      // 22, 73%
+    {0xF, 0x6},      // 23, 70%
+    {0xF, 0x7},      // 24, 67%
+};
+
+static unsigned int can_speed(unsigned int pclk, unsigned int cclk, unsigned char psjw)
+{
+    uint32_t    btr;
+    uint16_t    brp = 0;
+    uint32_t    calcbit;
+    uint32_t    bitwidth;
+    int         hit = 0;
+    int         bits;
+
+    bitwidth = (pclk / cclk);
+
+    brp = bitwidth / 0x18;
+    while ((!hit) && (brp < bitwidth / 4)) {
+        brp++;
+        for (bits = 22; bits > 0; bits--) {
+            calcbit = (bits + 3) * (brp + 1);
+            if (calcbit == bitwidth) {
+                hit = 1;
+                break;
+            }
+        }
+    }
+
+    if (hit) {
+        btr = ((timing_pts[bits][1] << 20) & 0x00700000)
+              | ((timing_pts[bits][0] << 16) & 0x000F0000)
+              | ((psjw                << 24) & 0x0000C000)
+              | ((brp                 <<  0) & 0x000003FF);
+    } else {
+        btr = 0xFFFFFFFF;
+    }
+
+    return btr;
+
+}
+
+int can_frequency(can_t *obj, int f)
+{
+    int pclk = HAL_RCC_GetPCLK1Freq();
+    int btr = can_speed(pclk, (unsigned int)f, 1);
+    CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
+
+    if (btr > 0) {
+        can->MCR |= CAN_MCR_INRQ ;
+        while ((can->MSR & CAN_MSR_INAK) != CAN_MSR_INAK) {
+        }
+        can->BTR = btr;
+        can->MCR &= ~(uint32_t)CAN_MCR_INRQ;
+        while ((can->MSR & CAN_MSR_INAK) == CAN_MSR_INAK) {
+        }
+        return 1;
+    } else {
+        return 0;
+    }
+}
+
+int can_write(can_t *obj, CAN_Message msg, int cc)
+{
+    uint32_t  transmitmailbox = CAN_TXSTATUS_NOMAILBOX;
+    CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
+
+    /* Select one empty transmit mailbox */
+    if ((can->TSR & CAN_TSR_TME0) == CAN_TSR_TME0) {
+        transmitmailbox = 0;
+    } else if ((can->TSR & CAN_TSR_TME1) == CAN_TSR_TME1) {
+        transmitmailbox = 1;
+    } else if ((can->TSR & CAN_TSR_TME2) == CAN_TSR_TME2) {
+        transmitmailbox = 2;
+    } else {
+      return 0;
+    }
+
+    can->sTxMailBox[transmitmailbox].TIR &= CAN_TI0R_TXRQ;
+    if (!(msg.format)) {
+      can->sTxMailBox[transmitmailbox].TIR |= ((msg.id << 21) | msg.type);
+    } else {
+      can->sTxMailBox[transmitmailbox].TIR |= ((msg.id << 3) | CAN_ID_EXT | msg.type);
+    }
+    
+    /* Set up the DLC */
+    can->sTxMailBox[transmitmailbox].TDTR &= (uint32_t)0xFFFFFFF0;
+    can->sTxMailBox[transmitmailbox].TDTR |= (msg.len & (uint8_t)0x0000000F);
+    
+    /* Set up the data field */
+    can->sTxMailBox[transmitmailbox].TDLR = (((uint32_t)msg.data[3] << 24) |
+					     ((uint32_t)msg.data[2] << 16) |
+					     ((uint32_t)msg.data[1] << 8) |
+					     ((uint32_t)msg.data[0]));
+    can->sTxMailBox[transmitmailbox].TDHR = (((uint32_t)msg.data[7] << 24) |
+					     ((uint32_t)msg.data[6] << 16) |
+					     ((uint32_t)msg.data[5] << 8) |
+                                                ((uint32_t)msg.data[4]));
+    /* Request transmission */
+    can->sTxMailBox[transmitmailbox].TIR |= CAN_TI0R_TXRQ;
+
+    return 1;
+}
+
+int can_read(can_t *obj, CAN_Message *msg, int handle)
+{
+    //handle is the FIFO number
+
+    CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
+
+    // check FPM0 which holds the pending message count in FIFO 0
+    // if no message is pending, return 0
+    if ((can->RF0R & CAN_RF0R_FMP0) == 0) {
+        return 0;
+    }
+
+    /* Get the Id */
+    msg->format = (CANFormat)(((uint8_t)0x04 & can->sFIFOMailBox[handle].RIR) >> 2);
+    if (!msg->format) {
+        msg->id = (uint32_t)0x000007FF & (can->sFIFOMailBox[handle].RIR >> 21);
+    } else {
+        msg->id = (uint32_t)0x1FFFFFFF & (can->sFIFOMailBox[handle].RIR >> 3);
+    }
+
+    msg->type = (CANType)(((uint8_t)0x02 & can->sFIFOMailBox[handle].RIR) >> 1);
+    /* Get the DLC */
+    msg->len = (uint8_t)0x0F & can->sFIFOMailBox[handle].RDTR;
+    /* Get the FMI */
+    // msg->FMI = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDTR >> 8);
+    /* Get the data field */
+    msg->data[0] = (uint8_t)0xFF & can->sFIFOMailBox[handle].RDLR;
+    msg->data[1] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDLR >> 8);
+    msg->data[2] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDLR >> 16);
+    msg->data[3] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDLR >> 24);
+    msg->data[4] = (uint8_t)0xFF & can->sFIFOMailBox[handle].RDHR;
+    msg->data[5] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDHR >> 8);
+    msg->data[6] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDHR >> 16);
+    msg->data[7] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDHR >> 24);
+
+    /* Release the FIFO */
+    if (handle == CAN_FIFO0) {
+        /* Release FIFO0 */
+        can->RF0R |= CAN_RF0R_RFOM0;
+    } else { /* FIFONumber == CAN_FIFO1 */
+        /* Release FIFO1 */
+        can->RF1R |= CAN_RF1R_RFOM1;
+    }
+
+    return 1;
+}
+
+void can_reset(can_t *obj)
+{
+    CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
+    can->MCR |= CAN_MCR_RESET;
+    can->ESR = 0x0;
+}
+
+unsigned char can_rderror(can_t *obj)
+{
+    CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
+    return (can->ESR >> 24) & 0xFF;
+}
+
+unsigned char can_tderror(can_t *obj)
+{
+    CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
+    return (can->ESR >> 16) & 0xFF;
+}
+
+void can_monitor(can_t *obj, int silent)
+{
+    CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
+
+    can->MCR |= CAN_MCR_INRQ ;
+    while ((can->MSR & CAN_MSR_INAK) != CAN_MSR_INAK) {
+    }
+
+    if (silent) {
+        can->BTR |= ((uint32_t)1 << 31);
+    } else {
+        can->BTR &= ~((uint32_t)1 << 31);
+    }
+
+    can->MCR &= ~(uint32_t)CAN_MCR_INRQ;
+    while ((can->MSR & CAN_MSR_INAK) == CAN_MSR_INAK) {
+    }
+}
+
+int can_mode(can_t *obj, CanMode mode)
+{
+    int success = 0;
+    CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
+
+    can->MCR |= CAN_MCR_INRQ ;
+    while ((can->MSR & CAN_MSR_INAK) != CAN_MSR_INAK) {
+    }
+
+    switch (mode) {
+        case MODE_NORMAL:
+            can->BTR &= ~(CAN_BTR_SILM | CAN_BTR_LBKM);
+            success = 1;
+            break;
+        case MODE_SILENT:
+            can->BTR |= CAN_BTR_SILM;
+            can->BTR &= ~CAN_BTR_LBKM;
+            success = 1;
+            break;
+        case MODE_TEST_GLOBAL:
+        case MODE_TEST_LOCAL:
+            can->BTR |= CAN_BTR_LBKM;
+            can->BTR &= ~CAN_BTR_SILM;
+            success = 1;
+            break;
+        case MODE_TEST_SILENT:
+            can->BTR |= (CAN_BTR_SILM | CAN_BTR_LBKM);
+            success = 1;
+            break;
+        default:
+            success = 0;
+            break;
+    }
+
+    can->MCR &= ~(uint32_t)CAN_MCR_INRQ;
+    while ((can->MSR & CAN_MSR_INAK) == CAN_MSR_INAK) {
+    }
+
+    return success;
+}
+
+int can_filter(can_t *obj, uint32_t id, uint32_t mask, CANFormat format, int32_t handle)
+{
+    int retval = 0;
+
+    // filter for CANAny format cannot be configured for STM32
+    if ((format == CANStandard) || (format == CANExtended)) {
+        CanHandle.Instance = (CAN_TypeDef *)(obj->can);
+        CAN_FilterConfTypeDef  sFilterConfig;
+        sFilterConfig.FilterNumber = handle;
+        sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
+        sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
+
+        if (format == CANStandard) {
+            sFilterConfig.FilterIdHigh = id << 5;
+            sFilterConfig.FilterIdLow =  0x0;
+            sFilterConfig.FilterMaskIdHigh = mask << 5;
+            sFilterConfig.FilterMaskIdLow = 0x0; // allows both remote and data frames
+        } else if (format == CANExtended) {
+            sFilterConfig.FilterIdHigh = id >> 13; // EXTID[28:13]
+            sFilterConfig.FilterIdLow = (0x00FF & (id << 3)) | (1 << 2);  // EXTID[12:0]
+            sFilterConfig.FilterMaskIdHigh = mask >> 13;
+            sFilterConfig.FilterMaskIdLow = (0x00FF & (mask << 3)) | (1 << 2);
+        }
+
+        sFilterConfig.FilterFIFOAssignment = 0;
+        sFilterConfig.FilterActivation = ENABLE;
+        sFilterConfig.BankNumber = 14 + handle;
+
+        HAL_CAN_ConfigFilter(&CanHandle, &sFilterConfig);
+        retval = handle;
+    }
+    return retval;
+}
+
+static void can_irq(CANName name, int id)
+{
+    uint32_t tmp1 = 0, tmp2 = 0, tmp3 = 0;
+    CanHandle.Instance = (CAN_TypeDef *)name;
+
+    if (__HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_TME)) {
+        tmp1 = __HAL_CAN_TRANSMIT_STATUS(&CanHandle, CAN_TXMAILBOX_0);
+        tmp2 = __HAL_CAN_TRANSMIT_STATUS(&CanHandle, CAN_TXMAILBOX_1);
+        tmp3 = __HAL_CAN_TRANSMIT_STATUS(&CanHandle, CAN_TXMAILBOX_2);
+        if (tmp1) {
+            __HAL_CAN_CLEAR_FLAG(&CanHandle, CAN_FLAG_RQCP0);
+        }
+        if (tmp2) {
+            __HAL_CAN_CLEAR_FLAG(&CanHandle, CAN_FLAG_RQCP1);
+        }
+        if (tmp3) {
+            __HAL_CAN_CLEAR_FLAG(&CanHandle, CAN_FLAG_RQCP2);
+        }
+        if (tmp1 || tmp2 || tmp3) {
+            irq_handler(can_irq_ids[id], IRQ_TX);
+        }
+    }
+
+    tmp1 = __HAL_CAN_MSG_PENDING(&CanHandle, CAN_FIFO0);
+    tmp2 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_FMP0);
+
+    if ((tmp1 != 0) && tmp2) {
+        irq_handler(can_irq_ids[id], IRQ_RX);
+    }
+
+    tmp1 = __HAL_CAN_GET_FLAG(&CanHandle, CAN_FLAG_EPV);
+    tmp2 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_EPV);
+    tmp3 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_ERR);
+
+    if (tmp1 && tmp2 && tmp3) {
+        irq_handler(can_irq_ids[id], IRQ_PASSIVE);
+    }
+
+    tmp1 = __HAL_CAN_GET_FLAG(&CanHandle, CAN_FLAG_BOF);
+    tmp2 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_BOF);
+    tmp3 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_ERR);
+    if (tmp1 && tmp2 && tmp3) {
+        irq_handler(can_irq_ids[id], IRQ_BUS);
+    }
+
+    tmp3 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_ERR);
+    if (tmp1 && tmp2 && tmp3) {
+        irq_handler(can_irq_ids[id], IRQ_ERROR);
+    }
+}
+
+#if defined(TARGET_STM32F0)
+void CAN_IRQHandler(void)
+{
+    can_irq(CAN_1, 0);
+}
+#elif defined(TARGET_STM32F3)
+void CAN_RX0_IRQHandler(void)
+{
+    can_irq(CAN_1, 0);
+}
+void CAN_TX_IRQHandler(void)
+{
+    can_irq(CAN_1, 0);
+}
+void CAN_SCE_IRQHandler(void)
+{
+    can_irq(CAN_1, 0);
+}
+#else
+void CAN1_RX0_IRQHandler(void)
+{
+    can_irq(CAN_1, 0);
+}
+void CAN1_TX_IRQHandler(void)
+{
+    can_irq(CAN_1, 0);
+}
+void CAN1_SCE_IRQHandler(void)
+{
+    can_irq(CAN_1, 0);
+}
+#if defined(CAN2_BASE) && (CAN_NUM == 2)
+void CAN2_RX0_IRQHandler(void)
+{
+    can_irq(CAN_2, 1);
+}
+void CAN2_TX_IRQHandler(void)
+{
+    can_irq(CAN_2, 1);
+}
+void CAN2_SCE_IRQHandler(void)
+{
+    can_irq(CAN_2, 1);
+}
+#endif // defined(CAN2_BASE) && (CAN_NUM == 2)
+#endif // else
+
+void can_irq_set(can_t *obj, CanIrqType type, uint32_t enable)
+{
+
+    CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
+    IRQn_Type irq_n = (IRQn_Type)0;
+    uint32_t vector = 0;
+    uint32_t ier;
+
+    if (obj->can == CAN_1) {
+        switch (type) {
+            case IRQ_RX:
+                ier = CAN_IT_FMP0;
+                irq_n = CAN1_IRQ_RX_IRQN;
+                vector = (uint32_t)&CAN1_IRQ_RX_VECT;
+                break;
+            case IRQ_TX:
+                ier = CAN_IT_TME;
+                irq_n = CAN1_IRQ_TX_IRQN;
+                vector = (uint32_t)&CAN1_IRQ_TX_VECT;
+                break;
+            case IRQ_ERROR:
+                ier = CAN_IT_ERR;
+                irq_n = CAN1_IRQ_ERROR_IRQN;
+                vector = (uint32_t)&CAN1_IRQ_ERROR_VECT;
+                break;
+            case IRQ_PASSIVE:
+                ier = CAN_IT_EPV;
+                irq_n = CAN1_IRQ_PASSIVE_IRQN;
+                vector = (uint32_t)&CAN1_IRQ_PASSIVE_VECT;
+                break;
+            case IRQ_BUS:
+                ier = CAN_IT_BOF;
+                irq_n = CAN1_IRQ_BUS_IRQN;
+                vector = (uint32_t)&CAN1_IRQ_BUS_VECT;
+                break;
+            default:
+                return;
+        }
+    }
+#if defined(CAN2_BASE) && (CAN_NUM == 2)
+    else if (obj->can == CAN_2) {
+        switch (type) {
+            case IRQ_RX:
+                ier = CAN_IT_FMP0;
+                irq_n = CAN2_IRQ_RX_IRQN;
+                vector = (uint32_t)&CAN2_IRQ_RX_VECT;
+                break;
+            case IRQ_TX:
+                ier = CAN_IT_TME;
+                irq_n = CAN2_IRQ_TX_IRQN;
+                vector = (uint32_t)&CAN2_IRQ_TX_VECT;
+                break;
+            case IRQ_ERROR:
+                ier = CAN_IT_ERR;
+                irq_n = CAN2_IRQ_ERROR_IRQN;
+                vector = (uint32_t)&CAN2_IRQ_ERROR_VECT;
+                break;
+            case IRQ_PASSIVE:
+                ier = CAN_IT_EPV;
+                irq_n = CAN2_IRQ_PASSIVE_IRQN;
+                vector = (uint32_t)&CAN2_IRQ_PASSIVE_VECT;
+                break;
+            case IRQ_BUS:
+                ier = CAN_IT_BOF;
+                irq_n = CAN2_IRQ_BUS_IRQN;
+                vector = (uint32_t)&CAN2_IRQ_BUS_VECT;
+                break;
+            default:
+                return;
+        }
+    }
+#endif
+    else {
+        return;
+    }
+
+    if (enable) {
+        can->IER |= ier;
+    } else {
+        can->IER &= ~ier;
+    }
+
+    NVIC_SetVector(irq_n, vector);
+    NVIC_EnableIRQ(irq_n);
+}
+
+#endif // DEVICE_CAN
+