Working fork to test F0 application
Fork of CANnucleo by
Diff: stm32f3xx_hal_msp.c
- Revision:
- 11:439f3a34c42e
- Child:
- 12:c45310ff2233
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/stm32f3xx_hal_msp.c Tue Dec 22 18:19:16 2015 +0000 @@ -0,0 +1,242 @@ + /** + ****************************************************************************** + * @file stm32f3xx_hal_msp.c + * @author MCD Application Team + * @version V1.0.0 + * @date 17-December-2014 + * @brief HAL MSP module. + ****************************************************************************** + * @attention + * + * <h2><center>© COPYRIGHT(c) 2014 STMicroelectronics</center></h2> + * + * Redistribution and use in source and binary forms, with or without modification, + * are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * 3. Neither the name of STMicroelectronics nor the names of its contributors + * may be used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE + * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL + * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, + * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************** + * + * Modified by Zoltan Hudak <hudakz@inbox.com> + * + ****************************************************************************** + */ +#if defined(TARGET_NUCLEO_F303RE) +#include "stm32f3xx_hal.h" +#include "can_api.h" +#include "pinmap.h" + +CAN_HandleTypeDef _canHandle; +CanRxMsgTypeDef _canRxMsg; +CanTxMsgTypeDef _canTxMsg; +PinName _rxPin; +PinName _txPin; + +void (*rxCompleteCallback) (void); + +/** + * @brief CAN initialization. + * @param obj: can_t object + * @param rxPin: RX pin name + * @param txPin: TX pin name + * @param abom: Automatic recovery from bus-off state + * @retval None + */ +void initCAN(can_t* obj, PinName rxPin, PinName txPin, FunctionalState abom) { + _rxPin = rxPin; + _txPin = txPin; + + _canHandle.Instance = ((CAN_TypeDef *) CAN_BASE); + _canHandle.pTxMsg = &_canTxMsg; + _canHandle.pRxMsg = &_canRxMsg; + + _canHandle.Init.TTCM = DISABLE; + _canHandle.Init.ABOM = abom; + _canHandle.Init.AWUM = DISABLE; + _canHandle.Init.NART = DISABLE; + _canHandle.Init.RFLM = DISABLE; + _canHandle.Init.TXFP = DISABLE; + _canHandle.Init.Mode = CAN_MODE_NORMAL; + + // 125kbps bit rate (default) + // APB1 peripheral clock = 36000000Hz + _canHandle.Init.Prescaler = 18; // number of time quanta = 36000000/18/125000 = 16 + _canHandle.Init.SJW = CAN_SJW_1TQ; + _canHandle.Init.BS1 = CAN_BS1_11TQ; // sample point at (1 + 11) / 16 * 100 = 75% + _canHandle.Init.BS2 = CAN_BS2_4TQ; + + HAL_CAN_Init(&_canHandle); +} + +/** + * @brief CAN MSP Initialization + * @param hcan: CAN handle pointer + * @retval None + */ +void HAL_CAN_MspInit(CAN_HandleTypeDef* hcan) { + GPIO_InitTypeDef GPIO_InitStruct; + + if((_rxPin == PA_11) && (_txPin == PA_12)) { + + /* CAN1 Periph clock enable */ + __CAN_CLK_ENABLE(); + + /* Enable GPIO clock */ + __GPIOA_CLK_ENABLE(); + + /* CAN1 RX GPIO pin configuration */ + GPIO_InitStruct.Pin = GPIO_PIN_11; + GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; + GPIO_InitStruct.Speed = GPIO_SPEED_HIGH; + GPIO_InitStruct.Pull = GPIO_PULLUP; + GPIO_InitStruct.Alternate = GPIO_AF7_CAN; + HAL_GPIO_Init(GPIOA, &GPIO_InitStruct); + + /* CAN1 TX GPIO pin configuration */ + GPIO_InitStruct.Pin = GPIO_PIN_12; + GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; + GPIO_InitStruct.Speed = GPIO_SPEED_HIGH; + GPIO_InitStruct.Pull = GPIO_PULLUP; + GPIO_InitStruct.Alternate = GPIO_AF7_CAN; + HAL_GPIO_Init(GPIOA, &GPIO_InitStruct); + } + else + if((_rxPin == PB_8) && (_txPin == PB_9)) { + /* CAN1 Periph clock enable */ + __CAN_CLK_ENABLE(); + + /* Enable GPIO clock */ + __GPIOB_CLK_ENABLE(); + + /* CAN1 RX GPIO pin configuration */ + GPIO_InitStruct.Pin = GPIO_PIN_8; + GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; + GPIO_InitStruct.Speed = GPIO_SPEED_HIGH; + GPIO_InitStruct.Pull = GPIO_PULLUP; + GPIO_InitStruct.Alternate = GPIO_AF7_CAN; + HAL_GPIO_Init(GPIOA, &GPIO_InitStruct); + + /* CAN1 TX GPIO pin configuration */ + GPIO_InitStruct.Pin = GPIO_PIN_9; + GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; + GPIO_InitStruct.Speed = GPIO_SPEED_HIGH; + GPIO_InitStruct.Pull = GPIO_PULLUP; + GPIO_InitStruct.Alternate = GPIO_AF7_CAN; + HAL_GPIO_Init(GPIOA, &GPIO_InitStruct); + } + else + return; + /* NVIC configuration for CAN1 Reception complete interrupt */ + HAL_NVIC_SetPriority(USB_LP_CAN_RX0_IRQn, 1, 0); + HAL_NVIC_EnableIRQ(USB_LP_CAN_RX0_IRQn); +} + +/** + * @brief CAN MSP De-Initialization + * This function frees the hardware resources used: + * - Disable the Peripheral's clock + * - Revert GPIO to their default state + * @param hcan: CAN handle pointer + * @retval None + */ +void HAL_CAN_MspDeInit(CAN_HandleTypeDef* hcan) { + + /* Reset peripherals */ + + __CAN_FORCE_RESET(); + __CAN_RELEASE_RESET(); + + /* Disable peripherals and GPIO Clocks */ + if((_rxPin == PA_11) && (_txPin == PA_12)) { + /* De-initialize the CAN1 RX GPIO pin */ + HAL_GPIO_DeInit(GPIOA, GPIO_PIN_11); + + /* De-initialize the CAN1 TX GPIO pin */ + HAL_GPIO_DeInit(GPIOA, GPIO_PIN_12); + } + + /* Disable the NVIC for CAN reception */ + HAL_NVIC_DisableIRQ(USB_LP_CAN_RX0_IRQn); +} + +/** +* @brief Handles CAN RX0 interrupt request. +* @param None +* @retval None +*/ +void USB_LP_CAN_RX0_IRQHandler(void) { + HAL_CAN_IRQHandler(&_canHandle); +} + +/** + * @brief Reception complete callback in non blocking mode + * @param _canHandle: pointer to a CAN_HandleTypeDef structure that contains + * the configuration information for the specified CAN. + * @retval None + */ +void HAL_CAN_RxCpltCallback(CAN_HandleTypeDef* _canHandle) { + // if(HAL_CAN_Receive_IT(_canHandle, CAN_FIFO0) == HAL_OK) { + // if(rxCompleteCallback != NULL) + // rxCompleteCallback(); + // } + // else { + // error_handler(error); + // } + + // BUG: CAN race condition if HAL_CAN_Receive_IT() is used. + // See https://my.st.com/public/STe2ecommunities/mcu/Lists/STM32Java/Flat.aspx?RootFolder=%2Fpublic%2FSTe2ecommunities%2Fmcu%2FLists%2FSTM32Java%2FBUG%20CAN%20race%20condition%20if%20HAL%5FCAN%5FReceive%5FIT%20is%20used + // + // Fixed by Mark Burton: + // ideally, we should be able to call HAL_CAN_Receive_IT() here to set up for another + // receive but the API is flawed because that function will fail if HAL_CAN_Transmit() + // had already locked the handle when the receive interrupt occurred - so we do what + // HAL_CAN_Receive_IT() would do + + if (rxCompleteCallback != 0) + rxCompleteCallback(); + + if (_canHandle->State == HAL_CAN_STATE_BUSY_TX) + _canHandle->State = HAL_CAN_STATE_BUSY_TX_RX; + else { + _canHandle->State = HAL_CAN_STATE_BUSY_RX; + + /* Set CAN error code to none */ + _canHandle->ErrorCode = HAL_CAN_ERROR_NONE; + + /* Enable Error warning Interrupt */ + __HAL_CAN_ENABLE_IT(_canHandle, CAN_IT_EWG); + + /* Enable Error passive Interrupt */ + __HAL_CAN_ENABLE_IT(_canHandle, CAN_IT_EPV); + + /* Enable Bus-off Interrupt */ + __HAL_CAN_ENABLE_IT(_canHandle, CAN_IT_BOF); + + /* Enable Last error code Interrupt */ + __HAL_CAN_ENABLE_IT(_canHandle, CAN_IT_LEC); + + /* Enable Error Interrupt */ + __HAL_CAN_ENABLE_IT(_canHandle, CAN_IT_ERR); + } + + // Enable FIFO 0 message pending Interrupt + __HAL_CAN_ENABLE_IT(_canHandle, CAN_IT_FMP0); +} +#endif