Paul Paterson / CANnucleo

Working fork to test F0 application

Dependents:   ppCANOpen_Example

Fork of CANnucleo by Zoltan Hudak

can_api.c@15:5123ead7b002, 2015-12-27 (annotated)

Committer:
hudakz
Date:
Sun Dec 27 09:36:47 2015 +0000
Revision:
15:5123ead7b002
Parent:
14:0344705e6fb8
Child:
16:f4c8f45bded9
Updated.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
hudakz 0:e29bc8e0dddd 1 /*
hudakz 5:b53e5ee15315 2 ******************************************************************************
hudakz 5:b53e5ee15315 3 * @file can_api.c
hudakz 5:b53e5ee15315 4 * @author Zoltan Hudak
hudakz 5:b53e5ee15315 5 * @version
hudakz 5:b53e5ee15315 6 * @date 04-August-2015
hudakz 5:b53e5ee15315 7 * @brief CAN api for NUCLEO-F103RB platform
hudakz 5:b53e5ee15315 8 ******************************************************************************
hudakz 5:b53e5ee15315 9 * @attention
hudakz 5:b53e5ee15315 10 *
hudakz 5:b53e5ee15315 11 * <h2><center>&copy; COPYRIGHT(c) 2015 Zoltan Hudak <hudakz@inbox.com>
hudakz 5:b53e5ee15315 12 *
hudakz 5:b53e5ee15315 13 * All rights reserved.
hudakz 0:e29bc8e0dddd 14
hudakz 0:e29bc8e0dddd 15 This program is free software: you can redistribute it and/or modify
hudakz 0:e29bc8e0dddd 16 it under the terms of the GNU General Public License as published by
hudakz 0:e29bc8e0dddd 17 the Free Software Foundation, either version 3 of the License, or
hudakz 0:e29bc8e0dddd 18 (at your option) any later version.
hudakz 0:e29bc8e0dddd 19
hudakz 0:e29bc8e0dddd 20 This program is distributed in the hope that it will be useful,
hudakz 0:e29bc8e0dddd 21 but WITHOUT ANY WARRANTY; without even the implied warranty of
hudakz 0:e29bc8e0dddd 22 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
hudakz 0:e29bc8e0dddd 23 GNU General Public License for more details.
hudakz 0:e29bc8e0dddd 24
hudakz 0:e29bc8e0dddd 25 You should have received a copy of the GNU General Public License
hudakz 0:e29bc8e0dddd 26 along with this program. If not, see <http://www.gnu.org/licenses/>.
hudakz 0:e29bc8e0dddd 27 */
hudakz 0:e29bc8e0dddd 28 #include "can_api.h"
hudakz 0:e29bc8e0dddd 29 #include "can_helper.h"
hudakz 0:e29bc8e0dddd 30 #include "pinmap.h"
hudakz 0:e29bc8e0dddd 31
hudakz 0:e29bc8e0dddd 32 extern void (*rxCompleteCallback) (void);
hudakz 0:e29bc8e0dddd 33 extern CAN_HandleTypeDef _canHandle;
hudakz 0:e29bc8e0dddd 34
hudakz 0:e29bc8e0dddd 35 /**
hudakz 0:e29bc8e0dddd 36 * @brief
hudakz 0:e29bc8e0dddd 37 * @note
hudakz 0:e29bc8e0dddd 38 * @param
hudakz 0:e29bc8e0dddd 39 * @retval
hudakz 0:e29bc8e0dddd 40 */
hudakz 6:c5a40d5fd9f1 41 void can_init(can_t* obj, PinName rd, PinName td, FunctionalState abom) {
hudakz 6:c5a40d5fd9f1 42 initCAN(obj, rd, td, abom);
hudakz 0:e29bc8e0dddd 43 can_filter(obj, 0, 0, CANAny, 0);
hudakz 0:e29bc8e0dddd 44 }
hudakz 0:e29bc8e0dddd 45
hudakz 0:e29bc8e0dddd 46 /**
hudakz 0:e29bc8e0dddd 47 * @brief
hudakz 0:e29bc8e0dddd 48 * @note
hudakz 0:e29bc8e0dddd 49 * @param
hudakz 0:e29bc8e0dddd 50 * @retval
hudakz 0:e29bc8e0dddd 51 */
hudakz 0:e29bc8e0dddd 52 void can_free(can_t* obj) {
hudakz 15:5123ead7b002 53 HAL_CAN_MspDeInit(&_canHandle);
hudakz 0:e29bc8e0dddd 54 }
hudakz 0:e29bc8e0dddd 55
hudakz 0:e29bc8e0dddd 56 /**
hudakz 0:e29bc8e0dddd 57 * @brief
hudakz 0:e29bc8e0dddd 58 * @note
hudakz 0:e29bc8e0dddd 59 * @param
hudakz 0:e29bc8e0dddd 60 * @retval
hudakz 0:e29bc8e0dddd 61 */
hudakz 0:e29bc8e0dddd 62 int can_frequency(can_t* obj, int hz) {
hudakz 15:5123ead7b002 63 HAL_NVIC_DisableIRQ(CAN_IRQ);
hudakz 0:e29bc8e0dddd 64
hudakz 5:b53e5ee15315 65 // APB1 peripheral clock = 36000000Hz
hudakz 0:e29bc8e0dddd 66
hudakz 0:e29bc8e0dddd 67 switch(hz) {
hudakz 0:e29bc8e0dddd 68 case 1000000:
hudakz 0:e29bc8e0dddd 69 // 1000kbps bit rate
hudakz 0:e29bc8e0dddd 70 _canHandle.Init.Prescaler = 3; // number of time quanta = 36000000/3/1000000 = 12
hudakz 0:e29bc8e0dddd 71 _canHandle.Init.SJW = CAN_SJW_1TQ;
hudakz 0:e29bc8e0dddd 72 _canHandle.Init.BS1 = CAN_BS1_8TQ; // sample point at: (1 + 8) / 12 * 100 = 75%
hudakz 0:e29bc8e0dddd 73 _canHandle.Init.BS2 = CAN_BS2_3TQ;
hudakz 0:e29bc8e0dddd 74 break;
hudakz 0:e29bc8e0dddd 75
hudakz 0:e29bc8e0dddd 76 case 500000:
hudakz 0:e29bc8e0dddd 77 // 500kbps bit rate
hudakz 0:e29bc8e0dddd 78 _canHandle.Init.Prescaler = 6; // number of time quanta = 36000000/6/500000 = 12
hudakz 0:e29bc8e0dddd 79 _canHandle.Init.SJW = CAN_SJW_1TQ;
hudakz 0:e29bc8e0dddd 80 _canHandle.Init.BS1 = CAN_BS1_8TQ; // sample point at: (1 + 8) / 12 * 100 = 75%
hudakz 0:e29bc8e0dddd 81 _canHandle.Init.BS2 = CAN_BS2_3TQ;
hudakz 0:e29bc8e0dddd 82 break;
hudakz 0:e29bc8e0dddd 83
hudakz 0:e29bc8e0dddd 84 case 250000:
hudakz 0:e29bc8e0dddd 85 // 250kbps
hudakz 0:e29bc8e0dddd 86 _canHandle.Init.Prescaler = 9; // number of time quanta = 36000000/9/250000 = 16
hudakz 0:e29bc8e0dddd 87 _canHandle.Init.SJW = CAN_SJW_1TQ;
hudakz 0:e29bc8e0dddd 88 _canHandle.Init.BS1 = CAN_BS1_11TQ; // sample point at: (1 + 11) / 16 * 100 = 75%
hudakz 0:e29bc8e0dddd 89 _canHandle.Init.BS2 = CAN_BS2_4TQ;
hudakz 0:e29bc8e0dddd 90 break;
hudakz 0:e29bc8e0dddd 91
hudakz 0:e29bc8e0dddd 92 case 125000:
hudakz 0:e29bc8e0dddd 93 // 125kbps
hudakz 0:e29bc8e0dddd 94 _canHandle.Init.Prescaler = 18; // number of time quanta = 36000000/18/125000 = 16
hudakz 0:e29bc8e0dddd 95 _canHandle.Init.SJW = CAN_SJW_1TQ;
hudakz 0:e29bc8e0dddd 96 _canHandle.Init.BS1 = CAN_BS1_11TQ; // sample point at: (1 + 11) / 16 * 100 = 75%
hudakz 0:e29bc8e0dddd 97 _canHandle.Init.BS2 = CAN_BS2_4TQ;
hudakz 0:e29bc8e0dddd 98 break;
hudakz 0:e29bc8e0dddd 99
hudakz 0:e29bc8e0dddd 100 default:
hudakz 0:e29bc8e0dddd 101 // 125kbps (default)
hudakz 5:b53e5ee15315 102 #if DEBUG
hudakz 0:e29bc8e0dddd 103 printf("Unknown frequency specified!\r\n");
hudakz 0:e29bc8e0dddd 104 printf("Using default 125kbps\r\n");
hudakz 5:b53e5ee15315 105 #endif
hudakz 0:e29bc8e0dddd 106 _canHandle.Init.Prescaler = 18; // number of time quanta = 36000000/18/125000 = 16
hudakz 0:e29bc8e0dddd 107 _canHandle.Init.SJW = CAN_SJW_1TQ;
hudakz 0:e29bc8e0dddd 108 _canHandle.Init.BS1 = CAN_BS1_11TQ; // sample point at: (1 + 11) / 16 * 100 = 75%
hudakz 0:e29bc8e0dddd 109 _canHandle.Init.BS2 = CAN_BS2_4TQ;
hudakz 0:e29bc8e0dddd 110 }
hudakz 0:e29bc8e0dddd 111
hudakz 0:e29bc8e0dddd 112 HAL_CAN_Init(&_canHandle);
hudakz 15:5123ead7b002 113 HAL_NVIC_EnableIRQ(CAN_IRQ);
hudakz 11:439f3a34c42e 114
hudakz 5:b53e5ee15315 115 return 1;
hudakz 0:e29bc8e0dddd 116 }
hudakz 0:e29bc8e0dddd 117
hudakz 0:e29bc8e0dddd 118 /**
hudakz 0:e29bc8e0dddd 119 * @brief
hudakz 0:e29bc8e0dddd 120 * @note
hudakz 0:e29bc8e0dddd 121 * @param
hudakz 0:e29bc8e0dddd 122 * @retval
hudakz 0:e29bc8e0dddd 123 */
hudakz 0:e29bc8e0dddd 124 void can_irq_init(can_t* obj, can_irq_handler handler, uint32_t id) {
hudakz 0:e29bc8e0dddd 125 if(HAL_CAN_Receive_IT(&_canHandle, CAN_FIFO0) != HAL_OK) {
hudakz 5:b53e5ee15315 126 #ifdef DEBUG
hudakz 0:e29bc8e0dddd 127 printf("CAN reception initialization error\r\n");
hudakz 5:b53e5ee15315 128 #endif
hudakz 0:e29bc8e0dddd 129 }
hudakz 0:e29bc8e0dddd 130 }
hudakz 0:e29bc8e0dddd 131
hudakz 0:e29bc8e0dddd 132 /**
hudakz 0:e29bc8e0dddd 133 * @brief
hudakz 0:e29bc8e0dddd 134 * @note
hudakz 0:e29bc8e0dddd 135 * @param
hudakz 0:e29bc8e0dddd 136 * @retval
hudakz 0:e29bc8e0dddd 137 */
hudakz 0:e29bc8e0dddd 138 void can_irq_free(can_t* obj) {
hudakz 11:439f3a34c42e 139 rxCompleteCallback = 0;
hudakz 0:e29bc8e0dddd 140 }
hudakz 0:e29bc8e0dddd 141
hudakz 0:e29bc8e0dddd 142 /**
hudakz 0:e29bc8e0dddd 143 * @brief
hudakz 0:e29bc8e0dddd 144 * @note
hudakz 0:e29bc8e0dddd 145 * @param
hudakz 0:e29bc8e0dddd 146 * @retval
hudakz 0:e29bc8e0dddd 147 */
hudakz 0:e29bc8e0dddd 148 void can_irq_set(void (*fptr) (void)) {
hudakz 0:e29bc8e0dddd 149 rxCompleteCallback = fptr;
hudakz 0:e29bc8e0dddd 150 }
hudakz 0:e29bc8e0dddd 151
hudakz 0:e29bc8e0dddd 152 /**
hudakz 0:e29bc8e0dddd 153 * @brief
hudakz 0:e29bc8e0dddd 154 * @note
hudakz 0:e29bc8e0dddd 155 * @param
hudakz 0:e29bc8e0dddd 156 * @retval
hudakz 0:e29bc8e0dddd 157 */
hudakz 0:e29bc8e0dddd 158 int can_write(can_t* obj, CAN_Message msg, int cc) {
hudakz 0:e29bc8e0dddd 159 int i = 0;
hudakz 0:e29bc8e0dddd 160
hudakz 0:e29bc8e0dddd 161 if(msg.format == CANStandard) {
hudakz 0:e29bc8e0dddd 162 _canHandle.pTxMsg->StdId = msg.id;
hudakz 0:e29bc8e0dddd 163 _canHandle.pTxMsg->ExtId = 0x00;
hudakz 0:e29bc8e0dddd 164 }
hudakz 0:e29bc8e0dddd 165 else {
hudakz 0:e29bc8e0dddd 166 _canHandle.pTxMsg->StdId = 0x00;
hudakz 0:e29bc8e0dddd 167 _canHandle.pTxMsg->ExtId = msg.id;
hudakz 0:e29bc8e0dddd 168 }
hudakz 0:e29bc8e0dddd 169
hudakz 0:e29bc8e0dddd 170 _canHandle.pTxMsg->RTR = msg.type == CANData ? CAN_RTR_DATA : CAN_RTR_REMOTE;
hudakz 0:e29bc8e0dddd 171 _canHandle.pTxMsg->IDE = msg.format == CANStandard ? CAN_ID_STD : CAN_ID_EXT;
hudakz 0:e29bc8e0dddd 172 _canHandle.pTxMsg->DLC = msg.len;
hudakz 0:e29bc8e0dddd 173
hudakz 0:e29bc8e0dddd 174 for(i = 0; i < msg.len; i++)
hudakz 0:e29bc8e0dddd 175 _canHandle.pTxMsg->Data[i] = msg.data[i];
hudakz 0:e29bc8e0dddd 176
hudakz 0:e29bc8e0dddd 177 if(HAL_CAN_Transmit(&_canHandle, 10) != HAL_OK) {
hudakz 5:b53e5ee15315 178 #ifdef DEBUG
hudakz 0:e29bc8e0dddd 179 printf("Transmission error\r\n");
hudakz 5:b53e5ee15315 180 #endif
hudakz 5:b53e5ee15315 181 return 0;
hudakz 0:e29bc8e0dddd 182 }
hudakz 5:b53e5ee15315 183 else
hudakz 5:b53e5ee15315 184 return 1;
hudakz 0:e29bc8e0dddd 185 }
hudakz 0:e29bc8e0dddd 186
hudakz 0:e29bc8e0dddd 187 /**
hudakz 0:e29bc8e0dddd 188 * @brief
hudakz 0:e29bc8e0dddd 189 * @note
hudakz 0:e29bc8e0dddd 190 * @param
hudakz 0:e29bc8e0dddd 191 * @retval
hudakz 0:e29bc8e0dddd 192 */
hudakz 0:e29bc8e0dddd 193 int can_read(can_t* obj, CAN_Message* msg, int handle) {
hudakz 10:227a455d0f9f 194 int i;
hudakz 0:e29bc8e0dddd 195 msg->id = _canHandle.pRxMsg->IDE == CAN_ID_STD ? _canHandle.pRxMsg->StdId : _canHandle.pRxMsg->ExtId;
hudakz 0:e29bc8e0dddd 196 msg->type = _canHandle.pRxMsg->RTR == CAN_RTR_DATA ? CANData : CANRemote;
hudakz 0:e29bc8e0dddd 197 msg->format = _canHandle.pRxMsg->IDE == CAN_ID_STD ? CANStandard : CANExtended;
hudakz 0:e29bc8e0dddd 198 msg->len = _canHandle.pRxMsg->DLC;
hudakz 10:227a455d0f9f 199 for(i = 0; i < msg->len; i++)
hudakz 0:e29bc8e0dddd 200 msg->data[i] = _canHandle.pRxMsg->Data[i];
hudakz 5:b53e5ee15315 201
hudakz 5:b53e5ee15315 202 return msg->len;
hudakz 0:e29bc8e0dddd 203 }
hudakz 0:e29bc8e0dddd 204
hudakz 0:e29bc8e0dddd 205 /**
hudakz 0:e29bc8e0dddd 206 * @brief
hudakz 0:e29bc8e0dddd 207 * @note
hudakz 0:e29bc8e0dddd 208 * @param
hudakz 0:e29bc8e0dddd 209 * @retval
hudakz 0:e29bc8e0dddd 210 */
hudakz 0:e29bc8e0dddd 211 int can_mode(can_t* obj, CanMode mode) {
hudakz 0:e29bc8e0dddd 212 switch(mode) {
hudakz 0:e29bc8e0dddd 213 case MODE_RESET:
hudakz 0:e29bc8e0dddd 214 return HAL_ERROR;
hudakz 0:e29bc8e0dddd 215
hudakz 0:e29bc8e0dddd 216 case MODE_NORMAL:
hudakz 0:e29bc8e0dddd 217 _canHandle.Init.Mode = CAN_MODE_NORMAL;
hudakz 0:e29bc8e0dddd 218 break;
hudakz 0:e29bc8e0dddd 219
hudakz 0:e29bc8e0dddd 220 case MODE_SILENT:
hudakz 0:e29bc8e0dddd 221 _canHandle.Init.Mode = CAN_MODE_SILENT;
hudakz 0:e29bc8e0dddd 222 break;
hudakz 0:e29bc8e0dddd 223
hudakz 0:e29bc8e0dddd 224 case MODE_TEST_GLOBAL:
hudakz 0:e29bc8e0dddd 225 _canHandle.Init.Mode = CAN_MODE_LOOPBACK;
hudakz 0:e29bc8e0dddd 226 break;
hudakz 0:e29bc8e0dddd 227
hudakz 0:e29bc8e0dddd 228 case MODE_TEST_LOCAL:
hudakz 0:e29bc8e0dddd 229 _canHandle.Init.Mode = CAN_MODE_LOOPBACK;
hudakz 0:e29bc8e0dddd 230 break;
hudakz 0:e29bc8e0dddd 231
hudakz 0:e29bc8e0dddd 232 case MODE_TEST_SILENT:
hudakz 0:e29bc8e0dddd 233 _canHandle.Init.Mode = CAN_MODE_SILENT_LOOPBACK;
hudakz 0:e29bc8e0dddd 234 break;
hudakz 0:e29bc8e0dddd 235 }
hudakz 0:e29bc8e0dddd 236
hudakz 3:0fae6b54a2ee 237 return HAL_CAN_Init(&_canHandle);
hudakz 0:e29bc8e0dddd 238 }
hudakz 0:e29bc8e0dddd 239
hudakz 0:e29bc8e0dddd 240 /**
hudakz 0:e29bc8e0dddd 241 * @brief
hudakz 0:e29bc8e0dddd 242 * @note
hudakz 0:e29bc8e0dddd 243 * @param
hudakz 0:e29bc8e0dddd 244 * @retval
hudakz 0:e29bc8e0dddd 245 */
hudakz 0:e29bc8e0dddd 246 int can_filter(can_t* obj, uint32_t id, uint32_t mask, CANFormat format /*=CANAny*/, int32_t handle /*=0*/ ) {
hudakz 0:e29bc8e0dddd 247 CAN_FilterConfTypeDef sFilterConfig;
hudakz 0:e29bc8e0dddd 248
hudakz 8:5c90d6b9a382 249 sFilterConfig.FilterNumber = handle; // Specifies the filter number (must be a number between 0 and 13 at 32-bit filter scale)
hudakz 0:e29bc8e0dddd 250 sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
hudakz 0:e29bc8e0dddd 251 sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
hudakz 0:e29bc8e0dddd 252 sFilterConfig.FilterIdHigh = (((id) >> 16) & 0xFFFF);
hudakz 0:e29bc8e0dddd 253 sFilterConfig.FilterIdLow = ((id) & 0xFFFF);
hudakz 0:e29bc8e0dddd 254 sFilterConfig.FilterMaskIdHigh = (((mask) >> 16) & 0xFFFF);
hudakz 0:e29bc8e0dddd 255 sFilterConfig.FilterMaskIdLow = ((mask) & 0xFFFF);
hudakz 0:e29bc8e0dddd 256 sFilterConfig.FilterFIFOAssignment = 0;
hudakz 0:e29bc8e0dddd 257 sFilterConfig.FilterActivation = ENABLE;
hudakz 8:5c90d6b9a382 258 sFilterConfig.BankNumber = 0; // Selects the start bank filter
hudakz 8:5c90d6b9a382 259 return HAL_CAN_ConfigFilter(&_canHandle, &sFilterConfig);
hudakz 0:e29bc8e0dddd 260 }
hudakz 0:e29bc8e0dddd 261
hudakz 0:e29bc8e0dddd 262 /**
hudakz 0:e29bc8e0dddd 263 * @brief
hudakz 0:e29bc8e0dddd 264 * @note
hudakz 0:e29bc8e0dddd 265 * @param
hudakz 0:e29bc8e0dddd 266 * @retval
hudakz 0:e29bc8e0dddd 267 */
hudakz 0:e29bc8e0dddd 268 void can_reset(can_t* obj) {
hudakz 0:e29bc8e0dddd 269 __HAL_CAN_RESET_HANDLE_STATE(&_canHandle);
hudakz 0:e29bc8e0dddd 270 }
hudakz 0:e29bc8e0dddd 271
hudakz 0:e29bc8e0dddd 272 /**
hudakz 0:e29bc8e0dddd 273 * @brief
hudakz 0:e29bc8e0dddd 274 * @note
hudakz 0:e29bc8e0dddd 275 * @param
hudakz 0:e29bc8e0dddd 276 * @retval
hudakz 0:e29bc8e0dddd 277 */
hudakz 0:e29bc8e0dddd 278 unsigned char can_rderror(can_t* obj) {
hudakz 0:e29bc8e0dddd 279 return HAL_CAN_GetError(&_canHandle);
hudakz 0:e29bc8e0dddd 280 }
hudakz 0:e29bc8e0dddd 281
hudakz 0:e29bc8e0dddd 282 /**
hudakz 0:e29bc8e0dddd 283 * @brief
hudakz 0:e29bc8e0dddd 284 * @note
hudakz 0:e29bc8e0dddd 285 * @param
hudakz 0:e29bc8e0dddd 286 * @retval
hudakz 0:e29bc8e0dddd 287 */
hudakz 0:e29bc8e0dddd 288 unsigned char can_tderror(can_t* obj) {
hudakz 0:e29bc8e0dddd 289 return HAL_CAN_GetError(&_canHandle);
hudakz 0:e29bc8e0dddd 290 }
hudakz 0:e29bc8e0dddd 291
hudakz 0:e29bc8e0dddd 292 /**
hudakz 0:e29bc8e0dddd 293 * @brief
hudakz 0:e29bc8e0dddd 294 * @note
hudakz 0:e29bc8e0dddd 295 * @param
hudakz 0:e29bc8e0dddd 296 * @retval
hudakz 0:e29bc8e0dddd 297 */
hudakz 0:e29bc8e0dddd 298 void can_monitor(can_t* obj, int silent) {
hudakz 0:e29bc8e0dddd 299
hudakz 0:e29bc8e0dddd 300 // not implemented
hudakz 0:e29bc8e0dddd 301 }
hudakz 1:eb04f7f0478d 302
hudakz 5:b53e5ee15315 303
hudakz 6:c5a40d5fd9f1 304
hudakz 11:439f3a34c42e 305
hudakz 12:c45310ff2233 306