Paul Paterson
Working fork to test F0 application
Fork of
CANnucleo
by 
Zoltan Hudak
Diff: stm32f1xx_hal_msp.c
- Revision:
- 0:e29bc8e0dddd
- Child:
- 1:eb04f7f0478d
diff -r 000000000000 -r e29bc8e0dddd stm32f1xx_hal_msp.c
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/stm32f1xx_hal_msp.c Sun Jul 19 09:06:26 2015 +0000
@@ -0,0 +1,262 @@
+ /**
+ ******************************************************************************
+ * @file stm32f1xx_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>
+ *
+ ******************************************************************************
+ */
+#include "stm32f1xx_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
+ * @retval None
+ */
+void initCAN(can_t* obj, PinName rxPin, PinName txPin) {
+ _rxPin = rxPin;
+ _txPin = txPin;
+
+ _canHandle.Instance = CAN1;
+ _canHandle.pTxMsg = &_canTxMsg;
+ _canHandle.pRxMsg = &_canRxMsg;
+
+ _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;
+
+ // 125kbps bit rate (default)
+#if defined(TARGET_NUCLEO_F103RB) || \
+ defined(TARGET_NUCLEO_F302R8) || \
+ defined(TARGET_NUCLEO_F334R8) || \
+ defined(TARGET_NUCLEO_F303RE) || \
+ defined(TARGET_DISCO_F334C8)
+ // APB1 pheripheral 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;
+#elif defined(TARGET_NUCLEO_F070RB) || \
+ defined(TARGET_NUCLEO_F072RB) || \
+ defined(TARGET_NUCLEO_F091RC)
+ // APB1 pheripheral clock = 48000000Hz
+ _canHandle.Init.Prescaler = 24; // number of time quanta = 48000000/24/125000 = 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;
+#endif
+
+ 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 */
+ __HAL_RCC_CAN1_CLK_ENABLE();
+
+ /* Enable GPIO clock */
+ __HAL_RCC_GPIOA_CLK_ENABLE();
+
+ /* Enable AFIO clock and remap CAN PINs to PA11 and PA12*/
+ __HAL_RCC_AFIO_CLK_ENABLE();
+ __HAL_AFIO_REMAP_CAN1_1();
+
+ /* CAN1 RX GPIO pin configuration */
+ GPIO_InitStruct.Pin = GPIO_PIN_11;
+ GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
+ GPIO_InitStruct.Pull = GPIO_NOPULL;
+ HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+
+ GPIO_InitStruct.Pin = GPIO_PIN_12;
+ GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+ GPIO_InitStruct.Speed = GPIO_SPEED_LOW;
+ HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+ }
+ else
+ if((_rxPin == PB_8) && (_txPin == PB_9)) {
+
+ /* CAN1 Periph clock enable */
+ __HAL_RCC_CAN1_CLK_ENABLE();
+
+ /* Enable GPIO clock */
+ __HAL_RCC_GPIOB_CLK_ENABLE();
+
+ /* Enable AFIO clock and remap CAN PINs to PB_8 and PB_9*/
+ __HAL_RCC_AFIO_CLK_ENABLE();
+ __HAL_AFIO_REMAP_CAN1_2();
+
+ /* CAN1 RX GPIO pin configuration */
+ GPIO_InitStruct.Pin = GPIO_PIN_8;
+ GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
+ GPIO_InitStruct.Pull = GPIO_NOPULL;
+ HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+
+ GPIO_InitStruct.Pin = GPIO_PIN_9;
+ GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+ GPIO_InitStruct.Speed = GPIO_SPEED_LOW;
+ HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+ }
+ else
+ return;
+
+ /* NVIC configuration for CAN1 Reception complete interrupt */
+ HAL_NVIC_SetPriority(USB_LP_CAN1_RX0_IRQn, 1, 0);
+ HAL_NVIC_EnableIRQ(USB_LP_CAN1_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 */
+
+ __HAL_RCC_CAN1_FORCE_RESET();
+ __HAL_RCC_CAN1_RELEASE_RESET();
+
+ /* Disable peripherals and GPIO Clocks */
+ if((_rxPin == PA_11) && (_txPin == PA_12)) {
+
+ /* De-initialize the CAN1 TX GPIO pin */
+ HAL_GPIO_DeInit(GPIOA, GPIO_PIN_11);
+
+ /* De-initialize the CAN1 RX GPIO pin */
+ HAL_GPIO_DeInit(GPIOA, GPIO_PIN_12);
+ }
+ else {
+
+ /* De-initialize the CAN1 TX GPIO pin */
+ HAL_GPIO_DeInit(GPIOB, GPIO_PIN_8);
+
+ /* De-initialize the CAN1 RX GPIO pin */
+ HAL_GPIO_DeInit(GPIOB, GPIO_PIN_9);
+ }
+
+ /* Disable the NVIC for CAN reception */
+ HAL_NVIC_DisableIRQ(USB_LP_CAN1_RX0_IRQn);
+}
+
+/**
+* @brief Handles CAN1 RX0 interrupt request.
+* @param None
+* @retval None
+*/
+void USB_LP_CAN1_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 != NULL)
+ 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);
+}