Working fork to test F0 application

Dependents:   ppCANOpen_Example

Fork of CANnucleo by Zoltan Hudak

Committer:
ptpaterson
Date:
Thu Jan 07 04:23:51 2016 +0000
Revision:
18:cdab1fd4ff26
Parent:
16:f4c8f45bded9
Corrected interrupts for F0 chip

Who changed what in which revision?

UserRevisionLine numberNew contents of line
hudakz 0:e29bc8e0dddd 1 /**
hudakz 0:e29bc8e0dddd 2 ******************************************************************************
hudakz 0:e29bc8e0dddd 3 * @file stm32f1xx_hal_msp.c
hudakz 0:e29bc8e0dddd 4 * @author MCD Application Team
hudakz 0:e29bc8e0dddd 5 * @version V1.0.0
hudakz 0:e29bc8e0dddd 6 * @date 17-December-2014
hudakz 0:e29bc8e0dddd 7 * @brief HAL MSP module.
hudakz 0:e29bc8e0dddd 8 ******************************************************************************
hudakz 0:e29bc8e0dddd 9 * @attention
hudakz 0:e29bc8e0dddd 10 *
hudakz 0:e29bc8e0dddd 11 * <h2><center>&copy; COPYRIGHT(c) 2014 STMicroelectronics</center></h2>
hudakz 0:e29bc8e0dddd 12 *
hudakz 0:e29bc8e0dddd 13 * Redistribution and use in source and binary forms, with or without modification,
hudakz 0:e29bc8e0dddd 14 * are permitted provided that the following conditions are met:
hudakz 0:e29bc8e0dddd 15 * 1. Redistributions of source code must retain the above copyright notice,
hudakz 0:e29bc8e0dddd 16 * this list of conditions and the following disclaimer.
hudakz 0:e29bc8e0dddd 17 * 2. Redistributions in binary form must reproduce the above copyright notice,
hudakz 0:e29bc8e0dddd 18 * this list of conditions and the following disclaimer in the documentation
hudakz 0:e29bc8e0dddd 19 * and/or other materials provided with the distribution.
hudakz 0:e29bc8e0dddd 20 * 3. Neither the name of STMicroelectronics nor the names of its contributors
hudakz 0:e29bc8e0dddd 21 * may be used to endorse or promote products derived from this software
hudakz 0:e29bc8e0dddd 22 * without specific prior written permission.
hudakz 0:e29bc8e0dddd 23 *
hudakz 0:e29bc8e0dddd 24 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
hudakz 0:e29bc8e0dddd 25 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
hudakz 0:e29bc8e0dddd 26 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
hudakz 0:e29bc8e0dddd 27 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
hudakz 0:e29bc8e0dddd 28 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
hudakz 0:e29bc8e0dddd 29 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
hudakz 0:e29bc8e0dddd 30 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
hudakz 0:e29bc8e0dddd 31 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
hudakz 0:e29bc8e0dddd 32 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
hudakz 0:e29bc8e0dddd 33 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
hudakz 0:e29bc8e0dddd 34 *
hudakz 0:e29bc8e0dddd 35 ******************************************************************************
hudakz 0:e29bc8e0dddd 36 *
hudakz 0:e29bc8e0dddd 37 * Modified by Zoltan Hudak <hudakz@inbox.com>
hudakz 0:e29bc8e0dddd 38 *
hudakz 0:e29bc8e0dddd 39 ******************************************************************************
hudakz 0:e29bc8e0dddd 40 */
hudakz 11:439f3a34c42e 41 #if defined(TARGET_NUCLEO_F103RB)
hudakz 14:0344705e6fb8 42
hudakz 0:e29bc8e0dddd 43 #include "can_api.h"
hudakz 0:e29bc8e0dddd 44 #include "pinmap.h"
hudakz 0:e29bc8e0dddd 45
hudakz 0:e29bc8e0dddd 46 CAN_HandleTypeDef _canHandle;
hudakz 0:e29bc8e0dddd 47 CanRxMsgTypeDef _canRxMsg;
hudakz 0:e29bc8e0dddd 48 CanTxMsgTypeDef _canTxMsg;
hudakz 0:e29bc8e0dddd 49 PinName _rxPin;
hudakz 0:e29bc8e0dddd 50 PinName _txPin;
hudakz 0:e29bc8e0dddd 51
hudakz 0:e29bc8e0dddd 52 void (*rxCompleteCallback) (void);
hudakz 0:e29bc8e0dddd 53
hudakz 0:e29bc8e0dddd 54 /**
hudakz 0:e29bc8e0dddd 55 * @brief CAN initialization.
hudakz 0:e29bc8e0dddd 56 * @param obj: can_t object
hudakz 0:e29bc8e0dddd 57 * @param rxPin: RX pin name
hudakz 0:e29bc8e0dddd 58 * @param txPin: TX pin name
hudakz 6:c5a40d5fd9f1 59 * @param abom: Automatic recovery from bus-off state
hudakz 0:e29bc8e0dddd 60 * @retval None
hudakz 0:e29bc8e0dddd 61 */
hudakz 6:c5a40d5fd9f1 62 void initCAN(can_t* obj, PinName rxPin, PinName txPin, FunctionalState abom) {
hudakz 0:e29bc8e0dddd 63 _rxPin = rxPin;
hudakz 0:e29bc8e0dddd 64 _txPin = txPin;
hudakz 0:e29bc8e0dddd 65
hudakz 14:0344705e6fb8 66 _canHandle.Instance = ((CAN_TypeDef*)CAN1_BASE);
hudakz 0:e29bc8e0dddd 67 _canHandle.pTxMsg = &_canTxMsg;
hudakz 0:e29bc8e0dddd 68 _canHandle.pRxMsg = &_canRxMsg;
hudakz 0:e29bc8e0dddd 69
hudakz 0:e29bc8e0dddd 70 _canHandle.Init.TTCM = DISABLE;
hudakz 7:62684572ae9c 71 _canHandle.Init.ABOM = abom;
hudakz 0:e29bc8e0dddd 72 _canHandle.Init.AWUM = DISABLE;
hudakz 0:e29bc8e0dddd 73 _canHandle.Init.NART = DISABLE;
hudakz 0:e29bc8e0dddd 74 _canHandle.Init.RFLM = DISABLE;
hudakz 0:e29bc8e0dddd 75 _canHandle.Init.TXFP = DISABLE;
hudakz 0:e29bc8e0dddd 76 _canHandle.Init.Mode = CAN_MODE_NORMAL;
hudakz 0:e29bc8e0dddd 77
hudakz 0:e29bc8e0dddd 78 // 125kbps bit rate (default)
hudakz 5:b53e5ee15315 79 // APB1 peripheral clock = 36000000Hz
hudakz 0:e29bc8e0dddd 80 _canHandle.Init.Prescaler = 18; // number of time quanta = 36000000/18/125000 = 16
hudakz 0:e29bc8e0dddd 81 _canHandle.Init.SJW = CAN_SJW_1TQ;
hudakz 0:e29bc8e0dddd 82 _canHandle.Init.BS1 = CAN_BS1_11TQ; // sample point at (1 + 11) / 16 * 100 = 75%
hudakz 0:e29bc8e0dddd 83 _canHandle.Init.BS2 = CAN_BS2_4TQ;
hudakz 0:e29bc8e0dddd 84
hudakz 0:e29bc8e0dddd 85 HAL_CAN_Init(&_canHandle);
hudakz 0:e29bc8e0dddd 86 }
hudakz 0:e29bc8e0dddd 87
hudakz 0:e29bc8e0dddd 88 /**
hudakz 0:e29bc8e0dddd 89 * @brief CAN MSP Initialization
hudakz 0:e29bc8e0dddd 90 * @param hcan: CAN handle pointer
hudakz 0:e29bc8e0dddd 91 * @retval None
hudakz 0:e29bc8e0dddd 92 */
hudakz 0:e29bc8e0dddd 93 void HAL_CAN_MspInit(CAN_HandleTypeDef* hcan) {
hudakz 0:e29bc8e0dddd 94 GPIO_InitTypeDef GPIO_InitStruct;
hudakz 0:e29bc8e0dddd 95
hudakz 0:e29bc8e0dddd 96 if((_rxPin == PA_11) && (_txPin == PA_12)) {
hudakz 0:e29bc8e0dddd 97
hudakz 0:e29bc8e0dddd 98 /* CAN1 Periph clock enable */
hudakz 0:e29bc8e0dddd 99 __HAL_RCC_CAN1_CLK_ENABLE();
hudakz 0:e29bc8e0dddd 100
hudakz 0:e29bc8e0dddd 101 /* Enable GPIO clock */
hudakz 0:e29bc8e0dddd 102 __HAL_RCC_GPIOA_CLK_ENABLE();
hudakz 0:e29bc8e0dddd 103
hudakz 0:e29bc8e0dddd 104 /* Enable AFIO clock and remap CAN PINs to PA11 and PA12*/
hudakz 0:e29bc8e0dddd 105 __HAL_RCC_AFIO_CLK_ENABLE();
hudakz 0:e29bc8e0dddd 106 __HAL_AFIO_REMAP_CAN1_1();
hudakz 0:e29bc8e0dddd 107
hudakz 0:e29bc8e0dddd 108 /* CAN1 RX GPIO pin configuration */
hudakz 0:e29bc8e0dddd 109 GPIO_InitStruct.Pin = GPIO_PIN_11;
hudakz 0:e29bc8e0dddd 110 GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
hudakz 0:e29bc8e0dddd 111 GPIO_InitStruct.Pull = GPIO_NOPULL;
hudakz 0:e29bc8e0dddd 112 HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
hudakz 0:e29bc8e0dddd 113
hudakz 0:e29bc8e0dddd 114 GPIO_InitStruct.Pin = GPIO_PIN_12;
hudakz 0:e29bc8e0dddd 115 GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
hudakz 0:e29bc8e0dddd 116 GPIO_InitStruct.Speed = GPIO_SPEED_LOW;
hudakz 0:e29bc8e0dddd 117 HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
hudakz 0:e29bc8e0dddd 118 }
hudakz 0:e29bc8e0dddd 119 else
hudakz 0:e29bc8e0dddd 120 if((_rxPin == PB_8) && (_txPin == PB_9)) {
hudakz 0:e29bc8e0dddd 121
hudakz 0:e29bc8e0dddd 122 /* CAN1 Periph clock enable */
hudakz 0:e29bc8e0dddd 123 __HAL_RCC_CAN1_CLK_ENABLE();
hudakz 0:e29bc8e0dddd 124
hudakz 0:e29bc8e0dddd 125 /* Enable GPIO clock */
hudakz 0:e29bc8e0dddd 126 __HAL_RCC_GPIOB_CLK_ENABLE();
hudakz 0:e29bc8e0dddd 127
hudakz 0:e29bc8e0dddd 128 /* Enable AFIO clock and remap CAN PINs to PB_8 and PB_9*/
hudakz 0:e29bc8e0dddd 129 __HAL_RCC_AFIO_CLK_ENABLE();
hudakz 0:e29bc8e0dddd 130 __HAL_AFIO_REMAP_CAN1_2();
hudakz 0:e29bc8e0dddd 131
hudakz 0:e29bc8e0dddd 132 /* CAN1 RX GPIO pin configuration */
hudakz 0:e29bc8e0dddd 133 GPIO_InitStruct.Pin = GPIO_PIN_8;
hudakz 0:e29bc8e0dddd 134 GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
hudakz 0:e29bc8e0dddd 135 GPIO_InitStruct.Pull = GPIO_NOPULL;
hudakz 0:e29bc8e0dddd 136 HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
hudakz 0:e29bc8e0dddd 137
hudakz 0:e29bc8e0dddd 138 GPIO_InitStruct.Pin = GPIO_PIN_9;
hudakz 0:e29bc8e0dddd 139 GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
hudakz 0:e29bc8e0dddd 140 GPIO_InitStruct.Speed = GPIO_SPEED_LOW;
hudakz 0:e29bc8e0dddd 141 HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
hudakz 0:e29bc8e0dddd 142 }
hudakz 0:e29bc8e0dddd 143 else
hudakz 0:e29bc8e0dddd 144 return;
hudakz 0:e29bc8e0dddd 145
hudakz 0:e29bc8e0dddd 146 /* NVIC configuration for CAN1 Reception complete interrupt */
hudakz 16:f4c8f45bded9 147 HAL_NVIC_SetPriority(CAN_IRQ, 1, 0);
hudakz 16:f4c8f45bded9 148 HAL_NVIC_EnableIRQ(CAN_IRQ);
hudakz 0:e29bc8e0dddd 149 }
hudakz 0:e29bc8e0dddd 150
hudakz 0:e29bc8e0dddd 151 /**
hudakz 0:e29bc8e0dddd 152 * @brief CAN MSP De-Initialization
hudakz 0:e29bc8e0dddd 153 * This function frees the hardware resources used:
hudakz 0:e29bc8e0dddd 154 * - Disable the Peripheral's clock
hudakz 0:e29bc8e0dddd 155 * - Revert GPIO to their default state
hudakz 0:e29bc8e0dddd 156 * @param hcan: CAN handle pointer
hudakz 0:e29bc8e0dddd 157 * @retval None
hudakz 0:e29bc8e0dddd 158 */
hudakz 0:e29bc8e0dddd 159 void HAL_CAN_MspDeInit(CAN_HandleTypeDef* hcan) {
hudakz 0:e29bc8e0dddd 160
hudakz 0:e29bc8e0dddd 161 /* Reset peripherals */
hudakz 0:e29bc8e0dddd 162
hudakz 0:e29bc8e0dddd 163 __HAL_RCC_CAN1_FORCE_RESET();
hudakz 0:e29bc8e0dddd 164 __HAL_RCC_CAN1_RELEASE_RESET();
hudakz 0:e29bc8e0dddd 165
hudakz 0:e29bc8e0dddd 166 /* Disable peripherals and GPIO Clocks */
hudakz 0:e29bc8e0dddd 167 if((_rxPin == PA_11) && (_txPin == PA_12)) {
hudakz 0:e29bc8e0dddd 168
hudakz 12:c45310ff2233 169 /* De-initialize the CAN1 RX GPIO pin */
hudakz 0:e29bc8e0dddd 170 HAL_GPIO_DeInit(GPIOA, GPIO_PIN_11);
hudakz 0:e29bc8e0dddd 171
hudakz 12:c45310ff2233 172 /* De-initialize the CAN1 TX GPIO pin */
hudakz 0:e29bc8e0dddd 173 HAL_GPIO_DeInit(GPIOA, GPIO_PIN_12);
hudakz 0:e29bc8e0dddd 174 }
hudakz 0:e29bc8e0dddd 175 else {
hudakz 0:e29bc8e0dddd 176
hudakz 0:e29bc8e0dddd 177 /* De-initialize the CAN1 TX GPIO pin */
hudakz 0:e29bc8e0dddd 178 HAL_GPIO_DeInit(GPIOB, GPIO_PIN_8);
hudakz 0:e29bc8e0dddd 179
hudakz 12:c45310ff2233 180 /* De-initialize the CAN1 TX GPIO pin */
hudakz 0:e29bc8e0dddd 181 HAL_GPIO_DeInit(GPIOB, GPIO_PIN_9);
hudakz 0:e29bc8e0dddd 182 }
hudakz 0:e29bc8e0dddd 183
hudakz 0:e29bc8e0dddd 184 /* Disable the NVIC for CAN reception */
hudakz 16:f4c8f45bded9 185 HAL_NVIC_DisableIRQ(CAN_IRQ);
hudakz 0:e29bc8e0dddd 186 }
hudakz 0:e29bc8e0dddd 187
hudakz 0:e29bc8e0dddd 188 /**
hudakz 0:e29bc8e0dddd 189 * @brief Handles CAN1 RX0 interrupt request.
hudakz 0:e29bc8e0dddd 190 * @param None
hudakz 0:e29bc8e0dddd 191 * @retval None
hudakz 0:e29bc8e0dddd 192 */
hudakz 0:e29bc8e0dddd 193 void USB_LP_CAN1_RX0_IRQHandler(void) {
hudakz 0:e29bc8e0dddd 194 HAL_CAN_IRQHandler(&_canHandle);
hudakz 0:e29bc8e0dddd 195 }
hudakz 0:e29bc8e0dddd 196
hudakz 0:e29bc8e0dddd 197 /**
hudakz 0:e29bc8e0dddd 198 * @brief Reception complete callback in non blocking mode
hudakz 0:e29bc8e0dddd 199 * @param _canHandle: pointer to a CAN_HandleTypeDef structure that contains
hudakz 0:e29bc8e0dddd 200 * the configuration information for the specified CAN.
hudakz 0:e29bc8e0dddd 201 * @retval None
hudakz 0:e29bc8e0dddd 202 */
hudakz 0:e29bc8e0dddd 203 void HAL_CAN_RxCpltCallback(CAN_HandleTypeDef* _canHandle) {
hudakz 0:e29bc8e0dddd 204 // if(HAL_CAN_Receive_IT(_canHandle, CAN_FIFO0) == HAL_OK) {
hudakz 0:e29bc8e0dddd 205 // if(rxCompleteCallback != NULL)
hudakz 0:e29bc8e0dddd 206 // rxCompleteCallback();
hudakz 0:e29bc8e0dddd 207 // }
hudakz 0:e29bc8e0dddd 208 // else {
hudakz 0:e29bc8e0dddd 209 // error_handler(error);
hudakz 0:e29bc8e0dddd 210 // }
hudakz 0:e29bc8e0dddd 211
hudakz 0:e29bc8e0dddd 212 // BUG: CAN race condition if HAL_CAN_Receive_IT() is used.
hudakz 0:e29bc8e0dddd 213 // 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
hudakz 0:e29bc8e0dddd 214 //
hudakz 0:e29bc8e0dddd 215 // Fixed by Mark Burton:
hudakz 0:e29bc8e0dddd 216 // ideally, we should be able to call HAL_CAN_Receive_IT() here to set up for another
hudakz 0:e29bc8e0dddd 217 // receive but the API is flawed because that function will fail if HAL_CAN_Transmit()
hudakz 0:e29bc8e0dddd 218 // had already locked the handle when the receive interrupt occurred - so we do what
hudakz 0:e29bc8e0dddd 219 // HAL_CAN_Receive_IT() would do
hudakz 0:e29bc8e0dddd 220
hudakz 0:e29bc8e0dddd 221 if (rxCompleteCallback != NULL)
hudakz 0:e29bc8e0dddd 222 rxCompleteCallback();
hudakz 0:e29bc8e0dddd 223
hudakz 0:e29bc8e0dddd 224 if (_canHandle->State == HAL_CAN_STATE_BUSY_TX)
hudakz 0:e29bc8e0dddd 225 _canHandle->State = HAL_CAN_STATE_BUSY_TX_RX;
hudakz 0:e29bc8e0dddd 226 else {
hudakz 0:e29bc8e0dddd 227 _canHandle->State = HAL_CAN_STATE_BUSY_RX;
hudakz 0:e29bc8e0dddd 228
hudakz 0:e29bc8e0dddd 229 /* Set CAN error code to none */
hudakz 0:e29bc8e0dddd 230 _canHandle->ErrorCode = HAL_CAN_ERROR_NONE;
hudakz 0:e29bc8e0dddd 231
hudakz 0:e29bc8e0dddd 232 /* Enable Error warning Interrupt */
hudakz 0:e29bc8e0dddd 233 __HAL_CAN_ENABLE_IT(_canHandle, CAN_IT_EWG);
hudakz 0:e29bc8e0dddd 234
hudakz 0:e29bc8e0dddd 235 /* Enable Error passive Interrupt */
hudakz 0:e29bc8e0dddd 236 __HAL_CAN_ENABLE_IT(_canHandle, CAN_IT_EPV);
hudakz 0:e29bc8e0dddd 237
hudakz 0:e29bc8e0dddd 238 /* Enable Bus-off Interrupt */
hudakz 0:e29bc8e0dddd 239 __HAL_CAN_ENABLE_IT(_canHandle, CAN_IT_BOF);
hudakz 0:e29bc8e0dddd 240
hudakz 0:e29bc8e0dddd 241 /* Enable Last error code Interrupt */
hudakz 0:e29bc8e0dddd 242 __HAL_CAN_ENABLE_IT(_canHandle, CAN_IT_LEC);
hudakz 0:e29bc8e0dddd 243
hudakz 0:e29bc8e0dddd 244 /* Enable Error Interrupt */
hudakz 0:e29bc8e0dddd 245 __HAL_CAN_ENABLE_IT(_canHandle, CAN_IT_ERR);
hudakz 0:e29bc8e0dddd 246 }
hudakz 0:e29bc8e0dddd 247
hudakz 0:e29bc8e0dddd 248 // Enable FIFO 0 message pending Interrupt
hudakz 0:e29bc8e0dddd 249 __HAL_CAN_ENABLE_IT(_canHandle, CAN_IT_FMP0);
hudakz 0:e29bc8e0dddd 250 }
hudakz 11:439f3a34c42e 251 #endif
hudakz 11:439f3a34c42e 252
hudakz 11:439f3a34c42e 253