Paul Paterson / CANnucleo

Working fork to test F0 application

Dependents:   ppCANOpen_Example

Fork of CANnucleo by Zoltan Hudak

stm32f1xx_hal_msp.c@0:e29bc8e0dddd, 2015-07-19 (annotated)

Committer:
hudakz
Date:
Sun Jul 19 09:06:26 2015 +0000
Revision:
0:e29bc8e0dddd
Child:
1:eb04f7f0478d
rev 00

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 0:e29bc8e0dddd 41 #include "stm32f1xx_hal.h"
hudakz 0:e29bc8e0dddd 42 #include "can_api.h"
hudakz 0:e29bc8e0dddd 43 #include "pinmap.h"
hudakz 0:e29bc8e0dddd 44
hudakz 0:e29bc8e0dddd 45 CAN_HandleTypeDef _canHandle;
hudakz 0:e29bc8e0dddd 46 CanRxMsgTypeDef _canRxMsg;
hudakz 0:e29bc8e0dddd 47 CanTxMsgTypeDef _canTxMsg;
hudakz 0:e29bc8e0dddd 48 PinName _rxPin;
hudakz 0:e29bc8e0dddd 49 PinName _txPin;
hudakz 0:e29bc8e0dddd 50
hudakz 0:e29bc8e0dddd 51 void (*rxCompleteCallback) (void);
hudakz 0:e29bc8e0dddd 52
hudakz 0:e29bc8e0dddd 53 /**
hudakz 0:e29bc8e0dddd 54 * @brief CAN initialization.
hudakz 0:e29bc8e0dddd 55 * @param obj: can_t object
hudakz 0:e29bc8e0dddd 56 * @param rxPin: RX pin name
hudakz 0:e29bc8e0dddd 57 * @param txPin: TX pin name
hudakz 0:e29bc8e0dddd 58 * @retval None
hudakz 0:e29bc8e0dddd 59 */
hudakz 0:e29bc8e0dddd 60 void initCAN(can_t* obj, PinName rxPin, PinName txPin) {
hudakz 0:e29bc8e0dddd 61 _rxPin = rxPin;
hudakz 0:e29bc8e0dddd 62 _txPin = txPin;
hudakz 0:e29bc8e0dddd 63
hudakz 0:e29bc8e0dddd 64 _canHandle.Instance = CAN1;
hudakz 0:e29bc8e0dddd 65 _canHandle.pTxMsg = &_canTxMsg;
hudakz 0:e29bc8e0dddd 66 _canHandle.pRxMsg = &_canRxMsg;
hudakz 0:e29bc8e0dddd 67
hudakz 0:e29bc8e0dddd 68 _canHandle.Init.TTCM = DISABLE;
hudakz 0:e29bc8e0dddd 69 _canHandle.Init.ABOM = DISABLE;
hudakz 0:e29bc8e0dddd 70 _canHandle.Init.AWUM = DISABLE;
hudakz 0:e29bc8e0dddd 71 _canHandle.Init.NART = DISABLE;
hudakz 0:e29bc8e0dddd 72 _canHandle.Init.RFLM = DISABLE;
hudakz 0:e29bc8e0dddd 73 _canHandle.Init.TXFP = DISABLE;
hudakz 0:e29bc8e0dddd 74 _canHandle.Init.Mode = CAN_MODE_NORMAL;
hudakz 0:e29bc8e0dddd 75
hudakz 0:e29bc8e0dddd 76 // 125kbps bit rate (default)
hudakz 0:e29bc8e0dddd 77 #if defined(TARGET_NUCLEO_F103RB) || \
hudakz 0:e29bc8e0dddd 78 defined(TARGET_NUCLEO_F302R8) || \
hudakz 0:e29bc8e0dddd 79 defined(TARGET_NUCLEO_F334R8) || \
hudakz 0:e29bc8e0dddd 80 defined(TARGET_NUCLEO_F303RE) || \
hudakz 0:e29bc8e0dddd 81 defined(TARGET_DISCO_F334C8)
hudakz 0:e29bc8e0dddd 82 // APB1 pheripheral clock = 36000000Hz
hudakz 0:e29bc8e0dddd 83 _canHandle.Init.Prescaler = 18; // number of time quanta = 36000000/18/125000 = 16
hudakz 0:e29bc8e0dddd 84 _canHandle.Init.SJW = CAN_SJW_1TQ;
hudakz 0:e29bc8e0dddd 85 _canHandle.Init.BS1 = CAN_BS1_11TQ; // sample point at (1 + 11) / 16 * 100 = 75%
hudakz 0:e29bc8e0dddd 86 _canHandle.Init.BS2 = CAN_BS2_4TQ;
hudakz 0:e29bc8e0dddd 87 #elif defined(TARGET_NUCLEO_F070RB) || \
hudakz 0:e29bc8e0dddd 88 defined(TARGET_NUCLEO_F072RB) || \
hudakz 0:e29bc8e0dddd 89 defined(TARGET_NUCLEO_F091RC)
hudakz 0:e29bc8e0dddd 90 // APB1 pheripheral clock = 48000000Hz
hudakz 0:e29bc8e0dddd 91 _canHandle.Init.Prescaler = 24; // number of time quanta = 48000000/24/125000 = 16
hudakz 0:e29bc8e0dddd 92 _canHandle.Init.SJW = CAN_SJW_1TQ;
hudakz 0:e29bc8e0dddd 93 _canHandle.Init.BS1 = CAN_BS1_11TQ; // sample point at: (1 + 11) / 16 * 100 = 75%
hudakz 0:e29bc8e0dddd 94 _canHandle.Init.BS2 = CAN_BS2_4TQ;
hudakz 0:e29bc8e0dddd 95 #endif
hudakz 0:e29bc8e0dddd 96
hudakz 0:e29bc8e0dddd 97 HAL_CAN_Init(&_canHandle);
hudakz 0:e29bc8e0dddd 98 }
hudakz 0:e29bc8e0dddd 99
hudakz 0:e29bc8e0dddd 100 /**
hudakz 0:e29bc8e0dddd 101 * @brief CAN MSP Initialization
hudakz 0:e29bc8e0dddd 102 * @param hcan: CAN handle pointer
hudakz 0:e29bc8e0dddd 103 * @retval None
hudakz 0:e29bc8e0dddd 104 */
hudakz 0:e29bc8e0dddd 105 void HAL_CAN_MspInit(CAN_HandleTypeDef* hcan) {
hudakz 0:e29bc8e0dddd 106 GPIO_InitTypeDef GPIO_InitStruct;
hudakz 0:e29bc8e0dddd 107
hudakz 0:e29bc8e0dddd 108 if((_rxPin == PA_11) && (_txPin == PA_12)) {
hudakz 0:e29bc8e0dddd 109
hudakz 0:e29bc8e0dddd 110 /* CAN1 Periph clock enable */
hudakz 0:e29bc8e0dddd 111 __HAL_RCC_CAN1_CLK_ENABLE();
hudakz 0:e29bc8e0dddd 112
hudakz 0:e29bc8e0dddd 113 /* Enable GPIO clock */
hudakz 0:e29bc8e0dddd 114 __HAL_RCC_GPIOA_CLK_ENABLE();
hudakz 0:e29bc8e0dddd 115
hudakz 0:e29bc8e0dddd 116 /* Enable AFIO clock and remap CAN PINs to PA11 and PA12*/
hudakz 0:e29bc8e0dddd 117 __HAL_RCC_AFIO_CLK_ENABLE();
hudakz 0:e29bc8e0dddd 118 __HAL_AFIO_REMAP_CAN1_1();
hudakz 0:e29bc8e0dddd 119
hudakz 0:e29bc8e0dddd 120 /* CAN1 RX GPIO pin configuration */
hudakz 0:e29bc8e0dddd 121 GPIO_InitStruct.Pin = GPIO_PIN_11;
hudakz 0:e29bc8e0dddd 122 GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
hudakz 0:e29bc8e0dddd 123 GPIO_InitStruct.Pull = GPIO_NOPULL;
hudakz 0:e29bc8e0dddd 124 HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
hudakz 0:e29bc8e0dddd 125
hudakz 0:e29bc8e0dddd 126 GPIO_InitStruct.Pin = GPIO_PIN_12;
hudakz 0:e29bc8e0dddd 127 GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
hudakz 0:e29bc8e0dddd 128 GPIO_InitStruct.Speed = GPIO_SPEED_LOW;
hudakz 0:e29bc8e0dddd 129 HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
hudakz 0:e29bc8e0dddd 130 }
hudakz 0:e29bc8e0dddd 131 else
hudakz 0:e29bc8e0dddd 132 if((_rxPin == PB_8) && (_txPin == PB_9)) {
hudakz 0:e29bc8e0dddd 133
hudakz 0:e29bc8e0dddd 134 /* CAN1 Periph clock enable */
hudakz 0:e29bc8e0dddd 135 __HAL_RCC_CAN1_CLK_ENABLE();
hudakz 0:e29bc8e0dddd 136
hudakz 0:e29bc8e0dddd 137 /* Enable GPIO clock */
hudakz 0:e29bc8e0dddd 138 __HAL_RCC_GPIOB_CLK_ENABLE();
hudakz 0:e29bc8e0dddd 139
hudakz 0:e29bc8e0dddd 140 /* Enable AFIO clock and remap CAN PINs to PB_8 and PB_9*/
hudakz 0:e29bc8e0dddd 141 __HAL_RCC_AFIO_CLK_ENABLE();
hudakz 0:e29bc8e0dddd 142 __HAL_AFIO_REMAP_CAN1_2();
hudakz 0:e29bc8e0dddd 143
hudakz 0:e29bc8e0dddd 144 /* CAN1 RX GPIO pin configuration */
hudakz 0:e29bc8e0dddd 145 GPIO_InitStruct.Pin = GPIO_PIN_8;
hudakz 0:e29bc8e0dddd 146 GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
hudakz 0:e29bc8e0dddd 147 GPIO_InitStruct.Pull = GPIO_NOPULL;
hudakz 0:e29bc8e0dddd 148 HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
hudakz 0:e29bc8e0dddd 149
hudakz 0:e29bc8e0dddd 150 GPIO_InitStruct.Pin = GPIO_PIN_9;
hudakz 0:e29bc8e0dddd 151 GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
hudakz 0:e29bc8e0dddd 152 GPIO_InitStruct.Speed = GPIO_SPEED_LOW;
hudakz 0:e29bc8e0dddd 153 HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
hudakz 0:e29bc8e0dddd 154 }
hudakz 0:e29bc8e0dddd 155 else
hudakz 0:e29bc8e0dddd 156 return;
hudakz 0:e29bc8e0dddd 157
hudakz 0:e29bc8e0dddd 158 /* NVIC configuration for CAN1 Reception complete interrupt */
hudakz 0:e29bc8e0dddd 159 HAL_NVIC_SetPriority(USB_LP_CAN1_RX0_IRQn, 1, 0);
hudakz 0:e29bc8e0dddd 160 HAL_NVIC_EnableIRQ(USB_LP_CAN1_RX0_IRQn);
hudakz 0:e29bc8e0dddd 161 }
hudakz 0:e29bc8e0dddd 162
hudakz 0:e29bc8e0dddd 163 /**
hudakz 0:e29bc8e0dddd 164 * @brief CAN MSP De-Initialization
hudakz 0:e29bc8e0dddd 165 * This function frees the hardware resources used:
hudakz 0:e29bc8e0dddd 166 * - Disable the Peripheral's clock
hudakz 0:e29bc8e0dddd 167 * - Revert GPIO to their default state
hudakz 0:e29bc8e0dddd 168 * @param hcan: CAN handle pointer
hudakz 0:e29bc8e0dddd 169 * @retval None
hudakz 0:e29bc8e0dddd 170 */
hudakz 0:e29bc8e0dddd 171 void HAL_CAN_MspDeInit(CAN_HandleTypeDef* hcan) {
hudakz 0:e29bc8e0dddd 172
hudakz 0:e29bc8e0dddd 173 /* Reset peripherals */
hudakz 0:e29bc8e0dddd 174
hudakz 0:e29bc8e0dddd 175 __HAL_RCC_CAN1_FORCE_RESET();
hudakz 0:e29bc8e0dddd 176 __HAL_RCC_CAN1_RELEASE_RESET();
hudakz 0:e29bc8e0dddd 177
hudakz 0:e29bc8e0dddd 178 /* Disable peripherals and GPIO Clocks */
hudakz 0:e29bc8e0dddd 179 if((_rxPin == PA_11) && (_txPin == PA_12)) {
hudakz 0:e29bc8e0dddd 180
hudakz 0:e29bc8e0dddd 181 /* De-initialize the CAN1 TX GPIO pin */
hudakz 0:e29bc8e0dddd 182 HAL_GPIO_DeInit(GPIOA, GPIO_PIN_11);
hudakz 0:e29bc8e0dddd 183
hudakz 0:e29bc8e0dddd 184 /* De-initialize the CAN1 RX GPIO pin */
hudakz 0:e29bc8e0dddd 185 HAL_GPIO_DeInit(GPIOA, GPIO_PIN_12);
hudakz 0:e29bc8e0dddd 186 }
hudakz 0:e29bc8e0dddd 187 else {
hudakz 0:e29bc8e0dddd 188
hudakz 0:e29bc8e0dddd 189 /* De-initialize the CAN1 TX GPIO pin */
hudakz 0:e29bc8e0dddd 190 HAL_GPIO_DeInit(GPIOB, GPIO_PIN_8);
hudakz 0:e29bc8e0dddd 191
hudakz 0:e29bc8e0dddd 192 /* De-initialize the CAN1 RX GPIO pin */
hudakz 0:e29bc8e0dddd 193 HAL_GPIO_DeInit(GPIOB, GPIO_PIN_9);
hudakz 0:e29bc8e0dddd 194 }
hudakz 0:e29bc8e0dddd 195
hudakz 0:e29bc8e0dddd 196 /* Disable the NVIC for CAN reception */
hudakz 0:e29bc8e0dddd 197 HAL_NVIC_DisableIRQ(USB_LP_CAN1_RX0_IRQn);
hudakz 0:e29bc8e0dddd 198 }
hudakz 0:e29bc8e0dddd 199
hudakz 0:e29bc8e0dddd 200 /**
hudakz 0:e29bc8e0dddd 201 * @brief Handles CAN1 RX0 interrupt request.
hudakz 0:e29bc8e0dddd 202 * @param None
hudakz 0:e29bc8e0dddd 203 * @retval None
hudakz 0:e29bc8e0dddd 204 */
hudakz 0:e29bc8e0dddd 205 void USB_LP_CAN1_RX0_IRQHandler(void) {
hudakz 0:e29bc8e0dddd 206 HAL_CAN_IRQHandler(&_canHandle);
hudakz 0:e29bc8e0dddd 207 }
hudakz 0:e29bc8e0dddd 208
hudakz 0:e29bc8e0dddd 209 /**
hudakz 0:e29bc8e0dddd 210 * @brief Reception complete callback in non blocking mode
hudakz 0:e29bc8e0dddd 211 * @param _canHandle: pointer to a CAN_HandleTypeDef structure that contains
hudakz 0:e29bc8e0dddd 212 * the configuration information for the specified CAN.
hudakz 0:e29bc8e0dddd 213 * @retval None
hudakz 0:e29bc8e0dddd 214 */
hudakz 0:e29bc8e0dddd 215 void HAL_CAN_RxCpltCallback(CAN_HandleTypeDef* _canHandle) {
hudakz 0:e29bc8e0dddd 216 // if(HAL_CAN_Receive_IT(_canHandle, CAN_FIFO0) == HAL_OK) {
hudakz 0:e29bc8e0dddd 217 // if(rxCompleteCallback != NULL)
hudakz 0:e29bc8e0dddd 218 // rxCompleteCallback();
hudakz 0:e29bc8e0dddd 219 // }
hudakz 0:e29bc8e0dddd 220 // else {
hudakz 0:e29bc8e0dddd 221 // error_handler(error);
hudakz 0:e29bc8e0dddd 222 // }
hudakz 0:e29bc8e0dddd 223
hudakz 0:e29bc8e0dddd 224 // BUG: CAN race condition if HAL_CAN_Receive_IT() is used.
hudakz 0:e29bc8e0dddd 225 // 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 226 //
hudakz 0:e29bc8e0dddd 227 // Fixed by Mark Burton:
hudakz 0:e29bc8e0dddd 228 // ideally, we should be able to call HAL_CAN_Receive_IT() here to set up for another
hudakz 0:e29bc8e0dddd 229 // receive but the API is flawed because that function will fail if HAL_CAN_Transmit()
hudakz 0:e29bc8e0dddd 230 // had already locked the handle when the receive interrupt occurred - so we do what
hudakz 0:e29bc8e0dddd 231 // HAL_CAN_Receive_IT() would do
hudakz 0:e29bc8e0dddd 232
hudakz 0:e29bc8e0dddd 233 if (rxCompleteCallback != NULL)
hudakz 0:e29bc8e0dddd 234 rxCompleteCallback();
hudakz 0:e29bc8e0dddd 235
hudakz 0:e29bc8e0dddd 236 if (_canHandle->State == HAL_CAN_STATE_BUSY_TX)
hudakz 0:e29bc8e0dddd 237 _canHandle->State = HAL_CAN_STATE_BUSY_TX_RX;
hudakz 0:e29bc8e0dddd 238 else {
hudakz 0:e29bc8e0dddd 239 _canHandle->State = HAL_CAN_STATE_BUSY_RX;
hudakz 0:e29bc8e0dddd 240
hudakz 0:e29bc8e0dddd 241 /* Set CAN error code to none */
hudakz 0:e29bc8e0dddd 242 _canHandle->ErrorCode = HAL_CAN_ERROR_NONE;
hudakz 0:e29bc8e0dddd 243
hudakz 0:e29bc8e0dddd 244 /* Enable Error warning Interrupt */
hudakz 0:e29bc8e0dddd 245 __HAL_CAN_ENABLE_IT(_canHandle, CAN_IT_EWG);
hudakz 0:e29bc8e0dddd 246
hudakz 0:e29bc8e0dddd 247 /* Enable Error passive Interrupt */
hudakz 0:e29bc8e0dddd 248 __HAL_CAN_ENABLE_IT(_canHandle, CAN_IT_EPV);
hudakz 0:e29bc8e0dddd 249
hudakz 0:e29bc8e0dddd 250 /* Enable Bus-off Interrupt */
hudakz 0:e29bc8e0dddd 251 __HAL_CAN_ENABLE_IT(_canHandle, CAN_IT_BOF);
hudakz 0:e29bc8e0dddd 252
hudakz 0:e29bc8e0dddd 253 /* Enable Last error code Interrupt */
hudakz 0:e29bc8e0dddd 254 __HAL_CAN_ENABLE_IT(_canHandle, CAN_IT_LEC);
hudakz 0:e29bc8e0dddd 255
hudakz 0:e29bc8e0dddd 256 /* Enable Error Interrupt */
hudakz 0:e29bc8e0dddd 257 __HAL_CAN_ENABLE_IT(_canHandle, CAN_IT_ERR);
hudakz 0:e29bc8e0dddd 258 }
hudakz 0:e29bc8e0dddd 259
hudakz 0:e29bc8e0dddd 260 // Enable FIFO 0 message pending Interrupt
hudakz 0:e29bc8e0dddd 261 __HAL_CAN_ENABLE_IT(_canHandle, CAN_IT_FMP0);
hudakz 0:e29bc8e0dddd 262 }