Paul Paterson / CANnucleo

Working fork to test F0 application

Dependents:   ppCANOpen_Example

Fork of CANnucleo by Zoltan Hudak

stm32f4xx_hal_msp.c@16:f4c8f45bded9, 2015-12-30 (annotated)

Committer:
hudakz
Date:
Wed Dec 30 08:23:30 2015 +0000
Revision:
16:f4c8f45bded9
Added support for NUCLEO-F072RB, NUCLEO-F091RC and NUCLEO446RE.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
hudakz 16:f4c8f45bded9 1 /**
hudakz 16:f4c8f45bded9 2 ******************************************************************************
hudakz 16:f4c8f45bded9 3 * @file stm32f3xx_hal_msp.c
hudakz 16:f4c8f45bded9 4 * @author MCD Application Team
hudakz 16:f4c8f45bded9 5 * @version V1.0.0
hudakz 16:f4c8f45bded9 6 * @date 17-December-2014
hudakz 16:f4c8f45bded9 7 * @brief HAL MSP module.
hudakz 16:f4c8f45bded9 8 ******************************************************************************
hudakz 16:f4c8f45bded9 9 * @attention
hudakz 16:f4c8f45bded9 10 *
hudakz 16:f4c8f45bded9 11 * <h2><center>&copy; COPYRIGHT(c) 2014 STMicroelectronics</center></h2>
hudakz 16:f4c8f45bded9 12 *
hudakz 16:f4c8f45bded9 13 * Redistribution and use in source and binary forms, with or without modification,
hudakz 16:f4c8f45bded9 14 * are permitted provided that the following conditions are met:
hudakz 16:f4c8f45bded9 15 * 1. Redistributions of source code must retain the above copyright notice,
hudakz 16:f4c8f45bded9 16 * this list of conditions and the following disclaimer.
hudakz 16:f4c8f45bded9 17 * 2. Redistributions in binary form must reproduce the above copyright notice,
hudakz 16:f4c8f45bded9 18 * this list of conditions and the following disclaimer in the documentation
hudakz 16:f4c8f45bded9 19 * and/or other materials provided with the distribution.
hudakz 16:f4c8f45bded9 20 * 3. Neither the name of STMicroelectronics nor the names of its contributors
hudakz 16:f4c8f45bded9 21 * may be used to endorse or promote products derived from this software
hudakz 16:f4c8f45bded9 22 * without specific prior written permission.
hudakz 16:f4c8f45bded9 23 *
hudakz 16:f4c8f45bded9 24 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
hudakz 16:f4c8f45bded9 25 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
hudakz 16:f4c8f45bded9 26 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
hudakz 16:f4c8f45bded9 27 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
hudakz 16:f4c8f45bded9 28 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
hudakz 16:f4c8f45bded9 29 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
hudakz 16:f4c8f45bded9 30 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
hudakz 16:f4c8f45bded9 31 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
hudakz 16:f4c8f45bded9 32 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
hudakz 16:f4c8f45bded9 33 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
hudakz 16:f4c8f45bded9 34 *
hudakz 16:f4c8f45bded9 35 ******************************************************************************
hudakz 16:f4c8f45bded9 36 *
hudakz 16:f4c8f45bded9 37 * Modified by Zoltan Hudak <hudakz@inbox.com>
hudakz 16:f4c8f45bded9 38 *
hudakz 16:f4c8f45bded9 39 ******************************************************************************
hudakz 16:f4c8f45bded9 40 */
hudakz 16:f4c8f45bded9 41 #if defined(TARGET_NUCLEO_F446RE)
hudakz 16:f4c8f45bded9 42
hudakz 16:f4c8f45bded9 43 #include "can_api.h"
hudakz 16:f4c8f45bded9 44 #include "pinmap.h"
hudakz 16:f4c8f45bded9 45
hudakz 16:f4c8f45bded9 46 CAN_HandleTypeDef _canHandle;
hudakz 16:f4c8f45bded9 47 CanRxMsgTypeDef _canRxMsg;
hudakz 16:f4c8f45bded9 48 CanTxMsgTypeDef _canTxMsg;
hudakz 16:f4c8f45bded9 49 PinName _rxPin;
hudakz 16:f4c8f45bded9 50 PinName _txPin;
hudakz 16:f4c8f45bded9 51
hudakz 16:f4c8f45bded9 52 void (*rxCompleteCallback) (void);
hudakz 16:f4c8f45bded9 53
hudakz 16:f4c8f45bded9 54 /**
hudakz 16:f4c8f45bded9 55 * @brief CAN initialization.
hudakz 16:f4c8f45bded9 56 * @param obj: can_t object
hudakz 16:f4c8f45bded9 57 * @param rxPin: RX pin name
hudakz 16:f4c8f45bded9 58 * @param txPin: TX pin name
hudakz 16:f4c8f45bded9 59 * @param abom: Automatic recovery from bus-off state
hudakz 16:f4c8f45bded9 60 * @retval None
hudakz 16:f4c8f45bded9 61 */
hudakz 16:f4c8f45bded9 62 void initCAN(can_t* obj, PinName rxPin, PinName txPin, FunctionalState abom) {
hudakz 16:f4c8f45bded9 63 _rxPin = rxPin;
hudakz 16:f4c8f45bded9 64 _txPin = txPin;
hudakz 16:f4c8f45bded9 65
hudakz 16:f4c8f45bded9 66 _canHandle.Instance = ((CAN_TypeDef*)CAN1_BASE);
hudakz 16:f4c8f45bded9 67 _canHandle.pTxMsg = &_canTxMsg;
hudakz 16:f4c8f45bded9 68 _canHandle.pRxMsg = &_canRxMsg;
hudakz 16:f4c8f45bded9 69
hudakz 16:f4c8f45bded9 70 _canHandle.Init.TTCM = DISABLE;
hudakz 16:f4c8f45bded9 71 _canHandle.Init.ABOM = abom;
hudakz 16:f4c8f45bded9 72 _canHandle.Init.AWUM = DISABLE;
hudakz 16:f4c8f45bded9 73 _canHandle.Init.NART = DISABLE;
hudakz 16:f4c8f45bded9 74 _canHandle.Init.RFLM = DISABLE;
hudakz 16:f4c8f45bded9 75 _canHandle.Init.TXFP = DISABLE;
hudakz 16:f4c8f45bded9 76 _canHandle.Init.Mode = CAN_MODE_NORMAL;
hudakz 16:f4c8f45bded9 77
hudakz 16:f4c8f45bded9 78 // 125kbps bit rate (default)
hudakz 16:f4c8f45bded9 79 // APB1 peripheral clock = 45000000Hz
hudakz 16:f4c8f45bded9 80 _canHandle.Init.Prescaler = 30; // number of time quanta = 45000000/30/125000 = 12
hudakz 16:f4c8f45bded9 81 _canHandle.Init.SJW = CAN_SJW_1TQ;
hudakz 16:f4c8f45bded9 82 _canHandle.Init.BS1 = CAN_BS1_8TQ; // sample point at: (1 + 8) / 12 * 100 = 75%
hudakz 16:f4c8f45bded9 83 _canHandle.Init.BS2 = CAN_BS2_3TQ;
hudakz 16:f4c8f45bded9 84
hudakz 16:f4c8f45bded9 85 HAL_CAN_Init(&_canHandle);
hudakz 16:f4c8f45bded9 86 }
hudakz 16:f4c8f45bded9 87
hudakz 16:f4c8f45bded9 88 /**
hudakz 16:f4c8f45bded9 89 * @brief CAN MSP Initialization
hudakz 16:f4c8f45bded9 90 * @param hcan: CAN handle pointer
hudakz 16:f4c8f45bded9 91 * @retval None
hudakz 16:f4c8f45bded9 92 */
hudakz 16:f4c8f45bded9 93 void HAL_CAN_MspInit(CAN_HandleTypeDef* hcan) {
hudakz 16:f4c8f45bded9 94 GPIO_InitTypeDef GPIO_InitStruct;
hudakz 16:f4c8f45bded9 95
hudakz 16:f4c8f45bded9 96 if((_rxPin == PA_11) && (_txPin == PA_12)) {
hudakz 16:f4c8f45bded9 97
hudakz 16:f4c8f45bded9 98 /* CAN1 Periph clock enable */
hudakz 16:f4c8f45bded9 99 __CAN_CLK_ENABLE();
hudakz 16:f4c8f45bded9 100
hudakz 16:f4c8f45bded9 101 /* Enable GPIO clock */
hudakz 16:f4c8f45bded9 102 __GPIOA_CLK_ENABLE();
hudakz 16:f4c8f45bded9 103
hudakz 16:f4c8f45bded9 104 /* CAN1 RX GPIO pin configuration */
hudakz 16:f4c8f45bded9 105 GPIO_InitStruct.Pin = GPIO_PIN_11;
hudakz 16:f4c8f45bded9 106 GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
hudakz 16:f4c8f45bded9 107 GPIO_InitStruct.Speed = GPIO_SPEED_FAST;
hudakz 16:f4c8f45bded9 108 GPIO_InitStruct.Pull = GPIO_PULLUP;
hudakz 16:f4c8f45bded9 109 GPIO_InitStruct.Alternate = GPIO_AF9_CAN1;
hudakz 16:f4c8f45bded9 110 HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
hudakz 16:f4c8f45bded9 111
hudakz 16:f4c8f45bded9 112 /* CAN1 TX GPIO pin configuration */
hudakz 16:f4c8f45bded9 113 GPIO_InitStruct.Pin = GPIO_PIN_12;
hudakz 16:f4c8f45bded9 114 GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
hudakz 16:f4c8f45bded9 115 GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
hudakz 16:f4c8f45bded9 116 GPIO_InitStruct.Pull = GPIO_PULLUP;
hudakz 16:f4c8f45bded9 117 GPIO_InitStruct.Alternate = GPIO_AF9_CAN1;
hudakz 16:f4c8f45bded9 118 HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
hudakz 16:f4c8f45bded9 119 }
hudakz 16:f4c8f45bded9 120 else
hudakz 16:f4c8f45bded9 121 if((_rxPin == PB_8) && (_txPin == PB_9)) {
hudakz 16:f4c8f45bded9 122 /* CAN1 Periph clock enable */
hudakz 16:f4c8f45bded9 123 __CAN_CLK_ENABLE();
hudakz 16:f4c8f45bded9 124
hudakz 16:f4c8f45bded9 125 /* Enable GPIO clock */
hudakz 16:f4c8f45bded9 126 __GPIOB_CLK_ENABLE();
hudakz 16:f4c8f45bded9 127
hudakz 16:f4c8f45bded9 128 /* CAN1 RX GPIO pin configuration */
hudakz 16:f4c8f45bded9 129 GPIO_InitStruct.Pin = GPIO_PIN_8;
hudakz 16:f4c8f45bded9 130 GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
hudakz 16:f4c8f45bded9 131 GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
hudakz 16:f4c8f45bded9 132 GPIO_InitStruct.Pull = GPIO_PULLUP;
hudakz 16:f4c8f45bded9 133 GPIO_InitStruct.Alternate = GPIO_AF9_CAN1;
hudakz 16:f4c8f45bded9 134 HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
hudakz 16:f4c8f45bded9 135
hudakz 16:f4c8f45bded9 136 /* CAN1 TX GPIO pin configuration */
hudakz 16:f4c8f45bded9 137 GPIO_InitStruct.Pin = GPIO_PIN_9;
hudakz 16:f4c8f45bded9 138 GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
hudakz 16:f4c8f45bded9 139 GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
hudakz 16:f4c8f45bded9 140 GPIO_InitStruct.Pull = GPIO_PULLUP;
hudakz 16:f4c8f45bded9 141 GPIO_InitStruct.Alternate = GPIO_AF9_CAN1;
hudakz 16:f4c8f45bded9 142 HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
hudakz 16:f4c8f45bded9 143 }
hudakz 16:f4c8f45bded9 144 else
hudakz 16:f4c8f45bded9 145 return;
hudakz 16:f4c8f45bded9 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 16:f4c8f45bded9 149 }
hudakz 16:f4c8f45bded9 150
hudakz 16:f4c8f45bded9 151 /**
hudakz 16:f4c8f45bded9 152 * @brief CAN MSP De-Initialization
hudakz 16:f4c8f45bded9 153 * This function frees the hardware resources used:
hudakz 16:f4c8f45bded9 154 * - Disable the Peripheral's clock
hudakz 16:f4c8f45bded9 155 * - Revert GPIO to their default state
hudakz 16:f4c8f45bded9 156 * @param hcan: CAN handle pointer
hudakz 16:f4c8f45bded9 157 * @retval None
hudakz 16:f4c8f45bded9 158 */
hudakz 16:f4c8f45bded9 159 void HAL_CAN_MspDeInit(CAN_HandleTypeDef* hcan) {
hudakz 16:f4c8f45bded9 160
hudakz 16:f4c8f45bded9 161 /* Reset peripherals */
hudakz 16:f4c8f45bded9 162
hudakz 16:f4c8f45bded9 163 __CAN_FORCE_RESET();
hudakz 16:f4c8f45bded9 164 __CAN_RELEASE_RESET();
hudakz 16:f4c8f45bded9 165
hudakz 16:f4c8f45bded9 166 /* Disable peripherals and GPIO Clocks */
hudakz 16:f4c8f45bded9 167 if((_rxPin == PA_11) && (_txPin == PA_12)) {
hudakz 16:f4c8f45bded9 168 /* De-initialize the CAN1 RX GPIO pin */
hudakz 16:f4c8f45bded9 169 HAL_GPIO_DeInit(GPIOA, GPIO_PIN_11);
hudakz 16:f4c8f45bded9 170
hudakz 16:f4c8f45bded9 171 /* De-initialize the CAN1 TX GPIO pin */
hudakz 16:f4c8f45bded9 172 HAL_GPIO_DeInit(GPIOA, GPIO_PIN_12);
hudakz 16:f4c8f45bded9 173 }
hudakz 16:f4c8f45bded9 174 else {
hudakz 16:f4c8f45bded9 175
hudakz 16:f4c8f45bded9 176 /* De-initialize the CAN1 RX GPIO pin */
hudakz 16:f4c8f45bded9 177 HAL_GPIO_DeInit(GPIOB, GPIO_PIN_8);
hudakz 16:f4c8f45bded9 178
hudakz 16:f4c8f45bded9 179 /* De-initialize the CAN1 TX GPIO pin */
hudakz 16:f4c8f45bded9 180 HAL_GPIO_DeInit(GPIOB, GPIO_PIN_9);
hudakz 16:f4c8f45bded9 181 }
hudakz 16:f4c8f45bded9 182
hudakz 16:f4c8f45bded9 183
hudakz 16:f4c8f45bded9 184 /* Disable the NVIC for CAN reception */
hudakz 16:f4c8f45bded9 185 HAL_NVIC_DisableIRQ(CAN_IRQ);
hudakz 16:f4c8f45bded9 186 }
hudakz 16:f4c8f45bded9 187
hudakz 16:f4c8f45bded9 188 /**
hudakz 16:f4c8f45bded9 189 * @brief Handles CAN RX0 interrupt request.
hudakz 16:f4c8f45bded9 190 * @param None
hudakz 16:f4c8f45bded9 191 * @retval None
hudakz 16:f4c8f45bded9 192 */
hudakz 16:f4c8f45bded9 193 void USB_LP_CAN_RX0_IRQHandler(void) {
hudakz 16:f4c8f45bded9 194 HAL_CAN_IRQHandler(&_canHandle);
hudakz 16:f4c8f45bded9 195 }
hudakz 16:f4c8f45bded9 196
hudakz 16:f4c8f45bded9 197 /**
hudakz 16:f4c8f45bded9 198 * @brief Reception complete callback in non blocking mode
hudakz 16:f4c8f45bded9 199 * @param _canHandle: pointer to a CAN_HandleTypeDef structure that contains
hudakz 16:f4c8f45bded9 200 * the configuration information for the specified CAN.
hudakz 16:f4c8f45bded9 201 * @retval None
hudakz 16:f4c8f45bded9 202 */
hudakz 16:f4c8f45bded9 203 void HAL_CAN_RxCpltCallback(CAN_HandleTypeDef* _canHandle) {
hudakz 16:f4c8f45bded9 204 // if(HAL_CAN_Receive_IT(_canHandle, CAN_FIFO0) == HAL_OK) {
hudakz 16:f4c8f45bded9 205 // if(rxCompleteCallback != NULL)
hudakz 16:f4c8f45bded9 206 // rxCompleteCallback();
hudakz 16:f4c8f45bded9 207 // }
hudakz 16:f4c8f45bded9 208 // else {
hudakz 16:f4c8f45bded9 209 // error_handler(error);
hudakz 16:f4c8f45bded9 210 // }
hudakz 16:f4c8f45bded9 211
hudakz 16:f4c8f45bded9 212 // BUG: CAN race condition if HAL_CAN_Receive_IT() is used.
hudakz 16:f4c8f45bded9 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 16:f4c8f45bded9 214 //
hudakz 16:f4c8f45bded9 215 // Fixed by Mark Burton:
hudakz 16:f4c8f45bded9 216 // ideally, we should be able to call HAL_CAN_Receive_IT() here to set up for another
hudakz 16:f4c8f45bded9 217 // receive but the API is flawed because that function will fail if HAL_CAN_Transmit()
hudakz 16:f4c8f45bded9 218 // had already locked the handle when the receive interrupt occurred - so we do what
hudakz 16:f4c8f45bded9 219 // HAL_CAN_Receive_IT() would do
hudakz 16:f4c8f45bded9 220
hudakz 16:f4c8f45bded9 221 if (rxCompleteCallback != 0)
hudakz 16:f4c8f45bded9 222 rxCompleteCallback();
hudakz 16:f4c8f45bded9 223
hudakz 16:f4c8f45bded9 224 if (_canHandle->State == HAL_CAN_STATE_BUSY_TX)
hudakz 16:f4c8f45bded9 225 _canHandle->State = HAL_CAN_STATE_BUSY_TX_RX;
hudakz 16:f4c8f45bded9 226 else {
hudakz 16:f4c8f45bded9 227 _canHandle->State = HAL_CAN_STATE_BUSY_RX;
hudakz 16:f4c8f45bded9 228
hudakz 16:f4c8f45bded9 229 /* Set CAN error code to none */
hudakz 16:f4c8f45bded9 230 _canHandle->ErrorCode = HAL_CAN_ERROR_NONE;
hudakz 16:f4c8f45bded9 231
hudakz 16:f4c8f45bded9 232 /* Enable Error warning Interrupt */
hudakz 16:f4c8f45bded9 233 __HAL_CAN_ENABLE_IT(_canHandle, CAN_IT_EWG);
hudakz 16:f4c8f45bded9 234
hudakz 16:f4c8f45bded9 235 /* Enable Error passive Interrupt */
hudakz 16:f4c8f45bded9 236 __HAL_CAN_ENABLE_IT(_canHandle, CAN_IT_EPV);
hudakz 16:f4c8f45bded9 237
hudakz 16:f4c8f45bded9 238 /* Enable Bus-off Interrupt */
hudakz 16:f4c8f45bded9 239 __HAL_CAN_ENABLE_IT(_canHandle, CAN_IT_BOF);
hudakz 16:f4c8f45bded9 240
hudakz 16:f4c8f45bded9 241 /* Enable Last error code Interrupt */
hudakz 16:f4c8f45bded9 242 __HAL_CAN_ENABLE_IT(_canHandle, CAN_IT_LEC);
hudakz 16:f4c8f45bded9 243
hudakz 16:f4c8f45bded9 244 /* Enable Error Interrupt */
hudakz 16:f4c8f45bded9 245 __HAL_CAN_ENABLE_IT(_canHandle, CAN_IT_ERR);
hudakz 16:f4c8f45bded9 246 }
hudakz 16:f4c8f45bded9 247
hudakz 16:f4c8f45bded9 248 // Enable FIFO 0 message pending Interrupt
hudakz 16:f4c8f45bded9 249 __HAL_CAN_ENABLE_IT(_canHandle, CAN_IT_FMP0);
hudakz 16:f4c8f45bded9 250 }
hudakz 16:f4c8f45bded9 251 #endif