Diff: targets/TARGET_STM/TARGET_STM32F2/can_api.c

Revision:

160:d5399cc887bb

Parent:

159:612c381a210f

Child:

161:2cc1468da177

--- a/targets/TARGET_STM/TARGET_STM32F2/can_api.c	Tue Feb 28 17:13:35 2017 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,540 +0,0 @@
-/* mbed Microcontroller Library
- * Copyright (c) 2006-2016 ARM Limited
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *     http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-#include "can_api.h"
-
-#if DEVICE_CAN
-
-#include "cmsis.h"
-#include "pinmap.h"
-#include "PeripheralPins.h"
-#include "mbed_error.h"
-#include <math.h>
-#include <string.h>
-
-#define CAN_NUM    2
-static CAN_HandleTypeDef CanHandle;
-static uint32_t can_irq_ids[CAN_NUM] = {0};
-static can_irq_handler irq_handler;
-
-void can_init(can_t *obj, PinName rd, PinName td)
-{
-    uint32_t filter_number;
-    CANName can_rd = (CANName)pinmap_peripheral(rd, PinMap_CAN_RD);
-    CANName can_td = (CANName)pinmap_peripheral(td, PinMap_CAN_TD);
-    obj->can = (CANName)pinmap_merge(can_rd, can_td);
-    MBED_ASSERT((int)obj->can != NC);
-
-    if (obj->can == CAN_1) {
-        __HAL_RCC_CAN1_CLK_ENABLE();
-        obj->index = 0;
-    } else {
-        __HAL_RCC_CAN2_CLK_ENABLE();
-        obj->index = 1;
-    }
-
-    // Configure the CAN pins
-    pinmap_pinout(rd, PinMap_CAN_RD);
-    pinmap_pinout(td, PinMap_CAN_TD);
-    if (rd != NC) {
-        pin_mode(rd, PullUp);
-    }
-    if (td != NC) {
-        pin_mode(td, PullUp);
-    }
-
-    CanHandle.Instance = (CAN_TypeDef *)(obj->can);
-
-    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;
-    CanHandle.Init.SJW = CAN_SJW_1TQ;
-    CanHandle.Init.BS1 = CAN_BS1_6TQ;
-    CanHandle.Init.BS2 = CAN_BS2_8TQ;
-    CanHandle.Init.Prescaler = 2;
-
-    if (HAL_CAN_Init(&CanHandle) != HAL_OK) {
-        error("Cannot initialize CAN");
-    }
-
-    filter_number = (obj->can == CAN_1) ? 0 : 14;
-
-    // Set initial CAN frequency to 100kb/s
-    can_frequency(obj, 100000);
-
-    can_filter(obj, 0, 0, CANStandard, filter_number);
-}
-
-void can_irq_init(can_t *obj, can_irq_handler handler, uint32_t id)
-{
-    irq_handler = handler;
-    can_irq_ids[obj->index] = id;
-}
-
-void can_irq_free(can_t *obj)
-{
-    CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
-
-    can->IER &= ~(CAN_IT_FMP0 | CAN_IT_FMP1 | CAN_IT_TME | \
-                  CAN_IT_ERR | CAN_IT_EPV | CAN_IT_BOF);
-    can_irq_ids[obj->can] = 0;
-}
-
-void can_free(can_t *obj)
-{
-    // Reset CAN and disable clock
-    if (obj->can == CAN_1) {
-        __HAL_RCC_CAN1_FORCE_RESET();
-        __HAL_RCC_CAN1_RELEASE_RESET();
-        __HAL_RCC_CAN1_CLK_DISABLE();
-    }
-
-    if (obj->can == CAN_2) {
-        __HAL_RCC_CAN2_FORCE_RESET();
-        __HAL_RCC_CAN2_RELEASE_RESET();
-        __HAL_RCC_CAN2_CLK_DISABLE();
-    }
-}
-
-// The following table is used to program bit_timing. It is an adjustment of the sample
-// point by synchronizing on the start-bit edge and resynchronizing on the following edges.
-// This table has the sampling points as close to 75% as possible (most commonly used).
-// The first value is TSEG1, the second TSEG2.
-static const int timing_pts[23][2] = {
-    {0x0, 0x0},      // 2,  50%
-    {0x1, 0x0},      // 3,  67%
-    {0x2, 0x0},      // 4,  75%
-    {0x3, 0x0},      // 5,  80%
-    {0x3, 0x1},      // 6,  67%
-    {0x4, 0x1},      // 7,  71%
-    {0x5, 0x1},      // 8,  75%
-    {0x6, 0x1},      // 9,  78%
-    {0x6, 0x2},      // 10, 70%
-    {0x7, 0x2},      // 11, 73%
-    {0x8, 0x2},      // 12, 75%
-    {0x9, 0x2},      // 13, 77%
-    {0x9, 0x3},      // 14, 71%
-    {0xA, 0x3},      // 15, 73%
-    {0xB, 0x3},      // 16, 75%
-    {0xC, 0x3},      // 17, 76%
-    {0xD, 0x3},      // 18, 78%
-    {0xD, 0x4},      // 19, 74%
-    {0xE, 0x4},      // 20, 75%
-    {0xF, 0x4},      // 21, 76%
-    {0xF, 0x5},      // 22, 73%
-    {0xF, 0x6},      // 23, 70%
-    {0xF, 0x7},      // 24, 67%
-};
-
-static unsigned int can_speed(unsigned int pclk, unsigned int cclk, unsigned char psjw)
-{
-    uint32_t    btr;
-    uint16_t    brp = 0;
-    uint32_t    calcbit;
-    uint32_t    bitwidth;
-    int         hit = 0;
-    int         bits;
-
-    bitwidth = (pclk / cclk);
-
-    brp = bitwidth / 0x18;
-    while ((!hit) && (brp < bitwidth / 4)) {
-        brp++;
-        for (bits = 22; bits > 0; bits--) {
-            calcbit = (bits + 3) * (brp + 1);
-            if (calcbit == bitwidth) {
-                hit = 1;
-                break;
-            }
-        }
-    }
-
-    if (hit) {
-        btr = ((timing_pts[bits][1] << 20) & 0x00700000)
-              | ((timing_pts[bits][0] << 16) & 0x000F0000)
-              | ((psjw                << 24) & 0x0000C000)
-              | ((brp                 <<  0) & 0x000003FF);
-    } else {
-        btr = 0xFFFFFFFF;
-    }
-
-    return btr;
-
-}
-
-int can_frequency(can_t *obj, int f)
-{
-    int pclk = HAL_RCC_GetPCLK1Freq();
-    int btr = can_speed(pclk, (unsigned int)f, 1);
-    CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
-
-    if (btr > 0) {
-        can->MCR |= CAN_MCR_INRQ ;
-        while ((can->MSR & CAN_MSR_INAK) != CAN_MSR_INAK) {
-        }
-        can->BTR = btr;
-        can->MCR &= ~(uint32_t)CAN_MCR_INRQ;
-        while ((can->MSR & CAN_MSR_INAK) == CAN_MSR_INAK) {
-        }
-        return 1;
-    } else {
-        return 0;
-    }
-}
-
-int can_write(can_t *obj, CAN_Message msg, int cc)
-{
-    uint32_t  transmitmailbox = 5;
-    CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
-
-    /* Select one empty transmit mailbox */
-    if ((can->TSR & CAN_TSR_TME0) == CAN_TSR_TME0) {
-        transmitmailbox = 0;
-    } else if ((can->TSR & CAN_TSR_TME1) == CAN_TSR_TME1) {
-        transmitmailbox = 1;
-    } else if ((can->TSR & CAN_TSR_TME2) == CAN_TSR_TME2) {
-        transmitmailbox = 2;
-    } else {
-        transmitmailbox = CAN_TXSTATUS_NOMAILBOX;
-    }
-
-    if (transmitmailbox != CAN_TXSTATUS_NOMAILBOX) {
-        can->sTxMailBox[transmitmailbox].TIR &= CAN_TI0R_TXRQ;
-        if (!(msg.format)) {
-            can->sTxMailBox[transmitmailbox].TIR |= ((msg.id << 21) | msg.type);
-        } else {
-            can->sTxMailBox[transmitmailbox].TIR |= ((msg.id << 3) | CAN_ID_EXT | msg.type);
-        }
-
-        /* Set up the DLC */
-        can->sTxMailBox[transmitmailbox].TDTR &= (uint32_t)0xFFFFFFF0;
-        can->sTxMailBox[transmitmailbox].TDTR |= (msg.len & (uint8_t)0x0000000F);
-
-        /* Set up the data field */
-        can->sTxMailBox[transmitmailbox].TDLR = (((uint32_t)msg.data[3] << 24) |
-                                                ((uint32_t)msg.data[2] << 16) |
-                                                ((uint32_t)msg.data[1] << 8) |
-                                                ((uint32_t)msg.data[0]));
-        can->sTxMailBox[transmitmailbox].TDHR = (((uint32_t)msg.data[7] << 24) |
-                                                ((uint32_t)msg.data[6] << 16) |
-                                                ((uint32_t)msg.data[5] << 8) |
-                                                ((uint32_t)msg.data[4]));
-        /* Request transmission */
-        can->sTxMailBox[transmitmailbox].TIR |= CAN_TI0R_TXRQ;
-    }
-
-    return 1;
-}
-
-int can_read(can_t *obj, CAN_Message *msg, int handle)
-{
-    //handle is the FIFO number
-
-    CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
-
-    // check FPM0 which holds the pending message count in FIFO 0
-    // if no message is pending, return 0
-    if ((can->RF0R & CAN_RF0R_FMP0) == 0) {
-        return 0;
-    }
-
-    /* Get the Id */
-    msg->format = (CANFormat)((uint8_t)0x04 & can->sFIFOMailBox[handle].RIR);
-    if (!msg->format) {
-        msg->id = (uint32_t)0x000007FF & (can->sFIFOMailBox[handle].RIR >> 21);
-    } else {
-        msg->id = (uint32_t)0x1FFFFFFF & (can->sFIFOMailBox[handle].RIR >> 3);
-    }
-
-    msg->type = (CANType)((uint8_t)0x02 & can->sFIFOMailBox[handle].RIR);
-    /* Get the DLC */
-    msg->len = (uint8_t)0x0F & can->sFIFOMailBox[handle].RDTR;
-//  /* Get the FMI */
-//  msg->FMI = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDTR >> 8);
-    /* Get the data field */
-    msg->data[0] = (uint8_t)0xFF & can->sFIFOMailBox[handle].RDLR;
-    msg->data[1] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDLR >> 8);
-    msg->data[2] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDLR >> 16);
-    msg->data[3] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDLR >> 24);
-    msg->data[4] = (uint8_t)0xFF & can->sFIFOMailBox[handle].RDHR;
-    msg->data[5] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDHR >> 8);
-    msg->data[6] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDHR >> 16);
-    msg->data[7] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDHR >> 24);
-
-    /* Release the FIFO */
-    if (handle == CAN_FIFO0) {
-        /* Release FIFO0 */
-        can->RF0R |= CAN_RF0R_RFOM0;
-    } else { /* FIFONumber == CAN_FIFO1 */
-        /* Release FIFO1 */
-        can->RF1R |= CAN_RF1R_RFOM1;
-    }
-
-    return 1;
-}
-
-void can_reset(can_t *obj)
-{
-    CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
-
-    can->MCR |= CAN_MCR_RESET;
-    can->ESR = 0x0;
-}
-
-unsigned char can_rderror(can_t *obj)
-{
-    CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
-    return (can->ESR >> 24) & 0xFF;
-}
-
-unsigned char can_tderror(can_t *obj)
-{
-    CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
-    return (can->ESR >> 16) & 0xFF;
-}
-
-void can_monitor(can_t *obj, int silent)
-{
-    CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
-
-    can->MCR |= CAN_MCR_INRQ ;
-    while ((can->MSR & CAN_MSR_INAK) != CAN_MSR_INAK) {
-    }
-    if (silent) {
-        can->BTR |= ((uint32_t)1 << 31);
-    } else {
-        can->BTR &= ~((uint32_t)1 << 31);
-    }
-    can->MCR &= ~(uint32_t)CAN_MCR_INRQ;
-    while ((can->MSR & CAN_MSR_INAK) == CAN_MSR_INAK) {
-    }
-}
-
-int can_mode(can_t *obj, CanMode mode)
-{
-    int success = 0;
-    CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
-    can->MCR |= CAN_MCR_INRQ ;
-    while ((can->MSR & CAN_MSR_INAK) != CAN_MSR_INAK) {
-    }
-    switch (mode) {
-        case MODE_NORMAL:
-            can->BTR &= ~(CAN_BTR_SILM | CAN_BTR_LBKM);
-            success = 1;
-            break;
-        case MODE_SILENT:
-            can->BTR |= CAN_BTR_SILM;
-            can->BTR &= ~CAN_BTR_LBKM;
-            success = 1;
-            break;
-        case MODE_TEST_GLOBAL:
-        case MODE_TEST_LOCAL:
-            can->BTR |= CAN_BTR_LBKM;
-            can->BTR &= ~CAN_BTR_SILM;
-            success = 1;
-            break;
-        case MODE_TEST_SILENT:
-            can->BTR |= (CAN_BTR_SILM | CAN_BTR_LBKM);
-            success = 1;
-            break;
-        default:
-            success = 0;
-            break;
-    }
-    can->MCR &= ~(uint32_t)CAN_MCR_INRQ;
-    while ((can->MSR & CAN_MSR_INAK) == CAN_MSR_INAK) {
-    }
-    return success;
-}
-
-int can_filter(can_t *obj, uint32_t id, uint32_t mask, CANFormat format, int32_t handle)
-{
-    CanHandle.Instance = (CAN_TypeDef *)(obj->can);
-    CAN_FilterConfTypeDef  sFilterConfig;
-
-    sFilterConfig.FilterNumber = handle;
-    sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
-    sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
-    sFilterConfig.FilterIdHigh = (uint8_t)(id >> 8);
-    sFilterConfig.FilterIdLow = (uint8_t) id;
-    sFilterConfig.FilterMaskIdHigh = (uint8_t)(mask >> 8);
-    sFilterConfig.FilterMaskIdLow = (uint8_t) mask;
-    sFilterConfig.FilterFIFOAssignment = 0;
-    sFilterConfig.FilterActivation = ENABLE;
-    sFilterConfig.BankNumber = 14 + handle;
-
-    HAL_CAN_ConfigFilter(&CanHandle, &sFilterConfig);
-
-    return 0;
-}
-
-static void can_irq(CANName name, int id)
-{
-    uint32_t tmp1 = 0, tmp2 = 0, tmp3 = 0;
-    CanHandle.Instance = (CAN_TypeDef *)name;
-
-    if (__HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_TME)) {
-        tmp1 = __HAL_CAN_TRANSMIT_STATUS(&CanHandle, CAN_TXMAILBOX_0);
-        tmp2 = __HAL_CAN_TRANSMIT_STATUS(&CanHandle, CAN_TXMAILBOX_1);
-        tmp3 = __HAL_CAN_TRANSMIT_STATUS(&CanHandle, CAN_TXMAILBOX_2);
-        if (tmp1 || tmp2 || tmp3) {
-            irq_handler(can_irq_ids[id], IRQ_TX);
-        }
-    }
-
-    tmp1 = __HAL_CAN_MSG_PENDING(&CanHandle, CAN_FIFO0);
-    tmp2 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_FMP0);
-
-    if ((tmp1 != 0) && tmp2) {
-        irq_handler(can_irq_ids[id], IRQ_RX);
-    }
-
-    tmp1 = __HAL_CAN_GET_FLAG(&CanHandle, CAN_FLAG_EPV);
-    tmp2 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_EPV);
-    tmp3 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_ERR);
-
-    if (tmp1 && tmp2 && tmp3) {
-        irq_handler(can_irq_ids[id], IRQ_PASSIVE);
-    }
-
-    tmp1 = __HAL_CAN_GET_FLAG(&CanHandle, CAN_FLAG_BOF);
-    tmp2 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_BOF);
-    tmp3 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_ERR);
-    if (tmp1 && tmp2 && tmp3) {
-        irq_handler(can_irq_ids[id], IRQ_BUS);
-    }
-
-    tmp3 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_ERR);
-    if (tmp1 && tmp2 && tmp3) {
-        irq_handler(can_irq_ids[id], IRQ_ERROR);
-    }
-}
-
-void CAN1_RX0_IRQHandler(void)
-{
-    can_irq(CAN_1, 0);
-}
-
-void CAN1_TX_IRQHandler(void)
-{
-    can_irq(CAN_1, 0);
-}
-
-void CAN1_SCE_IRQHandler(void)
-{
-    can_irq(CAN_1, 0);
-}
-
-void CAN2_RX0_IRQHandler(void)
-{
-    can_irq(CAN_2, 1);
-}
-
-void CAN2_TX_IRQHandler(void)
-{
-    can_irq(CAN_2, 1);
-}
-
-void CAN2_SCE_IRQHandler(void)
-{
-    can_irq(CAN_2, 1);
-}
-
-void can_irq_set(can_t *obj, CanIrqType type, uint32_t enable)
-{
-
-    CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
-    IRQn_Type irq_n = (IRQn_Type)0;
-    uint32_t vector = 0;
-    uint32_t ier;
-
-    if (obj->can == CAN_1) {
-        switch (type) {
-            case IRQ_RX:
-                ier = CAN_IT_FMP0;
-                irq_n = CAN1_RX0_IRQn;
-                vector = (uint32_t)&CAN1_RX0_IRQHandler;
-                break;
-            case IRQ_TX:
-                ier = CAN_IT_TME;
-                irq_n = CAN1_TX_IRQn;
-                vector = (uint32_t)&CAN1_TX_IRQHandler;
-                break;
-            case IRQ_ERROR:
-                ier = CAN_IT_ERR;
-                irq_n = CAN1_SCE_IRQn;
-                vector = (uint32_t)&CAN1_SCE_IRQHandler;
-                break;
-            case IRQ_PASSIVE:
-                ier = CAN_IT_EPV;
-                irq_n = CAN1_SCE_IRQn;
-                vector = (uint32_t)&CAN1_SCE_IRQHandler;
-                break;
-            case IRQ_BUS:
-                ier = CAN_IT_BOF;
-                irq_n = CAN1_SCE_IRQn;
-                vector = (uint32_t)&CAN1_SCE_IRQHandler;
-                break;
-            default:
-                return;
-        }
-    } else {
-        switch (type) {
-            case IRQ_RX:
-                ier = CAN_IT_FMP0;
-                irq_n = CAN2_RX0_IRQn;
-                vector = (uint32_t)&CAN2_RX0_IRQHandler;
-                break;
-            case IRQ_TX:
-                ier = CAN_IT_TME;
-                irq_n = CAN2_TX_IRQn;
-                vector = (uint32_t)&CAN2_TX_IRQHandler;
-                break;
-            case IRQ_ERROR:
-                ier = CAN_IT_ERR;
-                irq_n = CAN2_SCE_IRQn;
-                vector = (uint32_t)&CAN2_SCE_IRQHandler;
-                break;
-            case IRQ_PASSIVE:
-                ier = CAN_IT_EPV;
-                irq_n = CAN2_SCE_IRQn;
-                vector = (uint32_t)&CAN2_SCE_IRQHandler;
-                break;
-            case IRQ_BUS:
-                ier = CAN_IT_BOF;
-                irq_n = CAN2_SCE_IRQn;
-                vector = (uint32_t)&CAN2_SCE_IRQHandler;
-                break;
-            default:
-                return;
-        }
-    }
-
-    if (enable) {
-        can->IER |= ier;
-    } else {
-        can->IER &= ~ier;
-    }
-
-    NVIC_SetVector(irq_n, vector);
-    NVIC_EnableIRQ(irq_n);
-}
-
-#endif // DEVICE_CAN
-