shao ziyang / mbed-dev

mbed library sources. Supersedes mbed-src. Add PORTG support for STM32L476JG (SensorTile kit)

Dependents:   SensorTileTest

Fork of mbed-dev by mbed official

targets/TARGET_STM/TARGET_STM32L4/can_api.c@154:1375a99fb16d, 2017-01-02 (annotated)

Committer:
shaoziyang
Date:
Mon Jan 02 15:52:04 2017 +0000
Revision:
154:1375a99fb16d
Parent:
149:156823d33999 
Mbed for ST SensorTile kit, fixed GPIOG bug, add PORTG support.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
<> 144:ef7eb2e8f9f7 1 /* mbed Microcontroller Library
<> 144:ef7eb2e8f9f7 2 * Copyright (c) 2006-2016 ARM Limited
<> 144:ef7eb2e8f9f7 3 *
<> 144:ef7eb2e8f9f7 4 * Licensed under the Apache License, Version 2.0 (the "License");
<> 144:ef7eb2e8f9f7 5 * you may not use this file except in compliance with the License.
<> 144:ef7eb2e8f9f7 6 * You may obtain a copy of the License at
<> 144:ef7eb2e8f9f7 7 *
<> 144:ef7eb2e8f9f7 8 * http://www.apache.org/licenses/LICENSE-2.0
<> 144:ef7eb2e8f9f7 9 *
<> 144:ef7eb2e8f9f7 10 * Unless required by applicable law or agreed to in writing, software
<> 144:ef7eb2e8f9f7 11 * distributed under the License is distributed on an "AS IS" BASIS,
<> 144:ef7eb2e8f9f7 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
<> 144:ef7eb2e8f9f7 13 * See the License for the specific language governing permissions and
<> 144:ef7eb2e8f9f7 14 * limitations under the License.
<> 144:ef7eb2e8f9f7 15 */
<> 144:ef7eb2e8f9f7 16 #include "can_api.h"
<> 144:ef7eb2e8f9f7 17
<> 144:ef7eb2e8f9f7 18 #if DEVICE_CAN
<> 144:ef7eb2e8f9f7 19
<> 144:ef7eb2e8f9f7 20 #include "cmsis.h"
<> 144:ef7eb2e8f9f7 21 #include "pinmap.h"
<> 144:ef7eb2e8f9f7 22 #include "PeripheralPins.h"
<> 144:ef7eb2e8f9f7 23 #include "mbed_error.h"
<> 144:ef7eb2e8f9f7 24 #include <math.h>
<> 144:ef7eb2e8f9f7 25 #include <string.h>
<> 144:ef7eb2e8f9f7 26
<> 144:ef7eb2e8f9f7 27 #define CAN_NUM 1
<> 144:ef7eb2e8f9f7 28 static CAN_HandleTypeDef CanHandle;
<> 144:ef7eb2e8f9f7 29 static uint32_t can_irq_ids[CAN_NUM] = {0};
<> 144:ef7eb2e8f9f7 30 static can_irq_handler irq_handler;
<> 144:ef7eb2e8f9f7 31
<> 144:ef7eb2e8f9f7 32 void can_init(can_t *obj, PinName rd, PinName td)
<> 144:ef7eb2e8f9f7 33 {
<> 144:ef7eb2e8f9f7 34 CANName can_rd = (CANName)pinmap_peripheral(rd, PinMap_CAN_RD);
<> 144:ef7eb2e8f9f7 35 CANName can_td = (CANName)pinmap_peripheral(td, PinMap_CAN_TD);
<> 144:ef7eb2e8f9f7 36 obj->can = (CANName)pinmap_merge(can_rd, can_td);
<> 144:ef7eb2e8f9f7 37 MBED_ASSERT((int)obj->can != NC);
<> 144:ef7eb2e8f9f7 38
<> 144:ef7eb2e8f9f7 39 if(obj->can == CAN_1) {
<> 144:ef7eb2e8f9f7 40 __CAN_CLK_ENABLE();
<> 144:ef7eb2e8f9f7 41 obj->index = 0;
<> 144:ef7eb2e8f9f7 42 }
<> 144:ef7eb2e8f9f7 43
<> 144:ef7eb2e8f9f7 44 // Configure the CAN pins
<> 144:ef7eb2e8f9f7 45 pinmap_pinout(rd, PinMap_CAN_RD);
<> 144:ef7eb2e8f9f7 46 pinmap_pinout(td, PinMap_CAN_TD);
<> 144:ef7eb2e8f9f7 47 if (rd != NC) {
<> 144:ef7eb2e8f9f7 48 pin_mode(rd, PullUp);
<> 144:ef7eb2e8f9f7 49 }
<> 144:ef7eb2e8f9f7 50 if (td != NC) {
<> 144:ef7eb2e8f9f7 51 pin_mode(td, PullUp);
<> 144:ef7eb2e8f9f7 52 }
<> 144:ef7eb2e8f9f7 53
<> 144:ef7eb2e8f9f7 54 CanHandle.Instance = (CAN_TypeDef *)(obj->can);
<> 144:ef7eb2e8f9f7 55
<> 144:ef7eb2e8f9f7 56 CanHandle.Init.TTCM = DISABLE;
<> 144:ef7eb2e8f9f7 57 CanHandle.Init.ABOM = DISABLE;
<> 144:ef7eb2e8f9f7 58 CanHandle.Init.AWUM = DISABLE;
<> 144:ef7eb2e8f9f7 59 CanHandle.Init.NART = DISABLE;
<> 144:ef7eb2e8f9f7 60 CanHandle.Init.RFLM = DISABLE;
<> 144:ef7eb2e8f9f7 61 CanHandle.Init.TXFP = DISABLE;
<> 144:ef7eb2e8f9f7 62 CanHandle.Init.Mode = CAN_MODE_NORMAL;
<> 144:ef7eb2e8f9f7 63 CanHandle.Init.SJW = CAN_SJW_1TQ;
<> 144:ef7eb2e8f9f7 64 CanHandle.Init.BS1 = CAN_BS1_6TQ;
<> 144:ef7eb2e8f9f7 65 CanHandle.Init.BS2 = CAN_BS2_8TQ;
<> 144:ef7eb2e8f9f7 66 CanHandle.Init.Prescaler = 2;
<> 144:ef7eb2e8f9f7 67
<> 144:ef7eb2e8f9f7 68 if (HAL_CAN_Init(&CanHandle) != HAL_OK) {
<> 144:ef7eb2e8f9f7 69 error("Cannot initialize CAN");
<> 144:ef7eb2e8f9f7 70 }
<> 144:ef7eb2e8f9f7 71 // Set initial CAN frequency to 100kb/s
<> 144:ef7eb2e8f9f7 72 can_frequency(obj, 100000);
<> 144:ef7eb2e8f9f7 73
<> 144:ef7eb2e8f9f7 74 can_filter(obj, 0, 0, CANStandard, 0);
<> 144:ef7eb2e8f9f7 75 }
<> 144:ef7eb2e8f9f7 76
<> 144:ef7eb2e8f9f7 77 void can_irq_init(can_t *obj, can_irq_handler handler, uint32_t id)
<> 144:ef7eb2e8f9f7 78 {
<> 144:ef7eb2e8f9f7 79 irq_handler = handler;
<> 144:ef7eb2e8f9f7 80 can_irq_ids[obj->index] = id;
<> 144:ef7eb2e8f9f7 81 }
<> 144:ef7eb2e8f9f7 82
<> 144:ef7eb2e8f9f7 83 void can_irq_free(can_t *obj)
<> 144:ef7eb2e8f9f7 84 {
<> 144:ef7eb2e8f9f7 85 CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
<> 144:ef7eb2e8f9f7 86
<> 144:ef7eb2e8f9f7 87 can->IER &= ~(CAN_IT_FMP0 | CAN_IT_FMP1 | CAN_IT_TME | \
<> 144:ef7eb2e8f9f7 88 CAN_IT_ERR | CAN_IT_EPV | CAN_IT_BOF);
<> 144:ef7eb2e8f9f7 89 can_irq_ids[obj->can] = 0;
<> 144:ef7eb2e8f9f7 90 }
<> 144:ef7eb2e8f9f7 91
<> 144:ef7eb2e8f9f7 92 void can_free(can_t *obj)
<> 144:ef7eb2e8f9f7 93 {
<> 144:ef7eb2e8f9f7 94 // Reset CAN and disable clock
<> 144:ef7eb2e8f9f7 95 if (obj->can == CAN_1) {
<> 144:ef7eb2e8f9f7 96 __CAN_FORCE_RESET();
<> 144:ef7eb2e8f9f7 97 __CAN_RELEASE_RESET();
<> 144:ef7eb2e8f9f7 98 __CAN_CLK_DISABLE();
<> 144:ef7eb2e8f9f7 99 }
<> 144:ef7eb2e8f9f7 100 }
<> 144:ef7eb2e8f9f7 101
<> 144:ef7eb2e8f9f7 102 // The following table is used to program bit_timing. It is an adjustment of the sample
<> 144:ef7eb2e8f9f7 103 // point by synchronizing on the start-bit edge and resynchronizing on the following edges.
<> 144:ef7eb2e8f9f7 104 // This table has the sampling points as close to 75% as possible (most commonly used).
<> 144:ef7eb2e8f9f7 105 // The first value is TSEG1, the second TSEG2.
<> 144:ef7eb2e8f9f7 106 static const int timing_pts[23][2] = {
<> 144:ef7eb2e8f9f7 107 {0x0, 0x0}, // 2, 50%
<> 144:ef7eb2e8f9f7 108 {0x1, 0x0}, // 3, 67%
<> 144:ef7eb2e8f9f7 109 {0x2, 0x0}, // 4, 75%
<> 144:ef7eb2e8f9f7 110 {0x3, 0x0}, // 5, 80%
<> 144:ef7eb2e8f9f7 111 {0x3, 0x1}, // 6, 67%
<> 144:ef7eb2e8f9f7 112 {0x4, 0x1}, // 7, 71%
<> 144:ef7eb2e8f9f7 113 {0x5, 0x1}, // 8, 75%
<> 144:ef7eb2e8f9f7 114 {0x6, 0x1}, // 9, 78%
<> 144:ef7eb2e8f9f7 115 {0x6, 0x2}, // 10, 70%
<> 144:ef7eb2e8f9f7 116 {0x7, 0x2}, // 11, 73%
<> 144:ef7eb2e8f9f7 117 {0x8, 0x2}, // 12, 75%
<> 144:ef7eb2e8f9f7 118 {0x9, 0x2}, // 13, 77%
<> 144:ef7eb2e8f9f7 119 {0x9, 0x3}, // 14, 71%
<> 144:ef7eb2e8f9f7 120 {0xA, 0x3}, // 15, 73%
<> 144:ef7eb2e8f9f7 121 {0xB, 0x3}, // 16, 75%
<> 144:ef7eb2e8f9f7 122 {0xC, 0x3}, // 17, 76%
<> 144:ef7eb2e8f9f7 123 {0xD, 0x3}, // 18, 78%
<> 144:ef7eb2e8f9f7 124 {0xD, 0x4}, // 19, 74%
<> 144:ef7eb2e8f9f7 125 {0xE, 0x4}, // 20, 75%
<> 144:ef7eb2e8f9f7 126 {0xF, 0x4}, // 21, 76%
<> 144:ef7eb2e8f9f7 127 {0xF, 0x5}, // 22, 73%
<> 144:ef7eb2e8f9f7 128 {0xF, 0x6}, // 23, 70%
<> 144:ef7eb2e8f9f7 129 {0xF, 0x7}, // 24, 67%
<> 144:ef7eb2e8f9f7 130 };
<> 144:ef7eb2e8f9f7 131
<> 144:ef7eb2e8f9f7 132 static unsigned int can_speed(unsigned int pclk, unsigned int cclk, unsigned char psjw)
<> 144:ef7eb2e8f9f7 133 {
<> 144:ef7eb2e8f9f7 134 uint32_t btr;
<> 144:ef7eb2e8f9f7 135 uint16_t brp = 0;
<> 144:ef7eb2e8f9f7 136 uint32_t calcbit;
<> 144:ef7eb2e8f9f7 137 uint32_t bitwidth;
<> 144:ef7eb2e8f9f7 138 int hit = 0;
<> 144:ef7eb2e8f9f7 139 int bits;
<> 144:ef7eb2e8f9f7 140
<> 144:ef7eb2e8f9f7 141 bitwidth = (pclk / cclk);
<> 144:ef7eb2e8f9f7 142
<> 144:ef7eb2e8f9f7 143 brp = bitwidth / 0x18;
<> 144:ef7eb2e8f9f7 144 while ((!hit) && (brp < bitwidth / 4)) {
<> 144:ef7eb2e8f9f7 145 brp++;
<> 144:ef7eb2e8f9f7 146 for (bits = 22; bits > 0; bits--) {
<> 144:ef7eb2e8f9f7 147 calcbit = (bits + 3) * (brp + 1);
<> 144:ef7eb2e8f9f7 148 if (calcbit == bitwidth) {
<> 144:ef7eb2e8f9f7 149 hit = 1;
<> 144:ef7eb2e8f9f7 150 break;
<> 144:ef7eb2e8f9f7 151 }
<> 144:ef7eb2e8f9f7 152 }
<> 144:ef7eb2e8f9f7 153 }
<> 144:ef7eb2e8f9f7 154
<> 144:ef7eb2e8f9f7 155 if (hit) {
<> 144:ef7eb2e8f9f7 156 btr = ((timing_pts[bits][1] << 20) & 0x00700000)
<> 144:ef7eb2e8f9f7 157 | ((timing_pts[bits][0] << 16) & 0x000F0000)
<> 144:ef7eb2e8f9f7 158 | ((psjw << 24) & 0x0000C000)
<> 144:ef7eb2e8f9f7 159 | ((brp << 0) & 0x000003FF);
<> 144:ef7eb2e8f9f7 160 } else {
<> 144:ef7eb2e8f9f7 161 btr = 0xFFFFFFFF;
<> 144:ef7eb2e8f9f7 162 }
<> 144:ef7eb2e8f9f7 163
<> 144:ef7eb2e8f9f7 164 return btr;
<> 144:ef7eb2e8f9f7 165
<> 144:ef7eb2e8f9f7 166 }
<> 144:ef7eb2e8f9f7 167
<> 144:ef7eb2e8f9f7 168 int can_frequency(can_t *obj, int f)
<> 144:ef7eb2e8f9f7 169 {
<> 144:ef7eb2e8f9f7 170 int pclk = HAL_RCC_GetPCLK1Freq();
<> 144:ef7eb2e8f9f7 171 int btr = can_speed(pclk, (unsigned int)f, 1);
<> 144:ef7eb2e8f9f7 172 CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
<> 144:ef7eb2e8f9f7 173
<> 144:ef7eb2e8f9f7 174 if (btr > 0) {
<> 144:ef7eb2e8f9f7 175 can->MCR |= CAN_MCR_INRQ ;
<> 144:ef7eb2e8f9f7 176 while((can->MSR & CAN_MSR_INAK) != CAN_MSR_INAK) {
<> 144:ef7eb2e8f9f7 177 }
<> 144:ef7eb2e8f9f7 178 can->BTR = btr;
<> 144:ef7eb2e8f9f7 179 can->MCR &= ~(uint32_t)CAN_MCR_INRQ;
<> 144:ef7eb2e8f9f7 180 while((can->MSR & CAN_MSR_INAK) == CAN_MSR_INAK) {
<> 144:ef7eb2e8f9f7 181 }
<> 144:ef7eb2e8f9f7 182 return 1;
<> 144:ef7eb2e8f9f7 183 } else {
<> 144:ef7eb2e8f9f7 184 return 0;
<> 144:ef7eb2e8f9f7 185 }
<> 144:ef7eb2e8f9f7 186 }
<> 144:ef7eb2e8f9f7 187
<> 144:ef7eb2e8f9f7 188 int can_write(can_t *obj, CAN_Message msg, int cc)
<> 144:ef7eb2e8f9f7 189 {
<> 144:ef7eb2e8f9f7 190 uint32_t transmitmailbox = 5;
<> 144:ef7eb2e8f9f7 191 CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
<> 144:ef7eb2e8f9f7 192
<> 144:ef7eb2e8f9f7 193 /* Select one empty transmit mailbox */
<> 144:ef7eb2e8f9f7 194 if ((can->TSR&CAN_TSR_TME0) == CAN_TSR_TME0) {
<> 144:ef7eb2e8f9f7 195 transmitmailbox = 0;
<> 144:ef7eb2e8f9f7 196 } else if ((can->TSR&CAN_TSR_TME1) == CAN_TSR_TME1) {
<> 144:ef7eb2e8f9f7 197 transmitmailbox = 1;
<> 144:ef7eb2e8f9f7 198 } else if ((can->TSR&CAN_TSR_TME2) == CAN_TSR_TME2) {
<> 144:ef7eb2e8f9f7 199 transmitmailbox = 2;
<> 144:ef7eb2e8f9f7 200 } else {
<> 144:ef7eb2e8f9f7 201 transmitmailbox = CAN_TXSTATUS_NOMAILBOX;
<> 144:ef7eb2e8f9f7 202 }
<> 144:ef7eb2e8f9f7 203
<> 144:ef7eb2e8f9f7 204 if (transmitmailbox != CAN_TXSTATUS_NOMAILBOX) {
<> 144:ef7eb2e8f9f7 205 can->sTxMailBox[transmitmailbox].TIR &= CAN_TI0R_TXRQ;
<> 144:ef7eb2e8f9f7 206 if (!(msg.format))
<> 144:ef7eb2e8f9f7 207 {
<> 144:ef7eb2e8f9f7 208 can->sTxMailBox[transmitmailbox].TIR |= ((msg.id << 21) | msg.type);
<> 144:ef7eb2e8f9f7 209 }
<> 144:ef7eb2e8f9f7 210 else
<> 144:ef7eb2e8f9f7 211 {
<> 144:ef7eb2e8f9f7 212 can->sTxMailBox[transmitmailbox].TIR |= ((msg.id << 3) | CAN_ID_EXT | msg.type);
<> 144:ef7eb2e8f9f7 213 }
<> 144:ef7eb2e8f9f7 214
<> 144:ef7eb2e8f9f7 215 /* Set up the DLC */
<> 144:ef7eb2e8f9f7 216 can->sTxMailBox[transmitmailbox].TDTR &= (uint32_t)0xFFFFFFF0;
<> 144:ef7eb2e8f9f7 217 can->sTxMailBox[transmitmailbox].TDTR |= (msg.len & (uint8_t)0x0000000F);
<> 144:ef7eb2e8f9f7 218
<> 144:ef7eb2e8f9f7 219 /* Set up the data field */
<> 144:ef7eb2e8f9f7 220 can->sTxMailBox[transmitmailbox].TDLR = (((uint32_t)msg.data[3] << 24) |
<> 144:ef7eb2e8f9f7 221 ((uint32_t)msg.data[2] << 16) |
<> 144:ef7eb2e8f9f7 222 ((uint32_t)msg.data[1] << 8) |
<> 144:ef7eb2e8f9f7 223 ((uint32_t)msg.data[0]));
<> 144:ef7eb2e8f9f7 224 can->sTxMailBox[transmitmailbox].TDHR = (((uint32_t)msg.data[7] << 24) |
<> 144:ef7eb2e8f9f7 225 ((uint32_t)msg.data[6] << 16) |
<> 144:ef7eb2e8f9f7 226 ((uint32_t)msg.data[5] << 8) |
<> 144:ef7eb2e8f9f7 227 ((uint32_t)msg.data[4]));
<> 144:ef7eb2e8f9f7 228 /* Request transmission */
<> 144:ef7eb2e8f9f7 229 can->sTxMailBox[transmitmailbox].TIR |= CAN_TI0R_TXRQ;
<> 144:ef7eb2e8f9f7 230 }
<> 144:ef7eb2e8f9f7 231
<> 144:ef7eb2e8f9f7 232 return 1;
<> 144:ef7eb2e8f9f7 233 }
<> 144:ef7eb2e8f9f7 234
<> 144:ef7eb2e8f9f7 235 int can_read(can_t *obj, CAN_Message *msg, int handle)
<> 144:ef7eb2e8f9f7 236 {
<> 144:ef7eb2e8f9f7 237 //handle is the FIFO number
<> 144:ef7eb2e8f9f7 238
<> 144:ef7eb2e8f9f7 239 CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
<> 144:ef7eb2e8f9f7 240
<> 144:ef7eb2e8f9f7 241 /* Get the Id */
<> 144:ef7eb2e8f9f7 242 msg->format = (CANFormat)((uint8_t)0x04 & can->sFIFOMailBox[handle].RIR);
<> 144:ef7eb2e8f9f7 243 if (!msg->format) {
<> 144:ef7eb2e8f9f7 244 msg->id = (uint32_t)0x000007FF & (can->sFIFOMailBox[handle].RIR >> 21);
<> 144:ef7eb2e8f9f7 245 } else {
<> 144:ef7eb2e8f9f7 246 msg->id = (uint32_t)0x1FFFFFFF & (can->sFIFOMailBox[handle].RIR >> 3);
<> 144:ef7eb2e8f9f7 247 }
<> 144:ef7eb2e8f9f7 248
<> 144:ef7eb2e8f9f7 249 msg->type = (CANType)((uint8_t)0x02 & can->sFIFOMailBox[handle].RIR);
<> 144:ef7eb2e8f9f7 250 /* Get the DLC */
<> 144:ef7eb2e8f9f7 251 msg->len = (uint8_t)0x0F & can->sFIFOMailBox[handle].RDTR;
<> 144:ef7eb2e8f9f7 252 // /* Get the FMI */
<> 144:ef7eb2e8f9f7 253 // msg->FMI = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDTR >> 8);
<> 144:ef7eb2e8f9f7 254 /* Get the data field */
<> 144:ef7eb2e8f9f7 255 msg->data[0] = (uint8_t)0xFF & can->sFIFOMailBox[handle].RDLR;
<> 144:ef7eb2e8f9f7 256 msg->data[1] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDLR >> 8);
<> 144:ef7eb2e8f9f7 257 msg->data[2] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDLR >> 16);
<> 144:ef7eb2e8f9f7 258 msg->data[3] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDLR >> 24);
<> 144:ef7eb2e8f9f7 259 msg->data[4] = (uint8_t)0xFF & can->sFIFOMailBox[handle].RDHR;
<> 144:ef7eb2e8f9f7 260 msg->data[5] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDHR >> 8);
<> 144:ef7eb2e8f9f7 261 msg->data[6] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDHR >> 16);
<> 144:ef7eb2e8f9f7 262 msg->data[7] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDHR >> 24);
<> 144:ef7eb2e8f9f7 263
<> 144:ef7eb2e8f9f7 264 /* Release the FIFO */
<> 144:ef7eb2e8f9f7 265 if(handle == CAN_FIFO0) {
<> 144:ef7eb2e8f9f7 266 /* Release FIFO0 */
<> 144:ef7eb2e8f9f7 267 can->RF0R = CAN_RF0R_RFOM0;
<> 144:ef7eb2e8f9f7 268 } else { /* FIFONumber == CAN_FIFO1 */
<> 144:ef7eb2e8f9f7 269 /* Release FIFO1 */
<> 144:ef7eb2e8f9f7 270 can->RF1R = CAN_RF1R_RFOM1;
<> 144:ef7eb2e8f9f7 271 }
<> 144:ef7eb2e8f9f7 272
<> 144:ef7eb2e8f9f7 273 return 1;
<> 144:ef7eb2e8f9f7 274 }
<> 144:ef7eb2e8f9f7 275
<> 144:ef7eb2e8f9f7 276 void can_reset(can_t *obj)
<> 144:ef7eb2e8f9f7 277 {
<> 144:ef7eb2e8f9f7 278 CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
<> 144:ef7eb2e8f9f7 279
<> 144:ef7eb2e8f9f7 280 can->MCR |= CAN_MCR_RESET;
<> 144:ef7eb2e8f9f7 281 can->ESR = 0x0;
<> 144:ef7eb2e8f9f7 282 }
<> 144:ef7eb2e8f9f7 283
<> 144:ef7eb2e8f9f7 284 unsigned char can_rderror(can_t *obj)
<> 144:ef7eb2e8f9f7 285 {
<> 144:ef7eb2e8f9f7 286 CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
<> 144:ef7eb2e8f9f7 287 return (can->ESR >> 24) & 0xFF;
<> 144:ef7eb2e8f9f7 288 }
<> 144:ef7eb2e8f9f7 289
<> 144:ef7eb2e8f9f7 290 unsigned char can_tderror(can_t *obj)
<> 144:ef7eb2e8f9f7 291 {
<> 144:ef7eb2e8f9f7 292 CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
<> 144:ef7eb2e8f9f7 293 return (can->ESR >> 16) & 0xFF;
<> 144:ef7eb2e8f9f7 294 }
<> 144:ef7eb2e8f9f7 295
<> 144:ef7eb2e8f9f7 296 void can_monitor(can_t *obj, int silent)
<> 144:ef7eb2e8f9f7 297 {
<> 144:ef7eb2e8f9f7 298 CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
<> 144:ef7eb2e8f9f7 299
<> 144:ef7eb2e8f9f7 300 can->MCR |= CAN_MCR_INRQ ;
<> 144:ef7eb2e8f9f7 301 while((can->MSR & CAN_MSR_INAK) != CAN_MSR_INAK) {
<> 144:ef7eb2e8f9f7 302 }
<> 144:ef7eb2e8f9f7 303 if (silent) {
<> 144:ef7eb2e8f9f7 304 can->BTR |= ((uint32_t)1 << 31);
<> 144:ef7eb2e8f9f7 305 } else {
<> 144:ef7eb2e8f9f7 306 can->BTR &= ~((uint32_t)1 << 31);
<> 144:ef7eb2e8f9f7 307 }
<> 144:ef7eb2e8f9f7 308 can->MCR &= ~(uint32_t)CAN_MCR_INRQ;
<> 144:ef7eb2e8f9f7 309 while((can->MSR & CAN_MSR_INAK) == CAN_MSR_INAK) {
<> 144:ef7eb2e8f9f7 310 }
<> 144:ef7eb2e8f9f7 311 }
<> 144:ef7eb2e8f9f7 312
<> 144:ef7eb2e8f9f7 313 int can_mode(can_t *obj, CanMode mode)
<> 144:ef7eb2e8f9f7 314 {
<> 144:ef7eb2e8f9f7 315 int success = 0;
<> 144:ef7eb2e8f9f7 316 CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
<> 144:ef7eb2e8f9f7 317 can->MCR |= CAN_MCR_INRQ ;
<> 144:ef7eb2e8f9f7 318 while((can->MSR & CAN_MSR_INAK) != CAN_MSR_INAK) {
<> 144:ef7eb2e8f9f7 319 }
<> 144:ef7eb2e8f9f7 320 switch (mode) {
<> 144:ef7eb2e8f9f7 321 case MODE_NORMAL:
<> 144:ef7eb2e8f9f7 322 can->BTR &= ~(CAN_BTR_SILM | CAN_BTR_LBKM);
<> 144:ef7eb2e8f9f7 323 success = 1;
<> 144:ef7eb2e8f9f7 324 break;
<> 144:ef7eb2e8f9f7 325 case MODE_SILENT:
<> 144:ef7eb2e8f9f7 326 can->BTR |= CAN_BTR_SILM;
<> 144:ef7eb2e8f9f7 327 can->BTR &= ~CAN_BTR_LBKM;
<> 144:ef7eb2e8f9f7 328 success = 1;
<> 144:ef7eb2e8f9f7 329 break;
<> 144:ef7eb2e8f9f7 330 case MODE_TEST_GLOBAL:
<> 144:ef7eb2e8f9f7 331 case MODE_TEST_LOCAL:
<> 144:ef7eb2e8f9f7 332 can->BTR |= CAN_BTR_LBKM;
<> 144:ef7eb2e8f9f7 333 can->BTR &= ~CAN_BTR_SILM;
<> 144:ef7eb2e8f9f7 334 success = 1;
<> 144:ef7eb2e8f9f7 335 break;
<> 144:ef7eb2e8f9f7 336 case MODE_TEST_SILENT:
<> 144:ef7eb2e8f9f7 337 can->BTR |= (CAN_BTR_SILM | CAN_BTR_LBKM);
<> 144:ef7eb2e8f9f7 338 success = 1;
<> 144:ef7eb2e8f9f7 339 break;
<> 144:ef7eb2e8f9f7 340 default:
<> 144:ef7eb2e8f9f7 341 success = 0;
<> 144:ef7eb2e8f9f7 342 break;
<> 144:ef7eb2e8f9f7 343 }
<> 144:ef7eb2e8f9f7 344 can->MCR &= ~(uint32_t)CAN_MCR_INRQ;
<> 144:ef7eb2e8f9f7 345 while((can->MSR & CAN_MSR_INAK) == CAN_MSR_INAK) {
<> 144:ef7eb2e8f9f7 346 }
<> 144:ef7eb2e8f9f7 347 return success;
<> 144:ef7eb2e8f9f7 348 }
<> 144:ef7eb2e8f9f7 349
<> 144:ef7eb2e8f9f7 350 int can_filter(can_t *obj, uint32_t id, uint32_t mask, CANFormat format, int32_t handle)
<> 144:ef7eb2e8f9f7 351 {
<> 144:ef7eb2e8f9f7 352 CanHandle.Instance = (CAN_TypeDef *)(obj->can);
<> 144:ef7eb2e8f9f7 353 CAN_FilterConfTypeDef sFilterConfig;
<> 144:ef7eb2e8f9f7 354
<> 144:ef7eb2e8f9f7 355 sFilterConfig.FilterNumber = handle;
<> 144:ef7eb2e8f9f7 356 sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
<> 144:ef7eb2e8f9f7 357 sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
<> 144:ef7eb2e8f9f7 358 sFilterConfig.FilterIdHigh = (uint8_t) (id >> 8);
<> 144:ef7eb2e8f9f7 359 sFilterConfig.FilterIdLow = (uint8_t) id;
<> 144:ef7eb2e8f9f7 360 sFilterConfig.FilterMaskIdHigh = (uint8_t) (mask >> 8);
<> 144:ef7eb2e8f9f7 361 sFilterConfig.FilterMaskIdLow = (uint8_t) mask;
<> 144:ef7eb2e8f9f7 362 sFilterConfig.FilterFIFOAssignment = 0;
<> 144:ef7eb2e8f9f7 363 sFilterConfig.FilterActivation = ENABLE;
<> 144:ef7eb2e8f9f7 364 sFilterConfig.BankNumber = 14 + handle;
<> 144:ef7eb2e8f9f7 365
<> 144:ef7eb2e8f9f7 366 HAL_CAN_ConfigFilter(&CanHandle, &sFilterConfig);
<> 144:ef7eb2e8f9f7 367
<> 144:ef7eb2e8f9f7 368 return 0;
<> 144:ef7eb2e8f9f7 369 }
<> 144:ef7eb2e8f9f7 370
<> 144:ef7eb2e8f9f7 371 static void can_irq(CANName name, int id)
<> 144:ef7eb2e8f9f7 372 {
<> 144:ef7eb2e8f9f7 373 uint32_t tmp1 = 0, tmp2 = 0, tmp3 = 0;
<> 144:ef7eb2e8f9f7 374 CanHandle.Instance = (CAN_TypeDef *)name;
<> 144:ef7eb2e8f9f7 375
<> 144:ef7eb2e8f9f7 376 if(__HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_TME)) {
<> 144:ef7eb2e8f9f7 377 tmp1 = __HAL_CAN_TRANSMIT_STATUS(&CanHandle, CAN_TXMAILBOX_0);
<> 144:ef7eb2e8f9f7 378 tmp2 = __HAL_CAN_TRANSMIT_STATUS(&CanHandle, CAN_TXMAILBOX_1);
<> 144:ef7eb2e8f9f7 379 tmp3 = __HAL_CAN_TRANSMIT_STATUS(&CanHandle, CAN_TXMAILBOX_2);
<> 144:ef7eb2e8f9f7 380 if(tmp1 || tmp2 || tmp3)
<> 144:ef7eb2e8f9f7 381 {
<> 144:ef7eb2e8f9f7 382 irq_handler(can_irq_ids[id], IRQ_TX);
<> 144:ef7eb2e8f9f7 383 }
<> 144:ef7eb2e8f9f7 384 }
<> 144:ef7eb2e8f9f7 385
<> 144:ef7eb2e8f9f7 386 tmp1 = __HAL_CAN_MSG_PENDING(&CanHandle, CAN_FIFO0);
<> 144:ef7eb2e8f9f7 387 tmp2 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_FMP0);
<> 144:ef7eb2e8f9f7 388
<> 144:ef7eb2e8f9f7 389 if((tmp1 != 0) && tmp2) {
<> 144:ef7eb2e8f9f7 390 irq_handler(can_irq_ids[id], IRQ_RX);
<> 144:ef7eb2e8f9f7 391 }
<> 144:ef7eb2e8f9f7 392
<> 144:ef7eb2e8f9f7 393 tmp1 = __HAL_CAN_GET_FLAG(&CanHandle, CAN_FLAG_EPV);
<> 144:ef7eb2e8f9f7 394 tmp2 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_EPV);
<> 144:ef7eb2e8f9f7 395 tmp3 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_ERR);
<> 144:ef7eb2e8f9f7 396
<> 144:ef7eb2e8f9f7 397 if(tmp1 && tmp2 && tmp3) {
<> 144:ef7eb2e8f9f7 398 irq_handler(can_irq_ids[id], IRQ_PASSIVE);
<> 144:ef7eb2e8f9f7 399 }
<> 144:ef7eb2e8f9f7 400
<> 144:ef7eb2e8f9f7 401 tmp1 = __HAL_CAN_GET_FLAG(&CanHandle, CAN_FLAG_BOF);
<> 144:ef7eb2e8f9f7 402 tmp2 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_BOF);
<> 144:ef7eb2e8f9f7 403 tmp3 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_ERR);
<> 144:ef7eb2e8f9f7 404 if(tmp1 && tmp2 && tmp3) {
<> 144:ef7eb2e8f9f7 405 irq_handler(can_irq_ids[id], IRQ_BUS);
<> 144:ef7eb2e8f9f7 406 }
<> 144:ef7eb2e8f9f7 407
<> 144:ef7eb2e8f9f7 408 tmp3 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_ERR);
<> 144:ef7eb2e8f9f7 409 if(tmp1 && tmp2 && tmp3) {
<> 144:ef7eb2e8f9f7 410 irq_handler(can_irq_ids[id], IRQ_ERROR);
<> 144:ef7eb2e8f9f7 411 }
<> 144:ef7eb2e8f9f7 412 }
<> 144:ef7eb2e8f9f7 413
<> 144:ef7eb2e8f9f7 414 void CAN1_RX0_IRQHandler(void)
<> 144:ef7eb2e8f9f7 415 {
<> 144:ef7eb2e8f9f7 416 can_irq(CAN_1, 0);
<> 144:ef7eb2e8f9f7 417 }
<> 144:ef7eb2e8f9f7 418
<> 144:ef7eb2e8f9f7 419 void CAN1_TX_IRQHandler(void)
<> 144:ef7eb2e8f9f7 420 {
<> 144:ef7eb2e8f9f7 421 can_irq(CAN_1, 0);
<> 144:ef7eb2e8f9f7 422 }
<> 144:ef7eb2e8f9f7 423
<> 144:ef7eb2e8f9f7 424 void CAN1_SCE_IRQHandler(void)
<> 144:ef7eb2e8f9f7 425 {
<> 144:ef7eb2e8f9f7 426 can_irq(CAN_1, 0);
<> 144:ef7eb2e8f9f7 427 }
<> 144:ef7eb2e8f9f7 428
<> 144:ef7eb2e8f9f7 429 void can_irq_set(can_t *obj, CanIrqType type, uint32_t enable)
<> 144:ef7eb2e8f9f7 430 {
<> 144:ef7eb2e8f9f7 431
<> 144:ef7eb2e8f9f7 432 CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
<> 144:ef7eb2e8f9f7 433 IRQn_Type irq_n = (IRQn_Type)0;
<> 144:ef7eb2e8f9f7 434 uint32_t vector = 0;
<> 144:ef7eb2e8f9f7 435 uint32_t ier;
<> 144:ef7eb2e8f9f7 436
<> 144:ef7eb2e8f9f7 437 if(obj->can == CAN_1) {
<> 144:ef7eb2e8f9f7 438 switch (type) {
<> 144:ef7eb2e8f9f7 439 case IRQ_RX:
<> 144:ef7eb2e8f9f7 440 ier = CAN_IT_FMP0;
<> 144:ef7eb2e8f9f7 441 irq_n = CAN1_RX0_IRQn;
<> 144:ef7eb2e8f9f7 442 vector = (uint32_t)&CAN1_RX0_IRQHandler;
<> 144:ef7eb2e8f9f7 443 break;
<> 144:ef7eb2e8f9f7 444 case IRQ_TX:
<> 144:ef7eb2e8f9f7 445 ier = CAN_IT_TME;
<> 144:ef7eb2e8f9f7 446 irq_n = CAN1_TX_IRQn;
<> 144:ef7eb2e8f9f7 447 vector = (uint32_t)&CAN1_TX_IRQHandler;
<> 144:ef7eb2e8f9f7 448 break;
<> 144:ef7eb2e8f9f7 449 case IRQ_ERROR:
<> 144:ef7eb2e8f9f7 450 ier = CAN_IT_ERR;
<> 144:ef7eb2e8f9f7 451 irq_n = CAN1_SCE_IRQn;
<> 144:ef7eb2e8f9f7 452 vector = (uint32_t)&CAN1_SCE_IRQHandler;
<> 144:ef7eb2e8f9f7 453 break;
<> 144:ef7eb2e8f9f7 454 case IRQ_PASSIVE:
<> 144:ef7eb2e8f9f7 455 ier = CAN_IT_EPV;
<> 144:ef7eb2e8f9f7 456 irq_n = CAN1_SCE_IRQn;
<> 144:ef7eb2e8f9f7 457 vector = (uint32_t)&CAN1_SCE_IRQHandler;
<> 144:ef7eb2e8f9f7 458 break;
<> 144:ef7eb2e8f9f7 459 case IRQ_BUS:
<> 144:ef7eb2e8f9f7 460 ier = CAN_IT_BOF;
<> 144:ef7eb2e8f9f7 461 irq_n = CAN1_SCE_IRQn;
<> 144:ef7eb2e8f9f7 462 vector = (uint32_t)&CAN1_SCE_IRQHandler;
<> 144:ef7eb2e8f9f7 463 break;
<> 144:ef7eb2e8f9f7 464 default: return;
<> 144:ef7eb2e8f9f7 465 }
<> 144:ef7eb2e8f9f7 466 }
<> 144:ef7eb2e8f9f7 467
<> 144:ef7eb2e8f9f7 468 if(enable) {
<> 144:ef7eb2e8f9f7 469 can->IER |= ier;
<> 144:ef7eb2e8f9f7 470 } else {
<> 144:ef7eb2e8f9f7 471 can->IER &= ~ier;
<> 144:ef7eb2e8f9f7 472 }
<> 144:ef7eb2e8f9f7 473
<> 144:ef7eb2e8f9f7 474 NVIC_SetVector(irq_n, vector);
<> 144:ef7eb2e8f9f7 475 NVIC_EnableIRQ(irq_n);
<> 144:ef7eb2e8f9f7 476 }
<> 144:ef7eb2e8f9f7 477
<> 144:ef7eb2e8f9f7 478 #endif // DEVICE_CAN
<> 144:ef7eb2e8f9f7 479