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Fork of CANnucleo by
stm32f1xx_hal_msp.c
- Committer:
- hudakz
- Date:
- 2015-08-04
- Revision:
- 5:b53e5ee15315
- Parent:
- 1:eb04f7f0478d
- Child:
- 6:c5a40d5fd9f1
File content as of revision 5:b53e5ee15315:
/** ****************************************************************************** * @file stm32f1xx_hal_msp.c * @author MCD Application Team * @version V1.0.0 * @date 17-December-2014 * @brief HAL MSP module. ****************************************************************************** * @attention * * <h2><center>© COPYRIGHT(c) 2014 STMicroelectronics</center></h2> * * Redistribution and use in source and binary forms, with or without modification, * are permitted provided that the following conditions are met: * 1. Redistributions of source code must retain the above copyright notice, * this list of conditions and the following disclaimer. * 2. Redistributions in binary form must reproduce the above copyright notice, * this list of conditions and the following disclaimer in the documentation * and/or other materials provided with the distribution. * 3. Neither the name of STMicroelectronics nor the names of its contributors * may be used to endorse or promote products derived from this software * without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * ****************************************************************************** * * Modified by Zoltan Hudak <hudakz@inbox.com> * ****************************************************************************** */ #include "stm32f1xx_hal.h" #include "can_api.h" #include "pinmap.h" CAN_HandleTypeDef _canHandle; CanRxMsgTypeDef _canRxMsg; CanTxMsgTypeDef _canTxMsg; PinName _rxPin; PinName _txPin; void (*rxCompleteCallback) (void); /** * @brief CAN initialization. * @param obj: can_t object * @param rxPin: RX pin name * @param txPin: TX pin name * @retval None */ void initCAN(can_t* obj, PinName rxPin, PinName txPin) { _rxPin = rxPin; _txPin = txPin; _canHandle.Instance = CAN1; _canHandle.pTxMsg = &_canTxMsg; _canHandle.pRxMsg = &_canRxMsg; _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; // 125kbps bit rate (default) // APB1 peripheral clock = 36000000Hz _canHandle.Init.Prescaler = 18; // number of time quanta = 36000000/18/125000 = 16 _canHandle.Init.SJW = CAN_SJW_1TQ; _canHandle.Init.BS1 = CAN_BS1_11TQ; // sample point at (1 + 11) / 16 * 100 = 75% _canHandle.Init.BS2 = CAN_BS2_4TQ; HAL_CAN_Init(&_canHandle); } /** * @brief CAN MSP Initialization * @param hcan: CAN handle pointer * @retval None */ void HAL_CAN_MspInit(CAN_HandleTypeDef* hcan) { GPIO_InitTypeDef GPIO_InitStruct; if((_rxPin == PA_11) && (_txPin == PA_12)) { /* CAN1 Periph clock enable */ __HAL_RCC_CAN1_CLK_ENABLE(); /* Enable GPIO clock */ __HAL_RCC_GPIOA_CLK_ENABLE(); /* Enable AFIO clock and remap CAN PINs to PA11 and PA12*/ __HAL_RCC_AFIO_CLK_ENABLE(); __HAL_AFIO_REMAP_CAN1_1(); /* CAN1 RX GPIO pin configuration */ GPIO_InitStruct.Pin = GPIO_PIN_11; GPIO_InitStruct.Mode = GPIO_MODE_INPUT; GPIO_InitStruct.Pull = GPIO_NOPULL; HAL_GPIO_Init(GPIOA, &GPIO_InitStruct); GPIO_InitStruct.Pin = GPIO_PIN_12; GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; GPIO_InitStruct.Speed = GPIO_SPEED_LOW; HAL_GPIO_Init(GPIOA, &GPIO_InitStruct); } else if((_rxPin == PB_8) && (_txPin == PB_9)) { /* CAN1 Periph clock enable */ __HAL_RCC_CAN1_CLK_ENABLE(); /* Enable GPIO clock */ __HAL_RCC_GPIOB_CLK_ENABLE(); /* Enable AFIO clock and remap CAN PINs to PB_8 and PB_9*/ __HAL_RCC_AFIO_CLK_ENABLE(); __HAL_AFIO_REMAP_CAN1_2(); /* CAN1 RX GPIO pin configuration */ GPIO_InitStruct.Pin = GPIO_PIN_8; GPIO_InitStruct.Mode = GPIO_MODE_INPUT; GPIO_InitStruct.Pull = GPIO_NOPULL; HAL_GPIO_Init(GPIOB, &GPIO_InitStruct); GPIO_InitStruct.Pin = GPIO_PIN_9; GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; GPIO_InitStruct.Speed = GPIO_SPEED_LOW; HAL_GPIO_Init(GPIOB, &GPIO_InitStruct); } else return; /* NVIC configuration for CAN1 Reception complete interrupt */ HAL_NVIC_SetPriority(USB_LP_CAN1_RX0_IRQn, 1, 0); HAL_NVIC_EnableIRQ(USB_LP_CAN1_RX0_IRQn); } /** * @brief CAN MSP De-Initialization * This function frees the hardware resources used: * - Disable the Peripheral's clock * - Revert GPIO to their default state * @param hcan: CAN handle pointer * @retval None */ void HAL_CAN_MspDeInit(CAN_HandleTypeDef* hcan) { /* Reset peripherals */ __HAL_RCC_CAN1_FORCE_RESET(); __HAL_RCC_CAN1_RELEASE_RESET(); /* Disable peripherals and GPIO Clocks */ if((_rxPin == PA_11) && (_txPin == PA_12)) { /* De-initialize the CAN1 TX GPIO pin */ HAL_GPIO_DeInit(GPIOA, GPIO_PIN_11); /* De-initialize the CAN1 RX GPIO pin */ HAL_GPIO_DeInit(GPIOA, GPIO_PIN_12); } else { /* De-initialize the CAN1 TX GPIO pin */ HAL_GPIO_DeInit(GPIOB, GPIO_PIN_8); /* De-initialize the CAN1 RX GPIO pin */ HAL_GPIO_DeInit(GPIOB, GPIO_PIN_9); } /* Disable the NVIC for CAN reception */ HAL_NVIC_DisableIRQ(USB_LP_CAN1_RX0_IRQn); } /** * @brief Handles CAN1 RX0 interrupt request. * @param None * @retval None */ void USB_LP_CAN1_RX0_IRQHandler(void) { HAL_CAN_IRQHandler(&_canHandle); } /** * @brief Reception complete callback in non blocking mode * @param _canHandle: pointer to a CAN_HandleTypeDef structure that contains * the configuration information for the specified CAN. * @retval None */ void HAL_CAN_RxCpltCallback(CAN_HandleTypeDef* _canHandle) { // if(HAL_CAN_Receive_IT(_canHandle, CAN_FIFO0) == HAL_OK) { // if(rxCompleteCallback != NULL) // rxCompleteCallback(); // } // else { // error_handler(error); // } // BUG: CAN race condition if HAL_CAN_Receive_IT() is used. // 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 // // Fixed by Mark Burton: // ideally, we should be able to call HAL_CAN_Receive_IT() here to set up for another // receive but the API is flawed because that function will fail if HAL_CAN_Transmit() // had already locked the handle when the receive interrupt occurred - so we do what // HAL_CAN_Receive_IT() would do if (rxCompleteCallback != NULL) rxCompleteCallback(); if (_canHandle->State == HAL_CAN_STATE_BUSY_TX) _canHandle->State = HAL_CAN_STATE_BUSY_TX_RX; else { _canHandle->State = HAL_CAN_STATE_BUSY_RX; /* Set CAN error code to none */ _canHandle->ErrorCode = HAL_CAN_ERROR_NONE; /* Enable Error warning Interrupt */ __HAL_CAN_ENABLE_IT(_canHandle, CAN_IT_EWG); /* Enable Error passive Interrupt */ __HAL_CAN_ENABLE_IT(_canHandle, CAN_IT_EPV); /* Enable Bus-off Interrupt */ __HAL_CAN_ENABLE_IT(_canHandle, CAN_IT_BOF); /* Enable Last error code Interrupt */ __HAL_CAN_ENABLE_IT(_canHandle, CAN_IT_LEC); /* Enable Error Interrupt */ __HAL_CAN_ENABLE_IT(_canHandle, CAN_IT_ERR); } // Enable FIFO 0 message pending Interrupt __HAL_CAN_ENABLE_IT(_canHandle, CAN_IT_FMP0); }