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can_api.c@17:1fd35431ee8e, 2015-12-30 (annotated)
- Committer:
- hudakz
- Date:
- Wed Dec 30 08:39:54 2015 +0000
- Revision:
- 17:1fd35431ee8e
- Parent:
- 16:f4c8f45bded9
- Child:
- 20:bcd8161f8f6c
Added support for NUCLEO-F072RB, NUCLEO-F091RC and NUCLEO446RE.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
hudakz | 0:e29bc8e0dddd | 1 | /* |
hudakz | 5:b53e5ee15315 | 2 | ****************************************************************************** |
hudakz | 5:b53e5ee15315 | 3 | * @file can_api.c |
hudakz | 5:b53e5ee15315 | 4 | * @author Zoltan Hudak |
hudakz | 5:b53e5ee15315 | 5 | * @version |
hudakz | 5:b53e5ee15315 | 6 | * @date 04-August-2015 |
hudakz | 5:b53e5ee15315 | 7 | * @brief CAN api for NUCLEO-F103RB platform |
hudakz | 5:b53e5ee15315 | 8 | ****************************************************************************** |
hudakz | 5:b53e5ee15315 | 9 | * @attention |
hudakz | 5:b53e5ee15315 | 10 | * |
hudakz | 5:b53e5ee15315 | 11 | * <h2><center>© COPYRIGHT(c) 2015 Zoltan Hudak <hudakz@inbox.com> |
hudakz | 5:b53e5ee15315 | 12 | * |
hudakz | 5:b53e5ee15315 | 13 | * All rights reserved. |
hudakz | 0:e29bc8e0dddd | 14 | |
hudakz | 0:e29bc8e0dddd | 15 | This program is free software: you can redistribute it and/or modify |
hudakz | 0:e29bc8e0dddd | 16 | it under the terms of the GNU General Public License as published by |
hudakz | 0:e29bc8e0dddd | 17 | the Free Software Foundation, either version 3 of the License, or |
hudakz | 0:e29bc8e0dddd | 18 | (at your option) any later version. |
hudakz | 0:e29bc8e0dddd | 19 | |
hudakz | 0:e29bc8e0dddd | 20 | This program is distributed in the hope that it will be useful, |
hudakz | 0:e29bc8e0dddd | 21 | but WITHOUT ANY WARRANTY; without even the implied warranty of |
hudakz | 0:e29bc8e0dddd | 22 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
hudakz | 0:e29bc8e0dddd | 23 | GNU General Public License for more details. |
hudakz | 0:e29bc8e0dddd | 24 | |
hudakz | 0:e29bc8e0dddd | 25 | You should have received a copy of the GNU General Public License |
hudakz | 0:e29bc8e0dddd | 26 | along with this program. If not, see <http://www.gnu.org/licenses/>. |
hudakz | 0:e29bc8e0dddd | 27 | */ |
hudakz | 0:e29bc8e0dddd | 28 | #include "can_api.h" |
hudakz | 0:e29bc8e0dddd | 29 | #include "can_helper.h" |
hudakz | 0:e29bc8e0dddd | 30 | #include "pinmap.h" |
hudakz | 0:e29bc8e0dddd | 31 | |
hudakz | 0:e29bc8e0dddd | 32 | extern void (*rxCompleteCallback) (void); |
hudakz | 0:e29bc8e0dddd | 33 | extern CAN_HandleTypeDef _canHandle; |
hudakz | 0:e29bc8e0dddd | 34 | |
hudakz | 0:e29bc8e0dddd | 35 | /** |
hudakz | 0:e29bc8e0dddd | 36 | * @brief |
hudakz | 0:e29bc8e0dddd | 37 | * @note |
hudakz | 0:e29bc8e0dddd | 38 | * @param |
hudakz | 0:e29bc8e0dddd | 39 | * @retval |
hudakz | 0:e29bc8e0dddd | 40 | */ |
hudakz | 6:c5a40d5fd9f1 | 41 | void can_init(can_t* obj, PinName rd, PinName td, FunctionalState abom) { |
hudakz | 6:c5a40d5fd9f1 | 42 | initCAN(obj, rd, td, abom); |
hudakz | 0:e29bc8e0dddd | 43 | can_filter(obj, 0, 0, CANAny, 0); |
hudakz | 0:e29bc8e0dddd | 44 | } |
hudakz | 0:e29bc8e0dddd | 45 | |
hudakz | 0:e29bc8e0dddd | 46 | /** |
hudakz | 0:e29bc8e0dddd | 47 | * @brief |
hudakz | 0:e29bc8e0dddd | 48 | * @note |
hudakz | 0:e29bc8e0dddd | 49 | * @param |
hudakz | 0:e29bc8e0dddd | 50 | * @retval |
hudakz | 0:e29bc8e0dddd | 51 | */ |
hudakz | 0:e29bc8e0dddd | 52 | void can_free(can_t* obj) { |
hudakz | 15:5123ead7b002 | 53 | HAL_CAN_MspDeInit(&_canHandle); |
hudakz | 0:e29bc8e0dddd | 54 | } |
hudakz | 0:e29bc8e0dddd | 55 | |
hudakz | 0:e29bc8e0dddd | 56 | /** |
hudakz | 0:e29bc8e0dddd | 57 | * @brief |
hudakz | 0:e29bc8e0dddd | 58 | * @note |
hudakz | 0:e29bc8e0dddd | 59 | * @param |
hudakz | 0:e29bc8e0dddd | 60 | * @retval |
hudakz | 0:e29bc8e0dddd | 61 | */ |
hudakz | 0:e29bc8e0dddd | 62 | int can_frequency(can_t* obj, int hz) { |
hudakz | 15:5123ead7b002 | 63 | HAL_NVIC_DisableIRQ(CAN_IRQ); |
hudakz | 16:f4c8f45bded9 | 64 | |
hudakz | 16:f4c8f45bded9 | 65 | #if defined(TARGET_NUCLEO_F072RB) || \ |
hudakz | 16:f4c8f45bded9 | 66 | defined(TARGET_NUCLEO_F091RC) |
hudakz | 16:f4c8f45bded9 | 67 | |
hudakz | 16:f4c8f45bded9 | 68 | // APB1 peripheral clock = 48000000Hz |
hudakz | 16:f4c8f45bded9 | 69 | |
hudakz | 16:f4c8f45bded9 | 70 | switch(hz) { |
hudakz | 16:f4c8f45bded9 | 71 | case 1000000: |
hudakz | 16:f4c8f45bded9 | 72 | // 1000kbps bit rate |
hudakz | 16:f4c8f45bded9 | 73 | _canHandle.Init.Prescaler = 4; // number of time quanta = 48000000/4/1000000 = 12 |
hudakz | 16:f4c8f45bded9 | 74 | _canHandle.Init.SJW = CAN_SJW_1TQ; |
hudakz | 16:f4c8f45bded9 | 75 | _canHandle.Init.BS1 = CAN_BS1_8TQ; // sample point at: (1 + 8) / 12 * 100 = 75% |
hudakz | 16:f4c8f45bded9 | 76 | _canHandle.Init.BS2 = CAN_BS2_3TQ; |
hudakz | 16:f4c8f45bded9 | 77 | break; |
hudakz | 16:f4c8f45bded9 | 78 | |
hudakz | 16:f4c8f45bded9 | 79 | case 500000: |
hudakz | 16:f4c8f45bded9 | 80 | // 500kbps bit rate |
hudakz | 16:f4c8f45bded9 | 81 | _canHandle.Init.Prescaler = 8; // number of time quanta = 48000000/8/500000 = 12 |
hudakz | 16:f4c8f45bded9 | 82 | _canHandle.Init.SJW = CAN_SJW_1TQ; |
hudakz | 16:f4c8f45bded9 | 83 | _canHandle.Init.BS1 = CAN_BS1_8TQ; // sample point at: (1 + 8) / 12 * 100 = 75% |
hudakz | 16:f4c8f45bded9 | 84 | _canHandle.Init.BS2 = CAN_BS2_3TQ; |
hudakz | 16:f4c8f45bded9 | 85 | break; |
hudakz | 16:f4c8f45bded9 | 86 | |
hudakz | 16:f4c8f45bded9 | 87 | case 250000: |
hudakz | 16:f4c8f45bded9 | 88 | // 250kbps |
hudakz | 16:f4c8f45bded9 | 89 | _canHandle.Init.Prescaler = 12; // number of time quanta = 48000000/12/250000 = 16 |
hudakz | 16:f4c8f45bded9 | 90 | _canHandle.Init.SJW = CAN_SJW_1TQ; |
hudakz | 16:f4c8f45bded9 | 91 | _canHandle.Init.BS1 = CAN_BS1_11TQ; // sample point at: (1 + 11) / 16 * 100 = 75% |
hudakz | 16:f4c8f45bded9 | 92 | _canHandle.Init.BS2 = CAN_BS2_4TQ; |
hudakz | 16:f4c8f45bded9 | 93 | break; |
hudakz | 16:f4c8f45bded9 | 94 | |
hudakz | 16:f4c8f45bded9 | 95 | case 125000: |
hudakz | 16:f4c8f45bded9 | 96 | // 125kbps |
hudakz | 16:f4c8f45bded9 | 97 | _canHandle.Init.Prescaler = 24; // number of time quanta = 48000000/24/125000 = 16 |
hudakz | 16:f4c8f45bded9 | 98 | _canHandle.Init.SJW = CAN_SJW_1TQ; |
hudakz | 16:f4c8f45bded9 | 99 | _canHandle.Init.BS1 = CAN_BS1_11TQ; // sample point at: (1 + 11) / 16 * 100 = 75% |
hudakz | 16:f4c8f45bded9 | 100 | _canHandle.Init.BS2 = CAN_BS2_4TQ; |
hudakz | 16:f4c8f45bded9 | 101 | break; |
hudakz | 16:f4c8f45bded9 | 102 | |
hudakz | 16:f4c8f45bded9 | 103 | default: |
hudakz | 16:f4c8f45bded9 | 104 | // 125kbps (default) |
hudakz | 16:f4c8f45bded9 | 105 | _canHandle.Init.Prescaler = 24; // number of time quanta = 48000000/24/125000 = 16 |
hudakz | 16:f4c8f45bded9 | 106 | _canHandle.Init.SJW = CAN_SJW_1TQ; |
hudakz | 16:f4c8f45bded9 | 107 | _canHandle.Init.BS1 = CAN_BS1_11TQ; // sample point at: (1 + 11) / 16 * 100 = 75% |
hudakz | 16:f4c8f45bded9 | 108 | _canHandle.Init.BS2 = CAN_BS2_4TQ; |
hudakz | 16:f4c8f45bded9 | 109 | } |
hudakz | 0:e29bc8e0dddd | 110 | |
hudakz | 16:f4c8f45bded9 | 111 | #elif defined(TARGET_NUCLEO_F103RB) || \ |
hudakz | 16:f4c8f45bded9 | 112 | defined(TARGET_NUCLEO_F303RE) || \ |
hudakz | 16:f4c8f45bded9 | 113 | defined(TARGET_NUCLEO_F303K8) || \ |
hudakz | 16:f4c8f45bded9 | 114 | defined(TARGET_NUCLEO_F334R8) || \ |
hudakz | 16:f4c8f45bded9 | 115 | defined(TARGET_DISCO_F334C8) |
hudakz | 16:f4c8f45bded9 | 116 | |
hudakz | 5:b53e5ee15315 | 117 | // APB1 peripheral clock = 36000000Hz |
hudakz | 0:e29bc8e0dddd | 118 | |
hudakz | 0:e29bc8e0dddd | 119 | switch(hz) { |
hudakz | 0:e29bc8e0dddd | 120 | case 1000000: |
hudakz | 0:e29bc8e0dddd | 121 | // 1000kbps bit rate |
hudakz | 0:e29bc8e0dddd | 122 | _canHandle.Init.Prescaler = 3; // number of time quanta = 36000000/3/1000000 = 12 |
hudakz | 0:e29bc8e0dddd | 123 | _canHandle.Init.SJW = CAN_SJW_1TQ; |
hudakz | 0:e29bc8e0dddd | 124 | _canHandle.Init.BS1 = CAN_BS1_8TQ; // sample point at: (1 + 8) / 12 * 100 = 75% |
hudakz | 0:e29bc8e0dddd | 125 | _canHandle.Init.BS2 = CAN_BS2_3TQ; |
hudakz | 0:e29bc8e0dddd | 126 | break; |
hudakz | 0:e29bc8e0dddd | 127 | |
hudakz | 0:e29bc8e0dddd | 128 | case 500000: |
hudakz | 0:e29bc8e0dddd | 129 | // 500kbps bit rate |
hudakz | 0:e29bc8e0dddd | 130 | _canHandle.Init.Prescaler = 6; // number of time quanta = 36000000/6/500000 = 12 |
hudakz | 0:e29bc8e0dddd | 131 | _canHandle.Init.SJW = CAN_SJW_1TQ; |
hudakz | 0:e29bc8e0dddd | 132 | _canHandle.Init.BS1 = CAN_BS1_8TQ; // sample point at: (1 + 8) / 12 * 100 = 75% |
hudakz | 0:e29bc8e0dddd | 133 | _canHandle.Init.BS2 = CAN_BS2_3TQ; |
hudakz | 0:e29bc8e0dddd | 134 | break; |
hudakz | 0:e29bc8e0dddd | 135 | |
hudakz | 0:e29bc8e0dddd | 136 | case 250000: |
hudakz | 0:e29bc8e0dddd | 137 | // 250kbps |
hudakz | 0:e29bc8e0dddd | 138 | _canHandle.Init.Prescaler = 9; // number of time quanta = 36000000/9/250000 = 16 |
hudakz | 0:e29bc8e0dddd | 139 | _canHandle.Init.SJW = CAN_SJW_1TQ; |
hudakz | 0:e29bc8e0dddd | 140 | _canHandle.Init.BS1 = CAN_BS1_11TQ; // sample point at: (1 + 11) / 16 * 100 = 75% |
hudakz | 0:e29bc8e0dddd | 141 | _canHandle.Init.BS2 = CAN_BS2_4TQ; |
hudakz | 0:e29bc8e0dddd | 142 | break; |
hudakz | 0:e29bc8e0dddd | 143 | |
hudakz | 0:e29bc8e0dddd | 144 | case 125000: |
hudakz | 0:e29bc8e0dddd | 145 | // 125kbps |
hudakz | 0:e29bc8e0dddd | 146 | _canHandle.Init.Prescaler = 18; // number of time quanta = 36000000/18/125000 = 16 |
hudakz | 0:e29bc8e0dddd | 147 | _canHandle.Init.SJW = CAN_SJW_1TQ; |
hudakz | 0:e29bc8e0dddd | 148 | _canHandle.Init.BS1 = CAN_BS1_11TQ; // sample point at: (1 + 11) / 16 * 100 = 75% |
hudakz | 0:e29bc8e0dddd | 149 | _canHandle.Init.BS2 = CAN_BS2_4TQ; |
hudakz | 0:e29bc8e0dddd | 150 | break; |
hudakz | 0:e29bc8e0dddd | 151 | |
hudakz | 0:e29bc8e0dddd | 152 | default: |
hudakz | 0:e29bc8e0dddd | 153 | // 125kbps (default) |
hudakz | 5:b53e5ee15315 | 154 | #if DEBUG |
hudakz | 0:e29bc8e0dddd | 155 | printf("Unknown frequency specified!\r\n"); |
hudakz | 0:e29bc8e0dddd | 156 | printf("Using default 125kbps\r\n"); |
hudakz | 5:b53e5ee15315 | 157 | #endif |
hudakz | 17:1fd35431ee8e | 158 | _canHandle.Init.Prescaler = 18; // number of time quanta = 36000000/18/125000 = 16 |
hudakz | 16:f4c8f45bded9 | 159 | _canHandle.Init.SJW = CAN_SJW_1TQ; |
hudakz | 17:1fd35431ee8e | 160 | _canHandle.Init.BS1 = CAN_BS1_11TQ; // sample point at: (1 + 11) / 16 * 100 = 75% |
hudakz | 16:f4c8f45bded9 | 161 | _canHandle.Init.BS2 = CAN_BS2_4TQ; |
hudakz | 16:f4c8f45bded9 | 162 | } |
hudakz | 16:f4c8f45bded9 | 163 | |
hudakz | 16:f4c8f45bded9 | 164 | #elif defined(TARGET_NUCLEO_F446RE) |
hudakz | 16:f4c8f45bded9 | 165 | |
hudakz | 16:f4c8f45bded9 | 166 | // APB1 peripheral clock = 45000000Hz |
hudakz | 16:f4c8f45bded9 | 167 | |
hudakz | 16:f4c8f45bded9 | 168 | switch(hz) { |
hudakz | 16:f4c8f45bded9 | 169 | case 1000000: |
hudakz | 16:f4c8f45bded9 | 170 | // 1000kbps bit rate |
hudakz | 16:f4c8f45bded9 | 171 | _canHandle.Init.Prescaler = 5; // number of time quanta = 45000000/5/1000000 = 9 |
hudakz | 16:f4c8f45bded9 | 172 | _canHandle.Init.SJW = CAN_SJW_1TQ; |
hudakz | 16:f4c8f45bded9 | 173 | _canHandle.Init.BS1 = CAN_BS1_6TQ; // sample point at: (1 + 6) / 9 * 100 = 77.78% |
hudakz | 16:f4c8f45bded9 | 174 | _canHandle.Init.BS2 = CAN_BS2_2TQ; |
hudakz | 16:f4c8f45bded9 | 175 | break; |
hudakz | 16:f4c8f45bded9 | 176 | |
hudakz | 16:f4c8f45bded9 | 177 | case 500000: |
hudakz | 16:f4c8f45bded9 | 178 | // 500kbps bit rate |
hudakz | 16:f4c8f45bded9 | 179 | _canHandle.Init.Prescaler = 10; // number of time quanta = 45000000/10/500000 = 9 |
hudakz | 16:f4c8f45bded9 | 180 | _canHandle.Init.SJW = CAN_SJW_1TQ; |
hudakz | 16:f4c8f45bded9 | 181 | _canHandle.Init.BS1 = CAN_BS1_6TQ; // sample point at: (1 + 6) / 9 * 100 = 77.78% |
hudakz | 16:f4c8f45bded9 | 182 | _canHandle.Init.BS2 = CAN_BS2_2TQ; |
hudakz | 16:f4c8f45bded9 | 183 | break; |
hudakz | 16:f4c8f45bded9 | 184 | |
hudakz | 16:f4c8f45bded9 | 185 | case 250000: |
hudakz | 16:f4c8f45bded9 | 186 | // 250kbps |
hudakz | 16:f4c8f45bded9 | 187 | _canHandle.Init.Prescaler = 15; // number of time quanta = 45000000/15/250000 = 12 |
hudakz | 16:f4c8f45bded9 | 188 | _canHandle.Init.SJW = CAN_SJW_1TQ; |
hudakz | 16:f4c8f45bded9 | 189 | _canHandle.Init.BS1 = CAN_BS1_8TQ; // sample point at: (1 + 8) / 12 * 100 = 75% |
hudakz | 16:f4c8f45bded9 | 190 | _canHandle.Init.BS2 = CAN_BS2_3TQ; |
hudakz | 16:f4c8f45bded9 | 191 | break; |
hudakz | 16:f4c8f45bded9 | 192 | |
hudakz | 16:f4c8f45bded9 | 193 | case 125000: |
hudakz | 16:f4c8f45bded9 | 194 | // 125kbps |
hudakz | 16:f4c8f45bded9 | 195 | _canHandle.Init.Prescaler = 30; // number of time quanta = 45000000/30/125000 = 12 |
hudakz | 16:f4c8f45bded9 | 196 | _canHandle.Init.SJW = CAN_SJW_1TQ; |
hudakz | 16:f4c8f45bded9 | 197 | _canHandle.Init.BS1 = CAN_BS1_8TQ; // sample point at: (1 + 8) / 12 * 100 = 75% |
hudakz | 16:f4c8f45bded9 | 198 | _canHandle.Init.BS2 = CAN_BS2_3TQ; |
hudakz | 16:f4c8f45bded9 | 199 | break; |
hudakz | 16:f4c8f45bded9 | 200 | |
hudakz | 16:f4c8f45bded9 | 201 | default: |
hudakz | 16:f4c8f45bded9 | 202 | // 125kbps (default) |
hudakz | 16:f4c8f45bded9 | 203 | #if DEBUG |
hudakz | 16:f4c8f45bded9 | 204 | printf("Unknown frequency specified!\r\n"); |
hudakz | 16:f4c8f45bded9 | 205 | printf("Using default 125kbps\r\n"); |
hudakz | 16:f4c8f45bded9 | 206 | #endif |
hudakz | 17:1fd35431ee8e | 207 | _canHandle.Init.Prescaler = 30; // number of time quanta = 45000000/30/125000 = 12 |
hudakz | 0:e29bc8e0dddd | 208 | _canHandle.Init.SJW = CAN_SJW_1TQ; |
hudakz | 17:1fd35431ee8e | 209 | _canHandle.Init.BS1 = CAN_BS1_8TQ; // sample point at: (1 + 8) / 12 * 100 = 75% |
hudakz | 17:1fd35431ee8e | 210 | _canHandle.Init.BS2 = CAN_BS2_3TQ; |
hudakz | 0:e29bc8e0dddd | 211 | } |
hudakz | 16:f4c8f45bded9 | 212 | |
hudakz | 16:f4c8f45bded9 | 213 | #endif |
hudakz | 0:e29bc8e0dddd | 214 | |
hudakz | 0:e29bc8e0dddd | 215 | HAL_CAN_Init(&_canHandle); |
hudakz | 15:5123ead7b002 | 216 | HAL_NVIC_EnableIRQ(CAN_IRQ); |
hudakz | 11:439f3a34c42e | 217 | |
hudakz | 5:b53e5ee15315 | 218 | return 1; |
hudakz | 0:e29bc8e0dddd | 219 | } |
hudakz | 0:e29bc8e0dddd | 220 | |
hudakz | 0:e29bc8e0dddd | 221 | /** |
hudakz | 0:e29bc8e0dddd | 222 | * @brief |
hudakz | 0:e29bc8e0dddd | 223 | * @note |
hudakz | 0:e29bc8e0dddd | 224 | * @param |
hudakz | 0:e29bc8e0dddd | 225 | * @retval |
hudakz | 0:e29bc8e0dddd | 226 | */ |
hudakz | 0:e29bc8e0dddd | 227 | void can_irq_init(can_t* obj, can_irq_handler handler, uint32_t id) { |
hudakz | 0:e29bc8e0dddd | 228 | if(HAL_CAN_Receive_IT(&_canHandle, CAN_FIFO0) != HAL_OK) { |
hudakz | 5:b53e5ee15315 | 229 | #ifdef DEBUG |
hudakz | 0:e29bc8e0dddd | 230 | printf("CAN reception initialization error\r\n"); |
hudakz | 5:b53e5ee15315 | 231 | #endif |
hudakz | 0:e29bc8e0dddd | 232 | } |
hudakz | 0:e29bc8e0dddd | 233 | } |
hudakz | 0:e29bc8e0dddd | 234 | |
hudakz | 0:e29bc8e0dddd | 235 | /** |
hudakz | 0:e29bc8e0dddd | 236 | * @brief |
hudakz | 0:e29bc8e0dddd | 237 | * @note |
hudakz | 0:e29bc8e0dddd | 238 | * @param |
hudakz | 0:e29bc8e0dddd | 239 | * @retval |
hudakz | 0:e29bc8e0dddd | 240 | */ |
hudakz | 0:e29bc8e0dddd | 241 | void can_irq_free(can_t* obj) { |
hudakz | 11:439f3a34c42e | 242 | rxCompleteCallback = 0; |
hudakz | 0:e29bc8e0dddd | 243 | } |
hudakz | 0:e29bc8e0dddd | 244 | |
hudakz | 0:e29bc8e0dddd | 245 | /** |
hudakz | 0:e29bc8e0dddd | 246 | * @brief |
hudakz | 0:e29bc8e0dddd | 247 | * @note |
hudakz | 0:e29bc8e0dddd | 248 | * @param |
hudakz | 0:e29bc8e0dddd | 249 | * @retval |
hudakz | 0:e29bc8e0dddd | 250 | */ |
hudakz | 0:e29bc8e0dddd | 251 | void can_irq_set(void (*fptr) (void)) { |
hudakz | 0:e29bc8e0dddd | 252 | rxCompleteCallback = fptr; |
hudakz | 0:e29bc8e0dddd | 253 | } |
hudakz | 0:e29bc8e0dddd | 254 | |
hudakz | 0:e29bc8e0dddd | 255 | /** |
hudakz | 0:e29bc8e0dddd | 256 | * @brief |
hudakz | 0:e29bc8e0dddd | 257 | * @note |
hudakz | 0:e29bc8e0dddd | 258 | * @param |
hudakz | 0:e29bc8e0dddd | 259 | * @retval |
hudakz | 0:e29bc8e0dddd | 260 | */ |
hudakz | 0:e29bc8e0dddd | 261 | int can_write(can_t* obj, CAN_Message msg, int cc) { |
hudakz | 0:e29bc8e0dddd | 262 | int i = 0; |
hudakz | 0:e29bc8e0dddd | 263 | |
hudakz | 0:e29bc8e0dddd | 264 | if(msg.format == CANStandard) { |
hudakz | 0:e29bc8e0dddd | 265 | _canHandle.pTxMsg->StdId = msg.id; |
hudakz | 0:e29bc8e0dddd | 266 | _canHandle.pTxMsg->ExtId = 0x00; |
hudakz | 0:e29bc8e0dddd | 267 | } |
hudakz | 0:e29bc8e0dddd | 268 | else { |
hudakz | 0:e29bc8e0dddd | 269 | _canHandle.pTxMsg->StdId = 0x00; |
hudakz | 0:e29bc8e0dddd | 270 | _canHandle.pTxMsg->ExtId = msg.id; |
hudakz | 0:e29bc8e0dddd | 271 | } |
hudakz | 0:e29bc8e0dddd | 272 | |
hudakz | 0:e29bc8e0dddd | 273 | _canHandle.pTxMsg->RTR = msg.type == CANData ? CAN_RTR_DATA : CAN_RTR_REMOTE; |
hudakz | 0:e29bc8e0dddd | 274 | _canHandle.pTxMsg->IDE = msg.format == CANStandard ? CAN_ID_STD : CAN_ID_EXT; |
hudakz | 0:e29bc8e0dddd | 275 | _canHandle.pTxMsg->DLC = msg.len; |
hudakz | 0:e29bc8e0dddd | 276 | |
hudakz | 0:e29bc8e0dddd | 277 | for(i = 0; i < msg.len; i++) |
hudakz | 0:e29bc8e0dddd | 278 | _canHandle.pTxMsg->Data[i] = msg.data[i]; |
hudakz | 0:e29bc8e0dddd | 279 | |
hudakz | 0:e29bc8e0dddd | 280 | if(HAL_CAN_Transmit(&_canHandle, 10) != HAL_OK) { |
hudakz | 5:b53e5ee15315 | 281 | #ifdef DEBUG |
hudakz | 0:e29bc8e0dddd | 282 | printf("Transmission error\r\n"); |
hudakz | 5:b53e5ee15315 | 283 | #endif |
hudakz | 5:b53e5ee15315 | 284 | return 0; |
hudakz | 0:e29bc8e0dddd | 285 | } |
hudakz | 5:b53e5ee15315 | 286 | else |
hudakz | 5:b53e5ee15315 | 287 | return 1; |
hudakz | 0:e29bc8e0dddd | 288 | } |
hudakz | 0:e29bc8e0dddd | 289 | |
hudakz | 0:e29bc8e0dddd | 290 | /** |
hudakz | 0:e29bc8e0dddd | 291 | * @brief |
hudakz | 0:e29bc8e0dddd | 292 | * @note |
hudakz | 0:e29bc8e0dddd | 293 | * @param |
hudakz | 0:e29bc8e0dddd | 294 | * @retval |
hudakz | 0:e29bc8e0dddd | 295 | */ |
hudakz | 0:e29bc8e0dddd | 296 | int can_read(can_t* obj, CAN_Message* msg, int handle) { |
hudakz | 10:227a455d0f9f | 297 | int i; |
hudakz | 0:e29bc8e0dddd | 298 | msg->id = _canHandle.pRxMsg->IDE == CAN_ID_STD ? _canHandle.pRxMsg->StdId : _canHandle.pRxMsg->ExtId; |
hudakz | 0:e29bc8e0dddd | 299 | msg->type = _canHandle.pRxMsg->RTR == CAN_RTR_DATA ? CANData : CANRemote; |
hudakz | 0:e29bc8e0dddd | 300 | msg->format = _canHandle.pRxMsg->IDE == CAN_ID_STD ? CANStandard : CANExtended; |
hudakz | 0:e29bc8e0dddd | 301 | msg->len = _canHandle.pRxMsg->DLC; |
hudakz | 10:227a455d0f9f | 302 | for(i = 0; i < msg->len; i++) |
hudakz | 0:e29bc8e0dddd | 303 | msg->data[i] = _canHandle.pRxMsg->Data[i]; |
hudakz | 5:b53e5ee15315 | 304 | |
hudakz | 5:b53e5ee15315 | 305 | return msg->len; |
hudakz | 0:e29bc8e0dddd | 306 | } |
hudakz | 0:e29bc8e0dddd | 307 | |
hudakz | 0:e29bc8e0dddd | 308 | /** |
hudakz | 0:e29bc8e0dddd | 309 | * @brief |
hudakz | 0:e29bc8e0dddd | 310 | * @note |
hudakz | 0:e29bc8e0dddd | 311 | * @param |
hudakz | 0:e29bc8e0dddd | 312 | * @retval |
hudakz | 0:e29bc8e0dddd | 313 | */ |
hudakz | 0:e29bc8e0dddd | 314 | int can_mode(can_t* obj, CanMode mode) { |
hudakz | 0:e29bc8e0dddd | 315 | switch(mode) { |
hudakz | 0:e29bc8e0dddd | 316 | case MODE_RESET: |
hudakz | 0:e29bc8e0dddd | 317 | return HAL_ERROR; |
hudakz | 0:e29bc8e0dddd | 318 | |
hudakz | 0:e29bc8e0dddd | 319 | case MODE_NORMAL: |
hudakz | 0:e29bc8e0dddd | 320 | _canHandle.Init.Mode = CAN_MODE_NORMAL; |
hudakz | 0:e29bc8e0dddd | 321 | break; |
hudakz | 0:e29bc8e0dddd | 322 | |
hudakz | 0:e29bc8e0dddd | 323 | case MODE_SILENT: |
hudakz | 0:e29bc8e0dddd | 324 | _canHandle.Init.Mode = CAN_MODE_SILENT; |
hudakz | 0:e29bc8e0dddd | 325 | break; |
hudakz | 0:e29bc8e0dddd | 326 | |
hudakz | 0:e29bc8e0dddd | 327 | case MODE_TEST_GLOBAL: |
hudakz | 0:e29bc8e0dddd | 328 | _canHandle.Init.Mode = CAN_MODE_LOOPBACK; |
hudakz | 0:e29bc8e0dddd | 329 | break; |
hudakz | 0:e29bc8e0dddd | 330 | |
hudakz | 0:e29bc8e0dddd | 331 | case MODE_TEST_LOCAL: |
hudakz | 0:e29bc8e0dddd | 332 | _canHandle.Init.Mode = CAN_MODE_LOOPBACK; |
hudakz | 0:e29bc8e0dddd | 333 | break; |
hudakz | 0:e29bc8e0dddd | 334 | |
hudakz | 0:e29bc8e0dddd | 335 | case MODE_TEST_SILENT: |
hudakz | 0:e29bc8e0dddd | 336 | _canHandle.Init.Mode = CAN_MODE_SILENT_LOOPBACK; |
hudakz | 0:e29bc8e0dddd | 337 | break; |
hudakz | 0:e29bc8e0dddd | 338 | } |
hudakz | 0:e29bc8e0dddd | 339 | |
hudakz | 3:0fae6b54a2ee | 340 | return HAL_CAN_Init(&_canHandle); |
hudakz | 0:e29bc8e0dddd | 341 | } |
hudakz | 0:e29bc8e0dddd | 342 | |
hudakz | 0:e29bc8e0dddd | 343 | /** |
hudakz | 0:e29bc8e0dddd | 344 | * @brief |
hudakz | 0:e29bc8e0dddd | 345 | * @note |
hudakz | 0:e29bc8e0dddd | 346 | * @param |
hudakz | 0:e29bc8e0dddd | 347 | * @retval |
hudakz | 0:e29bc8e0dddd | 348 | */ |
hudakz | 0:e29bc8e0dddd | 349 | int can_filter(can_t* obj, uint32_t id, uint32_t mask, CANFormat format /*=CANAny*/, int32_t handle /*=0*/ ) { |
hudakz | 0:e29bc8e0dddd | 350 | CAN_FilterConfTypeDef sFilterConfig; |
hudakz | 0:e29bc8e0dddd | 351 | |
hudakz | 8:5c90d6b9a382 | 352 | sFilterConfig.FilterNumber = handle; // Specifies the filter number (must be a number between 0 and 13 at 32-bit filter scale) |
hudakz | 0:e29bc8e0dddd | 353 | sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK; |
hudakz | 0:e29bc8e0dddd | 354 | sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT; |
hudakz | 0:e29bc8e0dddd | 355 | sFilterConfig.FilterIdHigh = (((id) >> 16) & 0xFFFF); |
hudakz | 0:e29bc8e0dddd | 356 | sFilterConfig.FilterIdLow = ((id) & 0xFFFF); |
hudakz | 0:e29bc8e0dddd | 357 | sFilterConfig.FilterMaskIdHigh = (((mask) >> 16) & 0xFFFF); |
hudakz | 0:e29bc8e0dddd | 358 | sFilterConfig.FilterMaskIdLow = ((mask) & 0xFFFF); |
hudakz | 0:e29bc8e0dddd | 359 | sFilterConfig.FilterFIFOAssignment = 0; |
hudakz | 0:e29bc8e0dddd | 360 | sFilterConfig.FilterActivation = ENABLE; |
hudakz | 8:5c90d6b9a382 | 361 | sFilterConfig.BankNumber = 0; // Selects the start bank filter |
hudakz | 8:5c90d6b9a382 | 362 | return HAL_CAN_ConfigFilter(&_canHandle, &sFilterConfig); |
hudakz | 0:e29bc8e0dddd | 363 | } |
hudakz | 0:e29bc8e0dddd | 364 | |
hudakz | 0:e29bc8e0dddd | 365 | /** |
hudakz | 0:e29bc8e0dddd | 366 | * @brief |
hudakz | 0:e29bc8e0dddd | 367 | * @note |
hudakz | 0:e29bc8e0dddd | 368 | * @param |
hudakz | 0:e29bc8e0dddd | 369 | * @retval |
hudakz | 0:e29bc8e0dddd | 370 | */ |
hudakz | 0:e29bc8e0dddd | 371 | void can_reset(can_t* obj) { |
hudakz | 0:e29bc8e0dddd | 372 | __HAL_CAN_RESET_HANDLE_STATE(&_canHandle); |
hudakz | 0:e29bc8e0dddd | 373 | } |
hudakz | 0:e29bc8e0dddd | 374 | |
hudakz | 0:e29bc8e0dddd | 375 | /** |
hudakz | 0:e29bc8e0dddd | 376 | * @brief |
hudakz | 0:e29bc8e0dddd | 377 | * @note |
hudakz | 0:e29bc8e0dddd | 378 | * @param |
hudakz | 0:e29bc8e0dddd | 379 | * @retval |
hudakz | 0:e29bc8e0dddd | 380 | */ |
hudakz | 0:e29bc8e0dddd | 381 | unsigned char can_rderror(can_t* obj) { |
hudakz | 0:e29bc8e0dddd | 382 | return HAL_CAN_GetError(&_canHandle); |
hudakz | 0:e29bc8e0dddd | 383 | } |
hudakz | 0:e29bc8e0dddd | 384 | |
hudakz | 0:e29bc8e0dddd | 385 | /** |
hudakz | 0:e29bc8e0dddd | 386 | * @brief |
hudakz | 0:e29bc8e0dddd | 387 | * @note |
hudakz | 0:e29bc8e0dddd | 388 | * @param |
hudakz | 0:e29bc8e0dddd | 389 | * @retval |
hudakz | 0:e29bc8e0dddd | 390 | */ |
hudakz | 0:e29bc8e0dddd | 391 | unsigned char can_tderror(can_t* obj) { |
hudakz | 0:e29bc8e0dddd | 392 | return HAL_CAN_GetError(&_canHandle); |
hudakz | 0:e29bc8e0dddd | 393 | } |
hudakz | 0:e29bc8e0dddd | 394 | |
hudakz | 0:e29bc8e0dddd | 395 | /** |
hudakz | 0:e29bc8e0dddd | 396 | * @brief |
hudakz | 0:e29bc8e0dddd | 397 | * @note |
hudakz | 0:e29bc8e0dddd | 398 | * @param |
hudakz | 0:e29bc8e0dddd | 399 | * @retval |
hudakz | 0:e29bc8e0dddd | 400 | */ |
hudakz | 0:e29bc8e0dddd | 401 | void can_monitor(can_t* obj, int silent) { |
hudakz | 0:e29bc8e0dddd | 402 | |
hudakz | 0:e29bc8e0dddd | 403 | // not implemented |
hudakz | 0:e29bc8e0dddd | 404 | } |
hudakz | 1:eb04f7f0478d | 405 | |
hudakz | 5:b53e5ee15315 | 406 | |
hudakz | 6:c5a40d5fd9f1 | 407 | |
hudakz | 11:439f3a34c42e | 408 | |
hudakz | 12:c45310ff2233 | 409 |