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cannucleo_api.c@30:cebc6f21046e, 2017-05-28 (annotated)
- Committer:
- hudakz
- Date:
- Sun May 28 09:18:54 2017 +0000
- Revision:
- 30:cebc6f21046e
- Parent:
- 28:eed6929956ea
Updated.
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 | 28:eed6929956ea | 11 | * <h2><center>© COPYRIGHT(c) 2015 Zoltan Hudak <hudakz@outlook.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 | 24:c5d348e65e24 | 28 | #include "cannucleo_api.h" |
hudakz | 0:e29bc8e0dddd | 29 | #include "can_helper.h" |
hudakz | 0:e29bc8e0dddd | 30 | #include "pinmap.h" |
hudakz | 0:e29bc8e0dddd | 31 | |
hudakz | 20:bcd8161f8f6c | 32 | extern void (*rxCompleteCallback)(void); |
hudakz | 20:bcd8161f8f6c | 33 | extern CAN_HandleTypeDef _canHandle; |
hudakz | 20:bcd8161f8f6c | 34 | |
hudakz | 20:bcd8161f8f6c | 35 | static uint32_t irq_id = 0; |
hudakz | 20:bcd8161f8f6c | 36 | static can_irq_handler irq_handler = 0; |
hudakz | 0:e29bc8e0dddd | 37 | |
hudakz | 0:e29bc8e0dddd | 38 | /** |
hudakz | 0:e29bc8e0dddd | 39 | * @brief |
hudakz | 0:e29bc8e0dddd | 40 | * @note |
hudakz | 0:e29bc8e0dddd | 41 | * @param |
hudakz | 0:e29bc8e0dddd | 42 | * @retval |
hudakz | 0:e29bc8e0dddd | 43 | */ |
hudakz | 20:bcd8161f8f6c | 44 | void can_init(PinName rd, PinName td, FunctionalState abom) { |
hudakz | 20:bcd8161f8f6c | 45 | initCAN(rd, td, abom); |
hudakz | 20:bcd8161f8f6c | 46 | can_filter(0, 0, CANAny, 0); |
hudakz | 0:e29bc8e0dddd | 47 | } |
hudakz | 0:e29bc8e0dddd | 48 | |
hudakz | 0:e29bc8e0dddd | 49 | /** |
hudakz | 0:e29bc8e0dddd | 50 | * @brief |
hudakz | 0:e29bc8e0dddd | 51 | * @note |
hudakz | 0:e29bc8e0dddd | 52 | * @param |
hudakz | 0:e29bc8e0dddd | 53 | * @retval |
hudakz | 0:e29bc8e0dddd | 54 | */ |
hudakz | 20:bcd8161f8f6c | 55 | void can_free(void) { |
hudakz | 15:5123ead7b002 | 56 | HAL_CAN_MspDeInit(&_canHandle); |
hudakz | 0:e29bc8e0dddd | 57 | } |
hudakz | 0:e29bc8e0dddd | 58 | |
hudakz | 0:e29bc8e0dddd | 59 | /** |
hudakz | 0:e29bc8e0dddd | 60 | * @brief |
hudakz | 0:e29bc8e0dddd | 61 | * @note |
hudakz | 0:e29bc8e0dddd | 62 | * @param |
hudakz | 0:e29bc8e0dddd | 63 | * @retval |
hudakz | 0:e29bc8e0dddd | 64 | */ |
hudakz | 20:bcd8161f8f6c | 65 | int can_frequency(int hz) { |
hudakz | 15:5123ead7b002 | 66 | HAL_NVIC_DisableIRQ(CAN_IRQ); |
hudakz | 16:f4c8f45bded9 | 67 | |
hudakz | 16:f4c8f45bded9 | 68 | #if defined(TARGET_NUCLEO_F072RB) || \ |
hudakz | 16:f4c8f45bded9 | 69 | defined(TARGET_NUCLEO_F091RC) |
hudakz | 16:f4c8f45bded9 | 70 | |
hudakz | 16:f4c8f45bded9 | 71 | // APB1 peripheral clock = 48000000Hz |
hudakz | 16:f4c8f45bded9 | 72 | |
hudakz | 16:f4c8f45bded9 | 73 | switch(hz) { |
hudakz | 16:f4c8f45bded9 | 74 | case 1000000: |
hudakz | 16:f4c8f45bded9 | 75 | // 1000kbps bit rate |
hudakz | 16:f4c8f45bded9 | 76 | _canHandle.Init.Prescaler = 4; // number of time quanta = 48000000/4/1000000 = 12 |
hudakz | 16:f4c8f45bded9 | 77 | _canHandle.Init.SJW = CAN_SJW_1TQ; |
hudakz | 16:f4c8f45bded9 | 78 | _canHandle.Init.BS1 = CAN_BS1_8TQ; // sample point at: (1 + 8) / 12 * 100 = 75% |
hudakz | 16:f4c8f45bded9 | 79 | _canHandle.Init.BS2 = CAN_BS2_3TQ; |
hudakz | 16:f4c8f45bded9 | 80 | break; |
hudakz | 16:f4c8f45bded9 | 81 | |
hudakz | 16:f4c8f45bded9 | 82 | case 500000: |
hudakz | 16:f4c8f45bded9 | 83 | // 500kbps bit rate |
hudakz | 16:f4c8f45bded9 | 84 | _canHandle.Init.Prescaler = 8; // number of time quanta = 48000000/8/500000 = 12 |
hudakz | 16:f4c8f45bded9 | 85 | _canHandle.Init.SJW = CAN_SJW_1TQ; |
hudakz | 16:f4c8f45bded9 | 86 | _canHandle.Init.BS1 = CAN_BS1_8TQ; // sample point at: (1 + 8) / 12 * 100 = 75% |
hudakz | 16:f4c8f45bded9 | 87 | _canHandle.Init.BS2 = CAN_BS2_3TQ; |
hudakz | 16:f4c8f45bded9 | 88 | break; |
hudakz | 16:f4c8f45bded9 | 89 | |
hudakz | 16:f4c8f45bded9 | 90 | case 250000: |
hudakz | 16:f4c8f45bded9 | 91 | // 250kbps |
hudakz | 16:f4c8f45bded9 | 92 | _canHandle.Init.Prescaler = 12; // number of time quanta = 48000000/12/250000 = 16 |
hudakz | 16:f4c8f45bded9 | 93 | _canHandle.Init.SJW = CAN_SJW_1TQ; |
hudakz | 16:f4c8f45bded9 | 94 | _canHandle.Init.BS1 = CAN_BS1_11TQ; // sample point at: (1 + 11) / 16 * 100 = 75% |
hudakz | 16:f4c8f45bded9 | 95 | _canHandle.Init.BS2 = CAN_BS2_4TQ; |
hudakz | 16:f4c8f45bded9 | 96 | break; |
hudakz | 16:f4c8f45bded9 | 97 | |
hudakz | 16:f4c8f45bded9 | 98 | case 125000: |
hudakz | 16:f4c8f45bded9 | 99 | // 125kbps |
hudakz | 16:f4c8f45bded9 | 100 | _canHandle.Init.Prescaler = 24; // number of time quanta = 48000000/24/125000 = 16 |
hudakz | 16:f4c8f45bded9 | 101 | _canHandle.Init.SJW = CAN_SJW_1TQ; |
hudakz | 16:f4c8f45bded9 | 102 | _canHandle.Init.BS1 = CAN_BS1_11TQ; // sample point at: (1 + 11) / 16 * 100 = 75% |
hudakz | 16:f4c8f45bded9 | 103 | _canHandle.Init.BS2 = CAN_BS2_4TQ; |
hudakz | 16:f4c8f45bded9 | 104 | break; |
hudakz | 16:f4c8f45bded9 | 105 | |
hudakz | 16:f4c8f45bded9 | 106 | default: |
hudakz | 16:f4c8f45bded9 | 107 | // 125kbps (default) |
hudakz | 16:f4c8f45bded9 | 108 | _canHandle.Init.Prescaler = 24; // number of time quanta = 48000000/24/125000 = 16 |
hudakz | 16:f4c8f45bded9 | 109 | _canHandle.Init.SJW = CAN_SJW_1TQ; |
hudakz | 16:f4c8f45bded9 | 110 | _canHandle.Init.BS1 = CAN_BS1_11TQ; // sample point at: (1 + 11) / 16 * 100 = 75% |
hudakz | 16:f4c8f45bded9 | 111 | _canHandle.Init.BS2 = CAN_BS2_4TQ; |
hudakz | 16:f4c8f45bded9 | 112 | } |
hudakz | 0:e29bc8e0dddd | 113 | |
hudakz | 16:f4c8f45bded9 | 114 | #elif defined(TARGET_NUCLEO_F103RB) || \ |
hudakz | 16:f4c8f45bded9 | 115 | defined(TARGET_NUCLEO_F303RE) || \ |
hudakz | 16:f4c8f45bded9 | 116 | defined(TARGET_NUCLEO_F334R8) || \ |
hudakz | 16:f4c8f45bded9 | 117 | defined(TARGET_DISCO_F334C8) |
hudakz | 16:f4c8f45bded9 | 118 | |
hudakz | 5:b53e5ee15315 | 119 | // APB1 peripheral clock = 36000000Hz |
hudakz | 0:e29bc8e0dddd | 120 | |
hudakz | 0:e29bc8e0dddd | 121 | switch(hz) { |
hudakz | 0:e29bc8e0dddd | 122 | case 1000000: |
hudakz | 0:e29bc8e0dddd | 123 | // 1000kbps bit rate |
hudakz | 0:e29bc8e0dddd | 124 | _canHandle.Init.Prescaler = 3; // number of time quanta = 36000000/3/1000000 = 12 |
hudakz | 0:e29bc8e0dddd | 125 | _canHandle.Init.SJW = CAN_SJW_1TQ; |
hudakz | 0:e29bc8e0dddd | 126 | _canHandle.Init.BS1 = CAN_BS1_8TQ; // sample point at: (1 + 8) / 12 * 100 = 75% |
hudakz | 0:e29bc8e0dddd | 127 | _canHandle.Init.BS2 = CAN_BS2_3TQ; |
hudakz | 0:e29bc8e0dddd | 128 | break; |
hudakz | 0:e29bc8e0dddd | 129 | |
hudakz | 0:e29bc8e0dddd | 130 | case 500000: |
hudakz | 0:e29bc8e0dddd | 131 | // 500kbps bit rate |
hudakz | 0:e29bc8e0dddd | 132 | _canHandle.Init.Prescaler = 6; // number of time quanta = 36000000/6/500000 = 12 |
hudakz | 0:e29bc8e0dddd | 133 | _canHandle.Init.SJW = CAN_SJW_1TQ; |
hudakz | 0:e29bc8e0dddd | 134 | _canHandle.Init.BS1 = CAN_BS1_8TQ; // sample point at: (1 + 8) / 12 * 100 = 75% |
hudakz | 0:e29bc8e0dddd | 135 | _canHandle.Init.BS2 = CAN_BS2_3TQ; |
hudakz | 0:e29bc8e0dddd | 136 | break; |
hudakz | 0:e29bc8e0dddd | 137 | |
hudakz | 0:e29bc8e0dddd | 138 | case 250000: |
hudakz | 0:e29bc8e0dddd | 139 | // 250kbps |
hudakz | 0:e29bc8e0dddd | 140 | _canHandle.Init.Prescaler = 9; // number of time quanta = 36000000/9/250000 = 16 |
hudakz | 0:e29bc8e0dddd | 141 | _canHandle.Init.SJW = CAN_SJW_1TQ; |
hudakz | 0:e29bc8e0dddd | 142 | _canHandle.Init.BS1 = CAN_BS1_11TQ; // sample point at: (1 + 11) / 16 * 100 = 75% |
hudakz | 0:e29bc8e0dddd | 143 | _canHandle.Init.BS2 = CAN_BS2_4TQ; |
hudakz | 0:e29bc8e0dddd | 144 | break; |
hudakz | 0:e29bc8e0dddd | 145 | |
hudakz | 0:e29bc8e0dddd | 146 | case 125000: |
hudakz | 0:e29bc8e0dddd | 147 | // 125kbps |
hudakz | 0:e29bc8e0dddd | 148 | _canHandle.Init.Prescaler = 18; // number of time quanta = 36000000/18/125000 = 16 |
hudakz | 0:e29bc8e0dddd | 149 | _canHandle.Init.SJW = CAN_SJW_1TQ; |
hudakz | 0:e29bc8e0dddd | 150 | _canHandle.Init.BS1 = CAN_BS1_11TQ; // sample point at: (1 + 11) / 16 * 100 = 75% |
hudakz | 0:e29bc8e0dddd | 151 | _canHandle.Init.BS2 = CAN_BS2_4TQ; |
hudakz | 0:e29bc8e0dddd | 152 | break; |
hudakz | 0:e29bc8e0dddd | 153 | |
hudakz | 0:e29bc8e0dddd | 154 | default: |
hudakz | 0:e29bc8e0dddd | 155 | // 125kbps (default) |
hudakz | 5:b53e5ee15315 | 156 | #if DEBUG |
hudakz | 0:e29bc8e0dddd | 157 | printf("Unknown frequency specified!\r\n"); |
hudakz | 0:e29bc8e0dddd | 158 | printf("Using default 125kbps\r\n"); |
hudakz | 5:b53e5ee15315 | 159 | #endif |
hudakz | 17:1fd35431ee8e | 160 | _canHandle.Init.Prescaler = 18; // number of time quanta = 36000000/18/125000 = 16 |
hudakz | 16:f4c8f45bded9 | 161 | _canHandle.Init.SJW = CAN_SJW_1TQ; |
hudakz | 17:1fd35431ee8e | 162 | _canHandle.Init.BS1 = CAN_BS1_11TQ; // sample point at: (1 + 11) / 16 * 100 = 75% |
hudakz | 16:f4c8f45bded9 | 163 | _canHandle.Init.BS2 = CAN_BS2_4TQ; |
hudakz | 16:f4c8f45bded9 | 164 | } |
hudakz | 16:f4c8f45bded9 | 165 | |
hudakz | 26:173eea49222f | 166 | #elif defined(TARGET_NUCLEO_F303K8) |
hudakz | 26:173eea49222f | 167 | |
hudakz | 26:173eea49222f | 168 | // APB1 peripheral clock = 32000000Hz |
hudakz | 26:173eea49222f | 169 | |
hudakz | 26:173eea49222f | 170 | switch(hz) { |
hudakz | 26:173eea49222f | 171 | case 1000000: |
hudakz | 26:173eea49222f | 172 | // 1000kbps bit rate |
hudakz | 26:173eea49222f | 173 | _canHandle.Init.Prescaler = 2; // number of time quanta = 32000000/2/1000000 = 16 |
hudakz | 26:173eea49222f | 174 | _canHandle.Init.SJW = CAN_SJW_1TQ; |
hudakz | 26:173eea49222f | 175 | _canHandle.Init.BS1 = CAN_BS1_11TQ; // sample point at: (1 + 11) / 16 * 100 = 75% |
hudakz | 26:173eea49222f | 176 | _canHandle.Init.BS2 = CAN_BS2_4TQ; |
hudakz | 26:173eea49222f | 177 | break; |
hudakz | 26:173eea49222f | 178 | |
hudakz | 26:173eea49222f | 179 | case 500000: |
hudakz | 26:173eea49222f | 180 | // 500kbps bit rate |
hudakz | 26:173eea49222f | 181 | _canHandle.Init.Prescaler = 4; // number of time quanta = 32000000/4/500000 = 16 |
hudakz | 26:173eea49222f | 182 | _canHandle.Init.SJW = CAN_SJW_1TQ; |
hudakz | 26:173eea49222f | 183 | _canHandle.Init.BS1 = CAN_BS1_11TQ; // sample point at: (1 + 11) / 16 * 100 = 75% |
hudakz | 26:173eea49222f | 184 | _canHandle.Init.BS2 = CAN_BS2_4TQ; |
hudakz | 26:173eea49222f | 185 | break; |
hudakz | 26:173eea49222f | 186 | |
hudakz | 26:173eea49222f | 187 | case 250000: |
hudakz | 26:173eea49222f | 188 | // 250kbps |
hudakz | 26:173eea49222f | 189 | _canHandle.Init.Prescaler = 8; // number of time quanta = 32000000/8/250000 = 16 |
hudakz | 26:173eea49222f | 190 | _canHandle.Init.SJW = CAN_SJW_1TQ; |
hudakz | 26:173eea49222f | 191 | _canHandle.Init.BS1 = CAN_BS1_11TQ; // sample point at: (1 + 11) / 16 * 100 = 75% |
hudakz | 26:173eea49222f | 192 | _canHandle.Init.BS2 = CAN_BS2_4TQ; |
hudakz | 26:173eea49222f | 193 | break; |
hudakz | 26:173eea49222f | 194 | |
hudakz | 26:173eea49222f | 195 | case 125000: |
hudakz | 26:173eea49222f | 196 | // 125kbps |
hudakz | 26:173eea49222f | 197 | _canHandle.Init.Prescaler = 16; // number of time quanta = 32000000/16/125000 = 16 |
hudakz | 26:173eea49222f | 198 | _canHandle.Init.SJW = CAN_SJW_1TQ; |
hudakz | 26:173eea49222f | 199 | _canHandle.Init.BS1 = CAN_BS1_11TQ; // sample point at: (1 + 11) / 16 * 100 = 75% |
hudakz | 26:173eea49222f | 200 | _canHandle.Init.BS2 = CAN_BS2_4TQ; |
hudakz | 26:173eea49222f | 201 | break; |
hudakz | 26:173eea49222f | 202 | |
hudakz | 26:173eea49222f | 203 | default: |
hudakz | 26:173eea49222f | 204 | // 125kbps (default) |
hudakz | 26:173eea49222f | 205 | #if DEBUG |
hudakz | 26:173eea49222f | 206 | printf("Unknown frequency specified!\r\n"); |
hudakz | 26:173eea49222f | 207 | printf("Using default 125kbps\r\n"); |
hudakz | 26:173eea49222f | 208 | #endif |
hudakz | 26:173eea49222f | 209 | _canHandle.Init.Prescaler = 16; // number of time quanta = 32000000/16/125000 = 16 |
hudakz | 26:173eea49222f | 210 | _canHandle.Init.SJW = CAN_SJW_1TQ; |
hudakz | 26:173eea49222f | 211 | _canHandle.Init.BS1 = CAN_BS1_11TQ; // sample point at: (1 + 11) / 16 * 100 = 75% |
hudakz | 26:173eea49222f | 212 | _canHandle.Init.BS2 = CAN_BS2_4TQ; |
hudakz | 26:173eea49222f | 213 | } |
hudakz | 26:173eea49222f | 214 | |
hudakz | 16:f4c8f45bded9 | 215 | #elif defined(TARGET_NUCLEO_F446RE) |
hudakz | 16:f4c8f45bded9 | 216 | |
hudakz | 16:f4c8f45bded9 | 217 | // APB1 peripheral clock = 45000000Hz |
hudakz | 16:f4c8f45bded9 | 218 | |
hudakz | 16:f4c8f45bded9 | 219 | switch(hz) { |
hudakz | 16:f4c8f45bded9 | 220 | case 1000000: |
hudakz | 16:f4c8f45bded9 | 221 | // 1000kbps bit rate |
hudakz | 16:f4c8f45bded9 | 222 | _canHandle.Init.Prescaler = 5; // number of time quanta = 45000000/5/1000000 = 9 |
hudakz | 16:f4c8f45bded9 | 223 | _canHandle.Init.SJW = CAN_SJW_1TQ; |
hudakz | 16:f4c8f45bded9 | 224 | _canHandle.Init.BS1 = CAN_BS1_6TQ; // sample point at: (1 + 6) / 9 * 100 = 77.78% |
hudakz | 16:f4c8f45bded9 | 225 | _canHandle.Init.BS2 = CAN_BS2_2TQ; |
hudakz | 16:f4c8f45bded9 | 226 | break; |
hudakz | 16:f4c8f45bded9 | 227 | |
hudakz | 16:f4c8f45bded9 | 228 | case 500000: |
hudakz | 16:f4c8f45bded9 | 229 | // 500kbps bit rate |
hudakz | 16:f4c8f45bded9 | 230 | _canHandle.Init.Prescaler = 10; // number of time quanta = 45000000/10/500000 = 9 |
hudakz | 16:f4c8f45bded9 | 231 | _canHandle.Init.SJW = CAN_SJW_1TQ; |
hudakz | 16:f4c8f45bded9 | 232 | _canHandle.Init.BS1 = CAN_BS1_6TQ; // sample point at: (1 + 6) / 9 * 100 = 77.78% |
hudakz | 16:f4c8f45bded9 | 233 | _canHandle.Init.BS2 = CAN_BS2_2TQ; |
hudakz | 16:f4c8f45bded9 | 234 | break; |
hudakz | 16:f4c8f45bded9 | 235 | |
hudakz | 16:f4c8f45bded9 | 236 | case 250000: |
hudakz | 16:f4c8f45bded9 | 237 | // 250kbps |
hudakz | 16:f4c8f45bded9 | 238 | _canHandle.Init.Prescaler = 15; // number of time quanta = 45000000/15/250000 = 12 |
hudakz | 16:f4c8f45bded9 | 239 | _canHandle.Init.SJW = CAN_SJW_1TQ; |
hudakz | 16:f4c8f45bded9 | 240 | _canHandle.Init.BS1 = CAN_BS1_8TQ; // sample point at: (1 + 8) / 12 * 100 = 75% |
hudakz | 16:f4c8f45bded9 | 241 | _canHandle.Init.BS2 = CAN_BS2_3TQ; |
hudakz | 16:f4c8f45bded9 | 242 | break; |
hudakz | 16:f4c8f45bded9 | 243 | |
hudakz | 16:f4c8f45bded9 | 244 | case 125000: |
hudakz | 16:f4c8f45bded9 | 245 | // 125kbps |
hudakz | 16:f4c8f45bded9 | 246 | _canHandle.Init.Prescaler = 30; // number of time quanta = 45000000/30/125000 = 12 |
hudakz | 16:f4c8f45bded9 | 247 | _canHandle.Init.SJW = CAN_SJW_1TQ; |
hudakz | 16:f4c8f45bded9 | 248 | _canHandle.Init.BS1 = CAN_BS1_8TQ; // sample point at: (1 + 8) / 12 * 100 = 75% |
hudakz | 16:f4c8f45bded9 | 249 | _canHandle.Init.BS2 = CAN_BS2_3TQ; |
hudakz | 16:f4c8f45bded9 | 250 | break; |
hudakz | 16:f4c8f45bded9 | 251 | |
hudakz | 16:f4c8f45bded9 | 252 | default: |
hudakz | 16:f4c8f45bded9 | 253 | // 125kbps (default) |
hudakz | 16:f4c8f45bded9 | 254 | #if DEBUG |
hudakz | 16:f4c8f45bded9 | 255 | printf("Unknown frequency specified!\r\n"); |
hudakz | 16:f4c8f45bded9 | 256 | printf("Using default 125kbps\r\n"); |
hudakz | 16:f4c8f45bded9 | 257 | #endif |
hudakz | 17:1fd35431ee8e | 258 | _canHandle.Init.Prescaler = 30; // number of time quanta = 45000000/30/125000 = 12 |
hudakz | 0:e29bc8e0dddd | 259 | _canHandle.Init.SJW = CAN_SJW_1TQ; |
hudakz | 17:1fd35431ee8e | 260 | _canHandle.Init.BS1 = CAN_BS1_8TQ; // sample point at: (1 + 8) / 12 * 100 = 75% |
hudakz | 17:1fd35431ee8e | 261 | _canHandle.Init.BS2 = CAN_BS2_3TQ; |
hudakz | 0:e29bc8e0dddd | 262 | } |
hudakz | 16:f4c8f45bded9 | 263 | |
hudakz | 16:f4c8f45bded9 | 264 | #endif |
hudakz | 0:e29bc8e0dddd | 265 | |
hudakz | 0:e29bc8e0dddd | 266 | HAL_CAN_Init(&_canHandle); |
hudakz | 15:5123ead7b002 | 267 | HAL_NVIC_EnableIRQ(CAN_IRQ); |
hudakz | 11:439f3a34c42e | 268 | |
hudakz | 5:b53e5ee15315 | 269 | return 1; |
hudakz | 0:e29bc8e0dddd | 270 | } |
hudakz | 0:e29bc8e0dddd | 271 | |
hudakz | 0:e29bc8e0dddd | 272 | /** |
hudakz | 0:e29bc8e0dddd | 273 | * @brief |
hudakz | 0:e29bc8e0dddd | 274 | * @note |
hudakz | 0:e29bc8e0dddd | 275 | * @param |
hudakz | 0:e29bc8e0dddd | 276 | * @retval |
hudakz | 0:e29bc8e0dddd | 277 | */ |
hudakz | 20:bcd8161f8f6c | 278 | void can_callback(void) { |
hudakz | 20:bcd8161f8f6c | 279 | irq_handler(irq_id, IRQ_RX); |
hudakz | 20:bcd8161f8f6c | 280 | } |
hudakz | 20:bcd8161f8f6c | 281 | |
hudakz | 20:bcd8161f8f6c | 282 | /** |
hudakz | 20:bcd8161f8f6c | 283 | * @brief |
hudakz | 20:bcd8161f8f6c | 284 | * @note |
hudakz | 20:bcd8161f8f6c | 285 | * @param |
hudakz | 20:bcd8161f8f6c | 286 | * @retval |
hudakz | 20:bcd8161f8f6c | 287 | */ |
hudakz | 20:bcd8161f8f6c | 288 | void can_irq_init(uint32_t id, can_irq_handler handler) { |
hudakz | 20:bcd8161f8f6c | 289 | irq_id = id; |
hudakz | 20:bcd8161f8f6c | 290 | irq_handler = handler; |
hudakz | 20:bcd8161f8f6c | 291 | rxCompleteCallback = can_callback; |
hudakz | 20:bcd8161f8f6c | 292 | |
hudakz | 0:e29bc8e0dddd | 293 | if(HAL_CAN_Receive_IT(&_canHandle, CAN_FIFO0) != HAL_OK) { |
hudakz | 5:b53e5ee15315 | 294 | #ifdef DEBUG |
hudakz | 0:e29bc8e0dddd | 295 | printf("CAN reception initialization error\r\n"); |
hudakz | 5:b53e5ee15315 | 296 | #endif |
hudakz | 0:e29bc8e0dddd | 297 | } |
hudakz | 0:e29bc8e0dddd | 298 | } |
hudakz | 0:e29bc8e0dddd | 299 | |
hudakz | 0:e29bc8e0dddd | 300 | /** |
hudakz | 0:e29bc8e0dddd | 301 | * @brief |
hudakz | 0:e29bc8e0dddd | 302 | * @note |
hudakz | 0:e29bc8e0dddd | 303 | * @param |
hudakz | 0:e29bc8e0dddd | 304 | * @retval |
hudakz | 0:e29bc8e0dddd | 305 | */ |
hudakz | 20:bcd8161f8f6c | 306 | void can_irq_free(void) { |
hudakz | 11:439f3a34c42e | 307 | rxCompleteCallback = 0; |
hudakz | 20:bcd8161f8f6c | 308 | } |
hudakz | 0:e29bc8e0dddd | 309 | |
hudakz | 0:e29bc8e0dddd | 310 | /** |
hudakz | 0:e29bc8e0dddd | 311 | * @brief |
hudakz | 0:e29bc8e0dddd | 312 | * @note |
hudakz | 0:e29bc8e0dddd | 313 | * @param |
hudakz | 0:e29bc8e0dddd | 314 | * @retval |
hudakz | 0:e29bc8e0dddd | 315 | */ |
hudakz | 20:bcd8161f8f6c | 316 | int can_write(CAN_Message msg, int cc) { |
hudakz | 0:e29bc8e0dddd | 317 | int i = 0; |
hudakz | 0:e29bc8e0dddd | 318 | |
hudakz | 0:e29bc8e0dddd | 319 | if(msg.format == CANStandard) { |
hudakz | 0:e29bc8e0dddd | 320 | _canHandle.pTxMsg->StdId = msg.id; |
hudakz | 0:e29bc8e0dddd | 321 | _canHandle.pTxMsg->ExtId = 0x00; |
hudakz | 0:e29bc8e0dddd | 322 | } |
hudakz | 0:e29bc8e0dddd | 323 | else { |
hudakz | 0:e29bc8e0dddd | 324 | _canHandle.pTxMsg->StdId = 0x00; |
hudakz | 0:e29bc8e0dddd | 325 | _canHandle.pTxMsg->ExtId = msg.id; |
hudakz | 0:e29bc8e0dddd | 326 | } |
hudakz | 0:e29bc8e0dddd | 327 | |
hudakz | 0:e29bc8e0dddd | 328 | _canHandle.pTxMsg->RTR = msg.type == CANData ? CAN_RTR_DATA : CAN_RTR_REMOTE; |
hudakz | 0:e29bc8e0dddd | 329 | _canHandle.pTxMsg->IDE = msg.format == CANStandard ? CAN_ID_STD : CAN_ID_EXT; |
hudakz | 0:e29bc8e0dddd | 330 | _canHandle.pTxMsg->DLC = msg.len; |
hudakz | 0:e29bc8e0dddd | 331 | |
hudakz | 0:e29bc8e0dddd | 332 | for(i = 0; i < msg.len; i++) |
hudakz | 0:e29bc8e0dddd | 333 | _canHandle.pTxMsg->Data[i] = msg.data[i]; |
hudakz | 0:e29bc8e0dddd | 334 | |
hudakz | 0:e29bc8e0dddd | 335 | if(HAL_CAN_Transmit(&_canHandle, 10) != HAL_OK) { |
hudakz | 5:b53e5ee15315 | 336 | #ifdef DEBUG |
hudakz | 0:e29bc8e0dddd | 337 | printf("Transmission error\r\n"); |
hudakz | 5:b53e5ee15315 | 338 | #endif |
hudakz | 5:b53e5ee15315 | 339 | return 0; |
hudakz | 0:e29bc8e0dddd | 340 | } |
hudakz | 5:b53e5ee15315 | 341 | else |
hudakz | 5:b53e5ee15315 | 342 | return 1; |
hudakz | 0:e29bc8e0dddd | 343 | } |
hudakz | 0:e29bc8e0dddd | 344 | |
hudakz | 0:e29bc8e0dddd | 345 | /** |
hudakz | 0:e29bc8e0dddd | 346 | * @brief |
hudakz | 0:e29bc8e0dddd | 347 | * @note |
hudakz | 0:e29bc8e0dddd | 348 | * @param |
hudakz | 0:e29bc8e0dddd | 349 | * @retval |
hudakz | 0:e29bc8e0dddd | 350 | */ |
hudakz | 20:bcd8161f8f6c | 351 | int can_read(CAN_Message* msg, int handle) { |
hudakz | 10:227a455d0f9f | 352 | int i; |
hudakz | 0:e29bc8e0dddd | 353 | msg->id = _canHandle.pRxMsg->IDE == CAN_ID_STD ? _canHandle.pRxMsg->StdId : _canHandle.pRxMsg->ExtId; |
hudakz | 0:e29bc8e0dddd | 354 | msg->type = _canHandle.pRxMsg->RTR == CAN_RTR_DATA ? CANData : CANRemote; |
hudakz | 0:e29bc8e0dddd | 355 | msg->format = _canHandle.pRxMsg->IDE == CAN_ID_STD ? CANStandard : CANExtended; |
hudakz | 0:e29bc8e0dddd | 356 | msg->len = _canHandle.pRxMsg->DLC; |
hudakz | 10:227a455d0f9f | 357 | for(i = 0; i < msg->len; i++) |
hudakz | 0:e29bc8e0dddd | 358 | msg->data[i] = _canHandle.pRxMsg->Data[i]; |
hudakz | 5:b53e5ee15315 | 359 | |
hudakz | 5:b53e5ee15315 | 360 | return msg->len; |
hudakz | 0:e29bc8e0dddd | 361 | } |
hudakz | 0:e29bc8e0dddd | 362 | |
hudakz | 0:e29bc8e0dddd | 363 | /** |
hudakz | 0:e29bc8e0dddd | 364 | * @brief |
hudakz | 0:e29bc8e0dddd | 365 | * @note |
hudakz | 0:e29bc8e0dddd | 366 | * @param |
hudakz | 0:e29bc8e0dddd | 367 | * @retval |
hudakz | 0:e29bc8e0dddd | 368 | */ |
hudakz | 20:bcd8161f8f6c | 369 | int can_mode(CanMode mode) { |
hudakz | 0:e29bc8e0dddd | 370 | switch(mode) { |
hudakz | 0:e29bc8e0dddd | 371 | case MODE_RESET: |
hudakz | 0:e29bc8e0dddd | 372 | return HAL_ERROR; |
hudakz | 0:e29bc8e0dddd | 373 | |
hudakz | 0:e29bc8e0dddd | 374 | case MODE_NORMAL: |
hudakz | 0:e29bc8e0dddd | 375 | _canHandle.Init.Mode = CAN_MODE_NORMAL; |
hudakz | 0:e29bc8e0dddd | 376 | break; |
hudakz | 0:e29bc8e0dddd | 377 | |
hudakz | 0:e29bc8e0dddd | 378 | case MODE_SILENT: |
hudakz | 0:e29bc8e0dddd | 379 | _canHandle.Init.Mode = CAN_MODE_SILENT; |
hudakz | 0:e29bc8e0dddd | 380 | break; |
hudakz | 0:e29bc8e0dddd | 381 | |
hudakz | 0:e29bc8e0dddd | 382 | case MODE_TEST_GLOBAL: |
hudakz | 0:e29bc8e0dddd | 383 | _canHandle.Init.Mode = CAN_MODE_LOOPBACK; |
hudakz | 0:e29bc8e0dddd | 384 | break; |
hudakz | 0:e29bc8e0dddd | 385 | |
hudakz | 0:e29bc8e0dddd | 386 | case MODE_TEST_LOCAL: |
hudakz | 0:e29bc8e0dddd | 387 | _canHandle.Init.Mode = CAN_MODE_LOOPBACK; |
hudakz | 0:e29bc8e0dddd | 388 | break; |
hudakz | 0:e29bc8e0dddd | 389 | |
hudakz | 0:e29bc8e0dddd | 390 | case MODE_TEST_SILENT: |
hudakz | 0:e29bc8e0dddd | 391 | _canHandle.Init.Mode = CAN_MODE_SILENT_LOOPBACK; |
hudakz | 0:e29bc8e0dddd | 392 | break; |
hudakz | 0:e29bc8e0dddd | 393 | } |
hudakz | 0:e29bc8e0dddd | 394 | |
hudakz | 3:0fae6b54a2ee | 395 | return HAL_CAN_Init(&_canHandle); |
hudakz | 0:e29bc8e0dddd | 396 | } |
hudakz | 0:e29bc8e0dddd | 397 | |
hudakz | 0:e29bc8e0dddd | 398 | /** |
hudakz | 0:e29bc8e0dddd | 399 | * @brief |
hudakz | 0:e29bc8e0dddd | 400 | * @note |
hudakz | 0:e29bc8e0dddd | 401 | * @param |
hudakz | 0:e29bc8e0dddd | 402 | * @retval |
hudakz | 0:e29bc8e0dddd | 403 | */ |
hudakz | 20:bcd8161f8f6c | 404 | int can_filter(uint32_t id, uint32_t mask, CANFormat format /*=CANAny*/, int32_t handle /*=0*/ ) { |
hudakz | 0:e29bc8e0dddd | 405 | CAN_FilterConfTypeDef sFilterConfig; |
hudakz | 0:e29bc8e0dddd | 406 | |
hudakz | 8:5c90d6b9a382 | 407 | sFilterConfig.FilterNumber = handle; // Specifies the filter number (must be a number between 0 and 13 at 32-bit filter scale) |
hudakz | 0:e29bc8e0dddd | 408 | sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK; |
hudakz | 0:e29bc8e0dddd | 409 | sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT; |
hudakz | 0:e29bc8e0dddd | 410 | sFilterConfig.FilterIdHigh = (((id) >> 16) & 0xFFFF); |
hudakz | 0:e29bc8e0dddd | 411 | sFilterConfig.FilterIdLow = ((id) & 0xFFFF); |
hudakz | 0:e29bc8e0dddd | 412 | sFilterConfig.FilterMaskIdHigh = (((mask) >> 16) & 0xFFFF); |
hudakz | 0:e29bc8e0dddd | 413 | sFilterConfig.FilterMaskIdLow = ((mask) & 0xFFFF); |
hudakz | 0:e29bc8e0dddd | 414 | sFilterConfig.FilterFIFOAssignment = 0; |
hudakz | 0:e29bc8e0dddd | 415 | sFilterConfig.FilterActivation = ENABLE; |
hudakz | 8:5c90d6b9a382 | 416 | sFilterConfig.BankNumber = 0; // Selects the start bank filter |
hudakz | 8:5c90d6b9a382 | 417 | return HAL_CAN_ConfigFilter(&_canHandle, &sFilterConfig); |
hudakz | 0:e29bc8e0dddd | 418 | } |
hudakz | 0:e29bc8e0dddd | 419 | |
hudakz | 0:e29bc8e0dddd | 420 | /** |
hudakz | 0:e29bc8e0dddd | 421 | * @brief |
hudakz | 0:e29bc8e0dddd | 422 | * @note |
hudakz | 0:e29bc8e0dddd | 423 | * @param |
hudakz | 0:e29bc8e0dddd | 424 | * @retval |
hudakz | 0:e29bc8e0dddd | 425 | */ |
hudakz | 20:bcd8161f8f6c | 426 | void can_reset(void) { |
hudakz | 0:e29bc8e0dddd | 427 | __HAL_CAN_RESET_HANDLE_STATE(&_canHandle); |
hudakz | 0:e29bc8e0dddd | 428 | } |
hudakz | 0:e29bc8e0dddd | 429 | |
hudakz | 0:e29bc8e0dddd | 430 | /** |
hudakz | 0:e29bc8e0dddd | 431 | * @brief |
hudakz | 0:e29bc8e0dddd | 432 | * @note |
hudakz | 0:e29bc8e0dddd | 433 | * @param |
hudakz | 0:e29bc8e0dddd | 434 | * @retval |
hudakz | 0:e29bc8e0dddd | 435 | */ |
hudakz | 20:bcd8161f8f6c | 436 | unsigned char can_rderror(void) { |
hudakz | 0:e29bc8e0dddd | 437 | return HAL_CAN_GetError(&_canHandle); |
hudakz | 0:e29bc8e0dddd | 438 | } |
hudakz | 0:e29bc8e0dddd | 439 | |
hudakz | 0:e29bc8e0dddd | 440 | /** |
hudakz | 0:e29bc8e0dddd | 441 | * @brief |
hudakz | 0:e29bc8e0dddd | 442 | * @note |
hudakz | 0:e29bc8e0dddd | 443 | * @param |
hudakz | 0:e29bc8e0dddd | 444 | * @retval |
hudakz | 0:e29bc8e0dddd | 445 | */ |
hudakz | 20:bcd8161f8f6c | 446 | unsigned char can_tderror(void) { |
hudakz | 0:e29bc8e0dddd | 447 | return HAL_CAN_GetError(&_canHandle); |
hudakz | 0:e29bc8e0dddd | 448 | } |
hudakz | 0:e29bc8e0dddd | 449 | |
hudakz | 0:e29bc8e0dddd | 450 | /** |
hudakz | 0:e29bc8e0dddd | 451 | * @brief |
hudakz | 0:e29bc8e0dddd | 452 | * @note |
hudakz | 0:e29bc8e0dddd | 453 | * @param |
hudakz | 0:e29bc8e0dddd | 454 | * @retval |
hudakz | 0:e29bc8e0dddd | 455 | */ |
hudakz | 20:bcd8161f8f6c | 456 | void can_monitor(int silent) { |
hudakz | 0:e29bc8e0dddd | 457 | |
hudakz | 0:e29bc8e0dddd | 458 | // not implemented |
hudakz | 0:e29bc8e0dddd | 459 | } |
hudakz | 1:eb04f7f0478d | 460 | |
hudakz | 5:b53e5ee15315 | 461 | |
hudakz | 6:c5a40d5fd9f1 | 462 | |
hudakz | 11:439f3a34c42e | 463 | |
hudakz | 12:c45310ff2233 | 464 | |
hudakz | 20:bcd8161f8f6c | 465 | |
hudakz | 24:c5d348e65e24 | 466 | |
hudakz | 28:eed6929956ea | 467 |