Lee Kai Xuan / mbed-os

mbed-os

Fork of mbed-os by erkin yucel

targets/TARGET_STM/TARGET_STM32F7/can_api.c@0:f269e3021894, 2016-10-23 (annotated)

Committer:
elessair
Date:
Sun Oct 23 15:10:02 2016 +0000
Revision:
0:f269e3021894
Initial commit

Who changed what in which revision?

UserRevisionLine numberNew contents of line
elessair 0:f269e3021894 1 /* mbed Microcontroller Library
elessair 0:f269e3021894 2 * Copyright (c) 2006-2016 ARM Limited
elessair 0:f269e3021894 3 *
elessair 0:f269e3021894 4 * Licensed under the Apache License, Version 2.0 (the "License");
elessair 0:f269e3021894 5 * you may not use this file except in compliance with the License.
elessair 0:f269e3021894 6 * You may obtain a copy of the License at
elessair 0:f269e3021894 7 *
elessair 0:f269e3021894 8 * http://www.apache.org/licenses/LICENSE-2.0
elessair 0:f269e3021894 9 *
elessair 0:f269e3021894 10 * Unless required by applicable law or agreed to in writing, software
elessair 0:f269e3021894 11 * distributed under the License is distributed on an "AS IS" BASIS,
elessair 0:f269e3021894 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
elessair 0:f269e3021894 13 * See the License for the specific language governing permissions and
elessair 0:f269e3021894 14 * limitations under the License.
elessair 0:f269e3021894 15 */
elessair 0:f269e3021894 16 #include "can_api.h"
elessair 0:f269e3021894 17
elessair 0:f269e3021894 18 #if DEVICE_CAN
elessair 0:f269e3021894 19
elessair 0:f269e3021894 20 #include "cmsis.h"
elessair 0:f269e3021894 21 #include "pinmap.h"
elessair 0:f269e3021894 22 #include "PeripheralPins.h"
elessair 0:f269e3021894 23 #include "mbed_error.h"
elessair 0:f269e3021894 24 #include <math.h>
elessair 0:f269e3021894 25 #include <string.h>
elessair 0:f269e3021894 26
elessair 0:f269e3021894 27 #define CAN_NUM 2
elessair 0:f269e3021894 28 static CAN_HandleTypeDef CanHandle;
elessair 0:f269e3021894 29 static uint32_t can_irq_ids[CAN_NUM] = {0};
elessair 0:f269e3021894 30 static can_irq_handler irq_handler;
elessair 0:f269e3021894 31
elessair 0:f269e3021894 32 void can_init(can_t *obj, PinName rd, PinName td)
elessair 0:f269e3021894 33 {
elessair 0:f269e3021894 34 uint32_t filter_number;
elessair 0:f269e3021894 35 CANName can_rd = (CANName)pinmap_peripheral(rd, PinMap_CAN_RD);
elessair 0:f269e3021894 36 CANName can_td = (CANName)pinmap_peripheral(td, PinMap_CAN_TD);
elessair 0:f269e3021894 37 obj->can = (CANName)pinmap_merge(can_rd, can_td);
elessair 0:f269e3021894 38 MBED_ASSERT((int)obj->can != NC);
elessair 0:f269e3021894 39
elessair 0:f269e3021894 40 if(obj->can == CAN_1) {
elessair 0:f269e3021894 41 __HAL_RCC_CAN1_CLK_ENABLE();
elessair 0:f269e3021894 42 obj->index = 0;
elessair 0:f269e3021894 43 } else {
elessair 0:f269e3021894 44 __HAL_RCC_CAN2_CLK_ENABLE();
elessair 0:f269e3021894 45 obj->index = 1;
elessair 0:f269e3021894 46 }
elessair 0:f269e3021894 47
elessair 0:f269e3021894 48 // Configure the CAN pins
elessair 0:f269e3021894 49 pinmap_pinout(rd, PinMap_CAN_RD);
elessair 0:f269e3021894 50 pinmap_pinout(td, PinMap_CAN_TD);
elessair 0:f269e3021894 51 if (rd != NC) {
elessair 0:f269e3021894 52 pin_mode(rd, PullUp);
elessair 0:f269e3021894 53 }
elessair 0:f269e3021894 54 if (td != NC) {
elessair 0:f269e3021894 55 pin_mode(td, PullUp);
elessair 0:f269e3021894 56 }
elessair 0:f269e3021894 57
elessair 0:f269e3021894 58 CanHandle.Instance = (CAN_TypeDef *)(obj->can);
elessair 0:f269e3021894 59
elessair 0:f269e3021894 60 CanHandle.Init.TTCM = DISABLE;
elessair 0:f269e3021894 61 CanHandle.Init.ABOM = DISABLE;
elessair 0:f269e3021894 62 CanHandle.Init.AWUM = DISABLE;
elessair 0:f269e3021894 63 CanHandle.Init.NART = DISABLE;
elessair 0:f269e3021894 64 CanHandle.Init.RFLM = DISABLE;
elessair 0:f269e3021894 65 CanHandle.Init.TXFP = DISABLE;
elessair 0:f269e3021894 66 CanHandle.Init.Mode = CAN_MODE_NORMAL;
elessair 0:f269e3021894 67 CanHandle.Init.SJW = CAN_SJW_1TQ;
elessair 0:f269e3021894 68 CanHandle.Init.BS1 = CAN_BS1_6TQ;
elessair 0:f269e3021894 69 CanHandle.Init.BS2 = CAN_BS2_8TQ;
elessair 0:f269e3021894 70 CanHandle.Init.Prescaler = 2;
elessair 0:f269e3021894 71
elessair 0:f269e3021894 72 if (HAL_CAN_Init(&CanHandle) != HAL_OK) {
elessair 0:f269e3021894 73 error("Cannot initialize CAN");
elessair 0:f269e3021894 74 }
elessair 0:f269e3021894 75
elessair 0:f269e3021894 76 filter_number = (obj->can == CAN_1) ? 0 : 14;
elessair 0:f269e3021894 77
elessair 0:f269e3021894 78 // Set initial CAN frequency to 100kb/s
elessair 0:f269e3021894 79 can_frequency(obj, 100000);
elessair 0:f269e3021894 80
elessair 0:f269e3021894 81 can_filter(obj, 0, 0, CANStandard, filter_number);
elessair 0:f269e3021894 82 }
elessair 0:f269e3021894 83
elessair 0:f269e3021894 84 void can_irq_init(can_t *obj, can_irq_handler handler, uint32_t id)
elessair 0:f269e3021894 85 {
elessair 0:f269e3021894 86 irq_handler = handler;
elessair 0:f269e3021894 87 can_irq_ids[obj->index] = id;
elessair 0:f269e3021894 88 }
elessair 0:f269e3021894 89
elessair 0:f269e3021894 90 void can_irq_free(can_t *obj)
elessair 0:f269e3021894 91 {
elessair 0:f269e3021894 92 CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
elessair 0:f269e3021894 93
elessair 0:f269e3021894 94 can->IER &= ~(CAN_IT_FMP0 | CAN_IT_FMP1 | CAN_IT_TME | \
elessair 0:f269e3021894 95 CAN_IT_ERR | CAN_IT_EPV | CAN_IT_BOF);
elessair 0:f269e3021894 96 can_irq_ids[obj->can] = 0;
elessair 0:f269e3021894 97 }
elessair 0:f269e3021894 98
elessair 0:f269e3021894 99 void can_free(can_t *obj)
elessair 0:f269e3021894 100 {
elessair 0:f269e3021894 101 // Reset CAN and disable clock
elessair 0:f269e3021894 102 if (obj->can == CAN_1) {
elessair 0:f269e3021894 103 __HAL_RCC_CAN1_FORCE_RESET();
elessair 0:f269e3021894 104 __HAL_RCC_CAN1_RELEASE_RESET();
elessair 0:f269e3021894 105 __HAL_RCC_CAN1_CLK_DISABLE();
elessair 0:f269e3021894 106 }
elessair 0:f269e3021894 107
elessair 0:f269e3021894 108 if (obj->can == CAN_2) {
elessair 0:f269e3021894 109 __HAL_RCC_CAN2_FORCE_RESET();
elessair 0:f269e3021894 110 __HAL_RCC_CAN2_RELEASE_RESET();
elessair 0:f269e3021894 111 __HAL_RCC_CAN2_CLK_DISABLE();
elessair 0:f269e3021894 112 }
elessair 0:f269e3021894 113 }
elessair 0:f269e3021894 114
elessair 0:f269e3021894 115 // The following table is used to program bit_timing. It is an adjustment of the sample
elessair 0:f269e3021894 116 // point by synchronizing on the start-bit edge and resynchronizing on the following edges.
elessair 0:f269e3021894 117 // This table has the sampling points as close to 75% as possible (most commonly used).
elessair 0:f269e3021894 118 // The first value is TSEG1, the second TSEG2.
elessair 0:f269e3021894 119 static const int timing_pts[23][2] = {
elessair 0:f269e3021894 120 {0x0, 0x0}, // 2, 50%
elessair 0:f269e3021894 121 {0x1, 0x0}, // 3, 67%
elessair 0:f269e3021894 122 {0x2, 0x0}, // 4, 75%
elessair 0:f269e3021894 123 {0x3, 0x0}, // 5, 80%
elessair 0:f269e3021894 124 {0x3, 0x1}, // 6, 67%
elessair 0:f269e3021894 125 {0x4, 0x1}, // 7, 71%
elessair 0:f269e3021894 126 {0x5, 0x1}, // 8, 75%
elessair 0:f269e3021894 127 {0x6, 0x1}, // 9, 78%
elessair 0:f269e3021894 128 {0x6, 0x2}, // 10, 70%
elessair 0:f269e3021894 129 {0x7, 0x2}, // 11, 73%
elessair 0:f269e3021894 130 {0x8, 0x2}, // 12, 75%
elessair 0:f269e3021894 131 {0x9, 0x2}, // 13, 77%
elessair 0:f269e3021894 132 {0x9, 0x3}, // 14, 71%
elessair 0:f269e3021894 133 {0xA, 0x3}, // 15, 73%
elessair 0:f269e3021894 134 {0xB, 0x3}, // 16, 75%
elessair 0:f269e3021894 135 {0xC, 0x3}, // 17, 76%
elessair 0:f269e3021894 136 {0xD, 0x3}, // 18, 78%
elessair 0:f269e3021894 137 {0xD, 0x4}, // 19, 74%
elessair 0:f269e3021894 138 {0xE, 0x4}, // 20, 75%
elessair 0:f269e3021894 139 {0xF, 0x4}, // 21, 76%
elessair 0:f269e3021894 140 {0xF, 0x5}, // 22, 73%
elessair 0:f269e3021894 141 {0xF, 0x6}, // 23, 70%
elessair 0:f269e3021894 142 {0xF, 0x7}, // 24, 67%
elessair 0:f269e3021894 143 };
elessair 0:f269e3021894 144
elessair 0:f269e3021894 145 static unsigned int can_speed(unsigned int pclk, unsigned int cclk, unsigned char psjw)
elessair 0:f269e3021894 146 {
elessair 0:f269e3021894 147 uint32_t btr;
elessair 0:f269e3021894 148 uint16_t brp = 0;
elessair 0:f269e3021894 149 uint32_t calcbit;
elessair 0:f269e3021894 150 uint32_t bitwidth;
elessair 0:f269e3021894 151 int hit = 0;
elessair 0:f269e3021894 152 int bits;
elessair 0:f269e3021894 153
elessair 0:f269e3021894 154 bitwidth = (pclk / cclk);
elessair 0:f269e3021894 155
elessair 0:f269e3021894 156 brp = bitwidth / 0x18;
elessair 0:f269e3021894 157 while ((!hit) && (brp < bitwidth / 4)) {
elessair 0:f269e3021894 158 brp++;
elessair 0:f269e3021894 159 for (bits = 22; bits > 0; bits--) {
elessair 0:f269e3021894 160 calcbit = (bits + 3) * (brp + 1);
elessair 0:f269e3021894 161 if (calcbit == bitwidth) {
elessair 0:f269e3021894 162 hit = 1;
elessair 0:f269e3021894 163 break;
elessair 0:f269e3021894 164 }
elessair 0:f269e3021894 165 }
elessair 0:f269e3021894 166 }
elessair 0:f269e3021894 167
elessair 0:f269e3021894 168 if (hit) {
elessair 0:f269e3021894 169 btr = ((timing_pts[bits][1] << 20) & 0x00700000)
elessair 0:f269e3021894 170 | ((timing_pts[bits][0] << 16) & 0x000F0000)
elessair 0:f269e3021894 171 | ((psjw << 24) & 0x0000C000)
elessair 0:f269e3021894 172 | ((brp << 0) & 0x000003FF);
elessair 0:f269e3021894 173 } else {
elessair 0:f269e3021894 174 btr = 0xFFFFFFFF;
elessair 0:f269e3021894 175 }
elessair 0:f269e3021894 176
elessair 0:f269e3021894 177 return btr;
elessair 0:f269e3021894 178
elessair 0:f269e3021894 179 }
elessair 0:f269e3021894 180
elessair 0:f269e3021894 181 int can_frequency(can_t *obj, int f)
elessair 0:f269e3021894 182 {
elessair 0:f269e3021894 183 int pclk = HAL_RCC_GetPCLK1Freq();
elessair 0:f269e3021894 184 int btr = can_speed(pclk, (unsigned int)f, 1);
elessair 0:f269e3021894 185 CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
elessair 0:f269e3021894 186
elessair 0:f269e3021894 187 if (btr > 0) {
elessair 0:f269e3021894 188 can->MCR |= CAN_MCR_INRQ ;
elessair 0:f269e3021894 189 while((can->MSR & CAN_MSR_INAK) != CAN_MSR_INAK) {
elessair 0:f269e3021894 190 }
elessair 0:f269e3021894 191 can->BTR = btr;
elessair 0:f269e3021894 192 can->MCR &= ~(uint32_t)CAN_MCR_INRQ;
elessair 0:f269e3021894 193 while((can->MSR & CAN_MSR_INAK) == CAN_MSR_INAK) {
elessair 0:f269e3021894 194 }
elessair 0:f269e3021894 195 return 1;
elessair 0:f269e3021894 196 } else {
elessair 0:f269e3021894 197 return 0;
elessair 0:f269e3021894 198 }
elessair 0:f269e3021894 199 }
elessair 0:f269e3021894 200
elessair 0:f269e3021894 201 int can_write(can_t *obj, CAN_Message msg, int cc)
elessair 0:f269e3021894 202 {
elessair 0:f269e3021894 203 uint32_t transmitmailbox = 5;
elessair 0:f269e3021894 204 CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
elessair 0:f269e3021894 205
elessair 0:f269e3021894 206 /* Select one empty transmit mailbox */
elessair 0:f269e3021894 207 if ((can->TSR&CAN_TSR_TME0) == CAN_TSR_TME0) {
elessair 0:f269e3021894 208 transmitmailbox = 0;
elessair 0:f269e3021894 209 } else if ((can->TSR&CAN_TSR_TME1) == CAN_TSR_TME1) {
elessair 0:f269e3021894 210 transmitmailbox = 1;
elessair 0:f269e3021894 211 } else if ((can->TSR&CAN_TSR_TME2) == CAN_TSR_TME2) {
elessair 0:f269e3021894 212 transmitmailbox = 2;
elessair 0:f269e3021894 213 } else {
elessair 0:f269e3021894 214 transmitmailbox = CAN_TXSTATUS_NOMAILBOX;
elessair 0:f269e3021894 215 }
elessair 0:f269e3021894 216
elessair 0:f269e3021894 217 if (transmitmailbox != CAN_TXSTATUS_NOMAILBOX) {
elessair 0:f269e3021894 218 can->sTxMailBox[transmitmailbox].TIR &= CAN_TI0R_TXRQ;
elessair 0:f269e3021894 219 if (!(msg.format))
elessair 0:f269e3021894 220 {
elessair 0:f269e3021894 221 can->sTxMailBox[transmitmailbox].TIR |= ((msg.id << 21) | msg.type);
elessair 0:f269e3021894 222 }
elessair 0:f269e3021894 223 else
elessair 0:f269e3021894 224 {
elessair 0:f269e3021894 225 can->sTxMailBox[transmitmailbox].TIR |= ((msg.id << 3) | CAN_ID_EXT | msg.type);
elessair 0:f269e3021894 226 }
elessair 0:f269e3021894 227
elessair 0:f269e3021894 228 /* Set up the DLC */
elessair 0:f269e3021894 229 can->sTxMailBox[transmitmailbox].TDTR &= (uint32_t)0xFFFFFFF0;
elessair 0:f269e3021894 230 can->sTxMailBox[transmitmailbox].TDTR |= (msg.len & (uint8_t)0x0000000F);
elessair 0:f269e3021894 231
elessair 0:f269e3021894 232 /* Set up the data field */
elessair 0:f269e3021894 233 can->sTxMailBox[transmitmailbox].TDLR = (((uint32_t)msg.data[3] << 24) |
elessair 0:f269e3021894 234 ((uint32_t)msg.data[2] << 16) |
elessair 0:f269e3021894 235 ((uint32_t)msg.data[1] << 8) |
elessair 0:f269e3021894 236 ((uint32_t)msg.data[0]));
elessair 0:f269e3021894 237 can->sTxMailBox[transmitmailbox].TDHR = (((uint32_t)msg.data[7] << 24) |
elessair 0:f269e3021894 238 ((uint32_t)msg.data[6] << 16) |
elessair 0:f269e3021894 239 ((uint32_t)msg.data[5] << 8) |
elessair 0:f269e3021894 240 ((uint32_t)msg.data[4]));
elessair 0:f269e3021894 241 /* Request transmission */
elessair 0:f269e3021894 242 can->sTxMailBox[transmitmailbox].TIR |= CAN_TI0R_TXRQ;
elessair 0:f269e3021894 243 }
elessair 0:f269e3021894 244
elessair 0:f269e3021894 245 return 1;
elessair 0:f269e3021894 246 }
elessair 0:f269e3021894 247
elessair 0:f269e3021894 248 int can_read(can_t *obj, CAN_Message *msg, int handle)
elessair 0:f269e3021894 249 {
elessair 0:f269e3021894 250 //handle is the FIFO number
elessair 0:f269e3021894 251
elessair 0:f269e3021894 252 CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
elessair 0:f269e3021894 253
elessair 0:f269e3021894 254 /* Get the Id */
elessair 0:f269e3021894 255 msg->format = (CANFormat)((uint8_t)0x04 & can->sFIFOMailBox[handle].RIR);
elessair 0:f269e3021894 256 if (!msg->format) {
elessair 0:f269e3021894 257 msg->id = (uint32_t)0x000007FF & (can->sFIFOMailBox[handle].RIR >> 21);
elessair 0:f269e3021894 258 } else {
elessair 0:f269e3021894 259 msg->id = (uint32_t)0x1FFFFFFF & (can->sFIFOMailBox[handle].RIR >> 3);
elessair 0:f269e3021894 260 }
elessair 0:f269e3021894 261
elessair 0:f269e3021894 262 msg->type = (CANType)((uint8_t)0x02 & can->sFIFOMailBox[handle].RIR);
elessair 0:f269e3021894 263 /* Get the DLC */
elessair 0:f269e3021894 264 msg->len = (uint8_t)0x0F & can->sFIFOMailBox[handle].RDTR;
elessair 0:f269e3021894 265 // /* Get the FMI */
elessair 0:f269e3021894 266 // msg->FMI = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDTR >> 8);
elessair 0:f269e3021894 267 /* Get the data field */
elessair 0:f269e3021894 268 msg->data[0] = (uint8_t)0xFF & can->sFIFOMailBox[handle].RDLR;
elessair 0:f269e3021894 269 msg->data[1] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDLR >> 8);
elessair 0:f269e3021894 270 msg->data[2] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDLR >> 16);
elessair 0:f269e3021894 271 msg->data[3] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDLR >> 24);
elessair 0:f269e3021894 272 msg->data[4] = (uint8_t)0xFF & can->sFIFOMailBox[handle].RDHR;
elessair 0:f269e3021894 273 msg->data[5] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDHR >> 8);
elessair 0:f269e3021894 274 msg->data[6] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDHR >> 16);
elessair 0:f269e3021894 275 msg->data[7] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDHR >> 24);
elessair 0:f269e3021894 276
elessair 0:f269e3021894 277 /* Release the FIFO */
elessair 0:f269e3021894 278 if(handle == CAN_FIFO0) {
elessair 0:f269e3021894 279 /* Release FIFO0 */
elessair 0:f269e3021894 280 can->RF0R = CAN_RF0R_RFOM0;
elessair 0:f269e3021894 281 } else { /* FIFONumber == CAN_FIFO1 */
elessair 0:f269e3021894 282 /* Release FIFO1 */
elessair 0:f269e3021894 283 can->RF1R = CAN_RF1R_RFOM1;
elessair 0:f269e3021894 284 }
elessair 0:f269e3021894 285
elessair 0:f269e3021894 286 return 1;
elessair 0:f269e3021894 287 }
elessair 0:f269e3021894 288
elessair 0:f269e3021894 289 void can_reset(can_t *obj)
elessair 0:f269e3021894 290 {
elessair 0:f269e3021894 291 CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
elessair 0:f269e3021894 292
elessair 0:f269e3021894 293 can->MCR |= CAN_MCR_RESET;
elessair 0:f269e3021894 294 can->ESR = 0x0;
elessair 0:f269e3021894 295 }
elessair 0:f269e3021894 296
elessair 0:f269e3021894 297 unsigned char can_rderror(can_t *obj)
elessair 0:f269e3021894 298 {
elessair 0:f269e3021894 299 CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
elessair 0:f269e3021894 300 return (can->ESR >> 24) & 0xFF;
elessair 0:f269e3021894 301 }
elessair 0:f269e3021894 302
elessair 0:f269e3021894 303 unsigned char can_tderror(can_t *obj)
elessair 0:f269e3021894 304 {
elessair 0:f269e3021894 305 CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
elessair 0:f269e3021894 306 return (can->ESR >> 16) & 0xFF;
elessair 0:f269e3021894 307 }
elessair 0:f269e3021894 308
elessair 0:f269e3021894 309 void can_monitor(can_t *obj, int silent)
elessair 0:f269e3021894 310 {
elessair 0:f269e3021894 311 CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
elessair 0:f269e3021894 312
elessair 0:f269e3021894 313 can->MCR |= CAN_MCR_INRQ ;
elessair 0:f269e3021894 314 while((can->MSR & CAN_MSR_INAK) != CAN_MSR_INAK) {
elessair 0:f269e3021894 315 }
elessair 0:f269e3021894 316 if (silent) {
elessair 0:f269e3021894 317 can->BTR |= ((uint32_t)1 << 31);
elessair 0:f269e3021894 318 } else {
elessair 0:f269e3021894 319 can->BTR &= ~((uint32_t)1 << 31);
elessair 0:f269e3021894 320 }
elessair 0:f269e3021894 321 can->MCR &= ~(uint32_t)CAN_MCR_INRQ;
elessair 0:f269e3021894 322 while((can->MSR & CAN_MSR_INAK) == CAN_MSR_INAK) {
elessair 0:f269e3021894 323 }
elessair 0:f269e3021894 324 }
elessair 0:f269e3021894 325
elessair 0:f269e3021894 326 int can_mode(can_t *obj, CanMode mode)
elessair 0:f269e3021894 327 {
elessair 0:f269e3021894 328 int success = 0;
elessair 0:f269e3021894 329 CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
elessair 0:f269e3021894 330 can->MCR |= CAN_MCR_INRQ ;
elessair 0:f269e3021894 331 while((can->MSR & CAN_MSR_INAK) != CAN_MSR_INAK) {
elessair 0:f269e3021894 332 }
elessair 0:f269e3021894 333 switch (mode) {
elessair 0:f269e3021894 334 case MODE_NORMAL:
elessair 0:f269e3021894 335 can->BTR &= ~(CAN_BTR_SILM | CAN_BTR_LBKM);
elessair 0:f269e3021894 336 success = 1;
elessair 0:f269e3021894 337 break;
elessair 0:f269e3021894 338 case MODE_SILENT:
elessair 0:f269e3021894 339 can->BTR |= CAN_BTR_SILM;
elessair 0:f269e3021894 340 can->BTR &= ~CAN_BTR_LBKM;
elessair 0:f269e3021894 341 success = 1;
elessair 0:f269e3021894 342 break;
elessair 0:f269e3021894 343 case MODE_TEST_GLOBAL:
elessair 0:f269e3021894 344 case MODE_TEST_LOCAL:
elessair 0:f269e3021894 345 can->BTR |= CAN_BTR_LBKM;
elessair 0:f269e3021894 346 can->BTR &= ~CAN_BTR_SILM;
elessair 0:f269e3021894 347 success = 1;
elessair 0:f269e3021894 348 break;
elessair 0:f269e3021894 349 case MODE_TEST_SILENT:
elessair 0:f269e3021894 350 can->BTR |= (CAN_BTR_SILM | CAN_BTR_LBKM);
elessair 0:f269e3021894 351 success = 1;
elessair 0:f269e3021894 352 break;
elessair 0:f269e3021894 353 default:
elessair 0:f269e3021894 354 success = 0;
elessair 0:f269e3021894 355 break;
elessair 0:f269e3021894 356 }
elessair 0:f269e3021894 357 can->MCR &= ~(uint32_t)CAN_MCR_INRQ;
elessair 0:f269e3021894 358 while((can->MSR & CAN_MSR_INAK) == CAN_MSR_INAK) {
elessair 0:f269e3021894 359 }
elessair 0:f269e3021894 360 return success;
elessair 0:f269e3021894 361 }
elessair 0:f269e3021894 362
elessair 0:f269e3021894 363 int can_filter(can_t *obj, uint32_t id, uint32_t mask, CANFormat format, int32_t handle)
elessair 0:f269e3021894 364 {
elessair 0:f269e3021894 365 CanHandle.Instance = (CAN_TypeDef *)(obj->can);
elessair 0:f269e3021894 366 CAN_FilterConfTypeDef sFilterConfig;
elessair 0:f269e3021894 367
elessair 0:f269e3021894 368 sFilterConfig.FilterNumber = handle;
elessair 0:f269e3021894 369 sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
elessair 0:f269e3021894 370 sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
elessair 0:f269e3021894 371 sFilterConfig.FilterIdHigh = (uint8_t) (id >> 8);
elessair 0:f269e3021894 372 sFilterConfig.FilterIdLow = (uint8_t) id;
elessair 0:f269e3021894 373 sFilterConfig.FilterMaskIdHigh = (uint8_t) (mask >> 8);
elessair 0:f269e3021894 374 sFilterConfig.FilterMaskIdLow = (uint8_t) mask;
elessair 0:f269e3021894 375 sFilterConfig.FilterFIFOAssignment = 0;
elessair 0:f269e3021894 376 sFilterConfig.FilterActivation = ENABLE;
elessair 0:f269e3021894 377 sFilterConfig.BankNumber = 14;
elessair 0:f269e3021894 378
elessair 0:f269e3021894 379 HAL_CAN_ConfigFilter(&CanHandle, &sFilterConfig);
elessair 0:f269e3021894 380
elessair 0:f269e3021894 381 return 0;
elessair 0:f269e3021894 382 }
elessair 0:f269e3021894 383
elessair 0:f269e3021894 384 static void can_irq(CANName name, int id)
elessair 0:f269e3021894 385 {
elessair 0:f269e3021894 386 uint32_t tmp1 = 0, tmp2 = 0, tmp3 = 0;
elessair 0:f269e3021894 387 CanHandle.Instance = (CAN_TypeDef *)name;
elessair 0:f269e3021894 388
elessair 0:f269e3021894 389 if(__HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_TME)) {
elessair 0:f269e3021894 390 tmp1 = __HAL_CAN_TRANSMIT_STATUS(&CanHandle, CAN_TXMAILBOX_0);
elessair 0:f269e3021894 391 tmp2 = __HAL_CAN_TRANSMIT_STATUS(&CanHandle, CAN_TXMAILBOX_1);
elessair 0:f269e3021894 392 tmp3 = __HAL_CAN_TRANSMIT_STATUS(&CanHandle, CAN_TXMAILBOX_2);
elessair 0:f269e3021894 393 if(tmp1 || tmp2 || tmp3)
elessair 0:f269e3021894 394 {
elessair 0:f269e3021894 395 irq_handler(can_irq_ids[id], IRQ_TX);
elessair 0:f269e3021894 396 }
elessair 0:f269e3021894 397 }
elessair 0:f269e3021894 398
elessair 0:f269e3021894 399 tmp1 = __HAL_CAN_MSG_PENDING(&CanHandle, CAN_FIFO0);
elessair 0:f269e3021894 400 tmp2 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_FMP0);
elessair 0:f269e3021894 401
elessair 0:f269e3021894 402 if((tmp1 != 0) && tmp2) {
elessair 0:f269e3021894 403 irq_handler(can_irq_ids[id], IRQ_RX);
elessair 0:f269e3021894 404 }
elessair 0:f269e3021894 405
elessair 0:f269e3021894 406 tmp1 = __HAL_CAN_GET_FLAG(&CanHandle, CAN_FLAG_EPV);
elessair 0:f269e3021894 407 tmp2 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_EPV);
elessair 0:f269e3021894 408 tmp3 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_ERR);
elessair 0:f269e3021894 409
elessair 0:f269e3021894 410 if(tmp1 && tmp2 && tmp3) {
elessair 0:f269e3021894 411 irq_handler(can_irq_ids[id], IRQ_PASSIVE);
elessair 0:f269e3021894 412 }
elessair 0:f269e3021894 413
elessair 0:f269e3021894 414 tmp1 = __HAL_CAN_GET_FLAG(&CanHandle, CAN_FLAG_BOF);
elessair 0:f269e3021894 415 tmp2 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_BOF);
elessair 0:f269e3021894 416 tmp3 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_ERR);
elessair 0:f269e3021894 417 if(tmp1 && tmp2 && tmp3) {
elessair 0:f269e3021894 418 irq_handler(can_irq_ids[id], IRQ_BUS);
elessair 0:f269e3021894 419 }
elessair 0:f269e3021894 420
elessair 0:f269e3021894 421 tmp3 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_ERR);
elessair 0:f269e3021894 422 if(tmp1 && tmp2 && tmp3) {
elessair 0:f269e3021894 423 irq_handler(can_irq_ids[id], IRQ_ERROR);
elessair 0:f269e3021894 424 }
elessair 0:f269e3021894 425 }
elessair 0:f269e3021894 426
elessair 0:f269e3021894 427 void CAN1_RX0_IRQHandler(void)
elessair 0:f269e3021894 428 {
elessair 0:f269e3021894 429 can_irq(CAN_1, 0);
elessair 0:f269e3021894 430 }
elessair 0:f269e3021894 431
elessair 0:f269e3021894 432 void CAN1_TX_IRQHandler(void)
elessair 0:f269e3021894 433 {
elessair 0:f269e3021894 434 can_irq(CAN_1, 0);
elessair 0:f269e3021894 435 }
elessair 0:f269e3021894 436
elessair 0:f269e3021894 437 void CAN1_SCE_IRQHandler(void)
elessair 0:f269e3021894 438 {
elessair 0:f269e3021894 439 can_irq(CAN_1, 0);
elessair 0:f269e3021894 440 }
elessair 0:f269e3021894 441
elessair 0:f269e3021894 442 void CAN2_RX0_IRQHandler(void)
elessair 0:f269e3021894 443 {
elessair 0:f269e3021894 444 can_irq(CAN_2, 1);
elessair 0:f269e3021894 445 }
elessair 0:f269e3021894 446
elessair 0:f269e3021894 447 void CAN2_TX_IRQHandler(void)
elessair 0:f269e3021894 448 {
elessair 0:f269e3021894 449 can_irq(CAN_2, 1);
elessair 0:f269e3021894 450 }
elessair 0:f269e3021894 451
elessair 0:f269e3021894 452 void CAN2_SCE_IRQHandler(void)
elessair 0:f269e3021894 453 {
elessair 0:f269e3021894 454 can_irq(CAN_2, 1);
elessair 0:f269e3021894 455 }
elessair 0:f269e3021894 456
elessair 0:f269e3021894 457 void can_irq_set(can_t *obj, CanIrqType type, uint32_t enable)
elessair 0:f269e3021894 458 {
elessair 0:f269e3021894 459
elessair 0:f269e3021894 460 CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
elessair 0:f269e3021894 461 IRQn_Type irq_n = (IRQn_Type)0;
elessair 0:f269e3021894 462 uint32_t vector = 0;
elessair 0:f269e3021894 463 uint32_t ier;
elessair 0:f269e3021894 464
elessair 0:f269e3021894 465 if(obj->can == CAN_1) {
elessair 0:f269e3021894 466 switch (type) {
elessair 0:f269e3021894 467 case IRQ_RX:
elessair 0:f269e3021894 468 ier = CAN_IT_FMP0;
elessair 0:f269e3021894 469 irq_n = CAN1_RX0_IRQn;
elessair 0:f269e3021894 470 vector = (uint32_t)&CAN1_RX0_IRQHandler;
elessair 0:f269e3021894 471 break;
elessair 0:f269e3021894 472 case IRQ_TX:
elessair 0:f269e3021894 473 ier = CAN_IT_TME;
elessair 0:f269e3021894 474 irq_n = CAN1_TX_IRQn;
elessair 0:f269e3021894 475 vector = (uint32_t)&CAN1_TX_IRQHandler;
elessair 0:f269e3021894 476 break;
elessair 0:f269e3021894 477 case IRQ_ERROR:
elessair 0:f269e3021894 478 ier = CAN_IT_ERR;
elessair 0:f269e3021894 479 irq_n = CAN1_SCE_IRQn;
elessair 0:f269e3021894 480 vector = (uint32_t)&CAN1_SCE_IRQHandler;
elessair 0:f269e3021894 481 break;
elessair 0:f269e3021894 482 case IRQ_PASSIVE:
elessair 0:f269e3021894 483 ier = CAN_IT_EPV;
elessair 0:f269e3021894 484 irq_n = CAN1_SCE_IRQn;
elessair 0:f269e3021894 485 vector = (uint32_t)&CAN1_SCE_IRQHandler;
elessair 0:f269e3021894 486 break;
elessair 0:f269e3021894 487 case IRQ_BUS:
elessair 0:f269e3021894 488 ier = CAN_IT_BOF;
elessair 0:f269e3021894 489 irq_n = CAN1_SCE_IRQn;
elessair 0:f269e3021894 490 vector = (uint32_t)&CAN1_SCE_IRQHandler;
elessair 0:f269e3021894 491 break;
elessair 0:f269e3021894 492 default: return;
elessair 0:f269e3021894 493 }
elessair 0:f269e3021894 494 } else {
elessair 0:f269e3021894 495 switch (type) {
elessair 0:f269e3021894 496 case IRQ_RX:
elessair 0:f269e3021894 497 ier = CAN_IT_FMP0;
elessair 0:f269e3021894 498 irq_n = CAN2_RX0_IRQn;
elessair 0:f269e3021894 499 vector = (uint32_t)&CAN2_RX0_IRQHandler;
elessair 0:f269e3021894 500 break;
elessair 0:f269e3021894 501 case IRQ_TX:
elessair 0:f269e3021894 502 ier = CAN_IT_TME;
elessair 0:f269e3021894 503 irq_n = CAN2_TX_IRQn;
elessair 0:f269e3021894 504 vector = (uint32_t)&CAN2_TX_IRQHandler;
elessair 0:f269e3021894 505 break;
elessair 0:f269e3021894 506 case IRQ_ERROR:
elessair 0:f269e3021894 507 ier = CAN_IT_ERR;
elessair 0:f269e3021894 508 irq_n = CAN2_SCE_IRQn;
elessair 0:f269e3021894 509 vector = (uint32_t)&CAN2_SCE_IRQHandler;
elessair 0:f269e3021894 510 break;
elessair 0:f269e3021894 511 case IRQ_PASSIVE:
elessair 0:f269e3021894 512 ier = CAN_IT_EPV;
elessair 0:f269e3021894 513 irq_n = CAN2_SCE_IRQn;
elessair 0:f269e3021894 514 vector = (uint32_t)&CAN2_SCE_IRQHandler;
elessair 0:f269e3021894 515 break;
elessair 0:f269e3021894 516 case IRQ_BUS:
elessair 0:f269e3021894 517 ier = CAN_IT_BOF;
elessair 0:f269e3021894 518 irq_n = CAN2_SCE_IRQn;
elessair 0:f269e3021894 519 vector = (uint32_t)&CAN2_SCE_IRQHandler;
elessair 0:f269e3021894 520 break;
elessair 0:f269e3021894 521 default: return;
elessair 0:f269e3021894 522 }
elessair 0:f269e3021894 523 }
elessair 0:f269e3021894 524
elessair 0:f269e3021894 525 if(enable) {
elessair 0:f269e3021894 526 can->IER |= ier;
elessair 0:f269e3021894 527 } else {
elessair 0:f269e3021894 528 can->IER &= ~ier;
elessair 0:f269e3021894 529 }
elessair 0:f269e3021894 530
elessair 0:f269e3021894 531 NVIC_SetVector(irq_n, vector);
elessair 0:f269e3021894 532 NVIC_EnableIRQ(irq_n);
elessair 0:f269e3021894 533 }
elessair 0:f269e3021894 534
elessair 0:f269e3021894 535 #endif // DEVICE_CAN
elessair 0:f269e3021894 536