Lee Kai Xuan / mbed-os

mbed-os

Fork of mbed-os by erkin yucel

targets/TARGET_STM/TARGET_STM32F0/can_api.c@1:3deb71413561, 2017-07-20 (annotated)

Committer:
xuaner
Date:
Thu Jul 20 14:26:57 2017 +0000
Revision:
1:3deb71413561
Parent:
0:f269e3021894 
mbed_os

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