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Add support to F4 targets.

pull/3737/head
bcostm 2017-02-09 16:53:05 +01:00
parent b6b21672e8
commit 0c4688e7e8
3 changed files with 54 additions and 543 deletions
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542
targets/TARGET_STM/TARGET_STM32F4/can_api.c
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@ -1,542 +0,0 @@
/* mbed Microcontroller Library
* Copyright (c) 2006-2016 ARM Limited
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#include "can_api.h"
#if DEVICE_CAN
#include "cmsis.h"
#include "pinmap.h"
#include "PeripheralPins.h"
#include "mbed_error.h"
#include <math.h>
#include <string.h>
#define CAN_NUM 2
static CAN_HandleTypeDef CanHandle;
static uint32_t can_irq_ids[CAN_NUM] = {0};
static can_irq_handler irq_handler;
void can_init(can_t *obj, PinName rd, PinName td)
{
uint32_t filter_number;
CANName can_rd = (CANName)pinmap_peripheral(rd, PinMap_CAN_RD);
CANName can_td = (CANName)pinmap_peripheral(td, PinMap_CAN_TD);
obj->can = (CANName)pinmap_merge(can_rd, can_td);
MBED_ASSERT((int)obj->can != NC);
if(obj->can == CAN_1) {
__HAL_RCC_CAN1_CLK_ENABLE();
obj->index = 0;
} else {
__HAL_RCC_CAN2_CLK_ENABLE();
obj->index = 1;
}
// Configure the CAN pins
pinmap_pinout(rd, PinMap_CAN_RD);
pinmap_pinout(td, PinMap_CAN_TD);
if (rd != NC) {
pin_mode(rd, PullUp);
}
if (td != NC) {
pin_mode(td, PullUp);
}
CanHandle.Instance = (CAN_TypeDef *)(obj->can);
CanHandle.Init.TTCM = DISABLE;
CanHandle.Init.ABOM = DISABLE;
CanHandle.Init.AWUM = DISABLE;
CanHandle.Init.NART = DISABLE;
CanHandle.Init.RFLM = DISABLE;
CanHandle.Init.TXFP = DISABLE;
CanHandle.Init.Mode = CAN_MODE_NORMAL;
CanHandle.Init.SJW = CAN_SJW_1TQ;
CanHandle.Init.BS1 = CAN_BS1_6TQ;
CanHandle.Init.BS2 = CAN_BS2_8TQ;
CanHandle.Init.Prescaler = 2;
if (HAL_CAN_Init(&CanHandle) != HAL_OK) {
error("Cannot initialize CAN");
}
filter_number = (obj->can == CAN_1) ? 0 : 14;
// Set initial CAN frequency to 100kb/s
can_frequency(obj, 100000);
can_filter(obj, 0, 0, CANStandard, filter_number);
}
void can_irq_init(can_t *obj, can_irq_handler handler, uint32_t id)
{
irq_handler = handler;
can_irq_ids[obj->index] = id;
}
void can_irq_free(can_t *obj)
{
CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
can->IER &= ~(CAN_IT_FMP0 | CAN_IT_FMP1 | CAN_IT_TME | \
CAN_IT_ERR | CAN_IT_EPV | CAN_IT_BOF);
can_irq_ids[obj->can] = 0;
}
void can_free(can_t *obj)
{
// Reset CAN and disable clock
if (obj->can == CAN_1) {
__HAL_RCC_CAN1_FORCE_RESET();
__HAL_RCC_CAN1_RELEASE_RESET();
__HAL_RCC_CAN1_CLK_DISABLE();
}
if (obj->can == CAN_2) {
__HAL_RCC_CAN2_FORCE_RESET();
__HAL_RCC_CAN2_RELEASE_RESET();
__HAL_RCC_CAN2_CLK_DISABLE();
}
}
// The following table is used to program bit_timing. It is an adjustment of the sample
// point by synchronizing on the start-bit edge and resynchronizing on the following edges.
// This table has the sampling points as close to 75% as possible (most commonly used).
// The first value is TSEG1, the second TSEG2.
static const int timing_pts[23][2] = {
{0x0, 0x0}, // 2, 50%
{0x1, 0x0}, // 3, 67%
{0x2, 0x0}, // 4, 75%
{0x3, 0x0}, // 5, 80%
{0x3, 0x1}, // 6, 67%
{0x4, 0x1}, // 7, 71%
{0x5, 0x1}, // 8, 75%
{0x6, 0x1}, // 9, 78%
{0x6, 0x2}, // 10, 70%
{0x7, 0x2}, // 11, 73%
{0x8, 0x2}, // 12, 75%
{0x9, 0x2}, // 13, 77%
{0x9, 0x3}, // 14, 71%
{0xA, 0x3}, // 15, 73%
{0xB, 0x3}, // 16, 75%
{0xC, 0x3}, // 17, 76%
{0xD, 0x3}, // 18, 78%
{0xD, 0x4}, // 19, 74%
{0xE, 0x4}, // 20, 75%
{0xF, 0x4}, // 21, 76%
{0xF, 0x5}, // 22, 73%
{0xF, 0x6}, // 23, 70%
{0xF, 0x7}, // 24, 67%
};
static unsigned int can_speed(unsigned int pclk, unsigned int cclk, unsigned char psjw)
{
uint32_t btr;
uint16_t brp = 0;
uint32_t calcbit;
uint32_t bitwidth;
int hit = 0;
int bits;
bitwidth = (pclk / cclk);
brp = bitwidth / 0x18;
while ((!hit) && (brp < bitwidth / 4)) {
brp++;
for (bits = 22; bits > 0; bits--) {
calcbit = (bits + 3) * (brp + 1);
if (calcbit == bitwidth) {
hit = 1;
break;
}
}
}
if (hit) {
btr = ((timing_pts[bits][1] << 20) & 0x00700000)
| ((timing_pts[bits][0] << 16) & 0x000F0000)
| ((psjw << 24) & 0x0000C000)
| ((brp << 0) & 0x000003FF);
} else {
btr = 0xFFFFFFFF;
}
return btr;
}
int can_frequency(can_t *obj, int f)
{
int pclk = HAL_RCC_GetPCLK1Freq();
int btr = can_speed(pclk, (unsigned int)f, 1);
CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
if (btr > 0) {
can->MCR |= CAN_MCR_INRQ ;
while((can->MSR & CAN_MSR_INAK) != CAN_MSR_INAK) {
}
can->BTR = btr;
can->MCR &= ~(uint32_t)CAN_MCR_INRQ;
while((can->MSR & CAN_MSR_INAK) == CAN_MSR_INAK) {
}
return 1;
} else {
return 0;
}
}
int can_write(can_t *obj, CAN_Message msg, int cc)
{
uint32_t transmitmailbox = 5;
CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
/* Select one empty transmit mailbox */
if ((can->TSR&CAN_TSR_TME0) == CAN_TSR_TME0) {
transmitmailbox = 0;
} else if ((can->TSR&CAN_TSR_TME1) == CAN_TSR_TME1) {
transmitmailbox = 1;
} else if ((can->TSR&CAN_TSR_TME2) == CAN_TSR_TME2) {
transmitmailbox = 2;
} else {
transmitmailbox = CAN_TXSTATUS_NOMAILBOX;
}
if (transmitmailbox != CAN_TXSTATUS_NOMAILBOX) {
can->sTxMailBox[transmitmailbox].TIR &= CAN_TI0R_TXRQ;
if (!(msg.format))
{
can->sTxMailBox[transmitmailbox].TIR |= ((msg.id << 21) | msg.type);
}
else
{
can->sTxMailBox[transmitmailbox].TIR |= ((msg.id << 3) | CAN_ID_EXT | msg.type);
}
/* Set up the DLC */
can->sTxMailBox[transmitmailbox].TDTR &= (uint32_t)0xFFFFFFF0;
can->sTxMailBox[transmitmailbox].TDTR |= (msg.len & (uint8_t)0x0000000F);
/* Set up the data field */
can->sTxMailBox[transmitmailbox].TDLR = (((uint32_t)msg.data[3] << 24) |
((uint32_t)msg.data[2] << 16) |
((uint32_t)msg.data[1] << 8) |
((uint32_t)msg.data[0]));
can->sTxMailBox[transmitmailbox].TDHR = (((uint32_t)msg.data[7] << 24) |
((uint32_t)msg.data[6] << 16) |
((uint32_t)msg.data[5] << 8) |
((uint32_t)msg.data[4]));
/* Request transmission */
can->sTxMailBox[transmitmailbox].TIR |= CAN_TI0R_TXRQ;
}
return 1;
}
int can_read(can_t *obj, CAN_Message *msg, int handle)
{
//handle is the FIFO number
CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
// check FPM0 which holds the pending message count in FIFO 0
// if no message is pending, return 0
if ((can->RF0R & CAN_RF0R_FMP0) == 0) {
return 0;
}
/* Get the Id */
msg->format = (CANFormat)((uint8_t)0x04 & can->sFIFOMailBox[handle].RIR);
if (!msg->format) {
msg->id = (uint32_t)0x000007FF & (can->sFIFOMailBox[handle].RIR >> 21);
} else {
msg->id = (uint32_t)0x1FFFFFFF & (can->sFIFOMailBox[handle].RIR >> 3);
}
msg->type = (CANType)((uint8_t)0x02 & can->sFIFOMailBox[handle].RIR);
/* Get the DLC */
msg->len = (uint8_t)0x0F & can->sFIFOMailBox[handle].RDTR;
// /* Get the FMI */
// msg->FMI = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDTR >> 8);
/* Get the data field */
msg->data[0] = (uint8_t)0xFF & can->sFIFOMailBox[handle].RDLR;
msg->data[1] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDLR >> 8);
msg->data[2] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDLR >> 16);
msg->data[3] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDLR >> 24);
msg->data[4] = (uint8_t)0xFF & can->sFIFOMailBox[handle].RDHR;
msg->data[5] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDHR >> 8);
msg->data[6] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDHR >> 16);
msg->data[7] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDHR >> 24);
/* Release the FIFO */
if(handle == CAN_FIFO0) {
/* Release FIFO0 */
can->RF0R |= CAN_RF0R_RFOM0;
} else { /* FIFONumber == CAN_FIFO1 */
/* Release FIFO1 */
can->RF1R |= CAN_RF1R_RFOM1;
}
return 1;
}
void can_reset(can_t *obj)
{
CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
can->MCR |= CAN_MCR_RESET;
can->ESR = 0x0;
}
unsigned char can_rderror(can_t *obj)
{
CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
return (can->ESR >> 24) & 0xFF;
}
unsigned char can_tderror(can_t *obj)
{
CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
return (can->ESR >> 16) & 0xFF;
}
void can_monitor(can_t *obj, int silent)
{
CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
can->MCR |= CAN_MCR_INRQ ;
while((can->MSR & CAN_MSR_INAK) != CAN_MSR_INAK) {
}
if (silent) {
can->BTR |= ((uint32_t)1 << 31);
} else {
can->BTR &= ~((uint32_t)1 << 31);
}
can->MCR &= ~(uint32_t)CAN_MCR_INRQ;
while((can->MSR & CAN_MSR_INAK) == CAN_MSR_INAK) {
}
}
int can_mode(can_t *obj, CanMode mode)
{
int success = 0;
CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
can->MCR |= CAN_MCR_INRQ ;
while((can->MSR & CAN_MSR_INAK) != CAN_MSR_INAK) {
}
switch (mode) {
case MODE_NORMAL:
can->BTR &= ~(CAN_BTR_SILM | CAN_BTR_LBKM);
success = 1;
break;
case MODE_SILENT:
can->BTR |= CAN_BTR_SILM;
can->BTR &= ~CAN_BTR_LBKM;
success = 1;
break;
case MODE_TEST_GLOBAL:
case MODE_TEST_LOCAL:
can->BTR |= CAN_BTR_LBKM;
can->BTR &= ~CAN_BTR_SILM;
success = 1;
break;
case MODE_TEST_SILENT:
can->BTR |= (CAN_BTR_SILM | CAN_BTR_LBKM);
success = 1;
break;
default:
success = 0;
break;
}
can->MCR &= ~(uint32_t)CAN_MCR_INRQ;
while((can->MSR & CAN_MSR_INAK) == CAN_MSR_INAK) {
}
return success;
}
int can_filter(can_t *obj, uint32_t id, uint32_t mask, CANFormat format, int32_t handle)
{
CanHandle.Instance = (CAN_TypeDef *)(obj->can);
CAN_FilterConfTypeDef sFilterConfig;
sFilterConfig.FilterNumber = handle;
sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
sFilterConfig.FilterIdHigh = (uint8_t) (id >> 8);
sFilterConfig.FilterIdLow = (uint8_t) id;
sFilterConfig.FilterMaskIdHigh = (uint8_t) (mask >> 8);
sFilterConfig.FilterMaskIdLow = (uint8_t) mask;
sFilterConfig.FilterFIFOAssignment = 0;
sFilterConfig.FilterActivation = ENABLE;
sFilterConfig.BankNumber = 14 + handle;
HAL_CAN_ConfigFilter(&CanHandle, &sFilterConfig);
return 0;
}
static void can_irq(CANName name, int id)
{
uint32_t tmp1 = 0, tmp2 = 0, tmp3 = 0;
CanHandle.Instance = (CAN_TypeDef *)name;
if(__HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_TME)) {
tmp1 = __HAL_CAN_TRANSMIT_STATUS(&CanHandle, CAN_TXMAILBOX_0);
tmp2 = __HAL_CAN_TRANSMIT_STATUS(&CanHandle, CAN_TXMAILBOX_1);
tmp3 = __HAL_CAN_TRANSMIT_STATUS(&CanHandle, CAN_TXMAILBOX_2);
if(tmp1 || tmp2 || tmp3)
{
irq_handler(can_irq_ids[id], IRQ_TX);
}
}
tmp1 = __HAL_CAN_MSG_PENDING(&CanHandle, CAN_FIFO0);
tmp2 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_FMP0);
if((tmp1 != 0) && tmp2) {
irq_handler(can_irq_ids[id], IRQ_RX);
}
tmp1 = __HAL_CAN_GET_FLAG(&CanHandle, CAN_FLAG_EPV);
tmp2 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_EPV);
tmp3 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_ERR);
if(tmp1 && tmp2 && tmp3) {
irq_handler(can_irq_ids[id], IRQ_PASSIVE);
}
tmp1 = __HAL_CAN_GET_FLAG(&CanHandle, CAN_FLAG_BOF);
tmp2 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_BOF);
tmp3 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_ERR);
if(tmp1 && tmp2 && tmp3) {
irq_handler(can_irq_ids[id], IRQ_BUS);
}
tmp3 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_ERR);
if(tmp1 && tmp2 && tmp3) {
irq_handler(can_irq_ids[id], IRQ_ERROR);
}
}
void CAN1_RX0_IRQHandler(void)
{
can_irq(CAN_1, 0);
}
void CAN1_TX_IRQHandler(void)
{
can_irq(CAN_1, 0);
}
void CAN1_SCE_IRQHandler(void)
{
can_irq(CAN_1, 0);
}
void CAN2_RX0_IRQHandler(void)
{
can_irq(CAN_2, 1);
}
void CAN2_TX_IRQHandler(void)
{
can_irq(CAN_2, 1);
}
void CAN2_SCE_IRQHandler(void)
{
can_irq(CAN_2, 1);
}
void can_irq_set(can_t *obj, CanIrqType type, uint32_t enable)
{
CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
IRQn_Type irq_n = (IRQn_Type)0;
uint32_t vector = 0;
uint32_t ier;
if(obj->can == CAN_1) {
switch (type) {
case IRQ_RX:
ier = CAN_IT_FMP0;
irq_n = CAN1_RX0_IRQn;
vector = (uint32_t)&CAN1_RX0_IRQHandler;
break;
case IRQ_TX:
ier = CAN_IT_TME;
irq_n = CAN1_TX_IRQn;
vector = (uint32_t)&CAN1_TX_IRQHandler;
break;
case IRQ_ERROR:
ier = CAN_IT_ERR;
irq_n = CAN1_SCE_IRQn;
vector = (uint32_t)&CAN1_SCE_IRQHandler;
break;
case IRQ_PASSIVE:
ier = CAN_IT_EPV;
irq_n = CAN1_SCE_IRQn;
vector = (uint32_t)&CAN1_SCE_IRQHandler;
break;
case IRQ_BUS:
ier = CAN_IT_BOF;
irq_n = CAN1_SCE_IRQn;
vector = (uint32_t)&CAN1_SCE_IRQHandler;
break;
default: return;
}
} else {
switch (type) {
case IRQ_RX:
ier = CAN_IT_FMP0;
irq_n = CAN2_RX0_IRQn;
vector = (uint32_t)&CAN2_RX0_IRQHandler;
break;
case IRQ_TX:
ier = CAN_IT_TME;
irq_n = CAN2_TX_IRQn;
vector = (uint32_t)&CAN2_TX_IRQHandler;
break;
case IRQ_ERROR:
ier = CAN_IT_ERR;
irq_n = CAN2_SCE_IRQn;
vector = (uint32_t)&CAN2_SCE_IRQHandler;
break;
case IRQ_PASSIVE:
ier = CAN_IT_EPV;
irq_n = CAN2_SCE_IRQn;
vector = (uint32_t)&CAN2_SCE_IRQHandler;
break;
case IRQ_BUS:
ier = CAN_IT_BOF;
irq_n = CAN2_SCE_IRQn;
vector = (uint32_t)&CAN2_SCE_IRQHandler;
break;
default: return;
}
}
if(enable) {
can->IER |= ier;
} else {
can->IER &= ~ier;
}
NVIC_SetVector(irq_n, vector);
NVIC_EnableIRQ(irq_n);
}
#endif // DEVICE_CAN

53
targets/TARGET_STM/TARGET_STM32F4/can_device.h Normal file
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@ -0,0 +1,53 @@
/* mbed Microcontroller Library
* Copyright (c) 2006-2017 ARM Limited
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#ifndef MBED_CAN_DEVICE_H
#define MBED_CAN_DEVICE_H
#include "cmsis.h"
#ifdef __cplusplus
extern "C" {
#endif
#ifdef DEVICE_CAN
#define CAN_NUM 2 // Number of CAN peripherals present in the STM32 serie (1 or 2)
#define CAN1_IRQ_RX_IRQN CAN1_RX0_IRQn
#define CAN1_IRQ_RX_VECT CAN1_RX0_IRQHandler
#define CAN1_IRQ_TX_IRQN CAN1_TX_IRQn
#define CAN1_IRQ_TX_VECT CAN1_TX_IRQHandler
#define CAN1_IRQ_ERROR_IRQN CAN1_SCE_IRQn
#define CAN1_IRQ_ERROR_VECT CAN1_SCE_IRQHandler
#define CAN1_IRQ_PASSIVE_IRQN CAN1_SCE_IRQn
#define CAN1_IRQ_PASSIVE_VECT CAN1_SCE_IRQHandler
#define CAN1_IRQ_BUS_IRQN CAN1_SCE_IRQn
#define CAN1_IRQ_BUS_VECT CAN1_SCE_IRQHandler
#define CAN2_IRQ_RX_IRQN CAN2_RX0_IRQn
#define CAN2_IRQ_RX_VECT CAN2_RX0_IRQHandler
#define CAN2_IRQ_TX_IRQN CAN2_TX_IRQn
#define CAN2_IRQ_TX_VECT CAN2_TX_IRQHandler
#define CAN2_IRQ_ERROR_IRQN CAN2_SCE_IRQn
#define CAN2_IRQ_ERROR_VECT CAN2_SCE_IRQHandler
#define CAN2_IRQ_PASSIVE_IRQN CAN2_SCE_IRQn
#define CAN2_IRQ_PASSIVE_VECT CAN2_SCE_IRQHandler
#define CAN2_IRQ_BUS_IRQN CAN2_SCE_IRQn
#define CAN2_IRQ_BUS_VECT CAN2_SCE_IRQHandler
#endif // DEVICE_CAN
#endif

2
targets/TARGET_STM/can_api.c
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@ -466,7 +466,7 @@ void CAN_IRQHandler(void)
}
#endif
#if defined(TARGET_STM32F1) || defined(TARGET_STM32F2)
#if defined(TARGET_STM32F1) || defined(TARGET_STM32F2) || defined(TARGET_STM32F4)
void CAN1_RX0_IRQHandler(void )
{
can_irq(CAN_1, 0);