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Merge pull request #2988 from martinjaeger/master 

Update of can_api.c fixing #2987
pull/3136/merge
Sam Grove 2016-11-01 10:02:37 -05:00 committed by GitHub
parent 8a9a246356 eb95c14fa6
commit 38a9c84bae
1 changed files with 44 additions and 34 deletions
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62
targets/TARGET_STM/TARGET_STM32F0/can_api.c
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@ -36,7 +36,7 @@ void can_init(can_t *obj, PinName rd, PinName td)
obj->can = (CANName)pinmap_merge(can_rd, can_td); obj->can = (CANName)pinmap_merge(can_rd, can_td);
MBED_ASSERT((int)obj->can != NC); MBED_ASSERT((int)obj->can != NC);
if(obj->can == CAN_1) { if (obj->can == CAN_1) {
__HAL_RCC_CAN1_CLK_ENABLE(); __HAL_RCC_CAN1_CLK_ENABLE();
obj->index = 0; obj->index = 0;
} }
@ -173,11 +173,11 @@ int can_frequency(can_t *obj, int f)
if (btr > 0) { if (btr > 0) {
can->MCR |= CAN_MCR_INRQ ; can->MCR |= CAN_MCR_INRQ ;
while((can->MSR & CAN_MSR_INAK) != CAN_MSR_INAK) { while ((can->MSR & CAN_MSR_INAK) != CAN_MSR_INAK) {
} }
can->BTR = btr; can->BTR = btr;
can->MCR &= ~(uint32_t)CAN_MCR_INRQ; can->MCR &= ~(uint32_t)CAN_MCR_INRQ;
while((can->MSR & CAN_MSR_INAK) == CAN_MSR_INAK) { while ((can->MSR & CAN_MSR_INAK) == CAN_MSR_INAK) {
} }
return 1; return 1;
} else { } else {
@ -203,12 +203,9 @@ int can_write(can_t *obj, CAN_Message msg, int cc)
if (transmitmailbox != CAN_TXSTATUS_NOMAILBOX) { if (transmitmailbox != CAN_TXSTATUS_NOMAILBOX) {
can->sTxMailBox[transmitmailbox].TIR &= CAN_TI0R_TXRQ; can->sTxMailBox[transmitmailbox].TIR &= CAN_TI0R_TXRQ;
if (!(msg.format)) if (!(msg.format)) {
{
can->sTxMailBox[transmitmailbox].TIR |= ((msg.id << 21) | msg.type); can->sTxMailBox[transmitmailbox].TIR |= ((msg.id << 21) | msg.type);
} } else {
else
{
can->sTxMailBox[transmitmailbox].TIR |= ((msg.id << 3) | CAN_ID_EXT | msg.type); can->sTxMailBox[transmitmailbox].TIR |= ((msg.id << 3) | CAN_ID_EXT | msg.type);
} }
@ -262,7 +259,7 @@ int can_read(can_t *obj, CAN_Message *msg, int handle)
msg->data[7] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDHR >> 24); msg->data[7] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDHR >> 24);
/* Release the FIFO */ /* Release the FIFO */
if(handle == CAN_FIFO0) { if (handle == CAN_FIFO0) {
/* Release FIFO0 */ /* Release FIFO0 */
can->RF0R = CAN_RF0R_RFOM0; can->RF0R = CAN_RF0R_RFOM0;
} else { /* FIFONumber == CAN_FIFO1 */ } else { /* FIFONumber == CAN_FIFO1 */
@ -315,7 +312,7 @@ int can_mode(can_t *obj, CanMode mode)
int success = 0; int success = 0;
CAN_TypeDef *can = (CAN_TypeDef *)(obj->can); CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
can->MCR |= CAN_MCR_INRQ ; can->MCR |= CAN_MCR_INRQ ;
while((can->MSR & CAN_MSR_INAK) != CAN_MSR_INAK) { while ((can->MSR & CAN_MSR_INAK) != CAN_MSR_INAK) {
} }
switch (mode) { switch (mode) {
case MODE_NORMAL: case MODE_NORMAL:
@ -342,30 +339,43 @@ int can_mode(can_t *obj, CanMode mode)
break; break;
} }
can->MCR &= ~(uint32_t)CAN_MCR_INRQ; can->MCR &= ~(uint32_t)CAN_MCR_INRQ;
while((can->MSR & CAN_MSR_INAK) == CAN_MSR_INAK) { while ((can->MSR & CAN_MSR_INAK) == CAN_MSR_INAK) {
} }
return success; return success;
} }
int can_filter(can_t *obj, uint32_t id, uint32_t mask, CANFormat format, int32_t handle) int can_filter(can_t *obj, uint32_t id, uint32_t mask, CANFormat format, int32_t handle)
{ {
int retval = 0;
// filter for CANAny format cannot be configured for STM32
if ((format == CANStandard) || (format == CANExtended)) {
CanHandle.Instance = (CAN_TypeDef *)(obj->can); CanHandle.Instance = (CAN_TypeDef *)(obj->can);
CAN_FilterConfTypeDef sFilterConfig; CAN_FilterConfTypeDef sFilterConfig;
sFilterConfig.FilterNumber = handle; sFilterConfig.FilterNumber = handle;
sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK; sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT; sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
sFilterConfig.FilterIdHigh = (uint8_t) (id >> 8);
sFilterConfig.FilterIdLow = (uint8_t) id; if (format == CANStandard) {
sFilterConfig.FilterMaskIdHigh = (uint8_t) (mask >> 8); sFilterConfig.FilterIdHigh = id << 5;
sFilterConfig.FilterMaskIdLow = (uint8_t) mask; sFilterConfig.FilterIdLow = 0x0;
sFilterConfig.FilterMaskIdHigh = mask << 5;
sFilterConfig.FilterMaskIdLow = 0x0; // allows both remote and data frames
} else if (format == CANExtended) {
sFilterConfig.FilterIdHigh = id >> 13; // EXTID[28:13]
sFilterConfig.FilterIdLow = (0x00FF & (id << 3)) | (1 << 2); // EXTID[12:0]
sFilterConfig.FilterMaskIdHigh = mask >> 13;
sFilterConfig.FilterMaskIdLow = (0x00FF & (mask << 3)) | (1 << 2);
}
sFilterConfig.FilterFIFOAssignment = 0; sFilterConfig.FilterFIFOAssignment = 0;
sFilterConfig.FilterActivation = ENABLE; sFilterConfig.FilterActivation = ENABLE;
sFilterConfig.BankNumber = 14; sFilterConfig.BankNumber = 14 + handle;
HAL_CAN_ConfigFilter(&CanHandle, &sFilterConfig); HAL_CAN_ConfigFilter(&CanHandle, &sFilterConfig);
retval = handle;
return 0; }
return retval;
} }
static void can_irq(CANName name, int id) static void can_irq(CANName name, int id)
@ -373,7 +383,7 @@ static void can_irq(CANName name, int id)
uint32_t tmp1 = 0, tmp2 = 0, tmp3 = 0; uint32_t tmp1 = 0, tmp2 = 0, tmp3 = 0;
CanHandle.Instance = (CAN_TypeDef *)name; CanHandle.Instance = (CAN_TypeDef *)name;
if(__HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_TME)) { if (__HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_TME)) {
tmp1 = __HAL_CAN_TRANSMIT_STATUS(&CanHandle, CAN_TXMAILBOX_0); tmp1 = __HAL_CAN_TRANSMIT_STATUS(&CanHandle, CAN_TXMAILBOX_0);
tmp2 = __HAL_CAN_TRANSMIT_STATUS(&CanHandle, CAN_TXMAILBOX_1); tmp2 = __HAL_CAN_TRANSMIT_STATUS(&CanHandle, CAN_TXMAILBOX_1);
tmp3 = __HAL_CAN_TRANSMIT_STATUS(&CanHandle, CAN_TXMAILBOX_2); tmp3 = __HAL_CAN_TRANSMIT_STATUS(&CanHandle, CAN_TXMAILBOX_2);
@ -386,7 +396,7 @@ static void can_irq(CANName name, int id)
tmp1 = __HAL_CAN_MSG_PENDING(&CanHandle, CAN_FIFO0); tmp1 = __HAL_CAN_MSG_PENDING(&CanHandle, CAN_FIFO0);
tmp2 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_FMP0); tmp2 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_FMP0);
if((tmp1 != 0) && tmp2) { if ((tmp1 != 0) && tmp2) {
irq_handler(can_irq_ids[id], IRQ_RX); irq_handler(can_irq_ids[id], IRQ_RX);
} }
@ -394,19 +404,19 @@ static void can_irq(CANName name, int id)
tmp2 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_EPV); tmp2 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_EPV);
tmp3 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_ERR); tmp3 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_ERR);
if(tmp1 && tmp2 && tmp3) { if (tmp1 && tmp2 && tmp3) {
irq_handler(can_irq_ids[id], IRQ_PASSIVE); irq_handler(can_irq_ids[id], IRQ_PASSIVE);
} }
tmp1 = __HAL_CAN_GET_FLAG(&CanHandle, CAN_FLAG_BOF); tmp1 = __HAL_CAN_GET_FLAG(&CanHandle, CAN_FLAG_BOF);
tmp2 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_BOF); tmp2 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_BOF);
tmp3 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_ERR); tmp3 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_ERR);
if(tmp1 && tmp2 && tmp3) { if (tmp1 && tmp2 && tmp3) {
irq_handler(can_irq_ids[id], IRQ_BUS); irq_handler(can_irq_ids[id], IRQ_BUS);
} }
tmp3 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_ERR); tmp3 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_ERR);
if(tmp1 && tmp2 && tmp3) { if (tmp1 && tmp2 && tmp3) {
irq_handler(can_irq_ids[id], IRQ_ERROR); irq_handler(can_irq_ids[id], IRQ_ERROR);
} }
} }
@ -424,7 +434,7 @@ void can_irq_set(can_t *obj, CanIrqType type, uint32_t enable)
uint32_t vector = 0; uint32_t vector = 0;
uint32_t ier; uint32_t ier;
if(obj->can == CAN_1) { if (obj->can == CAN_1) {
switch (type) { switch (type) {
case IRQ_RX: case IRQ_RX:
ier = CAN_IT_FMP0; ier = CAN_IT_FMP0;
@ -447,7 +457,7 @@ void can_irq_set(can_t *obj, CanIrqType type, uint32_t enable)
vector = (uint32_t)&CAN_IRQHandler; vector = (uint32_t)&CAN_IRQHandler;
} }
if(enable) { if (enable) {
can->IER |= ier; can->IER |= ier;
} else { } else {
can->IER &= ~ier; can->IER &= ~ier;