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Handle can_frequency sync error 

add a timeout + return an error message
pull/4329/head
adustm 2017-04-27 11:12:36 +02:00
parent 3122abee84
commit 52d38a1be0
1 changed files with 23 additions and 6 deletions
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29
targets/TARGET_STM/can_api.c
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@ -85,8 +85,10 @@ void can_init_freq (can_t *obj, PinName rd, PinName td, int hz)
error("Cannot initialize CAN"); error("Cannot initialize CAN");
} }
// Set initial CAN frequency to requested kb/s // Set initial CAN frequency to 100 kb/s
can_frequency(obj, hz); if (can_frequency(obj, 100000) != 1) {
error("Can frequency could not be set\n");
};
uint32_t filter_number = (obj->can == CAN_1) ? 0 : 14; uint32_t filter_number = (obj->can == CAN_1) ? 0 : 14;
can_filter(obj, 0, 0, CANStandard, filter_number); can_filter(obj, 0, 0, CANStandard, filter_number);
@ -195,19 +197,34 @@ int can_frequency(can_t *obj, int f)
int pclk = HAL_RCC_GetPCLK1Freq(); int pclk = HAL_RCC_GetPCLK1Freq();
int btr = can_speed(pclk, (unsigned int)f, 1); int btr = can_speed(pclk, (unsigned int)f, 1);
CAN_TypeDef *can = (CAN_TypeDef *)(obj->can); CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
uint32_t tickstart = 0;
int status = 0;
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) {
} }
/* Get tick */
tickstart = HAL_GetTick();
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) {
if((HAL_GetTick() - tickstart ) > 2)
{
status = HAL_CAN_STATE_TIMEOUT;
break;
}
}
if (status !=0) {
error("can ESR 0x%04x.%04x + timeout status %d", (can->ESR&0XFFFF0000)>>16, (can->ESR&0XFFFF), status);
status=0;
} else {
status=1; //mbed OK value
} }
return 1;
} else { } else {
return 0; status=0;
} }
return status;
} }
int can_write(can_t *obj, CAN_Message msg, int cc) int can_write(can_t *obj, CAN_Message msg, int cc)
@ -243,8 +260,8 @@ int can_write(can_t *obj, CAN_Message msg, int cc)
((uint32_t)msg.data[1] << 8) | ((uint32_t)msg.data[1] << 8) |
((uint32_t)msg.data[0])); ((uint32_t)msg.data[0]));
can->sTxMailBox[transmitmailbox].TDHR = (((uint32_t)msg.data[7] << 24) | can->sTxMailBox[transmitmailbox].TDHR = (((uint32_t)msg.data[7] << 24) |
((uint32_t)msg.data[6] << 16) | ((uint32_t)msg.data[6] << 16) |
((uint32_t)msg.data[5] << 8) | ((uint32_t)msg.data[5] << 8) |
((uint32_t)msg.data[4])); ((uint32_t)msg.data[4]));
/* Request transmission */ /* Request transmission */
can->sTxMailBox[transmitmailbox].TIR |= CAN_TI0R_TXRQ; can->sTxMailBox[transmitmailbox].TIR |= CAN_TI0R_TXRQ;