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STM32: Define CAN handle as part of can object 

Instead of a static object, this will make driver
instantiation more robust and allow to re-use init
configuration on a need basis.

The CANName struct member is actually the CAN registers base address,
which is now available in the CanHandle.Instance field, so we don't need
CANName anymore.
pull/4932/head
Laurent MEUNIER 2017-08-17 15:02:30 +02:00
parent 66162c6b1d
commit 759642af8e
8 changed files with 42 additions and 43 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
targets/TARGET_STM/TARGET_STM32F0/common_objects.h
View File

@ -130,7 +130,7 @@ struct dac_s {
#if DEVICE_CAN
struct can_s {
CANName can;
CAN_HandleTypeDef CanHandle;
int index;
};
#endif

2
targets/TARGET_STM/TARGET_STM32F1/common_objects.h
View File

@ -118,7 +118,7 @@ struct analogin_s {
#if DEVICE_CAN
struct can_s {
CANName can;
CAN_HandleTypeDef CanHandle;
int index;
};
#endif

2
targets/TARGET_STM/TARGET_STM32F2/objects.h
View File

@ -137,7 +137,7 @@ struct pwmout_s {
};
struct can_s {
CANName can;
CAN_HandleTypeDef CanHandle;
int index;
};

2
targets/TARGET_STM/TARGET_STM32F3/common_objects.h
View File

@ -126,7 +126,7 @@ struct analogin_s {
#if DEVICE_CAN
struct can_s {
CANName can;
CAN_HandleTypeDef CanHandle;
int index;
};
#endif

2
targets/TARGET_STM/TARGET_STM32F4/common_objects.h
View File

@ -135,7 +135,7 @@ struct dac_s {
#if DEVICE_CAN
struct can_s {
CANName can;
CAN_HandleTypeDef CanHandle;
int index;
};
#endif

2
targets/TARGET_STM/TARGET_STM32F7/common_objects.h
View File

@ -134,7 +134,7 @@ struct flash_s {
#if DEVICE_CAN
struct can_s {
CANName can;
CAN_HandleTypeDef CanHandle;
int index;
};
#endif

2
targets/TARGET_STM/TARGET_STM32L4/common_objects.h
View File

@ -137,7 +137,7 @@ struct dac_s {
#if DEVICE_CAN
struct can_s {
CANName can;
CAN_HandleTypeDef CanHandle;
int index;
};
#endif

71
targets/TARGET_STM/can_api.c
View File

@ -25,7 +25,6 @@
#include <math.h>
#include <string.h>
static CAN_HandleTypeDef CanHandle;
static uint32_t can_irq_ids[CAN_NUM] = {0};
static can_irq_handler irq_handler;
@ -38,16 +37,16 @@ void can_init_freq (can_t *obj, PinName rd, PinName td, int hz)
{
CANName can_rd = (CANName)pinmap_peripheral(rd, PinMap_CAN_RD);
CANName can_td = (CANName)pinmap_peripheral(td, PinMap_CAN_TD);
CANName 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)can != NC);
if (obj->can == CAN_1) {
if (can == CAN_1) {
__HAL_RCC_CAN1_CLK_ENABLE();
obj->index = 0;
}
#if defined(CAN2_BASE) && (CAN_NUM == 2)
else if (obj->can == CAN_2) {
else if (can == CAN_2) {
__HAL_RCC_CAN1_CLK_ENABLE(); // needed to set filters
__HAL_RCC_CAN2_CLK_ENABLE();
obj->index = 1;
@ -67,21 +66,21 @@ void can_init_freq (can_t *obj, PinName rd, PinName td, int hz)
pin_mode(td, PullUp);
}
CanHandle.Instance = (CAN_TypeDef *)(obj->can);
obj->CanHandle.Instance = (CAN_TypeDef *)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;
obj->CanHandle.Init.TTCM = DISABLE;
obj->CanHandle.Init.ABOM = DISABLE;
obj->CanHandle.Init.AWUM = DISABLE;
obj->CanHandle.Init.NART = DISABLE;
obj->CanHandle.Init.RFLM = DISABLE;
obj->CanHandle.Init.TXFP = DISABLE;
obj->CanHandle.Init.Mode = CAN_MODE_NORMAL;
obj->CanHandle.Init.SJW = CAN_SJW_1TQ;
obj->CanHandle.Init.BS1 = CAN_BS1_6TQ;
obj->CanHandle.Init.BS2 = CAN_BS2_8TQ;
obj->CanHandle.Init.Prescaler = 2;
if (HAL_CAN_Init(&CanHandle) != HAL_OK) {
if (HAL_CAN_Init(&obj->CanHandle) != HAL_OK) {
error("Cannot initialize CAN");
}
@ -90,7 +89,7 @@ void can_init_freq (can_t *obj, PinName rd, PinName td, int hz)
error("Can frequency could not be set\n");
}
uint32_t filter_number = (obj->can == CAN_1) ? 0 : 14;
uint32_t filter_number = (can == CAN_1) ? 0 : 14;
can_filter(obj, 0, 0, CANStandard, filter_number);
}
@ -102,7 +101,7 @@ void can_irq_init(can_t *obj, can_irq_handler handler, uint32_t id)
void can_irq_free(can_t *obj)
{
CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
CAN_TypeDef *can = obj->CanHandle.Instance;
can->IER &= ~(CAN_IT_FMP0 | CAN_IT_FMP1 | CAN_IT_TME | \
CAN_IT_ERR | CAN_IT_EPV | CAN_IT_BOF);
@ -111,14 +110,15 @@ void can_irq_free(can_t *obj)
void can_free(can_t *obj)
{
CANName can = (CANName) obj->CanHandle.Instance;
// Reset CAN and disable clock
if (obj->can == CAN_1) {
if (can == CAN_1) {
__HAL_RCC_CAN1_FORCE_RESET();
__HAL_RCC_CAN1_RELEASE_RESET();
__HAL_RCC_CAN1_CLK_DISABLE();
}
#if defined(CAN2_BASE) && (CAN_NUM == 2)
if (obj->can == CAN_2) {
if (can == CAN_2) {
__HAL_RCC_CAN2_FORCE_RESET();
__HAL_RCC_CAN2_RELEASE_RESET();
__HAL_RCC_CAN2_CLK_DISABLE();
@ -196,7 +196,7 @@ 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);
CAN_TypeDef *can = obj->CanHandle.Instance;
uint32_t tickstart = 0;
int status = 1;
@ -236,7 +236,7 @@ int can_frequency(can_t *obj, int f)
int can_write(can_t *obj, CAN_Message msg, int cc)
{
uint32_t transmitmailbox = CAN_TXSTATUS_NOMAILBOX;
CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
CAN_TypeDef *can = obj->CanHandle.Instance;
/* Select one empty transmit mailbox */
if ((can->TSR & CAN_TSR_TME0) == CAN_TSR_TME0) {
@ -279,7 +279,7 @@ int can_read(can_t *obj, CAN_Message *msg, int handle)
{
//handle is the FIFO number
CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
CAN_TypeDef *can = obj->CanHandle.Instance;
// check FPM0 which holds the pending message count in FIFO 0
// if no message is pending, return 0
@ -324,26 +324,26 @@ int can_read(can_t *obj, CAN_Message *msg, int handle)
void can_reset(can_t *obj)
{
CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
CAN_TypeDef *can = obj->CanHandle.Instance;
can->MCR |= CAN_MCR_RESET;
can->ESR = 0x0;
}
unsigned char can_rderror(can_t *obj)
{
CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
CAN_TypeDef *can = obj->CanHandle.Instance;
return (can->ESR >> 24) & 0xFF;
}
unsigned char can_tderror(can_t *obj)
{
CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
CAN_TypeDef *can = obj->CanHandle.Instance;
return (can->ESR >> 16) & 0xFF;
}
void can_monitor(can_t *obj, int silent)
{
CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
CAN_TypeDef *can = obj->CanHandle.Instance;
can->MCR |= CAN_MCR_INRQ ;
while ((can->MSR & CAN_MSR_INAK) != CAN_MSR_INAK) {
@ -363,7 +363,7 @@ void can_monitor(can_t *obj, int silent)
int can_mode(can_t *obj, CanMode mode)
{
int success = 0;
CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
CAN_TypeDef *can = obj->CanHandle.Instance;
can->MCR |= CAN_MCR_INRQ ;
while ((can->MSR & CAN_MSR_INAK) != CAN_MSR_INAK) {
@ -407,7 +407,6 @@ int can_filter(can_t *obj, uint32_t id, uint32_t mask, CANFormat format, int32_t
// filter for CANAny format cannot be configured for STM32
if ((format == CANStandard) || (format == CANExtended)) {
CanHandle.Instance = (CAN_TypeDef *)(obj->can);
CAN_FilterConfTypeDef sFilterConfig;
sFilterConfig.FilterNumber = handle;
sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
@ -429,7 +428,7 @@ int can_filter(can_t *obj, uint32_t id, uint32_t mask, CANFormat format, int32_t
sFilterConfig.FilterActivation = ENABLE;
sFilterConfig.BankNumber = 14 + handle;
HAL_CAN_ConfigFilter(&CanHandle, &sFilterConfig);
HAL_CAN_ConfigFilter(&obj->CanHandle, &sFilterConfig);
retval = handle;
}
return retval;
@ -438,6 +437,7 @@ int can_filter(can_t *obj, uint32_t id, uint32_t mask, CANFormat format, int32_t
static void can_irq(CANName name, int id)
{
uint32_t tmp1 = 0, tmp2 = 0, tmp3 = 0;
CAN_HandleTypeDef CanHandle;
CanHandle.Instance = (CAN_TypeDef *)name;
if (__HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_TME)) {
@ -535,13 +535,12 @@ void CAN2_SCE_IRQHandler(void)
void can_irq_set(can_t *obj, CanIrqType type, uint32_t enable)
{
CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
CAN_TypeDef *can = obj->CanHandle.Instance;
IRQn_Type irq_n = (IRQn_Type)0;
uint32_t vector = 0;
uint32_t ier;
if (obj->can == CAN_1) {
if ((CANName) can == CAN_1) {
switch (type) {
case IRQ_RX:
ier = CAN_IT_FMP0;
@ -573,7 +572,7 @@ void can_irq_set(can_t *obj, CanIrqType type, uint32_t enable)
}
}
#if defined(CAN2_BASE) && (CAN_NUM == 2)
else if (obj->can == CAN_2) {
else if ((CANName) can == CAN_2) {
switch (type) {
case IRQ_RX:
ier = CAN_IT_FMP0;