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Merge pull request #4932 from LMESTM/can_reset 

Fix STM32 CAN reset to not lose context
pull/5100/merge
Jimmy Brisson 2017-09-20 16:24:40 -05:00 committed by GitHub
parent 617f410a42 5997811d46
commit a2cdb10bf7
33 changed files with 138 additions and 183 deletions
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5
targets/TARGET_STM/TARGET_STM32F0/TARGET_NUCLEO_F042K6/objects.h
View File

@ -54,11 +54,6 @@ struct port_s {
__IO uint32_t *reg_out;
};
struct can_s {
CANName can;
int index;
};
#include "common_objects.h"
#ifdef __cplusplus

5
targets/TARGET_STM/TARGET_STM32F0/TARGET_NUCLEO_F072RB/objects.h
View File

@ -54,11 +54,6 @@ struct port_s {
__IO uint32_t *reg_out;
};
struct can_s {
CANName can;
int index;
};
#include "common_objects.h"
#ifdef __cplusplus

5
targets/TARGET_STM/TARGET_STM32F0/TARGET_NUCLEO_F091RC/objects.h
View File

@ -54,11 +54,6 @@ struct port_s {
__IO uint32_t *reg_out;
};
struct can_s {
CANName can;
int index;
};
#include "common_objects.h"
#ifdef __cplusplus

8
targets/TARGET_STM/TARGET_STM32F0/common_objects.h
View File

@ -128,6 +128,14 @@ struct dac_s {
};
#endif
#if DEVICE_CAN
struct can_s {
CAN_HandleTypeDef CanHandle;
int index;
int hz;
};
#endif
#ifdef __cplusplus
}
#endif

5
targets/TARGET_STM/TARGET_STM32F1/TARGET_BLUEPILL_F103C8/objects.h
View File

@ -54,11 +54,6 @@ struct port_s {
__IO uint32_t *reg_out;
};
struct can_s {
CANName can;
int index;
};
#include "common_objects.h"
#ifdef __cplusplus

5
targets/TARGET_STM/TARGET_STM32F1/TARGET_NUCLEO_F103RB/objects.h
View File

@ -54,11 +54,6 @@ struct port_s {
__IO uint32_t *reg_out;
};
struct can_s {
CANName can;
int index;
};
#include "common_objects.h"
#ifdef __cplusplus

8
targets/TARGET_STM/TARGET_STM32F1/common_objects.h
View File

@ -116,6 +116,14 @@ struct analogin_s {
uint8_t channel;
};
#if DEVICE_CAN
struct can_s {
CAN_HandleTypeDef CanHandle;
int index;
int hz;
};
#endif
#include "gpio_object.h"
#ifdef __cplusplus

5
targets/TARGET_STM/TARGET_STM32F2/objects.h
View File

@ -136,10 +136,13 @@ struct pwmout_s {
uint8_t inverted;
};
#ifdef DEVICE_CAN
struct can_s {
CANName can;
CAN_HandleTypeDef CanHandle;
int index;
int hz;
};
#endif
#define GPIO_IP_WITHOUT_BRR
#include "gpio_object.h"

5
targets/TARGET_STM/TARGET_STM32F3/TARGET_STM32F302x8/objects.h
View File

@ -54,11 +54,6 @@ struct port_s {
__IO uint32_t *reg_out;
};
struct can_s {
CANName can;
int index;
};
#include "common_objects.h"
#ifdef __cplusplus

5
targets/TARGET_STM/TARGET_STM32F3/TARGET_STM32F303x8/objects.h
View File

@ -54,11 +54,6 @@ struct port_s {
__IO uint32_t *reg_out;
};
struct can_s {
CANName can;
int index;
};
#include "common_objects.h"
#ifdef __cplusplus

5
targets/TARGET_STM/TARGET_STM32F3/TARGET_STM32F303xC/objects.h
View File

@ -54,11 +54,6 @@ struct port_s {
__IO uint32_t *reg_out;
};
struct can_s {
CANName can;
int index;
};
#include "common_objects.h"
#ifdef __cplusplus

5
targets/TARGET_STM/TARGET_STM32F3/TARGET_STM32F303xE/objects.h
View File

@ -54,11 +54,6 @@ struct port_s {
__IO uint32_t *reg_out;
};
struct can_s {
CANName can;
int index;
};
#include "common_objects.h"
#ifdef __cplusplus

7
targets/TARGET_STM/TARGET_STM32F3/TARGET_STM32F334x8/objects.h
View File

@ -54,13 +54,6 @@ struct port_s {
__IO uint32_t *reg_out;
};
#if defined (DEVICE_CAN)
struct can_s {
CANName can;
int index;
};
#endif
#include "common_objects.h"
#ifdef __cplusplus

8
targets/TARGET_STM/TARGET_STM32F3/common_objects.h
View File

@ -124,6 +124,14 @@ struct analogin_s {
uint8_t channel;
};
#if DEVICE_CAN
struct can_s {
CAN_HandleTypeDef CanHandle;
int index;
int hz;
};
#endif
#include "gpio_object.h"
#ifdef __cplusplus

5
targets/TARGET_STM/TARGET_STM32F4/TARGET_STM32F412xG/objects.h
View File

@ -40,11 +40,6 @@ struct port_s {
__IO uint32_t *reg_out;
};
struct can_s {
CANName can;
int index;
};
struct trng_s {
RNG_HandleTypeDef handle;
};

5
targets/TARGET_STM/TARGET_STM32F4/TARGET_STM32F413xH/objects.h
View File

@ -40,11 +40,6 @@ struct port_s {
__IO uint32_t *reg_out;
};
struct can_s {
CANName can;
int index;
};
struct trng_s {
RNG_HandleTypeDef handle;
};

5
targets/TARGET_STM/TARGET_STM32F4/TARGET_STM32F429xI/objects.h
View File

@ -54,11 +54,6 @@ struct port_s {
__IO uint32_t *reg_out;
};
struct can_s {
CANName can;
int index;
};
struct trng_s {
RNG_HandleTypeDef handle;
};

5
targets/TARGET_STM/TARGET_STM32F4/TARGET_STM32F437xG/objects.h
View File

@ -59,11 +59,6 @@ struct trng_s {
};
#include "common_objects.h"
struct can_s {
CANName can;
int index;
};
#include "gpio_object.h"
#ifdef __cplusplus

5
targets/TARGET_STM/TARGET_STM32F4/TARGET_STM32F439xI/objects.h
View File

@ -54,11 +54,6 @@ struct port_s {
__IO uint32_t *reg_out;
};
struct can_s {
CANName can;
int index;
};
struct trng_s {
RNG_HandleTypeDef handle;
};

5
targets/TARGET_STM/TARGET_STM32F4/TARGET_STM32F446xE/objects.h
View File

@ -54,11 +54,6 @@ struct port_s {
__IO uint32_t *reg_out;
};
struct can_s {
CANName can;
int index;
};
#include "common_objects.h"
#ifdef __cplusplus

5
targets/TARGET_STM/TARGET_STM32F4/TARGET_STM32F469xI/objects.h
View File

@ -54,11 +54,6 @@ struct port_s {
__IO uint32_t *reg_out;
};
struct can_s {
CANName can;
int index;
};
struct trng_s {
RNG_HandleTypeDef handle;
};

8
targets/TARGET_STM/TARGET_STM32F4/common_objects.h
View File

@ -133,6 +133,14 @@ struct dac_s {
};
#endif
#if DEVICE_CAN
struct can_s {
CAN_HandleTypeDef CanHandle;
int index;
int hz;
};
#endif
#ifdef __cplusplus
}
#endif

5
targets/TARGET_STM/TARGET_STM32F7/TARGET_STM32F746xG/objects.h
View File

@ -54,11 +54,6 @@ struct port_s {
__IO uint32_t *reg_out;
};
struct can_s {
CANName can;
int index;
};
struct trng_s {
RNG_HandleTypeDef handle;
};

5
targets/TARGET_STM/TARGET_STM32F7/TARGET_STM32F756xG/objects.h
View File

@ -54,11 +54,6 @@ struct port_s {
__IO uint32_t *reg_out;
};
struct can_s {
CANName can;
int index;
};
struct trng_s {
RNG_HandleTypeDef handle;
};

5
targets/TARGET_STM/TARGET_STM32F7/TARGET_STM32F767xI/objects.h
View File

@ -54,11 +54,6 @@ struct port_s {
__IO uint32_t *reg_out;
};
struct can_s {
CANName can;
int index;
};
struct trng_s {
RNG_HandleTypeDef handle;
};

5
targets/TARGET_STM/TARGET_STM32F7/TARGET_STM32F769xI/objects.h
View File

@ -54,11 +54,6 @@ struct port_s {
__IO uint32_t *reg_out;
};
struct can_s {
CANName can;
int index;
};
struct trng_s {
RNG_HandleTypeDef handle;
};

8
targets/TARGET_STM/TARGET_STM32F7/common_objects.h
View File

@ -132,6 +132,14 @@ struct flash_s {
uint32_t dummy;
};
#if DEVICE_CAN
struct can_s {
CAN_HandleTypeDef CanHandle;
int index;
int hz;
};
#endif
#ifdef __cplusplus
}
#endif

5
targets/TARGET_STM/TARGET_STM32L4/TARGET_STM32L432xC/objects.h
View File

@ -54,11 +54,6 @@ struct port_s {
__IO uint32_t *reg_out;
};
struct can_s {
CANName can;
int index;
};
struct trng_s {
RNG_HandleTypeDef handle;
};

5
targets/TARGET_STM/TARGET_STM32L4/TARGET_STM32L475xG/objects.h
View File

@ -54,11 +54,6 @@ struct port_s {
__IO uint32_t *reg_out;
};
struct can_s {
CANName can;
int index;
};
struct trng_s {
RNG_HandleTypeDef handle;
};

5
targets/TARGET_STM/TARGET_STM32L4/TARGET_STM32L476xG/objects.h
View File

@ -54,11 +54,6 @@ struct port_s {
__IO uint32_t *reg_out;
};
struct can_s {
CANName can;
int index;
};
struct trng_s {
RNG_HandleTypeDef handle;
};

5
targets/TARGET_STM/TARGET_STM32L4/TARGET_STM32L486xG/objects.h
View File

@ -54,11 +54,6 @@ struct port_s {
__IO uint32_t *reg_out;
};
struct can_s {
CANName can;
int index;
};
struct trng_s {
RNG_HandleTypeDef handle;
};

8
targets/TARGET_STM/TARGET_STM32L4/common_objects.h
View File

@ -135,6 +135,14 @@ struct dac_s {
}
#endif
#if DEVICE_CAN
struct can_s {
CAN_HandleTypeDef CanHandle;
int index;
int hz;
};
#endif
/* STM32L4 HAL doesn't provide this API called in rtc_api.c */
#define __HAL_RCC_RTC_CLKPRESCALER(__RTCCLKSource__)

141
targets/TARGET_STM/can_api.c
View File

@ -25,10 +25,21 @@
#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;
static void can_registers_init(can_t *obj)
{
if (HAL_CAN_Init(&obj->CanHandle) != HAL_OK) {
error("Cannot initialize CAN");
}
// Set initial CAN frequency to specified frequency
if (can_frequency(obj, obj->hz) != 1) {
error("Can frequency could not be set\n");
}
}
void can_init(can_t *obj, PinName rd, PinName td)
{
can_init_freq(obj, rd, td, 100000);
@ -38,16 +49,16 @@ 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;
@ -67,33 +78,30 @@ void can_init_freq (can_t *obj, PinName rd, PinName td, int hz)
pin_mode(td, PullUp);
}
CanHandle.Instance = (CAN_TypeDef *)(obj->can);
/* Use default values for rist init */
obj->CanHandle.Instance = (CAN_TypeDef *)can;
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;
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;
/* Store frequency to be restored in case of reset */
obj->hz = hz;
if (HAL_CAN_Init(&CanHandle) != HAL_OK) {
error("Cannot initialize CAN");
}
can_registers_init(obj);
// Set initial CAN frequency to specified frequency
if (can_frequency(obj, hz) != 1) {
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);
}
void can_irq_init(can_t *obj, can_irq_handler handler, uint32_t id)
{
irq_handler = handler;
@ -102,7 +110,7 @@ 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 +119,15 @@ 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 +205,7 @@ 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;
@ -211,7 +220,11 @@ int can_frequency(can_t *obj, int f)
}
}
if (status != 0) {
can->BTR = btr;
/* Do not erase all BTR registers (e.g. silent mode), only the
* ones calculated in can_speed */
can->BTR &= ~(CAN_BTR_TS2 | CAN_BTR_TS1 | CAN_BTR_SJW | CAN_BTR_BRP);
can->BTR |= btr;
can->MCR &= ~(uint32_t)CAN_MCR_INRQ;
/* Get tick */
tickstart = HAL_GetTick();
@ -236,7 +249,7 @@ 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 +292,7 @@ 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
@ -324,46 +337,61 @@ 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;
/* Reset IP and delete errors */
can->MCR |= CAN_MCR_RESET;
can->ESR = 0x0;
/* restore registers state as saved in obj context */
can_registers_init(obj);
}
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->MCR |= CAN_MCR_INRQ ;
while ((can->MSR & CAN_MSR_INAK) != CAN_MSR_INAK) {
}
if (silent) {
can->BTR |= ((uint32_t)1 << 31);
CanMode mode = MODE_NORMAL;
/* Update current state w/ or w/o silent */
if(silent) {
switch (obj->CanHandle.Init.Mode) {
case CAN_MODE_LOOPBACK:
case CAN_MODE_SILENT_LOOPBACK:
mode = MODE_TEST_SILENT;
break;
default:
mode = MODE_SILENT;
break;
}
} else {
can->BTR &= ~((uint32_t)1 << 31);
switch (obj->CanHandle.Init.Mode) {
case CAN_MODE_LOOPBACK:
case CAN_MODE_SILENT_LOOPBACK:
mode = MODE_TEST_LOCAL;
break;
default:
mode = MODE_NORMAL;
break;
}
}
can->MCR &= ~(uint32_t)CAN_MCR_INRQ;
while ((can->MSR & CAN_MSR_INAK) == CAN_MSR_INAK) {
}
can_mode(obj, mode);
}
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) {
@ -371,21 +399,25 @@ int can_mode(can_t *obj, CanMode mode)
switch (mode) {
case MODE_NORMAL:
obj->CanHandle.Init.Mode = CAN_MODE_NORMAL;
can->BTR &= ~(CAN_BTR_SILM | CAN_BTR_LBKM);
success = 1;
break;
case MODE_SILENT:
obj->CanHandle.Init.Mode = CAN_MODE_SILENT;
can->BTR |= CAN_BTR_SILM;
can->BTR &= ~CAN_BTR_LBKM;
success = 1;
break;
case MODE_TEST_GLOBAL:
case MODE_TEST_LOCAL:
obj->CanHandle.Init.Mode = CAN_MODE_LOOPBACK;
can->BTR |= CAN_BTR_LBKM;
can->BTR &= ~CAN_BTR_SILM;
success = 1;
break;
case MODE_TEST_SILENT:
obj->CanHandle.Init.Mode = CAN_MODE_SILENT_LOOPBACK;
can->BTR |= (CAN_BTR_SILM | CAN_BTR_LBKM);
success = 1;
break;
@ -407,7 +439,6 @@ 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 +460,7 @@ 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 +469,7 @@ 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 +567,12 @@ 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 +604,7 @@ 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;