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STM CAN driver: Add explicit pinmap support

pull/11892/head
Przemyslaw Stekiel 2019-09-23 14:40:53 +02:00
parent 097f3b4969
commit c8a80bbcd3
1 changed files with 122 additions and 44 deletions
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166
targets/TARGET_STM/can_api.c
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@ -57,27 +57,23 @@ int can_internal_init(can_t *obj)
return 1;
}
void can_init(can_t *obj, PinName rd, PinName td)
#if EXPLICIT_PINMAP_READY
#define CAN_INIT_FREQ_DIRECT can_init_freq_direct
void can_init_freq_direct(can_t *obj, const can_pinmap_t *pinmap, int hz)
#else
#define CAN_INIT_FREQ_DIRECT _can_init_freq_direct
static void _can_init_freq_direct(can_t *obj, const can_pinmap_t *pinmap, int hz)
#endif
{
/* default frequency is 100 kHz */
can_init_freq(obj, rd, td, 100000);
}
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);
MBED_ASSERT((int)can != NC);
MBED_ASSERT((int)pinmap->peripheral != NC);
__HAL_RCC_FDCAN_CLK_ENABLE();
if (can == CAN_1) {
if (pinmap->peripheral == CAN_1) {
obj->index = 0;
}
#if defined(FDCAN2_BASE)
else if (can == CAN_2) {
else if (pinmap->peripheral == CAN_2) {
obj->index = 1;
}
#endif
@ -102,18 +98,18 @@ void can_init_freq(can_t *obj, PinName rd, PinName td, int hz)
LL_HSEM_ReleaseLock(HSEM, CFG_HW_RCC_SEMID, HSEM_CR_COREID_CURRENT);
#endif /* DUAL_CORE */
// Configure CAN pins
pinmap_pinout(rd, PinMap_CAN_RD);
pinmap_pinout(td, PinMap_CAN_TD);
pin_function(pinmap->rd_pin, pinmap->rd_function);
pin_function(pinmap->td_pin, pinmap->td_function);
// Add pull-ups
if (rd != NC) {
pin_mode(rd, PullUp);
if (pinmap->rd_pin != NC) {
pin_mode(pinmap->rd_pin, PullUp);
}
if (td != NC) {
pin_mode(td, PullUp);
if (pinmap->td_pin != NC) {
pin_mode(pinmap->td_pin, PullUp);
}
// Default values
obj->CanHandle.Instance = (FDCAN_GlobalTypeDef *)can;
obj->CanHandle.Instance = (FDCAN_GlobalTypeDef *)pinmap->peripheral;
/* Bit time parameter
ex with 100 kHz requested frequency hz
@ -160,6 +156,49 @@ void can_init_freq(can_t *obj, PinName rd, PinName td, int hz)
can_internal_init(obj);
}
#if EXPLICIT_PINMAP_READY
#define CAN_INIT_DIRECT can_init_direct
void can_init_direct(can_t *obj, const can_pinmap_t *pinmap)
#else
#define CAN_INIT_DIRECT _can_init_direct
static void _can_init_direct(can_t *obj, const can_pinmap_t *pinmap)
#endif
{
/* default frequency is 100 kHz */
CAN_INIT_FREQ_DIRECT(obj, pinmap, 100000);
}
void can_init(can_t *obj, PinName rd, PinName td)
{
CANName can_rd = (CANName)pinmap_peripheral(rd, PinMap_CAN_RD);
CANName can_td = (CANName)pinmap_peripheral(td, PinMap_CAN_TD);
int peripheral = (int) pinmap_merge(can_rd, can_td);
int function_rd = (int)pinmap_find_function(rd, PinMap_CAN_RD);
int function_td = (int)pinmap_find_function(td, PinMap_CAN_TD);
const can_pinmap_t explicit_pinmap = {peripheral, rd, function_rd, td, function_td};
/* default frequency is 100 kHz */
CAN_INIT_DIRECT(obj, &explicit_pinmap);
}
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);
int peripheral = (int) pinmap_merge(can_rd, can_td);
int function_rd = (int)pinmap_find_function(rd, PinMap_CAN_RD);
int function_td = (int)pinmap_find_function(td, PinMap_CAN_TD);
const can_pinmap_t explicit_pinmap = {peripheral, rd, function_rd, td, function_td};
CAN_INIT_FREQ_DIRECT(obj, &explicit_pinmap, 100000);
}
void can_irq_init(can_t *obj, can_irq_handler handler, uint32_t id)
{
@ -545,32 +584,30 @@ static void can_registers_init(can_t *obj)
}
}
void can_init(can_t *obj, PinName rd, PinName td)
#if EXPLICIT_PINMAP_READY
#define CAN_INIT_FREQ_DIRECT can_init_freq_direct
void can_init_freq_direct(can_t *obj, const can_pinmap_t *pinmap, int hz)
#else
#define CAN_INIT_FREQ_DIRECT _can_init_freq_direct
static void _can_init_freq_direct(can_t *obj, const can_pinmap_t *pinmap, int hz)
#endif
{
can_init_freq(obj, rd, td, 100000);
}
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);
MBED_ASSERT((int)pinmap->peripheral != NC);
MBED_ASSERT((int)can != NC);
if (can == CAN_1) {
if (pinmap->peripheral == CAN_1) {
__HAL_RCC_CAN1_CLK_ENABLE();
obj->index = 0;
}
#if defined(CAN2_BASE) && (CAN_NUM > 1)
else if (can == CAN_2) {
else if (pinmap->peripheral == CAN_2) {
__HAL_RCC_CAN1_CLK_ENABLE(); // needed to set filters
__HAL_RCC_CAN2_CLK_ENABLE();
obj->index = 1;
}
#endif
#if defined(CAN3_BASE) && (CAN_NUM > 2)
else if (can == CAN_3) {
else if (pinmap->peripheral == CAN_3) {
__HAL_RCC_CAN3_CLK_ENABLE();
obj->index = 2;
}
@ -579,18 +616,19 @@ void can_init_freq(can_t *obj, PinName rd, PinName td, int hz)
return;
}
// Configure the CAN pins
pinmap_pinout(rd, PinMap_CAN_RD);
pinmap_pinout(td, PinMap_CAN_TD);
if (rd != NC) {
pin_mode(rd, PullUp);
// Configure CAN pins
pin_function(pinmap->rd_pin, pinmap->rd_function);
pin_function(pinmap->td_pin, pinmap->td_function);
// Add pull-ups
if (pinmap->rd_pin != NC) {
pin_mode(pinmap->rd_pin, PullUp);
}
if (td != NC) {
pin_mode(td, PullUp);
if (pinmap->td_pin != NC) {
pin_mode(pinmap->td_pin, PullUp);
}
/* Use default values for rist init */
obj->CanHandle.Instance = (CAN_TypeDef *)can;
obj->CanHandle.Instance = (CAN_TypeDef *)pinmap->peripheral;
obj->CanHandle.Init.TTCM = DISABLE;
obj->CanHandle.Init.ABOM = DISABLE;
obj->CanHandle.Init.AWUM = DISABLE;
@ -611,13 +649,53 @@ void can_init_freq(can_t *obj, PinName rd, PinName td, int hz)
/* Bits 27:14 are available for dual CAN configuration and are reserved for
single CAN configuration: */
#if defined(CAN3_BASE) && (CAN_NUM > 2)
uint32_t filter_number = (can == CAN_1 || can == CAN_3) ? 0 : 14;
uint32_t filter_number = (pinmap->peripheral == CAN_1 || pinmap->peripheral == CAN_3) ? 0 : 14;
#else
uint32_t filter_number = (can == CAN_1) ? 0 : 14;
uint32_t filter_number = (pinmap->peripheral == CAN_1) ? 0 : 14;
#endif
can_filter(obj, 0, 0, CANStandard, filter_number);
}
#if EXPLICIT_PINMAP_READY
#define CAN_INIT_DIRECT can_init_direct
void can_init_direct(can_t *obj, const can_pinmap_t *pinmap)
#else
#define CAN_INIT_DIRECT _can_init_direct
static void _can_init_direct(can_t *obj, const can_pinmap_t *pinmap)
#endif
{
/* default frequency is 100 kHz */
CAN_INIT_FREQ_DIRECT(obj, pinmap, 100000);
}
void can_init(can_t *obj, PinName rd, PinName td)
{
CANName can_rd = (CANName)pinmap_peripheral(rd, PinMap_CAN_RD);
CANName can_td = (CANName)pinmap_peripheral(td, PinMap_CAN_TD);
int peripheral = (int) pinmap_merge(can_rd, can_td);
int function_rd = (int)pinmap_find_function(rd, PinMap_CAN_RD);
int function_td = (int)pinmap_find_function(td, PinMap_CAN_TD);
const can_pinmap_t explicit_pinmap = {peripheral, rd, function_rd, td, function_td};
/* default frequency is 100 kHz */
CAN_INIT_DIRECT(obj, &explicit_pinmap);
}
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);
int peripheral = (int) pinmap_merge(can_rd, can_td);
int function_rd = (int)pinmap_find_function(rd, PinMap_CAN_RD);
int function_td = (int)pinmap_find_function(td, PinMap_CAN_TD);
const can_pinmap_t explicit_pinmap = {peripheral, rd, function_rd, td, function_td};
CAN_INIT_FREQ_DIRECT(obj, &explicit_pinmap, 100000);
}
void can_irq_init(can_t *obj, can_irq_handler handler, uint32_t id)
{