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Merge pull request #2780 from zhangjun1996/master 

修复由于stm32系列的can驱动编译错误
This commit is contained in:
Bernard Xiong 2019-06-17 20:05:27 +08:00 committed by GitHub
parent 2acfc7009c c4b527a738
commit 93de68129e
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
3 changed files with 373 additions and 337 deletions
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446
bsp/stm32/libraries/HAL_Drivers/drv_can.c
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@ -15,6 +15,10 @@
#ifdef RT_USING_CAN #ifdef RT_USING_CAN
#ifdef RT_CAN_USING_HDR
#error "The CAN driver does not support hardware filters, Please disable RT_CAN_USING_HDR"
#endif
#if defined (SOC_SERIES_STM32F1) #if defined (SOC_SERIES_STM32F1)
static const struct stm_baud_rate_tab can_baud_rate_tab[] = static const struct stm_baud_rate_tab can_baud_rate_tab[] =
{ {
@ -28,6 +32,19 @@ static const struct stm_baud_rate_tab can_baud_rate_tab[] =
{CAN20kBaud, (CAN_SJW_2TQ | CAN_BS1_8TQ | CAN_BS2_3TQ | 150)}, {CAN20kBaud, (CAN_SJW_2TQ | CAN_BS1_8TQ | CAN_BS2_3TQ | 150)},
{CAN10kBaud, (CAN_SJW_2TQ | CAN_BS1_8TQ | CAN_BS2_3TQ | 300)} {CAN10kBaud, (CAN_SJW_2TQ | CAN_BS1_8TQ | CAN_BS2_3TQ | 300)}
}; };
#elif defined (SOC_STM32F429IG)
static const struct stm_baud_rate_tab can_baud_rate_tab[] =
{
{CAN1MBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ | CAN_BS2_5TQ | 3)},
{CAN800kBaud, (CAN_SJW_2TQ | CAN_BS1_8TQ | CAN_BS2_5TQ | 4)},
{CAN500kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ | CAN_BS2_5TQ | 6)},
{CAN250kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ | CAN_BS2_5TQ | 12)},
{CAN125kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ | CAN_BS2_5TQ | 24)},
{CAN100kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ | CAN_BS2_5TQ | 30)},
{CAN50kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ | CAN_BS2_5TQ | 60)},
{CAN20kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ | CAN_BS2_5TQ | 150)},
{CAN10kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ | CAN_BS2_5TQ | 300)}
};
#elif defined (SOC_SERIES_STM32F4) #elif defined (SOC_SERIES_STM32F4)
static const struct stm_baud_rate_tab can_baud_rate_tab[] = static const struct stm_baud_rate_tab can_baud_rate_tab[] =
{ {
@ -80,7 +97,7 @@ void CAN1_TX_IRQHandler(void)
CAN_HandleTypeDef *hcan; CAN_HandleTypeDef *hcan;
hcan = &drv_can1.CanHandle; hcan = &drv_can1.CanHandle;
if (__HAL_CAN_TRANSMIT_STATUS(hcan, CAN_TXMAILBOX_0)) if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_RQCP0))
{ {
if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_TXOK0)) if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_TXOK0))
{ {
@ -94,7 +111,7 @@ void CAN1_TX_IRQHandler(void)
SET_BIT(hcan->Instance->TSR, CAN_TSR_RQCP0); SET_BIT(hcan->Instance->TSR, CAN_TSR_RQCP0);
} }
else if (__HAL_CAN_TRANSMIT_STATUS(hcan, CAN_TXMAILBOX_1)) else if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_RQCP1))
{ {
if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_TXOK1)) if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_TXOK1))
@ -109,7 +126,7 @@ void CAN1_TX_IRQHandler(void)
SET_BIT(hcan->Instance->TSR, CAN_TSR_RQCP1); SET_BIT(hcan->Instance->TSR, CAN_TSR_RQCP1);
} }
else if (__HAL_CAN_TRANSMIT_STATUS(hcan, CAN_TXMAILBOX_2)) else if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_RQCP2))
{ {
if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_TXOK2)) if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_TXOK2))
@ -134,46 +151,46 @@ void CAN1_RX0_IRQHandler(void)
{ {
rt_interrupt_enter(); rt_interrupt_enter();
CanRxMsgTypeDef* pRxMsg = NULL; CAN_RxHeaderTypeDef *pRxMsg = RT_NULL;
uint8_t *data = RT_NULL;
CAN_HandleTypeDef *hcan; CAN_HandleTypeDef *hcan;
hcan = &drv_can1.CanHandle; hcan = &drv_can1.CanHandle;
/* check FMP0 and get data */ /* check FMP0 and get data */
while (__HAL_CAN_MSG_PENDING(hcan, CAN_FIFO0) != RESET && __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_FMP0) != RESET) while ((hcan->Instance->RF0R & CAN_RF0R_FMP0) && __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IER_FMPIE0) != RESET)
{ {
/* beigin get data */ /* beigin get data */
/* Set RxMsg pointer */ /* Set RxMsg pointer */
pRxMsg = hcan->pRxMsg; pRxMsg = &drv_can1.RxMessage;
data = drv_can1.RxMessage_Data;
/* Get the Id */ /* Get the Id */
pRxMsg->IDE = (uint8_t)0x04U & hcan->Instance->sFIFOMailBox[CAN_FIFO0].RIR; pRxMsg->IDE = (uint8_t)0x04U & hcan->Instance->sFIFOMailBox[CAN_RX_FIFO0].RIR;
if (pRxMsg->IDE == CAN_ID_STD) if (pRxMsg->IDE == CAN_ID_STD)
{ {
pRxMsg->StdId = 0x000007FFU & (hcan->Instance->sFIFOMailBox[CAN_FIFO0].RIR >> 21U); pRxMsg->StdId = 0x000007FFU & (hcan->Instance->sFIFOMailBox[CAN_RX_FIFO0].RIR >> 21U);
} }
else else
{ {
pRxMsg->ExtId = 0x1FFFFFFFU & (hcan->Instance->sFIFOMailBox[CAN_FIFO0].RIR >> 3U); pRxMsg->ExtId = 0x1FFFFFFFU & (hcan->Instance->sFIFOMailBox[CAN_RX_FIFO0].RIR >> 3U);
} }
pRxMsg->RTR = (uint8_t)0x02U & hcan->Instance->sFIFOMailBox[CAN_FIFO0].RIR; pRxMsg->RTR = (uint8_t)0x02U & hcan->Instance->sFIFOMailBox[CAN_RX_FIFO0].RIR;
/* Get the DLC */ /* Get the DLC */
pRxMsg->DLC = (uint8_t)0x0FU & hcan->Instance->sFIFOMailBox[CAN_FIFO0].RDTR; pRxMsg->DLC = (uint8_t)0x0FU & hcan->Instance->sFIFOMailBox[CAN_RX_FIFO0].RDTR;
/* Get the FIFONumber */
pRxMsg->FIFONumber = CAN_FIFO0;
/* Get the FMI */ /* Get the FMI */
pRxMsg->FMI = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[CAN_FIFO0].RDTR >> 8U); pRxMsg->FilterMatchIndex = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[CAN_RX_FIFO0].RDTR >> 8U);
/* Get the data field */ /* Get the data field */
pRxMsg->Data[0] = (uint8_t)0xFFU & hcan->Instance->sFIFOMailBox[CAN_FIFO0].RDLR; data[0] = (uint8_t)0xFFU & hcan->Instance->sFIFOMailBox[CAN_RX_FIFO0].RDLR;
pRxMsg->Data[1] = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[CAN_FIFO0].RDLR >> 8U); data[1] = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[CAN_RX_FIFO0].RDLR >> 8U);
pRxMsg->Data[2] = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[CAN_FIFO0].RDLR >> 16U); data[2] = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[CAN_RX_FIFO0].RDLR >> 16U);
pRxMsg->Data[3] = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[CAN_FIFO0].RDLR >> 24U); data[3] = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[CAN_RX_FIFO0].RDLR >> 24U);
pRxMsg->Data[4] = (uint8_t)0xFFU & hcan->Instance->sFIFOMailBox[CAN_FIFO0].RDHR; data[4] = (uint8_t)0xFFU & hcan->Instance->sFIFOMailBox[CAN_RX_FIFO0].RDHR;
pRxMsg->Data[5] = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[CAN_FIFO0].RDHR >> 8U); data[5] = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[CAN_RX_FIFO0].RDHR >> 8U);
pRxMsg->Data[6] = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[CAN_FIFO0].RDHR >> 16U); data[6] = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[CAN_RX_FIFO0].RDHR >> 16U);
pRxMsg->Data[7] = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[CAN_FIFO0].RDHR >> 24U); data[7] = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[CAN_RX_FIFO0].RDHR >> 24U);
/* Release FIFO0 */ /* Release FIFO0 */
__HAL_CAN_FIFO_RELEASE(hcan, CAN_FIFO0); SET_BIT(hcan->Instance->RF0R, CAN_RF0R_RFOM0);
/* end get data */ /* end get data */
@ -182,14 +199,14 @@ void CAN1_RX0_IRQHandler(void)
} }
/* Check Overrun flag for FIFO0 */ /* Check Overrun flag for FIFO0 */
if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_FF0) != RESET && __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_FF0) != RESET) if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_FF0) != RESET && __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IER_FFIE0) != RESET)
{ {
/* Clear FIFO0 FULL Flag */ /* Clear FIFO0 FULL Flag */
__HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_FF0); __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_FF0);
} }
/* Check Overrun flag for FIFO0 */ /* Check Overrun flag for FIFO0 */
if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_FOV0) != RESET && __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_FOV0) != RESET) if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_FOV0) != RESET && __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IER_FOVIE0) != RESET)
{ {
/* Clear FIFO0 Overrun Flag */ /* Clear FIFO0 Overrun Flag */
__HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_FOV0); __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_FOV0);
@ -205,46 +222,46 @@ void CAN1_RX1_IRQHandler(void)
{ {
rt_interrupt_enter(); rt_interrupt_enter();
CanRxMsgTypeDef* pRxMsg = NULL; CAN_RxHeaderTypeDef *pRxMsg = NULL;
uint8_t *data = RT_NULL;
CAN_HandleTypeDef *hcan; CAN_HandleTypeDef *hcan;
hcan = &drv_can1.CanHandle; hcan = &drv_can1.CanHandle;
/* check FMP1 and get data */ /* check FMP1 and get data */
while (__HAL_CAN_MSG_PENDING(hcan, CAN_FIFO1) != RESET && __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_FMP1) != RESET) while ((hcan->Instance->RF1R & CAN_RF1R_FMP1) && __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IER_FMPIE1) != RESET)
{ {
/* beigin get data */ /* beigin get data */
/* Set RxMsg pointer */ /* Set RxMsg pointer */
pRxMsg = hcan->pRx1Msg; pRxMsg = &drv_can1.Rx1Message;
data = drv_can1.Rx1Message_Data;
/* Get the Id */ /* Get the Id */
pRxMsg->IDE = (uint8_t)0x04U & hcan->Instance->sFIFOMailBox[CAN_FIFO1].RIR; pRxMsg->IDE = (uint8_t)0x04U & hcan->Instance->sFIFOMailBox[CAN_RX_FIFO1].RIR;
if (pRxMsg->IDE == CAN_ID_STD) if (pRxMsg->IDE == CAN_ID_STD)
{ {
pRxMsg->StdId = 0x000007FFU & (hcan->Instance->sFIFOMailBox[CAN_FIFO1].RIR >> 21U); pRxMsg->StdId = 0x000007FFU & (hcan->Instance->sFIFOMailBox[CAN_RX_FIFO1].RIR >> 21U);
} }
else else
{ {
pRxMsg->ExtId = 0x1FFFFFFFU & (hcan->Instance->sFIFOMailBox[CAN_FIFO1].RIR >> 3U); pRxMsg->ExtId = 0x1FFFFFFFU & (hcan->Instance->sFIFOMailBox[CAN_RX_FIFO1].RIR >> 3U);
} }
pRxMsg->RTR = (uint8_t)0x02U & hcan->Instance->sFIFOMailBox[CAN_FIFO1].RIR; pRxMsg->RTR = (uint8_t)0x02U & hcan->Instance->sFIFOMailBox[CAN_RX_FIFO1].RIR;
/* Get the DLC */ /* Get the DLC */
pRxMsg->DLC = (uint8_t)0x0FU & hcan->Instance->sFIFOMailBox[CAN_FIFO1].RDTR; pRxMsg->DLC = (uint8_t)0x0FU & hcan->Instance->sFIFOMailBox[CAN_RX_FIFO1].RDTR;
/* Get the FIFONumber */
pRxMsg->FIFONumber = CAN_FIFO1;
/* Get the FMI */ /* Get the FMI */
pRxMsg->FMI = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[CAN_FIFO1].RDTR >> 8U); pRxMsg->FilterMatchIndex = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[CAN_RX_FIFO1].RDTR >> 8U);
/* Get the data field */ /* Get the data field */
pRxMsg->Data[0] = (uint8_t)0xFFU & hcan->Instance->sFIFOMailBox[CAN_FIFO1].RDLR; data[0] = (uint8_t)0xFFU & hcan->Instance->sFIFOMailBox[CAN_RX_FIFO1].RDLR;
pRxMsg->Data[1] = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[CAN_FIFO1].RDLR >> 8U); data[1] = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[CAN_RX_FIFO1].RDLR >> 8U);
pRxMsg->Data[2] = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[CAN_FIFO1].RDLR >> 16U); data[2] = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[CAN_RX_FIFO1].RDLR >> 16U);
pRxMsg->Data[3] = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[CAN_FIFO1].RDLR >> 24U); data[3] = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[CAN_RX_FIFO1].RDLR >> 24U);
pRxMsg->Data[4] = (uint8_t)0xFFU & hcan->Instance->sFIFOMailBox[CAN_FIFO1].RDHR; data[4] = (uint8_t)0xFFU & hcan->Instance->sFIFOMailBox[CAN_RX_FIFO1].RDHR;
pRxMsg->Data[5] = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[CAN_FIFO1].RDHR >> 8U); data[5] = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[CAN_RX_FIFO1].RDHR >> 8U);
pRxMsg->Data[6] = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[CAN_FIFO1].RDHR >> 16U); data[6] = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[CAN_RX_FIFO1].RDHR >> 16U);
pRxMsg->Data[7] = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[CAN_FIFO1].RDHR >> 24U); data[7] = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[CAN_RX_FIFO1].RDHR >> 24U);
/* Release FIFO1 */ /* Release FIFO1 */
__HAL_CAN_FIFO_RELEASE(hcan, CAN_FIFO1); SET_BIT(hcan->Instance->RF1R, CAN_RF1R_RFOM1);
/* end get data */ /* end get data */
@ -253,14 +270,14 @@ void CAN1_RX1_IRQHandler(void)
} }
/* Check Overrun flag for FIFO1 */ /* Check Overrun flag for FIFO1 */
if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_FF1) != RESET && __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_FF1) != RESET) if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_FF1) != RESET && __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IER_FFIE1) != RESET)
{ {
/* Clear FIFO1 FULL Flag */ /* Clear FIFO1 FULL Flag */
__HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_FF1); __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_FF1);
} }
/* Check Overrun flag for FIFO1 */ /* Check Overrun flag for FIFO1 */
if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_FOV1) != RESET && __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_FOV1) != RESET) if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_FOV1) != RESET && __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IER_FOVIE1) != RESET)
{ {
/* Clear FIFO1 Overrun Flag */ /* Clear FIFO1 Overrun Flag */
__HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_FOV1); __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_FOV1);
@ -327,7 +344,7 @@ void CAN2_TX_IRQHandler(void)
CAN_HandleTypeDef *hcan; CAN_HandleTypeDef *hcan;
hcan = &drv_can2.CanHandle; hcan = &drv_can2.CanHandle;
if (__HAL_CAN_TRANSMIT_STATUS(hcan, CAN_TXMAILBOX_0)) if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_RQCP0))
{ {
if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_TXOK0)) if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_TXOK0))
{ {
@ -341,7 +358,7 @@ void CAN2_TX_IRQHandler(void)
SET_BIT(hcan->Instance->TSR, CAN_TSR_RQCP0); SET_BIT(hcan->Instance->TSR, CAN_TSR_RQCP0);
} }
else if (__HAL_CAN_TRANSMIT_STATUS(hcan, CAN_TXMAILBOX_1)) else if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_RQCP1))
{ {
if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_TXOK1)) if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_TXOK1))
@ -356,7 +373,7 @@ void CAN2_TX_IRQHandler(void)
SET_BIT(hcan->Instance->TSR, CAN_TSR_RQCP1); SET_BIT(hcan->Instance->TSR, CAN_TSR_RQCP1);
} }
else if (__HAL_CAN_TRANSMIT_STATUS(hcan, CAN_TXMAILBOX_2)) else if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_RQCP2))
{ {
if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_TXOK2)) if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_TXOK2))
@ -381,46 +398,46 @@ void CAN2_RX0_IRQHandler(void)
{ {
rt_interrupt_enter(); rt_interrupt_enter();
CanRxMsgTypeDef* pRxMsg = NULL; CAN_RxHeaderTypeDef *pRxMsg = RT_NULL;
uint8_t *data = RT_NULL;
CAN_HandleTypeDef *hcan; CAN_HandleTypeDef *hcan;
hcan = &drv_can2.CanHandle; hcan = &drv_can2.CanHandle;
/* check FMP0 and get data */ /* check FMP0 and get data */
while (__HAL_CAN_MSG_PENDING(hcan, CAN_FIFO0) != RESET && __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_FMP0) != RESET) while ((hcan->Instance->RF0R & CAN_RF0R_FMP0) != RESET && __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IER_FMPIE0) != RESET)
{ {
/* beigin get data */ /* beigin get data */
/* Set RxMsg pointer */ /* Set RxMsg pointer */
pRxMsg = hcan->pRxMsg; pRxMsg = &drv_can2.RxMessage;
data = drv_can2.RxMessage_Data;
/* Get the Id */ /* Get the Id */
pRxMsg->IDE = (uint8_t)0x04U & hcan->Instance->sFIFOMailBox[CAN_FIFO0].RIR; pRxMsg->IDE = (uint8_t)0x04U & hcan->Instance->sFIFOMailBox[CAN_RX_FIFO0].RIR;
if (pRxMsg->IDE == CAN_ID_STD) if (pRxMsg->IDE == CAN_ID_STD)
{ {
pRxMsg->StdId = 0x000007FFU & (hcan->Instance->sFIFOMailBox[CAN_FIFO0].RIR >> 21U); pRxMsg->StdId = 0x000007FFU & (hcan->Instance->sFIFOMailBox[CAN_RX_FIFO0].RIR >> 21U);
} }
else else
{ {
pRxMsg->ExtId = 0x1FFFFFFFU & (hcan->Instance->sFIFOMailBox[CAN_FIFO0].RIR >> 3U); pRxMsg->ExtId = 0x1FFFFFFFU & (hcan->Instance->sFIFOMailBox[CAN_RX_FIFO0].RIR >> 3U);
} }
pRxMsg->RTR = (uint8_t)0x02U & hcan->Instance->sFIFOMailBox[CAN_FIFO0].RIR; pRxMsg->RTR = (uint8_t)0x02U & hcan->Instance->sFIFOMailBox[CAN_RX_FIFO0].RIR;
/* Get the DLC */ /* Get the DLC */
pRxMsg->DLC = (uint8_t)0x0FU & hcan->Instance->sFIFOMailBox[CAN_FIFO0].RDTR; pRxMsg->DLC = (uint8_t)0x0FU & hcan->Instance->sFIFOMailBox[CAN_RX_FIFO0].RDTR;
/* Get the FIFONumber */
pRxMsg->FIFONumber = CAN_FIFO0;
/* Get the FMI */ /* Get the FMI */
pRxMsg->FMI = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[CAN_FIFO0].RDTR >> 8U); pRxMsg->FilterMatchIndex = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[CAN_RX_FIFO0].RDTR >> 8U);
/* Get the data field */ /* Get the data field */
pRxMsg->Data[0] = (uint8_t)0xFFU & hcan->Instance->sFIFOMailBox[CAN_FIFO0].RDLR; data[0] = (uint8_t)0xFFU & hcan->Instance->sFIFOMailBox[CAN_RX_FIFO0].RDLR;
pRxMsg->Data[1] = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[CAN_FIFO0].RDLR >> 8U); data[1] = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[CAN_RX_FIFO0].RDLR >> 8U);
pRxMsg->Data[2] = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[CAN_FIFO0].RDLR >> 16U); data[2] = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[CAN_RX_FIFO0].RDLR >> 16U);
pRxMsg->Data[3] = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[CAN_FIFO0].RDLR >> 24U); data[3] = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[CAN_RX_FIFO0].RDLR >> 24U);
pRxMsg->Data[4] = (uint8_t)0xFFU & hcan->Instance->sFIFOMailBox[CAN_FIFO0].RDHR; data[4] = (uint8_t)0xFFU & hcan->Instance->sFIFOMailBox[CAN_RX_FIFO0].RDHR;
pRxMsg->Data[5] = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[CAN_FIFO0].RDHR >> 8U); data[5] = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[CAN_RX_FIFO0].RDHR >> 8U);
pRxMsg->Data[6] = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[CAN_FIFO0].RDHR >> 16U); data[6] = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[CAN_RX_FIFO0].RDHR >> 16U);
pRxMsg->Data[7] = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[CAN_FIFO0].RDHR >> 24U); data[7] = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[CAN_RX_FIFO0].RDHR >> 24U);
/* Release FIFO0 */ /* Release FIFO0 */
__HAL_CAN_FIFO_RELEASE(hcan, CAN_FIFO0); SET_BIT(hcan->Instance->RF0R, CAN_RF0R_RFOM0);
/* end get data */ /* end get data */
@ -429,14 +446,14 @@ void CAN2_RX0_IRQHandler(void)
} }
/* Check Overrun flag for FIFO0 */ /* Check Overrun flag for FIFO0 */
if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_FF0) != RESET && __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_FF0) != RESET) if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_FF0) != RESET && __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IER_FFIE0) != RESET)
{ {
/* Clear FIFO0 FULL Flag */ /* Clear FIFO0 FULL Flag */
__HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_FF0); __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_FF0);
} }
/* Check Overrun flag for FIFO0 */ /* Check Overrun flag for FIFO0 */
if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_FOV0) != RESET && __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_FOV0) != RESET) if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_FOV0) != RESET && __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IER_FOVIE0) != RESET)
{ {
/* Clear FIFO0 Overrun Flag */ /* Clear FIFO0 Overrun Flag */
__HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_FOV0); __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_FOV0);
@ -452,46 +469,46 @@ void CAN2_RX1_IRQHandler(void)
{ {
rt_interrupt_enter(); rt_interrupt_enter();
CanRxMsgTypeDef* pRxMsg = NULL; CAN_RxHeaderTypeDef *pRxMsg = RT_NULL;
uint8_t *data = RT_NULL;
CAN_HandleTypeDef *hcan; CAN_HandleTypeDef *hcan;
hcan = &drv_can2.CanHandle; hcan = &drv_can2.CanHandle;
/* check FMP1 and get data */ /* check FMP1 and get data */
while (__HAL_CAN_MSG_PENDING(hcan, CAN_FIFO1) != RESET && __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_FMP1) != RESET) while ((hcan->Instance->RF1R & CAN_RF1R_FMP1) != RESET && __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IER_FMPIE1) != RESET)
{ {
/* beigin get data */ /* beigin get data */
/* Set RxMsg pointer */ /* Set RxMsg pointer */
pRxMsg = hcan->pRx1Msg; pRxMsg = &drv_can2.Rx1Message;
data = drv_can2.Rx1Message_Data;
/* Get the Id */ /* Get the Id */
pRxMsg->IDE = (uint8_t)0x04U & hcan->Instance->sFIFOMailBox[CAN_FIFO1].RIR; pRxMsg->IDE = (uint8_t)0x04U & hcan->Instance->sFIFOMailBox[CAN_RX_FIFO1].RIR;
if (pRxMsg->IDE == CAN_ID_STD) if (pRxMsg->IDE == CAN_ID_STD)
{ {
pRxMsg->StdId = 0x000007FFU & (hcan->Instance->sFIFOMailBox[CAN_FIFO1].RIR >> 21U); pRxMsg->StdId = 0x000007FFU & (hcan->Instance->sFIFOMailBox[CAN_RX_FIFO1].RIR >> 21U);
} }
else else
{ {
pRxMsg->ExtId = 0x1FFFFFFFU & (hcan->Instance->sFIFOMailBox[CAN_FIFO1].RIR >> 3U); pRxMsg->ExtId = 0x1FFFFFFFU & (hcan->Instance->sFIFOMailBox[CAN_RX_FIFO1].RIR >> 3U);
} }
pRxMsg->RTR = (uint8_t)0x02U & hcan->Instance->sFIFOMailBox[CAN_FIFO1].RIR; pRxMsg->RTR = (uint8_t)0x02U & hcan->Instance->sFIFOMailBox[CAN_RX_FIFO1].RIR;
/* Get the DLC */ /* Get the DLC */
pRxMsg->DLC = (uint8_t)0x0FU & hcan->Instance->sFIFOMailBox[CAN_FIFO1].RDTR; pRxMsg->DLC = (uint8_t)0x0FU & hcan->Instance->sFIFOMailBox[CAN_RX_FIFO1].RDTR;
/* Get the FIFONumber */
pRxMsg->FIFONumber = CAN_FIFO1;
/* Get the FMI */ /* Get the FMI */
pRxMsg->FMI = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[CAN_FIFO1].RDTR >> 8U); pRxMsg->FilterMatchIndex = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[CAN_RX_FIFO1].RDTR >> 8U);
/* Get the data field */ /* Get the data field */
pRxMsg->Data[0] = (uint8_t)0xFFU & hcan->Instance->sFIFOMailBox[CAN_FIFO1].RDLR; data[0] = (uint8_t)0xFFU & hcan->Instance->sFIFOMailBox[CAN_RX_FIFO1].RDLR;
pRxMsg->Data[1] = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[CAN_FIFO1].RDLR >> 8U); data[1] = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[CAN_RX_FIFO1].RDLR >> 8U);
pRxMsg->Data[2] = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[CAN_FIFO1].RDLR >> 16U); data[2] = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[CAN_RX_FIFO1].RDLR >> 16U);
pRxMsg->Data[3] = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[CAN_FIFO1].RDLR >> 24U); data[3] = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[CAN_RX_FIFO1].RDLR >> 24U);
pRxMsg->Data[4] = (uint8_t)0xFFU & hcan->Instance->sFIFOMailBox[CAN_FIFO1].RDHR; data[4] = (uint8_t)0xFFU & hcan->Instance->sFIFOMailBox[CAN_RX_FIFO1].RDHR;
pRxMsg->Data[5] = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[CAN_FIFO1].RDHR >> 8U); data[5] = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[CAN_RX_FIFO1].RDHR >> 8U);
pRxMsg->Data[6] = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[CAN_FIFO1].RDHR >> 16U); data[6] = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[CAN_RX_FIFO1].RDHR >> 16U);
pRxMsg->Data[7] = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[CAN_FIFO1].RDHR >> 24U); data[7] = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[CAN_RX_FIFO1].RDHR >> 24U);
/* Release FIFO1 */ /* Release FIFO1 */
__HAL_CAN_FIFO_RELEASE(hcan, CAN_FIFO1); SET_BIT(hcan->Instance->RF1R, CAN_RF1R_RFOM1);
/* end get data */ /* end get data */
@ -500,14 +517,14 @@ void CAN2_RX1_IRQHandler(void)
} }
/* Check Overrun flag for FIFO1 */ /* Check Overrun flag for FIFO1 */
if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_FF1) != RESET && __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_FF1) != RESET) if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_FF1) != RESET && __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IER_FFIE1) != RESET)
{ {
/* Clear FIFO1 FULL Flag */ /* Clear FIFO1 FULL Flag */
__HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_FF1); __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_FF1);
} }
/* Check Overrun flag for FIFO1 */ /* Check Overrun flag for FIFO1 */
if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_FOV1) != RESET && __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_FOV1) != RESET) if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_FOV1) != RESET && __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IER_FOVIE1) != RESET)
{ {
/* Clear FIFO1 Overrun Flag */ /* Clear FIFO1 Overrun Flag */
__HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_FOV1); __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_FOV1);
@ -570,16 +587,16 @@ void CAN2_SCE_IRQHandler(void)
*/ */
void HAL_CAN_ErrorCallback(CAN_HandleTypeDef *hcan) void HAL_CAN_ErrorCallback(CAN_HandleTypeDef *hcan)
{ {
__HAL_CAN_ENABLE_IT(hcan, CAN_IT_EWG | __HAL_CAN_ENABLE_IT(hcan, CAN_IER_EWGIE |
CAN_IT_EPV | CAN_IER_EPVIE |
CAN_IT_BOF | CAN_IER_BOFIE |
CAN_IT_LEC | CAN_IER_LECIE |
CAN_IT_ERR | CAN_IER_ERRIE |
CAN_IT_FMP0| CAN_IER_FMPIE0 |
CAN_IT_FOV0| CAN_IER_FOVIE0 |
CAN_IT_FMP1| CAN_IER_FMPIE1 |
CAN_IT_FOV1| CAN_IER_FOVIE1 |
CAN_IT_TME); CAN_IER_TMEIE);
} }
static rt_err_t drv_configure(struct rt_can_device *dev_can, static rt_err_t drv_configure(struct rt_can_device *dev_can,
@ -588,7 +605,7 @@ static rt_err_t drv_configure(struct rt_can_device *dev_can,
struct stm32_drv_can *drv_can; struct stm32_drv_can *drv_can;
rt_uint32_t baud_index; rt_uint32_t baud_index;
CAN_InitTypeDef *drv_init; CAN_InitTypeDef *drv_init;
CAN_FilterConfTypeDef *filterConf; CAN_FilterTypeDef *filterConf;
RT_ASSERT(dev_can); RT_ASSERT(dev_can);
RT_ASSERT(cfg); RT_ASSERT(cfg);
@ -596,12 +613,12 @@ static rt_err_t drv_configure(struct rt_can_device *dev_can,
drv_can = (struct stm32_drv_can *)dev_can->parent.user_data; drv_can = (struct stm32_drv_can *)dev_can->parent.user_data;
drv_init = &drv_can->CanHandle.Init; drv_init = &drv_can->CanHandle.Init;
drv_init->TTCM = DISABLE; drv_init->TimeTriggeredMode = DISABLE;
drv_init->ABOM = DISABLE; drv_init->AutoBusOff = DISABLE;
drv_init->AWUM = DISABLE; drv_init->AutoWakeUp = DISABLE;
drv_init->NART = DISABLE; drv_init->AutoRetransmission = ENABLE;
drv_init->RFLM = DISABLE; drv_init->ReceiveFifoLocked = DISABLE;
drv_init->TXFP = DISABLE; drv_init->TransmitFifoPriority = DISABLE;
switch (cfg->mode) switch (cfg->mode)
{ {
@ -620,27 +637,31 @@ static rt_err_t drv_configure(struct rt_can_device *dev_can,
} }
baud_index = get_can_baud_index(cfg->baud_rate); baud_index = get_can_baud_index(cfg->baud_rate);
drv_init->SJW = BAUD_DATA(SJW, baud_index); drv_init->SyncJumpWidth = BAUD_DATA(SJW, baud_index);
drv_init->BS1 = BAUD_DATA(BS1, baud_index); drv_init->TimeSeg1 = BAUD_DATA(BS1, baud_index);
drv_init->BS2 = BAUD_DATA(BS2, baud_index); drv_init->TimeSeg2 = BAUD_DATA(BS2, baud_index);
drv_init->Prescaler = BAUD_DATA(RRESCL, baud_index); drv_init->Prescaler = BAUD_DATA(RRESCL, baud_index);
if (HAL_CAN_Init(&drv_can->CanHandle) != HAL_OK) if (HAL_CAN_Init(&drv_can->CanHandle) != HAL_OK)
{ {
return RT_ERROR; return RT_ERROR;
} }
if (HAL_CAN_Start(&drv_can->CanHandle) != HAL_OK)
{
return RT_ERROR;
}
/* Filter conf */ /* Filter conf */
filterConf = &drv_can->FilterConfig; filterConf = &drv_can->FilterConfig;
filterConf->FilterNumber = 0; filterConf->FilterBank = 0;
filterConf->FilterMode = CAN_FILTERMODE_IDMASK; filterConf->FilterMode = CAN_FILTERMODE_IDMASK;
filterConf->FilterScale = CAN_FILTERSCALE_32BIT; filterConf->FilterScale = CAN_FILTERSCALE_32BIT;
filterConf->FilterIdHigh = 0x0000; filterConf->FilterIdHigh = 0x0000;
filterConf->FilterIdLow = 0x0000; filterConf->FilterIdLow = 0x0000;
filterConf->FilterMaskIdHigh = 0x0000; filterConf->FilterMaskIdHigh = 0x0000;
filterConf->FilterMaskIdLow = 0x0000; filterConf->FilterMaskIdLow = 0x0000;
filterConf->FilterFIFOAssignment = CAN_FIFO0; filterConf->FilterFIFOAssignment = CAN_FILTER_FIFO0;
filterConf->FilterActivation = ENABLE; filterConf->FilterActivation = ENABLE;
filterConf->BankNumber = 14; filterConf->SlaveStartFilterBank = 14;
HAL_CAN_ConfigFilter(&drv_can->CanHandle, filterConf); HAL_CAN_ConfigFilter(&drv_can->CanHandle, filterConf);
return RT_EOK; return RT_EOK;
} }
@ -659,7 +680,8 @@ static rt_err_t drv_control(struct rt_can_device *can, int cmd, void *arg)
argval = (rt_uint32_t) arg; argval = (rt_uint32_t) arg;
if (argval == RT_DEVICE_FLAG_INT_RX) if (argval == RT_DEVICE_FLAG_INT_RX)
{ {
if (CAN1 == drv_can->CanHandle.Instance) { if (CAN1 == drv_can->CanHandle.Instance)
{
HAL_NVIC_DisableIRQ(CAN1_RX0_IRQn); HAL_NVIC_DisableIRQ(CAN1_RX0_IRQn);
HAL_NVIC_DisableIRQ(CAN1_RX1_IRQn); HAL_NVIC_DisableIRQ(CAN1_RX1_IRQn);
} }
@ -670,12 +692,12 @@ static rt_err_t drv_control(struct rt_can_device *can, int cmd, void *arg)
HAL_NVIC_DisableIRQ(CAN2_RX1_IRQn); HAL_NVIC_DisableIRQ(CAN2_RX1_IRQn);
} }
#endif #endif
__HAL_CAN_DISABLE_IT(&drv_can->CanHandle, CAN_IT_FMP0); __HAL_CAN_DISABLE_IT(&drv_can->CanHandle, CAN_IER_FMPIE0);
__HAL_CAN_DISABLE_IT(&drv_can->CanHandle, CAN_IT_FF0 ); __HAL_CAN_DISABLE_IT(&drv_can->CanHandle, CAN_IER_FFIE0);
__HAL_CAN_DISABLE_IT(&drv_can->CanHandle, CAN_IT_FOV0); __HAL_CAN_DISABLE_IT(&drv_can->CanHandle, CAN_IER_FOVIE0);
__HAL_CAN_DISABLE_IT(&drv_can->CanHandle, CAN_IT_FMP1); __HAL_CAN_DISABLE_IT(&drv_can->CanHandle, CAN_IER_FMPIE1);
__HAL_CAN_DISABLE_IT(&drv_can->CanHandle, CAN_IT_FF1 ); __HAL_CAN_DISABLE_IT(&drv_can->CanHandle, CAN_IER_FFIE1);
__HAL_CAN_DISABLE_IT(&drv_can->CanHandle, CAN_IT_FOV1); __HAL_CAN_DISABLE_IT(&drv_can->CanHandle, CAN_IER_FOVIE1);
} }
else if (argval == RT_DEVICE_FLAG_INT_TX) else if (argval == RT_DEVICE_FLAG_INT_TX)
{ {
@ -689,7 +711,7 @@ static rt_err_t drv_control(struct rt_can_device *can, int cmd, void *arg)
HAL_NVIC_DisableIRQ(CAN2_TX_IRQn); HAL_NVIC_DisableIRQ(CAN2_TX_IRQn);
} }
#endif #endif
__HAL_CAN_DISABLE_IT(&drv_can->CanHandle, CAN_IT_TME); __HAL_CAN_DISABLE_IT(&drv_can->CanHandle, CAN_IER_TMEIE);
} }
else if (argval == RT_DEVICE_CAN_INT_ERR) else if (argval == RT_DEVICE_CAN_INT_ERR)
{ {
@ -703,21 +725,21 @@ static rt_err_t drv_control(struct rt_can_device *can, int cmd, void *arg)
NVIC_DisableIRQ(CAN2_SCE_IRQn); NVIC_DisableIRQ(CAN2_SCE_IRQn);
} }
#endif #endif
__HAL_CAN_DISABLE_IT(&drv_can->CanHandle, CAN_IT_BOF); __HAL_CAN_DISABLE_IT(&drv_can->CanHandle, CAN_IER_BOFIE);
__HAL_CAN_DISABLE_IT(&drv_can->CanHandle, CAN_IT_LEC); __HAL_CAN_DISABLE_IT(&drv_can->CanHandle, CAN_IER_LECIE);
__HAL_CAN_DISABLE_IT(&drv_can->CanHandle, CAN_IT_ERR); __HAL_CAN_DISABLE_IT(&drv_can->CanHandle, CAN_IER_ERRIE);
} }
break; break;
case RT_DEVICE_CTRL_SET_INT: case RT_DEVICE_CTRL_SET_INT:
argval = (rt_uint32_t) arg; argval = (rt_uint32_t) arg;
if (argval == RT_DEVICE_FLAG_INT_RX) if (argval == RT_DEVICE_FLAG_INT_RX)
{ {
__HAL_CAN_ENABLE_IT(&drv_can->CanHandle, CAN_IT_FMP0); __HAL_CAN_ENABLE_IT(&drv_can->CanHandle, CAN_IER_FMPIE0);
__HAL_CAN_ENABLE_IT(&drv_can->CanHandle, CAN_IT_FF0); __HAL_CAN_ENABLE_IT(&drv_can->CanHandle, CAN_IER_FFIE0);
__HAL_CAN_ENABLE_IT(&drv_can->CanHandle, CAN_IT_FOV0); __HAL_CAN_ENABLE_IT(&drv_can->CanHandle, CAN_IER_FOVIE0);
__HAL_CAN_ENABLE_IT(&drv_can->CanHandle, CAN_IT_FMP1); __HAL_CAN_ENABLE_IT(&drv_can->CanHandle, CAN_IER_FMPIE1);
__HAL_CAN_ENABLE_IT(&drv_can->CanHandle, CAN_IT_FF1); __HAL_CAN_ENABLE_IT(&drv_can->CanHandle, CAN_IER_FFIE1);
__HAL_CAN_ENABLE_IT(&drv_can->CanHandle, CAN_IT_FOV1); __HAL_CAN_ENABLE_IT(&drv_can->CanHandle, CAN_IER_FOVIE1);
if (CAN1 == drv_can->CanHandle.Instance) if (CAN1 == drv_can->CanHandle.Instance)
{ {
@ -738,7 +760,7 @@ static rt_err_t drv_control(struct rt_can_device *can, int cmd, void *arg)
} }
else if (argval == RT_DEVICE_FLAG_INT_TX) else if (argval == RT_DEVICE_FLAG_INT_TX)
{ {
__HAL_CAN_ENABLE_IT(&drv_can->CanHandle, CAN_IT_TME); __HAL_CAN_ENABLE_IT(&drv_can->CanHandle, CAN_IER_TMEIE);
if (CAN1 == drv_can->CanHandle.Instance) if (CAN1 == drv_can->CanHandle.Instance)
{ {
@ -755,9 +777,9 @@ static rt_err_t drv_control(struct rt_can_device *can, int cmd, void *arg)
} }
else if (argval == RT_DEVICE_CAN_INT_ERR) else if (argval == RT_DEVICE_CAN_INT_ERR)
{ {
__HAL_CAN_ENABLE_IT(&drv_can->CanHandle, CAN_IT_BOF); __HAL_CAN_ENABLE_IT(&drv_can->CanHandle, CAN_IER_BOFIE);
__HAL_CAN_ENABLE_IT(&drv_can->CanHandle, CAN_IT_LEC); __HAL_CAN_ENABLE_IT(&drv_can->CanHandle, CAN_IER_LECIE);
__HAL_CAN_ENABLE_IT(&drv_can->CanHandle, CAN_IT_ERR); __HAL_CAN_ENABLE_IT(&drv_can->CanHandle, CAN_IER_ERRIE);
if (CAN1 == drv_can->CanHandle.Instance) if (CAN1 == drv_can->CanHandle.Instance)
{ {
@ -788,10 +810,18 @@ static rt_err_t drv_control(struct rt_can_device *can, int cmd, void *arg)
if (argval != can->config.mode) if (argval != can->config.mode)
{ {
can->config.mode = argval; can->config.mode = argval;
if (HAL_CAN_Stop(&drv_can->CanHandle) != HAL_OK)
{
return RT_ERROR;
}
if (HAL_CAN_Init(&drv_can->CanHandle) != HAL_OK) if (HAL_CAN_Init(&drv_can->CanHandle) != HAL_OK)
{ {
return RT_ERROR; return RT_ERROR;
} }
if (HAL_CAN_Start(&drv_can->CanHandle) != HAL_OK)
{
return RT_ERROR;
}
} }
break; break;
case RT_CAN_CMD_SET_BAUD: case RT_CAN_CMD_SET_BAUD:
@ -814,22 +844,30 @@ static rt_err_t drv_control(struct rt_can_device *can, int cmd, void *arg)
rt_uint32_t baud_index; rt_uint32_t baud_index;
can->config.baud_rate = argval; can->config.baud_rate = argval;
drv_init = &drv_can->CanHandle.Init; drv_init = &drv_can->CanHandle.Init;
drv_init->TTCM = DISABLE; drv_init->TimeTriggeredMode = DISABLE;
drv_init->ABOM = DISABLE; drv_init->AutoBusOff = DISABLE;
drv_init->AWUM = DISABLE; drv_init->AutoWakeUp = DISABLE;
drv_init->NART = DISABLE; drv_init->AutoRetransmission = ENABLE;
drv_init->RFLM = DISABLE; drv_init->ReceiveFifoLocked = DISABLE;
drv_init->TXFP = DISABLE; drv_init->TransmitFifoPriority = DISABLE;
baud_index = get_can_baud_index(can->config.baud_rate); baud_index = get_can_baud_index(can->config.baud_rate);
drv_init->SJW = BAUD_DATA(SJW, baud_index); drv_init->SyncJumpWidth = BAUD_DATA(SJW, baud_index);
drv_init->BS1 = BAUD_DATA(BS1, baud_index); drv_init->TimeSeg1 = BAUD_DATA(BS1, baud_index);
drv_init->BS2 = BAUD_DATA(BS2, baud_index); drv_init->TimeSeg2 = BAUD_DATA(BS2, baud_index);
drv_init->Prescaler = BAUD_DATA(RRESCL, baud_index); drv_init->Prescaler = BAUD_DATA(RRESCL, baud_index);
if (HAL_CAN_Stop(&drv_can->CanHandle) != HAL_OK)
{
return RT_ERROR;
}
if (HAL_CAN_Init(&drv_can->CanHandle) != HAL_OK) if (HAL_CAN_Init(&drv_can->CanHandle) != HAL_OK)
{ {
return RT_ERROR; return RT_ERROR;
} }
if (HAL_CAN_Start(&drv_can->CanHandle) != HAL_OK)
{
return RT_ERROR;
}
} }
break; break;
case RT_CAN_CMD_SET_PRIV: case RT_CAN_CMD_SET_PRIV:
@ -842,10 +880,18 @@ static rt_err_t drv_control(struct rt_can_device *can, int cmd, void *arg)
if (argval != can->config.privmode) if (argval != can->config.privmode)
{ {
can->config.privmode = argval; can->config.privmode = argval;
if (HAL_CAN_Stop(&drv_can->CanHandle) != HAL_OK)
{
return RT_ERROR;
}
if (HAL_CAN_Init(&drv_can->CanHandle) != HAL_OK) if (HAL_CAN_Init(&drv_can->CanHandle) != HAL_OK)
{ {
return RT_ERROR; return RT_ERROR;
} }
if (HAL_CAN_Start(&drv_can->CanHandle) != HAL_OK)
{
return RT_ERROR;
}
} }
break; break;
case RT_CAN_CMD_GET_STATUS: case RT_CAN_CMD_GET_STATUS:
@ -869,13 +915,15 @@ static rt_err_t drv_control(struct rt_can_device *can, int cmd, void *arg)
static int drv_sendmsg(struct rt_can_device *can, const void *buf, rt_uint32_t boxno) static int drv_sendmsg(struct rt_can_device *can, const void *buf, rt_uint32_t boxno)
{ {
CAN_HandleTypeDef *hcan = RT_NULL; CAN_HandleTypeDef *hcan = RT_NULL;
CAN_TxHeaderTypeDef *pTxMsg = RT_NULL;
hcan = &((struct stm32_drv_can *) can->parent.user_data)->CanHandle; hcan = &((struct stm32_drv_can *) can->parent.user_data)->CanHandle;
pTxMsg = &((struct stm32_drv_can *) can->parent.user_data)->TxMessage;
struct rt_can_msg *pmsg = (struct rt_can_msg *) buf; struct rt_can_msg *pmsg = (struct rt_can_msg *) buf;
/*check Select mailbox is empty */ /*check Select mailbox is empty */
switch (boxno) switch (boxno)
{ {
case CAN_TXMAILBOX_0: case 0:
if (HAL_IS_BIT_SET(hcan->Instance->TSR, CAN_TSR_TME0) != SET) if (HAL_IS_BIT_SET(hcan->Instance->TSR, CAN_TSR_TME0) != SET)
{ {
/* Change CAN state */ /* Change CAN state */
@ -884,7 +932,7 @@ static int drv_sendmsg(struct rt_can_device *can, const void *buf, rt_uint32_t b
return -RT_ERROR; return -RT_ERROR;
} }
break; break;
case CAN_TXMAILBOX_1: case 1:
if (HAL_IS_BIT_SET(hcan->Instance->TSR, CAN_TSR_TME1) != SET) if (HAL_IS_BIT_SET(hcan->Instance->TSR, CAN_TSR_TME1) != SET)
{ {
/* Change CAN state */ /* Change CAN state */
@ -893,7 +941,7 @@ static int drv_sendmsg(struct rt_can_device *can, const void *buf, rt_uint32_t b
return -RT_ERROR; return -RT_ERROR;
} }
break; break;
case CAN_TXMAILBOX_2: case 2:
if (HAL_IS_BIT_SET(hcan->Instance->TSR, CAN_TSR_TME2) != SET) if (HAL_IS_BIT_SET(hcan->Instance->TSR, CAN_TSR_TME2) != SET)
{ {
/* Change CAN state */ /* Change CAN state */
@ -910,68 +958,59 @@ static int drv_sendmsg(struct rt_can_device *can, const void *buf, rt_uint32_t b
/* check id type */ /* check id type */
if (RT_CAN_STDID == pmsg->ide) if (RT_CAN_STDID == pmsg->ide)
{ {
hcan->pTxMsg->IDE = CAN_ID_STD; pTxMsg->IDE = CAN_ID_STD;
hcan->pTxMsg->StdId = pmsg->id; pTxMsg->StdId = pmsg->id;
hcan->pTxMsg->ExtId = 0xFFFFFFFFU; pTxMsg->ExtId = 0xFFFFFFFFU;
} }
else if (RT_CAN_EXTID == pmsg->ide) else if (RT_CAN_EXTID == pmsg->ide)
{ {
hcan->pTxMsg->IDE = CAN_ID_EXT; pTxMsg->IDE = CAN_ID_EXT;
hcan->pTxMsg->StdId = 0xFFFFFFFFU; pTxMsg->StdId = 0xFFFFFFFFU;
hcan->pTxMsg->ExtId = pmsg->id; pTxMsg->ExtId = pmsg->id;
} }
/* check frame type */ /* check frame type */
if (RT_CAN_DTR == pmsg->rtr) if (RT_CAN_DTR == pmsg->rtr)
{ {
hcan->pTxMsg->RTR = CAN_RTR_DATA; pTxMsg->RTR = CAN_RTR_DATA;
} }
else if (RT_CAN_RTR == pmsg->rtr) else if (RT_CAN_RTR == pmsg->rtr)
{ {
hcan->pTxMsg->RTR = CAN_RTR_REMOTE; pTxMsg->RTR = CAN_RTR_REMOTE;
} }
hcan->pTxMsg->DLC = pmsg->len; pTxMsg->DLC = pmsg->len;
/* copy user data to hcan */
hcan->pTxMsg->Data[0] = pmsg->data[0];
hcan->pTxMsg->Data[1] = pmsg->data[1];
hcan->pTxMsg->Data[2] = pmsg->data[2];
hcan->pTxMsg->Data[3] = pmsg->data[3];
hcan->pTxMsg->Data[4] = pmsg->data[4];
hcan->pTxMsg->Data[5] = pmsg->data[5];
hcan->pTxMsg->Data[6] = pmsg->data[6];
hcan->pTxMsg->Data[7] = pmsg->data[7];
/* clear TIR */ /* clear TIR */
hcan->Instance->sTxMailBox[boxno].TIR &= CAN_TI0R_TXRQ; hcan->Instance->sTxMailBox[boxno].TIR &= CAN_TI0R_TXRQ;
/* Set up the Id */ /* Set up the Id */
if (hcan->pTxMsg->IDE == CAN_ID_STD) if (pTxMsg->IDE == CAN_ID_STD)
{ {
assert_param(IS_CAN_STDID(hcan->pTxMsg->StdId)); assert_param(IS_CAN_STDID(hcan->pTxMsg->StdId));
hcan->Instance->sTxMailBox[boxno].TIR |= ((hcan->pTxMsg->StdId << CAN_TI0R_STID_Pos) | \ hcan->Instance->sTxMailBox[boxno].TIR |= ((pTxMsg->StdId << CAN_TI0R_STID_Pos) | \
hcan->pTxMsg->RTR); pTxMsg->RTR);
} }
else else
{ {
assert_param(IS_CAN_EXTID(hcan->pTxMsg->ExtId)); assert_param(IS_CAN_EXTID(hcan->pTxMsg->ExtId));
hcan->Instance->sTxMailBox[boxno].TIR |= ((hcan->pTxMsg->ExtId << CAN_TI0R_EXID_Pos) | \ hcan->Instance->sTxMailBox[boxno].TIR |= (pTxMsg->ExtId << CAN_TI0R_EXID_Pos) | \
hcan->pTxMsg->IDE | pTxMsg->IDE |
hcan->pTxMsg->RTR); pTxMsg->RTR;
} }
/* Set up the DLC */ /* Set up the DLC */
hcan->pTxMsg->DLC &= (uint8_t)0x0000000FU; pTxMsg->DLC &= (uint8_t)0x0000000FU;
hcan->Instance->sTxMailBox[boxno].TDTR &= 0xFFFFFFF0U; hcan->Instance->sTxMailBox[boxno].TDTR &= 0xFFFFFFF0U;
hcan->Instance->sTxMailBox[boxno].TDTR |= hcan->pTxMsg->DLC; hcan->Instance->sTxMailBox[boxno].TDTR |= pTxMsg->DLC;
/* Set up the data field */ /* Set up the data field */
WRITE_REG(hcan->Instance->sTxMailBox[boxno].TDLR, ((uint32_t)hcan->pTxMsg->Data[3U] << CAN_TDL0R_DATA3_Pos) | WRITE_REG(hcan->Instance->sTxMailBox[boxno].TDLR, ((uint32_t)pmsg->data[3U] << CAN_TDL0R_DATA3_Pos) |
((uint32_t)hcan->pTxMsg->Data[2U] << CAN_TDL0R_DATA2_Pos) | ((uint32_t)pmsg->data[2U] << CAN_TDL0R_DATA2_Pos) |
((uint32_t)hcan->pTxMsg->Data[1U] << CAN_TDL0R_DATA1_Pos) | ((uint32_t)pmsg->data[1U] << CAN_TDL0R_DATA1_Pos) |
((uint32_t)hcan->pTxMsg->Data[0U] << CAN_TDL0R_DATA0_Pos)); ((uint32_t)pmsg->data[0U] << CAN_TDL0R_DATA0_Pos));
WRITE_REG(hcan->Instance->sTxMailBox[boxno].TDHR, ((uint32_t)hcan->pTxMsg->Data[7U] << CAN_TDL0R_DATA3_Pos) | WRITE_REG(hcan->Instance->sTxMailBox[boxno].TDHR, ((uint32_t)pmsg->data[7U] << CAN_TDL0R_DATA3_Pos) |
((uint32_t)hcan->pTxMsg->Data[6U] << CAN_TDL0R_DATA2_Pos) | ((uint32_t)pmsg->data[6U] << CAN_TDL0R_DATA2_Pos) |
((uint32_t)hcan->pTxMsg->Data[5U] << CAN_TDL0R_DATA1_Pos) | ((uint32_t)pmsg->data[5U] << CAN_TDL0R_DATA1_Pos) |
((uint32_t)hcan->pTxMsg->Data[4U] << CAN_TDL0R_DATA0_Pos)); ((uint32_t)pmsg->data[4U] << CAN_TDL0R_DATA0_Pos));
/* Request transmission */ /* Request transmission */
hcan->Instance->sTxMailBox[boxno].TIR |= CAN_TI0R_TXRQ; hcan->Instance->sTxMailBox[boxno].TIR |= CAN_TI0R_TXRQ;
@ -981,19 +1020,20 @@ static int drv_sendmsg(struct rt_can_device *can, const void *buf, rt_uint32_t b
static int drv_recvmsg(struct rt_can_device *can, void *buf, rt_uint32_t boxno) static int drv_recvmsg(struct rt_can_device *can, void *buf, rt_uint32_t boxno)
{ {
CAN_HandleTypeDef *hcan; CAN_RxHeaderTypeDef *pRxMsg = RT_NULL;
uint8_t *data = RT_NULL;
struct rt_can_msg *pmsg = (struct rt_can_msg *) buf; struct rt_can_msg *pmsg = (struct rt_can_msg *) buf;
hcan = &((struct stm32_drv_can *) can->parent.user_data)->CanHandle;
CanRxMsgTypeDef *pRxMsg = RT_NULL;
/* get FIFO */ /* get FIFO */
switch (boxno) switch (boxno)
{ {
case CAN_FIFO0: case CAN_RX_FIFO0:
pRxMsg = hcan->pRxMsg; pRxMsg = &((struct stm32_drv_can *) can->parent.user_data)->RxMessage;
data = ((struct stm32_drv_can *) can->parent.user_data)->RxMessage_Data;
break; break;
case CAN_FIFO1: case CAN_RX_FIFO1:
pRxMsg = hcan->pRx1Msg; pRxMsg = &((struct stm32_drv_can *) can->parent.user_data)->Rx1Message;
data = ((struct stm32_drv_can *) can->parent.user_data)->Rx1Message_Data;
break; break;
default: default:
RT_ASSERT(0); RT_ASSERT(0);
@ -1024,16 +1064,16 @@ static int drv_recvmsg(struct rt_can_device *can, void *buf, rt_uint32_t boxno)
/* get len */ /* get len */
pmsg->len = pRxMsg->DLC; pmsg->len = pRxMsg->DLC;
/* get hdr */ /* get hdr */
pmsg->hdr = pRxMsg->FMI; pmsg->hdr = pRxMsg->FilterMatchIndex;
/* get data */ /* get data */
pmsg->data[0] = pRxMsg->Data[0]; pmsg->data[0] = data[0];
pmsg->data[1] = pRxMsg->Data[1]; pmsg->data[1] = data[1];
pmsg->data[2] = pRxMsg->Data[2]; pmsg->data[2] = data[2];
pmsg->data[3] = pRxMsg->Data[3]; pmsg->data[3] = data[3];
pmsg->data[4] = pRxMsg->Data[4]; pmsg->data[4] = data[4];
pmsg->data[5] = pRxMsg->Data[5]; pmsg->data[5] = data[5];
pmsg->data[6] = pRxMsg->Data[6]; pmsg->data[6] = data[6];
pmsg->data[7] = pRxMsg->Data[7]; pmsg->data[7] = data[7];
return RT_EOK; return RT_EOK;
} }
@ -1063,9 +1103,6 @@ int rt_hw_can_init(void)
#ifdef BSP_USING_CAN1 #ifdef BSP_USING_CAN1
drv_can = &drv_can1; drv_can = &drv_can1;
drv_can->CanHandle.Instance = CAN1; drv_can->CanHandle.Instance = CAN1;
drv_can->CanHandle.pTxMsg = &drv_can->TxMessage;
drv_can->CanHandle.pRxMsg = &drv_can->RxMessage;
drv_can->CanHandle.pRx1Msg = &drv_can->Rx1Message;
dev_can1.ops = &drv_can_ops; dev_can1.ops = &drv_can_ops;
dev_can1.config = config; dev_can1.config = config;
/* register CAN1 device */ /* register CAN1 device */
@ -1077,9 +1114,6 @@ int rt_hw_can_init(void)
#ifdef BSP_USING_CAN2 #ifdef BSP_USING_CAN2
drv_can = &drv_can2; drv_can = &drv_can2;
drv_can->CanHandle.Instance = CAN2; drv_can->CanHandle.Instance = CAN2;
drv_can->CanHandle.pTxMsg = &drv_can->TxMessage;
drv_can->CanHandle.pRxMsg = &drv_can->RxMessage;
drv_can->CanHandle.pRx1Msg = &drv_can->Rx1Message;
dev_can2.ops = &drv_can_ops; dev_can2.ops = &drv_can_ops;
dev_can2.config = config; dev_can2.config = config;
/* register CAN2 device */ /* register CAN2 device */

10
bsp/stm32/libraries/HAL_Drivers/drv_can.h
View File

@ -36,10 +36,12 @@ struct stm_baud_rate_tab
struct stm32_drv_can struct stm32_drv_can
{ {
CAN_HandleTypeDef CanHandle; CAN_HandleTypeDef CanHandle;
CanTxMsgTypeDef TxMessage; CAN_TxHeaderTypeDef TxMessage;
CanRxMsgTypeDef RxMessage; CAN_RxHeaderTypeDef RxMessage;
CanRxMsgTypeDef Rx1Message; uint8_t RxMessage_Data[8];
CAN_FilterConfTypeDef FilterConfig; CAN_RxHeaderTypeDef Rx1Message;
uint8_t Rx1Message_Data[8];
CAN_FilterTypeDef FilterConfig;
}; };
#ifdef __cplusplus #ifdef __cplusplus

2
components/drivers/Kconfig
View File

@ -48,7 +48,7 @@ config RT_USING_CAN
if RT_USING_CAN if RT_USING_CAN
config RT_CAN_USING_HDR config RT_CAN_USING_HDR
bool "Enable CAN hardware filter" bool "Enable CAN hardware filter"
default y default n
endif endif
config RT_USING_HWTIMER config RT_USING_HWTIMER