/* * Copyright (c) 2006-2023, RT-Thread Development Team * * SPDX-License-Identifier: Apache-2.0 * * Change Logs: * Date Author Notes * 2018-08-05 Xeon Xu the first version * 2019-01-22 YLZ port from stm324xx-HAL to bsp stm3210x-HAL * 2019-02-19 YLZ add support EXTID RTR Frame. modify send, recv functions. * fix bug.port to BSP [stm32] * 2019-03-27 YLZ support double can channels, support stm32F4xx (only Legacy mode). * 2019-06-17 YLZ port to new STM32F1xx HAL V1.1.3. * 2021-02-02 YuZhe XU fix bug in filter config * 2021-8-25 SVCHAO The baud rate is configured according to the different APB1 frequencies. f4-series only. */ #include "drv_can.h" #ifdef BSP_USING_CAN #define LOG_TAG "drv_can" #include /* attention !!! baud calculation example: Tclk / ((ss + bs1 + bs2) * brp) = 36 / ((1 + 8 + 3) * 3) = 1MHz*/ #if defined (SOC_SERIES_STM32F1)/* APB1 36MHz(max) */ static const struct stm32_baud_rate_tab can_baud_rate_tab[] = { {CAN1MBaud, (CAN_SJW_2TQ | CAN_BS1_8TQ | CAN_BS2_3TQ | 3)}, {CAN800kBaud, (CAN_SJW_2TQ | CAN_BS1_5TQ | CAN_BS2_3TQ | 5)}, {CAN500kBaud, (CAN_SJW_2TQ | CAN_BS1_8TQ | CAN_BS2_3TQ | 6)}, {CAN250kBaud, (CAN_SJW_2TQ | CAN_BS1_8TQ | CAN_BS2_3TQ | 12)}, {CAN125kBaud, (CAN_SJW_2TQ | CAN_BS1_8TQ | CAN_BS2_3TQ | 24)}, {CAN100kBaud, (CAN_SJW_2TQ | CAN_BS1_8TQ | CAN_BS2_3TQ | 30)}, {CAN50kBaud, (CAN_SJW_2TQ | CAN_BS1_8TQ | CAN_BS2_3TQ | 60)}, {CAN20kBaud, (CAN_SJW_2TQ | CAN_BS1_8TQ | CAN_BS2_3TQ | 150)}, {CAN10kBaud, (CAN_SJW_2TQ | CAN_BS1_8TQ | CAN_BS2_3TQ | 300)} }; #elif defined (SOC_SERIES_STM32F4) /* 42MHz or 45MHz */ #if defined(STM32F405xx) || defined(STM32F415xx) || defined(STM32F407xx)|| defined(STM32F417xx) ||\ defined(STM32F401xC) || defined(STM32F401xE) /* 42MHz(max) */ static const struct stm32_baud_rate_tab can_baud_rate_tab[] = { {CAN1MBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ | CAN_BS2_4TQ | 3)}, {CAN800kBaud, (CAN_SJW_2TQ | CAN_BS1_8TQ | CAN_BS2_4TQ | 4)}, {CAN500kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ | CAN_BS2_4TQ | 6)}, {CAN250kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ | CAN_BS2_4TQ | 12)}, {CAN125kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ | CAN_BS2_4TQ | 24)}, {CAN100kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ | CAN_BS2_4TQ | 30)}, {CAN50kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ | CAN_BS2_4TQ | 60)}, {CAN20kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ | CAN_BS2_4TQ | 150)}, {CAN10kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ | CAN_BS2_4TQ | 300)} }; #else /* APB1 45MHz(max) */ static const struct stm32_baud_rate_tab can_baud_rate_tab[] = { #ifdef BSP_USING_CAN168M {CAN1MBaud, (CAN_SJW_1TQ | CAN_BS1_3TQ | CAN_BS2_3TQ | 6)}, #else {CAN1MBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ | CAN_BS2_5TQ | 3)}, #endif {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)} }; #endif #elif defined (SOC_SERIES_STM32F7)/* APB1 54MHz(max) */ static const struct stm32_baud_rate_tab can_baud_rate_tab[] = { {CAN1MBaud, (CAN_SJW_2TQ | CAN_BS1_10TQ | CAN_BS2_7TQ | 3)}, {CAN800kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ | CAN_BS2_7TQ | 4)}, {CAN500kBaud, (CAN_SJW_2TQ | CAN_BS1_10TQ | CAN_BS2_7TQ | 6)}, {CAN250kBaud, (CAN_SJW_2TQ | CAN_BS1_10TQ | CAN_BS2_7TQ | 12)}, {CAN125kBaud, (CAN_SJW_2TQ | CAN_BS1_10TQ | CAN_BS2_7TQ | 24)}, {CAN100kBaud, (CAN_SJW_2TQ | CAN_BS1_10TQ | CAN_BS2_7TQ | 30)}, {CAN50kBaud, (CAN_SJW_2TQ | CAN_BS1_10TQ | CAN_BS2_7TQ | 60)}, {CAN20kBaud, (CAN_SJW_2TQ | CAN_BS1_10TQ | CAN_BS2_7TQ | 150)}, {CAN10kBaud, (CAN_SJW_2TQ | CAN_BS1_10TQ | CAN_BS2_7TQ | 300)} }; #elif defined (SOC_SERIES_STM32L4)/* APB1 80MHz(max) */ static const struct stm32_baud_rate_tab can_baud_rate_tab[] = { {CAN1MBaud, (CAN_SJW_2TQ | CAN_BS1_5TQ | CAN_BS2_2TQ | 10)}, {CAN800kBaud, (CAN_SJW_2TQ | CAN_BS1_14TQ | CAN_BS2_5TQ | 5)}, {CAN500kBaud, (CAN_SJW_2TQ | CAN_BS1_7TQ | CAN_BS2_2TQ | 16)}, {CAN250kBaud, (CAN_SJW_2TQ | CAN_BS1_13TQ | CAN_BS2_2TQ | 20)}, {CAN125kBaud, (CAN_SJW_2TQ | CAN_BS1_13TQ | CAN_BS2_2TQ | 40)}, {CAN100kBaud, (CAN_SJW_2TQ | CAN_BS1_13TQ | CAN_BS2_2TQ | 50)}, {CAN50kBaud, (CAN_SJW_2TQ | CAN_BS1_13TQ | CAN_BS2_2TQ | 100)}, {CAN20kBaud, (CAN_SJW_2TQ | CAN_BS1_13TQ | CAN_BS2_2TQ | 250)}, {CAN10kBaud, (CAN_SJW_2TQ | CAN_BS1_13TQ | CAN_BS2_2TQ | 500)} }; #endif #ifdef BSP_USING_CAN1 static struct stm32_can drv_can1 = { .name = "can1", .CanHandle.Instance = CAN1, }; #endif #ifdef BSP_USING_CAN2 static struct stm32_can drv_can2 = { "can2", .CanHandle.Instance = CAN2, }; #endif static rt_uint32_t get_can_baud_index(rt_uint32_t baud) { rt_uint32_t len, index; len = sizeof(can_baud_rate_tab) / sizeof(can_baud_rate_tab[0]); for (index = 0; index < len; index++) { if (can_baud_rate_tab[index].baud_rate == baud) return index; } return 0; /* default baud is CAN1MBaud */ } static rt_err_t _can_config(struct rt_can_device *can, struct can_configure *cfg) { struct stm32_can *drv_can; rt_uint32_t baud_index; RT_ASSERT(can); RT_ASSERT(cfg); drv_can = (struct stm32_can *)can->parent.user_data; RT_ASSERT(drv_can); drv_can->CanHandle.Init.TimeTriggeredMode = DISABLE; drv_can->CanHandle.Init.AutoBusOff = ENABLE; drv_can->CanHandle.Init.AutoWakeUp = DISABLE; drv_can->CanHandle.Init.AutoRetransmission = DISABLE; drv_can->CanHandle.Init.ReceiveFifoLocked = DISABLE; drv_can->CanHandle.Init.TransmitFifoPriority = ENABLE; switch (cfg->mode) { case RT_CAN_MODE_NORMAL: drv_can->CanHandle.Init.Mode = CAN_MODE_NORMAL; break; case RT_CAN_MODE_LISTEN: drv_can->CanHandle.Init.Mode = CAN_MODE_SILENT; break; case RT_CAN_MODE_LOOPBACK: drv_can->CanHandle.Init.Mode = CAN_MODE_LOOPBACK; break; case RT_CAN_MODE_LOOPBACKANLISTEN: drv_can->CanHandle.Init.Mode = CAN_MODE_SILENT_LOOPBACK; break; } baud_index = get_can_baud_index(cfg->baud_rate); drv_can->CanHandle.Init.SyncJumpWidth = BAUD_DATA(SJW, baud_index); drv_can->CanHandle.Init.TimeSeg1 = BAUD_DATA(BS1, baud_index); drv_can->CanHandle.Init.TimeSeg2 = BAUD_DATA(BS2, baud_index); drv_can->CanHandle.Init.Prescaler = BAUD_DATA(RRESCL, baud_index); /* init can */ if (HAL_CAN_Init(&drv_can->CanHandle) != HAL_OK) { return -RT_ERROR; } /* default filter config */ HAL_CAN_ConfigFilter(&drv_can->CanHandle, &drv_can->FilterConfig); /* can start */ HAL_CAN_Start(&drv_can->CanHandle); return RT_EOK; } static rt_err_t _can_control(struct rt_can_device *can, int cmd, void *arg) { rt_uint32_t argval; struct stm32_can *drv_can; struct rt_can_filter_config *filter_cfg; RT_ASSERT(can != RT_NULL); drv_can = (struct stm32_can *)can->parent.user_data; RT_ASSERT(drv_can != RT_NULL); switch (cmd) { case RT_DEVICE_CTRL_CLR_INT: argval = (rt_uint32_t) arg; if (argval == RT_DEVICE_FLAG_INT_RX) { if (CAN1 == drv_can->CanHandle.Instance) { HAL_NVIC_DisableIRQ(CAN1_RX0_IRQn); HAL_NVIC_DisableIRQ(CAN1_RX1_IRQn); } #ifdef CAN2 if (CAN2 == drv_can->CanHandle.Instance) { HAL_NVIC_DisableIRQ(CAN2_RX0_IRQn); HAL_NVIC_DisableIRQ(CAN2_RX1_IRQn); } #endif __HAL_CAN_DISABLE_IT(&drv_can->CanHandle, CAN_IT_RX_FIFO0_MSG_PENDING); __HAL_CAN_DISABLE_IT(&drv_can->CanHandle, CAN_IT_RX_FIFO0_FULL); __HAL_CAN_DISABLE_IT(&drv_can->CanHandle, CAN_IT_RX_FIFO0_OVERRUN); __HAL_CAN_DISABLE_IT(&drv_can->CanHandle, CAN_IT_RX_FIFO1_MSG_PENDING); __HAL_CAN_DISABLE_IT(&drv_can->CanHandle, CAN_IT_RX_FIFO1_FULL); __HAL_CAN_DISABLE_IT(&drv_can->CanHandle, CAN_IT_RX_FIFO1_OVERRUN); } else if (argval == RT_DEVICE_FLAG_INT_TX) { if (CAN1 == drv_can->CanHandle.Instance) { HAL_NVIC_DisableIRQ(CAN1_TX_IRQn); } #ifdef CAN2 if (CAN2 == drv_can->CanHandle.Instance) { HAL_NVIC_DisableIRQ(CAN2_TX_IRQn); } #endif __HAL_CAN_DISABLE_IT(&drv_can->CanHandle, CAN_IT_TX_MAILBOX_EMPTY); } else if (argval == RT_DEVICE_CAN_INT_ERR) { if (CAN1 == drv_can->CanHandle.Instance) { NVIC_DisableIRQ(CAN1_SCE_IRQn); } #ifdef CAN2 if (CAN2 == drv_can->CanHandle.Instance) { NVIC_DisableIRQ(CAN2_SCE_IRQn); } #endif __HAL_CAN_DISABLE_IT(&drv_can->CanHandle, CAN_IT_ERROR_WARNING); __HAL_CAN_DISABLE_IT(&drv_can->CanHandle, CAN_IT_ERROR_PASSIVE); __HAL_CAN_DISABLE_IT(&drv_can->CanHandle, CAN_IT_BUSOFF); __HAL_CAN_DISABLE_IT(&drv_can->CanHandle, CAN_IT_LAST_ERROR_CODE); __HAL_CAN_DISABLE_IT(&drv_can->CanHandle, CAN_IT_ERROR); } break; case RT_DEVICE_CTRL_SET_INT: argval = (rt_uint32_t) arg; if (argval == RT_DEVICE_FLAG_INT_RX) { __HAL_CAN_ENABLE_IT(&drv_can->CanHandle, CAN_IT_RX_FIFO0_MSG_PENDING); __HAL_CAN_ENABLE_IT(&drv_can->CanHandle, CAN_IT_RX_FIFO0_FULL); __HAL_CAN_ENABLE_IT(&drv_can->CanHandle, CAN_IT_RX_FIFO0_OVERRUN); __HAL_CAN_ENABLE_IT(&drv_can->CanHandle, CAN_IT_RX_FIFO1_MSG_PENDING); __HAL_CAN_ENABLE_IT(&drv_can->CanHandle, CAN_IT_RX_FIFO1_FULL); __HAL_CAN_ENABLE_IT(&drv_can->CanHandle, CAN_IT_RX_FIFO1_OVERRUN); if (CAN1 == drv_can->CanHandle.Instance) { HAL_NVIC_SetPriority(CAN1_RX0_IRQn, 1, 0); HAL_NVIC_EnableIRQ(CAN1_RX0_IRQn); HAL_NVIC_SetPriority(CAN1_RX1_IRQn, 1, 0); HAL_NVIC_EnableIRQ(CAN1_RX1_IRQn); } #ifdef CAN2 if (CAN2 == drv_can->CanHandle.Instance) { HAL_NVIC_SetPriority(CAN2_RX0_IRQn, 1, 0); HAL_NVIC_EnableIRQ(CAN2_RX0_IRQn); HAL_NVIC_SetPriority(CAN2_RX1_IRQn, 1, 0); HAL_NVIC_EnableIRQ(CAN2_RX1_IRQn); } #endif } else if (argval == RT_DEVICE_FLAG_INT_TX) { __HAL_CAN_ENABLE_IT(&drv_can->CanHandle, CAN_IT_TX_MAILBOX_EMPTY); if (CAN1 == drv_can->CanHandle.Instance) { HAL_NVIC_SetPriority(CAN1_TX_IRQn, 1, 0); HAL_NVIC_EnableIRQ(CAN1_TX_IRQn); } #ifdef CAN2 if (CAN2 == drv_can->CanHandle.Instance) { HAL_NVIC_SetPriority(CAN2_TX_IRQn, 1, 0); HAL_NVIC_EnableIRQ(CAN2_TX_IRQn); } #endif } else if (argval == RT_DEVICE_CAN_INT_ERR) { __HAL_CAN_ENABLE_IT(&drv_can->CanHandle, CAN_IT_ERROR_WARNING); __HAL_CAN_ENABLE_IT(&drv_can->CanHandle, CAN_IT_ERROR_PASSIVE); __HAL_CAN_ENABLE_IT(&drv_can->CanHandle, CAN_IT_BUSOFF); __HAL_CAN_ENABLE_IT(&drv_can->CanHandle, CAN_IT_LAST_ERROR_CODE); __HAL_CAN_ENABLE_IT(&drv_can->CanHandle, CAN_IT_ERROR); if (CAN1 == drv_can->CanHandle.Instance) { HAL_NVIC_SetPriority(CAN1_SCE_IRQn, 1, 0); HAL_NVIC_EnableIRQ(CAN1_SCE_IRQn); } #ifdef CAN2 if (CAN2 == drv_can->CanHandle.Instance) { HAL_NVIC_SetPriority(CAN2_SCE_IRQn, 1, 0); HAL_NVIC_EnableIRQ(CAN2_SCE_IRQn); } #endif } break; case RT_CAN_CMD_SET_FILTER: { rt_uint32_t id_h = 0; rt_uint32_t id_l = 0; rt_uint32_t mask_h = 0; rt_uint32_t mask_l = 0; rt_uint32_t mask_l_tail = 0; //CAN_FxR2 bit [2:0] if (RT_NULL == arg) { /* default filter config */ HAL_CAN_ConfigFilter(&drv_can->CanHandle, &drv_can->FilterConfig); } else { filter_cfg = (struct rt_can_filter_config *)arg; /* get default filter */ for (int i = 0; i < filter_cfg->count; i++) { if (filter_cfg->items[i].hdr_bank == -1) { /* use default filter bank settings */ if (rt_strcmp(drv_can->name, "can1") == 0) { /* can1 banks 0~13 */ drv_can->FilterConfig.FilterBank = i; } else if (rt_strcmp(drv_can->name, "can2") == 0) { /* can2 banks 14~27 */ drv_can->FilterConfig.FilterBank = i + 14; } } else { /* use user-defined filter bank settings */ drv_can->FilterConfig.FilterBank = filter_cfg->items[i].hdr_bank; } /** * ID | CAN_FxR1[31:24] | CAN_FxR1[23:16] | CAN_FxR1[15:8] | CAN_FxR1[7:0] | * MASK | CAN_FxR2[31:24] | CAN_FxR2[23:16] | CAN_FxR2[15:8] | CAN_FxR2[7:0] | * STD ID | STID[10:3] | STDID[2:0] |<- 21bit ->| * EXT ID | EXTID[28:21] | EXTID[20:13] | EXTID[12:5] | EXTID[4:0] IDE RTR 0| * @note the 32bit STD ID must << 21 to fill CAN_FxR1[31:21] and EXT ID must << 3, * -> but the id bit of struct rt_can_filter_item is 29, * -> so STD id << 18 and EXT id Don't need << 3, when get the high 16bit. * -> FilterIdHigh : (((STDid << 18) or (EXT id)) >> 13) & 0xFFFF, * -> FilterIdLow: ((STDid << 18) or (EXT id << 3)) & 0xFFFF. * @note the mask bit of struct rt_can_filter_item is 32, * -> FilterMaskIdHigh: (((STD mask << 21) or (EXT mask <<3)) >> 16) & 0xFFFF * -> FilterMaskIdLow: ((STD mask << 21) or (EXT mask <<3)) & 0xFFFF */ if (filter_cfg->items[i].mode == CAN_FILTERMODE_IDMASK) { /* make sure the CAN_FxR1[2:0](IDE RTR) work */ mask_l_tail = 0x06; } else if (filter_cfg->items[i].mode == CAN_FILTERMODE_IDLIST) { /* same as CAN_FxR1 */ mask_l_tail = (filter_cfg->items[i].ide << 2) | (filter_cfg->items[i].rtr << 1); } if (filter_cfg->items[i].ide == RT_CAN_STDID) { id_h = ((filter_cfg->items[i].id << 18) >> 13) & 0xFFFF; id_l = ((filter_cfg->items[i].id << 18) | (filter_cfg->items[i].ide << 2) | (filter_cfg->items[i].rtr << 1)) & 0xFFFF; mask_h = ((filter_cfg->items[i].mask << 21) >> 16) & 0xFFFF; mask_l = ((filter_cfg->items[i].mask << 21) | mask_l_tail) & 0xFFFF; } else if (filter_cfg->items[i].ide == RT_CAN_EXTID) { id_h = (filter_cfg->items[i].id >> 13) & 0xFFFF; id_l = ((filter_cfg->items[i].id << 3) | (filter_cfg->items[i].ide << 2) | (filter_cfg->items[i].rtr << 1)) & 0xFFFF; mask_h = ((filter_cfg->items[i].mask << 3) >> 16) & 0xFFFF; mask_l = ((filter_cfg->items[i].mask << 3) | mask_l_tail) & 0xFFFF; } drv_can->FilterConfig.FilterIdHigh = id_h; drv_can->FilterConfig.FilterIdLow = id_l; drv_can->FilterConfig.FilterMaskIdHigh = mask_h; drv_can->FilterConfig.FilterMaskIdLow = mask_l; drv_can->FilterConfig.FilterMode = filter_cfg->items[i].mode; drv_can->FilterConfig.FilterFIFOAssignment = filter_cfg->items[i].rxfifo;/*rxfifo = CAN_RX_FIFO0/CAN_RX_FIFO1*/ /* Filter conf */ HAL_CAN_ConfigFilter(&drv_can->CanHandle, &drv_can->FilterConfig); } } break; } case RT_CAN_CMD_SET_MODE: argval = (rt_uint32_t) arg; if (argval != RT_CAN_MODE_NORMAL && argval != RT_CAN_MODE_LISTEN && argval != RT_CAN_MODE_LOOPBACK && argval != RT_CAN_MODE_LOOPBACKANLISTEN) { return -RT_ERROR; } if (argval != drv_can->device.config.mode) { drv_can->device.config.mode = argval; return _can_config(&drv_can->device, &drv_can->device.config); } break; case RT_CAN_CMD_SET_BAUD: argval = (rt_uint32_t) arg; if (argval != CAN1MBaud && argval != CAN800kBaud && argval != CAN500kBaud && argval != CAN250kBaud && argval != CAN125kBaud && argval != CAN100kBaud && argval != CAN50kBaud && argval != CAN20kBaud && argval != CAN10kBaud) { return -RT_ERROR; } if (argval != drv_can->device.config.baud_rate) { drv_can->device.config.baud_rate = argval; return _can_config(&drv_can->device, &drv_can->device.config); } break; case RT_CAN_CMD_SET_PRIV: argval = (rt_uint32_t) arg; if (argval != RT_CAN_MODE_PRIV && argval != RT_CAN_MODE_NOPRIV) { return -RT_ERROR; } if (argval != drv_can->device.config.privmode) { drv_can->device.config.privmode = argval; return _can_config(&drv_can->device, &drv_can->device.config); } break; case RT_CAN_CMD_GET_STATUS: { rt_uint32_t errtype; errtype = drv_can->CanHandle.Instance->ESR; drv_can->device.status.rcverrcnt = errtype >> 24; drv_can->device.status.snderrcnt = (errtype >> 16 & 0xFF); drv_can->device.status.lasterrtype = errtype & 0x70; drv_can->device.status.errcode = errtype & 0x07; rt_memcpy(arg, &drv_can->device.status, sizeof(drv_can->device.status)); } break; } return RT_EOK; } static int _can_sendmsg(struct rt_can_device *can, const void *buf, rt_uint32_t box_num) { CAN_HandleTypeDef *hcan; hcan = &((struct stm32_can *) can->parent.user_data)->CanHandle; struct rt_can_msg *pmsg = (struct rt_can_msg *) buf; CAN_TxHeaderTypeDef txheader = {0}; HAL_CAN_StateTypeDef state = hcan->State; /* Check the parameters */ RT_ASSERT(IS_CAN_DLC(pmsg->len)); if ((state == HAL_CAN_STATE_READY) || (state == HAL_CAN_STATE_LISTENING)) { /*check select mailbox is empty */ switch (1 << box_num) { case CAN_TX_MAILBOX0: if (HAL_IS_BIT_SET(hcan->Instance->TSR, CAN_TSR_TME0) != SET) { /* Return function status */ return -RT_ERROR; } break; case CAN_TX_MAILBOX1: if (HAL_IS_BIT_SET(hcan->Instance->TSR, CAN_TSR_TME1) != SET) { /* Return function status */ return -RT_ERROR; } break; case CAN_TX_MAILBOX2: if (HAL_IS_BIT_SET(hcan->Instance->TSR, CAN_TSR_TME2) != SET) { /* Return function status */ return -RT_ERROR; } break; default: RT_ASSERT(0); break; } if (RT_CAN_STDID == pmsg->ide) { txheader.IDE = CAN_ID_STD; RT_ASSERT(IS_CAN_STDID(pmsg->id)); txheader.StdId = pmsg->id; } else { txheader.IDE = CAN_ID_EXT; RT_ASSERT(IS_CAN_EXTID(pmsg->id)); txheader.ExtId = pmsg->id; } if (RT_CAN_DTR == pmsg->rtr) { txheader.RTR = CAN_RTR_DATA; } else { txheader.RTR = CAN_RTR_REMOTE; } /* clear TIR */ hcan->Instance->sTxMailBox[box_num].TIR &= CAN_TI0R_TXRQ; /* Set up the Id */ if (RT_CAN_STDID == pmsg->ide) { hcan->Instance->sTxMailBox[box_num].TIR |= (txheader.StdId << CAN_TI0R_STID_Pos) | txheader.RTR; } else { hcan->Instance->sTxMailBox[box_num].TIR |= (txheader.ExtId << CAN_TI0R_EXID_Pos) | txheader.IDE | txheader.RTR; } /* Set up the DLC */ hcan->Instance->sTxMailBox[box_num].TDTR = pmsg->len & 0x0FU; /* Set up the data field */ WRITE_REG(hcan->Instance->sTxMailBox[box_num].TDHR, ((uint32_t)pmsg->data[7] << CAN_TDH0R_DATA7_Pos) | ((uint32_t)pmsg->data[6] << CAN_TDH0R_DATA6_Pos) | ((uint32_t)pmsg->data[5] << CAN_TDH0R_DATA5_Pos) | ((uint32_t)pmsg->data[4] << CAN_TDH0R_DATA4_Pos)); WRITE_REG(hcan->Instance->sTxMailBox[box_num].TDLR, ((uint32_t)pmsg->data[3] << CAN_TDL0R_DATA3_Pos) | ((uint32_t)pmsg->data[2] << CAN_TDL0R_DATA2_Pos) | ((uint32_t)pmsg->data[1] << CAN_TDL0R_DATA1_Pos) | ((uint32_t)pmsg->data[0] << CAN_TDL0R_DATA0_Pos)); /* Request transmission */ SET_BIT(hcan->Instance->sTxMailBox[box_num].TIR, CAN_TI0R_TXRQ); return RT_EOK; } else { /* Update error code */ hcan->ErrorCode |= HAL_CAN_ERROR_NOT_INITIALIZED; return -RT_ERROR; } } static int _can_recvmsg(struct rt_can_device *can, void *buf, rt_uint32_t fifo) { HAL_StatusTypeDef status; CAN_HandleTypeDef *hcan; struct rt_can_msg *pmsg; CAN_RxHeaderTypeDef rxheader = {0}; RT_ASSERT(can); hcan = &((struct stm32_can *)can->parent.user_data)->CanHandle; pmsg = (struct rt_can_msg *) buf; /* get data */ status = HAL_CAN_GetRxMessage(hcan, fifo, &rxheader, pmsg->data); if (HAL_OK != status) return -RT_ERROR; /* get id */ if (CAN_ID_STD == rxheader.IDE) { pmsg->ide = RT_CAN_STDID; pmsg->id = rxheader.StdId; } else { pmsg->ide = RT_CAN_EXTID; pmsg->id = rxheader.ExtId; } /* get type */ if (CAN_RTR_DATA == rxheader.RTR) { pmsg->rtr = RT_CAN_DTR; } else { pmsg->rtr = RT_CAN_RTR; } /*get rxfifo = CAN_RX_FIFO0/CAN_RX_FIFO1*/ pmsg->rxfifo = fifo; /* get len */ pmsg->len = rxheader.DLC; /* get hdr_index */ if (hcan->Instance == CAN1) { pmsg->hdr_index = rxheader.FilterMatchIndex; } #ifdef CAN2 else if (hcan->Instance == CAN2) { pmsg->hdr_index = rxheader.FilterMatchIndex; } #endif return RT_EOK; } static const struct rt_can_ops _can_ops = { _can_config, _can_control, _can_sendmsg, _can_recvmsg, }; static void _can_rx_isr(struct rt_can_device *can, rt_uint32_t fifo) { CAN_HandleTypeDef *hcan; RT_ASSERT(can); hcan = &((struct stm32_can *) can->parent.user_data)->CanHandle; switch (fifo) { case CAN_RX_FIFO0: /* save to user list */ if (HAL_CAN_GetRxFifoFillLevel(hcan, CAN_RX_FIFO0) && __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_RX_FIFO0_MSG_PENDING)) { rt_hw_can_isr(can, RT_CAN_EVENT_RX_IND | fifo << 8); } /* Check FULL flag for FIFO0 */ if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_FF0) && __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_RX_FIFO0_FULL)) { /* Clear FIFO0 FULL Flag */ __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_FF0); } /* Check Overrun flag for FIFO0 */ if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_FOV0) && __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_RX_FIFO0_OVERRUN)) { /* Clear FIFO0 Overrun Flag */ __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_FOV0); rt_hw_can_isr(can, RT_CAN_EVENT_RXOF_IND | fifo << 8); } break; case CAN_RX_FIFO1: /* save to user list */ if (HAL_CAN_GetRxFifoFillLevel(hcan, CAN_RX_FIFO1) && __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_RX_FIFO1_MSG_PENDING)) { rt_hw_can_isr(can, RT_CAN_EVENT_RX_IND | fifo << 8); } /* Check FULL flag for FIFO1 */ if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_FF1) && __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_RX_FIFO1_FULL)) { /* Clear FIFO1 FULL Flag */ __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_FF1); } /* Check Overrun flag for FIFO1 */ if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_FOV1) && __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_RX_FIFO1_OVERRUN)) { /* Clear FIFO1 Overrun Flag */ __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_FOV1); rt_hw_can_isr(can, RT_CAN_EVENT_RXOF_IND | fifo << 8); } break; } } static void _can_sce_isr(struct rt_can_device *can) { CAN_HandleTypeDef *hcan; RT_ASSERT(can); hcan = &((struct stm32_can *) can->parent.user_data)->CanHandle; rt_uint32_t errtype = hcan->Instance->ESR; switch ((errtype & 0x70) >> 4) { case RT_CAN_BUS_BIT_PAD_ERR: can->status.bitpaderrcnt++; break; case RT_CAN_BUS_FORMAT_ERR: can->status.formaterrcnt++; break; case RT_CAN_BUS_ACK_ERR:/* attention !!! test ack err's unit is transmit unit */ can->status.ackerrcnt++; if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_RQCP0)) { if (!__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_TXOK0)) { rt_hw_can_isr(can, RT_CAN_EVENT_TX_FAIL | 0 << 8); } SET_BIT(hcan->Instance->TSR, CAN_TSR_RQCP0); } else if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_RQCP1)) { if (!__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_TXOK1)) { rt_hw_can_isr(can, RT_CAN_EVENT_TX_FAIL | 1 << 8); } SET_BIT(hcan->Instance->TSR, CAN_TSR_RQCP1); } else if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_RQCP2)) { if (!__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_TXOK2)) { rt_hw_can_isr(can, RT_CAN_EVENT_TX_FAIL | 2 << 8); } SET_BIT(hcan->Instance->TSR, CAN_TSR_RQCP2); } else { if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_TERR0))/*IF AutoRetransmission = ENABLE,ACK ERR handler*/ { SET_BIT(hcan->Instance->TSR, CAN_TSR_ABRQ0);/*Abort the send request, trigger the TX interrupt,release completion quantity*/ } else if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_TERR1)) { SET_BIT(hcan->Instance->TSR, CAN_TSR_ABRQ1); } else if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_TERR2)) { SET_BIT(hcan->Instance->TSR, CAN_TSR_ABRQ2); } } break; case RT_CAN_BUS_IMPLICIT_BIT_ERR: case RT_CAN_BUS_EXPLICIT_BIT_ERR: can->status.biterrcnt++; break; case RT_CAN_BUS_CRC_ERR: can->status.crcerrcnt++; break; } can->status.lasterrtype = errtype & 0x70; can->status.rcverrcnt = errtype >> 24; can->status.snderrcnt = (errtype >> 16 & 0xFF); can->status.errcode = errtype & 0x07; hcan->Instance->MSR |= CAN_MSR_ERRI; } static void _can_tx_isr(struct rt_can_device *can) { CAN_HandleTypeDef *hcan; RT_ASSERT(can); hcan = &((struct stm32_can *) can->parent.user_data)->CanHandle; if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_RQCP0)) { if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_TXOK0)) { rt_hw_can_isr(can, RT_CAN_EVENT_TX_DONE | 0 << 8); } else { rt_hw_can_isr(can, RT_CAN_EVENT_TX_FAIL | 0 << 8); } /* Write 0 to Clear transmission status flag RQCPx */ SET_BIT(hcan->Instance->TSR, CAN_TSR_RQCP0); } else if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_RQCP1)) { if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_TXOK1)) { rt_hw_can_isr(can, RT_CAN_EVENT_TX_DONE | 1 << 8); } else { rt_hw_can_isr(can, RT_CAN_EVENT_TX_FAIL | 1 << 8); } /* Write 0 to Clear transmission status flag RQCPx */ SET_BIT(hcan->Instance->TSR, CAN_TSR_RQCP1); } else if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_RQCP2)) { if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_TXOK2)) { rt_hw_can_isr(can, RT_CAN_EVENT_TX_DONE | 2 << 8); } else { rt_hw_can_isr(can, RT_CAN_EVENT_TX_FAIL | 2 << 8); } /* Write 0 to Clear transmission status flag RQCPx */ SET_BIT(hcan->Instance->TSR, CAN_TSR_RQCP2); } } #ifdef BSP_USING_CAN1 /** * @brief This function handles CAN1 TX interrupts. transmit fifo0/1/2 is empty can trigger this interrupt */ void CAN1_TX_IRQHandler(void) { rt_interrupt_enter(); _can_tx_isr(&drv_can1.device); rt_interrupt_leave(); } /** * @brief This function handles CAN1 RX0 interrupts. */ void CAN1_RX0_IRQHandler(void) { rt_interrupt_enter(); _can_rx_isr(&drv_can1.device, CAN_RX_FIFO0); rt_interrupt_leave(); } /** * @brief This function handles CAN1 RX1 interrupts. */ void CAN1_RX1_IRQHandler(void) { rt_interrupt_enter(); _can_rx_isr(&drv_can1.device, CAN_RX_FIFO1); rt_interrupt_leave(); } /** * @brief This function handles CAN1 SCE interrupts. */ void CAN1_SCE_IRQHandler(void) { rt_interrupt_enter(); _can_sce_isr(&drv_can1.device); rt_interrupt_leave(); } #endif /* BSP_USING_CAN1 */ #ifdef BSP_USING_CAN2 /** * @brief This function handles CAN2 TX interrupts. */ void CAN2_TX_IRQHandler(void) { rt_interrupt_enter(); _can_tx_isr(&drv_can2.device); rt_interrupt_leave(); } /** * @brief This function handles CAN2 RX0 interrupts. */ void CAN2_RX0_IRQHandler(void) { rt_interrupt_enter(); _can_rx_isr(&drv_can2.device, CAN_RX_FIFO0); rt_interrupt_leave(); } /** * @brief This function handles CAN2 RX1 interrupts. */ void CAN2_RX1_IRQHandler(void) { rt_interrupt_enter(); _can_rx_isr(&drv_can2.device, CAN_RX_FIFO1); rt_interrupt_leave(); } /** * @brief This function handles CAN2 SCE interrupts. */ void CAN2_SCE_IRQHandler(void) { rt_interrupt_enter(); _can_sce_isr(&drv_can2.device); rt_interrupt_leave(); } #endif /* BSP_USING_CAN2 */ /** * @brief Error CAN callback. * @param hcan pointer to a CAN_HandleTypeDef structure that contains * the configuration information for the specified CAN. * @retval None */ void HAL_CAN_ErrorCallback(CAN_HandleTypeDef *hcan) { __HAL_CAN_ENABLE_IT(hcan, CAN_IT_ERROR_WARNING | CAN_IT_ERROR_PASSIVE | CAN_IT_BUSOFF | CAN_IT_LAST_ERROR_CODE | CAN_IT_ERROR | CAN_IT_RX_FIFO0_MSG_PENDING | CAN_IT_RX_FIFO0_OVERRUN | CAN_IT_RX_FIFO0_FULL | CAN_IT_RX_FIFO1_MSG_PENDING | CAN_IT_RX_FIFO1_OVERRUN | CAN_IT_RX_FIFO1_FULL | CAN_IT_TX_MAILBOX_EMPTY); } int rt_hw_can_init(void) { struct can_configure config = CANDEFAULTCONFIG; config.privmode = RT_CAN_MODE_NOPRIV; config.ticks = 50; #ifdef RT_CAN_USING_HDR config.maxhdr = 14; #ifdef CAN2 config.maxhdr = 28; #endif #endif /* config default filter */ CAN_FilterTypeDef filterConf = {0}; filterConf.FilterIdHigh = 0x0000; filterConf.FilterIdLow = 0x0000; filterConf.FilterMaskIdHigh = 0x0000; filterConf.FilterMaskIdLow = 0x0000; filterConf.FilterFIFOAssignment = CAN_FILTER_FIFO0; filterConf.FilterBank = 0; filterConf.FilterMode = CAN_FILTERMODE_IDMASK; filterConf.FilterScale = CAN_FILTERSCALE_32BIT; filterConf.FilterActivation = ENABLE; filterConf.SlaveStartFilterBank = 14; #ifdef BSP_USING_CAN1 filterConf.FilterBank = 0; drv_can1.FilterConfig = filterConf; drv_can1.device.config = config; /* register CAN1 device */ rt_hw_can_register(&drv_can1.device, drv_can1.name, &_can_ops, &drv_can1); #endif /* BSP_USING_CAN1 */ #ifdef BSP_USING_CAN2 filterConf.FilterBank = filterConf.SlaveStartFilterBank; drv_can2.FilterConfig = filterConf; drv_can2.device.config = config; /* register CAN2 device */ rt_hw_can_register(&drv_can2.device, drv_can2.name, &_can_ops, &drv_can2); #endif /* BSP_USING_CAN2 */ return 0; } INIT_BOARD_EXPORT(rt_hw_can_init); #endif /* BSP_USING_CAN */ /************************** end of file ******************/