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rt-thread-official/bsp/n32g452xx/Libraries/rt_drivers/drv_can.c

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/*
* Copyright (c) 2006-2022, RT-Thread Development Team
*
* SPDX-License-Identifier: Apache-2.0
*
* Change Logs:
* Date Author Notes
* 2022-01-09 chenbin the first version
*/
#include "drv_can.h"
#ifdef BSP_USING_CAN
#include "stdint.h"
#include "n32g45x.h"
#include "n32g45x_can.h"
struct n32g45x_baud_rate_tab
{
uint32_t baud_rate;
uint16_t PRESCALE;
uint8_t RSJW;
uint8_t TBS1;
uint8_t TBS2;
uint8_t notused;
};
#define N32_CAN_BAUD_DEF(rate, rsjw, tbs1, tbs2, prescale) \
{ \
.baud_rate = rate, \
.RSJW = rsjw, \
.TBS1 = tbs1, \
.TBS2 = tbs2, \
.PRESCALE = prescale \
}
/* N32G45x can device */
struct n32g45x_can
{
char *name;
CAN_Module *CANx;
CAN_InitType can_init;
CAN_FilterInitType can_filter_init;
struct rt_can_device device; /* inherit from can device */
};
#define LOG_TAG "drv_can"
#include <drv_log.h>
/*
* N32G45x CAN1 CAN2 used APB1 (36MHz)
* baud calculation example: baud = Tclk / ((ss + bs1 + bs2) * brp)
* 36MHz / ((1 + 5 + 3) * 4) = 1MHz
*/
#if defined(N32G45X) /* APB1 36MHz(max) */
static const struct n32g45x_baud_rate_tab can_baud_rate_tab[] =
{
N32_CAN_BAUD_DEF(CAN1MBaud, CAN_RSJW_1tq, CAN_TBS1_5tq, CAN_TBS2_3tq, 4),
N32_CAN_BAUD_DEF(CAN800kBaud, CAN_RSJW_1tq, CAN_TBS1_5tq, CAN_TBS2_3tq, 5),
N32_CAN_BAUD_DEF(CAN500kBaud, CAN_RSJW_1tq, CAN_TBS1_5tq, CAN_TBS2_3tq, 8),
N32_CAN_BAUD_DEF(CAN250kBaud, CAN_RSJW_1tq, CAN_TBS1_5tq, CAN_TBS2_3tq, 16),
N32_CAN_BAUD_DEF(CAN125kBaud, CAN_RSJW_1tq, CAN_TBS1_5tq, CAN_TBS2_3tq, 32),
N32_CAN_BAUD_DEF(CAN100kBaud, CAN_RSJW_2tq, CAN_TBS1_8tq, CAN_TBS2_8tq, 20),
N32_CAN_BAUD_DEF(CAN50kBaud, CAN_RSJW_2tq, CAN_TBS1_8tq, CAN_TBS2_8tq, 40),
N32_CAN_BAUD_DEF(CAN20kBaud, CAN_RSJW_2tq, CAN_TBS1_8tq, CAN_TBS2_8tq, 80),
N32_CAN_BAUD_DEF(CAN10kBaud, CAN_RSJW_2tq, CAN_TBS1_8tq, CAN_TBS2_8tq, 160),
};
#endif
#ifdef BSP_USING_CAN1
static struct n32g45x_can drv_can1 =
{
.name = "can1",
.CANx = CAN1,
};
#endif
#ifdef BSP_USING_CAN2
static struct n32g45x_can drv_can2 =
{
.name = "can2",
.CANx = CAN2,
};
#endif
static uint32_t get_can_baud_index(rt_uint32_t baud)
{
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 uint8_t get_can_mode_rtt2n32(uint8_t rtt_can_mode)
{
uint8_t mode = CAN_Normal_Mode;
switch (rtt_can_mode)
{
case RT_CAN_MODE_NORMAL:
mode = CAN_Normal_Mode;
break;
case RT_CAN_MODE_LISEN:
mode = CAN_Silent_Mode;
break;
case RT_CAN_MODE_LOOPBACK:
mode = CAN_LoopBack_Mode;
break;
case RT_CAN_MODE_LOOPBACKANLISEN:
mode = CAN_Silent_LoopBack_Mode;
break;
}
return mode;
}
static rt_err_t _can_filter_config(struct n32g45x_can *drv_can)
{
if (drv_can->CANx == CAN1)
{
CAN1_InitFilter(&(drv_can->can_filter_init));
}
#ifdef CAN2
else if (drv_can->CANx == CAN2)
{
CAN2_InitFilter(&(drv_can->can_filter_init));
}
#endif
else
{
rt_kprintf("can filter config error\n");
return -RT_EINVAL;
}
return RT_EOK;
}
static rt_err_t _can_config(struct rt_can_device *can, struct can_configure *cfg)
{
struct n32g45x_can *drv_can;
rt_uint32_t baud_index;
RT_ASSERT(can);
RT_ASSERT(cfg);
drv_can = (struct n32g45x_can *)can->parent.user_data;
RT_ASSERT(drv_can);
/* Configure CAN1 and CAN2 */
if (drv_can->CANx == CAN1)
{
RCC_EnableAPB1PeriphClk(RCC_APB1_PERIPH_CAN1, ENABLE);
n32_msp_can_init(CAN1);
}
#ifdef CAN2
else if (drv_can->CANx == CAN2)
{
RCC_EnableAPB1PeriphClk(RCC_APB1_PERIPH_CAN2, ENABLE);
n32_msp_can_init(CAN2);
}
#endif
else
{
rt_kprintf("can init error1\n");
return -RT_EINVAL;
}
/* Struct init*/
CAN_InitStruct(&(drv_can->can_init));
drv_can->can_init.TTCM = DISABLE;
drv_can->can_init.ABOM = DISABLE;
drv_can->can_init.AWKUM = DISABLE;
drv_can->can_init.NART = DISABLE;
drv_can->can_init.RFLM = DISABLE;
drv_can->can_init.TXFP = ENABLE;
//mode
drv_can->can_init.OperatingMode = get_can_mode_rtt2n32(cfg->mode);
//baud
baud_index = get_can_baud_index(cfg->baud_rate);
drv_can->can_init.RSJW = can_baud_rate_tab[baud_index].RSJW;
drv_can->can_init.TBS1 = can_baud_rate_tab[baud_index].TBS1;
drv_can->can_init.TBS2 = can_baud_rate_tab[baud_index].TBS2;
drv_can->can_init.BaudRatePrescaler = can_baud_rate_tab[baud_index].PRESCALE;
/* init can */
if (CAN_Init(drv_can->CANx, &(drv_can->can_init)) != CAN_InitSTS_Success)
{
rt_kprintf("can init error2\n");
return -RT_ERROR;
}
/* default filter config */
_can_filter_config(drv_can);
return RT_EOK;
}
#ifndef CAN1_TX_IRQn
#define CAN1_TX_IRQn USB_HP_CAN1_TX_IRQn
#endif
#ifndef CAN1_RX0_IRQn
#define CAN1_RX0_IRQn USB_LP_CAN1_RX0_IRQn
#endif
static rt_err_t _can_control(struct rt_can_device *can, int cmd, void *arg)
{
rt_uint32_t argval;
struct n32g45x_can *drv_can;
struct rt_can_filter_config *filter_cfg;
RT_ASSERT(can != RT_NULL);
drv_can = (struct n32g45x_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->CANx)
{
NVIC_DisableIRQ(CAN1_RX0_IRQn);
NVIC_DisableIRQ(CAN1_RX1_IRQn);
}
#ifdef CAN2
if (CAN2 == drv_can->CANx)
{
NVIC_DisableIRQ(CAN2_RX0_IRQn);
NVIC_DisableIRQ(CAN2_RX1_IRQn);
}
#endif
CAN_INTConfig(drv_can->CANx, CAN_INT_FMP0, DISABLE); /*!< DATFIFO 0 message pending Interrupt*/
CAN_INTConfig(drv_can->CANx, CAN_INT_FF0, DISABLE); /*!< DATFIFO 0 full Interrupt*/
CAN_INTConfig(drv_can->CANx, CAN_INT_FOV0, DISABLE); /*!< DATFIFO 0 overrun Interrupt*/
CAN_INTConfig(drv_can->CANx, CAN_INT_FMP1, DISABLE); /*!< DATFIFO 1 message pending Interrupt*/
CAN_INTConfig(drv_can->CANx, CAN_INT_FF1, DISABLE); /*!< DATFIFO 1 full Interrupt*/
CAN_INTConfig(drv_can->CANx, CAN_INT_FOV1, DISABLE); /*!< DATFIFO 1 overrun Interrupt*/
}
else if (argval == RT_DEVICE_FLAG_INT_TX)
{
if (CAN1 == drv_can->CANx)
{
NVIC_DisableIRQ(CAN1_TX_IRQn);
}
#ifdef CAN2
if (CAN2 == drv_can->CANx)
{
NVIC_DisableIRQ(CAN2_TX_IRQn);
}
#endif
CAN_INTConfig(drv_can->CANx, CAN_INT_TME, DISABLE); /*!< Transmit mailbox empty Interrupt*/
}
else if (argval == RT_DEVICE_CAN_INT_ERR)
{
if (CAN1 == drv_can->CANx)
{
NVIC_DisableIRQ(CAN1_SCE_IRQn);
}
#ifdef CAN2
if (CAN2 == drv_can->CANx)
{
NVIC_DisableIRQ(CAN2_SCE_IRQn);
}
#endif
CAN_INTConfig(drv_can->CANx, CAN_INT_EWG, DISABLE); /*!< Error warning Interrupt*/
CAN_INTConfig(drv_can->CANx, CAN_INT_EPV, DISABLE); /*!< Error passive Interrupt*/
CAN_INTConfig(drv_can->CANx, CAN_INT_BOF, DISABLE); /*!< Bus-off Interrupt*/
CAN_INTConfig(drv_can->CANx, CAN_INT_LEC, DISABLE); /*!< Last error code Interrupt*/
CAN_INTConfig(drv_can->CANx, CAN_INT_ERR, DISABLE); /*!< Error Interrupt*/
}
break;
case RT_DEVICE_CTRL_SET_INT:
argval = (rt_uint32_t)arg;
if (argval == RT_DEVICE_FLAG_INT_RX)
{
CAN_INTConfig(drv_can->CANx, CAN_INT_FMP0, ENABLE); /*!< DATFIFO 0 message pending Interrupt*/
CAN_INTConfig(drv_can->CANx, CAN_INT_FF0, ENABLE); /*!< DATFIFO 0 full Interrupt*/
CAN_INTConfig(drv_can->CANx, CAN_INT_FOV0, ENABLE); /*!< DATFIFO 0 overrun Interrupt*/
CAN_INTConfig(drv_can->CANx, CAN_INT_FMP1, ENABLE); /*!< DATFIFO 1 message pending Interrupt*/
CAN_INTConfig(drv_can->CANx, CAN_INT_FF1, ENABLE); /*!< DATFIFO 1 full Interrupt*/
CAN_INTConfig(drv_can->CANx, CAN_INT_FOV1, ENABLE); /*!< DATFIFO 1 overrun Interrupt*/
if (CAN1 == drv_can->CANx)
{
NVIC_SetPriority(CAN1_RX0_IRQn, 1);
NVIC_EnableIRQ(CAN1_RX0_IRQn);
NVIC_SetPriority(CAN1_RX1_IRQn, 1);
NVIC_EnableIRQ(CAN1_RX1_IRQn);
}
#ifdef CAN2
if (CAN2 == drv_can->CANx)
{
NVIC_SetPriority(CAN2_RX0_IRQn, 1);
NVIC_EnableIRQ(CAN2_RX0_IRQn);
NVIC_SetPriority(CAN2_RX1_IRQn, 1);
NVIC_EnableIRQ(CAN2_RX1_IRQn);
}
#endif
}
else if (argval == RT_DEVICE_FLAG_INT_TX)
{
CAN_INTConfig(drv_can->CANx, CAN_INT_TME, ENABLE); /*!< Transmit mailbox empty Interrupt*/
if (CAN1 == drv_can->CANx)
{
NVIC_SetPriority(CAN1_TX_IRQn, 1);
NVIC_EnableIRQ(CAN1_TX_IRQn);
}
#ifdef CAN2
if (CAN2 == drv_can->CANx)
{
NVIC_SetPriority(CAN2_TX_IRQn, 1);
NVIC_EnableIRQ(CAN2_TX_IRQn);
}
#endif
}
else if (argval == RT_DEVICE_CAN_INT_ERR)
{
CAN_INTConfig(drv_can->CANx, CAN_INT_EWG, ENABLE); /*!< Error warning Interrupt*/
CAN_INTConfig(drv_can->CANx, CAN_INT_EPV, ENABLE); /*!< Error passive Interrupt*/
CAN_INTConfig(drv_can->CANx, CAN_INT_BOF, ENABLE); /*!< Bus-off Interrupt*/
CAN_INTConfig(drv_can->CANx, CAN_INT_LEC, ENABLE); /*!< Last error code Interrupt*/
CAN_INTConfig(drv_can->CANx, CAN_INT_ERR, ENABLE); /*!< Error Interrupt*/
if (CAN1 == drv_can->CANx)
{
NVIC_SetPriority(CAN1_SCE_IRQn, 1);
NVIC_EnableIRQ(CAN1_SCE_IRQn);
}
#ifdef CAN2
if (CAN2 == drv_can->CANx)
{
NVIC_SetPriority(CAN2_SCE_IRQn, 1);
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 */
_can_filter_config(drv_can);
}
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 == -1)
{
drv_can->can_filter_init.Filter_Num = i;
}
else
{
drv_can->can_filter_init.Filter_Num = filter_cfg->items[i].hdr;
}
if (filter_cfg->items[i].mode == 0x00)
{
drv_can->can_filter_init.Filter_Mode = CAN_Filter_IdMaskMode;
}
else if (filter_cfg->items[i].mode == 0x01)
{
drv_can->can_filter_init.Filter_Mode = CAN_Filter_IdListMode;
}
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->can_filter_init.Filter_Scale = CAN_Filter_32bitScale;
drv_can->can_filter_init.Filter_HighId = id_h;
drv_can->can_filter_init.Filter_LowId = id_l;
drv_can->can_filter_init.FilterMask_HighId = mask_h;
drv_can->can_filter_init.FilterMask_LowId = mask_l;
drv_can->can_filter_init.Filter_FIFOAssignment = CAN_FIFO0;
drv_can->can_filter_init.Filter_Act = ENABLE;
/* Filter conf */
_can_filter_config(drv_can);
}
}
break;
}
case RT_CAN_CMD_SET_MODE:
argval = (rt_uint32_t)arg;
if (argval != RT_CAN_MODE_NORMAL &&
argval != RT_CAN_MODE_LISEN &&
argval != RT_CAN_MODE_LOOPBACK &&
argval != RT_CAN_MODE_LOOPBACKANLISEN)
{
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->CANx->ESTS;
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;
}
/* CAN Mailbox Transmit Request */
#define TMIDxR_TXRQ ((uint32_t)0x00000001) /* Transmit mailbox request */
static int _can_sendmsg_rtmsg(CAN_Module *CANx, struct rt_can_msg *pmsg, uint32_t mailbox_index)
{
CanTxMessage CAN_TxMessage = {0};
CanTxMessage *TxMessage = &CAN_TxMessage;
/* Check the parameters */
assert_param(IS_CAN_ALL_PERIPH(CANx));
if (RT_CAN_STDID == pmsg->ide)
{
TxMessage->IDE = CAN_Standard_Id;
RT_ASSERT(IS_CAN_STDID(pmsg->id));
TxMessage->StdId = pmsg->id;
}
else
{
TxMessage->IDE = CAN_Extended_Id;
RT_ASSERT(IS_CAN_EXTID(pmsg->id));
TxMessage->ExtId = pmsg->id;
}
if (RT_CAN_DTR == pmsg->rtr)
{
TxMessage->RTR = CAN_RTRQ_DATA;
}
else
{
TxMessage->RTR = CAN_RTRQ_REMOTE;
}
if (mailbox_index != CAN_TxSTS_NoMailBox)
{
/* Set up the Id */
CANx->sTxMailBox[mailbox_index].TMI &= TMIDxR_TXRQ;
if (TxMessage->IDE == CAN_Standard_Id)
{
assert_param(IS_CAN_STDID(TxMessage->StdId));
CANx->sTxMailBox[mailbox_index].TMI |= ((TxMessage->StdId << 21) | TxMessage->RTR);
}
else
{
assert_param(IS_CAN_EXTID(TxMessage->ExtId));
CANx->sTxMailBox[mailbox_index].TMI |= ((TxMessage->ExtId << 3) | TxMessage->IDE | TxMessage->RTR);
}
/* Set up the DLC */
TxMessage->DLC = pmsg->len & 0x0FU;
CANx->sTxMailBox[mailbox_index].TMDT &= (uint32_t)0xFFFFFFF0;
CANx->sTxMailBox[mailbox_index].TMDT |= TxMessage->DLC;
/* Set up the data field */
CANx->sTxMailBox[mailbox_index].TMDH =
(((uint32_t)pmsg->data[7] << 24) |
((uint32_t)pmsg->data[6] << 16) |
((uint32_t)pmsg->data[5] << 8) |
((uint32_t)pmsg->data[4]));
CANx->sTxMailBox[mailbox_index].TMDL =
(((uint32_t)pmsg->data[3] << 24) |
((uint32_t)pmsg->data[2] << 16) |
((uint32_t)pmsg->data[1] << 8) |
((uint32_t)pmsg->data[0]));
/* Request transmission */
CANx->sTxMailBox[mailbox_index].TMI |= TMIDxR_TXRQ;
return RT_EOK;
}
return -RT_ERROR;
}
static int _can_sendmsg(struct rt_can_device *can, const void *buf, rt_uint32_t box_num)
{
struct n32g45x_can *drv_can;
RT_ASSERT(can != RT_NULL);
RT_ASSERT(buf != RT_NULL);
drv_can = (struct n32g45x_can *)can->parent.user_data;
RT_ASSERT(drv_can != RT_NULL);
/* Select one empty transmit mailbox */
switch (box_num)
{
case 0:
if ((drv_can->CANx->TSTS & CAN_TSTS_TMEM0) != CAN_TSTS_TMEM0)
{
/* Return function status */
return -RT_ERROR;
}
break;
case 1:
if ((drv_can->CANx->TSTS & CAN_TSTS_TMEM1) != CAN_TSTS_TMEM1)
{
/* Return function status */
return -RT_ERROR;
}
break;
case 2:
if ((drv_can->CANx->TSTS & CAN_TSTS_TMEM2) != CAN_TSTS_TMEM2)
{
/* Return function status */
return -RT_ERROR;
}
break;
default:
RT_ASSERT(0);
break;
}
//start send msg
return _can_sendmsg_rtmsg(drv_can->CANx, ((struct rt_can_msg *)buf), box_num);
}
static int _can_recvmsg_rtmsg(CAN_Module *CANx, struct rt_can_msg *pmsg, uint32_t FIFONum)
{
CanRxMessage CAN_RxMessage = {0};
CanRxMessage *RxMessage = &CAN_RxMessage;
/* Check the parameters */
assert_param(IS_CAN_ALL_PERIPH(CANx));
assert_param(IS_CAN_FIFO(FIFONum));
/* Check the Rx FIFO */
if (FIFONum == CAN_FIFO0) /* Rx element is assigned to Rx FIFO 0 */
{
/* Check that the Rx FIFO 0 is not empty */
if ((CANx->RFF0 & CAN_RFF0_FFMP0) == 0U)
{
return -RT_ERROR;
}
}
else /* Rx element is assigned to Rx FIFO 1 */
{
/* Check that the Rx FIFO 1 is not empty */
if ((CANx->RFF1 & CAN_RFF1_FFMP1) == 0U)
{
return -RT_ERROR;
}
}
/* Get the Id */
RxMessage->IDE = (uint8_t)0x04 & CANx->sFIFOMailBox[FIFONum].RMI;
if (RxMessage->IDE == CAN_Standard_Id)
{
RxMessage->StdId = (uint32_t)0x000007FF & (CANx->sFIFOMailBox[FIFONum].RMI >> 21);
}
else
{
RxMessage->ExtId = (uint32_t)0x1FFFFFFF & (CANx->sFIFOMailBox[FIFONum].RMI >> 3);
}
RxMessage->RTR = (uint8_t)0x02 & CANx->sFIFOMailBox[FIFONum].RMI;
/* Get the DLC */
RxMessage->DLC = (uint8_t)0x0F & CANx->sFIFOMailBox[FIFONum].RMDT;
/* Get the FMI */
RxMessage->FMI = (uint8_t)0xFF & (CANx->sFIFOMailBox[FIFONum].RMDT >> 8);
/* Get the data field */
pmsg->data[0] = (uint8_t)0xFF & CANx->sFIFOMailBox[FIFONum].RMDL;
pmsg->data[1] = (uint8_t)0xFF & (CANx->sFIFOMailBox[FIFONum].RMDL >> 8);
pmsg->data[2] = (uint8_t)0xFF & (CANx->sFIFOMailBox[FIFONum].RMDL >> 16);
pmsg->data[3] = (uint8_t)0xFF & (CANx->sFIFOMailBox[FIFONum].RMDL >> 24);
pmsg->data[4] = (uint8_t)0xFF & CANx->sFIFOMailBox[FIFONum].RMDH;
pmsg->data[5] = (uint8_t)0xFF & (CANx->sFIFOMailBox[FIFONum].RMDH >> 8);
pmsg->data[6] = (uint8_t)0xFF & (CANx->sFIFOMailBox[FIFONum].RMDH >> 16);
pmsg->data[7] = (uint8_t)0xFF & (CANx->sFIFOMailBox[FIFONum].RMDH >> 24);
/* get len */
pmsg->len = RxMessage->DLC;
/* get id */
if (RxMessage->IDE == CAN_Standard_Id)
{
pmsg->ide = RT_CAN_STDID;
pmsg->id = RxMessage->StdId;
}
else
{
pmsg->ide = RT_CAN_EXTID;
pmsg->id = RxMessage->ExtId;
}
/* get type */
if (CAN_RTRQ_Data == RxMessage->RTR)
{
pmsg->rtr = RT_CAN_DTR;
}
else
{
pmsg->rtr = RT_CAN_RTR;
}
/* get hdr */
if (CANx == CAN1)
{
pmsg->hdr = (RxMessage->FMI + 1) >> 1;
}
#ifdef CAN2
else if (CANx == CAN2)
{
pmsg->hdr = (RxMessage->FMI >> 1) + 14;
}
#endif
/* Release the DATFIFO */
/* Release FIFO0 */
if (FIFONum == CAN_FIFO0)
{
CANx->RFF0 |= CAN_RFF0_RFFOM0;
}
/* Release FIFO1 */
else /* FIFONum == CAN_FIFO1 */
{
CANx->RFF1 |= CAN_RFF1_RFFOM1;
}
return RT_EOK;
}
static int _can_recvmsg(struct rt_can_device *can, void *buf, rt_uint32_t fifo)
{
struct n32g45x_can *drv_can;
RT_ASSERT(can != RT_NULL);
RT_ASSERT(buf != RT_NULL);
drv_can = (struct n32g45x_can *)can->parent.user_data;
RT_ASSERT(drv_can != RT_NULL);
/* get data */
return _can_recvmsg_rtmsg(drv_can->CANx, ((struct rt_can_msg *)buf), fifo);
}
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)
{
struct n32g45x_can *drv_can;
RT_ASSERT(can != RT_NULL);
drv_can = (struct n32g45x_can *)can->parent.user_data;
RT_ASSERT(drv_can != RT_NULL);
switch (fifo)
{
case CAN_FIFO0:
/* save to user list */
if (CAN_GetFlagSTS(drv_can->CANx, CAN_FLAG_FFMP0) && CAN_PendingMessage(drv_can->CANx, CAN_FIFO0))
{
rt_hw_can_isr(can, RT_CAN_EVENT_RX_IND | fifo << 8);
}
/* Check FULL flag for FIFO0 */
if (CAN_GetFlagSTS(drv_can->CANx, CAN_FLAG_FFULL0))
{
/* Clear FIFO0 FULL Flag */
CAN_ClearFlag(drv_can->CANx, CAN_FLAG_FFULL0);
}
/* Check Overrun flag for FIFO0 */
if (CAN_GetFlagSTS(drv_can->CANx, CAN_FLAG_FFOVR0))
{
/* Clear FIFO0 Overrun Flag */
CAN_ClearFlag(drv_can->CANx, CAN_FLAG_FFOVR0);
rt_hw_can_isr(can, RT_CAN_EVENT_RXOF_IND | fifo << 8);
}
break;
case CAN_FIFO1:
/* save to user list */
if (CAN_GetFlagSTS(drv_can->CANx, CAN_FLAG_FFMP1) && CAN_PendingMessage(drv_can->CANx, CAN_FIFO1))
{
rt_hw_can_isr(can, RT_CAN_EVENT_RX_IND | fifo << 8);
}
/* Check FULL flag for FIFO1 */
if (CAN_GetFlagSTS(drv_can->CANx, CAN_FLAG_FFULL1))
{
/* Clear FIFO1 FULL Flag */
CAN_ClearFlag(drv_can->CANx, CAN_FLAG_FFULL1);
}
/* Check Overrun flag for FIFO1 */
if (CAN_GetFlagSTS(drv_can->CANx, CAN_FLAG_FFOVR1))
{
/* Clear FIFO1 Overrun Flag */
CAN_ClearFlag(drv_can->CANx, CAN_FLAG_FFOVR1);
rt_hw_can_isr(can, RT_CAN_EVENT_RXOF_IND | fifo << 8);
}
break;
}
}
#ifdef BSP_USING_CAN1
/**
* @brief This function handles CAN1 TX interrupts. transmit fifo0/1/2 is empty can trigger this interrupt
*/
#define CAN1_TX_IRQHandler USB_HP_CAN1_TX_IRQHandler
void CAN1_TX_IRQHandler(void)
{
rt_interrupt_enter();
if (CAN_GetFlagSTS(drv_can1.CANx, CAN_FLAG_RQCPM0))
{
rt_hw_can_isr(&drv_can1.device, RT_CAN_EVENT_TX_DONE | (0x00 << 8));
CAN_ClearFlag(drv_can1.CANx, CAN_FLAG_RQCPM0);
}
if (CAN_GetFlagSTS(drv_can1.CANx, CAN_FLAG_RQCPM1))
{
rt_hw_can_isr(&drv_can1.device, RT_CAN_EVENT_TX_DONE | (0x01 << 8));
CAN_ClearFlag(drv_can1.CANx, CAN_FLAG_RQCPM1);
}
if (CAN_GetFlagSTS(drv_can1.CANx, CAN_FLAG_RQCPM2))
{
rt_hw_can_isr(&drv_can1.device, RT_CAN_EVENT_TX_DONE | (0x02 << 8));
CAN_ClearFlag(drv_can1.CANx, CAN_FLAG_RQCPM2);
}
rt_interrupt_leave();
}
/**
* @brief This function handles CAN1 RX0 interrupts.
*/
#define CAN1_RX0_IRQHandler USB_LP_CAN1_RX0_IRQHandler
void CAN1_RX0_IRQHandler(void)
{
rt_interrupt_enter();
_can_rx_isr(&drv_can1.device, CAN_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_FIFO1);
rt_interrupt_leave();
}
/**
* @brief This function handles CAN1 SCE interrupts.
*/
void CAN1_SCE_IRQHandler(void)
{
uint32_t errtype;
rt_interrupt_enter();
if (CAN_GetIntStatus(drv_can1.CANx, CAN_INT_ERR))
{
errtype = drv_can1.CANx->ESTS;
// ESTS -> LEC
switch ((errtype & 0x70) >> 4)
{
case RT_CAN_BUS_BIT_PAD_ERR:
break;
case RT_CAN_BUS_FORMAT_ERR:
drv_can1.device.status.formaterrcnt++;
break;
case RT_CAN_BUS_ACK_ERR: /* attention !!! test ack err's unit is transmit unit */
drv_can1.device.status.ackerrcnt++;
if (!READ_BIT(drv_can1.CANx->TSTS, CAN_TSTS_TXOKM0))
rt_hw_can_isr(&drv_can1.device, RT_CAN_EVENT_TX_FAIL | 0 << 8);
else if (!READ_BIT(drv_can1.CANx->TSTS, CAN_TSTS_TXOKM1))
rt_hw_can_isr(&drv_can1.device, RT_CAN_EVENT_TX_FAIL | 1 << 8);
else if (!READ_BIT(drv_can1.CANx->TSTS, CAN_TSTS_TXOKM2))
rt_hw_can_isr(&drv_can1.device, RT_CAN_EVENT_TX_FAIL | 2 << 8);
break;
case RT_CAN_BUS_IMPLICIT_BIT_ERR:
case RT_CAN_BUS_EXPLICIT_BIT_ERR:
drv_can1.device.status.biterrcnt++;
break;
case RT_CAN_BUS_CRC_ERR:
drv_can1.device.status.crcerrcnt++;
break;
}
drv_can1.device.status.lasterrtype = errtype & 0x70;
drv_can1.device.status.rcverrcnt = errtype >> 24;
drv_can1.device.status.snderrcnt = (errtype >> 16 & 0xFF);
drv_can1.device.status.errcode = errtype & 0x07;
CAN_ClearINTPendingBit(drv_can1.CANx, CAN_INT_ERR);
}
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();
if (CAN_GetFlagSTS(drv_can2.CANx, CAN_FLAG_RQCPM0))
{
CAN_ClearFlag(drv_can2.CANx, CAN_FLAG_RQCPM0);
rt_hw_can_isr(&drv_can2.device, RT_CAN_EVENT_TX_DONE | (0x00 << 8));
}
if (CAN_GetFlagSTS(drv_can2.CANx, CAN_FLAG_RQCPM1))
{
CAN_ClearFlag(drv_can2.CANx, CAN_FLAG_RQCPM1);
rt_hw_can_isr(&drv_can2.device, RT_CAN_EVENT_TX_DONE | (0x01 << 8));
}
if (CAN_GetFlagSTS(drv_can2.CANx, CAN_FLAG_RQCPM2))
{
CAN_ClearFlag(drv_can2.CANx, CAN_FLAG_RQCPM2);
rt_hw_can_isr(&drv_can2.device, RT_CAN_EVENT_TX_DONE | (0x02 << 8));
}
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_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_FIFO1);
rt_interrupt_leave();
}
/**
* @brief This function handles CAN2 SCE interrupts.
*/
void CAN2_SCE_IRQHandler(void)
{
uint32_t errtype;
rt_interrupt_enter();
if (CAN_GetIntStatus(drv_can2.CANx, CAN_INT_ERR))
{
errtype = drv_can2.CANx->ESTS;
// ESTS -> LEC
switch ((errtype & 0x70) >> 4)
{
case RT_CAN_BUS_BIT_PAD_ERR:
break;
case RT_CAN_BUS_FORMAT_ERR:
drv_can2.device.status.formaterrcnt++;
break;
case RT_CAN_BUS_ACK_ERR: /* attention !!! test ack err's unit is transmit unit */
drv_can2.device.status.ackerrcnt++;
if (!READ_BIT(drv_can2.CANx->TSTS, CAN_TSTS_TXOKM0))
rt_hw_can_isr(&drv_can2.device, RT_CAN_EVENT_TX_FAIL | 0 << 8);
else if (!READ_BIT(drv_can2.CANx->TSTS, CAN_TSTS_TXOKM1))
rt_hw_can_isr(&drv_can2.device, RT_CAN_EVENT_TX_FAIL | 1 << 8);
else if (!READ_BIT(drv_can2.CANx->TSTS, CAN_TSTS_TXOKM2))
rt_hw_can_isr(&drv_can2.device, RT_CAN_EVENT_TX_FAIL | 2 << 8);
break;
case RT_CAN_BUS_IMPLICIT_BIT_ERR:
case RT_CAN_BUS_EXPLICIT_BIT_ERR:
drv_can2.device.status.biterrcnt++;
break;
case RT_CAN_BUS_CRC_ERR:
drv_can2.device.status.crcerrcnt++;
break;
}
drv_can2.device.status.lasterrtype = errtype & 0x70;
drv_can2.device.status.rcverrcnt = errtype >> 24;
drv_can2.device.status.snderrcnt = (errtype >> 16 & 0xFF);
drv_can2.device.status.errcode = errtype & 0x07;
CAN_ClearINTPendingBit(drv_can2.CANx, CAN_INT_ERR);
}
rt_interrupt_leave();
}
#endif /* BSP_USING_CAN2 */
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
#ifdef BSP_USING_CAN1
/* config default filter */
drv_can1.can_filter_init.Filter_Num = 0;
drv_can1.can_filter_init.Filter_Mode = CAN_Filter_IdMaskMode;
drv_can1.can_filter_init.Filter_Scale = CAN_Filter_32bitScale;
drv_can1.can_filter_init.Filter_HighId = 0x0000;
drv_can1.can_filter_init.Filter_LowId = 0x0000;
drv_can1.can_filter_init.FilterMask_HighId = 0;
drv_can1.can_filter_init.FilterMask_LowId = 0;
drv_can1.can_filter_init.Filter_FIFOAssignment = CAN_FIFO0;
drv_can1.can_filter_init.Filter_Act = ENABLE;
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
/* config default filter */
drv_can2.can_filter_init.Filter_Num = 0;
drv_can2.can_filter_init.Filter_Mode = CAN_Filter_IdMaskMode;
drv_can2.can_filter_init.Filter_Scale = CAN_Filter_32bitScale;
drv_can2.can_filter_init.Filter_HighId = 0x0000;
drv_can2.can_filter_init.Filter_LowId = 0x0000;
drv_can2.can_filter_init.FilterMask_HighId = 0;
drv_can2.can_filter_init.FilterMask_LowId = 0;
drv_can2.can_filter_init.Filter_FIFOAssignment = CAN_FIFO0;
drv_can2.can_filter_init.Filter_Act = ENABLE;
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 ******************/
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