978 lines
33 KiB
C
978 lines
33 KiB
C
/*
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* Copyright (c) 2006-2022, RT-Thread Development Team
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*
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* SPDX-License-Identifier: Apache-2.0
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*
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* Change Logs:
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* Date Author Notes
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* 2018-08-05 Xeon Xu the first version
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* 2019-01-22 YLZ port from stm324xx-HAL to bsp stm3210x-HAL
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* 2019-02-19 YLZ add support EXTID RTR Frame. modify send, recv functions.
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* fix bug.port to BSP [stm32]
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* 2019-03-27 YLZ support double can channels, support stm32F4xx (only Legacy mode).
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* 2019-06-17 YLZ port to new STM32F1xx HAL V1.1.3.
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* 2021-02-02 YuZhe XU fix bug in filter config
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* 2021-8-25 SVCHAO The baud rate is configured according to the different APB1 frequencies.
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f4-series only.
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*/
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#include "drv_can.h"
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#ifdef BSP_USING_CAN
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#define LOG_TAG "drv_can"
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#include <drv_log.h>
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/* attention !!! baud calculation example: Tclk / ((ss + bs1 + bs2) * brp) = 36 / ((1 + 8 + 3) * 3) = 1MHz*/
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#if defined (SOC_SERIES_STM32F1)/* APB1 36MHz(max) */
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static const struct stm32_baud_rate_tab can_baud_rate_tab[] =
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{
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{CAN1MBaud, (CAN_SJW_2TQ | CAN_BS1_8TQ | CAN_BS2_3TQ | 3)},
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{CAN800kBaud, (CAN_SJW_2TQ | CAN_BS1_5TQ | CAN_BS2_3TQ | 5)},
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{CAN500kBaud, (CAN_SJW_2TQ | CAN_BS1_8TQ | CAN_BS2_3TQ | 6)},
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{CAN250kBaud, (CAN_SJW_2TQ | CAN_BS1_8TQ | CAN_BS2_3TQ | 12)},
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{CAN125kBaud, (CAN_SJW_2TQ | CAN_BS1_8TQ | CAN_BS2_3TQ | 24)},
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{CAN100kBaud, (CAN_SJW_2TQ | CAN_BS1_8TQ | CAN_BS2_3TQ | 30)},
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{CAN50kBaud, (CAN_SJW_2TQ | CAN_BS1_8TQ | CAN_BS2_3TQ | 60)},
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{CAN20kBaud, (CAN_SJW_2TQ | CAN_BS1_8TQ | CAN_BS2_3TQ | 150)},
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{CAN10kBaud, (CAN_SJW_2TQ | CAN_BS1_8TQ | CAN_BS2_3TQ | 300)}
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};
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#elif defined (SOC_SERIES_STM32F4) /* 42MHz or 45MHz */
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#if defined(STM32F405xx) || defined(STM32F415xx) || defined(STM32F407xx)|| defined(STM32F417xx) ||\
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defined(STM32F401xC) || defined(STM32F401xE) /* 42MHz(max) */
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static const struct stm32_baud_rate_tab can_baud_rate_tab[] =
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{
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{CAN1MBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ | CAN_BS2_4TQ | 3)},
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{CAN800kBaud, (CAN_SJW_2TQ | CAN_BS1_8TQ | CAN_BS2_4TQ | 4)},
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{CAN500kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ | CAN_BS2_4TQ | 6)},
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{CAN250kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ | CAN_BS2_4TQ | 12)},
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{CAN125kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ | CAN_BS2_4TQ | 24)},
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{CAN100kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ | CAN_BS2_4TQ | 30)},
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{CAN50kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ | CAN_BS2_4TQ | 60)},
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{CAN20kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ | CAN_BS2_4TQ | 150)},
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{CAN10kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ | CAN_BS2_4TQ | 300)}
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};
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#else /* APB1 45MHz(max) */
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static const struct stm32_baud_rate_tab can_baud_rate_tab[] =
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{
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#ifdef BSP_USING_CAN168M
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{CAN1MBaud, (CAN_SJW_1TQ | CAN_BS1_3TQ | CAN_BS2_3TQ | 6)},
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#else
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{CAN1MBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ | CAN_BS2_5TQ | 3)},
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#endif
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{CAN800kBaud, (CAN_SJW_2TQ | CAN_BS1_8TQ | CAN_BS2_5TQ | 4)},
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{CAN500kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ | CAN_BS2_5TQ | 6)},
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{CAN250kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ | CAN_BS2_5TQ | 12)},
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{CAN125kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ | CAN_BS2_5TQ | 24)},
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{CAN100kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ | CAN_BS2_5TQ | 30)},
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{CAN50kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ | CAN_BS2_5TQ | 60)},
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{CAN20kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ | CAN_BS2_5TQ | 150)},
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{CAN10kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ | CAN_BS2_5TQ | 300)}
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};
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#endif
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#elif defined (SOC_SERIES_STM32F7)/* APB1 54MHz(max) */
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static const struct stm32_baud_rate_tab can_baud_rate_tab[] =
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{
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{CAN1MBaud, (CAN_SJW_2TQ | CAN_BS1_10TQ | CAN_BS2_7TQ | 3)},
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{CAN800kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ | CAN_BS2_7TQ | 4)},
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{CAN500kBaud, (CAN_SJW_2TQ | CAN_BS1_10TQ | CAN_BS2_7TQ | 6)},
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{CAN250kBaud, (CAN_SJW_2TQ | CAN_BS1_10TQ | CAN_BS2_7TQ | 12)},
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{CAN125kBaud, (CAN_SJW_2TQ | CAN_BS1_10TQ | CAN_BS2_7TQ | 24)},
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{CAN100kBaud, (CAN_SJW_2TQ | CAN_BS1_10TQ | CAN_BS2_7TQ | 30)},
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{CAN50kBaud, (CAN_SJW_2TQ | CAN_BS1_10TQ | CAN_BS2_7TQ | 60)},
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{CAN20kBaud, (CAN_SJW_2TQ | CAN_BS1_10TQ | CAN_BS2_7TQ | 150)},
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{CAN10kBaud, (CAN_SJW_2TQ | CAN_BS1_10TQ | CAN_BS2_7TQ | 300)}
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};
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#elif defined (SOC_SERIES_STM32L4)/* APB1 80MHz(max) */
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static const struct stm32_baud_rate_tab can_baud_rate_tab[] =
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{
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{CAN1MBaud, (CAN_SJW_2TQ | CAN_BS1_5TQ | CAN_BS2_2TQ | 10)},
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{CAN800kBaud, (CAN_SJW_2TQ | CAN_BS1_14TQ | CAN_BS2_5TQ | 5)},
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{CAN500kBaud, (CAN_SJW_2TQ | CAN_BS1_7TQ | CAN_BS2_2TQ | 16)},
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{CAN250kBaud, (CAN_SJW_2TQ | CAN_BS1_13TQ | CAN_BS2_2TQ | 20)},
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{CAN125kBaud, (CAN_SJW_2TQ | CAN_BS1_13TQ | CAN_BS2_2TQ | 40)},
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{CAN100kBaud, (CAN_SJW_2TQ | CAN_BS1_13TQ | CAN_BS2_2TQ | 50)},
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{CAN50kBaud, (CAN_SJW_2TQ | CAN_BS1_13TQ | CAN_BS2_2TQ | 100)},
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{CAN20kBaud, (CAN_SJW_2TQ | CAN_BS1_13TQ | CAN_BS2_2TQ | 250)},
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{CAN10kBaud, (CAN_SJW_2TQ | CAN_BS1_13TQ | CAN_BS2_2TQ | 500)}
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};
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#endif
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#ifdef BSP_USING_CAN1
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static struct stm32_can drv_can1 =
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{
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.name = "can1",
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.CanHandle.Instance = CAN1,
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};
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#endif
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#ifdef BSP_USING_CAN2
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static struct stm32_can drv_can2 =
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{
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"can2",
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.CanHandle.Instance = CAN2,
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};
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#endif
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static rt_uint32_t get_can_baud_index(rt_uint32_t baud)
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{
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rt_uint32_t len, index;
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len = sizeof(can_baud_rate_tab) / sizeof(can_baud_rate_tab[0]);
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for (index = 0; index < len; index++)
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{
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if (can_baud_rate_tab[index].baud_rate == baud)
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return index;
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}
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return 0; /* default baud is CAN1MBaud */
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}
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static rt_err_t _can_config(struct rt_can_device *can, struct can_configure *cfg)
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{
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struct stm32_can *drv_can;
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rt_uint32_t baud_index;
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RT_ASSERT(can);
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RT_ASSERT(cfg);
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drv_can = (struct stm32_can *)can->parent.user_data;
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RT_ASSERT(drv_can);
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drv_can->CanHandle.Init.TimeTriggeredMode = DISABLE;
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drv_can->CanHandle.Init.AutoBusOff = ENABLE;
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drv_can->CanHandle.Init.AutoWakeUp = DISABLE;
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drv_can->CanHandle.Init.AutoRetransmission = DISABLE;
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drv_can->CanHandle.Init.ReceiveFifoLocked = DISABLE;
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drv_can->CanHandle.Init.TransmitFifoPriority = ENABLE;
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switch (cfg->mode)
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{
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case RT_CAN_MODE_NORMAL:
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drv_can->CanHandle.Init.Mode = CAN_MODE_NORMAL;
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break;
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case RT_CAN_MODE_LISTEN:
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drv_can->CanHandle.Init.Mode = CAN_MODE_SILENT;
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break;
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case RT_CAN_MODE_LOOPBACK:
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drv_can->CanHandle.Init.Mode = CAN_MODE_LOOPBACK;
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break;
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case RT_CAN_MODE_LOOPBACKANLISTEN:
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drv_can->CanHandle.Init.Mode = CAN_MODE_SILENT_LOOPBACK;
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break;
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}
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baud_index = get_can_baud_index(cfg->baud_rate);
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drv_can->CanHandle.Init.SyncJumpWidth = BAUD_DATA(SJW, baud_index);
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drv_can->CanHandle.Init.TimeSeg1 = BAUD_DATA(BS1, baud_index);
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drv_can->CanHandle.Init.TimeSeg2 = BAUD_DATA(BS2, baud_index);
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drv_can->CanHandle.Init.Prescaler = BAUD_DATA(RRESCL, baud_index);
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/* init can */
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if (HAL_CAN_Init(&drv_can->CanHandle) != HAL_OK)
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{
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return -RT_ERROR;
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}
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/* default filter config */
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HAL_CAN_ConfigFilter(&drv_can->CanHandle, &drv_can->FilterConfig);
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/* can start */
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HAL_CAN_Start(&drv_can->CanHandle);
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return RT_EOK;
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}
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static rt_err_t _can_control(struct rt_can_device *can, int cmd, void *arg)
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{
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rt_uint32_t argval;
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struct stm32_can *drv_can;
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struct rt_can_filter_config *filter_cfg;
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RT_ASSERT(can != RT_NULL);
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drv_can = (struct stm32_can *)can->parent.user_data;
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RT_ASSERT(drv_can != RT_NULL);
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switch (cmd)
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{
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case RT_DEVICE_CTRL_CLR_INT:
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argval = (rt_uint32_t) arg;
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if (argval == RT_DEVICE_FLAG_INT_RX)
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{
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if (CAN1 == drv_can->CanHandle.Instance)
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{
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HAL_NVIC_DisableIRQ(CAN1_RX0_IRQn);
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HAL_NVIC_DisableIRQ(CAN1_RX1_IRQn);
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}
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#ifdef CAN2
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if (CAN2 == drv_can->CanHandle.Instance)
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{
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HAL_NVIC_DisableIRQ(CAN2_RX0_IRQn);
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HAL_NVIC_DisableIRQ(CAN2_RX1_IRQn);
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}
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#endif
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__HAL_CAN_DISABLE_IT(&drv_can->CanHandle, CAN_IT_RX_FIFO0_MSG_PENDING);
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__HAL_CAN_DISABLE_IT(&drv_can->CanHandle, CAN_IT_RX_FIFO0_FULL);
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__HAL_CAN_DISABLE_IT(&drv_can->CanHandle, CAN_IT_RX_FIFO0_OVERRUN);
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__HAL_CAN_DISABLE_IT(&drv_can->CanHandle, CAN_IT_RX_FIFO1_MSG_PENDING);
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__HAL_CAN_DISABLE_IT(&drv_can->CanHandle, CAN_IT_RX_FIFO1_FULL);
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__HAL_CAN_DISABLE_IT(&drv_can->CanHandle, CAN_IT_RX_FIFO1_OVERRUN);
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}
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else if (argval == RT_DEVICE_FLAG_INT_TX)
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{
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if (CAN1 == drv_can->CanHandle.Instance)
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{
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HAL_NVIC_DisableIRQ(CAN1_TX_IRQn);
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}
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#ifdef CAN2
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if (CAN2 == drv_can->CanHandle.Instance)
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{
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HAL_NVIC_DisableIRQ(CAN2_TX_IRQn);
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}
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#endif
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__HAL_CAN_DISABLE_IT(&drv_can->CanHandle, CAN_IT_TX_MAILBOX_EMPTY);
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}
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else if (argval == RT_DEVICE_CAN_INT_ERR)
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{
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if (CAN1 == drv_can->CanHandle.Instance)
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{
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NVIC_DisableIRQ(CAN1_SCE_IRQn);
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}
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#ifdef CAN2
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if (CAN2 == drv_can->CanHandle.Instance)
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{
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NVIC_DisableIRQ(CAN2_SCE_IRQn);
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}
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#endif
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__HAL_CAN_DISABLE_IT(&drv_can->CanHandle, CAN_IT_ERROR_WARNING);
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__HAL_CAN_DISABLE_IT(&drv_can->CanHandle, CAN_IT_ERROR_PASSIVE);
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__HAL_CAN_DISABLE_IT(&drv_can->CanHandle, CAN_IT_BUSOFF);
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__HAL_CAN_DISABLE_IT(&drv_can->CanHandle, CAN_IT_LAST_ERROR_CODE);
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__HAL_CAN_DISABLE_IT(&drv_can->CanHandle, CAN_IT_ERROR);
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}
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break;
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case RT_DEVICE_CTRL_SET_INT:
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argval = (rt_uint32_t) arg;
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if (argval == RT_DEVICE_FLAG_INT_RX)
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{
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__HAL_CAN_ENABLE_IT(&drv_can->CanHandle, CAN_IT_RX_FIFO0_MSG_PENDING);
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__HAL_CAN_ENABLE_IT(&drv_can->CanHandle, CAN_IT_RX_FIFO0_FULL);
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__HAL_CAN_ENABLE_IT(&drv_can->CanHandle, CAN_IT_RX_FIFO0_OVERRUN);
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__HAL_CAN_ENABLE_IT(&drv_can->CanHandle, CAN_IT_RX_FIFO1_MSG_PENDING);
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__HAL_CAN_ENABLE_IT(&drv_can->CanHandle, CAN_IT_RX_FIFO1_FULL);
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__HAL_CAN_ENABLE_IT(&drv_can->CanHandle, CAN_IT_RX_FIFO1_OVERRUN);
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if (CAN1 == drv_can->CanHandle.Instance)
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{
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HAL_NVIC_SetPriority(CAN1_RX0_IRQn, 1, 0);
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HAL_NVIC_EnableIRQ(CAN1_RX0_IRQn);
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HAL_NVIC_SetPriority(CAN1_RX1_IRQn, 1, 0);
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HAL_NVIC_EnableIRQ(CAN1_RX1_IRQn);
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}
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#ifdef CAN2
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if (CAN2 == drv_can->CanHandle.Instance)
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{
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HAL_NVIC_SetPriority(CAN2_RX0_IRQn, 1, 0);
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HAL_NVIC_EnableIRQ(CAN2_RX0_IRQn);
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HAL_NVIC_SetPriority(CAN2_RX1_IRQn, 1, 0);
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HAL_NVIC_EnableIRQ(CAN2_RX1_IRQn);
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}
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#endif
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}
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else if (argval == RT_DEVICE_FLAG_INT_TX)
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{
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__HAL_CAN_ENABLE_IT(&drv_can->CanHandle, CAN_IT_TX_MAILBOX_EMPTY);
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if (CAN1 == drv_can->CanHandle.Instance)
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{
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HAL_NVIC_SetPriority(CAN1_TX_IRQn, 1, 0);
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HAL_NVIC_EnableIRQ(CAN1_TX_IRQn);
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}
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#ifdef CAN2
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if (CAN2 == drv_can->CanHandle.Instance)
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{
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HAL_NVIC_SetPriority(CAN2_TX_IRQn, 1, 0);
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HAL_NVIC_EnableIRQ(CAN2_TX_IRQn);
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}
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#endif
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}
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else if (argval == RT_DEVICE_CAN_INT_ERR)
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{
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__HAL_CAN_ENABLE_IT(&drv_can->CanHandle, CAN_IT_ERROR_WARNING);
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__HAL_CAN_ENABLE_IT(&drv_can->CanHandle, CAN_IT_ERROR_PASSIVE);
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__HAL_CAN_ENABLE_IT(&drv_can->CanHandle, CAN_IT_BUSOFF);
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__HAL_CAN_ENABLE_IT(&drv_can->CanHandle, CAN_IT_LAST_ERROR_CODE);
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__HAL_CAN_ENABLE_IT(&drv_can->CanHandle, CAN_IT_ERROR);
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if (CAN1 == drv_can->CanHandle.Instance)
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{
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HAL_NVIC_SetPriority(CAN1_SCE_IRQn, 1, 0);
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HAL_NVIC_EnableIRQ(CAN1_SCE_IRQn);
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}
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#ifdef CAN2
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if (CAN2 == drv_can->CanHandle.Instance)
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{
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HAL_NVIC_SetPriority(CAN2_SCE_IRQn, 1, 0);
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HAL_NVIC_EnableIRQ(CAN2_SCE_IRQn);
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}
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#endif
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}
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break;
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case RT_CAN_CMD_SET_FILTER:
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{
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rt_uint32_t id_h = 0;
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rt_uint32_t id_l = 0;
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rt_uint32_t mask_h = 0;
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rt_uint32_t mask_l = 0;
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rt_uint32_t mask_l_tail = 0; //CAN_FxR2 bit [2:0]
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if (RT_NULL == arg)
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{
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/* default filter config */
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HAL_CAN_ConfigFilter(&drv_can->CanHandle, &drv_can->FilterConfig);
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}
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else
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{
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filter_cfg = (struct rt_can_filter_config *)arg;
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/* get default filter */
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for (int i = 0; i < filter_cfg->count; i++)
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{
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if (filter_cfg->items[i].hdr_bank == -1)
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{
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/* use default filter bank settings */
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if (rt_strcmp(drv_can->name, "can1") == 0)
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{
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/* can1 banks 0~13 */
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drv_can->FilterConfig.FilterBank = i;
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}
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else if (rt_strcmp(drv_can->name, "can2") == 0)
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{
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/* can2 banks 14~27 */
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drv_can->FilterConfig.FilterBank = i + 14;
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}
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}
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else
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{
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/* use user-defined filter bank settings */
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drv_can->FilterConfig.FilterBank = filter_cfg->items[i].hdr_bank;
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}
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/**
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* ID | CAN_FxR1[31:24] | CAN_FxR1[23:16] | CAN_FxR1[15:8] | CAN_FxR1[7:0] |
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* MASK | CAN_FxR2[31:24] | CAN_FxR2[23:16] | CAN_FxR2[15:8] | CAN_FxR2[7:0] |
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* STD ID | STID[10:3] | STDID[2:0] |<- 21bit ->|
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* EXT ID | EXTID[28:21] | EXTID[20:13] | EXTID[12:5] | EXTID[4:0] IDE RTR 0|
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* @note the 32bit STD ID must << 21 to fill CAN_FxR1[31:21] and EXT ID must << 3,
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* -> but the id bit of struct rt_can_filter_item is 29,
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* -> so STD id << 18 and EXT id Don't need << 3, when get the high 16bit.
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* -> FilterIdHigh : (((STDid << 18) or (EXT id)) >> 13) & 0xFFFF,
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* -> FilterIdLow: ((STDid << 18) or (EXT id << 3)) & 0xFFFF.
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* @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
|
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*/
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void CAN1_TX_IRQHandler(void)
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{
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rt_interrupt_enter();
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_can_tx_isr(&drv_can1.device);
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rt_interrupt_leave();
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}
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/**
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* @brief This function handles CAN1 RX0 interrupts.
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*/
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void CAN1_RX0_IRQHandler(void)
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{
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rt_interrupt_enter();
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_can_rx_isr(&drv_can1.device, CAN_RX_FIFO0);
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rt_interrupt_leave();
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}
|
|
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/**
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|
* @brief This function handles CAN1 RX1 interrupts.
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*/
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void CAN1_RX1_IRQHandler(void)
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|
{
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rt_interrupt_enter();
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_can_rx_isr(&drv_can1.device, CAN_RX_FIFO1);
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rt_interrupt_leave();
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}
|
|
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/**
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* @brief This function handles CAN1 SCE interrupts.
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*/
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void CAN1_SCE_IRQHandler(void)
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|
{
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rt_interrupt_enter();
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_can_sce_isr(&drv_can1.device);
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rt_interrupt_leave();
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}
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#endif /* BSP_USING_CAN1 */
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|
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|
#ifdef BSP_USING_CAN2
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/**
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|
* @brief This function handles CAN2 TX interrupts.
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|
*/
|
|
void CAN2_TX_IRQHandler(void)
|
|
{
|
|
rt_interrupt_enter();
|
|
_can_tx_isr(&drv_can2.device);
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|
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 ******************/
|