742 lines
24 KiB
C
742 lines
24 KiB
C
/*
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* Copyright (C) 2018 Shanghai Eastsoft Microelectronics Co., Ltd.
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*
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* SPDX-License-Identifier: Apache-2.0
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*
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* Licensed under the Apache License, Version 2.0 (the License); you may
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* not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an AS IS BASIS, WITHOUT
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* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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* Change Logs:
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* Date Author Notes
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* 2020-01-14 wangyq the first version
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* 2021-04-20 liuhy the second version
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*/
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#include "drv_can.h"
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#ifdef RT_USING_CAN
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static struct es32f3_can can;
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static rt_uint32_t get_can_baud_index(rt_uint32_t baud,can_init_t * init)
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{
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/* attention !!! baud calculation example: Pclk / ((1 + seg1 + seg2) * psc) Pclk=48 / ((1 + seg1=3 + seg2=2) * 8) = 1MHz */
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double target,temp,min;
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uint32_t i,j,j_max,near = 0;
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target = (double)(ald_cmu_get_pclk1_clock());
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target/= baud; /*计算误差1*/
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min = 0xFFFFFFFF;
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for(i = 1 + 16 + 8 ;i > 2;i--) /*SYNC_SEG + SEG1 + SEG2*/
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{
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j_max = target/i/(0.98) + 1; /*缩小范围*/
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j_max = (j_max > 1024) ? (1024) : (j_max);
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for(j = target/i/1.02 ;j < j_max;j++)
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{
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temp = target/i/j; /*计算误差2*/
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temp = (temp > 1) ? (temp - 1) : (1 - temp);
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temp+= ((1.0 * i * j) / 0xFFFFFFFF) ;
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if(temp < min)
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{
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if(temp > 0.000001)
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{
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near = (i<<16) + j;
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min = temp;
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}
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else
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{
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init->seg1 = (can_seg1_t)((i - 1)*2/3-1);
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init->seg2 = (can_seg2_t)(i - init->seg1 - 1 - 1 - 1);
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init->psc = j;
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return 0;
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}
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}
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}
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}
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if(min < 0.01)
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{
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i = near>>16;
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j = near % (1<<16);
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init->seg1 = (can_seg1_t)((i - 1)*2/3-1);
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init->seg2 = (can_seg2_t)(i - init->seg1 - 1 - 1 - 1);
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init->psc = j;
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return 0;
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}
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else
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{
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return 1;
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}
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}
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static rt_err_t _can_config(struct rt_can_device *can_device, struct can_configure *cfg)
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{
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struct es32f3_can *drv_can;
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RT_ASSERT(can_device);
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RT_ASSERT(cfg);
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drv_can = (struct es32f3_can *)can_device->parent.user_data;
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RT_ASSERT(drv_can);
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drv_can->CanHandle.perh = CAN0;
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drv_can->CanHandle.init.ttcm = DISABLE;
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drv_can->CanHandle.init.abom = ENABLE;
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drv_can->CanHandle.init.awk = DISABLE;
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drv_can->CanHandle.init.artx = (type_func_t)ES_CAN0_AUTO_BAN_RE_T;
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drv_can->CanHandle.init.rfom = DISABLE;
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drv_can->CanHandle.init.txmp = 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_LISEN:
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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_LOOPBACKANLISEN:
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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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/*配置参数*/
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if(get_can_baud_index(cfg->baud_rate,&(drv_can->CanHandle.init)))
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{
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return -RT_ERROR;
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}
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drv_can->CanHandle.init.sjw = (can_sjw_t)(cfg->reserved);
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/* init can */
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if (ald_can_init(&drv_can->CanHandle) != 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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ald_can_filter_config(&drv_can->CanHandle, &drv_can->FilterConfig);
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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_device, int cmd, void *arg)
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{
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rt_uint32_t argval;
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struct es32f3_can *drv_can;
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#ifdef RT_CAN_USING_HDR
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struct rt_can_filter_config *filter_cfg;
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#endif
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RT_ASSERT(can_device != RT_NULL);
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drv_can = (struct es32f3_can *)can_device->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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ald_can_interrupt_config(&drv_can->CanHandle, CAN_IT_FP0, DISABLE);
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ald_can_interrupt_config(&drv_can->CanHandle, CAN_IT_FF0, DISABLE);
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ald_can_interrupt_config(&drv_can->CanHandle, CAN_IT_FOV0, DISABLE);
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ald_can_interrupt_config(&drv_can->CanHandle, CAN_IT_FP1, DISABLE);
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ald_can_interrupt_config(&drv_can->CanHandle, CAN_IT_FF1, DISABLE);
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ald_can_interrupt_config(&drv_can->CanHandle, CAN_IT_FOV1, DISABLE);
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}
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else if (argval == RT_DEVICE_FLAG_INT_TX)
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{
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ald_can_interrupt_config(&drv_can->CanHandle, CAN_IT_TXM, DISABLE);
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}
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else if (argval == RT_DEVICE_CAN_INT_ERR)
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{
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ald_can_interrupt_config(&drv_can->CanHandle, CAN_IT_WARN, DISABLE);
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ald_can_interrupt_config(&drv_can->CanHandle, CAN_IT_PERR, DISABLE);
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ald_can_interrupt_config(&drv_can->CanHandle, CAN_IT_BOF, DISABLE);
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ald_can_interrupt_config(&drv_can->CanHandle, CAN_IT_PRERR, DISABLE);
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ald_can_interrupt_config(&drv_can->CanHandle, CAN_IT_ERR, DISABLE);
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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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NVIC_SetPriority(CAN0_RX0_IRQn, 1);
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NVIC_EnableIRQ(CAN0_RX0_IRQn);
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ald_can_interrupt_config(&drv_can->CanHandle, CAN_IT_FP0, ENABLE);
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ald_can_interrupt_config(&drv_can->CanHandle, CAN_IT_FF0, ENABLE);
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ald_can_interrupt_config(&drv_can->CanHandle, CAN_IT_FOV0, ENABLE);
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ald_can_interrupt_config(&drv_can->CanHandle, CAN_IT_FP1, ENABLE);
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ald_can_interrupt_config(&drv_can->CanHandle, CAN_IT_FF1, ENABLE);
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ald_can_interrupt_config(&drv_can->CanHandle, CAN_IT_FOV1, ENABLE);
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}
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else if (argval == RT_DEVICE_FLAG_INT_TX)
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{
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NVIC_SetPriority(CAN0_TX_IRQn, 1);
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NVIC_EnableIRQ(CAN0_TX_IRQn);
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ald_can_interrupt_config(&drv_can->CanHandle, CAN_IT_TXM, ENABLE);
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}
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else if (argval == RT_DEVICE_CAN_INT_ERR)
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{
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NVIC_SetPriority(CAN0_EXCEPTION_IRQn, 1);
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NVIC_EnableIRQ(CAN0_EXCEPTION_IRQn);
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ald_can_interrupt_config(&drv_can->CanHandle, CAN_IT_WARN, ENABLE);
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ald_can_interrupt_config(&drv_can->CanHandle, CAN_IT_PERR, ENABLE);
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ald_can_interrupt_config(&drv_can->CanHandle, CAN_IT_BOF, ENABLE);
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ald_can_interrupt_config(&drv_can->CanHandle, CAN_IT_PRERR, ENABLE);
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ald_can_interrupt_config(&drv_can->CanHandle, CAN_IT_ERR, ENABLE);
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}
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break;
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#ifdef RT_CAN_USING_HDR
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case RT_CAN_CMD_SET_FILTER:
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if (RT_NULL == arg)
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{
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/* default filter config */
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ald_can_filter_config(&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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/*默认过滤表判断*/
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if(filter_cfg->items[i].hdr < drv_can->device.config.maxhdr)
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drv_can->FilterConfig.number = filter_cfg->items[i].hdr;
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else
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drv_can->FilterConfig.number = ES_C_CAN_DEFAULT_FILTER_NUMBER;
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if(filter_cfg->items[i].mode)
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{
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/*标识符列表模式： 类型匹配 ，id匹配为：接收的id = 配置的id
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或者 = 配置的mask ，通过*/
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/*扩展帧*/
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if(filter_cfg->items[i].ide)
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{
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// filter_cfg->items[i].id = filter_cfg->items[i].id ; /*id 29 位*/
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filter_cfg->items[i].mask = ((filter_cfg->items[i].mask << 3) |
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(filter_cfg->items[i].ide << 2) |
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(filter_cfg->items[i].rtr << 1));
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}
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else /*标准帧*/
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{
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filter_cfg->items[i].id = (filter_cfg->items[i].id << 18);
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filter_cfg->items[i].mask = ((filter_cfg->items[i].mask << 21) |
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(filter_cfg->items[i].ide << 2) |
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(filter_cfg->items[i].rtr << 1));
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}
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}
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else
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{
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/*标识符掩码模式*/
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/*扩展帧*/
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if(filter_cfg->items[i].ide)
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{
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filter_cfg->items[i].mask = (filter_cfg->items[i].mask)<<3;
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}
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else /*标准帧*/
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{
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filter_cfg->items[i].id = (filter_cfg->items[i].id)<<18;
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filter_cfg->items[i].mask = (filter_cfg->items[i].mask)<<21;
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}
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#if ES_C_CAN_FILTER_FRAME_TYPE
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/*匹配类型*/
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filter_cfg->items[i].mask |= 0x6;
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#endif
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}
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drv_can->FilterConfig.id_high = (filter_cfg->items[i].id >> 13) & 0xFFFF;
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drv_can->FilterConfig.id_low = ((filter_cfg->items[i].id << 3) |
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(filter_cfg->items[i].ide << 2) |
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(filter_cfg->items[i].rtr << 1)) & 0xFFFF;
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drv_can->FilterConfig.mask_id_high = (filter_cfg->items[i].mask >> 16) & 0xFFFF;
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drv_can->FilterConfig.mask_id_low = filter_cfg->items[i].mask & 0xFFFF;
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drv_can->FilterConfig.mode = (can_filter_mode_t)filter_cfg->items[i].mode;
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/* Filter conf */
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ald_can_filter_config(&drv_can->CanHandle, &drv_can->FilterConfig);
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}
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}
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break;
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#endif
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case RT_CAN_CMD_SET_MODE:
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argval = (rt_uint32_t) arg;
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if (argval != RT_CAN_MODE_NORMAL &&
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argval != RT_CAN_MODE_LISEN &&
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argval != RT_CAN_MODE_LOOPBACK &&
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argval != RT_CAN_MODE_LOOPBACKANLISEN)
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{
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return -RT_ERROR;
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}
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if (argval != drv_can->device.config.mode)
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{
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drv_can->device.config.mode = argval;
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return _can_config(&drv_can->device, &drv_can->device.config);
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}
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break;
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case RT_CAN_CMD_SET_BAUD:
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argval = (rt_uint32_t) arg;
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if (argval != drv_can->device.config.baud_rate)
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{
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drv_can->device.config.baud_rate = argval;
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return _can_config(&drv_can->device, &drv_can->device.config);
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}
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break;
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case RT_CAN_CMD_SET_PRIV:
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argval = (rt_uint32_t) arg;
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if (argval != RT_CAN_MODE_PRIV &&
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argval != RT_CAN_MODE_NOPRIV)
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{
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return -RT_ERROR;
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}
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if (argval != drv_can->device.config.privmode)
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{
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drv_can->device.config.privmode = argval;
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return _can_config(&drv_can->device, &drv_can->device.config);
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}
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break;
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case RT_CAN_CMD_GET_STATUS:
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{
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rt_uint32_t errtype;
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errtype = drv_can->CanHandle.perh->ERRSTAT;
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drv_can->device.status.rcverrcnt = errtype >> 24;
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drv_can->device.status.snderrcnt = (errtype >> 16 & 0xFF);
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drv_can->device.status.lasterrtype = errtype & 0x70;
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drv_can->device.status.errcode = errtype & 0x07;
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rt_memcpy(arg, &drv_can->device.status, sizeof(drv_can->device.status));
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}
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break;
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}
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return RT_EOK;
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}
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static int _can_sendmsg(struct rt_can_device *can, const void *buf, rt_uint32_t box_num)
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{
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can_handle_t *h_can;
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h_can = &((struct es32f3_can *) can->parent.user_data)->CanHandle;
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struct rt_can_msg *pmsg = (struct rt_can_msg *) buf;
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can_tx_msg_t txheader = {0};
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can_state_t state = h_can->state;
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/* Check the parameters */
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RT_ASSERT(IS_CAN_DATA_LEN(pmsg->len));
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if ((state == CAN_STATE_READY) ||
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(state == CAN_STATE_BUSY_RX0))
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{
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/*check select mailbox is empty */
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switch (1 << box_num)
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{
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case CAN_TX_MAILBOX_0:
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if (ald_can_get_flag_status(h_can, CAN_FLAG_TXM0) != SET)
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{
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/* Change CAN state */
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h_can->state = CAN_STATE_ERROR;
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/* Return function status */
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return -RT_ERROR;
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}
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break;
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case CAN_TX_MAILBOX_1:
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if (ald_can_get_flag_status(h_can, CAN_FLAG_TXM1) != SET)
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{
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/* Change CAN state */
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h_can->state = CAN_STATE_ERROR;
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/* Return function status */
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return -RT_ERROR;
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}
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break;
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case CAN_TX_MAILBOX_2:
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if (ald_can_get_flag_status(h_can, CAN_FLAG_TXM2) != SET)
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{
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/* Change CAN state */
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h_can->state = CAN_STATE_ERROR;
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/* Return function status */
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return -RT_ERROR;
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}
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break;
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default:
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RT_ASSERT(0);
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break;
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}
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if (RT_CAN_STDID == pmsg->ide)
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{
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txheader.type = CAN_ID_STD;
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RT_ASSERT(IS_CAN_STDID(pmsg->id));
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txheader.std = pmsg->id;
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}
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else
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{
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txheader.type = CAN_ID_EXT;
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RT_ASSERT(IS_CAN_EXTID(pmsg->id));
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txheader.ext = pmsg->id;
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}
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if (RT_CAN_DTR == pmsg->rtr)
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{
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txheader.rtr = CAN_RTR_DATA;
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}
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else
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{
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txheader.rtr = CAN_RTR_REMOTE;
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}
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/* clear TIR */
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h_can->perh->TxMailBox[box_num].TXID &= CAN_TXID0_TXMREQ_MSK;
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/* Set up the Id */
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if (RT_CAN_STDID == pmsg->ide)
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{
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h_can->perh->TxMailBox[box_num].TXID |= (txheader.std << CAN_TXID0_STDID_POSS) | (txheader.rtr << CAN_TXID0_RTR_POS);
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}
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else
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{
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h_can->perh->TxMailBox[box_num].TXID |= (txheader.ext << CAN_TXID0_EXID_POSS) | (txheader.type << CAN_TXID0_IDE_POS) | (txheader.rtr << CAN_TXID0_RTR_POS);
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}
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/* Set up the DLC */
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h_can->perh->TxMailBox[box_num].TXFCON = pmsg->len & 0x0FU;
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/* Set up the data field */
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WRITE_REG(h_can->perh->TxMailBox[box_num].TXDH,
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((uint32_t)pmsg->data[7] << CAN_TXDH0_BYTE7_POSS) |
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((uint32_t)pmsg->data[6] << CAN_TXDH0_BYTE6_POSS) |
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((uint32_t)pmsg->data[5] << CAN_TXDH0_BYTE5_POSS) |
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((uint32_t)pmsg->data[4] << CAN_TXDH0_BYTE4_POSS));
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WRITE_REG(h_can->perh->TxMailBox[box_num].TXDL,
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((uint32_t)pmsg->data[3] << CAN_TXDL0_BYTE3_POSS) |
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((uint32_t)pmsg->data[2] << CAN_TXDL0_BYTE2_POSS) |
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((uint32_t)pmsg->data[1] << CAN_TXDL0_BYTE1_POSS) |
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((uint32_t)pmsg->data[0] << CAN_TXDL0_BYTE0_POSS));
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/* Request transmission */
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SET_BIT(h_can->perh->TxMailBox[box_num].TXID, CAN_TXID0_TXMREQ_MSK);
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return RT_EOK;
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}
|
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else
|
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{
|
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/* Update error code */
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h_can->err |= 0x00040000U;
|
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|
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return -RT_ERROR;
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}
|
||
|
||
|
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}
|
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static int _can_recvmsg(struct rt_can_device *can, void *buf, rt_uint32_t fifo)
|
||
{
|
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can_handle_t *h_can;
|
||
struct rt_can_msg *pmsg;
|
||
can_rx_msg_t rxheader = {0};
|
||
|
||
RT_ASSERT(can);
|
||
|
||
h_can = &((struct es32f3_can *)can->parent.user_data)->CanHandle;
|
||
pmsg = (struct rt_can_msg *) buf;
|
||
|
||
/* get data */
|
||
if (ald_can_recv(h_can, (can_rx_fifo_t)fifo, &rxheader, 0xFFFF) != OK)
|
||
return -RT_ERROR;
|
||
pmsg->data[0] = rxheader.data[0];
|
||
pmsg->data[1] = rxheader.data[1];
|
||
pmsg->data[2] = rxheader.data[2];
|
||
pmsg->data[3] = rxheader.data[3];
|
||
pmsg->data[4] = rxheader.data[4];
|
||
pmsg->data[5] = rxheader.data[5];
|
||
pmsg->data[6] = rxheader.data[6];
|
||
pmsg->data[7] = rxheader.data[7];
|
||
|
||
/* get id */
|
||
if (CAN_ID_STD == rxheader.type)
|
||
{
|
||
pmsg->ide = RT_CAN_STDID;
|
||
pmsg->id = rxheader.std;
|
||
}
|
||
else
|
||
{
|
||
pmsg->ide = RT_CAN_EXTID;
|
||
pmsg->id = rxheader.ext;
|
||
}
|
||
/* get type */
|
||
if (CAN_RTR_DATA == rxheader.rtr)
|
||
{
|
||
pmsg->rtr = RT_CAN_DTR;
|
||
}
|
||
else
|
||
{
|
||
pmsg->rtr = RT_CAN_RTR;
|
||
}
|
||
/* get len */
|
||
pmsg->len = rxheader.len;
|
||
/* get hdr */
|
||
pmsg->hdr = (rxheader.fmi + 1) >> 1;
|
||
|
||
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_handle_t *h_can;
|
||
RT_ASSERT(can);
|
||
h_can = &((struct es32f3_can *) can->parent.user_data)->CanHandle;
|
||
|
||
switch (fifo)
|
||
{
|
||
case CAN_RX_FIFO0:
|
||
/* Check Overrun flag for FIFO0 */
|
||
if (ald_can_get_flag_status(h_can, CAN_FLAG_FOV0) && ald_can_get_it_status(h_can, CAN_IT_FOV0))
|
||
{
|
||
/* Clear FIFO0 Overrun Flag */
|
||
ald_can_clear_flag_status(h_can, CAN_FLAG_FOV0);
|
||
rt_hw_can_isr(can, RT_CAN_EVENT_RXOF_IND | fifo << 8);
|
||
}
|
||
/* RX interrupt */
|
||
else
|
||
{
|
||
if(CAN_RX_MSG_PENDING(h_can, CAN_RX_FIFO0) != 0)
|
||
{
|
||
/* save to user list */
|
||
rt_hw_can_isr(can, RT_CAN_EVENT_RX_IND | fifo << 8);
|
||
}
|
||
|
||
/* Clear FIFO0 rx Flag */
|
||
SET_BIT(h_can->perh->RXF0, CAN_RXF0_FREE_MSK);
|
||
}
|
||
break;
|
||
case CAN_RX_FIFO1:
|
||
/* Check Overrun flag for FIFO1 */
|
||
if (ald_can_get_flag_status(h_can, CAN_FLAG_FOV1) && ald_can_get_it_status(h_can, CAN_IT_FOV1))
|
||
{
|
||
/* Clear FIFO1 Overrun Flag */
|
||
ald_can_clear_flag_status(h_can, CAN_FLAG_FOV1);
|
||
rt_hw_can_isr(can, RT_CAN_EVENT_RXOF_IND | fifo << 8);
|
||
}
|
||
/* RX interrupt */
|
||
else
|
||
{
|
||
if(CAN_RX_MSG_PENDING(h_can, CAN_RX_FIFO1) != 0)
|
||
{
|
||
/* save to user list */
|
||
rt_hw_can_isr(can, RT_CAN_EVENT_RX_IND | fifo << 8);
|
||
}
|
||
|
||
/* Clear FIFO0 rx Flag */
|
||
SET_BIT(h_can->perh->RXF1, CAN_RXF1_FREE_MSK);
|
||
}
|
||
break;
|
||
}
|
||
}
|
||
|
||
/**
|
||
* @brief This function handles CAN0 TX interrupts. transmit fifo0/1/2 is empty can trigger this interrupt
|
||
*/
|
||
void CAN0_TX_Handler(void)
|
||
{
|
||
rt_interrupt_enter();
|
||
can_handle_t *h_can;
|
||
h_can = &can.CanHandle;
|
||
|
||
/* TX interrupt. transmit fifo0/1/2 is empty can trigger this interrupt */
|
||
if (ald_can_get_flag_status(h_can, CAN_FLAG_M0REQC) && ald_can_get_it_status(h_can, CAN_IT_TXM))
|
||
{
|
||
if (ald_can_get_flag_status(h_can, CAN_FLAG_M0TXC))
|
||
{
|
||
rt_hw_can_isr(&can.device, RT_CAN_EVENT_TX_DONE | 0 << 8);
|
||
}
|
||
else
|
||
{
|
||
rt_hw_can_isr(&can.device, RT_CAN_EVENT_TX_FAIL | 0 << 8);
|
||
}
|
||
/* Clear transmission status flag M0REQC */
|
||
ald_can_clear_flag_status(h_can, CAN_FLAG_M0REQC);
|
||
}
|
||
else if (ald_can_get_flag_status(h_can, CAN_FLAG_M1REQC) && ald_can_get_it_status(h_can, CAN_IT_TXM))
|
||
{
|
||
if (ald_can_get_flag_status(h_can, CAN_FLAG_M1TXC))
|
||
{
|
||
rt_hw_can_isr(&can.device, RT_CAN_EVENT_TX_DONE | 1 << 8);
|
||
}
|
||
else
|
||
{
|
||
rt_hw_can_isr(&can.device, RT_CAN_EVENT_TX_FAIL | 1 << 8);
|
||
}
|
||
ald_can_clear_flag_status(h_can, CAN_FLAG_M1REQC);
|
||
}
|
||
else if (ald_can_get_flag_status(h_can, CAN_FLAG_M2REQC) && ald_can_get_it_status(h_can, CAN_IT_TXM))
|
||
{
|
||
if (ald_can_get_flag_status(h_can, CAN_FLAG_M2REQC))
|
||
{
|
||
rt_hw_can_isr(&can.device, RT_CAN_EVENT_TX_DONE | 2 << 8);
|
||
}
|
||
else
|
||
{
|
||
rt_hw_can_isr(&can.device, RT_CAN_EVENT_TX_FAIL | 2 << 8);
|
||
}
|
||
ald_can_clear_flag_status(h_can, CAN_FLAG_M2REQC);
|
||
}
|
||
|
||
rt_interrupt_leave();
|
||
}
|
||
|
||
/**
|
||
* @brief This function handles CAN0 RX0 interrupts.
|
||
*/
|
||
void CAN0_RX0_Handler(void)
|
||
{
|
||
rt_interrupt_enter();
|
||
_can_rx_isr(&can.device, CAN_RX_FIFO0);
|
||
rt_interrupt_leave();
|
||
}
|
||
|
||
/**
|
||
* @brief This function handles CAN0 RX1 interrupts.
|
||
*/
|
||
void CAN0_RX1_Handler(void)
|
||
{
|
||
rt_interrupt_enter();
|
||
_can_rx_isr(&can.device, CAN_RX_FIFO1);
|
||
rt_interrupt_leave();
|
||
}
|
||
|
||
/**
|
||
* @brief This function handles CAN interrupts.
|
||
*/
|
||
void CAN0_EXCEPTION_Handler(void)
|
||
{
|
||
rt_interrupt_enter();
|
||
|
||
rt_uint32_t errtype;
|
||
can_handle_t *h_can;
|
||
|
||
h_can = &can.CanHandle;
|
||
errtype = h_can->perh->ERRSTAT;
|
||
|
||
switch ((errtype & 0x70) >> 4)
|
||
{
|
||
case RT_CAN_BUS_BIT_PAD_ERR:
|
||
can.device.status.bitpaderrcnt++;
|
||
break;
|
||
case RT_CAN_BUS_FORMAT_ERR:
|
||
can.device.status.formaterrcnt++;
|
||
break;
|
||
case RT_CAN_BUS_ACK_ERR:/* attention !!! test ack err's unit is transmit unit */
|
||
can.device.status.ackerrcnt++;
|
||
if (!READ_BIT(can.CanHandle.perh->TXSTAT, CAN_FLAG_M0TXC))
|
||
rt_hw_can_isr(&can.device, RT_CAN_EVENT_TX_FAIL | 0 << 8);
|
||
else if (!READ_BIT(can.CanHandle.perh->TXSTAT, CAN_FLAG_M0TXC))
|
||
rt_hw_can_isr(&can.device, RT_CAN_EVENT_TX_FAIL | 1 << 8);
|
||
else if (!READ_BIT(can.CanHandle.perh->TXSTAT, CAN_FLAG_M0TXC))
|
||
rt_hw_can_isr(&can.device, RT_CAN_EVENT_TX_FAIL | 2 << 8);
|
||
break;
|
||
case RT_CAN_BUS_IMPLICIT_BIT_ERR:
|
||
case RT_CAN_BUS_EXPLICIT_BIT_ERR:
|
||
can.device.status.biterrcnt++;
|
||
break;
|
||
case RT_CAN_BUS_CRC_ERR:
|
||
can.device.status.crcerrcnt++;
|
||
break;
|
||
}
|
||
|
||
can.device.status.lasterrtype = errtype & 0x70;
|
||
can.device.status.rcverrcnt = errtype >> 24;
|
||
can.device.status.snderrcnt = (errtype >> 16 & 0xFF);
|
||
can.device.status.errcode = errtype & 0x07;
|
||
h_can->perh->IFC |= CAN_IFC_ERRIFC_MSK;
|
||
|
||
rt_interrupt_leave();
|
||
}
|
||
|
||
int rt_hw_can_init(void)
|
||
{
|
||
gpio_init_t h_gpio;
|
||
|
||
/* Initialize can common pin */
|
||
h_gpio.odos = GPIO_PUSH_PULL;
|
||
h_gpio.pupd = GPIO_PUSH_UP;
|
||
h_gpio.podrv = GPIO_OUT_DRIVE_6;
|
||
h_gpio.nodrv = GPIO_OUT_DRIVE_6;
|
||
h_gpio.flt = GPIO_FILTER_DISABLE;
|
||
h_gpio.type = GPIO_TYPE_TTL;
|
||
|
||
#if defined(ES_CAN0_RX_GPIO_FUNC)&&defined(ES_CAN0_RX_GPIO_PORT)&&defined(ES_CAN0_RX_GPIO_PIN)
|
||
/* Initialize can rx pin */
|
||
h_gpio.mode = GPIO_MODE_INPUT;
|
||
h_gpio.func = ES_CAN0_RX_GPIO_FUNC;
|
||
ald_gpio_init(ES_CAN0_RX_GPIO_PORT, ES_CAN0_RX_GPIO_PIN, &h_gpio);
|
||
#endif
|
||
|
||
|
||
#if defined(ES_CAN0_TX_GPIO_FUNC)&&defined(ES_CAN0_TX_GPIO_PORT)&&defined(ES_CAN0_TX_GPIO_PIN)
|
||
/* Initialize can tx pin */
|
||
h_gpio.mode = GPIO_MODE_OUTPUT;
|
||
h_gpio.func = ES_CAN0_TX_GPIO_FUNC;
|
||
ald_gpio_init(ES_CAN0_TX_GPIO_PORT, ES_CAN0_TX_GPIO_PIN, &h_gpio);
|
||
#endif
|
||
|
||
|
||
/* config default filter */
|
||
can_filter_t filter = {0};
|
||
filter.id_high = 0x0000;
|
||
filter.id_low = 0x0000;
|
||
filter.mask_id_high = 0x0000;
|
||
filter.mask_id_low = 0x0000;
|
||
filter.fifo = CAN_FILTER_FIFO0;
|
||
filter.number = ES_C_CAN_DEFAULT_FILTER_NUMBER;
|
||
filter.mode = CAN_FILTER_MODE_MASK;
|
||
filter.scale = CAN_FILTER_SCALE_32;
|
||
filter.active = ENABLE;
|
||
|
||
can.FilterConfig = filter;
|
||
can.device.config = (struct can_configure)ES_CAN0_CONFIG;
|
||
#ifdef RT_CAN_USING_HDR
|
||
can.device.config.maxhdr = 14;
|
||
#endif
|
||
can.device.config.privmode = RT_CAN_MODE_NOPRIV;
|
||
can.device.config.ticks = 50;
|
||
can.device.config.reserved = ES_CAN0_SJW;
|
||
/* register CAN1 device */
|
||
rt_hw_can_register(&can.device, ES_DEVICE_NAME_CAN0, &_can_ops, &can);
|
||
|
||
return 0;
|
||
}
|
||
INIT_BOARD_EXPORT(rt_hw_can_init);
|
||
|
||
#endif /* BSP_USING_CAN */
|