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rt-thread-official/bsp/at32/Libraries/rt_drivers/drv_can.c

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/*
* Copyright (c) 2006-2018, RT-Thread Development Team
*
* SPDX-License-Identifier: Apache-2.0
*
* Change Logs:
* Date Author Notes
* 2021-02-09 shelton the first version
*/
#include "drv_can.h"
#ifdef BSP_USING_CAN
#define LOG_TAG "drv_can"
#include <drv_log.h>
/* attention !!! baud calculation example: apbclk / ((ss + bs1 + bs2) * brp), ep: 120 / ((1 + 8 + 3) * 10) = 1MHz*/
static const struct at32_baud_rate_tab can_baud_rate_tab[] =
{
{CAN1MBaud, CAN_SJW_2tq, CAN_BS1_8tq, CAN_BS2_3tq, 10},
{CAN800kBaud, CAN_SJW_2tq, CAN_BS1_7tq, CAN_BS2_2tq, 15},
{CAN500kBaud, CAN_SJW_2tq, CAN_BS1_9tq, CAN_BS2_2tq, 20},
{CAN250kBaud, CAN_SJW_2tq, CAN_BS1_9tq, CAN_BS2_2tq, 40},
{CAN125kBaud, CAN_SJW_2tq, CAN_BS1_9tq, CAN_BS2_2tq, 80},
{CAN100kBaud, CAN_SJW_2tq, CAN_BS1_13tq, CAN_BS2_2tq, 75},
{CAN50kBaud, CAN_SJW_2tq, CAN_BS1_13tq, CAN_BS2_2tq, 150},
{CAN20kBaud, CAN_SJW_2tq, CAN_BS1_13tq, CAN_BS2_2tq, 375},
{CAN10kBaud, CAN_SJW_2tq, CAN_BS1_13tq, CAN_BS2_2tq, 750}
};
#ifdef BSP_USING_CAN1
static struct at32_can can_instance1 =
{
.name = "can1",
.CanConfig.Instance = CAN1,
};
#endif
#ifdef BSP_USING_CAN2
static struct at32_can can_instance2 =
{
.name = "can2",
.CanConfig.Instance = CAN2,
};
#endif
static rt_uint32_t get_can_baud_index(rt_uint32_t baud)
{
rt_uint32_t len, index;
len = sizeof(can_baud_rate_tab) / sizeof(can_baud_rate_tab[0]);
for (index = 0; index < len; index++)
{
if (can_baud_rate_tab[index].baud_rate == baud)
return index;
}
return 0; /* default baud is CAN1MBaud */
}
static rt_err_t _can_config(struct rt_can_device *can, struct can_configure *cfg)
{
struct at32_can *can_instance;
rt_uint32_t baud_index;
RT_ASSERT(can);
RT_ASSERT(cfg);
can_instance = (struct at32_can *)can->parent.user_data;
RT_ASSERT(can_instance);
at32_msp_can_init((void *)can_instance->CanConfig.Instance);
CAN_StructInit(&(can_instance->CanConfig.CanInit));
can_instance->CanConfig.CanInit.CAN_Mode = DISABLE;
can_instance->CanConfig.CanInit.CAN_ABO = ENABLE;
can_instance->CanConfig.CanInit.CAN_AWU = ENABLE;
can_instance->CanConfig.CanInit.CAN_NART = DISABLE;
can_instance->CanConfig.CanInit.CAN_RFL = DISABLE;
can_instance->CanConfig.CanInit.CAN_TFP = ENABLE;
switch (cfg->mode)
{
case RT_CAN_MODE_NORMAL:
can_instance->CanConfig.CanInit.CAN_Mode = CAN_Mode_Normal;
break;
case RT_CAN_MODE_LISEN:
can_instance->CanConfig.CanInit.CAN_Mode = CAN_Mode_Silent;
break;
case RT_CAN_MODE_LOOPBACK:
can_instance->CanConfig.CanInit.CAN_Mode = CAN_Mode_LoopBack;
break;
case RT_CAN_MODE_LOOPBACKANLISEN:
can_instance->CanConfig.CanInit.CAN_Mode = CAN_Mode_Silent_LoopBack;
break;
}
baud_index = get_can_baud_index(cfg->baud_rate);
can_instance->CanConfig.CanInit.CAN_SJW = can_baud_rate_tab[baud_index].sjw;
can_instance->CanConfig.CanInit.CAN_BS1 = can_baud_rate_tab[baud_index].bs1;
can_instance->CanConfig.CanInit.CAN_BS2 = can_baud_rate_tab[baud_index].bs2;
can_instance->CanConfig.CanInit.CAN_Prescaler = can_baud_rate_tab[baud_index].psc;
/* init can */
if (CAN_Init(can_instance->CanConfig.Instance, &(can_instance->CanConfig.CanInit)) != CAN_InitStatus_Success)
{
return -RT_ERROR;
}
/* default filter config */
CAN_FilterInit(can_instance->CanConfig.Instance, &can_instance->CanConfig.FilterConfig);
return RT_EOK;
}
static rt_err_t _can_control(struct rt_can_device *can, int cmd, void *arg)
{
rt_uint32_t argval;
NVIC_InitType NVIC_InitStruct;
struct at32_can *can_instance;
struct rt_can_filter_config *filter_cfg;
RT_ASSERT(can != RT_NULL);
can_instance = (struct at32_can *)can->parent.user_data;
RT_ASSERT(can_instance != RT_NULL);
switch (cmd)
{
case RT_DEVICE_CTRL_CLR_INT:
argval = (rt_uint32_t) arg;
if (argval == RT_DEVICE_FLAG_INT_RX)
{
if (CAN1 == can_instance->CanConfig.Instance)
{
NVIC_InitStruct.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn;
NVIC_InitStruct.NVIC_IRQChannelCmd = DISABLE;
NVIC_InitStruct.NVIC_IRQChannelPreemptionPriority = 1;
NVIC_InitStruct.NVIC_IRQChannelSubPriority = 0;
NVIC_Init(&NVIC_InitStruct);
NVIC_InitStruct.NVIC_IRQChannel = CAN1_RX1_IRQn;
NVIC_Init(&NVIC_InitStruct);
}
#ifdef CAN2
if (CAN2 == can_instance->CanConfig.Instance)
{
NVIC_InitStruct.NVIC_IRQChannel = CAN2_RX0_IRQn;
NVIC_InitStruct.NVIC_IRQChannelCmd = DISABLE;
NVIC_InitStruct.NVIC_IRQChannelPreemptionPriority = 1;
NVIC_InitStruct.NVIC_IRQChannelSubPriority = 0;
NVIC_Init(&NVIC_InitStruct);
NVIC_InitStruct.NVIC_IRQChannel = CAN2_RX1_IRQn;
NVIC_Init(&NVIC_InitStruct);
}
#endif
CAN_INTConfig(can_instance->CanConfig.Instance, CAN_INT_RFP0, DISABLE);
CAN_INTConfig(can_instance->CanConfig.Instance, CAN_INT_RFFU0, DISABLE);
CAN_INTConfig(can_instance->CanConfig.Instance, CAN_INT_RFOV0, DISABLE);
CAN_INTConfig(can_instance->CanConfig.Instance, CAN_INT_RFP1, DISABLE);
CAN_INTConfig(can_instance->CanConfig.Instance, CAN_INT_RFFU1, DISABLE);
CAN_INTConfig(can_instance->CanConfig.Instance, CAN_INT_RFOV1, DISABLE);
}
else if (argval == RT_DEVICE_FLAG_INT_TX)
{
if (CAN1 == can_instance->CanConfig.Instance)
{
NVIC_InitStruct.NVIC_IRQChannel = USB_HP_CAN1_TX_IRQn;
NVIC_InitStruct.NVIC_IRQChannelCmd = DISABLE;
NVIC_InitStruct.NVIC_IRQChannelPreemptionPriority = 1;
NVIC_InitStruct.NVIC_IRQChannelSubPriority = 0;
NVIC_Init(&NVIC_InitStruct);
}
#ifdef CAN2
if (CAN2 == can_instance->CanConfig.Instance)
{
NVIC_InitStruct.NVIC_IRQChannel = CAN2_TX_IRQn;
NVIC_InitStruct.NVIC_IRQChannelCmd = DISABLE;
NVIC_InitStruct.NVIC_IRQChannelPreemptionPriority = 1;
NVIC_InitStruct.NVIC_IRQChannelSubPriority = 0;
NVIC_Init(&NVIC_InitStruct);
}
#endif
CAN_INTConfig(can_instance->CanConfig.Instance, CAN_INT_TSME, DISABLE);
}
else if (argval == RT_DEVICE_CAN_INT_ERR)
{
if (CAN1 == can_instance->CanConfig.Instance)
{
NVIC_InitStruct.NVIC_IRQChannel = CAN1_SCE_IRQn;
NVIC_InitStruct.NVIC_IRQChannelCmd = DISABLE;
NVIC_InitStruct.NVIC_IRQChannelPreemptionPriority = 1;
NVIC_InitStruct.NVIC_IRQChannelSubPriority = 0;
NVIC_Init(&NVIC_InitStruct);
}
#ifdef CAN2
if (CAN2 == can_instance->CanConfig.Instance)
{
NVIC_InitStruct.NVIC_IRQChannel = CAN2_SCE_IRQn;
NVIC_InitStruct.NVIC_IRQChannelCmd = DISABLE;
NVIC_InitStruct.NVIC_IRQChannelPreemptionPriority = 1;
NVIC_InitStruct.NVIC_IRQChannelSubPriority = 0;
NVIC_Init(&NVIC_InitStruct);
}
#endif
CAN_INTConfig(can_instance->CanConfig.Instance, CAN_INT_ERG, DISABLE);
CAN_INTConfig(can_instance->CanConfig.Instance, CAN_INT_ERP, DISABLE);
CAN_INTConfig(can_instance->CanConfig.Instance, CAN_INT_BU, DISABLE);
CAN_INTConfig(can_instance->CanConfig.Instance, CAN_INT_LEC, DISABLE);
CAN_INTConfig(can_instance->CanConfig.Instance, CAN_INT_ERR, DISABLE);
}
break;
case RT_DEVICE_CTRL_SET_INT:
argval = (rt_uint32_t) arg;
if (argval == RT_DEVICE_FLAG_INT_RX)
{
CAN_INTConfig(can_instance->CanConfig.Instance, CAN_INT_RFP0, ENABLE);
CAN_INTConfig(can_instance->CanConfig.Instance, CAN_INT_RFFU0, ENABLE);
CAN_INTConfig(can_instance->CanConfig.Instance, CAN_INT_RFOV0, ENABLE);
CAN_INTConfig(can_instance->CanConfig.Instance, CAN_INT_RFP1, ENABLE);
CAN_INTConfig(can_instance->CanConfig.Instance, CAN_INT_RFFU1, ENABLE);
CAN_INTConfig(can_instance->CanConfig.Instance, CAN_INT_RFOV1, ENABLE);
if (CAN1 == can_instance->CanConfig.Instance)
{
NVIC_InitStruct.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn;
NVIC_InitStruct.NVIC_IRQChannelCmd = ENABLE;
NVIC_InitStruct.NVIC_IRQChannelPreemptionPriority = 1;
NVIC_InitStruct.NVIC_IRQChannelSubPriority = 0;
NVIC_Init(&NVIC_InitStruct);
NVIC_InitStruct.NVIC_IRQChannel = CAN1_RX1_IRQn;
NVIC_Init(&NVIC_InitStruct);
}
#ifdef CAN2
if (CAN2 == can_instance->CanConfig.Instance)
{
NVIC_InitStruct.NVIC_IRQChannel = CAN2_RX0_IRQn;
NVIC_InitStruct.NVIC_IRQChannelCmd = ENABLE;
NVIC_InitStruct.NVIC_IRQChannelPreemptionPriority = 1;
NVIC_InitStruct.NVIC_IRQChannelSubPriority = 0;
NVIC_Init(&NVIC_InitStruct);
NVIC_InitStruct.NVIC_IRQChannel = CAN2_RX1_IRQn;
NVIC_Init(&NVIC_InitStruct);
}
#endif
}
else if (argval == RT_DEVICE_FLAG_INT_TX)
{
CAN_INTConfig(can_instance->CanConfig.Instance, CAN_INT_TSME, ENABLE);
if (CAN1 == can_instance->CanConfig.Instance)
{
NVIC_InitStruct.NVIC_IRQChannel = USB_HP_CAN1_TX_IRQn;
NVIC_InitStruct.NVIC_IRQChannelCmd = ENABLE;
NVIC_InitStruct.NVIC_IRQChannelPreemptionPriority = 1;
NVIC_InitStruct.NVIC_IRQChannelSubPriority = 0;
NVIC_Init(&NVIC_InitStruct);
}
#ifdef CAN2
if (CAN2 == can_instance->CanConfig.Instance)
{
NVIC_InitStruct.NVIC_IRQChannel = CAN2_TX_IRQn;
NVIC_InitStruct.NVIC_IRQChannelCmd = ENABLE;
NVIC_InitStruct.NVIC_IRQChannelPreemptionPriority = 1;
NVIC_InitStruct.NVIC_IRQChannelSubPriority = 0;
NVIC_Init(&NVIC_InitStruct);
}
#endif
}
else if (argval == RT_DEVICE_CAN_INT_ERR)
{
CAN_INTConfig(can_instance->CanConfig.Instance, CAN_INT_ERG, ENABLE);
CAN_INTConfig(can_instance->CanConfig.Instance, CAN_INT_ERP, ENABLE);
CAN_INTConfig(can_instance->CanConfig.Instance, CAN_INT_BU, ENABLE);
CAN_INTConfig(can_instance->CanConfig.Instance, CAN_INT_LEC, ENABLE);
CAN_INTConfig(can_instance->CanConfig.Instance, CAN_INT_ERR, ENABLE);
if (CAN1 == can_instance->CanConfig.Instance)
{
NVIC_InitStruct.NVIC_IRQChannel = CAN1_SCE_IRQn;
NVIC_InitStruct.NVIC_IRQChannelCmd = ENABLE;
NVIC_InitStruct.NVIC_IRQChannelPreemptionPriority = 1;
NVIC_InitStruct.NVIC_IRQChannelSubPriority = 0;
NVIC_Init(&NVIC_InitStruct);
}
#ifdef CAN2
if (CAN2 == can_instance->CanConfig.Instance)
{
NVIC_InitStruct.NVIC_IRQChannel = CAN2_SCE_IRQn;
NVIC_InitStruct.NVIC_IRQChannelCmd = ENABLE;
NVIC_InitStruct.NVIC_IRQChannelPreemptionPriority = 1;
NVIC_InitStruct.NVIC_IRQChannelSubPriority = 0;
NVIC_Init(&NVIC_InitStruct);
}
#endif
}
break;
case RT_CAN_CMD_SET_FILTER:
if (RT_NULL == arg)
{
/* default filter config */
CAN_FilterInit(can_instance->CanConfig.Instance, &can_instance->CanConfig.FilterConfig);
}
else
{
filter_cfg = (struct rt_can_filter_config *)arg;
/* get default filter */
for (int i = 0; i < filter_cfg->count; i++)
{
can_instance->CanConfig.FilterConfig.CAN_FilterNumber = filter_cfg->items[i].hdr & (0x1fU);
can_instance->CanConfig.FilterConfig.CAN_FilterIdHigh = (filter_cfg->items[i].id >> 13) & 0xFFFF;
can_instance->CanConfig.FilterConfig.CAN_FilterIdLow = ((filter_cfg->items[i].id << 3) |
(filter_cfg->items[i].ide << 2) |
(filter_cfg->items[i].rtr << 1)) & 0xFFFF;
can_instance->CanConfig.FilterConfig.CAN_FilterMskIdHigh = (filter_cfg->items[i].mask >> 16) & 0xFFFF;
can_instance->CanConfig.FilterConfig.CAN_FilterMskIdLow = filter_cfg->items[i].mask & 0xFFFF;
can_instance->CanConfig.FilterConfig.CAN_FilterMode = filter_cfg->items[i].mode;
/* Filter conf */
CAN_FilterInit(can_instance->CanConfig.Instance, &can_instance->CanConfig.FilterConfig);
}
}
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 != can_instance->device.config.mode)
{
can_instance->device.config.mode = argval;
return _can_config(&can_instance->device, &can_instance->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 != can_instance->device.config.baud_rate)
{
can_instance->device.config.baud_rate = argval;
return _can_config(&can_instance->device, &can_instance->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 != can_instance->device.config.privmode)
{
can_instance->device.config.privmode = argval;
return _can_config(&can_instance->device, &can_instance->device.config);
}
break;
case RT_CAN_CMD_GET_STATUS:
{
rt_uint32_t errtype;
errtype = can_instance->CanConfig.Instance->ESTS;
can_instance->device.status.rcverrcnt = errtype >> 24;
can_instance->device.status.snderrcnt = (errtype >> 16 & 0xFF);
can_instance->device.status.lasterrtype = errtype & 0x70;
can_instance->device.status.errcode = errtype & 0x07;
rt_memcpy(arg, &can_instance->device.status, sizeof(can_instance->device.status));
}
break;
}
return RT_EOK;
}
static int _can_sendmsg(struct rt_can_device *can, const void *buf, rt_uint32_t box_num)
{
struct CAN_Handler *hcan;
hcan = &((struct at32_can *) can->parent.user_data)->CanConfig;
struct rt_can_msg *pmsg = (struct rt_can_msg *) buf;
CanTxMsg TxMessage;
rt_uint32_t i;
/* Check the parameters */
RT_ASSERT(IS_CAN_DLC(pmsg->len));
/*check select mailbox is empty */
switch (1 << box_num)
{
case CAN_TX_MAILBOX0:
if ((hcan->Instance->TSTS & CAN_TSTS_TSME0) != CAN_TSTS_TSME0)
{
/* Return function status */
return -RT_ERROR;
}
break;
case CAN_TX_MAILBOX1:
if ((hcan->Instance->TSTS & CAN_TSTS_TSME1) != CAN_TSTS_TSME1)
{
/* Return function status */
return -RT_ERROR;
}
break;
case CAN_TX_MAILBOX2:
if ((hcan->Instance->TSTS & CAN_TSTS_TSME2) != CAN_TSTS_TSME2)
{
/* Return function status */
return -RT_ERROR;
}
break;
default:
RT_ASSERT(0);
break;
}
if (RT_CAN_STDID == pmsg->ide)
{
TxMessage.IDT = CAN_ID_STD;
RT_ASSERT(IS_CAN_STDID(pmsg->id));
TxMessage.StdId = pmsg->id;
}
else
{
TxMessage.IDT = CAN_ID_EXT;
RT_ASSERT(IS_CAN_EXTID(pmsg->id));
TxMessage.ExtId = pmsg->id;
}
if (RT_CAN_DTR == pmsg->rtr)
{
TxMessage.RTR = CAN_RTR_DATA;
}
else
{
TxMessage.RTR = CAN_RTR_REMOTE;
}
/* Set up the DLC */
TxMessage.DLC = pmsg->len & 0x0FU;
/* Set up the data field */
TxMessage.Data[0] = (uint32_t)pmsg->data[0];
TxMessage.Data[1] = (uint32_t)pmsg->data[1];
TxMessage.Data[2] = (uint32_t)pmsg->data[2];
TxMessage.Data[3] = (uint32_t)pmsg->data[3];
TxMessage.Data[4] = (uint32_t)pmsg->data[4];
TxMessage.Data[5] = (uint32_t)pmsg->data[5];
TxMessage.Data[6] = (uint32_t)pmsg->data[6];
TxMessage.Data[7] = (uint32_t)pmsg->data[7];
CAN_Transmit(hcan->Instance, &TxMessage);
while((CAN_TransmitStatus(hcan->Instance, box_num) != CANTXOK) && (i != 0xFFFF))
{
i++;
}
return RT_EOK;
}
static int _can_recvmsg(struct rt_can_device *can, void *buf, rt_uint32_t fifo)
{
struct CAN_Handler *hcan;
hcan = &((struct at32_can *) can->parent.user_data)->CanConfig;
struct rt_can_msg *pmsg = (struct rt_can_msg *) buf;
CanRxMsg RxMessage;
RT_ASSERT(can);
/* get data */
CAN_Receive(hcan->Instance, fifo, &RxMessage);
pmsg->data[0] = RxMessage.Data[0];
pmsg->data[1] = RxMessage.Data[1];
pmsg->data[2] = RxMessage.Data[2];
pmsg->data[3] = RxMessage.Data[3];
pmsg->data[4] = RxMessage.Data[4];
pmsg->data[5] = RxMessage.Data[5];
pmsg->data[6] = RxMessage.Data[6];
pmsg->data[7] = RxMessage.Data[7];
pmsg->len = RxMessage.DLC;
pmsg->id = RxMessage.IDT;
if (RxMessage.IDT == CAN_ID_STD)
pmsg->id = RxMessage.StdId;
else
pmsg->ide = RxMessage.ExtId;
pmsg->rtr = RxMessage.RTR;
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)
{
struct CAN_Handler *hcan;
RT_ASSERT(can);
hcan = &((struct at32_can *) can->parent.user_data)->CanConfig;
switch (fifo)
{
case CAN_FIFO0:
/* save to user list */
if (CAN_MessagePending(hcan->Instance, CAN_FIFO0) && CAN_GetINTStatus(hcan->Instance, CAN_INT_RFP0))
{
rt_hw_can_isr(can, RT_CAN_EVENT_RX_IND | fifo << 8);
}
/* Check FULL flag for FIFO0 */
if (CAN_GetFlagStatus(hcan->Instance, CAN_FLAG_RFFU0) && CAN_GetINTStatus(hcan->Instance, CAN_INT_RFFU0))
{
/* Clear FIFO0 FULL Flag */
CAN_ClearFlag(hcan->Instance, CAN_FLAG_RFFU0);
}
/* Check Overrun flag for FIFO0 */
if (CAN_GetFlagStatus(hcan->Instance, CAN_FLAG_RFOV0) && CAN_GetINTStatus(hcan->Instance, CAN_INT_RFOV0))
{
/* Clear FIFO0 Overrun Flag */
CAN_ClearFlag(hcan->Instance, CAN_FLAG_RFOV0);
rt_hw_can_isr(can, RT_CAN_EVENT_RXOF_IND | fifo << 8);
}
break;
case CAN_FIFO1:
/* save to user list */
if (CAN_MessagePending(hcan->Instance, CAN_FIFO1) && CAN_GetINTStatus(hcan->Instance, CAN_INT_RFP1))
{
rt_hw_can_isr(can, RT_CAN_EVENT_RX_IND | fifo << 8);
}
/* Check FULL flag for FIFO1 */
if (CAN_GetFlagStatus(hcan->Instance, CAN_FLAG_RFFU1) && CAN_GetINTStatus(hcan->Instance, CAN_INT_RFFU1))
{
/* Clear FIFO1 FULL Flag */
CAN_ClearFlag(hcan->Instance, CAN_FLAG_RFFU1);
}
/* Check Overrun flag for FIFO1 */
if (CAN_GetFlagStatus(hcan->Instance, CAN_FLAG_RFOV1) && CAN_GetINTStatus(hcan->Instance, CAN_INT_RFOV1))
{
/* Clear FIFO1 Overrun Flag */
CAN_ClearFlag(hcan->Instance, CAN_FLAG_RFOV1);
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
*/
void USB_HP_CAN1_TX_IRQHandler(void)
{
rt_interrupt_enter();
struct CAN_Handler *hcan;
hcan = &can_instance1.CanConfig;
if (CAN_GetFlagStatus(hcan->Instance, CAN_FLAG_RQCP0))
{
if ((hcan->Instance->TSTS & CAN_TSTS_TOK0) == CAN_TSTS_TOK0)
{
rt_hw_can_isr(&can_instance1.device, RT_CAN_EVENT_TX_DONE | 0 << 8);
}
else
{
rt_hw_can_isr(&can_instance1.device, RT_CAN_EVENT_TX_FAIL | 0 << 8);
}
/* Write 0 to Clear transmission status flag RQCPx */
hcan->Instance->TSTS |= CAN_TSTS_RQC0;
}
else if (CAN_GetFlagStatus(hcan->Instance, CAN_FLAG_RQCP1))
{
if ((hcan->Instance->TSTS & CAN_TSTS_TOK1) == CAN_TSTS_TOK1)
{
rt_hw_can_isr(&can_instance1.device, RT_CAN_EVENT_TX_DONE | 1 << 8);
}
else
{
rt_hw_can_isr(&can_instance1.device, RT_CAN_EVENT_TX_FAIL | 1 << 8);
}
/* Write 0 to Clear transmission status flag RQCPx */
hcan->Instance->TSTS |= CAN_TSTS_RQC1;
}
else if (CAN_GetFlagStatus(hcan->Instance, CAN_FLAG_RQCP2))
{
if ((hcan->Instance->TSTS & CAN_TSTS_TOK2) == CAN_TSTS_TOK2)
{
rt_hw_can_isr(&can_instance1.device, RT_CAN_EVENT_TX_DONE | 2 << 8);
}
else
{
rt_hw_can_isr(&can_instance1.device, RT_CAN_EVENT_TX_FAIL | 2 << 8);
}
/* Write 0 to Clear transmission status flag RQCPx */
hcan->Instance->TSTS |= CAN_TSTS_RQC2;
}
rt_interrupt_leave();
}
/**
* @brief This function handles CAN1 RX0 interrupts.
*/
void USB_LP_CAN1_RX0_IRQHandler(void)
{
rt_interrupt_enter();
_can_rx_isr(&can_instance1.device, CAN_FIFO0);
rt_interrupt_leave();
}
/**
* @brief This function handles CAN1 RX1 interrupts.
*/
void CAN1_RX1_IRQHandler(void)
{
rt_interrupt_enter();
_can_rx_isr(&can_instance1.device, CAN_FIFO1);
rt_interrupt_leave();
}
/**
* @brief This function handles CAN1 SCE interrupts.
*/
void CAN1_SCE_IRQHandler(void)
{
rt_uint32_t errtype;
struct CAN_Handler *hcan;
hcan = &can_instance1.CanConfig;
errtype = hcan->Instance->ESTS;
rt_interrupt_enter();
switch ((errtype & 0x70) >> 4)
{
case RT_CAN_BUS_BIT_PAD_ERR:
can_instance1.device.status.bitpaderrcnt++;
break;
case RT_CAN_BUS_FORMAT_ERR:
can_instance1.device.status.formaterrcnt++;
break;
case RT_CAN_BUS_ACK_ERR:/* attention !!! test ack err's unit is transmit unit */
can_instance1.device.status.ackerrcnt++;
if (!(can_instance1.CanConfig.Instance->TSTS & CAN_TSTS_TOK0))
rt_hw_can_isr(&can_instance1.device, RT_CAN_EVENT_TX_FAIL | 0 << 8);
else if (!(can_instance1.CanConfig.Instance->TSTS & CAN_TSTS_TOK0))
rt_hw_can_isr(&can_instance1.device, RT_CAN_EVENT_TX_FAIL | 1 << 8);
else if (!(can_instance1.CanConfig.Instance->TSTS & CAN_TSTS_TOK0))
rt_hw_can_isr(&can_instance1.device, RT_CAN_EVENT_TX_FAIL | 2 << 8);
break;
case RT_CAN_BUS_IMPLICIT_BIT_ERR:
case RT_CAN_BUS_EXPLICIT_BIT_ERR:
can_instance1.device.status.biterrcnt++;
break;
case RT_CAN_BUS_CRC_ERR:
can_instance1.device.status.crcerrcnt++;
break;
}
can_instance1.device.status.lasterrtype = errtype & 0x70;
can_instance1.device.status.rcverrcnt = errtype >> 24;
can_instance1.device.status.snderrcnt = (errtype >> 16 & 0xFF);
can_instance1.device.status.errcode = errtype & 0x07;
hcan->Instance->MSTS |= CAN_MSTS_ERIT;
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();
struct CAN_Handler *hcan;
hcan = &can_instance2.CanConfig;
if (CAN_GetFlagStatus(hcan->Instance, CAN_FLAG_RQCP0))
{
if ((hcan->Instance->TSTS & CAN_TSTS_TOK0) == CAN_TSTS_TOK0)
{
rt_hw_can_isr(&can_instance2.device, RT_CAN_EVENT_TX_DONE | 0 << 8);
}
else
{
rt_hw_can_isr(&can_instance2.device, RT_CAN_EVENT_TX_FAIL | 0 << 8);
}
/* Write 0 to Clear transmission status flag RQCPx */
hcan->Instance->TSTS |= CAN_TSTS_RQC0;
}
else if (CAN_GetFlagStatus(hcan->Instance, CAN_FLAG_RQCP1))
{
if ((hcan->Instance->TSTS & CAN_TSTS_TOK1) == CAN_TSTS_TOK1)
{
rt_hw_can_isr(&can_instance2.device, RT_CAN_EVENT_TX_DONE | 1 << 8);
}
else
{
rt_hw_can_isr(&can_instance2.device, RT_CAN_EVENT_TX_FAIL | 1 << 8);
}
/* Write 0 to Clear transmission status flag RQCPx */
hcan->Instance->TSTS |= CAN_TSTS_RQC1;
}
else if (CAN_GetFlagStatus(hcan->Instance, CAN_FLAG_RQCP2))
{
if ((hcan->Instance->TSTS & CAN_TSTS_TOK2) == CAN_TSTS_TOK2)
{
rt_hw_can_isr(&can_instance2.device, RT_CAN_EVENT_TX_DONE | 2 << 8);
}
else
{
rt_hw_can_isr(&can_instance2.device, RT_CAN_EVENT_TX_FAIL | 2 << 8);
}
/* Write 0 to Clear transmission status flag RQCPx */
hcan->Instance->TSTS |= CAN_TSTS_RQC2;
}
rt_interrupt_leave();
}
/**
* @brief This function handles CAN2 RX0 interrupts.
*/
void CAN2_RX0_IRQHandler(void)
{
rt_interrupt_enter();
_can_rx_isr(&can_instance2.device, CAN_FIFO0);
rt_interrupt_leave();
}
/**
* @brief This function handles CAN2 RX1 interrupts.
*/
void CAN2_RX1_IRQHandler(void)
{
rt_interrupt_enter();
_can_rx_isr(&can_instance2.device, CAN_FIFO1);
rt_interrupt_leave();
}
/**
* @brief This function handles CAN2 SCE interrupts.
*/
void CAN2_SCE_IRQHandler(void)
{
rt_uint32_t errtype;
struct CAN_Handler *hcan;
hcan = &can_instance2.CanConfig;
errtype = hcan->Instance->ESTS;
rt_interrupt_enter();
switch ((errtype & 0x70) >> 4)
{
case RT_CAN_BUS_BIT_PAD_ERR:
can_instance2.device.status.bitpaderrcnt++;
break;
case RT_CAN_BUS_FORMAT_ERR:
can_instance2.device.status.formaterrcnt++;
break;
case RT_CAN_BUS_ACK_ERR:
can_instance2.device.status.ackerrcnt++;
if (!(can_instance1.CanConfig.Instance->TSTS & CAN_TSTS_TOK0))
rt_hw_can_isr(&can_instance2.device, RT_CAN_EVENT_TX_FAIL | 0 << 8);
else if (!(can_instance2.CanConfig.Instance->TSTS & CAN_TSTS_TOK0))
rt_hw_can_isr(&can_instance2.device, RT_CAN_EVENT_TX_FAIL | 1 << 8);
else if (!(can_instance2.CanConfig.Instance->TSTS & CAN_TSTS_TOK0))
rt_hw_can_isr(&can_instance2.device, RT_CAN_EVENT_TX_FAIL | 2 << 8);
break;
case RT_CAN_BUS_IMPLICIT_BIT_ERR:
case RT_CAN_BUS_EXPLICIT_BIT_ERR:
can_instance2.device.status.biterrcnt++;
break;
case RT_CAN_BUS_CRC_ERR:
can_instance2.device.status.crcerrcnt++;
break;
}
can_instance2.device.status.lasterrtype = errtype & 0x70;
can_instance2.device.status.rcverrcnt = errtype >> 24;
can_instance2.device.status.snderrcnt = (errtype >> 16 & 0xFF);
can_instance2.device.status.errcode = errtype & 0x07;
hcan->Instance->MSTS |= CAN_MSTS_ERIT;
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(struct CAN_Handler *hcan)
{
CAN_INTConfig(hcan->Instance, CAN_INT_TSME |
CAN_INT_RFP0 |
CAN_INT_RFFU0 |
CAN_INT_RFOV0 |
CAN_INT_RFP1 |
CAN_INT_RFFU1 |
CAN_INT_RFOV1 |
CAN_INT_ERG |
CAN_INT_ERP |
CAN_INT_LEC |
CAN_INT_ERR |
CAN_INT_WK, ENABLE);
}
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;
#endif
/* config default filter */
CAN_FilterInitType filterConf = {0};
filterConf.CAN_FilterIdHigh = 0x0000;
filterConf.CAN_FilterIdLow = 0x0000;
filterConf.CAN_FilterMskIdHigh = 0x0000;
filterConf.CAN_FilterMskIdLow = 0x0000;
filterConf.CAN_FilterFIFOAssignment = CAN_Filter_FIFO0;
filterConf.CAN_FilterNumber = 0;
filterConf.CAN_FilterMode = CAN_FilterMode_IdMask;
filterConf.CAN_FilterScale = CAN_FilterScale_32bit;
filterConf.CAN_FilterActivation = ENABLE;
#ifdef BSP_USING_CAN1
filterConf.CAN_FilterNumber = 0;
can_instance1.CanConfig.FilterConfig = filterConf;
can_instance1.device.config = config;
/* register CAN1 device */
rt_hw_can_register(&can_instance1.device,
can_instance1.name,
&_can_ops,
&can_instance1);
#endif /* BSP_USING_CAN1 */
#ifdef BSP_USING_CAN2
filterConf.CAN_FilterNumber = 0;
can_instance2.CanConfig.FilterConfig = filterConf;
can_instance2.device.config = config;
/* register CAN2 device */
rt_hw_can_register(&can_instance2.device,
can_instance2.name,
&_can_ops,
&can_instance2);
#endif /* BSP_USING_CAN2 */
return 0;
}
INIT_BOARD_EXPORT(rt_hw_can_init);
#endif /* BSP_USING_CAN */
/************************** end of file ******************/
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