291 lines
8.2 KiB
C
291 lines
8.2 KiB
C
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/*
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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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* 2020-07-06 thread-liu first version
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*/
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#include "board.h"
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#if defined(BSP_USING_FDCAN1) || defined(BSP_USING_FDCAN2)
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#include "drv_fdcan.h"
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//#define DRV_DEBUG
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#define LOG_TAG "drv.fdcan"
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#include <drv_log.h>
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struct stm32_fdcan
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{
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struct rt_device dev;
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FDCAN_HandleTypeDef fdcan;
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FDCAN_FilterTypeDef filter;
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FDCAN_TxHeaderTypeDef tx_config;
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FDCAN_RxHeaderTypeDef rx_config;
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volatile rt_uint8_t fifo0;
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volatile rt_uint8_t fifo1;
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};
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static struct stm32_fdcan rt_fdcan = {0};
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static rt_err_t rt_fdcan_init(rt_device_t dev)
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{
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RT_ASSERT(dev != RT_NULL);
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struct stm32_fdcan *device = (struct stm32_fdcan *)dev;
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device->fdcan.Instance = FDCAN1;
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device->fdcan.Init.FrameFormat = FDCAN_FRAME_CLASSIC;
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device->fdcan.Init.Mode = FDCAN_MODE_INTERNAL_LOOPBACK;
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device->fdcan.Init.AutoRetransmission = ENABLE;
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device->fdcan.Init.TransmitPause = DISABLE;
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device->fdcan.Init.ProtocolException = ENABLE;
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device->fdcan.Init.NominalPrescaler = 0x01; /* tq = NominalPrescaler x (1/fdcan_ker_ck) */
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device->fdcan.Init.NominalSyncJumpWidth = 0x08;
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device->fdcan.Init.DataPrescaler = 0x01;
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device->fdcan.Init.DataSyncJumpWidth = 0x04;
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device->fdcan.Init.DataTimeSeg1 = 0x05; /* DataTimeSeg1 = Propagation_segment + Phase_segment_1 */
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device->fdcan.Init.DataTimeSeg2 = 0x04;
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device->fdcan.Init.NominalTimeSeg1 = 0x1F; /* NominalTimeSeg1 = Propagation_segment + Phase_segment_1 */
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device->fdcan.Init.NominalTimeSeg2 = 0x08;
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device->fdcan.Init.MessageRAMOffset = 0x00;
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device->fdcan.Init.StdFiltersNbr = 0x01;
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device->fdcan.Init.ExtFiltersNbr = 0x01;
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device->fdcan.Init.RxFifo0ElmtsNbr = 0x01;
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device->fdcan.Init.RxFifo0ElmtSize = FDCAN_DATA_BYTES_8;
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device->fdcan.Init.RxFifo1ElmtsNbr = 0x02;
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device->fdcan.Init.RxFifo1ElmtSize = FDCAN_DATA_BYTES_8;
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device->fdcan.Init.RxBuffersNbr = 0x00;
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device->fdcan.Init.TxEventsNbr = 0x00;
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device->fdcan.Init.TxBuffersNbr = 0x00;
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device->fdcan.Init.TxFifoQueueElmtsNbr = 0x01;
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device->fdcan.Init.TxFifoQueueMode = FDCAN_TX_FIFO_OPERATION;
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device->fdcan.Init.TxElmtSize = FDCAN_DATA_BYTES_8;
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if (HAL_FDCAN_Init(&device->fdcan) != HAL_OK)
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{
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return RT_ERROR;
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}
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device->filter.IdType = FDCAN_EXTENDED_ID;
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device->filter.FilterIndex = 0;
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device->filter.FilterType = FDCAN_FILTER_MASK;
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device->filter.FilterConfig = FDCAN_FILTER_TO_RXFIFO0;
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device->filter.FilterID1 = 0x1111111;
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device->filter.FilterID2 = 0x2222222;
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if (HAL_FDCAN_ConfigFilter(&device->fdcan, &device->filter)!=HAL_OK)
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{
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return RT_ERROR;
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}
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HAL_FDCAN_Start(&device->fdcan);
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HAL_FDCAN_ActivateNotification(&device->fdcan, FDCAN_IT_RX_FIFO0_NEW_MESSAGE, 0); /* open rx fifo0 new message it */
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device->fifo0 = RESET;
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device->fifo1 = RESET;
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return RT_EOK;
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}
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static rt_err_t rt_fdcan_open(rt_device_t dev, rt_uint16_t oflag)
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{
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RT_ASSERT(dev != RT_NULL);
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return RT_EOK;
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}
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static rt_err_t rt_fdcan_close(rt_device_t dev)
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{
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RT_ASSERT(dev != RT_NULL);
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return RT_EOK;
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}
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static rt_err_t rt_fdcan_control(rt_device_t dev, int cmd, void *args)
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{
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RT_ASSERT(dev != RT_NULL);
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struct stm32_fdcan *device = (struct stm32_fdcan *)dev;
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switch (cmd)
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{
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case FDCAN_MODE_NORMAL:
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device->fdcan.Init.Mode = FDCAN_MODE_NORMAL;
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break;
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case FDCAN_MODE_INTERNAL_LOOPBACK:
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device->fdcan.Init.Mode = FDCAN_MODE_INTERNAL_LOOPBACK;
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break;
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default:
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break;
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}
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HAL_FDCAN_Init(&device->fdcan);
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return RT_EOK;
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}
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static rt_size_t rt_fdcan_read(rt_device_t dev, rt_off_t pos, void *buffer, rt_size_t size)
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{
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RT_ASSERT(dev != RT_NULL);
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struct stm32_fdcan *device = (struct stm32_fdcan *)dev;
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if (rt_fdcan.fifo0 == SET)
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{
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rt_fdcan.fifo0 = RESET;
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if (HAL_FDCAN_GetRxMessage(&device->fdcan, FDCAN_RX_FIFO0, &device->rx_config, (uint8_t *)buffer) != HAL_OK)
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{
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LOG_E("get msg error from fdcan fifo0!");
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return 0;
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}
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return device->rx_config.DataLength >> 16;
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}
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if (rt_fdcan.fifo1 == SET)
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{
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rt_fdcan.fifo0 = RESET;
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if (HAL_FDCAN_GetRxMessage(&device->fdcan, FDCAN_RX_FIFO1, &device->rx_config, (uint8_t *)buffer) != HAL_OK)
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{
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LOG_E("get msg error from fdcan fifo1!");
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return 0;
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}
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return device->rx_config.DataLength >> 16;
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}
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return 0;
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}
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static rt_size_t rt_fdcan_write(rt_device_t dev, rt_off_t pos, const void *buffer, rt_size_t size)
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{
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RT_ASSERT(dev != RT_NULL);
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struct stm32_fdcan *device = (struct stm32_fdcan *)dev;
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device->tx_config.Identifier = 0x1111112;
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device->tx_config.IdType = FDCAN_EXTENDED_ID;
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device->tx_config.TxFrameType = FDCAN_DATA_FRAME;
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device->tx_config.DataLength = FDCAN_DLC_BYTES_8;
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device->tx_config.ErrorStateIndicator = FDCAN_ESI_ACTIVE;
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device->tx_config.BitRateSwitch = FDCAN_BRS_OFF;
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device->tx_config.FDFormat = FDCAN_CLASSIC_CAN;
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device->tx_config.TxEventFifoControl = FDCAN_NO_TX_EVENTS;
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device->tx_config.MessageMarker = 0xCC;
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if (HAL_FDCAN_AddMessageToTxFifoQ(&device->fdcan, &device->tx_config, (uint8_t *)buffer) != HAL_OK)
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{
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return RT_ERROR;
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}
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return RT_EOK;
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}
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void FDCAN1_IT0_IRQHandler(void)
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{
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/* enter interrupt */
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rt_interrupt_enter();
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HAL_FDCAN_IRQHandler(&rt_fdcan.fdcan);
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/* leave interrupt */
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rt_interrupt_leave();
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}
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void FDCAN1_IT1_IRQHandler(void)
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{
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/* enter interrupt */
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rt_interrupt_enter();
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HAL_FDCAN_IRQHandler(&rt_fdcan.fdcan);
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/* leave interrupt */
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rt_interrupt_leave();
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}
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void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo0ITs)
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{
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if (hfdcan->Instance == FDCAN1)
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{
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if ((RxFifo0ITs & FDCAN_IT_RX_FIFO0_NEW_MESSAGE) != RESET)
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{
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rt_fdcan.fifo0 = SET;
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HAL_FDCAN_ActivateNotification(hfdcan, FDCAN_IT_RX_FIFO0_NEW_MESSAGE, 0);
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}
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}
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}
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void HAL_FDCAN_RxFifo1Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo1ITs)
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{
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if ((RxFifo1ITs & FDCAN_IT_RX_FIFO1_NEW_MESSAGE) != RESET)
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{
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rt_fdcan.fifo1 = SET;
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HAL_FDCAN_ActivateNotification(hfdcan, FDCAN_IT_RX_FIFO1_NEW_MESSAGE, 0);
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}
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}
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int fdcan_init(void)
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{
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rt_fdcan.dev.type = RT_Device_Class_CAN;
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rt_fdcan.dev.init = rt_fdcan_init;
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rt_fdcan.dev.open = rt_fdcan_open;
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rt_fdcan.dev.close = rt_fdcan_close;
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rt_fdcan.dev.read = rt_fdcan_read;
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rt_fdcan.dev.write = rt_fdcan_write;
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rt_fdcan.dev.control = rt_fdcan_control;
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rt_fdcan.dev.user_data = RT_NULL;
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rt_device_register(&rt_fdcan.dev, "fdcan1", RT_DEVICE_FLAG_RDWR | RT_DEVICE_FLAG_REMOVABLE | RT_DEVICE_FLAG_STANDALONE);
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LOG_I("fdcan1 init success!");
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return RT_EOK;
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}
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INIT_DEVICE_EXPORT(fdcan_init);
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#ifdef FINSH_USING_MSH
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#include <finsh.h>
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int fdcan_sample(int argc, char **argv)
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{
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rt_err_t result = RT_EOK;
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rt_uint8_t i, rx_buf[8], tx_buf[8];
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struct rt_device *dev = RT_NULL;
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if (argc != 9)
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{
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rt_kprintf("Usage:\n");
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rt_kprintf("fdcan_sample 1 2 3 4 5 6 7 8\n");
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return -1;
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}
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for (i = 0; i < 8; i++)
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{
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tx_buf[i] = atoi(argv[i+1]);
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}
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dev = rt_device_find("fdcan1");
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if (dev == RT_NULL)
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{
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rt_kprintf("can't find fdcan1 device!\n");
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return RT_ERROR;
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}
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rt_device_open(dev, RT_DEVICE_OFLAG_RDWR);
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rt_device_write(dev, 0, tx_buf, 8);
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rt_thread_delay(1);
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rt_device_read(dev, 0, rx_buf, 8);
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rt_kprintf("fdcan1 loopback test over, rbuf = ");
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for (i = 0; i < 8; i++)
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{
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rt_kprintf(" %x ", rx_buf[i]);
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}
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rt_kprintf("\n");
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return result;
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}
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MSH_CMD_EXPORT(fdcan_sample, fdcan loopback mode test);
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#endif
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#endif
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