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rt-thread/bsp/essemi/es32f0654/drivers/drv_can.c

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[bsp]1.update es32f0654 libraries. 2.adapt to the new power management interface. 3.rename es32f0654 folder to essemi_es32f0654 folder. 4.add can driver.
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/*
* Copyright (C) 2018 Shanghai Eastsoft Microelectronics Co., Ltd.
*
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* SPDX-License-Identifier: Apache-2.0
*
* Licensed under the Apache License, Version 2.0 (the License); you may
* not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an AS IS BASIS, WITHOUT
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
[bsp]1.update es32f0654 libraries. 2.adapt to the new power management interface. 3.rename es32f0654 folder to essemi_es32f0654 folder. 4.add can driver.
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*
* Change Logs:
* Date Author Notes
增加了许可证说明和bsp配置的接口，优化了驱动及用例。
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* 2019-11-09 wangyq the first version
* 2021-04-20 liuhy the second version
[bsp]1.update es32f0654 libraries. 2.adapt to the new power management interface. 3.rename es32f0654 folder to essemi_es32f0654 folder. 4.add can driver.
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*/
#include "drv_can.h"
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#ifdef RT_USING_CAN
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static struct es32f0_can can;
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static rt_uint32_t get_can_baud_index(rt_uint32_t baud,can_init_t * init)
{
/* attention !!! baud calculation example: Pclk / ((1 + seg1 + seg2) * psc) Pclk=48 / ((1 + seg1=3 + seg2=2) * 8) = 1MHz */
double target,temp,min;
uint32_t i,j,j_max,near = 0;
target = (double)(ald_cmu_get_pclk1_clock());
target/= baud; /*<2A><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>1*/
min = 0xFFFFFFFF;
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; /*<2A><>С<EFBFBD><D0A1>Χ*/
j_max = (j_max > 1024) ? (1024) : (j_max);
for(j = target/i/1.02 ;j < j_max;j++)
{
temp = target/i/j; /*<2A><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>2*/
temp = (temp > 1) ? (temp - 1) : (1 - temp);
temp+= ((1.0 * i * j) / 0xFFFFFFFF) ;
if(temp < min)
{
if(temp > 0.000001)
{
near = (i<<16) + j;
min = temp;
}
else
{
init->seg1 = (can_seg1_t)((i - 1)*2/3-1);
init->seg2 = (can_seg2_t)(i - init->seg1 - 1 - 1 - 1);
init->psc = j;
return 0;
}
}
}
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}
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if(min < 0.01)
{
i = near>>16;
j = near % (1<<16);
init->seg1 = (can_seg1_t)((i - 1)*2/3-1);
init->seg2 = (can_seg2_t)(i - init->seg1 - 1 - 1 - 1);
init->psc = j;
return 0;
}
else
{
return 1;
}
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}
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static rt_err_t _can_config(struct rt_can_device *can_device, struct can_configure *cfg)
{
struct es32f0_can *drv_can;
RT_ASSERT(can_device);
RT_ASSERT(cfg);
drv_can = (struct es32f0_can *)can_device->parent.user_data;
RT_ASSERT(drv_can);
drv_can->CanHandle.perh = CAN0;
drv_can->CanHandle.init.ttcm = DISABLE;
drv_can->CanHandle.init.abom = ENABLE;
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;
drv_can->CanHandle.init.txmp = ENABLE;
switch (cfg->mode)
{
case RT_CAN_MODE_NORMAL:
drv_can->CanHandle.init.mode = CAN_MODE_NORMAL;
break;
case RT_CAN_MODE_LISEN:
drv_can->CanHandle.init.mode = CAN_MODE_SILENT;
break;
case RT_CAN_MODE_LOOPBACK:
drv_can->CanHandle.init.mode = CAN_MODE_LOOPBACK;
break;
case RT_CAN_MODE_LOOPBACKANLISEN:
drv_can->CanHandle.init.mode = CAN_MODE_SILENT_LOOPBACK;
break;
}
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/*<2A><><EFBFBD>ò<EFBFBD><C3B2><EFBFBD>*/
if(get_can_baud_index(cfg->baud_rate,&(drv_can->CanHandle.init)))
{
return -RT_ERROR;
}
drv_can->CanHandle.init.sjw = (can_sjw_t)(cfg->reserved);
/* init can */
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// baud_index = get_can_baud_index(cfg->baud_rate);
//drv_can->CanHandle.init.sjw = CAN_SJW_1;
// drv_can->CanHandle.init.seg1 = CAN_SEG1_3;
// drv_can->CanHandle.init.seg2 = CAN_SEG2_2;
// drv_can->CanHandle.init.psc = can_baud_rate_tab[baud_index].config_data;
[bsp]1.update es32f0654 libraries. 2.adapt to the new power management interface. 3.rename es32f0654 folder to essemi_es32f0654 folder. 4.add can driver.
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/* init can */
if (ald_can_init(&drv_can->CanHandle) != OK)
{
return -RT_ERROR;
}
/* default filter config */
ald_can_filter_config(&drv_can->CanHandle, &drv_can->FilterConfig);
return RT_EOK;
}
static rt_err_t _can_control(struct rt_can_device *can_device, int cmd, void *arg)
{
rt_uint32_t argval;
struct es32f0_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);
drv_can = (struct es32f0_can *)can_device->parent.user_data;
RT_ASSERT(drv_can != RT_NULL);
switch (cmd)
{
case RT_DEVICE_CTRL_CLR_INT:
argval = (rt_uint32_t) arg;
if (argval == RT_DEVICE_FLAG_INT_RX)
{
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ald_can_interrupt_config(&drv_can->CanHandle, CAN_IT_FP0, DISABLE);
ald_can_interrupt_config(&drv_can->CanHandle, CAN_IT_FF0, DISABLE);
ald_can_interrupt_config(&drv_can->CanHandle, CAN_IT_FOV0, DISABLE);
ald_can_interrupt_config(&drv_can->CanHandle, CAN_IT_FP1, DISABLE);
ald_can_interrupt_config(&drv_can->CanHandle, CAN_IT_FF1, DISABLE);
ald_can_interrupt_config(&drv_can->CanHandle, CAN_IT_FOV1, DISABLE);
[bsp]1.update es32f0654 libraries. 2.adapt to the new power management interface. 3.rename es32f0654 folder to essemi_es32f0654 folder. 4.add can driver.
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}
else if (argval == RT_DEVICE_FLAG_INT_TX)
{
ald_can_interrupt_config(&drv_can->CanHandle, CAN_IT_TXM, DISABLE);
}
else if (argval == RT_DEVICE_CAN_INT_ERR)
{
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ald_can_interrupt_config(&drv_can->CanHandle, CAN_IT_WARN, DISABLE);
ald_can_interrupt_config(&drv_can->CanHandle, CAN_IT_PERR, DISABLE);
ald_can_interrupt_config(&drv_can->CanHandle, CAN_IT_BOF, DISABLE);
ald_can_interrupt_config(&drv_can->CanHandle, CAN_IT_PRERR, DISABLE);
ald_can_interrupt_config(&drv_can->CanHandle, CAN_IT_ERR, DISABLE);
[bsp]1.update es32f0654 libraries. 2.adapt to the new power management interface. 3.rename es32f0654 folder to essemi_es32f0654 folder. 4.add can driver.
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}
break;
case RT_DEVICE_CTRL_SET_INT:
argval = (rt_uint32_t) arg;
if (argval == RT_DEVICE_FLAG_INT_RX)
{
NVIC_SetPriority(CAN0_IRQn, 1);
NVIC_EnableIRQ(CAN0_IRQn);
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ald_can_interrupt_config(&drv_can->CanHandle, CAN_IT_FP0, ENABLE);
ald_can_interrupt_config(&drv_can->CanHandle, CAN_IT_FF0, ENABLE);
ald_can_interrupt_config(&drv_can->CanHandle, CAN_IT_FOV0, ENABLE);
ald_can_interrupt_config(&drv_can->CanHandle, CAN_IT_FP1, ENABLE);
ald_can_interrupt_config(&drv_can->CanHandle, CAN_IT_FF1, ENABLE);
ald_can_interrupt_config(&drv_can->CanHandle, CAN_IT_FOV1, ENABLE);
[bsp]1.update es32f0654 libraries. 2.adapt to the new power management interface. 3.rename es32f0654 folder to essemi_es32f0654 folder. 4.add can driver.
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}
else if (argval == RT_DEVICE_FLAG_INT_TX)
{
NVIC_SetPriority(CAN0_IRQn, 1);
NVIC_EnableIRQ(CAN0_IRQn);
ald_can_interrupt_config(&drv_can->CanHandle, CAN_IT_TXM, ENABLE);
}
else if (argval == RT_DEVICE_CAN_INT_ERR)
{
NVIC_SetPriority(CAN0_IRQn, 1);
NVIC_EnableIRQ(CAN0_IRQn);
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ald_can_interrupt_config(&drv_can->CanHandle, CAN_IT_WARN, ENABLE);
ald_can_interrupt_config(&drv_can->CanHandle, CAN_IT_PERR, ENABLE);
ald_can_interrupt_config(&drv_can->CanHandle, CAN_IT_BOF, ENABLE);
ald_can_interrupt_config(&drv_can->CanHandle, CAN_IT_PRERR, ENABLE);
ald_can_interrupt_config(&drv_can->CanHandle, CAN_IT_ERR, ENABLE);
[bsp]1.update es32f0654 libraries. 2.adapt to the new power management interface. 3.rename es32f0654 folder to essemi_es32f0654 folder. 4.add can driver.
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}
break;
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#ifdef RT_CAN_USING_HDR
[bsp]1.update es32f0654 libraries. 2.adapt to the new power management interface. 3.rename es32f0654 folder to essemi_es32f0654 folder. 4.add can driver.
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case RT_CAN_CMD_SET_FILTER:
if (RT_NULL == arg)
{
/* default filter config */
ald_can_filter_config(&drv_can->CanHandle, &drv_can->FilterConfig);
}
else
{
filter_cfg = (struct rt_can_filter_config *)arg;
/* get default filter */
for (int i = 0; i < filter_cfg->count; i++)
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{
/*Ĭ<>Ϲ<EFBFBD><CFB9>˱<EFBFBD><CBB1>ж<EFBFBD>*/
if(filter_cfg->items[i].hdr < drv_can->device.config.maxhdr)
drv_can->FilterConfig.number = filter_cfg->items[i].hdr;
else
drv_can->FilterConfig.number = ES_C_CAN_DEFAULT_FILTER_NUMBER;
if(filter_cfg->items[i].mode)
{
/*<2A><>ʶ<EFBFBD><CAB6><EFBFBD>б<EFBFBD>ģʽ<C4A3><CABD> <20><><EFBFBD><EFBFBD>ƥ<EFBFBD><C6A5> <20><>idƥ<64><C6A5>Ϊ<EFBFBD><CEAA><EFBFBD><EFBFBD><EFBFBD>յ<EFBFBD>id = <20><><EFBFBD>õ<EFBFBD>id
<EFBFBD><EFBFBD><EFBFBD><EFBFBD> = <EFBFBD><EFBFBD><EFBFBD>õ<EFBFBD>mask <EFBFBD><EFBFBD>ͨ<EFBFBD><EFBFBD>*/
/*<2A><>չ֡*/
if(filter_cfg->items[i].ide)
{
// filter_cfg->items[i].id = filter_cfg->items[i].id ; /*id 29 λ*/
filter_cfg->items[i].mask = ((filter_cfg->items[i].mask << 3) |
(filter_cfg->items[i].ide << 2) |
(filter_cfg->items[i].rtr << 1));
}
else /*<2A><>׼֡*/
{
filter_cfg->items[i].id = (filter_cfg->items[i].id << 18);
filter_cfg->items[i].mask = ((filter_cfg->items[i].mask << 21) |
(filter_cfg->items[i].ide << 2) |
(filter_cfg->items[i].rtr << 1));
}
}
else
{
/*<2A><>ʶ<EFBFBD><CAB6><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģʽ*/
/*<2A><>չ֡*/
if(filter_cfg->items[i].ide)
{
filter_cfg->items[i].mask = (filter_cfg->items[i].mask)<<3;
}
else /*<2A><>׼֡*/
{
filter_cfg->items[i].id = (filter_cfg->items[i].id)<<18;
filter_cfg->items[i].mask = (filter_cfg->items[i].mask)<<21;
}
#if ES_C_CAN_FILTER_FRAME_TYPE
/*ƥ<><C6A5><EFBFBD><EFBFBD><EFBFBD><EFBFBD>*/
filter_cfg->items[i].mask |= 0x6;
#endif
}
[bsp]1.update es32f0654 libraries. 2.adapt to the new power management interface. 3.rename es32f0654 folder to essemi_es32f0654 folder. 4.add can driver.
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drv_can->FilterConfig.id_high = (filter_cfg->items[i].id >> 13) & 0xFFFF;
drv_can->FilterConfig.id_low = ((filter_cfg->items[i].id << 3) |
(filter_cfg->items[i].ide << 2) |
(filter_cfg->items[i].rtr << 1)) & 0xFFFF;
drv_can->FilterConfig.mask_id_high = (filter_cfg->items[i].mask >> 16) & 0xFFFF;
drv_can->FilterConfig.mask_id_low = filter_cfg->items[i].mask & 0xFFFF;
drv_can->FilterConfig.mode = (can_filter_mode_t)filter_cfg->items[i].mode;
/* Filter conf */
ald_can_filter_config(&drv_can->CanHandle, &drv_can->FilterConfig);
}
}
break;
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#endif
[bsp]1.update es32f0654 libraries. 2.adapt to the new power management interface. 3.rename es32f0654 folder to essemi_es32f0654 folder. 4.add can driver.
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case RT_CAN_CMD_SET_MODE:
argval = (rt_uint32_t) arg;
if (argval != RT_CAN_MODE_NORMAL &&
argval != RT_CAN_MODE_LISEN &&
argval != RT_CAN_MODE_LOOPBACK &&
argval != RT_CAN_MODE_LOOPBACKANLISEN)
{
return -RT_ERROR;
}
if (argval != drv_can->device.config.mode)
{
drv_can->device.config.mode = argval;
return _can_config(&drv_can->device, &drv_can->device.config);
}
break;
case RT_CAN_CMD_SET_BAUD:
argval = (rt_uint32_t) arg;
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[bsp]1.update es32f0654 libraries. 2.adapt to the new power management interface. 3.rename es32f0654 folder to essemi_es32f0654 folder. 4.add can driver.
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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.perh->ERRSTAT;
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_handle_t *h_can;
h_can = &((struct es32f0_can *) can->parent.user_data)->CanHandle;
struct rt_can_msg *pmsg = (struct rt_can_msg *) buf;
can_tx_msg_t txheader = {0};
can_state_t state = h_can->state;
/* Check the parameters */
RT_ASSERT(IS_CAN_DATA_LEN(pmsg->len));
if ((state == CAN_STATE_READY) ||
update libraries
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(state == CAN_STATE_BUSY_RX0))
[bsp]1.update es32f0654 libraries. 2.adapt to the new power management interface. 3.rename es32f0654 folder to essemi_es32f0654 folder. 4.add can driver.
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{
/*check select mailbox is empty */
switch (1 << box_num)
{
case CAN_TX_MAILBOX_0:
if (ald_can_get_flag_status(h_can, CAN_FLAG_TXM0) != SET)
{
/* Change CAN state */
h_can->state = CAN_STATE_ERROR;
/* Return function status */
return -RT_ERROR;
}
break;
case CAN_TX_MAILBOX_1:
if (ald_can_get_flag_status(h_can, CAN_FLAG_TXM1) != SET)
{
/* Change CAN state */
h_can->state = CAN_STATE_ERROR;
/* Return function status */
return -RT_ERROR;
}
break;
case CAN_TX_MAILBOX_2:
if (ald_can_get_flag_status(h_can, CAN_FLAG_TXM2) != SET)
{
/* Change CAN state */
h_can->state = CAN_STATE_ERROR;
/* Return function status */
return -RT_ERROR;
}
break;
default:
RT_ASSERT(0);
break;
}
if (RT_CAN_STDID == pmsg->ide)
{
txheader.type = CAN_ID_STD;
RT_ASSERT(IS_CAN_STDID(pmsg->id));
txheader.std = pmsg->id;
}
else
{
txheader.type = CAN_ID_EXT;
RT_ASSERT(IS_CAN_EXTID(pmsg->id));
txheader.ext = pmsg->id;
}
if (RT_CAN_DTR == pmsg->rtr)
{
txheader.rtr = CAN_RTR_DATA;
}
else
{
txheader.rtr = CAN_RTR_REMOTE;
}
/* clear TIR */
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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{
h_can->perh->TxMailBox[box_num].TXID |= (txheader.std << CAN_TXID0_STDID_POSS) | (txheader.rtr << CAN_TXID0_RTR_POS);
[bsp]1.update es32f0654 libraries. 2.adapt to the new power management interface. 3.rename es32f0654 folder to essemi_es32f0654 folder. 4.add can driver.
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}
else
{
update es32f0654 , es32f369x drivers.
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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);
[bsp]1.update es32f0654 libraries. 2.adapt to the new power management interface. 3.rename es32f0654 folder to essemi_es32f0654 folder. 4.add can driver.
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}
/* Set up the DLC */
h_can->perh->TxMailBox[box_num].TXFCON = pmsg->len & 0x0FU;
/* Set up the data field */
WRITE_REG(h_can->perh->TxMailBox[box_num].TXDH,
((uint32_t)pmsg->data[7] << CAN_TXDH0_BYTE7_POSS) |
((uint32_t)pmsg->data[6] << CAN_TXDH0_BYTE6_POSS) |
((uint32_t)pmsg->data[5] << CAN_TXDH0_BYTE5_POSS) |
((uint32_t)pmsg->data[4] << CAN_TXDH0_BYTE4_POSS));
WRITE_REG(h_can->perh->TxMailBox[box_num].TXDL,
((uint32_t)pmsg->data[3] << CAN_TXDL0_BYTE3_POSS) |
((uint32_t)pmsg->data[2] << CAN_TXDL0_BYTE2_POSS) |
((uint32_t)pmsg->data[1] << CAN_TXDL0_BYTE1_POSS) |
((uint32_t)pmsg->data[0] << CAN_TXDL0_BYTE0_POSS));
/* Request transmission */
SET_BIT(h_can->perh->TxMailBox[box_num].TXID, CAN_TXID0_TXMREQ_MSK);
return RT_EOK;
}
else
{
/* Update error code */
h_can->err |= 0x00040000U;
return -RT_ERROR;
}
}
static int _can_recvmsg(struct rt_can_device *can, void *buf, rt_uint32_t fifo)
{
can_handle_t *h_can;
struct rt_can_msg *pmsg;
can_rx_msg_t rxheader = {0};
RT_ASSERT(can);
h_can = &((struct es32f0_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 es32f0_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
{
增加了许可证说明和bsp配置的接口，优化了驱动及用例。
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if(CAN_RX_MSG_PENDING(h_can, CAN_RX_FIFO0) != 0)
{
[bsp]1.update es32f0654 libraries. 2.adapt to the new power management interface. 3.rename es32f0654 folder to essemi_es32f0654 folder. 4.add can driver.
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/* save to user list */
rt_hw_can_isr(can, RT_CAN_EVENT_RX_IND | fifo << 8);
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}
[bsp]1.update es32f0654 libraries. 2.adapt to the new power management interface. 3.rename es32f0654 folder to essemi_es32f0654 folder. 4.add can driver.
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/* 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
{
增加了许可证说明和bsp配置的接口，优化了驱动及用例。
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if(CAN_RX_MSG_PENDING(h_can, CAN_RX_FIFO1) != 0)
{
[bsp]1.update es32f0654 libraries. 2.adapt to the new power management interface. 3.rename es32f0654 folder to essemi_es32f0654 folder. 4.add can driver.
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/* save to user list */
rt_hw_can_isr(can, RT_CAN_EVENT_RX_IND | fifo << 8);
增加了许可证说明和bsp配置的接口，优化了驱动及用例。
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}
[bsp]1.update es32f0654 libraries. 2.adapt to the new power management interface. 3.rename es32f0654 folder to essemi_es32f0654 folder. 4.add can driver.
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/* Clear FIFO0 rx Flag */
SET_BIT(h_can->perh->RXF1, CAN_RXF1_FREE_MSK);
}
break;
}
}
/**
* @brief This function handles CAN interrupts.
*/
void CAN0_Handler(void)
{
rt_interrupt_enter();
rt_uint32_t errtype;
can_handle_t *h_can;
h_can = &can.CanHandle;
/* RX FIFO0 interrupt */
if ((ald_can_get_it_status(h_can, CAN_IT_FP0)) && (CAN_RX_MSG_PENDING(h_can, CAN_RX_FIFO0) != 0))
{
_can_rx_isr(&can.device, CAN_RX_FIFO0);
}
/* RX FIFO1 interrupt */
if ((ald_can_get_it_status(h_can, CAN_IT_FP1)) && (CAN_RX_MSG_PENDING(h_can, CAN_RX_FIFO1) != 0))
{
_can_rx_isr(&can.device, CAN_RX_FIFO1);
}
/* 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);
}
/* CAN error interrupt */
if (ald_can_get_flag_status(h_can, CAN_FLAG_ERR) && ald_can_get_it_status(h_can, CAN_IT_ERR))
{
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.odrv = GPIO_OUT_DRIVE_NORMAL;
h_gpio.flt = GPIO_FILTER_DISABLE;
h_gpio.type = GPIO_TYPE_TTL;
增加了许可证说明和bsp配置的接口，优化了驱动及用例。
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#if defined(ES_CAN0_RX_GPIO_FUNC)&&defined(ES_CAN0_RX_GPIO_PORT)&&defined(ES_CAN0_RX_GPIO_PIN)
[bsp]1.update es32f0654 libraries. 2.adapt to the new power management interface. 3.rename es32f0654 folder to essemi_es32f0654 folder. 4.add can driver.
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/* Initialize can rx pin */
增加了许可证说明和bsp配置的接口，优化了驱动及用例。
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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)
[bsp]1.update es32f0654 libraries. 2.adapt to the new power management interface. 3.rename es32f0654 folder to essemi_es32f0654 folder. 4.add can driver.
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/* Initialize can tx pin */
增加了许可证说明和bsp配置的接口，优化了驱动及用例。
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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
[bsp]1.update es32f0654 libraries. 2.adapt to the new power management interface. 3.rename es32f0654 folder to essemi_es32f0654 folder. 4.add can driver.
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/* 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;
增加了许可证说明和bsp配置的接口，优化了驱动及用例。
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filter.number = ES_C_CAN_DEFAULT_FILTER_NUMBER;
[bsp]1.update es32f0654 libraries. 2.adapt to the new power management interface. 3.rename es32f0654 folder to essemi_es32f0654 folder. 4.add can driver.
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filter.mode = CAN_FILTER_MODE_MASK;
filter.scale = CAN_FILTER_SCALE_32;
filter.active = ENABLE;
can.FilterConfig = filter;
增加了许可证说明和bsp配置的接口，优化了驱动及用例。
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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;
[bsp]1.update es32f0654 libraries. 2.adapt to the new power management interface. 3.rename es32f0654 folder to essemi_es32f0654 folder. 4.add can driver.
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/* register CAN1 device */
增加了许可证说明和bsp配置的接口，优化了驱动及用例。
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rt_hw_can_register(&can.device, ES_DEVICE_NAME_CAN0, &_can_ops, &can);
[bsp]1.update es32f0654 libraries. 2.adapt to the new power management interface. 3.rename es32f0654 folder to essemi_es32f0654 folder. 4.add can driver.
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return 0;
}
INIT_BOARD_EXPORT(rt_hw_can_init);
#endif /* BSP_USING_CAN */