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rt-thread/bsp/stm32f10x/drivers/bxcan.c

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/*
* File : bxcan.c
* This file is part of RT-Thread RTOS
* COPYRIGHT (C) 2015, RT-Thread Development Team
*
* The license and distribution terms for this file may be
* found in the file LICENSE in this distribution or at
* http://www.rt-thread.org/license/LICENSE
*
* Change Logs:
* Date Author Notes
* 2015-05-14 aubrcool@qq.com first version
*/
#include <rthw.h>
#include <rtdevice.h>
#include <board.h>
#include <bxcan.h>
#if (defined (STM32F10X_LD_VL)) || (defined (STM32F10X_MD_VL)) || (defined (STM32F10X_HD_VL))
#undef RT_USING_CAN
#endif
#ifdef RT_USING_CAN
#ifndef STM32F10X_CL
#define BX_CAN_FMRNUMBER 14
#define BX_CAN2_FMRSTART 7
#else
#define BX_CAN_FMRNUMBER 28
#define BX_CAN2_FMRSTART 14
#endif
#if (defined (STM32F10X_LD)) || (defined (STM32F10X_MD)) || (defined (STM32F10X_HD)) || (defined (STM32F10X_XL))
#undef USING_BXCAN2
#define CAN1_RX0_IRQn USB_LP_CAN1_RX0_IRQn
#define CAN1_TX_IRQn USB_HP_CAN1_TX_IRQn
#endif
#define BX_CAN_MAX_FILTERS (BX_CAN_FMRNUMBER * 4)
#define BX_CAN_MAX_FILTER_MASKS BX_CAN_MAX_FILTERS
#define BX_CAN_FILTER_MAX_ARRAY_SIZE ((BX_CAN_MAX_FILTERS + 32 - 1) / 32)
struct stm_bxcanfiltermap
{
rt_uint32_t id32mask_cnt;
rt_uint32_t id32bit_cnt;
rt_uint32_t id16mask_cnt;
rt_uint32_t id16bit_cnt;
};
struct stm_bxcanfilter_masks
{
rt_uint32_t id32maskm[BX_CAN_FILTER_MAX_ARRAY_SIZE];
rt_uint32_t id32bitm[BX_CAN_FILTER_MAX_ARRAY_SIZE];
rt_uint32_t id16maskm[BX_CAN_FILTER_MAX_ARRAY_SIZE];
rt_uint32_t id16bitm[BX_CAN_FILTER_MAX_ARRAY_SIZE];
rt_uint32_t id32maskshift[2];
rt_uint32_t id32bitshift[2];
rt_uint32_t id16maskshift[2];
rt_uint32_t id16bitshift[2];
};
struct stm_bxcan
{
CAN_TypeDef *reg;
void *mfrbase;
IRQn_Type sndirq;
IRQn_Type rcvirq0;
IRQn_Type rcvirq1;
IRQn_Type errirq;
struct stm_bxcanfilter_masks filtermask;
rt_uint32_t alocmask[BX_CAN_FILTER_MAX_ARRAY_SIZE];
const rt_uint32_t filtercnt;
const rt_uint32_t fifo1filteroff;
const struct stm_bxcanfiltermap filtermap[2];
};
struct stm_baud_rate_tab
{
rt_uint32_t baud_rate;
rt_uint32_t confdata;
};
static void calcfiltermasks(struct stm_bxcan *pbxcan);
static void bxcan1_filter_init(struct rt_can_device *can)
{
rt_uint32_t i;
rt_uint32_t mask;
struct stm_bxcan *pbxcan = (struct stm_bxcan *) can->parent.user_data;
for (i = 0; i < BX_CAN2_FMRSTART; i++)
{
CAN1->FMR |= FMR_FINIT;
mask = 0x01 << (i + 0);
if (i < pbxcan->fifo1filteroff)
{
if (pbxcan->filtermap[0].id32mask_cnt && i < pbxcan->filtermap[0].id32mask_cnt)
{
CAN1->FS1R |= mask;
CAN1->FM1R &= ~mask;
CAN1->FFA1R &= ~mask;
}
else if (pbxcan->filtermap[0].id32bit_cnt &&
i < pbxcan->filtermap[0].id32mask_cnt + pbxcan->filtermap[0].id32bit_cnt / 2)
{
CAN1->FS1R |= mask;
CAN1->FM1R |= mask;
CAN1->FFA1R &= ~mask;
}
else if (pbxcan->filtermap[0].id16mask_cnt &&
i < pbxcan->filtermap[0].id32mask_cnt + pbxcan->filtermap[0].id32bit_cnt / 2
+ pbxcan->filtermap[0].id16mask_cnt / 2)
{
CAN1->FS1R &= ~mask;
CAN1->FM1R &= ~mask;
CAN1->FFA1R &= ~mask;
}
else if (pbxcan->filtermap[0].id16bit_cnt &&
i < pbxcan->filtermap[0].id32mask_cnt + pbxcan->filtermap[0].id32bit_cnt / 2
+ pbxcan->filtermap[0].id16mask_cnt / 2 + pbxcan->filtermap[0].id16bit_cnt / 4
)
{
CAN1->FS1R &= ~mask;
CAN1->FM1R |= mask;
CAN1->FFA1R &= ~mask;
}
}
else
{
if (pbxcan->filtermap[1].id32mask_cnt &&
i < pbxcan->filtermap[1].id32mask_cnt + pbxcan->fifo1filteroff)
{
CAN1->FS1R |= mask;
CAN1->FM1R &= ~mask;
CAN1->FFA1R |= mask;
}
else if (pbxcan->filtermap[1].id32bit_cnt &&
i < pbxcan->filtermap[1].id32mask_cnt + pbxcan->filtermap[1].id32bit_cnt / 2
+ pbxcan->fifo1filteroff)
{
CAN1->FS1R |= mask;
CAN1->FM1R |= mask;
CAN1->FFA1R |= mask;
}
else if (pbxcan->filtermap[1].id16mask_cnt &&
i < pbxcan->filtermap[1].id32mask_cnt + pbxcan->filtermap[1].id32bit_cnt / 2
+ pbxcan->filtermap[1].id16mask_cnt / 2 + pbxcan->fifo1filteroff)
{
CAN1->FS1R &= ~mask;
CAN1->FM1R &= ~mask;
CAN1->FFA1R |= mask;
}
else if (pbxcan->filtermap[1].id16bit_cnt &&
i < pbxcan->filtermap[1].id32mask_cnt + pbxcan->filtermap[1].id32bit_cnt / 2
+ pbxcan->filtermap[1].id16mask_cnt / 2 + pbxcan->filtermap[1].id16bit_cnt / 4
+ pbxcan->fifo1filteroff)
{
CAN1->FS1R &= ~mask;
CAN1->FM1R |= mask;
CAN1->FFA1R |= mask;
}
}
CAN1->sFilterRegister[i].FR1 = 0xFFFFFFFF;
CAN1->sFilterRegister[i].FR2 = 0xFFFFFFFF;
CAN1->FMR &= ~FMR_FINIT;
}
calcfiltermasks(pbxcan);
}
#ifdef USING_BXCAN2
static void bxcan2_filter_init(struct rt_can_device *can)
{
rt_uint32_t i;
rt_uint32_t off;
rt_uint32_t mask;
CAN_SlaveStartBank(BX_CAN2_FMRSTART);
struct stm_bxcan *pbxcan = (struct stm_bxcan *) can->parent.user_data;
for (i = BX_CAN2_FMRSTART; i < BX_CAN_FMRNUMBER; i++)
{
CAN1->FMR |= FMR_FINIT;
mask = 0x01 << (i + 0);
off = i - BX_CAN2_FMRSTART;
if (off < pbxcan->fifo1filteroff)
{
if (pbxcan->filtermap[0].id32mask_cnt && off < pbxcan->filtermap[0].id32mask_cnt)
{
CAN1->FS1R |= mask;
CAN1->FM1R &= ~mask;
CAN1->FFA1R &= ~mask;
}
else if (pbxcan->filtermap[0].id32bit_cnt &&
off < pbxcan->filtermap[0].id32mask_cnt + pbxcan->filtermap[0].id32bit_cnt / 2)
{
CAN1->FS1R |= mask;
CAN1->FM1R |= mask;
CAN1->FFA1R &= ~mask;
}
else if (pbxcan->filtermap[0].id16mask_cnt &&
off < pbxcan->filtermap[0].id32mask_cnt + pbxcan->filtermap[0].id32bit_cnt / 2
+ pbxcan->filtermap[0].id16mask_cnt / 2)
{
CAN1->FS1R &= ~mask;
CAN1->FM1R &= ~mask;
CAN1->FFA1R &= ~mask;
}
else if (pbxcan->filtermap[0].id16bit_cnt &&
off < pbxcan->filtermap[0].id32mask_cnt + pbxcan->filtermap[0].id32bit_cnt / 2
+ pbxcan->filtermap[0].id16mask_cnt / 2 + pbxcan->filtermap[0].id16bit_cnt / 4
)
{
CAN1->FS1R &= ~mask;
CAN1->FM1R |= mask;
CAN1->FFA1R &= ~mask;
}
}
else
{
if (pbxcan->filtermap[1].id32mask_cnt &&
off < pbxcan->filtermap[1].id32mask_cnt + pbxcan->fifo1filteroff)
{
CAN1->FS1R |= mask;
CAN1->FM1R &= ~mask;
CAN1->FFA1R |= mask;
}
else if (pbxcan->filtermap[1].id32bit_cnt &&
off < pbxcan->filtermap[1].id32mask_cnt + pbxcan->filtermap[1].id32bit_cnt / 2
+ pbxcan->fifo1filteroff)
{
CAN1->FS1R |= mask;
CAN1->FM1R |= mask;
CAN1->FFA1R |= mask;
}
else if (pbxcan->filtermap[1].id16mask_cnt &&
off < pbxcan->filtermap[1].id32mask_cnt + pbxcan->filtermap[1].id32bit_cnt / 2
+ pbxcan->filtermap[1].id16mask_cnt / 2 + pbxcan->fifo1filteroff)
{
CAN1->FS1R &= ~mask;
CAN1->FM1R &= ~mask;
CAN1->FFA1R |= mask;
}
else if (pbxcan->filtermap[1].id16bit_cnt &&
off < pbxcan->filtermap[1].id32mask_cnt + pbxcan->filtermap[1].id32bit_cnt / 2
+ pbxcan->filtermap[1].id16mask_cnt / 2 + pbxcan->filtermap[1].id16bit_cnt / 4
+ pbxcan->fifo1filteroff)
{
CAN1->FS1R &= ~mask;
CAN1->FM1R |= mask;
CAN1->FFA1R |= mask;
}
}
CAN1->sFilterRegister[i].FR1 = 0xFFFFFFFF;
CAN1->sFilterRegister[i].FR2 = 0xFFFFFFFF;
CAN1->FMR &= ~FMR_FINIT;
}
calcfiltermasks(pbxcan);
}
#endif
#define BS1SHIFT 16
#define BS2SHIFT 20
#define RRESCLSHIFT 0
#define SJWSHIFT 24
#define BS1MASK ( (0x0F) << BS1SHIFT )
#define BS2MASK ( (0x07) << BS2SHIFT )
#define RRESCLMASK ( 0x3FF << RRESCLSHIFT )
#define SJWMASK ( 0x3 << SJWSHIFT )
#define MK_BKCAN_BAUD(SJW,BS1,BS2,PRES) \
((SJW << SJWSHIFT) | (BS1 << BS1SHIFT) | (BS2 << BS2SHIFT) | (PRES << RRESCLSHIFT))
static const struct stm_baud_rate_tab bxcan_baud_rate_tab[] =
{
#ifdef STM32F10X_CL
// 48 M
{1000UL * 1000, MK_BKCAN_BAUD(CAN_SJW_2tq, CAN_BS1_12tq, CAN_BS2_3tq, 3)},
{1000UL * 800, MK_BKCAN_BAUD(CAN_SJW_2tq, CAN_BS1_6tq, CAN_BS2_3tq, 6)},
{1000UL * 500, MK_BKCAN_BAUD(CAN_SJW_2tq, CAN_BS1_12tq, CAN_BS2_3tq, 5)},
{1000UL * 250, MK_BKCAN_BAUD(CAN_SJW_2tq, CAN_BS1_12tq, CAN_BS2_3tq, 11)},//1
{1000UL * 125, MK_BKCAN_BAUD(CAN_SJW_2tq, CAN_BS1_12tq, CAN_BS2_3tq, 23)},
{1000UL * 100, MK_BKCAN_BAUD(CAN_SJW_2tq, CAN_BS1_12tq, CAN_BS2_3tq, 29)},
{1000UL * 50, MK_BKCAN_BAUD(CAN_SJW_2tq, CAN_BS1_12tq, CAN_BS2_3tq, 59)},
{1000UL * 20, MK_BKCAN_BAUD(CAN_SJW_2tq, CAN_BS1_14tq, CAN_BS2_3tq, 149)},
{1000UL * 10, MK_BKCAN_BAUD(CAN_SJW_2tq, CAN_BS1_16tq, CAN_BS2_8tq, 199)}
#else
// 36 M
{1000UL * 1000, MK_BKCAN_BAUD(CAN_SJW_2tq, CAN_BS1_8tq, CAN_BS2_3tq, 3)},
{1000UL * 800, MK_BKCAN_BAUD(CAN_SJW_2tq, CAN_BS1_11tq, CAN_BS2_3tq, 3)},
{1000UL * 500, MK_BKCAN_BAUD(CAN_SJW_2tq, CAN_BS1_9tq, CAN_BS2_2tq, 6)},
{1000UL * 250, MK_BKCAN_BAUD(CAN_SJW_2tq, CAN_BS1_13tq, CAN_BS2_2tq, 9)},//1
{1000UL * 125, MK_BKCAN_BAUD(CAN_SJW_2tq, CAN_BS1_13tq, CAN_BS2_2tq, 18)},
{1000UL * 100, MK_BKCAN_BAUD(CAN_SJW_2tq, CAN_BS1_9tq, CAN_BS2_2tq, 30)},
{1000UL * 50, MK_BKCAN_BAUD(CAN_SJW_2tq, CAN_BS1_13tq, CAN_BS2_2tq, 45)},
{1000UL * 20, MK_BKCAN_BAUD(CAN_SJW_2tq, CAN_BS1_14tq, CAN_BS2_3tq, 100)},
{1000UL * 10, MK_BKCAN_BAUD(CAN_SJW_2tq, CAN_BS1_14tq, CAN_BS2_3tq, 200)}
#endif
};
#define BAUD_DATA(TYPE,NO) \
((bxcan_baud_rate_tab[NO].confdata & TYPE##MASK) >> TYPE##SHIFT)
static rt_uint32_t bxcan_get_baud_index(rt_uint32_t baud)
{
rt_uint32_t len, index, default_index;
len = sizeof(bxcan_baud_rate_tab)/sizeof(bxcan_baud_rate_tab[0]);
default_index = len;
for(index = 0; index < len; index++)
{
if(bxcan_baud_rate_tab[index].baud_rate == baud)
return index;
if(bxcan_baud_rate_tab[index].baud_rate == 1000UL * 250)
default_index = index;
}
if(default_index != len)
return default_index;
return 0;
}
static void bxcan_init(CAN_TypeDef *pcan, rt_uint32_t baud, rt_uint32_t mode)
{
CAN_InitTypeDef CAN_InitStructure;
rt_uint32_t baud_index = bxcan_get_baud_index(baud);
CAN_InitStructure.CAN_TTCM = DISABLE;
CAN_InitStructure.CAN_ABOM = ENABLE;
CAN_InitStructure.CAN_AWUM = DISABLE;
CAN_InitStructure.CAN_NART = DISABLE;
CAN_InitStructure.CAN_RFLM = DISABLE;
CAN_InitStructure.CAN_TXFP = ENABLE;
switch (mode)
{
case RT_CAN_MODE_NORMAL:
CAN_InitStructure.CAN_Mode = CAN_Mode_Normal;
break;
case RT_CAN_MODE_LISEN:
CAN_InitStructure.CAN_Mode = CAN_Mode_Silent;
break;
case RT_CAN_MODE_LOOPBACK:
CAN_InitStructure.CAN_Mode = CAN_Mode_LoopBack;
break;
case RT_CAN_MODE_LOOPBACKANLISEN:
CAN_InitStructure.CAN_Mode = CAN_Mode_Silent_LoopBack;
break;
}
CAN_InitStructure.CAN_SJW = BAUD_DATA(SJW, baud_index);
CAN_InitStructure.CAN_BS1 = BAUD_DATA(BS1, baud_index);
CAN_InitStructure.CAN_BS2 = BAUD_DATA(BS2, baud_index);
CAN_InitStructure.CAN_Prescaler = BAUD_DATA(RRESCL, baud_index);
CAN_Init(pcan, &CAN_InitStructure);
}
static void bxcan1_hw_init(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
GPIO_Init(GPIOA, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_1);
NVIC_InitStructure.NVIC_IRQChannel = CAN1_RX0_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x1;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x0;
NVIC_InitStructure.NVIC_IRQChannelCmd = DISABLE;
NVIC_Init(&NVIC_InitStructure);
NVIC_InitStructure.NVIC_IRQChannel = CAN1_RX1_IRQn;
NVIC_Init(&NVIC_InitStructure);
NVIC_InitStructure.NVIC_IRQChannel = CAN1_TX_IRQn;
NVIC_Init(&NVIC_InitStructure);
}
#ifdef USING_BXCAN2
static void bxcan2_hw_init(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12;
GPIO_Init(GPIOB, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_13;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOB, &GPIO_InitStructure);
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_1);
NVIC_InitStructure.NVIC_IRQChannel = CAN2_RX0_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x1;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x0;
NVIC_InitStructure.NVIC_IRQChannelCmd = DISABLE;
NVIC_Init(&NVIC_InitStructure);
NVIC_InitStructure.NVIC_IRQChannel = CAN2_RX1_IRQn;
NVIC_Init(&NVIC_InitStructure);
NVIC_InitStructure.NVIC_IRQChannel = CAN2_TX_IRQn;
NVIC_Init(&NVIC_InitStructure);
}
#endif
rt_inline rt_err_t bxcan_enter_init(CAN_TypeDef *pcan)
{
uint32_t wait_ack = 0x00000000;
pcan->MCR |= CAN_MCR_INRQ ;
while (((pcan->MSR & CAN_MSR_INAK) != CAN_MSR_INAK) && (wait_ack != INAK_TIMEOUT))
{
wait_ack++;
}
if ((pcan->MSR & CAN_MSR_INAK) != CAN_MSR_INAK)
{
return RT_ERROR;
}
return RT_EOK;
}
rt_inline rt_err_t bxcan_exit_init(CAN_TypeDef *pcan)
{
uint32_t wait_ack = 0x00000000;
pcan->MCR &= ~(uint32_t)CAN_MCR_INRQ;
while (((pcan->MSR & CAN_MSR_INAK) == CAN_MSR_INAK) && (wait_ack != INAK_TIMEOUT))
{
wait_ack++;
}
if ((pcan->MSR & CAN_MSR_INAK) != CAN_MSR_INAK)
{
return RT_ERROR;
}
return RT_EOK;
}
static rt_err_t bxcan_set_mode(CAN_TypeDef *pcan, rt_uint32_t mode)
{
if (bxcan_enter_init(pcan) != RT_EOK)
{
return RT_ERROR;
}
pcan->BTR &= ~(uint32_t)((uint32_t)0x03 << 30);
switch (mode)
{
case RT_CAN_MODE_NORMAL:
mode = CAN_Mode_Normal;
break;
case RT_CAN_MODE_LISEN:
mode = CAN_Mode_Silent;
break;
case RT_CAN_MODE_LOOPBACK:
mode = CAN_Mode_LoopBack;
break;
case RT_CAN_MODE_LOOPBACKANLISEN:
mode = CAN_Mode_Silent_LoopBack;
break;
}
pcan->BTR |= ~(uint32_t)(mode << 30);
if (bxcan_exit_init(pcan) != RT_EOK)
{
return RT_ERROR;
}
return RT_EOK;
}
static rt_err_t bxcan_set_privmode(CAN_TypeDef *pcan, rt_uint32_t mode)
{
if (bxcan_enter_init(pcan) != RT_EOK)
{
return RT_ERROR;
}
if (mode == ENABLE)
{
pcan->MCR |= CAN_MCR_TXFP;
}
else
{
pcan->MCR &= ~(uint32_t)CAN_MCR_TXFP;
}
if (bxcan_exit_init(pcan) != RT_EOK)
{
return RT_ERROR;
}
return RT_EOK;
}
static rt_err_t bxcan_set_baud_rate(CAN_TypeDef *pcan, rt_uint32_t baud)
{
rt_uint32_t mode;
rt_uint32_t baud_index = bxcan_get_baud_index(baud);
if (bxcan_enter_init(pcan) != RT_EOK)
{
return RT_ERROR;
}
pcan->BTR = 0;
mode = pcan->BTR & ((rt_uint32_t)0x03 << 30);
pcan->BTR = (mode | \
((BAUD_DATA(SJW, baud_index)) << 24) | \
((BAUD_DATA(BS1, baud_index)) << 16) | \
((BAUD_DATA(BS2, baud_index)) << 20) | \
(BAUD_DATA(RRESCL, baud_index)));
if (bxcan_exit_init(pcan) != RT_EOK)
{
return RT_ERROR;
}
return RT_EOK;
}
static rt_err_t bxcancalcbaseoff(struct stm_bxcan *pbxcan, rt_int32_t hdr,
rt_int32_t *pbase, rt_int32_t *poff)
{
rt_uint32_t fifo0start, fifo0end;
rt_uint32_t fifo1start, fifo1end;
rt_uint32_t ptr;
fifo0start = 0;
fifo0end = fifo0start
+ pbxcan->filtermap[0].id32mask_cnt
+ pbxcan->filtermap[0].id32bit_cnt
+ pbxcan->filtermap[0].id16mask_cnt
+ pbxcan->filtermap[0].id16bit_cnt ;
fifo1start = pbxcan->fifo1filteroff * 4;
fifo1end = fifo1start
+ pbxcan->filtermap[1].id32mask_cnt
+ pbxcan->filtermap[1].id32bit_cnt
+ pbxcan->filtermap[1].id16mask_cnt
+ pbxcan->filtermap[1].id16bit_cnt ;
if (hdr >= fifo0start && hdr < fifo0end)
{
*pbase = 0;
ptr = 0;
hdr -= fifo0start;
}
else if (hdr >= fifo1start && hdr < fifo1end)
{
*pbase = pbxcan->fifo1filteroff;
ptr = 1;
hdr -= fifo1start;
}
else
{
return RT_ERROR;
}
if (hdr > pbxcan->filtermap[ptr].id32mask_cnt)
{
hdr -= pbxcan->filtermap[ptr].id32mask_cnt;
*pbase += pbxcan->filtermap[ptr].id32mask_cnt;
}
else
{
*pbase += hdr;
*poff = 0;
return RT_EOK;
}
if (hdr > pbxcan->filtermap[ptr].id32bit_cnt)
{
hdr -= pbxcan->filtermap[ptr].id32bit_cnt;
*pbase += pbxcan->filtermap[ptr].id32bit_cnt / 2;
}
else
{
*pbase += hdr / 2;
*poff = hdr % 2;
return RT_EOK;
}
if (hdr > pbxcan->filtermap[ptr].id16mask_cnt)
{
hdr -= pbxcan->filtermap[ptr].id16mask_cnt;
*pbase += pbxcan->filtermap[ptr].id16mask_cnt / 2;
}
else
{
*pbase += hdr / 2;
*poff = hdr % 2;
return RT_EOK;
}
if (hdr > pbxcan->filtermap[ptr].id16bit_cnt)
{
return RT_ERROR;
}
else
{
*pbase += hdr / 4;
*poff = hdr % 4;
return RT_EOK;
}
}
static void calcandormask(rt_uint32_t *pmask, rt_uint32_t shift, rt_int32_t count)
{
rt_uint32_t tmpmask;
rt_uint32_t tmpmaskarray[BX_CAN_FILTER_MAX_ARRAY_SIZE] = {0,};
rt_int32_t i;
i = 0;
while (count > 0)
{
if (i >= 32)
{
tmpmaskarray[i] = 0xFFFFFFFF;
}
else
{
tmpmaskarray[i] = (0x01 << count) - 1;
}
count -= 32;
i++;
};
count = i;
for (i = 0; i < count && i < BX_CAN_FILTER_MAX_ARRAY_SIZE; i++)
{
tmpmask = tmpmaskarray[i];
pmask[i] |= (rt_uint32_t)(tmpmask << shift);
if (i < BX_CAN_FILTER_MAX_ARRAY_SIZE - 1)
{
pmask[i + 1] |= (rt_uint32_t)(tmpmask >> (32 - shift));
}
}
}
static void calcfiltermasks(struct stm_bxcan *pbxcan)
{
rt_memset(&pbxcan->filtermask, 0, sizeof(pbxcan->filtermask));
pbxcan->filtermask.id32maskshift[0] = 0;
if (pbxcan->filtermap[0].id32mask_cnt)
{
calcandormask(pbxcan->filtermask.id32maskm, pbxcan->filtermask.id32maskshift[0],
pbxcan->filtermap[0].id32mask_cnt);
}
pbxcan->filtermask.id32maskshift[1] = pbxcan->fifo1filteroff * 4;
if (pbxcan->filtermap[1].id32mask_cnt)
{
calcandormask(pbxcan->filtermask.id32maskm, pbxcan->filtermask.id32maskshift[1],
pbxcan->filtermap[1].id32mask_cnt);
}
pbxcan->filtermask.id32bitshift[0] = pbxcan->filtermask.id32maskshift[0] +
pbxcan->filtermap[0].id32mask_cnt;
if (pbxcan->filtermap[0].id32bit_cnt)
{
calcandormask(pbxcan->filtermask.id32bitm, pbxcan->filtermask.id32bitshift[0],
pbxcan->filtermap[0].id32bit_cnt);
}
pbxcan->filtermask.id32bitshift[1] = pbxcan->filtermask.id32maskshift[1] +
pbxcan->filtermap[1].id32mask_cnt;
if (pbxcan->filtermap[1].id32bit_cnt)
{
calcandormask(pbxcan->filtermask.id32bitm, pbxcan->filtermask.id32bitshift[1],
pbxcan->filtermap[1].id32bit_cnt);
}
pbxcan->filtermask.id16maskshift[0] = pbxcan->filtermask.id32bitshift[0] +
pbxcan->filtermap[0].id32bit_cnt;
if (pbxcan->filtermap[0].id16mask_cnt)
{
calcandormask(pbxcan->filtermask.id16maskm, pbxcan->filtermask.id16maskshift[0],
pbxcan->filtermap[0].id16mask_cnt);
}
pbxcan->filtermask.id16maskshift[1] = pbxcan->filtermask.id32bitshift[1] +
pbxcan->filtermap[1].id32bit_cnt;
if (pbxcan->filtermap[1].id16mask_cnt)
{
calcandormask(pbxcan->filtermask.id16maskm, pbxcan->filtermask.id16maskshift[1],
pbxcan->filtermap[1].id16mask_cnt);
}
pbxcan->filtermask.id16bitshift[0] = pbxcan->filtermask.id16maskshift[0] +
pbxcan->filtermap[0].id16mask_cnt;
if (pbxcan->filtermap[0].id16bit_cnt)
{
calcandormask(pbxcan->filtermask.id16bitm, pbxcan->filtermask.id16bitshift[0],
pbxcan->filtermap[0].id16bit_cnt);
}
pbxcan->filtermask.id16bitshift[1] = pbxcan->filtermask.id16maskshift[1] +
pbxcan->filtermap[1].id16mask_cnt;
if (pbxcan->filtermap[1].id16bit_cnt)
{
calcandormask(pbxcan->filtermask.id16bitm, pbxcan->filtermask.id16bitshift[1],
pbxcan->filtermap[1].id16bit_cnt);
}
}
static rt_int32_t bxcanfindfilter(struct stm_bxcan *pbxcan, struct rt_can_filter_item *pitem,
rt_int32_t type, rt_int32_t *base, rt_int32_t *off)
{
rt_int32_t i;
rt_uint32_t bits, thisid, thismask, shift, found;
CAN_FilterRegister_TypeDef *pfilterreg;
found = 0;
switch (type)
{
case 3:
shift = 3;
for (i = 0; i < BX_CAN_MAX_FILTERS; i++)
{
bits = 0x01 << (i & 0x1F);
if (bits & (pbxcan->filtermask.id32maskm[i >> 5] & pbxcan->alocmask[i >> 5]))
{
bxcancalcbaseoff(pbxcan, i, base, off);
pfilterreg = &((CAN_FilterRegister_TypeDef *)pbxcan->mfrbase)[*base];
thisid = (rt_uint32_t)pitem->id << shift;
thismask = (rt_uint32_t)pitem->mask << shift;
if (pitem->ide)
{
thisid |= CAN_ID_EXT;
thismask |= CAN_ID_EXT;
}
if (pitem->rtr)
{
thisid |= CAN_RTR_REMOTE;
thismask |= CAN_RTR_REMOTE;
}
if (pfilterreg->FR1 == thisid && pfilterreg->FR2 == thismask)
{
found = 1;
break;
}
}
}
break;
case 2:
shift = 3;
for (i = 0; i < BX_CAN_MAX_FILTERS; i++)
{
bits = 0x01 << (i % 32);
if (bits & (pbxcan->filtermask.id32bitm[i >> 5] & pbxcan->alocmask[i >> 5]))
{
bxcancalcbaseoff(pbxcan, i, base, off);
pfilterreg = &((CAN_FilterRegister_TypeDef *)pbxcan->mfrbase)[*base];
thisid = (rt_uint32_t)pitem->id << shift;
if (pitem->ide)
{
thisid |= CAN_ID_EXT;
}
if (pitem->rtr)
{
thisid |= CAN_RTR_REMOTE;
}
if ((*off == 0 && pfilterreg->FR1 == thisid) ||
(*off == 1 && pfilterreg->FR2 == thisid)
)
{
found = 1;
break;
}
}
}
break;
case 1:
shift = 5;
for (i = 0; i < BX_CAN_MAX_FILTERS; i++)
{
bits = 0x01 << (i % 32);
if (bits & (pbxcan->filtermask.id16maskm[i >> 5] & pbxcan->alocmask[i >> 5]))
{
bxcancalcbaseoff(pbxcan, i, base, off);
pfilterreg = &((CAN_FilterRegister_TypeDef *)pbxcan->mfrbase)[*base];
thisid = pitem->id << shift;
if (pitem->rtr)
{
thisid |= CAN_RTR_REMOTE << (shift - 2);
}
thismask = pitem->mask << shift;
if (pitem->rtr)
{
thismask |= CAN_RTR_REMOTE << (shift - 2);
}
if (*off == 0 && pfilterreg->FR1 == ((thisid & 0x0000FFFF) | ((thismask & 0x0000FFFF) << 16)) ||
*off == 1 && pfilterreg->FR2 == ((thisid & 0x0000FFFF) | ((thismask & 0x0000FFFF) << 16))
)
{
found = 1;
break;
}
}
}
break;
case 0:
shift = 5;
for (i = 0; i < BX_CAN_MAX_FILTERS; i++)
{
bits = 0x01 << (i % 32);
if (bits & (pbxcan->filtermask.id16bitm[i >> 5] & pbxcan->alocmask[i >> 5]))
{
bxcancalcbaseoff(pbxcan, i, base, off);
pfilterreg = &((CAN_FilterRegister_TypeDef *)pbxcan->mfrbase)[*base];
thisid = pitem->id << shift;
if (pitem->rtr)
{
thisid |= CAN_RTR_REMOTE << (shift - 2);
}
if (*off < 2 && ((rt_uint16_t *)&pfilterreg->FR1)[*off & 0x01] == thisid ||
*off >= 2 && ((rt_uint16_t *)&pfilterreg->FR2)[*off & 0x01] == thisid)
{
found = 1;
break;
}
}
}
break;
}
if (found)
{
return i;
}
return -1;
}
extern int __rt_ffs(int value);
static rt_err_t bxcanallocfilter(rt_uint32_t *pmask, rt_uint32_t *palocmask,
rt_uint32_t count, rt_int32_t *hdr)
{
rt_int32_t i;
for (i = 0; i < count; i++)
{
rt_enter_critical();
if ((pmask[i] & ~palocmask[i]) != 0)
{
*hdr = __rt_ffs(pmask[i] & ~palocmask[i]) - 1 + i * 32;
palocmask[i] |= 0x01 << (*hdr % 0x1F);
rt_exit_critical();
return RT_EOK;
}
rt_exit_critical();
}
if (i >= count)
{
return RT_ENOMEM;
}
return RT_EOK;
}
static rt_err_t bxcanallocnewfilter(struct stm_bxcan *pbxcan, rt_int32_t actived,
rt_int32_t type, rt_int32_t *hdr, rt_int32_t *base, rt_int32_t *off)
{
rt_err_t res;
*hdr = -1;
switch (type)
{
case 0x03:
res = bxcanallocfilter(pbxcan->filtermask.id32maskm, pbxcan->alocmask,
BX_CAN_FILTER_MAX_ARRAY_SIZE, hdr);
break;
case 0x02:
res = bxcanallocfilter(pbxcan->filtermask.id32bitm, pbxcan->alocmask,
BX_CAN_FILTER_MAX_ARRAY_SIZE, hdr);
break;
case 0x01:
res = bxcanallocfilter(pbxcan->filtermask.id16maskm, pbxcan->alocmask,
BX_CAN_FILTER_MAX_ARRAY_SIZE, hdr);
break;
case 0x00:
res = bxcanallocfilter(pbxcan->filtermask.id16bitm, pbxcan->alocmask,
BX_CAN_FILTER_MAX_ARRAY_SIZE, hdr);
break;
}
if (res != RT_EOK || *hdr < 0)
{
return RT_ENOMEM;
}
bxcancalcbaseoff(pbxcan, *hdr, base, off);
return RT_EOK;
}
static rt_err_t bxmodifyfilter(struct stm_bxcan *pbxcan, struct rt_can_filter_item *pitem, rt_uint32_t actived)
{
rt_int32_t fcase;
rt_err_t res;
rt_int32_t hdr, fbase, foff;
rt_uint32_t ID[2];
rt_uint32_t shift;
rt_uint32_t thisid;
rt_uint32_t thismask;
CAN_FilterInitTypeDef CAN_FilterInitStructure;
CAN_FilterRegister_TypeDef *pfilterreg;
fcase = (pitem->mode | (pitem->ide << 1));
hdr = bxcanfindfilter(pbxcan, pitem, fcase, &fbase, &foff);
if (hdr < 0)
{
if (!actived)
{
return RT_EOK;
}
else if (pitem->hdr == -1)
{
res = bxcanallocnewfilter(pbxcan, actived, fcase, &hdr, &fbase, &foff);
if (res != RT_EOK)
{
return res;
}
}
else if (pitem->hdr >= 0)
{
rt_enter_critical();
res = bxcancalcbaseoff(pbxcan, pitem->hdr, &fbase, &foff);
if (res != RT_EOK)
{
return res;
}
hdr = pitem->hdr;
if (actived)
{
pbxcan->alocmask[hdr >> 5] |= 0x01 << (hdr % 0x1F);
}
rt_exit_critical();
}
}
else
{
if (!actived)
{
pitem->hdr = hdr;
}
else if (hdr >= 0 && (pitem->hdr >= 0 || pitem->hdr == -1))
{
pitem->hdr = hdr;
return RT_EBUSY;
}
}
pitem->hdr = hdr;
pfilterreg = &((CAN_FilterRegister_TypeDef *)pbxcan->mfrbase)[fbase];
ID[0] = pfilterreg->FR1;
ID[1] = pfilterreg->FR2;
CAN_FilterInitStructure.CAN_FilterNumber = (pfilterreg - &CAN1->sFilterRegister[0]);
if (pitem->mode)
{
CAN_FilterInitStructure.CAN_FilterMode = CAN_FilterMode_IdMask;
}
else
{
CAN_FilterInitStructure.CAN_FilterMode = CAN_FilterMode_IdList;
}
if (pitem->ide)
{
CAN_FilterInitStructure.CAN_FilterScale = CAN_FilterScale_32bit;
}
else
{
CAN_FilterInitStructure.CAN_FilterScale = CAN_FilterScale_16bit;
}
switch (fcase)
{
case 0x03:
if (actived)
{
shift = 3;
thisid = (rt_uint32_t)pitem->id << shift;
thismask = (rt_uint32_t)pitem->mask << shift;
if (pitem->ide)
{
thisid |= CAN_ID_EXT;
thismask |= CAN_ID_EXT;
}
if (pitem->rtr)
{
thisid |= CAN_RTR_REMOTE;
thismask |= CAN_RTR_REMOTE;
}
ID[0] = thisid;
ID[1] = thismask;
}
else
{
ID[0] = 0xFFFFFFFF;
ID[1] = 0xFFFFFFFF;
}
break;
case 0x02:
if (actived)
{
shift = 3;
thisid = (rt_uint32_t)pitem->id << shift;
if (pitem->ide)
{
thisid |= CAN_ID_EXT;
}
if (pitem->rtr)
{
thisid |= CAN_RTR_REMOTE;
}
ID[foff] = thisid;
}
else
{
ID[foff] = 0xFFFFFFFF;
}
break;
case 0x01:
if (actived)
{
shift = 5;
thisid = pitem->id << shift;
if (pitem->rtr)
{
thisid |= CAN_RTR_REMOTE << (shift - 2);
}
thismask = pitem->mask << shift;
if (pitem->rtr)
{
thismask |= CAN_RTR_REMOTE << (shift - 2);
}
ID[foff] = (thisid & 0x0000FFFF) | ((thismask & 0x0000FFFF) << 16);
}
else
{
ID[foff] = 0xFFFFFFFF;
}
break;
case 0x00:
if (actived)
{
shift = 5;
thisid = pitem->id << shift;
if (pitem->rtr)
{
thisid |= CAN_RTR_REMOTE << (shift - 2);
}
((rt_uint16_t *) ID)[foff] = thisid;
}
else
{
((rt_uint16_t *) ID)[foff] = 0xFFFF;
}
break;
}
if(pitem->ide)
{
CAN_FilterInitStructure.CAN_FilterIdHigh = (ID[0] & 0xFFFF0000) >> 16;
CAN_FilterInitStructure.CAN_FilterIdLow = ID[0] & 0x0000FFFF;
CAN_FilterInitStructure.CAN_FilterMaskIdHigh = (ID[1] & 0xFFFF0000) >> 16;
CAN_FilterInitStructure.CAN_FilterMaskIdLow = ((ID[1]) & 0x0000FFFF);
}
else
{
CAN_FilterInitStructure.CAN_FilterIdHigh = ((ID[1]) & 0x0000FFFF);
CAN_FilterInitStructure.CAN_FilterIdLow = ID[0] & 0x0000FFFF;
CAN_FilterInitStructure.CAN_FilterMaskIdHigh = (ID[1] & 0xFFFF0000) >> 16;
CAN_FilterInitStructure.CAN_FilterMaskIdLow = (ID[0] & 0xFFFF0000) >> 16;
}
if (fbase >= pbxcan->fifo1filteroff)
{
CAN_FilterInitStructure.CAN_FilterFIFOAssignment = 1;
}
else
{
CAN_FilterInitStructure.CAN_FilterFIFOAssignment = 0;
}
if (ID[0] != 0xFFFFFFFF || ID[1] != 0xFFFFFFFF)
{
CAN_FilterInitStructure.CAN_FilterActivation = ENABLE;
}
else
{
CAN_FilterInitStructure.CAN_FilterActivation = DISABLE;
}
if (!actived)
{
rt_enter_critical();
pbxcan->alocmask[hdr >> 5] &= ~(0x01 << (hdr % 0x1F));
rt_exit_critical();
}
CAN_FilterInit(&CAN_FilterInitStructure);
return RT_EOK;
}
static rt_err_t setfilter(struct stm_bxcan *pbxcan, struct rt_can_filter_config *pconfig)
{
struct rt_can_filter_item *pitem = pconfig->items;
rt_uint32_t count = pconfig->count;
rt_err_t res;
while (count)
{
res = bxmodifyfilter(pbxcan, pitem, pconfig->actived);
if (res != RT_EOK)
{
return res;
}
pitem++;
count--;
}
return RT_EOK;
}
static rt_err_t configure(struct rt_can_device *can, struct can_configure *cfg)
{
CAN_TypeDef *pbxcan;
pbxcan = ((struct stm_bxcan *) can->parent.user_data)->reg;
assert_param(IS_CAN_ALL_PERIPH(pbxcan));
if (pbxcan == CAN1)
{
bxcan1_hw_init();
bxcan_init(pbxcan, cfg->baud_rate, can->config.mode);
bxcan1_filter_init(can);
}
else
{
#ifdef USING_BXCAN2
bxcan2_hw_init();
bxcan_init(pbxcan, cfg->baud_rate, can->config.mode);
bxcan2_filter_init(can);
#endif
}
return RT_EOK;
}
static rt_err_t control(struct rt_can_device *can, int cmd, void *arg)
{
struct stm_bxcan *pbxcan;
rt_uint32_t argval;
NVIC_InitTypeDef NVIC_InitStructure;
pbxcan = (struct stm_bxcan *) can->parent.user_data;
assert_param(pbxcan != RT_NULL);
switch (cmd)
{
case RT_DEVICE_CTRL_CLR_INT:
argval = (rt_uint32_t) arg;
if (argval == RT_DEVICE_FLAG_INT_RX)
{
NVIC_DisableIRQ(pbxcan->rcvirq0);
NVIC_DisableIRQ(pbxcan->rcvirq1);
CAN_ITConfig(pbxcan->reg, CAN_IT_FMP0 , DISABLE);
CAN_ITConfig(pbxcan->reg, CAN_IT_FF0 , DISABLE);
CAN_ITConfig(pbxcan->reg, CAN_IT_FOV0 , DISABLE);
CAN_ITConfig(pbxcan->reg, CAN_IT_FMP1 , DISABLE);
CAN_ITConfig(pbxcan->reg, CAN_IT_FF1 , DISABLE);
CAN_ITConfig(pbxcan->reg, CAN_IT_FOV1 , DISABLE);
}
else if (argval == RT_DEVICE_FLAG_INT_TX)
{
NVIC_DisableIRQ(pbxcan->sndirq);
CAN_ITConfig(pbxcan->reg, CAN_IT_TME, DISABLE);
}
else if (argval == RT_DEVICE_CAN_INT_ERR)
{
CAN_ITConfig(pbxcan->reg, CAN_IT_BOF , DISABLE);
CAN_ITConfig(pbxcan->reg, CAN_IT_LEC , DISABLE);
CAN_ITConfig(pbxcan->reg, CAN_IT_ERR , DISABLE);
NVIC_DisableIRQ(pbxcan->errirq);
}
break;
case RT_DEVICE_CTRL_SET_INT:
argval = (rt_uint32_t) arg;
if (argval == RT_DEVICE_FLAG_INT_RX)
{
CAN_ITConfig(pbxcan->reg, CAN_IT_FMP0 , ENABLE);
CAN_ITConfig(pbxcan->reg, CAN_IT_FF0 , ENABLE);
CAN_ITConfig(pbxcan->reg, CAN_IT_FOV0 , ENABLE);
CAN_ITConfig(pbxcan->reg, CAN_IT_FMP1 , ENABLE);
CAN_ITConfig(pbxcan->reg, CAN_IT_FF1 , ENABLE);
CAN_ITConfig(pbxcan->reg, CAN_IT_FOV1 , ENABLE);
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x1;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_InitStructure.NVIC_IRQChannel = pbxcan->rcvirq0;
NVIC_Init(&NVIC_InitStructure);
NVIC_InitStructure.NVIC_IRQChannel = pbxcan->rcvirq1;
NVIC_Init(&NVIC_InitStructure);
}
else if (argval == RT_DEVICE_FLAG_INT_TX)
{
CAN_ITConfig(pbxcan->reg, CAN_IT_TME, ENABLE);
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x1;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_InitStructure.NVIC_IRQChannel = pbxcan->sndirq;
NVIC_Init(&NVIC_InitStructure);
}
else if (argval == RT_DEVICE_CAN_INT_ERR)
{
CAN_ITConfig(pbxcan->reg, CAN_IT_BOF , ENABLE);
CAN_ITConfig(pbxcan->reg, CAN_IT_LEC , ENABLE);
CAN_ITConfig(pbxcan->reg, CAN_IT_ERR , ENABLE);
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x1;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_InitStructure.NVIC_IRQChannel = pbxcan->errirq;
NVIC_Init(&NVIC_InitStructure);
}
break;
case RT_CAN_CMD_SET_FILTER:
return setfilter(pbxcan, (struct rt_can_filter_config *) arg);
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->config.mode)
{
can->config.mode = argval;
return bxcan_set_mode(pbxcan->reg, argval);
}
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->config.baud_rate)
{
can->config.baud_rate = argval;
return bxcan_set_baud_rate(pbxcan->reg, argval);
}
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->config.privmode)
{
can->config.privmode = argval;
return bxcan_set_privmode(pbxcan->reg, argval);
}
break;
case RT_CAN_CMD_GET_STATUS:
{
rt_uint32_t errtype;
errtype = pbxcan->reg->ESR;
can->status.rcverrcnt = errtype >> 24;
can->status.snderrcnt = (errtype >> 16 & 0xFF);
can->status.errcode = errtype & 0x07;
if (arg != &can->status)
{
rt_memcpy(arg, &can->status, sizeof(can->status));
}
}
break;
}
return RT_EOK;
}
static int sendmsg(struct rt_can_device *can, const void *buf, rt_uint32_t boxno)
{
CAN_TypeDef *pbxcan;
struct rt_can_msg *pmsg = (struct rt_can_msg *) buf;
pbxcan = ((struct stm_bxcan *) can->parent.user_data)->reg;
assert_param(IS_CAN_ALL_PERIPH(pbxcan));
pbxcan->sTxMailBox[boxno].TIR &= TMIDxR_TXRQ;
if (pmsg->ide == RT_CAN_STDID)
{
assert_param(IS_CAN_STDID(pmsg->id));
pbxcan->sTxMailBox[boxno].TIR |= ((pmsg->id << 21) | \
(pmsg->rtr << 1));
}
else
{
assert_param(IS_CAN_EXTID(pmsg->id));
pbxcan->sTxMailBox[boxno].TIR |= ((pmsg->id << 3) | \
(pmsg->ide << 2) | \
(pmsg->rtr << 1));
}
pmsg->len &= (uint8_t)0x0000000F;
pbxcan->sTxMailBox[boxno].TDTR &= (uint32_t)0xFFFFFFF0;
pbxcan->sTxMailBox[boxno].TDTR |= pmsg->len;
pbxcan->sTxMailBox[boxno].TDLR = (((uint32_t)pmsg->data[3] << 24) |
((uint32_t)pmsg->data[2] << 16) |
((uint32_t)pmsg->data[1] << 8) |
((uint32_t)pmsg->data[0]));
if (pmsg->len > 4)
{
pbxcan->sTxMailBox[boxno].TDHR = (((uint32_t)pmsg->data[7] << 24) |
((uint32_t)pmsg->data[6] << 16) |
((uint32_t)pmsg->data[5] << 8) |
((uint32_t)pmsg->data[4]));
}
pbxcan->sTxMailBox[boxno].TIR |= TMIDxR_TXRQ;
return RT_EOK;
}
static int recvmsg(struct rt_can_device *can, void *buf, rt_uint32_t boxno)
{
CAN_TypeDef *pbxcan;
struct rt_can_msg *pmsg = (struct rt_can_msg *) buf;
pbxcan = ((struct stm_bxcan *) can->parent.user_data)->reg;
assert_param(IS_CAN_ALL_PERIPH(pbxcan));
assert_param(IS_CAN_FIFO(boxno));
pmsg->ide = ((uint8_t)0x04 & pbxcan->sFIFOMailBox[boxno].RIR) >> 2;
if (pmsg->ide == CAN_Id_Standard)
{
pmsg->id = (uint32_t)0x000007FF & (pbxcan->sFIFOMailBox[boxno].RIR >> 21);
}
else
{
pmsg->id = (uint32_t)0x1FFFFFFF & (pbxcan->sFIFOMailBox[boxno].RIR >> 3);
}
pmsg->rtr = (uint8_t)((0x02 & pbxcan->sFIFOMailBox[boxno].RIR) >> 1);
pmsg->len = (uint8_t)0x0F & pbxcan->sFIFOMailBox[boxno].RDTR;
pmsg->data[0] = (uint8_t)0xFF & pbxcan->sFIFOMailBox[boxno].RDLR;
pmsg->data[1] = (uint8_t)0xFF & (pbxcan->sFIFOMailBox[boxno].RDLR >> 8);
pmsg->data[2] = (uint8_t)0xFF & (pbxcan->sFIFOMailBox[boxno].RDLR >> 16);
pmsg->data[3] = (uint8_t)0xFF & (pbxcan->sFIFOMailBox[boxno].RDLR >> 24);
if (pmsg->len > 4)
{
pmsg->data[4] = (uint8_t)0xFF & pbxcan->sFIFOMailBox[boxno].RDHR;
pmsg->data[5] = (uint8_t)0xFF & (pbxcan->sFIFOMailBox[boxno].RDHR >> 8);
pmsg->data[6] = (uint8_t)0xFF & (pbxcan->sFIFOMailBox[boxno].RDHR >> 16);
pmsg->data[7] = (uint8_t)0xFF & (pbxcan->sFIFOMailBox[boxno].RDHR >> 24);
}
pmsg->hdr = (uint8_t)0xFF & (pbxcan->sFIFOMailBox[boxno].RDTR >> 8);
if (boxno) pmsg->hdr += ((struct stm_bxcan *) can->parent.user_data)->fifo1filteroff * 4;
return RT_EOK;
}
static const struct rt_can_ops canops =
{
configure,
control,
sendmsg,
recvmsg,
};
#ifdef USING_BXCAN1
static struct stm_bxcan bxcan1data =
{
CAN1,
(void *) &CAN1->sFilterRegister[0],
CAN1_TX_IRQn,
CAN1_RX0_IRQn,
CAN1_RX1_IRQn,
CAN1_SCE_IRQn,
{
0,
},
{0, 0},
BX_CAN2_FMRSTART,
7,
{
{
0,
0,
2,
24,
},
{
0,
0,
2,
24,
},
},
};
struct rt_can_device bxcan1;
void CAN1_RX0_IRQHandler(void)
{
rt_interrupt_enter();
if (CAN1->RF0R & 0x03)
{
if ((CAN1->RF0R & CAN_RF0R_FOVR0) != 0)
{
CAN1->RF0R = CAN_RF0R_FOVR0;
rt_hw_can_isr(&bxcan1, RT_CAN_EVENT_RXOF_IND | 0 << 8);
}
else
{
rt_hw_can_isr(&bxcan1, RT_CAN_EVENT_RX_IND | 0 << 8);
}
CAN1->RF0R |= CAN_RF0R_RFOM0;
}
rt_interrupt_leave();
}
void CAN1_RX1_IRQHandler(void)
{
rt_interrupt_enter();
if (CAN1->RF1R & 0x03)
{
if ((CAN1->RF1R & CAN_RF1R_FOVR1) != 0)
{
CAN1->RF1R = CAN_RF1R_FOVR1;
rt_hw_can_isr(&bxcan1, RT_CAN_EVENT_RXOF_IND | 1 << 8);
}
else
{
rt_hw_can_isr(&bxcan1, RT_CAN_EVENT_RX_IND | 1 << 8);
}
CAN1->RF1R |= CAN_RF1R_RFOM1;
}
rt_interrupt_leave();
}
void CAN1_TX_IRQHandler(void)
{
rt_uint32_t state;
rt_interrupt_enter();
if (CAN1->TSR & (CAN_TSR_RQCP0))
{
state = CAN1->TSR & (CAN_TSR_RQCP0 | CAN_TSR_TXOK0 | CAN_TSR_TME0);
CAN1->TSR |= CAN_TSR_RQCP0;
if (state == (CAN_TSR_RQCP0 | CAN_TSR_TXOK0 | CAN_TSR_TME0))
{
rt_hw_can_isr(&bxcan1, RT_CAN_EVENT_TX_DONE | 0 << 8);
}
else
{
rt_hw_can_isr(&bxcan1, RT_CAN_EVENT_TX_FAIL | 0 << 8);
}
}
if (CAN1->TSR & (CAN_TSR_RQCP1))
{
state = CAN1->TSR & (CAN_TSR_RQCP1 | CAN_TSR_TXOK1 | CAN_TSR_TME1);
CAN1->TSR |= CAN_TSR_RQCP1;
if (state == (CAN_TSR_RQCP1 | CAN_TSR_TXOK1 | CAN_TSR_TME1))
{
rt_hw_can_isr(&bxcan1, RT_CAN_EVENT_TX_DONE | 1 << 8);
}
else
{
rt_hw_can_isr(&bxcan1, RT_CAN_EVENT_TX_FAIL | 1 << 8);
}
}
if (CAN1->TSR & (CAN_TSR_RQCP2))
{
state = CAN1->TSR & (CAN_TSR_RQCP2 | CAN_TSR_TXOK2 | CAN_TSR_TME2);
CAN1->TSR |= CAN_TSR_RQCP2;
if (state == (CAN_TSR_RQCP2 | CAN_TSR_TXOK2 | CAN_TSR_TME2))
{
rt_hw_can_isr(&bxcan1, RT_CAN_EVENT_TX_DONE | 2 << 8);
}
else
{
rt_hw_can_isr(&bxcan1, RT_CAN_EVENT_TX_FAIL | 2 << 8);
}
}
rt_interrupt_leave();
}
void CAN1_SCE_IRQHandler(void)
{
rt_uint32_t errtype;
errtype = CAN1->ESR;
rt_interrupt_enter();
if (errtype & 0x70 && bxcan1.status.lasterrtype == (errtype & 0x70))
{
switch ((errtype & 0x70) >> 4)
{
case RT_CAN_BUS_BIT_PAD_ERR:
bxcan1.status.bitpaderrcnt++;
break;
case RT_CAN_BUS_FORMAT_ERR:
bxcan1.status.formaterrcnt++;
break;
case RT_CAN_BUS_ACK_ERR:
bxcan1.status.ackerrcnt++;
break;
case RT_CAN_BUS_IMPLICIT_BIT_ERR:
case RT_CAN_BUS_EXPLICIT_BIT_ERR:
bxcan1.status.biterrcnt++;
break;
case RT_CAN_BUS_CRC_ERR:
bxcan1.status.crcerrcnt++;
break;
}
bxcan1.status.lasterrtype = errtype & 0x70;
CAN1->ESR &= ~0x70;
}
bxcan1.status.rcverrcnt = errtype >> 24;
bxcan1.status.snderrcnt = (errtype >> 16 & 0xFF);
bxcan1.status.errcode = errtype & 0x07;
CAN1->MSR |= CAN_MSR_ERRI;
rt_interrupt_leave();
}
#endif /*USING_BXCAN1*/
#ifdef USING_BXCAN2
static struct stm_bxcan bxcan2data =
{
CAN2,
(void *) &CAN1->sFilterRegister[BX_CAN2_FMRSTART],
CAN2_TX_IRQn,
CAN2_RX0_IRQn,
CAN2_RX1_IRQn,
CAN2_SCE_IRQn,
{
0,
}
{0, 0},
BX_CAN_FMRNUMBER - BX_CAN2_FMRSTART,
7,
{
{
0,
0,
2,
24,
},
{
0,
0,
2,
24,
},
},
};
struct rt_can_device bxcan2;
void CAN2_RX0_IRQHandler(void)
{
rt_interrupt_enter();
if (CAN2->RF0R & 0x03)
{
if ((CAN2->RF0R & CAN_RF0R_FOVR0) != 0)
{
CAN2->RF0R = CAN_RF0R_FOVR0;
rt_hw_can_isr(&bxcan2, RT_CAN_EVENT_RXOF_IND | 0 << 8);
}
else
{
rt_hw_can_isr(&bxcan2, RT_CAN_EVENT_RX_IND | 0 << 8);
}
CAN2->RF0R |= CAN_RF0R_RFOM0;
}
rt_interrupt_leave();
}
void CAN2_RX1_IRQHandler(void)
{
rt_interrupt_enter();
if (CAN2->RF1R & 0x03)
{
if ((CAN2->RF1R & CAN_RF1R_FOVR1) != 0)
{
CAN2->RF1R = CAN_RF1R_FOVR1;
rt_hw_can_isr(&bxcan2, RT_CAN_EVENT_RXOF_IND | 1 << 8);
}
else
{
rt_hw_can_isr(&bxcan2, RT_CAN_EVENT_RX_IND | 1 << 8);
}
CAN2->RF1R |= CAN_RF1R_RFOM1;
}
rt_interrupt_leave();
}
void CAN2_TX_IRQHandler(void)
{
rt_uint32_t state;
rt_interrupt_enter();
if (CAN2->TSR & (CAN_TSR_RQCP0))
{
state = CAN2->TSR & (CAN_TSR_RQCP0 | CAN_TSR_TXOK0 | CAN_TSR_TME0);
CAN2->TSR |= CAN_TSR_RQCP0;
if (state == (CAN_TSR_RQCP0 | CAN_TSR_TXOK0 | CAN_TSR_TME0))
{
rt_hw_can_isr(&bxcan2, RT_CAN_EVENT_TX_DONE | 0 << 8);
}
else
{
rt_hw_can_isr(&bxcan2, RT_CAN_EVENT_TX_FAIL | 0 << 8);
}
}
if (CAN2->TSR & (CAN_TSR_RQCP1))
{
state = CAN2->TSR & (CAN_TSR_RQCP1 | CAN_TSR_TXOK1 | CAN_TSR_TME1);
CAN2->TSR |= CAN_TSR_RQCP1;
if (state == (CAN_TSR_RQCP1 | CAN_TSR_TXOK1 | CAN_TSR_TME1))
{
rt_hw_can_isr(&bxcan2, RT_CAN_EVENT_TX_DONE | 1 << 8);
}
else
{
rt_hw_can_isr(&bxcan2, RT_CAN_EVENT_TX_FAIL | 1 << 8);
}
}
if (CAN2->TSR & (CAN_TSR_RQCP2))
{
state = CAN2->TSR & (CAN_TSR_RQCP2 | CAN_TSR_TXOK2 | CAN_TSR_TME2);
CAN2->TSR |= CAN_TSR_RQCP2;
if (state == (CAN_TSR_RQCP2 | CAN_TSR_TXOK2 | CAN_TSR_TME2))
{
rt_hw_can_isr(&bxcan2, RT_CAN_EVENT_TX_DONE | 2 << 8);
}
else
{
rt_hw_can_isr(&bxcan2, RT_CAN_EVENT_TX_FAIL | 2 << 8);
}
}
rt_interrupt_leave();
}
void CAN2_SCE_IRQHandler(void)
{
rt_uint32_t errtype;
errtype = CAN2->ESR;
rt_interrupt_enter();
if (errtype & 0x70 && bxcan2.status.lasterrtype == (errtype & 0x70))
{
switch ((errtype & 0x70) >> 4)
{
case RT_CAN_BUS_BIT_PAD_ERR:
bxcan2.status.bitpaderrcnt++;
break;
case RT_CAN_BUS_FORMAT_ERR:
bxcan2.status.formaterrcnt++;
break;
case RT_CAN_BUS_ACK_ERR:
bxcan2.status.ackerrcnt++;
break;
case RT_CAN_BUS_IMPLICIT_BIT_ERR:
case RT_CAN_BUS_EXPLICIT_BIT_ERR:
bxcan2.status.biterrcnt++;
break;
case RT_CAN_BUS_CRC_ERR:
bxcan2.status.crcerrcnt++;
break;
}
bxcan2.status.lasterrtype = errtype & 0x70;
CAN2->ESR &= ~0x70;
}
bxcan2.status.rcverrcnt = errtype >> 24;
bxcan2.status.snderrcnt = (errtype >> 16 & 0xFF);
bxcan2.status.errcode = errtype & 0x07;
CAN2->MSR |= CAN_MSR_ERRI;
rt_interrupt_leave();
}
#endif /*USING_BXCAN2*/
int stm32_bxcan_init(void)
{
#ifdef USING_BXCAN1
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO | RCC_APB2Periph_GPIOA, ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1 , ENABLE);
CAN_DeInit(CAN1);
bxcan1.config.baud_rate = CAN1MBaud;
bxcan1.config.msgboxsz = 16;
bxcan1.config.sndboxnumber = 3;
bxcan1.config.mode = RT_CAN_MODE_NORMAL;
bxcan1.config.privmode = 0;
bxcan1.config.ticks = 50;
#ifdef RT_CAN_USING_HDR
bxcan1.config.maxhdr = BX_CAN2_FMRSTART * 4;
#endif
rt_hw_can_register(&bxcan1, "bxcan1", &canops, &bxcan1data);
#endif
#ifdef USING_BXCAN2
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO | RCC_APB2Periph_GPIOB, ENABLE);
#ifndef USING_BXCAN1
RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1 , ENABLE);
#endif
RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN2, ENABLE);
CAN_DeInit(CAN2);
bxcan2.config.baud_rate = CAN1MBaud;
bxcan2.config.msgboxsz = 16;
bxcan2.config.sndboxnumber = 3;
bxcan2.config.mode = RT_CAN_MODE_NORMAL;
bxcan2.config.privmode = 0;
bxcan2.config.ticks = 50;
#ifdef RT_CAN_USING_HDR
bxcan2.config.maxhdr = (BX_CAN_FMRNUMBER - BX_CAN2_FMRSTART) * 4;
#endif
rt_hw_can_register(&bxcan2, "bxcan2", &canops, &bxcan2data);
#endif
return RT_EOK;
}
INIT_BOARD_EXPORT(stm32_bxcan_init);
#endif /*RT_USING_CAN*/
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