1632 lines
50 KiB
C
1632 lines
50 KiB
C
/*
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* File : bxcan.c
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* This file is part of RT-Thread RTOS
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* COPYRIGHT (C) 2015, RT-Thread Development Team
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*
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* The license and distribution terms for this file may be
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* found in the file LICENSE in this distribution or at
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* http://www.rt-thread.org/license/LICENSE
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*
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* Change Logs:
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* Date Author Notes
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* 2015-05-14 aubrcool@qq.com first version
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*/
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#include <rthw.h>
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#include <rtdevice.h>
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#include <board.h>
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#include <bxcan.h>
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#ifdef RT_USING_COMPONENTS_INIT
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#include <components.h>
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#endif
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#ifdef RT_USING_CAN
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#define inline __inline
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#ifndef STM32F10X_CL
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#define BX_CAN_FMRNUMBER 14
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#define BX_CAN2_FMRSTART 7
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#else
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#define BX_CAN_FMRNUMBER 28
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#define BX_CAN2_FMRSTART 14
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#endif
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#ifdef STM32F10X_HD
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#undef USING_BXCAN2
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#define CAN1_RX0_IRQn USB_LP_CAN1_RX0_IRQn
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#define CAN1_TX_IRQn USB_HP_CAN1_TX_IRQn
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#endif
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#define BX_CAN_MAX_FILTERS (BX_CAN_FMRNUMBER * 4)
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#define BX_CAN_MAX_FILTER_MASKS BX_CAN_MAX_FILTERS
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#define BX_CAN_FILTER_MAX_ARRAY_SIZE ((BX_CAN_MAX_FILTERS + 32 - 1) / 32)
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struct stm_bxcanfiltermap
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{
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rt_uint32_t id32mask_cnt;
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rt_uint32_t id32bit_cnt;
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rt_uint32_t id16mask_cnt;
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rt_uint32_t id16bit_cnt;
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};
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struct stm_bxcanfilter_masks
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{
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rt_uint32_t id32maskm[BX_CAN_FILTER_MAX_ARRAY_SIZE];
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rt_uint32_t id32bitm[BX_CAN_FILTER_MAX_ARRAY_SIZE];
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rt_uint32_t id16maskm[BX_CAN_FILTER_MAX_ARRAY_SIZE];
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rt_uint32_t id16bitm[BX_CAN_FILTER_MAX_ARRAY_SIZE];
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rt_uint32_t id32maskshift[2];
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rt_uint32_t id32bitshift[2];
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rt_uint32_t id16maskshift[2];
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rt_uint32_t id16bitshift[2];
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};
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struct stm_bxcan
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{
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CAN_TypeDef *reg;
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void *mfrbase;
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IRQn_Type sndirq;
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IRQn_Type rcvirq0;
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IRQn_Type rcvirq1;
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IRQn_Type errirq;
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struct stm_bxcanfilter_masks filtermask;
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rt_uint32_t alocmask[BX_CAN_FILTER_MAX_ARRAY_SIZE];
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const rt_uint32_t filtercnt;
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const rt_uint32_t fifo1filteroff;
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const struct stm_bxcanfiltermap filtermap[2];
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};
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struct stm_baud_rate_tab
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{
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rt_uint32_t baud_rate;
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rt_uint32_t confdata;
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};
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static void calcfiltermasks(struct stm_bxcan *pbxcan);
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static void bxcan1_filter_init(struct rt_can_device *can)
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{
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rt_uint32_t i;
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rt_uint32_t mask;
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struct stm_bxcan *pbxcan = (struct stm_bxcan *) can->parent.user_data;
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for (i = 0; i < BX_CAN2_FMRSTART; i++)
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{
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CAN1->FMR |= FMR_FINIT;
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mask = 0x01 << (i + 0);
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if (i < pbxcan->fifo1filteroff)
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{
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if (pbxcan->filtermap[0].id32mask_cnt && i < pbxcan->filtermap[0].id32mask_cnt)
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{
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CAN1->FS1R |= mask;
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CAN1->FM1R &= ~mask;
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CAN1->FFA1R &= ~mask;
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}
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else if (pbxcan->filtermap[0].id32bit_cnt &&
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i < pbxcan->filtermap[0].id32mask_cnt + pbxcan->filtermap[0].id32bit_cnt / 2)
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{
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CAN1->FS1R |= mask;
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CAN1->FM1R |= mask;
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CAN1->FFA1R &= ~mask;
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}
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else if (pbxcan->filtermap[0].id16mask_cnt &&
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i < pbxcan->filtermap[0].id32mask_cnt + pbxcan->filtermap[0].id32bit_cnt / 2
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+ pbxcan->filtermap[0].id16mask_cnt / 2)
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{
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CAN1->FS1R &= ~mask;
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CAN1->FM1R &= ~mask;
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CAN1->FFA1R &= ~mask;
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}
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else if (pbxcan->filtermap[0].id16bit_cnt &&
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i < pbxcan->filtermap[0].id32mask_cnt + pbxcan->filtermap[0].id32bit_cnt / 2
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+ pbxcan->filtermap[0].id16mask_cnt / 2 + pbxcan->filtermap[0].id16bit_cnt / 4
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)
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{
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CAN1->FS1R &= ~mask;
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CAN1->FM1R |= mask;
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CAN1->FFA1R &= ~mask;
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}
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}
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else
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{
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if (pbxcan->filtermap[1].id32mask_cnt &&
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i < pbxcan->filtermap[1].id32mask_cnt + pbxcan->fifo1filteroff)
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{
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CAN1->FS1R |= mask;
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CAN1->FM1R &= ~mask;
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CAN1->FFA1R |= mask;
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}
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else if (pbxcan->filtermap[1].id32bit_cnt &&
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i < pbxcan->filtermap[1].id32mask_cnt + pbxcan->filtermap[1].id32bit_cnt / 2
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+ pbxcan->fifo1filteroff)
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{
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CAN1->FS1R |= mask;
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CAN1->FM1R |= mask;
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CAN1->FFA1R |= mask;
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}
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else if (pbxcan->filtermap[1].id16mask_cnt &&
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i < pbxcan->filtermap[1].id32mask_cnt + pbxcan->filtermap[1].id32bit_cnt / 2
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+ pbxcan->filtermap[1].id16mask_cnt / 2 + pbxcan->fifo1filteroff)
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{
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CAN1->FS1R &= ~mask;
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CAN1->FM1R &= ~mask;
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CAN1->FFA1R |= mask;
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}
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else if (pbxcan->filtermap[1].id16bit_cnt &&
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i < pbxcan->filtermap[1].id32mask_cnt + pbxcan->filtermap[1].id32bit_cnt / 2
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+ pbxcan->filtermap[1].id16mask_cnt / 2 + pbxcan->filtermap[1].id16bit_cnt / 4
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+ pbxcan->fifo1filteroff)
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{
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CAN1->FS1R &= ~mask;
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CAN1->FM1R |= mask;
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CAN1->FFA1R |= mask;
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}
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}
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CAN1->sFilterRegister[i].FR1 = 0xFFFFFFFF;
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CAN1->sFilterRegister[i].FR2 = 0xFFFFFFFF;
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CAN1->FMR &= ~FMR_FINIT;
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}
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calcfiltermasks(pbxcan);
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}
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#ifdef USING_BXCAN2
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static void bxcan2_filter_init(struct rt_can_device *can)
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{
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rt_uint32_t i;
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rt_uint32_t off;
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rt_uint32_t mask;
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CAN_SlaveStartBank(BX_CAN2_FMRSTART);
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struct stm_bxcan *pbxcan = (struct stm_bxcan *) can->parent.user_data;
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for (i = BX_CAN2_FMRSTART; i < BX_CAN_FMRNUMBER; i++)
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{
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CAN1->FMR |= FMR_FINIT;
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mask = 0x01 << (i + 0);
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off = i - BX_CAN2_FMRSTART;
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if (off < pbxcan->fifo1filteroff)
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{
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if (pbxcan->filtermap[0].id32mask_cnt && off < pbxcan->filtermap[0].id32mask_cnt)
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{
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CAN1->FS1R |= mask;
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CAN1->FM1R &= ~mask;
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CAN1->FFA1R &= ~mask;
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}
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else if (pbxcan->filtermap[0].id32bit_cnt &&
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off < pbxcan->filtermap[0].id32mask_cnt + pbxcan->filtermap[0].id32bit_cnt / 2)
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{
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CAN1->FS1R |= mask;
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CAN1->FM1R |= mask;
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CAN1->FFA1R &= ~mask;
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}
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else if (pbxcan->filtermap[0].id16mask_cnt &&
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off < pbxcan->filtermap[0].id32mask_cnt + pbxcan->filtermap[0].id32bit_cnt / 2
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+ pbxcan->filtermap[0].id16mask_cnt / 2)
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{
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CAN1->FS1R &= ~mask;
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CAN1->FM1R &= ~mask;
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CAN1->FFA1R &= ~mask;
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}
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else if (pbxcan->filtermap[0].id16bit_cnt &&
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off < pbxcan->filtermap[0].id32mask_cnt + pbxcan->filtermap[0].id32bit_cnt / 2
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+ pbxcan->filtermap[0].id16mask_cnt / 2 + pbxcan->filtermap[0].id16bit_cnt / 4
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)
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{
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CAN1->FS1R &= ~mask;
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CAN1->FM1R |= mask;
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CAN1->FFA1R &= ~mask;
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}
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}
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else
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{
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if (pbxcan->filtermap[1].id32mask_cnt &&
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off < pbxcan->filtermap[1].id32mask_cnt + pbxcan->fifo1filteroff)
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{
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CAN1->FS1R |= mask;
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CAN1->FM1R &= ~mask;
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CAN1->FFA1R |= mask;
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}
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else if (pbxcan->filtermap[1].id32bit_cnt &&
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off < pbxcan->filtermap[1].id32mask_cnt + pbxcan->filtermap[1].id32bit_cnt / 2
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+ pbxcan->fifo1filteroff)
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{
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CAN1->FS1R |= mask;
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CAN1->FM1R |= mask;
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CAN1->FFA1R |= mask;
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}
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else if (pbxcan->filtermap[1].id16mask_cnt &&
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off < pbxcan->filtermap[1].id32mask_cnt + pbxcan->filtermap[1].id32bit_cnt / 2
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+ pbxcan->filtermap[1].id16mask_cnt / 2 + pbxcan->fifo1filteroff)
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{
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CAN1->FS1R &= ~mask;
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CAN1->FM1R &= ~mask;
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CAN1->FFA1R |= mask;
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}
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else if (pbxcan->filtermap[1].id16bit_cnt &&
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off < pbxcan->filtermap[1].id32mask_cnt + pbxcan->filtermap[1].id32bit_cnt / 2
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+ pbxcan->filtermap[1].id16mask_cnt / 2 + pbxcan->filtermap[1].id16bit_cnt / 4
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+ pbxcan->fifo1filteroff)
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{
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CAN1->FS1R &= ~mask;
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CAN1->FM1R |= mask;
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CAN1->FFA1R |= mask;
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}
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}
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CAN1->sFilterRegister[i].FR1 = 0xFFFFFFFF;
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CAN1->sFilterRegister[i].FR2 = 0xFFFFFFFF;
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CAN1->FMR &= ~FMR_FINIT;
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}
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calcfiltermasks(pbxcan);
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}
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#endif
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#define BS1SHIFT 16
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#define BS2SHIFT 20
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#define RRESCLSHIFT 0
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#define SJWSHIFT 24
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#define BS1MASK ( (0x0F) << BS1SHIFT )
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#define BS2MASK ( (0x07) << BS2SHIFT )
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#define RRESCLMASK ( 0x3FF << RRESCLSHIFT )
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#define SJWMASK ( 0x3 << SJWSHIFT )
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#define MK_BKCAN_BAUD(SJW,BS1,BS2,PRES) \
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((SJW << SJWSHIFT) | (BS1 << BS1SHIFT) | (BS2 << BS2SHIFT) | (PRES << RRESCLSHIFT))
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static const struct stm_baud_rate_tab bxcan_baud_rate_tab[] =
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{
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#ifdef STM32F10X_CL
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// 48 M
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{1000UL * 1000, MK_BKCAN_BAUD(CAN_SJW_2tq, CAN_BS1_12tq, CAN_BS2_3tq, 3)},
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{1000UL * 800, MK_BKCAN_BAUD(CAN_SJW_2tq, CAN_BS1_6tq, CAN_BS2_3tq, 6)},
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{1000UL * 500, MK_BKCAN_BAUD(CAN_SJW_2tq, CAN_BS1_12tq, CAN_BS2_3tq, 5)},
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{1000UL * 250, MK_BKCAN_BAUD(CAN_SJW_2tq, CAN_BS1_12tq, CAN_BS2_3tq, 11)},//1
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{1000UL * 125, MK_BKCAN_BAUD(CAN_SJW_2tq, CAN_BS1_12tq, CAN_BS2_3tq, 23)},
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{1000UL * 100, MK_BKCAN_BAUD(CAN_SJW_2tq, CAN_BS1_12tq, CAN_BS2_3tq, 29)},
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{1000UL * 50, MK_BKCAN_BAUD(CAN_SJW_2tq, CAN_BS1_12tq, CAN_BS2_3tq, 59)},
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{1000UL * 20, MK_BKCAN_BAUD(CAN_SJW_2tq, CAN_BS1_14tq, CAN_BS2_3tq, 149)},
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{1000UL * 10, MK_BKCAN_BAUD(CAN_SJW_2tq, CAN_BS1_16tq, CAN_BS2_8tq, 199)}
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#else
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// 36 M
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{1000UL * 1000, MK_BKCAN_BAUD(CAN_SJW_2tq, CAN_BS1_8tq, CAN_BS2_3tq, 3)},
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{1000UL * 800, MK_BKCAN_BAUD(CAN_SJW_2tq, CAN_BS1_11tq, CAN_BS2_3tq, 3)},
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{1000UL * 500, MK_BKCAN_BAUD(CAN_SJW_2tq, CAN_BS1_9tq, CAN_BS2_2tq, 6)},
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{1000UL * 250, MK_BKCAN_BAUD(CAN_SJW_2tq, CAN_BS1_13tq, CAN_BS2_2tq, 9)},//1
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{1000UL * 125, MK_BKCAN_BAUD(CAN_SJW_2tq, CAN_BS1_13tq, CAN_BS2_2tq, 18)},
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{1000UL * 100, MK_BKCAN_BAUD(CAN_SJW_2tq, CAN_BS1_9tq, CAN_BS2_2tq, 30)},
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{1000UL * 50, MK_BKCAN_BAUD(CAN_SJW_2tq, CAN_BS1_13tq, CAN_BS2_2tq, 45)},
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{1000UL * 20, MK_BKCAN_BAUD(CAN_SJW_2tq, CAN_BS1_14tq, CAN_BS2_3tq, 100)},
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{1000UL * 10, MK_BKCAN_BAUD(CAN_SJW_2tq, CAN_BS1_14tq, CAN_BS2_3tq, 200)}
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#endif
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};
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#define BAUD_DATA(TYPE,NO) \
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((bxcan_baud_rate_tab[NO].confdata & TYPE##MASK) >> TYPE##SHIFT)
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static rt_uint32_t bxcan_get_baud_index(rt_uint32_t baud)
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{
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rt_uint32_t len, index, default_index;
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len = sizeof(bxcan_baud_rate_tab)/sizeof(bxcan_baud_rate_tab[0]);
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default_index = len;
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for(index = 0; index < len; index++)
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{
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if(bxcan_baud_rate_tab[index].baud_rate == baud)
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return index;
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if(bxcan_baud_rate_tab[index].baud_rate == 1000UL * 250)
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default_index = index;
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}
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if(default_index != len)
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return default_index;
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return 0;
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}
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static void bxcan_init(CAN_TypeDef *pcan, rt_uint32_t baud, rt_uint32_t mode)
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{
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CAN_InitTypeDef CAN_InitStructure;
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rt_uint32_t baud_index = bxcan_get_baud_index(baud);
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CAN_InitStructure.CAN_TTCM = DISABLE;
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CAN_InitStructure.CAN_ABOM = ENABLE;
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CAN_InitStructure.CAN_AWUM = DISABLE;
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CAN_InitStructure.CAN_NART = DISABLE;
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CAN_InitStructure.CAN_RFLM = DISABLE;
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CAN_InitStructure.CAN_TXFP = ENABLE;
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switch (mode)
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{
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case RT_CAN_MODE_NORMAL:
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CAN_InitStructure.CAN_Mode = CAN_Mode_Normal;
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break;
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case RT_CAN_MODE_LISEN:
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CAN_InitStructure.CAN_Mode = CAN_Mode_Silent;
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break;
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case RT_CAN_MODE_LOOPBACK:
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CAN_InitStructure.CAN_Mode = CAN_Mode_LoopBack;
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break;
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case RT_CAN_MODE_LOOPBACKANLISEN:
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CAN_InitStructure.CAN_Mode = CAN_Mode_Silent_LoopBack;
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break;
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}
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CAN_InitStructure.CAN_SJW = BAUD_DATA(SJW, baud_index);
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CAN_InitStructure.CAN_BS1 = BAUD_DATA(BS1, baud_index);
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CAN_InitStructure.CAN_BS2 = BAUD_DATA(BS2, baud_index);
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CAN_InitStructure.CAN_Prescaler = BAUD_DATA(RRESCL, baud_index);
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CAN_Init(pcan, &CAN_InitStructure);
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}
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static void bxcan1_hw_init(void)
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{
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GPIO_InitTypeDef GPIO_InitStructure;
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NVIC_InitTypeDef NVIC_InitStructure;
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GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11;
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GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
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GPIO_Init(GPIOA, &GPIO_InitStructure);
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GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12;
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GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
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GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
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GPIO_Init(GPIOA, &GPIO_InitStructure);
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NVIC_PriorityGroupConfig(NVIC_PriorityGroup_1);
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NVIC_InitStructure.NVIC_IRQChannel = CAN1_RX0_IRQn;
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NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x1;
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NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x0;
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NVIC_InitStructure.NVIC_IRQChannelCmd = DISABLE;
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NVIC_Init(&NVIC_InitStructure);
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NVIC_InitStructure.NVIC_IRQChannel = CAN1_RX1_IRQn;
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NVIC_Init(&NVIC_InitStructure);
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NVIC_InitStructure.NVIC_IRQChannel = CAN1_TX_IRQn;
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NVIC_Init(&NVIC_InitStructure);
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}
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#ifdef USING_BXCAN2
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static void bxcan2_hw_init(void)
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{
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GPIO_InitTypeDef GPIO_InitStructure;
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NVIC_InitTypeDef NVIC_InitStructure;
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GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
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GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12;
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GPIO_Init(GPIOB, &GPIO_InitStructure);
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GPIO_InitStructure.GPIO_Pin = GPIO_Pin_13;
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GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
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GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
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GPIO_Init(GPIOB, &GPIO_InitStructure);
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NVIC_PriorityGroupConfig(NVIC_PriorityGroup_1);
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NVIC_InitStructure.NVIC_IRQChannel = CAN2_RX0_IRQn;
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NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x1;
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NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x0;
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NVIC_InitStructure.NVIC_IRQChannelCmd = DISABLE;
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NVIC_Init(&NVIC_InitStructure);
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NVIC_InitStructure.NVIC_IRQChannel = CAN2_RX1_IRQn;
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NVIC_Init(&NVIC_InitStructure);
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NVIC_InitStructure.NVIC_IRQChannel = CAN2_TX_IRQn;
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NVIC_Init(&NVIC_InitStructure);
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}
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#endif
|
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static 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;
|
|
}
|
|
static 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 = 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 = 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;
|
|
}
|
|
else if (hdr >= fifo1start && hdr < fifo1end)
|
|
{
|
|
*pbase = pbxcan->fifo1filteroff;
|
|
ptr = 1;
|
|
}
|
|
else
|
|
{
|
|
return RT_ERROR;
|
|
}
|
|
ptr = 0;
|
|
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;
|
|
}
|
|
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)
|
|
{
|
|
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;
|
|
}
|
|
}
|
|
void CAN1_RX1_IRQHandler(void)
|
|
{
|
|
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;
|
|
}
|
|
}
|
|
void CAN1_TX_IRQHandler(void)
|
|
{
|
|
rt_uint32_t state;
|
|
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);
|
|
}
|
|
}
|
|
}
|
|
void CAN1_SCE_IRQHandler(void)
|
|
{
|
|
rt_uint32_t errtype;
|
|
errtype = CAN1->ESR;
|
|
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;
|
|
}
|
|
#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)
|
|
{
|
|
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;
|
|
}
|
|
}
|
|
void CAN2_RX1_IRQHandler(void)
|
|
{
|
|
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;
|
|
}
|
|
}
|
|
void CAN2_TX_IRQHandler(void)
|
|
{
|
|
rt_uint32_t state;
|
|
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);
|
|
}
|
|
}
|
|
}
|
|
void CAN2_SCE_IRQHandler(void)
|
|
{
|
|
rt_uint32_t errtype;
|
|
errtype = CAN2->ESR;
|
|
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;
|
|
}
|
|
#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*/
|