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未验证 提交 5db17e54 编写于 作者: B Bernard Xiong 提交者： GitHub
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Merge pull request #2805 from ylz0923/can_pr 

[bsp][stm32][libraries][HAL_Drivers] update drv_can.c
上级 c5543593 b1f4e192
隐藏空白更改
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Showing with 247 addition and 513 deletion
bsp/stm32/libraries/HAL_Drivers/drv_can.c
浏览文件 @ 5db17e54
......@@ -9,15 +9,15 @@
* 2019-01-22 YLZ port from stm324xx-HAL to bsp stm3210x-HAL
* 2019-02-19 YLZ add support EXTID RTR Frame. modify send, recv functions.
* fix bug.port to BSP [stm32]
* 2019-03-27 YLZ support double can channels, support stm32F4xx (only Legacy mode).
* 2019-06-17 YLZ port to new STM32F1xx HAL V1.1.3.
*/
#include "drv_can.h"
#ifdef RT_USING_CAN
#ifdef RT_CAN_USING_HDR
#error "The CAN driver does not support hardware filters, Please disable RT_CAN_USING_HDR"
#endif
static void drv_rx_isr(struct rt_can_device *can, rt_uint32_t fifo);
#if defined (SOC_SERIES_STM32F1)
static const struct stm_baud_rate_tab can_baud_rate_tab[] =
......@@ -96,7 +96,6 @@ void CAN1_TX_IRQHandler(void)
rt_interrupt_enter();
CAN_HandleTypeDef *hcan;
hcan = &drv_can1.CanHandle;
if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_RQCP0))
{
if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_TXOK0))
......@@ -110,10 +109,8 @@ void CAN1_TX_IRQHandler(void)
/* Write 0 to Clear transmission status flag RQCPx */
SET_BIT(hcan->Instance->TSR, CAN_TSR_RQCP0);
}
else if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_RQCP1))
{
if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_TXOK1))
{
rt_hw_can_isr(&dev_can1, RT_CAN_EVENT_TX_DONE | 1 << 8);
......@@ -125,10 +122,8 @@ void CAN1_TX_IRQHandler(void)
/* Write 0 to Clear transmission status flag RQCPx */
SET_BIT(hcan->Instance->TSR, CAN_TSR_RQCP1);
}
else if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_RQCP2))
{
if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_TXOK2))
{
rt_hw_can_isr(&dev_can1, RT_CAN_EVENT_TX_DONE | 2 << 8);
......@@ -140,7 +135,6 @@ void CAN1_TX_IRQHandler(void)
/* Write 0 to Clear transmission status flag RQCPx */
SET_BIT(hcan->Instance->TSR, CAN_TSR_RQCP2);
}
rt_interrupt_leave();
}
......@@ -150,68 +144,7 @@ void CAN1_TX_IRQHandler(void)
void CAN1_RX0_IRQHandler(void)
{
rt_interrupt_enter();
CAN_RxHeaderTypeDef *pRxMsg = RT_NULL;
uint8_t *data = RT_NULL;
CAN_HandleTypeDef *hcan;
hcan = &drv_can1.CanHandle;
/* check FMP0 and get data */
while ((hcan->Instance->RF0R & CAN_RF0R_FMP0) && __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IER_FMPIE0) != RESET)
{
/* beigin get data */
/* Set RxMsg pointer */
pRxMsg = &drv_can1.RxMessage;
data = drv_can1.RxMessage_Data;
/* Get the Id */
pRxMsg->IDE = (uint8_t)0x04U & hcan->Instance->sFIFOMailBox[CAN_RX_FIFO0].RIR;
if (pRxMsg->IDE == CAN_ID_STD)
{
pRxMsg->StdId = 0x000007FFU & (hcan->Instance->sFIFOMailBox[CAN_RX_FIFO0].RIR >> 21U);
}
else
{
pRxMsg->ExtId = 0x1FFFFFFFU & (hcan->Instance->sFIFOMailBox[CAN_RX_FIFO0].RIR >> 3U);
}
pRxMsg->RTR = (uint8_t)0x02U & hcan->Instance->sFIFOMailBox[CAN_RX_FIFO0].RIR;
/* Get the DLC */
pRxMsg->DLC = (uint8_t)0x0FU & hcan->Instance->sFIFOMailBox[CAN_RX_FIFO0].RDTR;
/* Get the FMI */
pRxMsg->FilterMatchIndex = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[CAN_RX_FIFO0].RDTR >> 8U);
/* Get the data field */
data[0] = (uint8_t)0xFFU & hcan->Instance->sFIFOMailBox[CAN_RX_FIFO0].RDLR;
data[1] = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[CAN_RX_FIFO0].RDLR >> 8U);
data[2] = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[CAN_RX_FIFO0].RDLR >> 16U);
data[3] = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[CAN_RX_FIFO0].RDLR >> 24U);
data[4] = (uint8_t)0xFFU & hcan->Instance->sFIFOMailBox[CAN_RX_FIFO0].RDHR;
data[5] = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[CAN_RX_FIFO0].RDHR >> 8U);
data[6] = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[CAN_RX_FIFO0].RDHR >> 16U);
data[7] = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[CAN_RX_FIFO0].RDHR >> 24U);
/* Release FIFO0 */
SET_BIT(hcan->Instance->RF0R, CAN_RF0R_RFOM0);
/* end get data */
/* save to user fifo */
rt_hw_can_isr(&dev_can1, RT_CAN_EVENT_RX_IND | 0 << 8);
}
/* Check Overrun flag for FIFO0 */
if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_FF0) != RESET && __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IER_FFIE0) != RESET)
{
/* Clear FIFO0 FULL Flag */
__HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_FF0);
}
/* Check Overrun flag for FIFO0 */
if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_FOV0) != RESET && __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IER_FOVIE0) != RESET)
{
/* Clear FIFO0 Overrun Flag */
__HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_FOV0);
rt_hw_can_isr(&dev_can1, RT_CAN_EVENT_RXOF_IND | 0 << 8);
}
drv_rx_isr(&dev_can1, CAN_RX_FIFO0);
rt_interrupt_leave();
}
......@@ -221,68 +154,7 @@ void CAN1_RX0_IRQHandler(void)
void CAN1_RX1_IRQHandler(void)
{
rt_interrupt_enter();
CAN_RxHeaderTypeDef *pRxMsg = NULL;
uint8_t *data = RT_NULL;
CAN_HandleTypeDef *hcan;
hcan = &drv_can1.CanHandle;
/* check FMP1 and get data */
while ((hcan->Instance->RF1R & CAN_RF1R_FMP1) && __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IER_FMPIE1) != RESET)
{
/* beigin get data */
/* Set RxMsg pointer */
pRxMsg = &drv_can1.Rx1Message;
data = drv_can1.Rx1Message_Data;
/* Get the Id */
pRxMsg->IDE = (uint8_t)0x04U & hcan->Instance->sFIFOMailBox[CAN_RX_FIFO1].RIR;
if (pRxMsg->IDE == CAN_ID_STD)
{
pRxMsg->StdId = 0x000007FFU & (hcan->Instance->sFIFOMailBox[CAN_RX_FIFO1].RIR >> 21U);
}
else
{
pRxMsg->ExtId = 0x1FFFFFFFU & (hcan->Instance->sFIFOMailBox[CAN_RX_FIFO1].RIR >> 3U);
}
pRxMsg->RTR = (uint8_t)0x02U & hcan->Instance->sFIFOMailBox[CAN_RX_FIFO1].RIR;
/* Get the DLC */
pRxMsg->DLC = (uint8_t)0x0FU & hcan->Instance->sFIFOMailBox[CAN_RX_FIFO1].RDTR;
/* Get the FMI */
pRxMsg->FilterMatchIndex = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[CAN_RX_FIFO1].RDTR >> 8U);
/* Get the data field */
data[0] = (uint8_t)0xFFU & hcan->Instance->sFIFOMailBox[CAN_RX_FIFO1].RDLR;
data[1] = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[CAN_RX_FIFO1].RDLR >> 8U);
data[2] = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[CAN_RX_FIFO1].RDLR >> 16U);
data[3] = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[CAN_RX_FIFO1].RDLR >> 24U);
data[4] = (uint8_t)0xFFU & hcan->Instance->sFIFOMailBox[CAN_RX_FIFO1].RDHR;
data[5] = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[CAN_RX_FIFO1].RDHR >> 8U);
data[6] = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[CAN_RX_FIFO1].RDHR >> 16U);
data[7] = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[CAN_RX_FIFO1].RDHR >> 24U);
/* Release FIFO1 */
SET_BIT(hcan->Instance->RF1R, CAN_RF1R_RFOM1);
/* end get data */
/* save to user fifo */
rt_hw_can_isr(&dev_can1, RT_CAN_EVENT_RX_IND | 1 << 8);
}
/* Check Overrun flag for FIFO1 */
if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_FF1) != RESET && __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IER_FFIE1) != RESET)
{
/* Clear FIFO1 FULL Flag */
__HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_FF1);
}
/* Check Overrun flag for FIFO1 */
if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_FOV1) != RESET && __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IER_FOVIE1) != RESET)
{
/* Clear FIFO1 Overrun Flag */
__HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_FOV1);
rt_hw_can_isr(&dev_can1, RT_CAN_EVENT_RXOF_IND | 1 << 8);
}
drv_rx_isr(&dev_can1, CAN_RX_FIFO1);
rt_interrupt_leave();
}
......@@ -343,7 +215,6 @@ void CAN2_TX_IRQHandler(void)
rt_interrupt_enter();
CAN_HandleTypeDef *hcan;
hcan = &drv_can2.CanHandle;
if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_RQCP0))
{
if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_TXOK0))
......@@ -357,10 +228,8 @@ void CAN2_TX_IRQHandler(void)
/* Write 0 to Clear transmission status flag RQCPx */
SET_BIT(hcan->Instance->TSR, CAN_TSR_RQCP0);
}
else if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_RQCP1))
{
if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_TXOK1))
{
rt_hw_can_isr(&dev_can2, RT_CAN_EVENT_TX_DONE | 1 << 8);
......@@ -372,10 +241,8 @@ void CAN2_TX_IRQHandler(void)
/* Write 0 to Clear transmission status flag RQCPx */
SET_BIT(hcan->Instance->TSR, CAN_TSR_RQCP1);
}
else if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_RQCP2))
{
if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_TXOK2))
{
rt_hw_can_isr(&dev_can2, RT_CAN_EVENT_TX_DONE | 2 << 8);
......@@ -387,7 +254,6 @@ void CAN2_TX_IRQHandler(void)
/* Write 0 to Clear transmission status flag RQCPx */
SET_BIT(hcan->Instance->TSR, CAN_TSR_RQCP2);
}
rt_interrupt_leave();
}
......@@ -397,68 +263,7 @@ void CAN2_TX_IRQHandler(void)
void CAN2_RX0_IRQHandler(void)
{
rt_interrupt_enter();
CAN_RxHeaderTypeDef *pRxMsg = RT_NULL;
uint8_t *data = RT_NULL;
CAN_HandleTypeDef *hcan;
hcan = &drv_can2.CanHandle;
/* check FMP0 and get data */
while ((hcan->Instance->RF0R & CAN_RF0R_FMP0) != RESET && __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IER_FMPIE0) != RESET)
{
/* beigin get data */
/* Set RxMsg pointer */
pRxMsg = &drv_can2.RxMessage;
data = drv_can2.RxMessage_Data;
/* Get the Id */
pRxMsg->IDE = (uint8_t)0x04U & hcan->Instance->sFIFOMailBox[CAN_RX_FIFO0].RIR;
if (pRxMsg->IDE == CAN_ID_STD)
{
pRxMsg->StdId = 0x000007FFU & (hcan->Instance->sFIFOMailBox[CAN_RX_FIFO0].RIR >> 21U);
}
else
{
pRxMsg->ExtId = 0x1FFFFFFFU & (hcan->Instance->sFIFOMailBox[CAN_RX_FIFO0].RIR >> 3U);
}
pRxMsg->RTR = (uint8_t)0x02U & hcan->Instance->sFIFOMailBox[CAN_RX_FIFO0].RIR;
/* Get the DLC */
pRxMsg->DLC = (uint8_t)0x0FU & hcan->Instance->sFIFOMailBox[CAN_RX_FIFO0].RDTR;
/* Get the FMI */
pRxMsg->FilterMatchIndex = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[CAN_RX_FIFO0].RDTR >> 8U);
/* Get the data field */
data[0] = (uint8_t)0xFFU & hcan->Instance->sFIFOMailBox[CAN_RX_FIFO0].RDLR;
data[1] = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[CAN_RX_FIFO0].RDLR >> 8U);
data[2] = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[CAN_RX_FIFO0].RDLR >> 16U);
data[3] = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[CAN_RX_FIFO0].RDLR >> 24U);
data[4] = (uint8_t)0xFFU & hcan->Instance->sFIFOMailBox[CAN_RX_FIFO0].RDHR;
data[5] = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[CAN_RX_FIFO0].RDHR >> 8U);
data[6] = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[CAN_RX_FIFO0].RDHR >> 16U);
data[7] = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[CAN_RX_FIFO0].RDHR >> 24U);
/* Release FIFO0 */
SET_BIT(hcan->Instance->RF0R, CAN_RF0R_RFOM0);
/* end get data */
/* save to user fifo */
rt_hw_can_isr(&dev_can2, RT_CAN_EVENT_RX_IND | 0 << 8);
}
/* Check Overrun flag for FIFO0 */
if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_FF0) != RESET && __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IER_FFIE0) != RESET)
{
/* Clear FIFO0 FULL Flag */
__HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_FF0);
}
/* Check Overrun flag for FIFO0 */
if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_FOV0) != RESET && __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IER_FOVIE0) != RESET)
{
/* Clear FIFO0 Overrun Flag */
__HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_FOV0);
rt_hw_can_isr(&dev_can2, RT_CAN_EVENT_RXOF_IND | 0 << 8);
}
drv_rx_isr(&dev_can2, CAN_RX_FIFO0);
rt_interrupt_leave();
}
......@@ -468,68 +273,7 @@ void CAN2_RX0_IRQHandler(void)
void CAN2_RX1_IRQHandler(void)
{
rt_interrupt_enter();
CAN_RxHeaderTypeDef *pRxMsg = RT_NULL;
uint8_t *data = RT_NULL;
CAN_HandleTypeDef *hcan;
hcan = &drv_can2.CanHandle;
/* check FMP1 and get data */
while ((hcan->Instance->RF1R & CAN_RF1R_FMP1) != RESET && __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IER_FMPIE1) != RESET)
{
/* beigin get data */
/* Set RxMsg pointer */
pRxMsg = &drv_can2.Rx1Message;
data = drv_can2.Rx1Message_Data;
/* Get the Id */
pRxMsg->IDE = (uint8_t)0x04U & hcan->Instance->sFIFOMailBox[CAN_RX_FIFO1].RIR;
if (pRxMsg->IDE == CAN_ID_STD)
{
pRxMsg->StdId = 0x000007FFU & (hcan->Instance->sFIFOMailBox[CAN_RX_FIFO1].RIR >> 21U);
}
else
{
pRxMsg->ExtId = 0x1FFFFFFFU & (hcan->Instance->sFIFOMailBox[CAN_RX_FIFO1].RIR >> 3U);
}
pRxMsg->RTR = (uint8_t)0x02U & hcan->Instance->sFIFOMailBox[CAN_RX_FIFO1].RIR;
/* Get the DLC */
pRxMsg->DLC = (uint8_t)0x0FU & hcan->Instance->sFIFOMailBox[CAN_RX_FIFO1].RDTR;
/* Get the FMI */
pRxMsg->FilterMatchIndex = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[CAN_RX_FIFO1].RDTR >> 8U);
/* Get the data field */
data[0] = (uint8_t)0xFFU & hcan->Instance->sFIFOMailBox[CAN_RX_FIFO1].RDLR;
data[1] = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[CAN_RX_FIFO1].RDLR >> 8U);
data[2] = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[CAN_RX_FIFO1].RDLR >> 16U);
data[3] = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[CAN_RX_FIFO1].RDLR >> 24U);
data[4] = (uint8_t)0xFFU & hcan->Instance->sFIFOMailBox[CAN_RX_FIFO1].RDHR;
data[5] = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[CAN_RX_FIFO1].RDHR >> 8U);
data[6] = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[CAN_RX_FIFO1].RDHR >> 16U);
data[7] = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[CAN_RX_FIFO1].RDHR >> 24U);
/* Release FIFO1 */
SET_BIT(hcan->Instance->RF1R, CAN_RF1R_RFOM1);
/* end get data */
/* save to user fifo */
rt_hw_can_isr(&dev_can2, RT_CAN_EVENT_RX_IND | 1 << 8);
}
/* Check Overrun flag for FIFO1 */
if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_FF1) != RESET && __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IER_FFIE1) != RESET)
{
/* Clear FIFO1 FULL Flag */
__HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_FF1);
}
/* Check Overrun flag for FIFO1 */
if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_FOV1) != RESET && __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IER_FOVIE1) != RESET)
{
/* Clear FIFO1 Overrun Flag */
__HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_FOV1);
rt_hw_can_isr(&dev_can2, RT_CAN_EVENT_RXOF_IND | 1 << 8);
}
drv_rx_isr(&dev_can2, CAN_RX_FIFO1);
rt_interrupt_leave();
}
......@@ -587,25 +331,27 @@ void CAN2_SCE_IRQHandler(void)
*/
void HAL_CAN_ErrorCallback(CAN_HandleTypeDef *hcan)
{
__HAL_CAN_ENABLE_IT(hcan, CAN_IER_EWGIE |
CAN_IER_EPVIE |
CAN_IER_BOFIE |
CAN_IER_LECIE |
CAN_IER_ERRIE |
CAN_IER_FMPIE0 |
CAN_IER_FOVIE0 |
CAN_IER_FMPIE1 |
CAN_IER_FOVIE1 |
CAN_IER_TMEIE);
__HAL_CAN_ENABLE_IT(hcan, CAN_IT_ERROR_WARNING |
CAN_IT_ERROR_PASSIVE |
CAN_IT_BUSOFF |
CAN_IT_LAST_ERROR_CODE |
CAN_IT_ERROR |
CAN_IT_RX_FIFO0_MSG_PENDING|
CAN_IT_RX_FIFO0_OVERRUN|
CAN_IT_RX_FIFO1_MSG_PENDING|
CAN_IT_RX_FIFO1_OVERRUN|
CAN_IT_TX_MAILBOX_EMPTY);
}
static rt_err_t drv_configure(struct rt_can_device *dev_can,
struct can_configure *cfg)
{
struct stm32_drv_can *drv_can;
rt_uint32_t baud_index;
CAN_InitTypeDef *drv_init;
CAN_FilterTypeDef *filterConf;
RT_ASSERT(dev_can);
RT_ASSERT(cfg);
......@@ -614,11 +360,11 @@ static rt_err_t drv_configure(struct rt_can_device *dev_can,
drv_init = &drv_can->CanHandle.Init;
drv_init->TimeTriggeredMode = DISABLE;
drv_init->AutoBusOff = DISABLE;
drv_init->AutoBusOff = ENABLE;
drv_init->AutoWakeUp = DISABLE;
drv_init->AutoRetransmission = ENABLE;
drv_init->AutoRetransmission = DISABLE;
drv_init->ReceiveFifoLocked = DISABLE;
drv_init->TransmitFifoPriority = DISABLE;
drv_init->TransmitFifoPriority = ENABLE;
switch (cfg->mode)
{
......@@ -645,32 +391,20 @@ static rt_err_t drv_configure(struct rt_can_device *dev_can,
{
return RT_ERROR;
}
if (HAL_CAN_Start(&drv_can->CanHandle) != HAL_OK)
{
return RT_ERROR;
}
/* Filter conf */
filterConf = &drv_can->FilterConfig;
filterConf->FilterBank = 0;
filterConf->FilterMode = CAN_FILTERMODE_IDMASK;
filterConf->FilterScale = CAN_FILTERSCALE_32BIT;
filterConf->FilterIdHigh = 0x0000;
filterConf->FilterIdLow = 0x0000;
filterConf->FilterMaskIdHigh = 0x0000;
filterConf->FilterMaskIdLow = 0x0000;
filterConf->FilterFIFOAssignment = CAN_FILTER_FIFO0;
filterConf->FilterActivation = ENABLE;
filterConf->SlaveStartFilterBank = 14;
HAL_CAN_ConfigFilter(&drv_can->CanHandle, filterConf);
HAL_CAN_ConfigFilter(&drv_can->CanHandle, &drv_can->FilterConfig);
/* can start */
HAL_CAN_Start(&drv_can->CanHandle);
return RT_EOK;
}
static rt_err_t drv_control(struct rt_can_device *can, int cmd, void *arg)
{
struct stm32_drv_can *drv_can;
struct stm32_drv_can *drv_can = RT_NULL;
rt_uint32_t argval;
struct rt_can_filter_config *filter_cfg = RT_NULL;
CAN_FilterTypeDef can_filter;
drv_can = (struct stm32_drv_can *) can->parent.user_data;
assert_param(drv_can != RT_NULL);
......@@ -685,19 +419,19 @@ static rt_err_t drv_control(struct rt_can_device *can, int cmd, void *arg)
HAL_NVIC_DisableIRQ(CAN1_RX0_IRQn);
HAL_NVIC_DisableIRQ(CAN1_RX1_IRQn);
}
#ifdef CAN2
#ifdef CAN2
else
{
HAL_NVIC_DisableIRQ(CAN2_RX0_IRQn);
HAL_NVIC_DisableIRQ(CAN2_RX1_IRQn);
}
#endif
__HAL_CAN_DISABLE_IT(&drv_can->CanHandle, CAN_IER_FMPIE0);
__HAL_CAN_DISABLE_IT(&drv_can->CanHandle, CAN_IER_FFIE0);
__HAL_CAN_DISABLE_IT(&drv_can->CanHandle, CAN_IER_FOVIE0);
__HAL_CAN_DISABLE_IT(&drv_can->CanHandle, CAN_IER_FMPIE1);
__HAL_CAN_DISABLE_IT(&drv_can->CanHandle, CAN_IER_FFIE1);
__HAL_CAN_DISABLE_IT(&drv_can->CanHandle, CAN_IER_FOVIE1);
#endif
__HAL_CAN_DISABLE_IT(&drv_can->CanHandle, CAN_IT_RX_FIFO0_MSG_PENDING);
__HAL_CAN_DISABLE_IT(&drv_can->CanHandle, CAN_IT_RX_FIFO0_FULL);
__HAL_CAN_DISABLE_IT(&drv_can->CanHandle, CAN_IT_RX_FIFO0_OVERRUN);
__HAL_CAN_DISABLE_IT(&drv_can->CanHandle, CAN_IT_RX_FIFO1_MSG_PENDING);
__HAL_CAN_DISABLE_IT(&drv_can->CanHandle, CAN_IT_RX_FIFO1_FULL);
__HAL_CAN_DISABLE_IT(&drv_can->CanHandle, CAN_IT_RX_FIFO1_OVERRUN);
}
else if (argval == RT_DEVICE_FLAG_INT_TX)
{
......@@ -705,13 +439,13 @@ static rt_err_t drv_control(struct rt_can_device *can, int cmd, void *arg)
{
HAL_NVIC_DisableIRQ(CAN1_TX_IRQn);
}
#ifdef CAN2
#ifdef CAN2
else
{
HAL_NVIC_DisableIRQ(CAN2_TX_IRQn);
}
#endif
__HAL_CAN_DISABLE_IT(&drv_can->CanHandle, CAN_IER_TMEIE);
#endif
__HAL_CAN_DISABLE_IT(&drv_can->CanHandle, CAN_IT_TX_MAILBOX_EMPTY);
}
else if (argval == RT_DEVICE_CAN_INT_ERR)
{
......@@ -719,27 +453,27 @@ static rt_err_t drv_control(struct rt_can_device *can, int cmd, void *arg)
{
NVIC_DisableIRQ(CAN1_SCE_IRQn);
}
#ifdef CAN2
#ifdef CAN2
else
{
NVIC_DisableIRQ(CAN2_SCE_IRQn);
}
#endif
__HAL_CAN_DISABLE_IT(&drv_can->CanHandle, CAN_IER_BOFIE);
__HAL_CAN_DISABLE_IT(&drv_can->CanHandle, CAN_IER_LECIE);
__HAL_CAN_DISABLE_IT(&drv_can->CanHandle, CAN_IER_ERRIE);
#endif
__HAL_CAN_DISABLE_IT(&drv_can->CanHandle, CAN_IT_BUSOFF);
__HAL_CAN_DISABLE_IT(&drv_can->CanHandle, CAN_IT_LAST_ERROR_CODE);
__HAL_CAN_DISABLE_IT(&drv_can->CanHandle, CAN_IT_ERROR);
}
break;
case RT_DEVICE_CTRL_SET_INT:
argval = (rt_uint32_t) arg;
if (argval == RT_DEVICE_FLAG_INT_RX)
{
__HAL_CAN_ENABLE_IT(&drv_can->CanHandle, CAN_IER_FMPIE0);
__HAL_CAN_ENABLE_IT(&drv_can->CanHandle, CAN_IER_FFIE0);
__HAL_CAN_ENABLE_IT(&drv_can->CanHandle, CAN_IER_FOVIE0);
__HAL_CAN_ENABLE_IT(&drv_can->CanHandle, CAN_IER_FMPIE1);
__HAL_CAN_ENABLE_IT(&drv_can->CanHandle, CAN_IER_FFIE1);
__HAL_CAN_ENABLE_IT(&drv_can->CanHandle, CAN_IER_FOVIE1);
__HAL_CAN_ENABLE_IT(&drv_can->CanHandle, CAN_IT_RX_FIFO0_MSG_PENDING);
__HAL_CAN_ENABLE_IT(&drv_can->CanHandle, CAN_IT_RX_FIFO0_FULL);
__HAL_CAN_ENABLE_IT(&drv_can->CanHandle, CAN_IT_RX_FIFO0_OVERRUN);
__HAL_CAN_ENABLE_IT(&drv_can->CanHandle, CAN_IT_RX_FIFO1_MSG_PENDING);
__HAL_CAN_ENABLE_IT(&drv_can->CanHandle, CAN_IT_RX_FIFO1_FULL);
__HAL_CAN_ENABLE_IT(&drv_can->CanHandle, CAN_IT_RX_FIFO1_OVERRUN);
if (CAN1 == drv_can->CanHandle.Instance)
{
......@@ -748,7 +482,7 @@ static rt_err_t drv_control(struct rt_can_device *can, int cmd, void *arg)
HAL_NVIC_SetPriority(CAN1_RX1_IRQn, 1, 0);
HAL_NVIC_EnableIRQ(CAN1_RX1_IRQn);
}
#ifdef CAN2
#ifdef CAN2
else
{
HAL_NVIC_SetPriority(CAN2_RX0_IRQn, 1, 0);
......@@ -756,142 +490,117 @@ static rt_err_t drv_control(struct rt_can_device *can, int cmd, void *arg)
HAL_NVIC_SetPriority(CAN2_RX1_IRQn, 1, 0);
HAL_NVIC_EnableIRQ(CAN2_RX1_IRQn);
}
#endif
#endif
}
else if (argval == RT_DEVICE_FLAG_INT_TX)
{
__HAL_CAN_ENABLE_IT(&drv_can->CanHandle, CAN_IER_TMEIE);
__HAL_CAN_ENABLE_IT(&drv_can->CanHandle, CAN_IT_TX_MAILBOX_EMPTY);
if (CAN1 == drv_can->CanHandle.Instance)
{
HAL_NVIC_SetPriority(CAN1_TX_IRQn, 1, 0);
HAL_NVIC_EnableIRQ(CAN1_TX_IRQn);
}
#ifdef CAN2
#ifdef CAN2
else
{
HAL_NVIC_SetPriority(CAN2_TX_IRQn, 1, 0);
HAL_NVIC_EnableIRQ(CAN2_TX_IRQn);
}
#endif
#endif
}
else if (argval == RT_DEVICE_CAN_INT_ERR)
{
__HAL_CAN_ENABLE_IT(&drv_can->CanHandle, CAN_IER_BOFIE);
__HAL_CAN_ENABLE_IT(&drv_can->CanHandle, CAN_IER_LECIE);
__HAL_CAN_ENABLE_IT(&drv_can->CanHandle, CAN_IER_ERRIE);
__HAL_CAN_ENABLE_IT(&drv_can->CanHandle, CAN_IT_BUSOFF);
__HAL_CAN_ENABLE_IT(&drv_can->CanHandle, CAN_IT_LAST_ERROR_CODE);
__HAL_CAN_ENABLE_IT(&drv_can->CanHandle, CAN_IT_ERROR);
if (CAN1 == drv_can->CanHandle.Instance)
{
HAL_NVIC_SetPriority(CAN1_SCE_IRQn, 1, 0);
HAL_NVIC_EnableIRQ(CAN1_SCE_IRQn);
}
#ifdef CAN2
#ifdef CAN2
else
{
HAL_NVIC_SetPriority(CAN2_SCE_IRQn, 1, 0);
HAL_NVIC_EnableIRQ(CAN2_SCE_IRQn);
}
#endif
#endif
}
break;
case RT_CAN_CMD_SET_FILTER:
/* TODO: filter*/
if (RT_NULL == arg)
{
/* default Filter conf */
HAL_CAN_ConfigFilter(&drv_can->CanHandle, &drv_can->FilterConfig);
}
else
{
filter_cfg = (struct rt_can_filter_config *)arg;
/* get default filter */
can_filter = drv_can->FilterConfig;
for (int i = 0; i < filter_cfg->count; ++i)
{
can_filter.FilterBank = filter_cfg->items[i].hdr;
can_filter.FilterIdHigh = (filter_cfg->items[i].id >> 13) & 0xFFFF;
can_filter.FilterIdLow = ((filter_cfg->items[i].id << 3) |
(filter_cfg->items[i].ide << 2) |
(filter_cfg->items[i].rtr << 1)) & 0xFFFF;
can_filter.FilterMaskIdHigh = (filter_cfg->items[i].mask >> 16) & 0xFFFF;
can_filter.FilterMaskIdLow = filter_cfg->items[i].mask & 0xFFFF;
can_filter.FilterMode = filter_cfg->items[i].mode;
/* Filter conf */
HAL_CAN_ConfigFilter(&drv_can->CanHandle, &can_filter);
}
}
break;
case RT_CAN_CMD_SET_MODE:
argval = (rt_uint32_t) arg;
if (argval != RT_CAN_MODE_NORMAL ||
argval != RT_CAN_MODE_LISEN ||
argval != RT_CAN_MODE_LOOPBACK ||
argval != RT_CAN_MODE_LOOPBACKANLISEN)
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;
if (HAL_CAN_Stop(&drv_can->CanHandle) != HAL_OK)
{
return RT_ERROR;
}
if (HAL_CAN_Init(&drv_can->CanHandle) != HAL_OK)
{
return RT_ERROR;
}
if (HAL_CAN_Start(&drv_can->CanHandle) != HAL_OK)
{
return RT_ERROR;
}
return drv_configure(can, &can->config);
}
break;
case RT_CAN_CMD_SET_BAUD:
argval = (rt_uint32_t) arg;
if (argval != CAN1MBaud &&
argval != CAN800kBaud &&
argval != CAN500kBaud &&
argval != CAN250kBaud &&
argval != CAN125kBaud &&
argval != CAN100kBaud &&
argval != CAN50kBaud &&
argval != CAN20kBaud &&
argval != CAN10kBaud)
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_InitTypeDef *drv_init;
rt_uint32_t baud_index;
can->config.baud_rate = argval;
drv_init = &drv_can->CanHandle.Init;
drv_init->TimeTriggeredMode = DISABLE;
drv_init->AutoBusOff = DISABLE;
drv_init->AutoWakeUp = DISABLE;
drv_init->AutoRetransmission = ENABLE;
drv_init->ReceiveFifoLocked = DISABLE;
drv_init->TransmitFifoPriority = DISABLE;
baud_index = get_can_baud_index(can->config.baud_rate);
drv_init->SyncJumpWidth = BAUD_DATA(SJW, baud_index);
drv_init->TimeSeg1 = BAUD_DATA(BS1, baud_index);
drv_init->TimeSeg2 = BAUD_DATA(BS2, baud_index);
drv_init->Prescaler = BAUD_DATA(RRESCL, baud_index);
if (HAL_CAN_Stop(&drv_can->CanHandle) != HAL_OK)
{
return RT_ERROR;
}
if (HAL_CAN_Init(&drv_can->CanHandle) != HAL_OK)
{
return RT_ERROR;
}
if (HAL_CAN_Start(&drv_can->CanHandle) != HAL_OK)
{
return RT_ERROR;
}
return drv_configure(can, &can->config);
}
break;
case RT_CAN_CMD_SET_PRIV:
argval = (rt_uint32_t) arg;
if (argval != RT_CAN_MODE_PRIV ||
argval != RT_CAN_MODE_NOPRIV)
argval != RT_CAN_MODE_NOPRIV)
{
return RT_ERROR;
}
if (argval != can->config.privmode)
{
can->config.privmode = argval;
if (HAL_CAN_Stop(&drv_can->CanHandle) != HAL_OK)
{
return RT_ERROR;
}
if (HAL_CAN_Init(&drv_can->CanHandle) != HAL_OK)
{
return RT_ERROR;
}
if (HAL_CAN_Start(&drv_can->CanHandle) != HAL_OK)
{
return RT_ERROR;
}
return drv_configure(can, &can->config);
}
break;
case RT_CAN_CMD_GET_STATUS:
......@@ -915,165 +624,180 @@ static rt_err_t drv_control(struct rt_can_device *can, int cmd, void *arg)
static int drv_sendmsg(struct rt_can_device *can, const void *buf, rt_uint32_t boxno)
{
CAN_HandleTypeDef *hcan = RT_NULL;
CAN_TxHeaderTypeDef *pTxMsg = RT_NULL;
hcan = &((struct stm32_drv_can *) can->parent.user_data)->CanHandle;
pTxMsg = &((struct stm32_drv_can *) can->parent.user_data)->TxMessage;
struct rt_can_msg *pmsg = (struct rt_can_msg *) buf;
CAN_TxHeaderTypeDef txheader = {0};
/*check Select mailbox is empty */
switch (boxno)
{
case 0:
if (HAL_IS_BIT_SET(hcan->Instance->TSR, CAN_TSR_TME0) != SET)
{
/* Change CAN state */
hcan->State = HAL_CAN_STATE_ERROR;
/* Return function status */
return -RT_ERROR;
}
break;
case 1:
if (HAL_IS_BIT_SET(hcan->Instance->TSR, CAN_TSR_TME1) != SET)
{
/* Change CAN state */
hcan->State = HAL_CAN_STATE_ERROR;
/* Return function status */
return -RT_ERROR;
}
break;
case 2:
if (HAL_IS_BIT_SET(hcan->Instance->TSR, CAN_TSR_TME2) != SET)
{
/* Change CAN state */
hcan->State = HAL_CAN_STATE_ERROR;
/* Return function status */
return -RT_ERROR;
}
break;
default:
RT_ASSERT(0);
break;
switch (1 << boxno)
{
case CAN_TX_MAILBOX0:
if (HAL_IS_BIT_SET(hcan->Instance->TSR, CAN_TSR_TME0) != SET)
{
/* Change CAN state */
hcan->State = HAL_CAN_STATE_ERROR;
/* Return function status */
return -RT_ERROR;
}
break;
case CAN_TX_MAILBOX1:
if (HAL_IS_BIT_SET(hcan->Instance->TSR, CAN_TSR_TME1) != SET)
{
/* Change CAN state */
hcan->State = HAL_CAN_STATE_ERROR;
/* Return function status */
return -RT_ERROR;
}
break;
case CAN_TX_MAILBOX2:
if (HAL_IS_BIT_SET(hcan->Instance->TSR, CAN_TSR_TME2) != SET)
{
/* Change CAN state */
hcan->State = HAL_CAN_STATE_ERROR;
/* Return function status */
return -RT_ERROR;
}
break;
default:
RT_ASSERT(0);
break;
}
/* check id type */
if (RT_CAN_STDID == pmsg->ide)
{
pTxMsg->IDE = CAN_ID_STD;
pTxMsg->StdId = pmsg->id;
pTxMsg->ExtId = 0xFFFFFFFFU;
txheader.IDE = CAN_ID_STD;
txheader.StdId = pmsg->id;
}
else if (RT_CAN_EXTID == pmsg->ide)
else
{
pTxMsg->IDE = CAN_ID_EXT;
pTxMsg->StdId = 0xFFFFFFFFU;
pTxMsg->ExtId = pmsg->id;
txheader.IDE = CAN_ID_EXT;
txheader.ExtId = pmsg->id;
}
/* check frame type */
if (RT_CAN_DTR == pmsg->rtr)
{
pTxMsg->RTR = CAN_RTR_DATA;
txheader.RTR = CAN_RTR_DATA;
}
else if (RT_CAN_RTR == pmsg->rtr)
else
{
pTxMsg->RTR = CAN_RTR_REMOTE;
txheader.RTR = CAN_RTR_REMOTE;
}
pTxMsg->DLC = pmsg->len;
/* clear TIR */
hcan->Instance->sTxMailBox[boxno].TIR &= CAN_TI0R_TXRQ;
/* Set up the Id */
if (pTxMsg->IDE == CAN_ID_STD)
if (RT_CAN_STDID == pmsg->ide)
{
assert_param(IS_CAN_STDID(hcan->pTxMsg->StdId));
hcan->Instance->sTxMailBox[boxno].TIR |= ((pTxMsg->StdId << CAN_TI0R_STID_Pos) | \
pTxMsg->RTR);
hcan->Instance->sTxMailBox[boxno].TIR |= (txheader.StdId << CAN_TI0R_STID_Pos) | txheader.IDE | txheader.RTR;
}
else
{
assert_param(IS_CAN_EXTID(hcan->pTxMsg->ExtId));
hcan->Instance->sTxMailBox[boxno].TIR |= (pTxMsg->ExtId << CAN_TI0R_EXID_Pos) | \
pTxMsg->IDE |
pTxMsg->RTR;
hcan->Instance->sTxMailBox[boxno].TIR |= (txheader.ExtId << CAN_TI0R_EXID_Pos) | txheader.IDE | txheader.RTR;
}
/* Set up the DLC */
pTxMsg->DLC &= (uint8_t)0x0000000FU;
hcan->Instance->sTxMailBox[boxno].TDTR &= 0xFFFFFFF0U;
hcan->Instance->sTxMailBox[boxno].TDTR |= pTxMsg->DLC;
hcan->Instance->sTxMailBox[boxno].TDTR = pmsg->len & 0x0FU;
/* Set up the data field */
WRITE_REG(hcan->Instance->sTxMailBox[boxno].TDLR, ((uint32_t)pmsg->data[3U] << CAN_TDL0R_DATA3_Pos) |
((uint32_t)pmsg->data[2U] << CAN_TDL0R_DATA2_Pos) |
((uint32_t)pmsg->data[1U] << CAN_TDL0R_DATA1_Pos) |
((uint32_t)pmsg->data[0U] << CAN_TDL0R_DATA0_Pos));
WRITE_REG(hcan->Instance->sTxMailBox[boxno].TDHR, ((uint32_t)pmsg->data[7U] << CAN_TDL0R_DATA3_Pos) |
((uint32_t)pmsg->data[6U] << CAN_TDL0R_DATA2_Pos) |
((uint32_t)pmsg->data[5U] << CAN_TDL0R_DATA1_Pos) |
((uint32_t)pmsg->data[4U] << CAN_TDL0R_DATA0_Pos));
WRITE_REG(hcan->Instance->sTxMailBox[boxno].TDHR,
((uint32_t)pmsg->data[7] << CAN_TDH0R_DATA7_Pos) |
((uint32_t)pmsg->data[6] << CAN_TDH0R_DATA6_Pos) |
((uint32_t)pmsg->data[5] << CAN_TDH0R_DATA5_Pos) |
((uint32_t)pmsg->data[4] << CAN_TDH0R_DATA4_Pos));
WRITE_REG(hcan->Instance->sTxMailBox[boxno].TDLR,
((uint32_t)pmsg->data[3] << CAN_TDL0R_DATA3_Pos) |
((uint32_t)pmsg->data[2] << CAN_TDL0R_DATA2_Pos) |
((uint32_t)pmsg->data[1] << CAN_TDL0R_DATA1_Pos) |
((uint32_t)pmsg->data[0] << CAN_TDL0R_DATA0_Pos));
/* Request transmission */
hcan->Instance->sTxMailBox[boxno].TIR |= CAN_TI0R_TXRQ;
SET_BIT(hcan->Instance->sTxMailBox[boxno].TIR, CAN_TI0R_TXRQ);
return RT_EOK;
}
static int drv_recvmsg(struct rt_can_device *can, void *buf, rt_uint32_t boxno)
static void drv_rx_isr(struct rt_can_device *can, rt_uint32_t fifo)
{
CAN_RxHeaderTypeDef *pRxMsg = RT_NULL;
uint8_t *data = RT_NULL;
struct rt_can_msg *pmsg = (struct rt_can_msg *) buf;
/* get FIFO */
switch (boxno)
CAN_HandleTypeDef *hcan;
hcan = &((struct stm32_drv_can *) can->parent.user_data)->CanHandle;
switch (fifo)
{
case CAN_RX_FIFO0:
pRxMsg = &((struct stm32_drv_can *) can->parent.user_data)->RxMessage;
data = ((struct stm32_drv_can *) can->parent.user_data)->RxMessage_Data;
/* save to user list */
if (HAL_CAN_GetRxFifoFillLevel(hcan, CAN_RX_FIFO0) && __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_RX_FIFO0_MSG_PENDING))
{
rt_hw_can_isr(can, RT_CAN_EVENT_RX_IND | fifo << 8);
}
/* Check FULL flag for FIFO0 */
if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_FF0) && __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_RX_FIFO0_FULL))
{
/* Clear FIFO0 FULL Flag */
__HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_FF0);
}
/* Check Overrun flag for FIFO0 */
if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_FOV0) && __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_RX_FIFO0_OVERRUN))
{
/* Clear FIFO0 Overrun Flag */
__HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_FOV0);
rt_hw_can_isr(can, RT_CAN_EVENT_RXOF_IND | fifo << 8);
}
break;
case CAN_RX_FIFO1:
pRxMsg = &((struct stm32_drv_can *) can->parent.user_data)->Rx1Message;
data = ((struct stm32_drv_can *) can->parent.user_data)->Rx1Message_Data;
break;
default:
RT_ASSERT(0);
/* save to user list */
if (HAL_CAN_GetRxFifoFillLevel(hcan, CAN_RX_FIFO1) && __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_RX_FIFO1_MSG_PENDING))
{
rt_hw_can_isr(can, RT_CAN_EVENT_RX_IND | fifo << 8);
}
/* Check FULL flag for FIFO1 */
if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_FF1) && __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_RX_FIFO1_FULL))
{
/* Clear FIFO1 FULL Flag */
__HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_FF1);
}
/* Check Overrun flag for FIFO1 */
if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_FOV1) && __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_RX_FIFO1_OVERRUN))
{
/* Clear FIFO1 Overrun Flag */
__HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_FOV1);
rt_hw_can_isr(can, RT_CAN_EVENT_RXOF_IND | fifo << 8);
}
break;
}
}
/* copy data */
static int drv_recvmsg(struct rt_can_device *can, void *buf, rt_uint32_t fifo)
{
HAL_StatusTypeDef status;
CAN_HandleTypeDef *hcan = RT_NULL;
struct rt_can_msg *pmsg = (struct rt_can_msg *) buf;
hcan = &((struct stm32_drv_can *) can->parent.user_data)->CanHandle;
CAN_RxHeaderTypeDef rxheader = {0};
/* get data */
status = HAL_CAN_GetRxMessage(hcan, fifo, &rxheader, pmsg->data);
if (HAL_OK != status) return -RT_ERROR;
/* get id */
if (CAN_ID_STD == pRxMsg->IDE)
if (CAN_ID_STD == rxheader.IDE)
{
pmsg->ide = RT_CAN_STDID;
pmsg->id = pRxMsg->StdId;
pmsg->id = rxheader.StdId;
}
else if (CAN_ID_EXT == pRxMsg->IDE)
else
{
pmsg->ide = RT_CAN_EXTID;
pmsg->id = pRxMsg->ExtId;
pmsg->id = rxheader.ExtId;
}
/* get type */
if (CAN_RTR_DATA == pRxMsg->RTR)
if (CAN_RTR_DATA == rxheader.RTR)
{
pmsg->rtr = RT_CAN_DTR;
}
else if (CAN_RTR_REMOTE == pRxMsg->RTR)
else
{
pmsg->rtr = RT_CAN_RTR;
}
/* get len */
pmsg->len = pRxMsg->DLC;
pmsg->len = rxheader.DLC;
/* get hdr */
pmsg->hdr = pRxMsg->FilterMatchIndex;
/* get data */
pmsg->data[0] = data[0];
pmsg->data[1] = data[1];
pmsg->data[2] = data[2];
pmsg->data[3] = data[3];
pmsg->data[4] = data[4];
pmsg->data[5] = data[5];
pmsg->data[6] = data[6];
pmsg->data[7] = data[7];
pmsg->hdr = rxheader.FilterMatchIndex;
return RT_EOK;
}
......@@ -1095,12 +819,26 @@ int rt_hw_can_init(void)
config.msgboxsz = 32;
#ifdef RT_CAN_USING_HDR
config.maxhdr = 14;
#ifdef CAN2
#ifdef CAN2
config.maxhdr = 28;
#endif
#endif
#endif
/* config default filter */
CAN_FilterTypeDef filterConf = {0};
filterConf.FilterBank = 0;
filterConf.FilterMode = CAN_FILTERMODE_IDMASK;
filterConf.FilterScale = CAN_FILTERSCALE_32BIT;
filterConf.FilterIdHigh = 0x0000;
filterConf.FilterIdLow = 0x0000;
filterConf.FilterMaskIdHigh = 0x0000;
filterConf.FilterMaskIdLow = 0x0000;
filterConf.FilterFIFOAssignment = CAN_FILTER_FIFO0;
filterConf.FilterActivation = ENABLE;
filterConf.SlaveStartFilterBank = 14;
#ifdef BSP_USING_CAN1
filterConf.FilterBank = 0;
drv_can1.FilterConfig = filterConf;
drv_can = &drv_can1;
drv_can->CanHandle.Instance = CAN1;
dev_can1.ops = &drv_can_ops;
......@@ -1112,6 +850,8 @@ int rt_hw_can_init(void)
#endif /* BSP_USING_CAN1 */
#ifdef BSP_USING_CAN2
filterConf.FilterBank = filterConf.SlaveStartFilterBank;
drv_can2.FilterConfig = filterConf;
drv_can = &drv_can2;
drv_can->CanHandle.Instance = CAN2;
dev_can2.ops = &drv_can_ops;
......@@ -1124,7 +864,5 @@ int rt_hw_can_init(void)
return 0;
}
INIT_BOARD_EXPORT(rt_hw_can_init);
#endif /* RT_USING_CAN */
bsp/stm32/libraries/HAL_Drivers/drv_can.h
浏览文件 @ 5db17e54
......@@ -9,10 +9,11 @@
* 2019-01-22 YLZ port from stm324xx-HAL to bsp stm3210x-HAL
* 2019-01-26 YLZ redefine `struct stm32_drv_can` add member `Rx1Message`
* 2019-02-19 YLZ port to BSP [stm32]
* 2019-06-17 YLZ modify struct stm32_drv_can.
*/
#ifndef __DRV_CAN_H__
#define __DRV_CAN_H__
#include "board.h"
#include <board.h>
#include <rtdevice.h>
#include <rthw.h>
#include <rtthread.h>
......@@ -36,19 +37,14 @@ struct stm_baud_rate_tab
struct stm32_drv_can
{
CAN_HandleTypeDef CanHandle;
CAN_TxHeaderTypeDef TxMessage;
CAN_RxHeaderTypeDef RxMessage;
uint8_t RxMessage_Data[8];
CAN_RxHeaderTypeDef Rx1Message;
uint8_t Rx1Message_Data[8];
CAN_FilterTypeDef FilterConfig;
};
#ifdef __cplusplus
extern "C" {
extern "C" {
#endif
extern int rt_hw_can_init(void);
int rt_hw_can_init(void);
#ifdef __cplusplus
}
}
#endif
#endif /*__DRV_CAN_H__ */
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