zcy
/
tinySA
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity
tinySA/os/hal/platforms/STM32/can_lld.c

711 lines
19 KiB
C
Raw Blame History

/*
ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
2011,2012,2013 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
ChibiOS/RT is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 3 of the License, or
(at your option) any later version.
ChibiOS/RT is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/**
* @file STM32/can_lld.c
* @brief STM32 CAN subsystem low level driver source.
*
* @addtogroup CAN
* @{
*/
#include "ch.h"
#include "hal.h"
#if HAL_USE_CAN || defined(__DOXYGEN__)
/*===========================================================================*/
/* Driver local definitions. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver exported variables. */
/*===========================================================================*/
/** @brief CAN1 driver identifier.*/
#if STM32_CAN_USE_CAN1 || defined(__DOXYGEN__)
CANDriver CAND1;
#endif
/** @brief CAN2 driver identifier.*/
#if STM32_CAN_USE_CAN2 || defined(__DOXYGEN__)
CANDriver CAND2;
#endif
/*===========================================================================*/
/* Driver local variables. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver local functions. */
/*===========================================================================*/
/**
* @brief Programs the filters.
*
* @param[in] can2sb number of the first filter assigned to CAN2
* @param[in] num number of entries in the filters array, if zero then
* a default filter is programmed
* @param[in] cfp pointer to the filters array, can be @p NULL if
* (num == 0)
*
* @notapi
*/
static void can_lld_set_filters(uint32_t can2sb,
uint32_t num,
const CANFilter *cfp) {
/* Temporarily enabling CAN1 clock.*/
rccEnableCAN1(FALSE);
/* Filters initialization.*/
CAN1->FMR = (CAN1->FMR & 0xFFFF0000) | (can2sb << 8) | CAN_FMR_FINIT;
if (num > 0) {
uint32_t i, fmask;
/* All filters cleared.*/
CAN1->FA1R = 0;
CAN1->FM1R = 0;
CAN1->FS1R = 0;
CAN1->FFA1R = 0;
for (i = 0; i < STM32_CAN_MAX_FILTERS; i++) {
CAN1->sFilterRegister[i].FR1 = 0;
CAN1->sFilterRegister[i].FR2 = 0;
}
/* Scanning the filters array.*/
for (i = 0; i < num; i++) {
fmask = 1 << cfp->filter;
if (cfp->mode)
CAN1->FM1R |= fmask;
if (cfp->scale)
CAN1->FS1R |= fmask;
if (cfp->assignment)
CAN1->FFA1R |= fmask;
CAN1->sFilterRegister[cfp->filter].FR1 = cfp->register1;
CAN1->sFilterRegister[cfp->filter].FR2 = cfp->register2;
CAN1->FA1R |= fmask;
cfp++;
}
}
else {
/* Setting up a single default filter that enables everything for both
CANs.*/
CAN1->sFilterRegister[0].FR1 = 0;
CAN1->sFilterRegister[0].FR2 = 0;
CAN1->sFilterRegister[can2sb].FR1 = 0;
CAN1->sFilterRegister[can2sb].FR2 = 0;
CAN1->FM1R = 0;
CAN1->FFA1R = 0;
CAN1->FS1R = 1 | (1 << can2sb);
CAN1->FA1R = 1 | (1 << can2sb);
}
CAN1->FMR &= ~CAN_FMR_FINIT;
/* Clock disabled, it will be enabled again in can_lld_start().*/
rccDisableCAN1(FALSE);
}
/**
* @brief Common TX ISR handler.
*
* @param[in] canp pointer to the @p CANDriver object
*
* @notapi
*/
static void can_lld_tx_handler(CANDriver *canp) {
/* No more events until a message is transmitted.*/
canp->can->TSR = CAN_TSR_RQCP0 | CAN_TSR_RQCP1 | CAN_TSR_RQCP2;
chSysLockFromIsr();
while (chSemGetCounterI(&canp->txsem) < 0)
chSemSignalI(&canp->txsem);
chEvtBroadcastFlagsI(&canp->txempty_event, CAN_MAILBOX_TO_MASK(1));
chSysUnlockFromIsr();
}
/**
* @brief Common RX0 ISR handler.
*
* @param[in] canp pointer to the @p CANDriver object
*
* @notapi
*/
static void can_lld_rx0_handler(CANDriver *canp) {
uint32_t rf0r;
rf0r = canp->can->RF0R;
if ((rf0r & CAN_RF0R_FMP0) > 0) {
/* No more receive events until the queue 0 has been emptied.*/
canp->can->IER &= ~CAN_IER_FMPIE0;
chSysLockFromIsr();
while (chSemGetCounterI(&canp->rxsem) < 0)
chSemSignalI(&canp->rxsem);
chEvtBroadcastFlagsI(&canp->rxfull_event, CAN_MAILBOX_TO_MASK(1));
chSysUnlockFromIsr();
}
if ((rf0r & CAN_RF0R_FOVR0) > 0) {
/* Overflow events handling.*/
canp->can->RF0R = CAN_RF0R_FOVR0;
chSysLockFromIsr();
chEvtBroadcastFlagsI(&canp->error_event, CAN_OVERFLOW_ERROR);
chSysUnlockFromIsr();
}
}
/**
* @brief Common RX1 ISR handler.
*
* @param[in] canp pointer to the @p CANDriver object
*
* @notapi
*/
static void can_lld_rx1_handler(CANDriver *canp) {
uint32_t rf1r;
rf1r = canp->can->RF1R;
if ((rf1r & CAN_RF1R_FMP1) > 0) {
/* No more receive events until the queue 0 has been emptied.*/
canp->can->IER &= ~CAN_IER_FMPIE1;
chSysLockFromIsr();
while (chSemGetCounterI(&canp->rxsem) < 0)
chSemSignalI(&canp->rxsem);
chEvtBroadcastFlagsI(&canp->rxfull_event, CAN_MAILBOX_TO_MASK(1));
chSysUnlockFromIsr();
}
if ((rf1r & CAN_RF1R_FOVR1) > 0) {
/* Overflow events handling.*/
canp->can->RF1R = CAN_RF1R_FOVR1;
chSysLockFromIsr();
chEvtBroadcastFlagsI(&canp->error_event, CAN_OVERFLOW_ERROR);
chSysUnlockFromIsr();
}
}
/**
* @brief Common SCE ISR handler.
*
* @param[in] canp pointer to the @p CANDriver object
*
* @notapi
*/
static void can_lld_sce_handler(CANDriver *canp) {
uint32_t msr;
msr = canp->can->MSR;
canp->can->MSR = CAN_MSR_ERRI | CAN_MSR_WKUI | CAN_MSR_SLAKI;
/* Wakeup event.*/
if (msr & CAN_MSR_WKUI) {
canp->state = CAN_READY;
canp->can->MCR &= ~CAN_MCR_SLEEP;
chSysLockFromIsr();
chEvtBroadcastI(&canp->wakeup_event);
chSysUnlockFromIsr();
}
/* Error event.*/
if (msr & CAN_MSR_ERRI) {
flagsmask_t flags;
uint32_t esr = canp->can->ESR;
canp->can->ESR &= ~CAN_ESR_LEC;
flags = (flagsmask_t)(esr & 7);
if ((esr & CAN_ESR_LEC) > 0)
flags |= CAN_FRAMING_ERROR;
chSysLockFromIsr();
/* The content of the ESR register is copied unchanged in the upper
half word of the listener flags mask.*/
chEvtBroadcastFlagsI(&canp->error_event, flags | (flagsmask_t)(esr << 16));
chSysUnlockFromIsr();
}
}
/*===========================================================================*/
/* Driver interrupt handlers. */
/*===========================================================================*/
#if STM32_CAN_USE_CAN1 || defined(__DOXYGEN__)
/**
* @brief CAN1 TX interrupt handler.
*
* @isr
*/
CH_IRQ_HANDLER(STM32_CAN1_TX_HANDLER) {
CH_IRQ_PROLOGUE();
can_lld_tx_handler(&CAND1);
CH_IRQ_EPILOGUE();
}
/*
* @brief CAN1 RX0 interrupt handler.
*
* @isr
*/
CH_IRQ_HANDLER(STM32_CAN1_RX0_HANDLER) {
CH_IRQ_PROLOGUE();
can_lld_rx0_handler(&CAND1);
CH_IRQ_EPILOGUE();
}
/**
* @brief CAN1 RX1 interrupt handler.
*
* @isr
*/
CH_IRQ_HANDLER(STM32_CAN1_RX1_HANDLER) {
CH_IRQ_PROLOGUE();
can_lld_rx1_handler(&CAND1);
CH_IRQ_EPILOGUE();
}
/**
* @brief CAN1 SCE interrupt handler.
*
* @isr
*/
CH_IRQ_HANDLER(STM32_CAN1_SCE_HANDLER) {
CH_IRQ_PROLOGUE();
can_lld_sce_handler(&CAND1);
CH_IRQ_EPILOGUE();
}
#endif /* STM32_CAN_USE_CAN1 */
#if STM32_CAN_USE_CAN2 || defined(__DOXYGEN__)
/**
* @brief CAN2 TX interrupt handler.
*
* @isr
*/
CH_IRQ_HANDLER(STM32_CAN2_TX_HANDLER) {
CH_IRQ_PROLOGUE();
can_lld_tx_handler(&CAND2);
CH_IRQ_EPILOGUE();
}
/*
* @brief CAN2 RX0 interrupt handler.
*
* @isr
*/
CH_IRQ_HANDLER(STM32_CAN2_RX0_HANDLER) {
CH_IRQ_PROLOGUE();
can_lld_rx0_handler(&CAND2);
CH_IRQ_EPILOGUE();
}
/**
* @brief CAN2 RX1 interrupt handler.
*
* @isr
*/
CH_IRQ_HANDLER(STM32_CAN2_RX1_HANDLER) {
CH_IRQ_PROLOGUE();
can_lld_rx1_handler(&CAND2);
CH_IRQ_EPILOGUE();
}
/**
* @brief CAN2 SCE interrupt handler.
*
* @isr
*/
CH_IRQ_HANDLER(STM32_CAN2_SCE_HANDLER) {
CH_IRQ_PROLOGUE();
can_lld_sce_handler(&CAND2);
CH_IRQ_EPILOGUE();
}
#endif /* STM32_CAN_USE_CAN2 */
/*===========================================================================*/
/* Driver exported functions. */
/*===========================================================================*/
/**
* @brief Low level CAN driver initialization.
*
* @notapi
*/
void can_lld_init(void) {
#if STM32_CAN_USE_CAN1
/* Driver initialization.*/
canObjectInit(&CAND1);
CAND1.can = CAN1;
#endif
#if STM32_CAN_USE_CAN2
/* Driver initialization.*/
canObjectInit(&CAND2);
CAND2.can = CAN2;
#endif
/* Filters initialization.*/
#if STM32_HAS_CAN2
can_lld_set_filters(STM32_CAN_MAX_FILTERS / 2, 0, NULL);
#else
can_lld_set_filters(STM32_CAN_MAX_FILTERS, 0, NULL);
#endif
}
/**
* @brief Configures and activates the CAN peripheral.
*
* @param[in] canp pointer to the @p CANDriver object
*
* @notapi
*/
void can_lld_start(CANDriver *canp) {
/* Clock activation.*/
#if STM32_CAN_USE_CAN1
if (&CAND1 == canp) {
nvicEnableVector(STM32_CAN1_TX_NUMBER,
CORTEX_PRIORITY_MASK(STM32_CAN_CAN1_IRQ_PRIORITY));
nvicEnableVector(STM32_CAN1_RX0_NUMBER,
CORTEX_PRIORITY_MASK(STM32_CAN_CAN1_IRQ_PRIORITY));
nvicEnableVector(STM32_CAN1_RX1_NUMBER,
CORTEX_PRIORITY_MASK(STM32_CAN_CAN1_IRQ_PRIORITY));
nvicEnableVector(STM32_CAN1_SCE_NUMBER,
CORTEX_PRIORITY_MASK(STM32_CAN_CAN1_IRQ_PRIORITY));
rccEnableCAN1(FALSE);
}
#endif
#if STM32_CAN_USE_CAN2
if (&CAND2 == canp) {
nvicEnableVector(STM32_CAN2_TX_NUMBER,
CORTEX_PRIORITY_MASK(STM32_CAN_CAN2_IRQ_PRIORITY));
nvicEnableVector(STM32_CAN2_RX0_NUMBER,
CORTEX_PRIORITY_MASK(STM32_CAN_CAN2_IRQ_PRIORITY));
nvicEnableVector(STM32_CAN2_RX1_NUMBER,
CORTEX_PRIORITY_MASK(STM32_CAN_CAN2_IRQ_PRIORITY));
nvicEnableVector(STM32_CAN2_SCE_NUMBER,
CORTEX_PRIORITY_MASK(STM32_CAN_CAN2_IRQ_PRIORITY));
rccEnableCAN2(FALSE);
}
#endif
/* Entering initialization mode. */
canp->state = CAN_STARTING;
canp->can->MCR = CAN_MCR_INRQ;
while ((canp->can->MSR & CAN_MSR_INAK) == 0)
chThdSleepS(1);
/* BTR initialization.*/
canp->can->BTR = canp->config->btr;
/* MCR initialization.*/
canp->can->MCR = canp->config->mcr;
/* Interrupt sources initialization.*/
canp->can->IER = CAN_IER_TMEIE | CAN_IER_FMPIE0 | CAN_IER_FMPIE1 |
CAN_IER_WKUIE | CAN_IER_ERRIE | CAN_IER_LECIE |
CAN_IER_BOFIE | CAN_IER_EPVIE | CAN_IER_EWGIE |
CAN_IER_FOVIE0 | CAN_IER_FOVIE1;
}
/**
* @brief Deactivates the CAN peripheral.
*
* @param[in] canp pointer to the @p CANDriver object
*
* @notapi
*/
void can_lld_stop(CANDriver *canp) {
/* If in ready state then disables the CAN peripheral.*/
if (canp->state == CAN_READY) {
#if STM32_CAN_USE_CAN1
if (&CAND1 == canp) {
CAN1->MCR = 0x00010002; /* Register reset value. */
CAN1->IER = 0x00000000; /* All sources disabled. */
nvicDisableVector(STM32_CAN1_TX_NUMBER);
nvicDisableVector(STM32_CAN1_RX0_NUMBER);
nvicDisableVector(STM32_CAN1_RX1_NUMBER);
nvicDisableVector(STM32_CAN1_SCE_NUMBER);
rccDisableCAN1(FALSE);
}
#endif
#if STM32_CAN_USE_CAN2
if (&CAND2 == canp) {
CAN2->MCR = 0x00010002; /* Register reset value. */
CAN2->IER = 0x00000000; /* All sources disabled. */
nvicDisableVector(STM32_CAN2_TX_NUMBER);
nvicDisableVector(STM32_CAN2_RX0_NUMBER);
nvicDisableVector(STM32_CAN2_RX1_NUMBER);
nvicDisableVector(STM32_CAN2_SCE_NUMBER);
rccDisableCAN2(FALSE);
}
#endif
}
}
/**
* @brief Determines whether a frame can be transmitted.
*
* @param[in] canp pointer to the @p CANDriver object
* @param[in] mailbox mailbox number, @p CAN_ANY_MAILBOX for any mailbox
*
* @return The queue space availability.
* @retval FALSE no space in the transmit queue.
* @retval TRUE transmit slot available.
*
* @notapi
*/
bool_t can_lld_is_tx_empty(CANDriver *canp, canmbx_t mailbox) {
switch (mailbox) {
case CAN_ANY_MAILBOX:
return (canp->can->TSR & CAN_TSR_TME) != 0;
case 1:
return (canp->can->TSR & CAN_TSR_TME0) != 0;
case 2:
return (canp->can->TSR & CAN_TSR_TME1) != 0;
case 3:
return (canp->can->TSR & CAN_TSR_TME2) != 0;
default:
return FALSE;
}
}
/**
* @brief Inserts a frame into the transmit queue.
*
* @param[in] canp pointer to the @p CANDriver object
* @param[in] ctfp pointer to the CAN frame to be transmitted
* @param[in] mailbox mailbox number, @p CAN_ANY_MAILBOX for any mailbox
*
* @notapi
*/
void can_lld_transmit(CANDriver *canp,
canmbx_t mailbox,
const CANTxFrame *ctfp) {
uint32_t tir;
CAN_TxMailBox_TypeDef *tmbp;
/* Pointer to a free transmission mailbox.*/
switch (mailbox) {
case CAN_ANY_MAILBOX:
tmbp = &canp->can->sTxMailBox[(canp->can->TSR & CAN_TSR_CODE) >> 24];
break;
case 1:
tmbp = &canp->can->sTxMailBox[0];
break;
case 2:
tmbp = &canp->can->sTxMailBox[1];
break;
case 3:
tmbp = &canp->can->sTxMailBox[2];
break;
default:
return;
}
/* Preparing the message.*/
if (ctfp->IDE)
tir = ((uint32_t)ctfp->EID << 3) | ((uint32_t)ctfp->RTR << 1) |
CAN_TI0R_IDE;
else
tir = ((uint32_t)ctfp->SID << 21) | ((uint32_t)ctfp->RTR << 1);
tmbp->TDTR = ctfp->DLC;
tmbp->TDLR = ctfp->data32[0];
tmbp->TDHR = ctfp->data32[1];
tmbp->TIR = tir | CAN_TI0R_TXRQ;
}
/**
* @brief Determines whether a frame has been received.
*
* @param[in] canp pointer to the @p CANDriver object
* @param[in] mailbox mailbox number, @p CAN_ANY_MAILBOX for any mailbox
*
* @return The queue space availability.
* @retval FALSE no space in the transmit queue.
* @retval TRUE transmit slot available.
*
* @notapi
*/
bool_t can_lld_is_rx_nonempty(CANDriver *canp, canmbx_t mailbox) {
switch (mailbox) {
case CAN_ANY_MAILBOX:
return (canp->can->RF0R & (CAN_RF0R_FMP0 | CAN_RF1R_FMP1)) != 0;
case 1:
return (canp->can->RF0R & CAN_RF0R_FMP0) != 0;
case 2:
return (canp->can->RF1R & CAN_RF1R_FMP1) != 0;
default:
return FALSE;
}
}
/**
* @brief Receives a frame from the input queue.
*
* @param[in] canp pointer to the @p CANDriver object
* @param[in] mailbox mailbox number, @p CAN_ANY_MAILBOX for any mailbox
* @param[out] crfp pointer to the buffer where the CAN frame is copied
*
* @notapi
*/
void can_lld_receive(CANDriver *canp,
canmbx_t mailbox,
CANRxFrame *crfp) {
uint32_t rir, rdtr;
if (mailbox == CAN_ANY_MAILBOX) {
if ((canp->can->RF0R & CAN_RF0R_FMP0) != 0)
mailbox = 1;
else if ((canp->can->RF1R & CAN_RF1R_FMP1) != 0)
mailbox = 2;
else {
/* Should not happen, do nothing.*/
return;
}
}
switch (mailbox) {
case 1:
/* Fetches the message.*/
rir = canp->can->sFIFOMailBox[0].RIR;
rdtr = canp->can->sFIFOMailBox[0].RDTR;
crfp->data32[0] = canp->can->sFIFOMailBox[0].RDLR;
crfp->data32[1] = canp->can->sFIFOMailBox[0].RDHR;
/* Releases the mailbox.*/
canp->can->RF0R = CAN_RF0R_RFOM0;
/* If the queue is empty re-enables the interrupt in order to generate
events again.*/
if ((canp->can->RF0R & CAN_RF0R_FMP0) == 0)
canp->can->IER |= CAN_IER_FMPIE0;
break;
case 2:
/* Fetches the message.*/
rir = canp->can->sFIFOMailBox[1].RIR;
rdtr = canp->can->sFIFOMailBox[1].RDTR;
crfp->data32[0] = canp->can->sFIFOMailBox[1].RDLR;
crfp->data32[1] = canp->can->sFIFOMailBox[1].RDHR;
/* Releases the mailbox.*/
canp->can->RF1R = CAN_RF1R_RFOM1;
/* If the queue is empty re-enables the interrupt in order to generate
events again.*/
if ((canp->can->RF1R & CAN_RF1R_FMP1) == 0)
canp->can->IER |= CAN_IER_FMPIE1;
break;
default:
/* Should not happen, do nothing.*/
return;
}
/* Decodes the various fields in the RX frame.*/
crfp->RTR = (rir & CAN_RI0R_RTR) >> 1;
crfp->IDE = (rir & CAN_RI0R_IDE) >> 2;
if (crfp->IDE)
crfp->EID = rir >> 3;
else
crfp->SID = rir >> 21;
crfp->DLC = rdtr & CAN_RDT0R_DLC;
crfp->FMI = (uint8_t)(rdtr >> 8);
crfp->TIME = (uint16_t)(rdtr >> 16);
}
#if CAN_USE_SLEEP_MODE || defined(__DOXYGEN__)
/**
* @brief Enters the sleep mode.
*
* @param[in] canp pointer to the @p CANDriver object
*
* @notapi
*/
void can_lld_sleep(CANDriver *canp) {
canp->can->MCR |= CAN_MCR_SLEEP;
}
/**
* @brief Enforces leaving the sleep mode.
*
* @param[in] canp pointer to the @p CANDriver object
*
* @notapi
*/
void can_lld_wakeup(CANDriver *canp) {
canp->can->MCR &= ~CAN_MCR_SLEEP;
}
#endif /* CAN_USE_SLEEP_MODE */
/**
* @brief Programs the filters.
* @note This is an STM32-specific API.
*
* @param[in] can2sb number of the first filter assigned to CAN2
* @param[in] num number of entries in the filters array, if zero then
* a default filter is programmed
* @param[in] cfp pointer to the filters array, can be @p NULL if
* (num == 0)
*
* @api
*/
void canSTM32SetFilters(uint32_t can2sb, uint32_t num, const CANFilter *cfp) {
chDbgCheck((can2sb > 1) && (can2sb < STM32_CAN_MAX_FILTERS) &&
(num < STM32_CAN_MAX_FILTERS),
"canSTM32SetFilters");
#if STM32_CAN_USE_CAN1
chDbgAssert(CAND1.state == CAN_STOP,
"canSTM32SetFilters(), #1", "invalid state");
#endif
#if STM32_CAN_USE_CAN2
chDbgAssert(CAND2.state == CAN_STOP,
"canSTM32SetFilters(), #2", "invalid state");
#endif
can_lld_set_filters(can2sb, num, cfp);
}
#endif /* HAL_USE_CAN */
/** @} */
Reference in New Issue View Git Blame Copy Permalink