e7d9652658
Previously, the address of the CAN device (`CANbaseAddress`) was specified as a signed or unsigned integer of variable size. This made the ABI specific for each driver and is not generic enough for some use cases. Replaced all usages by using a void pointer instead. Renamed `CANbaseAddress` to `CANdevicePtr`. Refactored the code where it needed to be (some comparisons to -1). Use a pointer to a user-defined variable/structure instead of a 32-bit integer for CANbaseAddress. Renamed CANbaseAddress to CANbaseStruct to reflect that change in behavior. This is more modular and avoids casts.
511 lines
17 KiB
C
511 lines
17 KiB
C
/*
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* CAN module object for ST STM32F334 microcontroller.
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*
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* @file CO_driver.c
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* @author Janez Paternoster
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* @author Ondrej Netik
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* @author Vijayendra
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* @author Jan van Lienden
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* @author Petteri Mustonen
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* @copyright 2013 Janez Paternoster
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*
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* This file is part of CANopenNode, an opensource CANopen Stack.
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* Project home page is <https://github.com/CANopenNode/CANopenNode>.
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* For more information on CANopen see <http://www.can-cia.org/>.
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*
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* CANopenNode is free and open source software: you can redistribute
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* it and/or modify it under the terms of the GNU General Public License
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* as published by the Free Software Foundation, either version 2 of the
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* License, or (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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* Following clarification and special exception to the GNU General Public
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* License is included to the distribution terms of CANopenNode:
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*
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* Linking this library statically or dynamically with other modules is
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* making a combined work based on this library. Thus, the terms and
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* conditions of the GNU General Public License cover the whole combination.
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*
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* As a special exception, the copyright holders of this library give
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* you permission to link this library with independent modules to
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* produce an executable, regardless of the license terms of these
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* independent modules, and to copy and distribute the resulting
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* executable under terms of your choice, provided that you also meet,
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* for each linked independent module, the terms and conditions of the
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* license of that module. An independent module is a module which is
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* not derived from or based on this library. If you modify this
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* library, you may extend this exception to your version of the
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* library, but you are not obliged to do so. If you do not wish
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* to do so, delete this exception statement from your version.
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*/
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/* Includes ------------------------------------------------------------------*/
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#include "stm32f30x.h"
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#include "CO_driver.h"
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#include "CO_Emergency.h"
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#include <string.h>
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/* Private macro -------------------------------------------------------------*/
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/* Private define ------------------------------------------------------------*/
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/* Private variable ----------------------------------------------------------*/
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/* Private function ----------------------------------------------------------*/
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static void CO_CANClkSetting (void);
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static void CO_CANconfigGPIO (void);
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static uint8_t CO_CANsendToModule(CO_CANmodule_t *CANmodule, CO_CANtx_t *buffer);
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/*******************************************************************************
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Macro and Constants - CAN module registers
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*******************************************************************************/
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/******************************************************************************/
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void CO_CANsetConfigurationMode(void *CANdevicePtr){
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(void) CANdevicePtr;
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}
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/******************************************************************************/
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void CO_CANsetNormalMode(CO_CANmodule_t *CANmodule){
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CANmodule->CANnormal = true;
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}
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/******************************************************************************/
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CO_ReturnError_t CO_CANmodule_init(
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CO_CANmodule_t *CANmodule,
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void *CANdevicePtr,
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CO_CANrx_t rxArray[],
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uint16_t rxSize,
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CO_CANtx_t txArray[],
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uint16_t txSize,
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uint16_t CANbitRate)
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{
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CAN_InitTypeDef CAN_InitStruct;
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CAN_FilterInitTypeDef CAN_FilterInitStruct;
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NVIC_InitTypeDef NVIC_InitStructure;
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int i;
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uint8_t result;
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/* verify arguments */
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if(CANmodule==NULL || rxArray==NULL || txArray==NULL) {
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return CO_ERROR_ILLEGAL_ARGUMENT;
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}
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CANmodule->CANdevicePtr = CANdevicePtr;
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CANmodule->rxArray = rxArray;
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CANmodule->rxSize = rxSize;
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CANmodule->txArray = txArray;
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CANmodule->txSize = txSize;
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CANmodule->CANnormal = false;
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CANmodule->useCANrxFilters = false;
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CANmodule->bufferInhibitFlag = 0;
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CANmodule->firstCANtxMessage = 1;
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CANmodule->CANtxCount = 0;
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CANmodule->errOld = 0;
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CANmodule->em = 0;
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CAN_ITConfig(CANmodule->CANdevicePtr, (CAN_IT_TME | CAN_IT_FMP0), DISABLE);
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for (i = 0; i < rxSize; i++) {
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CANmodule->rxArray[i].ident = 0;
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CANmodule->rxArray[i].pFunct = 0;
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}
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for (i = 0; i < txSize; i++) {
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CANmodule->txArray[i].bufferFull = 0;
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}
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/* Setting Clock of CAN HW */
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CO_CANClkSetting();
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/* GPIO Config for CAN */
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CO_CANconfigGPIO();
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/* Init CAN controler */
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CAN_DeInit(CANmodule->CANdevicePtr);
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CAN_StructInit(&CAN_InitStruct);
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switch (CANbitRate) {
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case 1000: CAN_InitStruct.CAN_Prescaler = 2;
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break;
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case 500: CAN_InitStruct.CAN_Prescaler = 4;
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break;
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default:
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case 250: CAN_InitStruct.CAN_Prescaler = 8;
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break;
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case 125: CAN_InitStruct.CAN_Prescaler = 16;
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break;
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case 100: CAN_InitStruct.CAN_Prescaler = 20;
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break;
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case 50: CAN_InitStruct.CAN_Prescaler = 40;
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break;
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case 20: CAN_InitStruct.CAN_Prescaler = 100;
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break;
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case 10: CAN_InitStruct.CAN_Prescaler = 200;
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break;
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}
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CAN_InitStruct.CAN_SJW = CAN_SJW_1tq; // changed by VJ, old value = CAN_SJW_1tq;
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CAN_InitStruct.CAN_BS1 = CAN_BS1_13tq; // changed by VJ, old value = CAN_BS1_3tq;
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CAN_InitStruct.CAN_BS2 = CAN_BS2_2tq; // changed by VJ, old value = CAN_BS2_2tq;
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CAN_InitStruct.CAN_NART = ENABLE; // No Automatic retransmision
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result = CAN_Init(CANmodule->CANdevicePtr, &CAN_InitStruct);
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if (result == 0) {
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return CO_ERROR_TIMEOUT; /* CO- Return Init failed */
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}
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memset(&CAN_FilterInitStruct, 0, sizeof (CAN_FilterInitStruct));
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CAN_FilterInitStruct.CAN_FilterNumber = 0;
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CAN_FilterInitStruct.CAN_FilterIdHigh = 0;
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CAN_FilterInitStruct.CAN_FilterIdLow = 0;
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CAN_FilterInitStruct.CAN_FilterMaskIdHigh = 0;
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CAN_FilterInitStruct.CAN_FilterMaskIdLow = 0;
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CAN_FilterInitStruct.CAN_FilterFIFOAssignment = 0; // pouzivame jen FIFO0
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CAN_FilterInitStruct.CAN_FilterMode = CAN_FilterMode_IdMask;
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CAN_FilterInitStruct.CAN_FilterScale = CAN_FilterScale_32bit;
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CAN_FilterInitStruct.CAN_FilterActivation = ENABLE;
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CAN_FilterInit(&CAN_FilterInitStruct);
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NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
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NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
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NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
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/* interrupts from receiver */
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NVIC_InitStructure.NVIC_IRQChannel = CAN1_RX0_INTERRUPTS;
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NVIC_Init(&NVIC_InitStructure);
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/* interrupts from transmitter */
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NVIC_InitStructure.NVIC_IRQChannel = CAN1_TX_INTERRUPTS;
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NVIC_Init(&NVIC_InitStructure);
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/* Can_init function of ST Driver puts the controller into the normal mode */
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CAN_ITConfig(CANmodule->CANdevicePtr, (CAN_IT_TME | CAN_IT_FMP0), ENABLE);
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return CO_ERROR_NO;
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}
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/******************************************************************************/
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void CO_CANmodule_disable(CO_CANmodule_t *CANmodule)
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{
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CAN_DeInit(CANmodule->CANdevicePtr);
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}
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/******************************************************************************/
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CO_ReturnError_t CO_CANrxBufferInit(
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CO_CANmodule_t *CANmodule,
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uint16_t index,
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uint16_t ident,
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uint16_t mask,
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int8_t rtr,
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void *object,
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void (*pFunct)(void *object, const CO_CANrxMsg_t *message))
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{
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CO_CANrx_t *rxBuffer;
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uint16_t RXF, RXM;
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//safety
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if (!CANmodule || !object || !pFunct || index >= CANmodule->rxSize) {
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return CO_ERROR_ILLEGAL_ARGUMENT;
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}
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/* buffer, which will be configured */
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rxBuffer = CANmodule->rxArray + index;
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/* Configure object variables */
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rxBuffer->object = object;
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rxBuffer->pFunct = pFunct;
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/* CAN identifier and CAN mask, bit aligned with CAN module registers */
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RXF = (ident & 0x07FF) << 2;
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if (rtr) RXF |= 0x02;
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RXM = (mask & 0x07FF) << 2;
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RXM |= 0x02;
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/* configure filter and mask */
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if (RXF != rxBuffer->ident || RXM != rxBuffer->mask) {
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rxBuffer->ident = RXF;
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rxBuffer->mask = RXM;
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}
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return CO_ERROR_NO;
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}
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/******************************************************************************/
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CO_CANtx_t *CO_CANtxBufferInit(
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CO_CANmodule_t *CANmodule,
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uint16_t index,
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uint16_t ident,
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int8_t rtr,
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uint8_t noOfBytes,
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int8_t syncFlag)
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{
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uint32_t TXF;
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CO_CANtx_t *buffer;
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/* safety */
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if (!CANmodule || CANmodule->txSize <= index) return 0;
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/* get specific buffer */
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buffer = &CANmodule->txArray[index];
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/* CAN identifier, bit aligned with CAN module registers */
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TXF = ident << 21;
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TXF &= 0xFFE00000;
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if (rtr) TXF |= 0x02;
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/* write to buffer */
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buffer->ident = TXF;
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buffer->DLC = noOfBytes;
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buffer->bufferFull = 0;
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buffer->syncFlag = syncFlag ? 1 : 0;
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return buffer;
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}
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/******************************************************************************/
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CO_ReturnError_t CO_CANsend(CO_CANmodule_t *CANmodule, CO_CANtx_t *buffer)
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{
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CO_ReturnError_t err = CO_ERROR_NO;
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uint8_t txBuff;
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/* Verify overflow */
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if (buffer->bufferFull) {
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if(!CANmodule->firstCANtxMessage) /* don't set error, if bootup message is still on buffers */
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CO_errorReport((CO_EM_t*)CANmodule->em, CO_EM_CAN_TX_OVERFLOW, CO_EMC_CAN_OVERRUN, 0);
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err = CO_ERROR_TX_OVERFLOW;
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}
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CO_LOCK_CAN_SEND();
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/* First try to transmit the message immediately if mailbox is free.
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* Only one TX mailbox is used of the three available in the hardware */
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CANmodule->bufferInhibitFlag = buffer->syncFlag;
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txBuff = CO_CANsendToModule(CANmodule, buffer);
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/* No free mailbox -> use interrupt for transmission */
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if (txBuff == CAN_TxStatus_NoMailBox) {
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buffer->bufferFull = 1;
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CANmodule->CANtxCount++;
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}
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CO_UNLOCK_CAN_SEND();
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return err;
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}
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/******************************************************************************/
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void CO_CANclearPendingSyncPDOs(CO_CANmodule_t *CANmodule)
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{
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uint32_t tpdoDeleted = 0U;
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uint8_t state = 0;
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CO_LOCK_CAN_SEND();
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/* Abort message from CAN module, if there is synchronous TPDO. */
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state = CAN_TransmitStatus(CANmodule->CANdevicePtr, CO_CAN_TXMAILBOX);
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if((state == CAN_TxStatus_Pending) && (CANmodule->bufferInhibitFlag)) {
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CAN_CancelTransmit(CANmodule->CANdevicePtr, CO_CAN_TXMAILBOX);
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CANmodule->bufferInhibitFlag = false;
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tpdoDeleted = 1U;
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}
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/* delete also pending synchronous TPDOs in TX buffers */
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if(CANmodule->CANtxCount != 0U){
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uint16_t i;
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CO_CANtx_t *buffer = &CANmodule->txArray[0];
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for(i = CANmodule->txSize; i > 0U; i--){
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if(buffer->bufferFull){
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if(buffer->syncFlag){
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buffer->bufferFull = false;
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CANmodule->CANtxCount--;
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tpdoDeleted = 2U;
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}
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}
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buffer++;
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}
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}
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CO_UNLOCK_CAN_SEND();
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if(tpdoDeleted != 0U){
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CO_errorReport((CO_EM_t*)CANmodule->em, CO_EM_TPDO_OUTSIDE_WINDOW, CO_EMC_COMMUNICATION, tpdoDeleted);
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}
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}
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/******************************************************************************/
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void CO_CANverifyErrors(CO_CANmodule_t *CANmodule)
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{
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uint32_t err;
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CO_EM_t* em = (CO_EM_t*)CANmodule->em;
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err = CANmodule->CANdevicePtr->ESR;
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if(CANmodule->errOld != err) {
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CANmodule->errOld = err;
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/* CAN RX bus overflow */
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if(CANmodule->CANdevicePtr->RF0R & 0x10) {
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CO_errorReport(em, CO_EM_CAN_RXB_OVERFLOW, CO_EMC_CAN_OVERRUN, err);
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CANmodule->CANdevicePtr->RF0R &=~0x10;//clear bits
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}
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/* CAN TX bus off */
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if(err & 0x04) {
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CO_errorReport(em, CO_EM_CAN_TX_BUS_OFF, CO_EMC_BUS_OFF_RECOVERED, err);
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}
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else {
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CO_errorReset(em, CO_EM_CAN_TX_BUS_OFF, err);
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}
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/* CAN TX or RX bus passive */
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if(err & 0x02) {
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if(!CANmodule->firstCANtxMessage) CO_errorReport(em, CO_EM_CAN_TX_BUS_PASSIVE, CO_EMC_CAN_PASSIVE, err);
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}
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else {
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// int16_t wasCleared;
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/* wasCleared = */CO_errorReset(em, CO_EM_CAN_TX_BUS_PASSIVE, err);
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/* if(wasCleared == 1) */CO_errorReset(em, CO_EM_CAN_TX_OVERFLOW, err);
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}
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/* CAN TX or RX bus warning */
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if(err & 0x01) {
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CO_errorReport(em, CO_EM_CAN_BUS_WARNING, CO_EMC_NO_ERROR, err);
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}
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else {
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CO_errorReset(em, CO_EM_CAN_BUS_WARNING, err);
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}
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}
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}
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/******************************************************************************/
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/* Interrupt from receiver */
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void CO_CANinterrupt_Rx(CO_CANmodule_t *CANmodule)
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{
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CanRxMsg CAN1_RxMsg;
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uint16_t index;
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uint8_t msgMatched = 0;
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CO_CANrx_t *msgBuff = CANmodule->rxArray;
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CAN_Receive(CANmodule->CANdevicePtr, CAN_FilterFIFO0, &CAN1_RxMsg);
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for (index = 0; index < CANmodule->rxSize; index++) {
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uint16_t msg = (CAN1_RxMsg.StdId << 2) | (CAN1_RxMsg.RTR ? 2 : 0);
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if (((msg ^ msgBuff->ident) & msgBuff->mask) == 0) {
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msgMatched = 1;
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break;
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}
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msgBuff++;
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}
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/* Call specific function, which will process the message */
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if (msgMatched && msgBuff->pFunct) {
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msgBuff->pFunct(msgBuff->object, (CO_CANrxMsg_t*) &CAN1_RxMsg);
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}
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}
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/******************************************************************************/
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/* Interrupt from trasmitter */
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void CO_CANinterrupt_Tx(CO_CANmodule_t *CANmodule)
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{
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/* First CAN message (bootup) was sent successfully */
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CANmodule->firstCANtxMessage = 0;
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/* clear flag from previous message */
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CANmodule->bufferInhibitFlag = 0;
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/* Are there any new messages waiting to be send */
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if (CANmodule->CANtxCount > 0) {
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uint16_t i; /* index of transmitting message */
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/* first buffer */
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CO_CANtx_t *buffer = CANmodule->txArray;
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/* search through whole array of pointers to transmit message buffers. */
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for(i = CANmodule->txSize; i > 0; i--) {
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/* if message buffer is full, send it. */
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if(buffer->bufferFull) {
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buffer->bufferFull = 0;
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CANmodule->CANtxCount--;
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/* Copy message to CAN buffer */
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CANmodule->bufferInhibitFlag = buffer->syncFlag;
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CO_CANsendToModule(CANmodule, buffer);
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break; /* exit for loop */
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}
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buffer++;
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}/* end of for loop */
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/* Clear counter if no more messages */
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if(i == 0) CANmodule->CANtxCount = 0;
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}
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}
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/******************************************************************************/
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static uint8_t CO_CANsendToModule(CO_CANmodule_t *CANmodule, CO_CANtx_t *buffer)
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{
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CAN_TxMailBox_TypeDef* txMbox;
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/* Checks if the transmit mailbox is available */
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if ((CANmodule->CANdevicePtr->TSR & CAN_TSR_TME0) == CAN_TSR_TME0) {
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txMbox = &CANmodule->CANdevicePtr->sTxMailBox[CO_CAN_TXMAILBOX];
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}
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else {
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return CAN_TxStatus_NoMailBox;
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}
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/* ID: always assuming standard 11-bit ID */
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txMbox->TIR &= 1;
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txMbox->TIR |= ((buffer->ident) | CAN_RTR_DATA);
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/* DLC */
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buffer->DLC &= (uint8_t)0x0000000F;
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txMbox->TDTR &= (uint32_t)0xFFFFFFF0;
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txMbox->TDTR |= buffer->DLC;
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/* Data field */
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txMbox->TDLR = (((uint32_t)buffer->data[3] << 24) |
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((uint32_t)buffer->data[2] << 16) |
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((uint32_t)buffer->data[1] << 8) |
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((uint32_t)buffer->data[0]));
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txMbox->TDHR = (((uint32_t)buffer->data[7] << 24) |
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((uint32_t)buffer->data[6] << 16) |
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((uint32_t)buffer->data[5] << 8) |
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((uint32_t)buffer->data[4]));
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/* Request transmission */
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txMbox->TIR |= 1;
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return 0;
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}
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/******************************************************************************/
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static void CO_CANClkSetting (void)
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{
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RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOB, ENABLE);
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RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);
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}
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/******************************************************************************/
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static void CO_CANconfigGPIO (void)
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|
{
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|
GPIO_InitTypeDef GPIO_InitStruct;
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|
|
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GPIO_InitStruct.GPIO_Pin = GPIO_Pin_CAN_RX | GPIO_Pin_CAN_TX;
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GPIO_InitStruct.GPIO_Mode = GPIO_Mode_AF;
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GPIO_InitStruct.GPIO_Speed = GPIO_Speed_Level_1;
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GPIO_InitStruct.GPIO_OType = GPIO_OType_PP;
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GPIO_InitStruct.GPIO_PuPd = GPIO_PuPd_NOPULL;
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|
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GPIO_Init(GPIO_CAN, &GPIO_InitStruct);
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|
|
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/* Map to correct alternative function (9 == CAN) */
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GPIO_PinAFConfig(GPIO_CAN, GPIO_PinSource_CAN_RX, GPIO_AF_9);
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|
GPIO_PinAFConfig(GPIO_CAN, GPIO_PinSource_CAN_TX, GPIO_AF_9);
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}
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