New CAN-bus library for STM32 (#725)
* Use new CAN-library * Fix CAN3 pin number * Fix building on other platforms
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Pasi Kemppainen
GitHub
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d0bbb24563
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34116ad223
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@ -65,7 +65,7 @@ framework = arduino
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board = black_f407ve
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lib_deps = stm32duino/STM32duino RTC
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board_build.core = stm32
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build_flags = -std=gnu++11 -UBOARD_MAX_IO_PINS -DENABLE_HWSERIAL2 -DENABLE_HWSERIAL3 -DUSBCON -DHAL_PCD_MODULE_ENABLED -DUSBD_USE_CDC
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build_flags = -std=gnu++11 -UBOARD_MAX_IO_PINS -DENABLE_HWSERIAL2 -DENABLE_HWSERIAL3 -DUSBCON -DHAL_PCD_MODULE_ENABLED -DUSBD_USE_CDC -DHAL_CAN_MODULE_ENABLED
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upload_protocol = dfu
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debug_tool = stlink
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monitor_speed = 115200
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@ -320,20 +320,12 @@ void ignitionSchedule8Interrupt(HardwareTimer*);
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***********************************************************************************************************
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* CAN / Second serial
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*/
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#if defined(STM32F407xx) || defined(STM32F103xB) || defined(STM32F405xx)
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#if HAL_CAN_MODULE_ENABLED
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#define NATIVE_CAN_AVAILABLE
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//HardwareSerial CANSerial(PD6, PD5);
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#include <src/STM32_CAN/STM32_CAN.h>
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//This activates CAN1 interface on STM32, but it's named as Can0, because that's how Teensy implementation is done
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extern STM32_CAN Can0;
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/*
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Second CAN interface is also available if needed or it can be used also as primary CAN interface.
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for STM32F4 the default CAN1 pins are PD0 & PD1. Alternative (ALT) pins are PB8 & PB9 and ALT2 pins are PA11 and PA12:
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for STM32F4 the default CAN2 pins are PB5 & PB6. Alternative (ALT) pins are PB12 & PB13.
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for STM32F1 the default CAN1 pins are PA11 & PA12. Alternative (ALT) pins are PB8 & PB9.
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Example of using CAN2 as secondary CAN bus with alternative pins:
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STM32_CAN Can1 (_CAN2,ALT);
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*/
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static CAN_message_t outMsg;
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static CAN_message_t inMsg;
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@ -6,10 +6,15 @@
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#include "scheduler.h"
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#include "HardwareTimer.h"
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#if defined(STM32F407xx) || defined(STM32F103xB) || defined(STM32F405xx)
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#define NATIVE_CAN_AVAILABLE
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#if HAL_CAN_MODULE_ENABLED
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//This activates CAN1 interface on STM32, but it's named as Can0, because that's how Teensy implementation is done
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STM32_CAN Can0 (_CAN1,DEF);
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STM32_CAN Can0 (CAN1, ALT_2, RX_SIZE_256, TX_SIZE_16);
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/*
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These CAN interfaces and pins are available for use, depending on the chip/package:
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Default CAN1 pins are PA11 and PA12. Alternative (ALT) pins are PB8 & PB9 and ALT_2 pins are PD0 & PD1.
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Default CAN2 pins are PB12 & PB13. Alternative (ALT) pins are PB5 & PB6.
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Default CAN3 pins are PA8 & PA15. Alternative (ALT) pins are PB3 & PB4.
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*/
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#endif
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#if defined(SRAM_AS_EEPROM)
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@ -433,7 +433,7 @@ void sendCancommand(uint8_t cmdtype, uint16_t canaddress, uint8_t candata1, uint
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//send to truecan send routine
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//canaddress == speeduino canid, candata1 == canin channel dest, paramgroup == can address to request from
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//This section is to be moved to the correct can output routine later
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#if defined(CORE_TEENSY) || defined(STM32F407xx) || defined(STM32F103xB) || defined(STM32F405xx) //Scope guarding this for now, but this needs a bit of a rethink for how it can be handled better across multiple archs
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#if defined(NATIVE_CAN_AVAILABLE)
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outMsg.id = (canaddress);
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outMsg.len = 8;
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outMsg.buf[0] = 0x0B ; //11;
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File diff suppressed because it is too large
Load Diff
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@ -1,26 +1,22 @@
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/*
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This is CAN library for STM32 to be used in Speeduino engine management system by pazi88.
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The library is created because at least currently (year 2020) there is no CAN library in the STM32 core.
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This library is mostly based on the STM32 CAN examples by nopnop2002 and it has been combined with few
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This is universal CAN library for STM32 that was made to be used with Speeduino EFI.
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It should support all STM32 MCUs that are also supported in stm32duino Arduino_Core_STM32 and supports up to 3x CAN busses.
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The library is created because at least currently (year 2021) there is no official CAN library in the STM32 core.
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This library is based on several STM32 CAN example libraries linked below and it has been combined with few
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things from Teensy FlexCAN library to make it compatible with the CAN features that exist in speeduino for Teensy.
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Link to the nopnop2002 repository:
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Links to repositories that have helped with this:
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https://github.com/nopnop2002/Arduino-STM32-CAN
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https://github.com/J-f-Jensen/libraries/tree/master/STM32_CAN
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https://github.com/jiauka/STM32F1_CAN
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STM32 core: https://github.com/stm32duino/Arduino_Core_STM32
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*/
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#if HAL_CAN_MODULE_ENABLED
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#ifndef STM32_CAN_H
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#define STM32_CAN_H
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#if defined(STM32F407xx) || defined(STM32F1xx) || defined(STM32F405xx)
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#include <Arduino.h>
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#define STM32_CAN_TIR_TXRQ (1U << 0U) // Bit 0: Transmit Mailbox Request
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#define STM32_CAN_RIR_RTR (1U << 1U) // Bit 1: Remote Transmission Request
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#define STM32_CAN_RIR_IDE (1U << 2U) // Bit 2: Identifier Extension
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#define STM32_CAN_TIR_RTR (1U << 1U) // Bit 1: Remote Transmission Request
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#define STM32_CAN_TIR_IDE (1U << 2U) // Bit 2: Identifier Extension
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#define CAN_EXT_ID_MASK 0x1FFFFFFFU
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#define CAN_STD_ID_MASK 0x000007FFU
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// This struct is directly copied from Teensy FlexCAN library to retain compatibility with it. Not all are in use with STM32.
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// Source: https://github.com/tonton81/FlexCAN_T4/
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@ -37,65 +33,152 @@ typedef struct CAN_message_t {
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uint8_t len = 8; // length of data
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uint8_t buf[8] = { 0 }; // data
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int8_t mb = 0; // used to identify mailbox reception
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uint8_t bus = 1; // used to identify where the message came from when events() is used. CAN(1) and CAN(2) in use
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uint8_t bus = 1; // used to identify where the message came (CAN1, CAN2 or CAN3)
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bool seq = 0; // sequential frames
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} CAN_message_t;
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typedef const struct
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{
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uint8_t TS2;
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uint8_t TS1;
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uint8_t BRP;
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} CAN_bit_timing_config_t;
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typedef enum CAN_PINS {DEF, ALT, ALT_2,} CAN_PINS;
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//STM32 has only 3 TX mailboxes
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typedef enum CAN_MAILBOX {
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typedef enum RXQUEUE_TABLE {
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RX_SIZE_2 = (uint16_t)2,
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RX_SIZE_4 = (uint16_t)4,
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RX_SIZE_8 = (uint16_t)8,
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RX_SIZE_16 = (uint16_t)16,
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RX_SIZE_32 = (uint16_t)32,
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RX_SIZE_64 = (uint16_t)64,
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RX_SIZE_128 = (uint16_t)128,
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RX_SIZE_256 = (uint16_t)256,
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RX_SIZE_512 = (uint16_t)512,
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RX_SIZE_1024 = (uint16_t)1024
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} RXQUEUE_TABLE;
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typedef enum TXQUEUE_TABLE {
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TX_SIZE_2 = (uint16_t)2,
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TX_SIZE_4 = (uint16_t)4,
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TX_SIZE_8 = (uint16_t)8,
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TX_SIZE_16 = (uint16_t)16,
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TX_SIZE_32 = (uint16_t)32,
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TX_SIZE_64 = (uint16_t)64,
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TX_SIZE_128 = (uint16_t)128,
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TX_SIZE_256 = (uint16_t)256,
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TX_SIZE_512 = (uint16_t)512,
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TX_SIZE_1024 = (uint16_t)1024
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} TXQUEUE_TABLE;
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/* Teensy FlexCAN uses Mailboxes for different RX filters, but in STM32 there is Filter Banks. These work practically same way,
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so the Filter Banks are named as mailboxes in "setMBFilter" -functions, to retain compatibility with Teensy FlexCAN library.
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*/
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typedef enum CAN_BANK {
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MB0 = 0,
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MB1 = 1,
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MB2 = 2
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} CAN_MAILBOX;
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MB2 = 2,
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MB3 = 3,
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MB4 = 4,
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MB5 = 5,
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MB6 = 6,
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MB7 = 7,
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MB8 = 8,
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MB9 = 9,
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MB10 = 10,
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MB11 = 11,
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MB12 = 12,
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MB13 = 13,
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MB14 = 14,
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MB15 = 15,
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MB16 = 16,
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MB17 = 17,
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MB18 = 18,
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MB19 = 19,
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MB20 = 20,
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MB21 = 21,
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MB22 = 22,
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MB23 = 23,
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MB24 = 24,
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MB25 = 25,
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MB26 = 26,
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MB27 = 27
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} CAN_BANK;
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#ifndef CAN2
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typedef enum CAN_CHANNEL {_CAN1,} CAN_CHANNEL;
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#elif defined CAN2
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typedef enum CAN_CHANNEL {_CAN1, _CAN2,} CAN_CHANNEL;
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#endif
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//Bit timings depend on the APB1 clock speed and need to be calculated based on that.
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//APB1 at 42MHz:
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#if defined(STM32F407xx) || defined(STM32F405xx)
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CAN_bit_timing_config_t can_configs[6] = {{2, 12, 56}, {2, 12, 28}, {2, 13, 21}, {2, 11, 12}, {2, 11, 6}, {1, 5, 6}};
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//APB1 at 36MHz
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#elif defined(STM32F1xx)
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CAN_bit_timing_config_t can_configs[6] = {{2, 13, 45}, {2, 15, 20}, {2, 13, 18}, {2, 13, 9}, {2, 15, 4}, {2, 15, 2}};
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//APB1 at 45MHz
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#elif defined(STM32F446xx)
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CAN_bit_timing_config_t can_configs[6] = {{2, 12, 60}, {2, 12, 30}, {2, 12, 24}, {2, 12, 12}, {2, 12, 6}, {1, 7, 5}};
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//If support for more APB1 clock speeds is needed, use this calculator: http://www.bittiming.can-wiki.info/
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#endif
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typedef enum CAN_FLTEN {
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ACCEPT_ALL = 0,
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REJECT_ALL = 1
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} CAN_FLTEN;
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class STM32_CAN {
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const CAN_CHANNEL _channel;
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const CAN_PINS _pins;
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private:
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void CANSetGpio(GPIO_TypeDef * addr, uint8_t index, uint8_t speed = 3);
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void CANSetFilter(uint8_t index, uint8_t scale, uint8_t mode, uint8_t fifo, uint32_t bank1, uint32_t bank2);
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void writeTxMailbox(uint8_t mb_num, CAN_message_t &CAN_tx_msg);
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uint8_t CANMsgAvail();
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void SetTXRX();
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public:
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STM32_CAN(const CAN_CHANNEL channel, CAN_PINS pins) : _channel (channel), _pins (pins) { };
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void begin();
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// Default buffer sizes are set to 16. But this can be changed by using constructor in main code.
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STM32_CAN(CAN_TypeDef* canPort, CAN_PINS pins, RXQUEUE_TABLE rxSize = RX_SIZE_16, TXQUEUE_TABLE txSize = TX_SIZE_16);
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// Begin. By default the automatic retransmission is enabled. If it causes problems, use begin(false) to disable it.
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void begin(bool retransmission = true);
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void setBaudRate(uint32_t baud);
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int write(CAN_message_t &CAN_tx_msg); // use any available mailbox for transmitting
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int write(CAN_MAILBOX mb_num, CAN_message_t &CAN_tx_msg); // use a single mailbox for transmitting
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int read(CAN_message_t &CAN_rx_msg);
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bool write(CAN_message_t &CAN_tx_msg, bool sendMB = false);
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bool read(CAN_message_t &CAN_rx_msg);
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// Manually set STM32 filter bank parameters
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bool setFilter(uint8_t bank_num, uint32_t filter_id, uint32_t mask, uint32_t filter_mode = CAN_FILTERMODE_IDMASK, uint32_t filter_scale = CAN_FILTERSCALE_32BIT, uint32_t fifo = CAN_FILTER_FIFO0);
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// Teensy FlexCAN style "set filter" -functions
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bool setMBFilterProcessing(CAN_BANK bank_num, uint32_t filter_id, uint32_t mask);
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void setMBFilter(CAN_FLTEN input); /* enable/disable traffic for all MBs (for individual masking) */
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void setMBFilter(CAN_BANK bank_num, CAN_FLTEN input); /* set specific MB to accept/deny traffic */
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bool setMBFilter(CAN_BANK bank_num, uint32_t id1); /* input 1 ID to be filtered */
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bool setMBFilter(CAN_BANK bank_num, uint32_t id1, uint32_t id2); /* input 2 ID's to be filtered */
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void enableLoopBack(bool yes = 1);
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void enableSilentMode(bool yes = 1);
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void enableSilentLoopBack(bool yes = 1);
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void enableFIFO(bool status = 1);
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void enableMBInterrupts();
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void disableMBInterrupts();
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// These are public because these are also used from interupts.
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typedef struct RingbufferTypeDef {
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volatile uint16_t head;
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volatile uint16_t tail;
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uint16_t size;
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volatile CAN_message_t *buffer;
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} RingbufferTypeDef;
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RingbufferTypeDef rxRing;
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RingbufferTypeDef txRing;
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bool addToRingBuffer(RingbufferTypeDef &ring, const CAN_message_t &msg);
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bool removeFromRingBuffer(RingbufferTypeDef &ring, CAN_message_t &msg);
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protected:
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uint16_t sizeRxBuffer;
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uint16_t sizeTxBuffer;
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private:
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void initializeFilters();
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bool isInitialized() { return rx_buffer != 0; }
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void initRingBuffer(RingbufferTypeDef &ring, volatile CAN_message_t *buffer, uint32_t size);
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void initializeBuffers(void);
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bool isRingBufferEmpty(RingbufferTypeDef &ring);
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uint32_t ringBufferCount(RingbufferTypeDef &ring);
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void calculateBaudrate(CAN_HandleTypeDef *CanHandle, int Baudrate);
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uint32_t getAPB1Clock(void);
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volatile CAN_message_t *rx_buffer;
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volatile CAN_message_t *tx_buffer;
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bool _canIsActive = false;
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CAN_PINS _pins;
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CAN_HandleTypeDef *n_pCanHandle;
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CAN_TypeDef* _canPort;
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};
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static STM32_CAN* _CAN1 = nullptr;
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static CAN_HandleTypeDef hcan1;
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#ifdef CAN2
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static STM32_CAN* _CAN2 = nullptr;
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static CAN_HandleTypeDef hcan2;
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#endif
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#ifdef CAN3
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static STM32_CAN* _CAN3 = nullptr;
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static CAN_HandleTypeDef hcan3;
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#endif
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#endif
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#endif
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#endif
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