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git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@13388 27425a3e-05d8-49a3-a47f-9c15f0e5edd8

This commit is contained in:
Giovanni Di Sirio 2020-03-05 11:25:58 +00:00
parent 03dc4b4c9b
commit e6439900e6
11 changed files with 77 additions and 818 deletions
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7
demos/STM32/RT-STM32H755ZI-NUCLEO144/cfg/mcuconf.h
View File

@ -184,6 +184,11 @@
#define STM32_IRQ_EXTI19_PRIORITY 6 #define STM32_IRQ_EXTI19_PRIORITY 6
#define STM32_IRQ_EXTI20_21_PRIORITY 6 #define STM32_IRQ_EXTI20_21_PRIORITY 6
#define STM32_IRQ_FDCAN1_IT0_PRIORITY 10
#define STM32_IRQ_FDCAN1_IT1_PRIORITY 10
#define STM32_IRQ_FDCAN2_IT0_PRIORITY 10
#define STM32_IRQ_FDCAN2_IT1_PRIORITY 10
#define STM32_IRQ_MDMA_PRIORITY 9 #define STM32_IRQ_MDMA_PRIORITY 9
#define STM32_IRQ_QUADSPI1_PRIORITY 10 #define STM32_IRQ_QUADSPI1_PRIORITY 10
@ -235,7 +240,7 @@
/* /*
* CAN driver system settings. * CAN driver system settings.
*/ */
#define STM32_CAN_USE_FDCAN1 FALSE #define STM32_CAN_USE_FDCAN1 TRUE
#define STM32_CAN_USE_FDCAN2 FALSE #define STM32_CAN_USE_FDCAN2 FALSE
/* /*

2
os/hal/ports/STM32/LLD/ADCv1/hal_adc_lld.c
View File

@ -90,7 +90,7 @@ static void adc_lld_stop_adc(ADC_TypeDef *adc) {
} }
/** /**
* @brief ADC DMA ISR service routine. * @brief ADC DMA service routine.
* *
* @param[in] adcp pointer to the @p ADCDriver object * @param[in] adcp pointer to the @p ADCDriver object
* @param[in] flags pre-shifted content of the ISR register * @param[in] flags pre-shifted content of the ISR register

2
os/hal/ports/STM32/LLD/ADCv2/hal_adc_lld.c
View File

@ -67,7 +67,7 @@ ADCDriver ADCD3;
/*===========================================================================*/ /*===========================================================================*/
/** /**
* @brief ADC DMA ISR service routine. * @brief ADC DMA service routine.
* *
* @param[in] adcp pointer to the @p ADCDriver object * @param[in] adcp pointer to the @p ADCDriver object
* @param[in] flags pre-shifted content of the ISR register * @param[in] flags pre-shifted content of the ISR register

4
os/hal/ports/STM32/LLD/ADCv3/hal_adc_lld.c
View File

@ -244,7 +244,7 @@ static void adc_lld_stop_adc(ADCDriver *adcp) {
} }
/** /**
* @brief ADC DMA ISR service routine. * @brief ADC DMA service routine.
* *
* @param[in] adcp pointer to the @p ADCDriver object * @param[in] adcp pointer to the @p ADCDriver object
* @param[in] flags pre-shifted content of the ISR register * @param[in] flags pre-shifted content of the ISR register
@ -274,7 +274,7 @@ static void adc_lld_serve_dma_interrupt(ADCDriver *adcp, uint32_t flags) {
} }
/** /**
* @brief ADC ISR service routine. * @brief ADC IRQ service routine.
* *
* @param[in] adcp pointer to the @p ADCDriver object * @param[in] adcp pointer to the @p ADCDriver object
* @param[in] isr content of the ISR register * @param[in] isr content of the ISR register

6
os/hal/ports/STM32/LLD/ADCv4/hal_adc_lld.c
View File

@ -187,7 +187,7 @@ static void adc_lld_stop_adc(ADCDriver *adcp) {
} }
/** /**
* @brief ADC DMA ISR service routine. * @brief ADC DMA service routine.
* *
* @param[in] adcp pointer to the @p ADCDriver object * @param[in] adcp pointer to the @p ADCDriver object
* @param[in] flags pre-shifted content of the ISR register * @param[in] flags pre-shifted content of the ISR register
@ -217,7 +217,7 @@ static void adc_lld_serve_dma_interrupt(ADCDriver *adcp, uint32_t flags) {
} }
/** /**
* @brief ADC BDMA ISR service routine. * @brief ADC BDMA service routine.
* *
* @param[in] adcp pointer to the @p ADCDriver object * @param[in] adcp pointer to the @p ADCDriver object
* @param[in] flags pre-shifted content of the ISR register * @param[in] flags pre-shifted content of the ISR register
@ -247,7 +247,7 @@ static void adc_lld_serve_bdma_interrupt(ADCDriver *adcp, uint32_t flags) {
} }
/** /**
* @brief ADC ISR service routine. * @brief ADC IRQ service routine.
* *
* @param[in] adcp pointer to the @p ADCDriver object * @param[in] adcp pointer to the @p ADCDriver object
* @param[in] isr content of the ISR register * @param[in] isr content of the ISR register

6
os/hal/ports/STM32/LLD/FDCANv1/driver.mk
View File

@ -1,9 +1,9 @@
ifeq ($(USE_SMART_BUILD),yes) ifeq ($(USE_SMART_BUILD),yes)
ifneq ($(findstring HAL_USE_CAN TRUE,$(HALCONF)),) ifneq ($(findstring HAL_USE_CAN TRUE,$(HALCONF)),)
PLATFORMSRC += $(CHIBIOS)/os/hal/ports/STM32/LLD/CANv1/hal_can_lld.c PLATFORMSRC += $(CHIBIOS)/os/hal/ports/STM32/LLD/FDCANv1/hal_can_lld.c
endif endif
else else
PLATFORMSRC += $(CHIBIOS)/os/hal/ports/STM32/LLD/CANv1/hal_can_lld.c PLATFORMSRC += $(CHIBIOS)/os/hal/ports/STM32/LLD/FDCANv1/hal_can_lld.c
endif endif
PLATFORMINC += $(CHIBIOS)/os/hal/ports/STM32/LLD/CANv1 PLATFORMINC += $(CHIBIOS)/os/hal/ports/STM32/LLD/FDCANv1

840
os/hal/ports/STM32/LLD/FDCANv1/hal_can_lld.c
View File

@ -52,544 +52,10 @@ CANDriver CAND2;
/* Driver local functions. */ /* Driver local functions. */
/*===========================================================================*/ /*===========================================================================*/
/**
* @brief Programs the filters of CAN 1 and CAN 2.
*
* @param[in] canp pointer to the @p CANDriver object
* @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(CANDriver* canp,
uint32_t can2sb,
uint32_t num,
const CANFilter *cfp) {
#if STM32_CAN_USE_CAN2
if (canp == &CAND2) {
/* Set handle to CAN1, because CAN1 manages the filters of CAN2.*/
canp = &CAND1;
}
#endif
/* Temporarily enabling CAN clock.*/
#if STM32_CAN_USE_CAN1
if (canp == &CAND1) {
rccEnableCAN1(true);
/* Filters initialization.*/
canp->can->FMR = (canp->can->FMR & 0xFFFF0000) | CAN_FMR_FINIT;
canp->can->FMR = (canp->can->FMR & 0xFFFF0000) | (can2sb << 8) | CAN_FMR_FINIT;
}
#endif
#if STM32_CAN_USE_CAN3
if (canp == &CAND3) {
rccEnableCAN3(true);
/* Filters initialization.*/
canp->can->FMR = (canp->can->FMR & 0xFFFF0000) | CAN_FMR_FINIT;
}
#endif
if (num > 0) {
uint32_t i, fmask;
/* All filters cleared.*/
canp->can->FA1R = 0;
canp->can->FM1R = 0;
canp->can->FS1R = 0;
canp->can->FFA1R = 0;
#if STM32_CAN_USE_CAN1
if (canp == &CAND1) {
for (i = 0; i < STM32_CAN_MAX_FILTERS; i++) {
canp->can->sFilterRegister[i].FR1 = 0;
canp->can->sFilterRegister[i].FR2 = 0;
}
}
#endif
#if STM32_CAN_USE_CAN3
if (canp == &CAND3) {
for (i = 0; i < STM32_CAN3_MAX_FILTERS; i++) {
canp->can->sFilterRegister[i].FR1 = 0;
canp->can->sFilterRegister[i].FR2 = 0;
}
}
#endif
/* Scanning the filters array.*/
for (i = 0; i < num; i++) {
fmask = 1 << cfp->filter;
if (cfp->mode)
canp->can->FM1R |= fmask;
if (cfp->scale)
canp->can->FS1R |= fmask;
if (cfp->assignment)
canp->can->FFA1R |= fmask;
canp->can->sFilterRegister[cfp->filter].FR1 = cfp->register1;
canp->can->sFilterRegister[cfp->filter].FR2 = cfp->register2;
canp->can->FA1R |= fmask;
cfp++;
}
}
else {
/* Setting up a single default filter that enables everything for both
CANs.*/
canp->can->sFilterRegister[0].FR1 = 0;
canp->can->sFilterRegister[0].FR2 = 0;
#if STM32_CAN_USE_CAN2
if (canp == &CAND1) {
canp->can->sFilterRegister[can2sb].FR1 = 0;
canp->can->sFilterRegister[can2sb].FR2 = 0;
}
#endif
canp->can->FM1R = 0;
canp->can->FFA1R = 0;
canp->can->FS1R = 1;
canp->can->FA1R = 1;
#if STM32_CAN_USE_CAN2
if (canp == &CAND1) {
canp->can->FS1R |= 1 << can2sb;
canp->can->FA1R |= 1 << can2sb;
}
#endif
}
canp->can->FMR &= ~CAN_FMR_FINIT;
/* Clock disabled, it will be enabled again in can_lld_start().*/
/* Temporarily enabling CAN clock.*/
#if STM32_CAN_USE_CAN1
if (canp == &CAND1) {
rccDisableCAN1();
}
#endif
#if STM32_CAN_USE_CAN3
if (canp == &CAND3) {
rccDisableCAN3();
}
#endif
}
/**
* @brief Common TX ISR handler.
*
* @param[in] canp pointer to the @p CANDriver object
*
* @notapi
*/
static void can_lld_tx_handler(CANDriver *canp) {
uint32_t tsr;
eventflags_t flags;
/* Clearing IRQ sources.*/
tsr = canp->can->TSR;
canp->can->TSR = tsr;
/* Flags to be signaled through the TX event source.*/
flags = 0U;
/* Checking mailbox 0.*/
if ((tsr & CAN_TSR_RQCP0) != 0U) {
if ((tsr & (CAN_TSR_ALST0 | CAN_TSR_TERR0)) != 0U) {
flags |= CAN_MAILBOX_TO_MASK(1U) << 16U;
}
else {
flags |= CAN_MAILBOX_TO_MASK(1U);
}
}
/* Checking mailbox 1.*/
if ((tsr & CAN_TSR_RQCP1) != 0U) {
if ((tsr & (CAN_TSR_ALST1 | CAN_TSR_TERR1)) != 0U) {
flags |= CAN_MAILBOX_TO_MASK(2U) << 16U;
}
else {
flags |= CAN_MAILBOX_TO_MASK(2U);
}
}
/* Checking mailbox 2.*/
if ((tsr & CAN_TSR_RQCP2) != 0U) {
if ((tsr & (CAN_TSR_ALST2 | CAN_TSR_TERR2)) != 0U) {
flags |= CAN_MAILBOX_TO_MASK(3U) << 16U;
}
else {
flags |= CAN_MAILBOX_TO_MASK(3U);
}
}
/* Signaling flags and waking up threads waiting for a transmission slot.*/
_can_tx_empty_isr(canp, flags);
}
/**
* @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;
_can_rx_full_isr(canp, CAN_MAILBOX_TO_MASK(1U));
}
if ((rf0r & CAN_RF0R_FOVR0) > 0) {
/* Overflow events handling.*/
canp->can->RF0R = CAN_RF0R_FOVR0;
_can_error_isr(canp, CAN_OVERFLOW_ERROR);
}
}
/**
* @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;
_can_rx_full_isr(canp, CAN_MAILBOX_TO_MASK(2U));
}
if ((rf1r & CAN_RF1R_FOVR1) > 0) {
/* Overflow events handling.*/
canp->can->RF1R = CAN_RF1R_FOVR1;
_can_error_isr(canp, CAN_OVERFLOW_ERROR);
}
}
/**
* @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;
/* Clearing IRQ sources.*/
msr = canp->can->MSR;
canp->can->MSR = msr;
/* Wakeup event.*/
#if CAN_USE_SLEEP_MODE
if (msr & CAN_MSR_WKUI) {
canp->state = CAN_READY;
canp->can->MCR &= ~CAN_MCR_SLEEP;
_can_wakeup_isr(canp);
}
#endif /* CAN_USE_SLEEP_MODE */
/* Error event.*/
if (msr & CAN_MSR_ERRI) {
eventflags_t flags;
uint32_t esr = canp->can->ESR;
#if STM32_CAN_REPORT_ALL_ERRORS
flags = (eventflags_t)(esr & 7);
if ((esr & CAN_ESR_LEC) > 0)
flags |= CAN_FRAMING_ERROR;
#else
flags = 0;
#endif
/* The content of the ESR register is copied unchanged in the upper
half word of the listener flags mask.*/
_can_error_isr(canp, flags | (eventflags_t)(esr << 16U));
}
}
/*===========================================================================*/ /*===========================================================================*/
/* Driver interrupt handlers. */ /* Driver interrupt handlers. */
/*===========================================================================*/ /*===========================================================================*/
#if STM32_CAN_USE_CAN1 || defined(__DOXYGEN__)
#if defined(STM32_CAN1_UNIFIED_HANDLER)
/**
* @brief CAN1 unified interrupt handler.
*
* @isr
*/
OSAL_IRQ_HANDLER(STM32_CAN1_UNIFIED_HANDLER) {
OSAL_IRQ_PROLOGUE();
can_lld_tx_handler(&CAND1);
can_lld_rx0_handler(&CAND1);
can_lld_rx1_handler(&CAND1);
can_lld_sce_handler(&CAND1);
OSAL_IRQ_EPILOGUE();
}
#else /* !defined(STM32_CAN1_UNIFIED_HANDLER) */
#if !defined(STM32_CAN1_TX_HANDLER)
#error "STM32_CAN1_TX_HANDLER not defined"
#endif
#if !defined(STM32_CAN1_RX0_HANDLER)
#error "STM32_CAN1_RX0_HANDLER not defined"
#endif
#if !defined(STM32_CAN1_RX1_HANDLER)
#error "STM32_CAN1_RX1_HANDLER not defined"
#endif
#if !defined(STM32_CAN1_SCE_HANDLER)
#error "STM32_CAN1_SCE_HANDLER not defined"
#endif
/**
* @brief CAN1 TX interrupt handler.
*
* @isr
*/
OSAL_IRQ_HANDLER(STM32_CAN1_TX_HANDLER) {
OSAL_IRQ_PROLOGUE();
can_lld_tx_handler(&CAND1);
OSAL_IRQ_EPILOGUE();
}
/**
* @brief CAN1 RX0 interrupt handler.
*
* @isr
*/
OSAL_IRQ_HANDLER(STM32_CAN1_RX0_HANDLER) {
OSAL_IRQ_PROLOGUE();
can_lld_rx0_handler(&CAND1);
OSAL_IRQ_EPILOGUE();
}
/**
* @brief CAN1 RX1 interrupt handler.
*
* @isr
*/
OSAL_IRQ_HANDLER(STM32_CAN1_RX1_HANDLER) {
OSAL_IRQ_PROLOGUE();
can_lld_rx1_handler(&CAND1);
OSAL_IRQ_EPILOGUE();
}
/**
* @brief CAN1 SCE interrupt handler.
*
* @isr
*/
OSAL_IRQ_HANDLER(STM32_CAN1_SCE_HANDLER) {
OSAL_IRQ_PROLOGUE();
can_lld_sce_handler(&CAND1);
OSAL_IRQ_EPILOGUE();
}
#endif /* !defined(STM32_CAN1_UNIFIED_HANDLER) */
#endif /* STM32_CAN_USE_CAN1 */
#if STM32_CAN_USE_CAN2 || defined(__DOXYGEN__)
#if defined(STM32_CAN2_UNIFIED_HANDLER)
/**
* @brief CAN1 unified interrupt handler.
*
* @isr
*/
OSAL_IRQ_HANDLER(STM32_CAN2_UNIFIED_HANDLER) {
OSAL_IRQ_PROLOGUE();
can_lld_tx_handler(&CAND2);
can_lld_rx0_handler(&CAND2);
can_lld_rx1_handler(&CAND2);
can_lld_sce_handler(&CAND2);
OSAL_IRQ_EPILOGUE();
}
#else /* !defined(STM32_CAN2_UNIFIED_HANDLER) */
#if !defined(STM32_CAN1_TX_HANDLER)
#error "STM32_CAN1_TX_HANDLER not defined"
#endif
#if !defined(STM32_CAN1_RX0_HANDLER)
#error "STM32_CAN1_RX0_HANDLER not defined"
#endif
#if !defined(STM32_CAN1_RX1_HANDLER)
#error "STM32_CAN1_RX1_HANDLER not defined"
#endif
#if !defined(STM32_CAN1_SCE_HANDLER)
#error "STM32_CAN1_SCE_HANDLER not defined"
#endif
/**
* @brief CAN2 TX interrupt handler.
*
* @isr
*/
OSAL_IRQ_HANDLER(STM32_CAN2_TX_HANDLER) {
OSAL_IRQ_PROLOGUE();
can_lld_tx_handler(&CAND2);
OSAL_IRQ_EPILOGUE();
}
/**
* @brief CAN2 RX0 interrupt handler.
*
* @isr
*/
OSAL_IRQ_HANDLER(STM32_CAN2_RX0_HANDLER) {
OSAL_IRQ_PROLOGUE();
can_lld_rx0_handler(&CAND2);
OSAL_IRQ_EPILOGUE();
}
/**
* @brief CAN2 RX1 interrupt handler.
*
* @isr
*/
OSAL_IRQ_HANDLER(STM32_CAN2_RX1_HANDLER) {
OSAL_IRQ_PROLOGUE();
can_lld_rx1_handler(&CAND2);
OSAL_IRQ_EPILOGUE();
}
/**
* @brief CAN2 SCE interrupt handler.
*
* @isr
*/
OSAL_IRQ_HANDLER(STM32_CAN2_SCE_HANDLER) {
OSAL_IRQ_PROLOGUE();
can_lld_sce_handler(&CAND2);
OSAL_IRQ_EPILOGUE();
}
#endif /* !defined(STM32_CAN2_UNIFIED_HANDLER) */
#endif /* STM32_CAN_USE_CAN2 */
#if STM32_CAN_USE_CAN3 || defined(__DOXYGEN__)
#if defined(STM32_CAN3_UNIFIED_HANDLER)
/**
* @brief CAN1 unified interrupt handler.
*
* @isr
*/
OSAL_IRQ_HANDLER(STM32_CAN3_UNIFIED_HANDLER) {
OSAL_IRQ_PROLOGUE();
can_lld_tx_handler(&CAND3);
can_lld_rx0_handler(&CAND3);
can_lld_rx1_handler(&CAND3);
can_lld_sce_handler(&CAND3);
OSAL_IRQ_EPILOGUE();
}
#else /* !defined(STM32_CAN3_UNIFIED_HANDLER) */
#if !defined(STM32_CAN3_TX_HANDLER)
#error "STM32_CAN3_TX_HANDLER not defined"
#endif
#if !defined(STM32_CAN3_RX0_HANDLER)
#error "STM32_CAN3_RX0_HANDLER not defined"
#endif
#if !defined(STM32_CAN3_RX1_HANDLER)
#error "STM32_CAN3_RX1_HANDLER not defined"
#endif
#if !defined(STM32_CAN3_SCE_HANDLER)
#error "STM32_CAN3_SCE_HANDLER not defined"
#endif
/**
* @brief CAN3 TX interrupt handler.
*
* @isr
*/
OSAL_IRQ_HANDLER(STM32_CAN3_TX_HANDLER) {
OSAL_IRQ_PROLOGUE();
can_lld_tx_handler(&CAND3);
OSAL_IRQ_EPILOGUE();
}
/**
* @brief CAN3 RX0 interrupt handler.
*
* @isr
*/
OSAL_IRQ_HANDLER(STM32_CAN3_RX0_HANDLER) {
OSAL_IRQ_PROLOGUE();
can_lld_rx0_handler(&CAND3);
OSAL_IRQ_EPILOGUE();
}
/**
* @brief CAN1 RX3 interrupt handler.
*
* @isr
*/
OSAL_IRQ_HANDLER(STM32_CAN3_RX1_HANDLER) {
OSAL_IRQ_PROLOGUE();
can_lld_rx1_handler(&CAND3);
OSAL_IRQ_EPILOGUE();
}
/**
* @brief CAN1 SCE interrupt handler.
*
* @isr
*/
OSAL_IRQ_HANDLER(STM32_CAN3_SCE_HANDLER) {
OSAL_IRQ_PROLOGUE();
can_lld_sce_handler(&CAND3);
OSAL_IRQ_EPILOGUE();
}
#endif /* !defined(STM32_CAN1_UNIFIED_HANDLER) */
#endif /* STM32_CAN_USE_CAN1 */
/*===========================================================================*/ /*===========================================================================*/
/* Driver exported functions. */ /* Driver exported functions. */
/*===========================================================================*/ /*===========================================================================*/
@ -601,61 +67,16 @@ OSAL_IRQ_HANDLER(STM32_CAN3_SCE_HANDLER) {
*/ */
void can_lld_init(void) { void can_lld_init(void) {
#if STM32_CAN_USE_CAN1 #if STM32_CAN_USE_FDCAN1
/* Driver initialization.*/ /* Driver initialization.*/
canObjectInit(&CAND1); canObjectInit(&CAND1);
CAND1.can = CAN1; CAND1.fdcan = FDCAN1;
#if defined(STM32_CAN1_UNIFIED_NUMBER)
nvicEnableVector(STM32_CAN1_UNIFIED_NUMBER, STM32_CAN_CAN1_IRQ_PRIORITY);
#else
nvicEnableVector(STM32_CAN1_TX_NUMBER, STM32_CAN_CAN1_IRQ_PRIORITY);
nvicEnableVector(STM32_CAN1_RX0_NUMBER, STM32_CAN_CAN1_IRQ_PRIORITY);
nvicEnableVector(STM32_CAN1_RX1_NUMBER, STM32_CAN_CAN1_IRQ_PRIORITY);
nvicEnableVector(STM32_CAN1_SCE_NUMBER, STM32_CAN_CAN1_IRQ_PRIORITY);
#endif
#endif #endif
#if STM32_CAN_USE_CAN2 #if STM32_CAN_USE_FDCAN2
/* Driver initialization.*/ /* Driver initialization.*/
canObjectInit(&CAND2); canObjectInit(&CAND2);
CAND2.can = CAN2; CAND2.fdcan = FDCAN2;
#if defined(STM32_CAN2_UNIFIED_NUMBER)
nvicEnableVector(STM32_CAN2_UNIFIED_NUMBER, STM32_CAN_CAN2_IRQ_PRIORITY);
#else
nvicEnableVector(STM32_CAN2_TX_NUMBER, STM32_CAN_CAN2_IRQ_PRIORITY);
nvicEnableVector(STM32_CAN2_RX0_NUMBER, STM32_CAN_CAN2_IRQ_PRIORITY);
nvicEnableVector(STM32_CAN2_RX1_NUMBER, STM32_CAN_CAN2_IRQ_PRIORITY);
nvicEnableVector(STM32_CAN2_SCE_NUMBER, STM32_CAN_CAN2_IRQ_PRIORITY);
#endif
#endif
#if STM32_CAN_USE_CAN3
/* Driver initialization.*/
canObjectInit(&CAND3);
CAND3.can = CAN3;
#if defined(STM32_CAN3_UNIFIED_NUMBER)
nvicEnableVector(STM32_CAN3_UNIFIED_NUMBER, STM32_CAN_CAN3_IRQ_PRIORITY);
#else
nvicEnableVector(STM32_CAN3_TX_NUMBER, STM32_CAN_CAN3_IRQ_PRIORITY);
nvicEnableVector(STM32_CAN3_RX0_NUMBER, STM32_CAN_CAN3_IRQ_PRIORITY);
nvicEnableVector(STM32_CAN3_RX1_NUMBER, STM32_CAN_CAN3_IRQ_PRIORITY);
nvicEnableVector(STM32_CAN3_SCE_NUMBER, STM32_CAN_CAN3_IRQ_PRIORITY);
#endif
#endif
/* Filters initialization.*/
#if STM32_CAN_USE_CAN1
#if STM32_HAS_CAN2
can_lld_set_filters(&CAND1, STM32_CAN_MAX_FILTERS / 2, 0, NULL);
#else
can_lld_set_filters(&CAND1, STM32_CAN_MAX_FILTERS, 0, NULL);
#endif
#endif
#if STM32_HAS_CAN3
#if STM32_CAN_USE_CAN3
can_lld_set_filters(&CAND3, STM32_CAN3_MAX_FILTERS, 0, NULL);
#endif
#endif #endif
} }
@ -669,44 +90,17 @@ void can_lld_init(void) {
void can_lld_start(CANDriver *canp) { void can_lld_start(CANDriver *canp) {
/* Clock activation.*/ /* Clock activation.*/
#if STM32_CAN_USE_CAN1 #if STM32_CAN_USE_FDCAN1
if (&CAND1 == canp) { if (&CAND1 == canp) {
rccEnableCAN1(true); rccEnableFDCAN1(true);
} }
#endif #endif
#if STM32_CAN_USE_CAN2 #if STM32_CAN_USE_FDCAN2
if (&CAND2 == canp) { if (&CAND2 == canp) {
rccEnableCAN1(true); /* CAN 2 requires CAN1, so enabling it first.*/ rccEnableFDCAN2(true);
rccEnableCAN2(true);
} }
#endif #endif
#if STM32_CAN_USE_CAN3
if (&CAND3 == canp) {
rccEnableCAN3(true);
}
#endif
/* Configuring CAN. */
canp->can->MCR = CAN_MCR_INRQ;
while ((canp->can->MSR & CAN_MSR_INAK) == 0)
osalThreadSleepS(1);
canp->can->BTR = canp->config->btr;
canp->can->MCR = canp->config->mcr;
/* Interrupt sources initialization.*/
#if STM32_CAN_REPORT_ALL_ERRORS
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;
#else
canp->can->IER = CAN_IER_TMEIE | CAN_IER_FMPIE0 | CAN_IER_FMPIE1 |
CAN_IER_WKUIE | CAN_IER_ERRIE |
CAN_IER_BOFIE | CAN_IER_EPVIE | CAN_IER_EWGIE |
CAN_IER_FOVIE0 | CAN_IER_FOVIE1;
#endif
} }
/** /**
@ -720,40 +114,15 @@ void can_lld_stop(CANDriver *canp) {
/* If in ready state then disables the CAN peripheral.*/ /* If in ready state then disables the CAN peripheral.*/
if (canp->state == CAN_READY) { if (canp->state == CAN_READY) {
#if STM32_CAN_USE_CAN1 #if STM32_CAN_USE_FDCAN1
if (&CAND1 == canp) { if (&CAND1 == canp) {
CAN1->MCR = 0x00010002; /* Register reset value. */ rccDisableFDCAN1();
CAN1->IER = 0x00000000; /* All sources disabled. */
#if STM32_CAN_USE_CAN2
/* If CAND2 is stopped then CAN1 clock is stopped here.*/
if (CAND2.state == CAN_STOP)
#endif
{
rccDisableCAN1();
}
} }
#endif #endif
#if STM32_CAN_USE_CAN2 #if STM32_CAN_USE_FDCAN2
if (&CAND2 == canp) { if (&CAND2 == canp) {
CAN2->MCR = 0x00010002; /* Register reset value. */ rccDisableFDCAN2();
CAN2->IER = 0x00000000; /* All sources disabled. */
#if STM32_CAN_USE_CAN1
/* If CAND1 is stopped then CAN1 clock is stopped here.*/
if (CAND1.state == CAN_STOP)
#endif
{
rccDisableCAN1();
}
rccDisableCAN2();
}
#endif
#if STM32_CAN_USE_CAN3
if (&CAND3 == canp) {
CAN3->MCR = 0x00010002; /* Register reset value. */
CAN3->IER = 0x00000000; /* All sources disabled. */
rccDisableCAN3();
} }
#endif #endif
} }
@ -773,18 +142,6 @@ void can_lld_stop(CANDriver *canp) {
*/ */
bool can_lld_is_tx_empty(CANDriver *canp, canmbx_t mailbox) { bool 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;
}
} }
/** /**
@ -799,37 +156,7 @@ bool can_lld_is_tx_empty(CANDriver *canp, canmbx_t mailbox) {
void can_lld_transmit(CANDriver *canp, void can_lld_transmit(CANDriver *canp,
canmbx_t mailbox, canmbx_t mailbox,
const CANTxFrame *ctfp) { 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;
} }
/** /**
@ -846,17 +173,6 @@ void can_lld_transmit(CANDriver *canp,
*/ */
bool can_lld_is_rx_nonempty(CANDriver *canp, canmbx_t mailbox) { bool can_lld_is_rx_nonempty(CANDriver *canp, canmbx_t mailbox) {
switch (mailbox) {
case CAN_ANY_MAILBOX:
return ((canp->can->RF0R & CAN_RF0R_FMP0) != 0 ||
(canp->can->RF1R & 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;
}
} }
/** /**
@ -868,67 +184,8 @@ bool can_lld_is_rx_nonempty(CANDriver *canp, canmbx_t mailbox) {
* *
* @notapi * @notapi
*/ */
void can_lld_receive(CANDriver *canp, void can_lld_receive(CANDriver *canp, canmbx_t mailbox, CANRxFrame *crfp) {
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);
} }
/** /**
@ -939,10 +196,8 @@ void can_lld_receive(CANDriver *canp,
* *
* @notapi * @notapi
*/ */
void can_lld_abort(CANDriver *canp, void can_lld_abort(CANDriver *canp, canmbx_t mailbox) {
canmbx_t mailbox) {
canp->can->TSR = 128U << ((mailbox - 1U) * 8U);
} }
#if CAN_USE_SLEEP_MODE || defined(__DOXYGEN__) #if CAN_USE_SLEEP_MODE || defined(__DOXYGEN__)
@ -955,7 +210,6 @@ void can_lld_abort(CANDriver *canp,
*/ */
void can_lld_sleep(CANDriver *canp) { void can_lld_sleep(CANDriver *canp) {
canp->can->MCR |= CAN_MCR_SLEEP;
} }
/** /**
@ -967,53 +221,31 @@ void can_lld_sleep(CANDriver *canp) {
*/ */
void can_lld_wakeup(CANDriver *canp) { void can_lld_wakeup(CANDriver *canp) {
canp->can->MCR &= ~CAN_MCR_SLEEP;
} }
#endif /* CAN_USE_SLEEP_MODE */ #endif /* CAN_USE_SLEEP_MODE */
/**
* @brief Programs the filters.
* @note This is an STM32-specific API.
*
* @param[in] canp pointer to the @p CANDriver object
* @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(CANDriver *canp, uint32_t can2sb,
uint32_t num, const CANFilter *cfp) {
#if STM32_CAN_USE_CAN2
osalDbgCheck((can2sb <= STM32_CAN_MAX_FILTERS) &&
(num <= STM32_CAN_MAX_FILTERS));
#endif
#if STM32_CAN_USE_CAN1
osalDbgAssert(CAND1.state == CAN_STOP, "invalid state");
#endif
#if STM32_CAN_USE_CAN2
osalDbgAssert(CAND2.state == CAN_STOP, "invalid state");
#endif
#if STM32_CAN_USE_CAN3
osalDbgAssert(CAND3.state == CAN_STOP, "invalid state");
#endif
#if STM32_CAN_USE_CAN1
if (canp == &CAND1) {
can_lld_set_filters(canp, can2sb, num, cfp);
}
#endif
#if STM32_CAN_USE_CAN3
if (canp == &CAND3) {
can_lld_set_filters(canp, can2sb, num, cfp);
}
#endif
}
#endif /* HAL_USE_CAN */ #endif /* HAL_USE_CAN */
/**
* @brief FDCAN IRQ0 service routine.
*
* @param[in] canp pointer to the @p CANDriver object
*
* @notapi
*/
void can_lld_serve_interrupt0(CANDriver *canp) {
}
/**
* @brief FDCAN IRQ1 service routine.
*
* @param[in] canp pointer to the @p CANDriver object
*
* @notapi
*/
void can_lld_serve_interrupt1(CANDriver *canp) {
}
/** @} */ /** @} */

2
os/hal/ports/STM32/LLD/FDCANv1/hal_can_lld.h
View File

@ -402,6 +402,8 @@ extern "C" {
void can_lld_sleep(CANDriver *canp); void can_lld_sleep(CANDriver *canp);
void can_lld_wakeup(CANDriver *canp); void can_lld_wakeup(CANDriver *canp);
#endif /* CAN_USE_SLEEP_MODE */ #endif /* CAN_USE_SLEEP_MODE */
void can_lld_serve_interrupt0(CANDriver *canp);
void can_lld_serve_interrupt1(CANDriver *canp);
#ifdef __cplusplus #ifdef __cplusplus
} }
#endif #endif

1
os/hal/ports/STM32/STM32H7xx/platform.mk
View File

@ -31,6 +31,7 @@ include $(CHIBIOS)/os/hal/ports/STM32/LLD/CRYPv1/driver.mk
include $(CHIBIOS)/os/hal/ports/STM32/LLD/DACv1/driver.mk include $(CHIBIOS)/os/hal/ports/STM32/LLD/DACv1/driver.mk
include $(CHIBIOS)/os/hal/ports/STM32/LLD/DMAv2/driver.mk include $(CHIBIOS)/os/hal/ports/STM32/LLD/DMAv2/driver.mk
include $(CHIBIOS)/os/hal/ports/STM32/LLD/EXTIv1/driver.mk include $(CHIBIOS)/os/hal/ports/STM32/LLD/EXTIv1/driver.mk
include $(CHIBIOS)/os/hal/ports/STM32/LLD/FDCANv1/driver.mk
include $(CHIBIOS)/os/hal/ports/STM32/LLD/GPIOv2/driver.mk include $(CHIBIOS)/os/hal/ports/STM32/LLD/GPIOv2/driver.mk
include $(CHIBIOS)/os/hal/ports/STM32/LLD/I2Cv3/driver.mk include $(CHIBIOS)/os/hal/ports/STM32/LLD/I2Cv3/driver.mk
include $(CHIBIOS)/os/hal/ports/STM32/LLD/MDMAv1/driver.mk include $(CHIBIOS)/os/hal/ports/STM32/LLD/MDMAv1/driver.mk

12
os/hal/ports/STM32/STM32H7xx/stm32_isr.c
View File

@ -64,10 +64,12 @@
#include "stm32_exti19.inc" #include "stm32_exti19.inc"
#include "stm32_exti20_21.inc" #include "stm32_exti20_21.inc"
#include <stm32_quadspi1.inc> #include "stm32_fdcan1.inc"
#include <stm32_sdmmc1.inc> #include "stm32_quadspi1.inc"
#include <stm32_sdmmc2.inc>
#include "stm32_sdmmc1.inc"
#include "stm32_sdmmc2.inc"
#include <stm32_usart1.inc> #include <stm32_usart1.inc>
#include "stm32_usart2.inc" #include "stm32_usart2.inc"
@ -112,6 +114,8 @@ void irqInit(void) {
exti19_irq_init(); exti19_irq_init();
exti20_exti21_irq_init(); exti20_exti21_irq_init();
fdcan1_irq_init();
mdma_irq_init(); mdma_irq_init();
quadspi1_irq_init(); quadspi1_irq_init();
@ -158,6 +162,8 @@ void irqDeinit(void) {
exti19_irq_deinit(); exti19_irq_deinit();
exti20_exti21_irq_deinit(); exti20_exti21_irq_deinit();
fdcan1_irq_deinit();
mdma_irq_deinit(); mdma_irq_deinit();
quadspi1_irq_deinit(); quadspi1_irq_deinit();

13
os/hal/ports/STM32/STM32H7xx/stm32_isr.h
View File

@ -172,6 +172,19 @@
#define STM32_EXTI19_NUMBER 3 #define STM32_EXTI19_NUMBER 3
#define STM32_EXTI2021_NUMBER 137 #define STM32_EXTI2021_NUMBER 137
/*
* FDCAN units.
*/
#define STM32_FDCAN1_IT0_HANDLER Vector8C
#define STM32_FDCAN1_IT1_HANDLER Vector94
#define STM32_FDCAN2_IT0_HANDLER Vector90
#define STM32_FDCAN2_IT1_HANDLER Vector98
#define STM32_FDCAN1_IT0_NUMBER 19
#define STM32_FDCAN1_IT1_NUMBER 21
#define STM32_FDCAN2_IT0_NUMBER 20
#define STM32_FDCAN2_IT1_NUMBER 22
/* /*
* I2C units. * I2C units.
*/ */