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ChibiOS/os/hal/platforms/STM32/can_lld.c

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/*
ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
ChibiOS/RT is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 3 of the License, or
(at your option) any later version.
ChibiOS/RT is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/**
* @file STM32/can_lld.c
* @brief STM32 CAN subsystem low level driver source
* @addtogroup STM32_CAN
* @{
*/
#include "ch.h"
#include "hal.h"
#if CH_HAL_USE_CAN || defined(__DOXYGEN__)
/*===========================================================================*/
/* Low Level Driver exported variables. */
/*===========================================================================*/
/** @brief ADC1 driver identifier.*/
#if USE_STM32_CAN1 || defined(__DOXYGEN__)
CANDriver CAND1;
#endif
/*===========================================================================*/
/* Low Level Driver local variables. */
/*===========================================================================*/
/*===========================================================================*/
/* Low Level Driver local functions. */
/*===========================================================================*/
/*===========================================================================*/
/* Low Level Driver interrupt handlers. */
/*===========================================================================*/
/*
* CAN1 TX interrupt handler.
*/
CH_IRQ_HANDLER(Vector8C) {
CH_IRQ_PROLOGUE();
/* No more events until a message is transmitted.*/
CAN1->IER &= ~CAN_IER_TMEIE;
chEvtBroadcastI(&CAND1.cd_txempty_event);
CH_IRQ_EPILOGUE();
}
/*
* CAN1 RX0 interrupt handler.
*/
CH_IRQ_HANDLER(Vector90) {
uint32_t rf0r;
CH_IRQ_PROLOGUE();
rf0r = CAN1->RF0R;
chSysLockFromIsr();
if ((rf0r & CAN_RF0R_FMP0) > 0) {
/* No more receive events until the queue 0 has been emptied.*/
CAN1->IER &= ~CAN_IER_FMPIE0;
chEvtBroadcastI(&CAND1.cd_rxfull_event);
}
if ((rf0r & CAN_RF0R_FOVR0) > 0) {
/* Overflow events handling.*/
CAN1->RF0R = CAN_RF0R_FOVR0;
canAddFlagsI(&CAND1, CAN_OVERFLOW_ERROR);
chEvtBroadcastI(&CAND1.cd_error_event);
}
chSysUnlockFromIsr();
CH_IRQ_EPILOGUE();
}
/*
* CAN1 RX1 interrupt handler.
*/
CH_IRQ_HANDLER(Vector94) {
CH_IRQ_PROLOGUE();
chSysHalt(); /* Not supported (yet).*/
CH_IRQ_EPILOGUE();
}
/*
* CAN1 SCE interrupt handler.
*/
CH_IRQ_HANDLER(Vector98) {
uint32_t msr;
CH_IRQ_PROLOGUE();
msr = CAN1->MSR;
CAN1->MSR = CAN_MSR_ERRI | CAN_MSR_WKUI | CAN_MSR_SLAKI;
/* Wakeup event.*/
if (msr & CAN_MSR_WKUI) {
chSysLockFromIsr();
chEvtBroadcastI(&CAND1.cd_wakeup_event);
chSysUnlockFromIsr();
}
/* Error event.*/
if (msr & CAN_MSR_ERRI) {
canstatus_t flags;
uint32_t esr = CAN1->ESR;
CAN1->ESR &= ~CAN_ESR_LEC;
flags = (canstatus_t)(esr & 7);
if ((esr & CAN_ESR_LEC) > 0)
flags |= CAN_FRAMING_ERROR;
chSysLockFromIsr();
canAddFlagsI(&CAND1, flags);
chEvtBroadcastI(&CAND1.cd_error_event);
chSysUnlockFromIsr();
}
CH_IRQ_EPILOGUE();
}
/*===========================================================================*/
/* Low Level Driver exported functions. */
/*===========================================================================*/
/**
* @brief Low level CAN driver initialization.
*/
void can_lld_init(void) {
#if USE_STM32_CAN1
/* CAN reset, ensures reset state in order to avoid trouble with JTAGs.*/
RCC->APB1RSTR = RCC_APB1RSTR_CAN1RST;
RCC->APB1RSTR = 0;
/* Driver initialization.*/
canObjectInit(&CAND1);
CAND1.cd_can = CAN1;
#endif
}
/**
* @brief Configures and activates the CAN peripheral.
*
* @param[in] canp pointer to the @p CANDriver object
*/
void can_lld_start(CANDriver *canp) {
if (canp->cd_state == CAN_STOP) {
/* Clock activation.*/
#if USE_STM32_CAN1
if (&CAND1 == canp) {
NVICEnableVector(USB_HP_CAN1_TX_IRQn, STM32_CAN1_IRQ_PRIORITY);
NVICEnableVector(USB_LP_CAN1_RX0_IRQn, STM32_CAN1_IRQ_PRIORITY);
NVICEnableVector(CAN1_RX1_IRQn, STM32_CAN1_IRQ_PRIORITY);
NVICEnableVector(CAN1_SCE_IRQn, STM32_CAN1_IRQ_PRIORITY);
RCC->APB1ENR |= RCC_APB1ENR_CAN1EN;
}
#endif
}
/* Configuration.*/
canp->cd_can->MCR = canp->cd_config->cc_mcr;
canp->cd_can->BTR = canp->cd_config->cc_btr;
canp->cd_can->IER = CAN_IER_TMEIE | CAN_IER_FMPIE0 | CAN_IER_FMPIE1 |
CAN_IER_WKUIE | CAN_IER_ERRIE | CAN_IER_LECIE |
CAN_IER_BOFIE | CAN_IER_EPVIE | CAN_IER_EWGIE |
CAN_IER_FOVIE0 | CAN_IER_FOVIE1;
}
/**
* @brief Deactivates the CAN peripheral.
*
* @param[in] canp pointer to the @p CANDriver object
*/
void can_lld_stop(CANDriver *canp) {
/* If in ready state then disables the CAN clock.*/
if (canp->cd_state == CAN_READY) {
#if USE_STM32_CAN1
if (&CAND1 == canp) {
CAN1->MCR = 0x00010002; /* Register reset value. */
CAN1->BTR = 0x01230000; /* Register reset value. */
CAN1->IER = 0x00000000; /* All sources disabled. */
NVICDisableVector(USB_HP_CAN1_TX_IRQn);
NVICDisableVector(USB_LP_CAN1_RX0_IRQn);
NVICDisableVector(CAN1_RX1_IRQn);
NVICDisableVector(CAN1_SCE_IRQn);
RCC->APB1ENR &= ~RCC_APB1ENR_CAN1EN;
}
#endif
}
}
/**
* @brief Determines whether a frame can be transmitted.
*
* @param[in] canp pointer to the @p CANDriver object
*
* @return The queue space availability.
* @retval FALSE no space in the transmit queue.
* @retval TRUE transmit slot available.
*/
bool_t can_lld_can_transmit(CANDriver *canp) {
return FALSE;
}
/**
* @brief Inserts a frame into the transmit queue.
*
* @param[in] canp pointer to the @p CANDriver object
* @param[in] cfp pointer to the CAN frame to be transmitted
*
* @return The operation status.
* @retval RDY_OK frame transmitted.
*/
msg_t can_lld_transmit(CANDriver *canp, const CANFrame *cfp) {
return RDY_OK;
}
/**
* @brief Determines whether a frame has been received.
*
* @param[in] canp pointer to the @p CANDriver object
*
* @return The queue space availability.
* @retval FALSE no space in the transmit queue.
* @retval TRUE transmit slot available.
*/
bool_t can_lld_can_receive(CANDriver *canp) {
return FALSE;
}
/**
* @brief Receives a frame from the input queue.
*
* @param[in] canp pointer to the @p CANDriver object
* @param[out] cfp pointer to the buffer where the CAN frame is copied
*
* @return The operation status.
* @retval RDY_OK frame received.
*/
msg_t can_lld_receive(CANDriver *canp, CANFrame *cfp) {
return RDY_OK;
}
#if CAN_USE_SLEEP_MODE || defined(__DOXYGEN__)
/**
* @brief Enters the sleep mode.
*
* @param[in] canp pointer to the @p CANDriver object
*/
void can_lld_sleep(CANDriver *canp) {
}
/**
* @brief Enforces leaving the sleep mode.
*
* @param[in] canp pointer to the @p CANDriver object
*/
void can_lld_wakeup(CANDriver *canp) {
}
#endif /* CAN_USE_SLEEP_MODE */
#endif /* CH_HAL_USE_CAN */
/** @} */
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