Merge

Inc/can.h

@@ -2,9 +2,15 @@
 #define _CAN_H
 
 enum can_bitrate {
-    CAN_BITRATE_500K,
+    CAN_BITRATE_10K,
-    CAN_BITRATE_250K,
+    CAN_BITRATE_20K,
+    CAN_BITRATE_50K,
+    CAN_BITRATE_100K,
     CAN_BITRATE_125K,
+    CAN_BITRATE_250K,
+    CAN_BITRATE_500K,
+    CAN_BITRATE_750K,
+    CAN_BITRATE_1000K,
 };
 
 enum can_bus_state {

Makefile

@@ -86,7 +86,11 @@ CFLAGS += -mcpu=$(CPU) -mthumb
 CFLAGS += $(USER_CFLAGS)
 
 # default action: build the user application
-all: $(BUILD_DIR)/$(TARGET).hex
+all: $(BUILD_DIR)/$(TARGET).bin $(BUILD_DIR)/$(TARGET).hex
+
+flash: all
+	sudo dfu-util -d 0483:df11 -c 1 -i 0 -a 0 -s 0x08000000 -D $(BUILD_DIR)/$(TARGET).bin
+
 
 #######################################
 # build the st micro peripherial library
@@ -149,6 +153,9 @@ $(BUILD_DIR)/$(TARGET).hex: $(BUILD_DIR)/$(TARGET).elf
 	$(OBJCOPY) -O ihex $(BUILD_DIR)/$(TARGET).elf $@
 	$(OBJCOPY) -O binary $(BUILD_DIR)/$(TARGET).elf $(BUILD_DIR)/$(TARGET).bin
 
+$(BUILD_DIR)/$(TARGET).bin: $(BUILD_DIR)/$(TARGET).elf
+	$(OBJCOPY) -O binary $(BUILD_DIR)/$(TARGET).elf $@
+
 $(BUILD_DIR)/$(TARGET).elf: $(OBJECTS) $(USB_OBJECTS) $(CUBELIB)
 	$(CC) -o $@ $(CFLAGS) $(OBJECTS) $(USB_OBJECTS) \
 		$(LDFLAGS) -Xlinker \

README.md

@@ -26,6 +26,8 @@ With OpenOCD running, arm-none-eabi-gdb can be used to load code and debug.
 ## Contributors
 
 - [Ethan Zonca](https://github.com/normaldotcom) - Makefile fixes and code size optimization
+- [onejope](https://github.com/onejope) - Fixes to extended ID handling
+- Phil Wise - Added dfu-util compatibility to Makefile
 
 ## License
 

Src/can.c

@@ -3,6 +3,7 @@
 
 CAN_HandleTypeDef hcan;
 CAN_FilterConfTypeDef filter;
+uint32_t prescaler;
 enum can_bus_state bus_state;
 
 void can_init(void) {
@@ -19,8 +20,16 @@ void can_init(void) {
     filter.BankNumber = 0;
     filter.FilterActivation = ENABLE;
 
+    // default to 125 kbit/s
+    prescaler = 48;
     hcan.Instance = CAN;
-    hcan.Init.Prescaler = 48;
+    bus_state = OFF_BUS;
+}
+
+void can_enable(void) {
+    uint32_t status;
+    if (bus_state == OFF_BUS) {
+	hcan.Init.Prescaler = prescaler;
 	hcan.Init.Mode = CAN_MODE_NORMAL;
 	hcan.Init.SJW = CAN_SJW_1TQ;
 	hcan.Init.BS1 = CAN_BS1_4TQ;
@@ -31,15 +40,6 @@ void can_init(void) {
 	hcan.Init.NART = DISABLE;
 	hcan.Init.RFLM = DISABLE;
 	hcan.Init.TXFP = DISABLE;
-
-    bus_state = OFF_BUS;
-    //status = HAL_CAN_Init(&hcan);
-}
-
-void can_enable(void) {
-    uint32_t status;
-    if (bus_state == OFF_BUS) {
-	hcan.Init.Mode = CAN_MODE_NORMAL;
         hcan.pTxMsg = NULL;
         status = HAL_CAN_Init(&hcan);
         status = HAL_CAN_ConfigFilter(&hcan, &filter);
@@ -64,15 +64,45 @@ void can_set_bitrate(enum can_bitrate bitrate) {
     }
 
     switch (bitrate) {
-	case CAN_BITRATE_500K:
+    case CAN_BITRATE_10K:
-	    hcan.Init.Prescaler = 12;
+	prescaler = 600;
         break;
-	case CAN_BITRATE_250K:
+    case CAN_BITRATE_20K:
-	    hcan.Init.Prescaler = 24;
+	prescaler = 300;
+        break;
+    case CAN_BITRATE_50K:
+	prescaler = 120;
+        break;
+    case CAN_BITRATE_100K:
+        prescaler = 60;
         break;
     case CAN_BITRATE_125K:
-	    hcan.Init.Prescaler = 48;
+        prescaler = 48;
         break;
+    case CAN_BITRATE_250K:
+        prescaler = 24;
+        break;
+    case CAN_BITRATE_500K:
+        prescaler = 12;
+        break;
+    case CAN_BITRATE_750K:
+        prescaler = 8;
+        break;
+    case CAN_BITRATE_1000K:
+        prescaler = 6;
+        break;
+    }
+}
+
+void can_set_silent(uint8_t silent) {
+    if (bus_state == ON_BUS) {
+        // cannot set silent mode while on bus
+        return;
+    }
+    if (silent) {
+        hcan.Init.Mode = CAN_MODE_SILENT;
+    } else {
+        hcan.Init.Mode = CAN_MODE_NORMAL;
     }
 }
 

Src/slcan.c

@@ -80,33 +80,67 @@ int8_t slcan_parse_str(char *buf, uint8_t len) {
         // open channel command
         can_enable();
         return 0;
+
     } else if (buf[0] == 'C') {
         // close channel command
         can_disable();
         return 0;
+
     } else if (buf[0] == 'S') {
         // set bitrate command
         switch(buf[1]) {
         case 0:
-                can_set_bitrate(CAN_BITRATE_125K);
+            can_set_bitrate(CAN_BITRATE_10K);
             break;
         case 1:
-                can_set_bitrate(CAN_BITRATE_250K);
+            can_set_bitrate(CAN_BITRATE_20K);
             break;
         case 2:
+            can_set_bitrate(CAN_BITRATE_50K);
+            break;
+        case 3:
+            can_set_bitrate(CAN_BITRATE_100K);
+            break;
+        case 4:
+            can_set_bitrate(CAN_BITRATE_125K);
+            break;
+        case 5:
+            can_set_bitrate(CAN_BITRATE_250K);
+            break;
+        case 6:
             can_set_bitrate(CAN_BITRATE_500K);
             break;
+        case 7:
+            can_set_bitrate(CAN_BITRATE_750K);
+            break;
+        case 8:
+            can_set_bitrate(CAN_BITRATE_1000K);
+            break;
         default:
             // invalid setting
             return -1;
         }
         return 0;
+
+    } else if (buf[0] == 'm' || buf[0] == 'M') {
+        // set mode command
+        if (buf[1] == 1) {
+            // mode 1: silent
+            can_set_silent(1);
+        } else {
+            // default to normal mode
+            can_set_silent(0);
+        }
+        return 0;
+
     } else if (buf[0] == 't' || buf[0] == 'T') {
         // transmit data frame command
         frame.RTR = CAN_RTR_DATA;
+
     } else if (buf[0] == 'r' || buf[0] == 'R') {
-        frame.RTR = CAN_RTR_REMOTE;
         // transmit remote frame command
+        frame.RTR = CAN_RTR_REMOTE;
+
     } else {
         // error, unknown command
         return -1;
@@ -121,14 +155,25 @@ int8_t slcan_parse_str(char *buf, uint8_t len) {
         return -1;
     }
 
-    uint8_t id_len = frame.IDE == CAN_ID_EXT ? SLCAN_EXT_ID_LEN : SLCAN_STD_ID_LEN;
     frame.StdId = 0;
+    frame.ExtId = 0;
+    if (frame.IDE == CAN_ID_EXT) {
+        uint8_t id_len = SLCAN_EXT_ID_LEN;
         i = 1;
         while (i <= id_len) {
-        frame.StdId += buf[i++];
+            frame.ExtId *= 16;
-        frame.StdId *= 16;
+            frame.ExtId += buf[i++];
         }
-    frame.StdId /= 16;
+    }
+    else {
+        uint8_t id_len = SLCAN_STD_ID_LEN;
+        i = 1;
+        while (i <= id_len) {
+            frame.StdId *= 16;
+            frame.StdId += buf[i++];
+        }
+    }
+
 
     frame.DLC = buf[i++];
     if (frame.DLC < 0 || frame.DLC > 8) {

Src/stm32f0xx_hal_msp.c

@@ -81,12 +81,6 @@ void HAL_CAN_MspInit(CAN_HandleTypeDef* hcan)
     HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
 
   /* USER CODE BEGIN CAN_MspInit 1 */
-    GPIO_InitStruct.Pin = GPIO_PIN_0 | GPIO_PIN_1;
-    GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
-    GPIO_InitStruct.Pull = GPIO_PULLUP;
-    GPIO_InitStruct.Speed = GPIO_SPEED_MEDIUM;
-    GPIO_InitStruct.Alternate = 0;
-    HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
 
   /* USER CODE END CAN_MspInit 1 */
   }

windows-driver/cantact.inf

@@ -0,0 +1,64 @@
+; Windows CANtact CDC ACM Setup File
+; Copyright (c) 2000 Microsoft Corporation
+
+[DefaultInstall]
+CopyINF="cantact.inf"
+
+[Version]
+Signature="$Windows NT$"
+Class=Ports
+ClassGuid={4D36E978-E325-11CE-BFC1-08002BE10318}
+Provider=%MFGNAME%
+DriverVer=7/1/2012,10.0.0.0
+
+[Manufacturer]
+%MFGNAME%=DeviceList, NTx86, NTamd64, NTia64
+
+[SourceDisksNames]
+
+[SourceDisksFiles]
+
+[DestinationDirs]
+DefaultDestDir=12
+
+[DriverInstall]
+Include=mdmcpq.inf
+CopyFiles=FakeModemCopyFileSection
+AddReg=DriverInstall.AddReg
+
+[DriverInstall.Services]
+Include=mdmcpq.inf
+AddService=usbser, 0x00000002, LowerFilter_Service_Inst
+
+[DriverInstall.AddReg]
+HKR,,EnumPropPages32,,"msports.dll,SerialPortPropPageProvider"
+
+;------------------------------------------------------------------------------
+;  Vendor and Product ID Definitions
+;------------------------------------------------------------------------------
+; When developing your USB device, the VID and PID used in the PC side
+; application program and the firmware on the microcontroller must match.
+; Modify the below line to use your VID and PID.  Use the format as shown below.
+; Note: One INF file can be used for multiple devices with different VID and PIDs.
+; For each supported device, append ",USB\VID_xxxx&PID_yyyy" to the end of the line.
+;------------------------------------------------------------------------------
+[DeviceList]
+%DESCRIPTION%=DriverInstall, USB\VID_AD50&PID_60C4
+
+[DeviceList.NTx86]
+%DESCRIPTION%=DriverInstall, USB\VID_AD50&PID_60C4
+
+[DeviceList.NTamd64]
+%DESCRIPTION%=DriverInstall, USB\VID_AD50&PID_60C4
+
+[DeviceList.NTia64]
+%DESCRIPTION%=DriverInstall, USB\VID_AD50&PID_60C4
+
+;------------------------------------------------------------------------------
+;  String Definitions
+;------------------------------------------------------------------------------
+;Modify these strings to customize your device
+;------------------------------------------------------------------------------
+[Strings]
+MFGNAME="http://www.cantact.io"
+DESCRIPTION="CANtact USB/CAN Device"