Merge pull request #10468 from petroborys/master

Add support for CAN to SiLabs targets

Author: adbridge

targets/TARGET_Silicon_Labs/TARGET_EFM32/PeripheralNames.h

@@ -136,6 +136,17 @@ typedef enum {
 } UARTName;
 #endif
 
+#if DEVICE_CAN
+typedef enum {
+#ifdef CAN0_BASE
+    CAN_0 = (int)CAN0_BASE,
+#endif
+#ifdef CAN1_BASE
+    CAN_1 = (int)CAN1_BASE,
+#endif
+} CANName;
+#endif
+
 #if DEVICE_QSPI
 typedef enum {
 #ifdef QSPI0_BASE

targets/TARGET_Silicon_Labs/TARGET_EFM32/can_api.c

@@ -0,0 +1,331 @@
+/* mbed Microcontroller Library
+ * Copyright (c) 2019 ToolSense
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+#include "can_api.h"
+#include "clocking.h"
+
+
+#if DEVICE_CAN
+
+#include "cmsis.h"
+#include "pinmap.h"
+#include "pinmap_function.h"
+#include "PeripheralPins.h"
+#include "mbed_assert.h"
+#include "em_cmu.h"
+#include "em_can.h"
+
+static uint32_t can_irq_ids[CAN_COUNT] = {0};
+static can_irq_handler irq_handler;
+
+// CAN bus interfaces
+#define CAN_TX_IF                 0
+#define CAN_RX_IF                 1
+
+void can_init(can_t *obj, PinName rd, PinName td)
+{
+    can_init_freq(obj, rd, td, 100000);
+}
+
+void can_init_freq(can_t *obj, PinName rd, PinName td, int hz)
+{
+    CANName can_rd = (CANName)pinmap_peripheral(rd, PinMap_CAN_RX);
+    CANName can_td = (CANName)pinmap_peripheral(td, PinMap_CAN_TX);
+    obj->instance = (CAN_TypeDef *)pinmap_merge(can_rd, can_td);
+
+    CMU_Clock_TypeDef cmuClock_number;
+    switch ((CANName)obj->instance) {
+#ifdef CAN0
+        case CAN_0:
+        	cmuClock_number = cmuClock_CAN0;
+            break;
+#endif
+#ifdef CAN1
+        case CAN_1:
+        	cmuClock_number = cmuClock_CAN1;
+            break;
+#endif
+    }
+
+    MBED_ASSERT((unsigned int)rd != NC);
+    MBED_ASSERT((unsigned int)td != NC);
+
+
+    // Configure CAN pins
+    pinmap_pinout(rd, PinMap_CAN_RX);
+    pinmap_pinout(td, PinMap_CAN_TX);
+
+
+    CMU_ClockEnable(cmuClock_number, true);
+
+	CAN_Init_TypeDef CanInit = CAN_INIT_DEFAULT;
+	CanInit.bitrate=hz;
+	CAN_Init(obj->instance, &CanInit);
+	CAN_SetMode(obj->instance, canModeNormal);
+
+    uint32_t loc_rd = pin_location(rd, PinMap_CAN_RX);
+    uint32_t loc_td = pin_location(td, PinMap_CAN_TX);
+
+    CAN_SetRoute(obj->instance, true, loc_rd, loc_td);
+
+
+    // Add pull-ups
+    if (rd != NC) {
+        pin_mode(rd, gpioModeInput);
+    }
+    if (td != NC) {
+        pin_mode(td, gpioModePushPull);
+    }
+
+    CAN_ConfigureMessageObject(obj->instance, CAN_TX_IF, 1, true, true, false, true, true);
+
+    CAN_ConfigureMessageObject(obj->instance, CAN_RX_IF, 2, true, false, false, true, true);
+
+	CAN_MessageObject_TypeDef receiver;
+
+	receiver.msgNum = 2;
+	receiver.id = 0;
+	receiver.mask = 0;
+	receiver.extended = false;
+	receiver.extendedMask = false;
+
+	CAN_SetIdAndFilter(obj->instance, CAN_RX_IF, true, &receiver, true);
+}
+
+void can_irq_init(can_t *obj, can_irq_handler handler, uint32_t id)
+{
+	int index = 0;
+
+    switch ((CANName)obj->instance) {
+#ifdef CAN0
+        case CAN_0:
+        	index = 0;
+            break;
+#endif
+#ifdef CAN1
+        case CAN_1:
+        	index = 1;
+            break;
+#endif
+    }
+
+	irq_handler = handler;
+    can_irq_ids[index] = id;
+}
+
+void can_irq_free(can_t *obj)
+{
+   	CAN_MessageIntDisable(obj->instance, _CAN_IF0IEN_MESSAGE_MASK);
+	CAN_MessageIntClear(obj->instance, 0xFFFFFFFF);
+
+    switch ((CANName)obj->instance) {
+#ifdef CAN0
+        case CAN_0:
+        	NVIC_DisableIRQ(CAN0_IRQn);
+            break;
+#endif
+#ifdef CAN1
+        case CAN_1:
+        	NVIC_DisableIRQ(CAN1_IRQn);
+            break;
+#endif
+    }
+}
+
+void can_free(can_t *obj)
+{
+	CAN_Enable(obj->instance, false);
+}
+
+int can_frequency(can_t *obj, int f)
+{
+    CAN_Init_TypeDef CanInit = CAN_INIT_DEFAULT;
+    CanInit.bitrate=f;
+
+    CAN_SetBitTiming(obj->instance,
+                   CanInit.bitrate,
+                   CanInit.propagationTimeSegment,
+                   CanInit.phaseBufferSegment1,
+                   CanInit.phaseBufferSegment2,
+                   CanInit.synchronisationJumpWidth);
+    return 0;
+}
+
+int can_write(can_t *obj, CAN_Message msg, int cc)
+{
+    CAN_MessageObject_TypeDef message;
+
+    message.id = msg.id;
+    message.msgNum = 1;
+
+    if (msg.format == 0) message.extended = false;
+    else message.extended = true;
+
+    message.dlc = msg.len;
+
+    for (int i = 0; i < message.dlc; ++i) {
+        message.data[i] = (uint32_t)msg.data[i];
+    }
+
+    CAN_SendMessage(obj->instance, CAN_TX_IF, &message, true);
+
+    return 1;
+}
+
+int can_read(can_t *obj, CAN_Message *msg, int handle)
+{
+	CAN_MessageObject_TypeDef receiver;
+
+	if (CAN_HasNewdata(obj->instance)) {
+
+		receiver.msgNum = 2;
+		receiver.extended = false;
+		receiver.extendedMask = false;
+
+		CAN_ReadMessage(obj->instance, CAN_RX_IF, &receiver);
+
+		msg->id = receiver.id;
+		msg->len = receiver.dlc;
+
+		for (int i = 0; i < receiver.dlc; ++i) {
+			msg->data[i] = (unsigned char)receiver.data[i];
+		}
+
+	    return 1;
+	}
+
+	return 0;
+}
+
+void can_reset(can_t *obj)
+{
+    CAN_Reset(obj->instance);
+}
+
+unsigned char can_rderror(can_t *obj)
+{
+	return ((obj->instance->ERRCNT>>_CAN_ERRCNT_REC_SHIFT)&0xFF);
+}
+
+unsigned char can_tderror(can_t *obj)
+{
+	return ((obj->instance->ERRCNT)&0xFF);
+}
+
+void can_monitor(can_t *obj, int silent)
+{
+	CanMode mode = MODE_NORMAL;
+
+    if (silent) {
+    	mode = MODE_SILENT;
+    }
+
+    CAN_SetMode(obj->instance, mode);
+}
+
+int can_mode(can_t *obj, CanMode mode)
+{
+	CAN_SetMode(obj->instance, mode);
+	return 1;
+}
+
+int can_filter(can_t *obj, uint32_t id, uint32_t mask, CANFormat format, int32_t handle)
+{
+	CAN_MessageObject_TypeDef message;
+
+	message.msgNum = 2;
+	message.id = id;
+	message.mask = mask;
+
+	if (format == CANStandard) {
+	  message.extended = false;
+	  message.extendedMask = false;
+	} else {
+	  message.extended = true;
+	  message.extendedMask = true;
+	}
+
+	CAN_SetIdAndFilter(obj->instance, CAN_RX_IF, true, &message, true);
+
+	return handle;
+}
+
+void can_irq_set(can_t *obj, CanIrqType type, uint32_t enable)
+{
+	uint32_t ier = _CAN_IF0IEN_MESSAGE_MASK;
+
+    if (enable) {
+    	CAN_MessageIntEnable(obj->instance, ier);
+    } else {
+    	CAN_MessageIntDisable(obj->instance, ier);
+    }
+
+	switch ((CANName)obj->instance) {
+#ifdef CAN0
+        case CAN_0:
+        	NVIC_SetVector(CAN0_IRQn, (uint32_t)CAN0_IRQHandler);
+        	NVIC_EnableIRQ(CAN0_IRQn);
+            break;
+#endif
+#ifdef CAN1
+        case CAN_1:
+        	NVIC_SetVector(CAN1_IRQn, (uint32_t)CAN1_IRQHandler);
+        	NVIC_EnableIRQ(CAN1_IRQn);
+            break;
+#endif
+    }
+}
+
+static void can_irq(CANName name, int id)
+{
+	CAN_TypeDef *can;
+	can = (CAN_TypeDef *)name;
+
+	if (can->STATUS & CAN_STATUS_RXOK) {
+		irq_handler(can_irq_ids[id], IRQ_RX);
+	    CAN_MessageIntClear(can, 0xFFFFFFFF);
+	}
+
+	if (can->STATUS & CAN_STATUS_TXOK) {
+		irq_handler(can_irq_ids[id], IRQ_TX);
+	    CAN_MessageIntClear(can, 0xFFFFFFFF);
+	}
+}
+
+#ifdef CAN0
+void CAN0_IRQHandler(void)
+{
+	can_irq(CAN_0, 0);
+}
+#endif
+
+#ifdef CAN1
+void CAN1_IRQHandler(void)
+{
+	can_irq(CAN_1, 1);
+}
+#endif
+
+const PinMap *can_rd_pinmap()
+{
+    return PinMap_CAN_TX;
+}
+
+const PinMap *can_td_pinmap()
+{
+    return PinMap_CAN_RX;
+}
+
+#endif //DEVICE_CAN