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Merged
merged 2 commits into from
Nov 1, 2016
Merged

Update of can_api.c fixing #2987 #2988

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bc589db
Update of can_api.c fixing #2987
martinjaeger Oct 11, 2016
eb95c14
Fixing some typos
martinjaeger Oct 30, 2016
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78 changes: 44 additions & 34 deletions targets/TARGET_STM/TARGET_STM32F0/can_api.c
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Original file line number Diff line number Diff line change
Expand Up @@ -36,7 +36,7 @@ void can_init(can_t *obj, PinName rd, PinName td)
obj->can = (CANName)pinmap_merge(can_rd, can_td);
MBED_ASSERT((int)obj->can != NC);

if(obj->can == CAN_1) {
if (obj->can == CAN_1) {
__HAL_RCC_CAN1_CLK_ENABLE();
obj->index = 0;
}
Expand Down Expand Up @@ -173,11 +173,11 @@ int can_frequency(can_t *obj, int f)

if (btr > 0) {
can->MCR |= CAN_MCR_INRQ ;
while((can->MSR & CAN_MSR_INAK) != CAN_MSR_INAK) {
while ((can->MSR & CAN_MSR_INAK) != CAN_MSR_INAK) {
}
can->BTR = btr;
can->MCR &= ~(uint32_t)CAN_MCR_INRQ;
while((can->MSR & CAN_MSR_INAK) == CAN_MSR_INAK) {
while ((can->MSR & CAN_MSR_INAK) == CAN_MSR_INAK) {
}
return 1;
} else {
Expand All @@ -203,12 +203,9 @@ int can_write(can_t *obj, CAN_Message msg, int cc)

if (transmitmailbox != CAN_TXSTATUS_NOMAILBOX) {
can->sTxMailBox[transmitmailbox].TIR &= CAN_TI0R_TXRQ;
if (!(msg.format))
{
if (!(msg.format)) {
can->sTxMailBox[transmitmailbox].TIR |= ((msg.id << 21) | msg.type);
}
else
{
} else {
can->sTxMailBox[transmitmailbox].TIR |= ((msg.id << 3) | CAN_ID_EXT | msg.type);
}

Expand Down Expand Up @@ -262,7 +259,7 @@ int can_read(can_t *obj, CAN_Message *msg, int handle)
msg->data[7] = (uint8_t)0xFF & (can->sFIFOMailBox[handle].RDHR >> 24);

/* Release the FIFO */
if(handle == CAN_FIFO0) {
if (handle == CAN_FIFO0) {
/* Release FIFO0 */
can->RF0R = CAN_RF0R_RFOM0;
} else { /* FIFONumber == CAN_FIFO1 */
Expand Down Expand Up @@ -315,7 +312,7 @@ int can_mode(can_t *obj, CanMode mode)
int success = 0;
CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
can->MCR |= CAN_MCR_INRQ ;
while((can->MSR & CAN_MSR_INAK) != CAN_MSR_INAK) {
while ((can->MSR & CAN_MSR_INAK) != CAN_MSR_INAK) {
}
switch (mode) {
case MODE_NORMAL:
Expand All @@ -342,38 +339,51 @@ int can_mode(can_t *obj, CanMode mode)
break;
}
can->MCR &= ~(uint32_t)CAN_MCR_INRQ;
while((can->MSR & CAN_MSR_INAK) == CAN_MSR_INAK) {
while ((can->MSR & CAN_MSR_INAK) == CAN_MSR_INAK) {
}
return success;
}

int can_filter(can_t *obj, uint32_t id, uint32_t mask, CANFormat format, int32_t handle)
{
CanHandle.Instance = (CAN_TypeDef *)(obj->can);
CAN_FilterConfTypeDef sFilterConfig;
int retval = 0;

sFilterConfig.FilterNumber = handle;
sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
sFilterConfig.FilterIdHigh = (uint8_t) (id >> 8);
sFilterConfig.FilterIdLow = (uint8_t) id;
sFilterConfig.FilterMaskIdHigh = (uint8_t) (mask >> 8);
sFilterConfig.FilterMaskIdLow = (uint8_t) mask;
sFilterConfig.FilterFIFOAssignment = 0;
sFilterConfig.FilterActivation = ENABLE;
sFilterConfig.BankNumber = 14;

HAL_CAN_ConfigFilter(&CanHandle, &sFilterConfig);

return 0;
// filter for CANAny format cannot be configured for STM32
if ((format == CANStandard) || (format == CANExtended)) {
CanHandle.Instance = (CAN_TypeDef *)(obj->can);
CAN_FilterConfTypeDef sFilterConfig;
sFilterConfig.FilterNumber = handle;
sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;

if (format == CANStandard) {
sFilterConfig.FilterIdHigh = id << 5;
sFilterConfig.FilterIdLow = 0x0;
sFilterConfig.FilterMaskIdHigh = mask << 5;
sFilterConfig.FilterMaskIdLow = 0x0; // allows both remote and data frames
} else if (format == CANExtended) {
sFilterConfig.FilterIdHigh = id >> 13; // EXTID[28:13]
sFilterConfig.FilterIdLow = (0x00FF & (id << 3)) | (1 << 2); // EXTID[12:0]
sFilterConfig.FilterMaskIdHigh = mask >> 13;
sFilterConfig.FilterMaskIdLow = (0x00FF & (mask << 3)) | (1 << 2);
}

sFilterConfig.FilterFIFOAssignment = 0;
sFilterConfig.FilterActivation = ENABLE;
sFilterConfig.BankNumber = 14 + handle;

HAL_CAN_ConfigFilter(&CanHandle, &sFilterConfig);
retval = handle;
}
return retval;
}

static void can_irq(CANName name, int id)
{
uint32_t tmp1 = 0, tmp2 = 0, tmp3 = 0;
CanHandle.Instance = (CAN_TypeDef *)name;

if(__HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_TME)) {
if (__HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_TME)) {
tmp1 = __HAL_CAN_TRANSMIT_STATUS(&CanHandle, CAN_TXMAILBOX_0);
tmp2 = __HAL_CAN_TRANSMIT_STATUS(&CanHandle, CAN_TXMAILBOX_1);
tmp3 = __HAL_CAN_TRANSMIT_STATUS(&CanHandle, CAN_TXMAILBOX_2);
Expand All @@ -386,27 +396,27 @@ static void can_irq(CANName name, int id)
tmp1 = __HAL_CAN_MSG_PENDING(&CanHandle, CAN_FIFO0);
tmp2 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_FMP0);

if((tmp1 != 0) && tmp2) {
if ((tmp1 != 0) && tmp2) {
irq_handler(can_irq_ids[id], IRQ_RX);
}

tmp1 = __HAL_CAN_GET_FLAG(&CanHandle, CAN_FLAG_EPV);
tmp2 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_EPV);
tmp3 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_ERR);

if(tmp1 && tmp2 && tmp3) {
if (tmp1 && tmp2 && tmp3) {
irq_handler(can_irq_ids[id], IRQ_PASSIVE);
}

tmp1 = __HAL_CAN_GET_FLAG(&CanHandle, CAN_FLAG_BOF);
tmp2 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_BOF);
tmp3 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_ERR);
if(tmp1 && tmp2 && tmp3) {
if (tmp1 && tmp2 && tmp3) {
irq_handler(can_irq_ids[id], IRQ_BUS);
}

tmp3 = __HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_ERR);
if(tmp1 && tmp2 && tmp3) {
if (tmp1 && tmp2 && tmp3) {
irq_handler(can_irq_ids[id], IRQ_ERROR);
}
}
Expand All @@ -424,7 +434,7 @@ void can_irq_set(can_t *obj, CanIrqType type, uint32_t enable)
uint32_t vector = 0;
uint32_t ier;

if(obj->can == CAN_1) {
if (obj->can == CAN_1) {
switch (type) {
case IRQ_RX:
ier = CAN_IT_FMP0;
Expand All @@ -447,7 +457,7 @@ void can_irq_set(can_t *obj, CanIrqType type, uint32_t enable)
vector = (uint32_t)&CAN_IRQHandler;
}

if(enable) {
if (enable) {
can->IER |= ier;
} else {
can->IER &= ~ier;
Expand Down