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94 lines
2.7 KiB
94 lines
2.7 KiB
// this is needed for 1 mbps support
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#define CAN_QUANTA 8U
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#define CAN_SEQ1 6 // roundf(quanta * 0.875f) - 1;
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#define CAN_SEQ2 1 // roundf(quanta * 0.125f);
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#define CAN_PCLK 24000U
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// 333 = 33.3 kbps
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// 5000 = 500 kbps
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#define can_speed_to_prescaler(x) (CAN_PCLK / CAN_QUANTA * 10U / (x))
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#define GET_BUS(msg) (((msg)->RDTR >> 4) & 0xFF)
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#define GET_LEN(msg) ((msg)->RDTR & 0xF)
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#define GET_ADDR(msg) ((((msg)->RIR & 4) != 0) ? ((msg)->RIR >> 3) : ((msg)->RIR >> 21))
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#define GET_BYTE(msg, b) (((int)(b) > 3) ? (((msg)->RDHR >> (8U * ((unsigned int)(b) % 4U))) & 0XFFU) : (((msg)->RDLR >> (8U * (unsigned int)(b))) & 0xFFU))
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#define GET_BYTES_04(msg) ((msg)->RDLR)
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#define GET_BYTES_48(msg) ((msg)->RDHR)
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void puts(const char *a);
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bool llcan_set_speed(CAN_TypeDef *CAN_obj, uint32_t speed, bool loopback, bool silent) {
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// initialization mode
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CAN_obj->MCR = CAN_MCR_TTCM | CAN_MCR_INRQ;
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while((CAN_obj->MSR & CAN_MSR_INAK) != CAN_MSR_INAK);
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// set time quanta from defines
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CAN_obj->BTR = (CAN_BTR_TS1_0 * (CAN_SEQ1-1)) |
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(CAN_BTR_TS2_0 * (CAN_SEQ2-1)) |
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(can_speed_to_prescaler(speed) - 1U);
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// silent loopback mode for debugging
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if (loopback) {
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CAN_obj->BTR |= CAN_BTR_SILM | CAN_BTR_LBKM;
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}
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if (silent) {
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CAN_obj->BTR |= CAN_BTR_SILM;
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}
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// reset
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// cppcheck-suppress redundantAssignment ; it's a register
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CAN_obj->MCR = CAN_MCR_TTCM | CAN_MCR_ABOM;
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#define CAN_TIMEOUT 1000000
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int tmp = 0;
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bool ret = false;
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while(((CAN_obj->MSR & CAN_MSR_INAK) == CAN_MSR_INAK) && (tmp < CAN_TIMEOUT)) tmp++;
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if (tmp < CAN_TIMEOUT) {
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ret = true;
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}
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return ret;
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}
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void llcan_init(CAN_TypeDef *CAN_obj) {
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// accept all filter
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CAN_obj->FMR |= CAN_FMR_FINIT;
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// no mask
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CAN_obj->sFilterRegister[0].FR1 = 0;
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CAN_obj->sFilterRegister[0].FR2 = 0;
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CAN_obj->sFilterRegister[14].FR1 = 0;
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CAN_obj->sFilterRegister[14].FR2 = 0;
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CAN_obj->FA1R |= 1U | (1U << 14);
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CAN_obj->FMR &= ~(CAN_FMR_FINIT);
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// enable certain CAN interrupts
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CAN_obj->IER |= CAN_IER_TMEIE | CAN_IER_FMPIE0 | CAN_IER_WKUIE;
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if (CAN_obj == CAN1) {
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NVIC_EnableIRQ(CAN1_TX_IRQn);
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NVIC_EnableIRQ(CAN1_RX0_IRQn);
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NVIC_EnableIRQ(CAN1_SCE_IRQn);
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} else if (CAN_obj == CAN2) {
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NVIC_EnableIRQ(CAN2_TX_IRQn);
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NVIC_EnableIRQ(CAN2_RX0_IRQn);
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NVIC_EnableIRQ(CAN2_SCE_IRQn);
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#ifdef CAN3
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} else if (CAN_obj == CAN3) {
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NVIC_EnableIRQ(CAN3_TX_IRQn);
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NVIC_EnableIRQ(CAN3_RX0_IRQn);
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NVIC_EnableIRQ(CAN3_SCE_IRQn);
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#endif
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} else {
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puts("Invalid CAN: initialization failed\n");
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}
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}
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void llcan_clear_send(CAN_TypeDef *CAN_obj) {
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CAN_obj->TSR |= CAN_TSR_ABRQ0;
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CAN_obj->MSR &= ~(CAN_MSR_ERRI);
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// cppcheck-suppress selfAssignment ; needed to clear the register
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CAN_obj->MSR = CAN_obj->MSR;
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}
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