stm32: Improved CAN support for STM32 (#2976)

Reworked the STM32F0 CAN bus implementation. It's more robust and higher performance.

Added support for function remapping to different pins.  API is emulating an STM32F0.

Improved and ported CAN bus to STM32F0, F1 and F4.

Signed-off-by: Pontus Borg <glpontus@gmail.com>

1 files changed, 0 insertions, 267 deletions

diff --git a/src/stm32/stm32f0_can.c b/src/stm32/stm32f0_can.c
deleted file mode 100644
index 2523ba5f..00000000
--- a/src/stm32/stm32f0_can.c
+++ /dev/null
@@ -1,267 +0,0 @@
-/*
- * Serial over CAN emulation for STM32F042 boards.
- *
- *  Copyright (C) 2019 Eug Krashtan <eug.krashtan@gmail.com>
- *  This file may be distributed under the terms of the GNU GPLv3 license.
- *
- */
-
-#include "autoconf.h" // CONFIG_SERIAL_BAUD
-#include "board/armcm_boot.h" // armcm_enable_irq
-#include "board/serial_irq.h" // serial_rx_byte
-#include "command.h" // DECL_CONSTANT_STR
-#include "internal.h" // enable_pclock
-#include "sched.h" // DECL_INIT
-#include <string.h>
-#include "stm32f0_can.h"
-
-DECL_CONSTANT_STR("RESERVE_PINS_CAN", "PA11,PA12");
-#define GPIO_Rx GPIO('A', 11)
-#define GPIO_Tx GPIO('A', 12)
-#define MCR_FLAGS (CAN_MCR_NART)
-#define BTR_FLAGS (CAN_BTR_TS1_2 | CAN_BTR_TS2_0 | /* prescaler */ 11U )
-#define CAN_FILTER_NUMBER 0
-#define CAN_DATA3_Pos 24
-#define CAN_DATA2_Pos 16
-#define CAN_DATA1_Pos 8
-#define CAN_DATA0_Pos 0
-
-static uint16_t MyCanId = 0;
-
-static void can_transmit(uint32_t id, uint32_t dlc, uint8_t *pkt)
-{
-    /* ToDo: implement serial_get_tx_byte() inside TXComplete interrupt */
-
-    /* Use only Mailbox 0 to avoid message fragmentation */
-    while( !(CAN->TSR & CAN_TSR_TME0) ) /* wait until previous TX completes */
-        ;
-
-    /* Set up the Id */
-    CAN->sTxMailBox[0].TIR &= CAN_TI1R_TXRQ;
-    CAN->sTxMailBox[0].TIR |= (id << CAN_TI1R_STID_Pos);
-
-    /* Set up the DLC */
-    CAN->sTxMailBox[0].TDTR &= 0xFFFFFFF0U;
-    CAN->sTxMailBox[0].TDTR |= (dlc & 0xFU);
-
-    /* Set up the data field */
-    if(pkt) {
-        CAN->sTxMailBox[0].TDLR = ((uint32_t)pkt[3] << CAN_DATA3_Pos) |
-                        ((uint32_t)pkt[2] << CAN_DATA2_Pos) |
-                        ((uint32_t)pkt[1] << CAN_DATA1_Pos) |
-                        ((uint32_t)pkt[0] << CAN_DATA0_Pos);
-        CAN->sTxMailBox[0].TDHR = ((uint32_t)pkt[7] << CAN_DATA3_Pos) |
-                        ((uint32_t)pkt[6] << CAN_DATA2_Pos) |
-                        ((uint32_t)pkt[5] << CAN_DATA1_Pos) |
-                        ((uint32_t)pkt[4] << CAN_DATA0_Pos);
-    }
-
-     /* Request transmission */
-    __sync_synchronize(); // disable write optimization
-    CAN->sTxMailBox[0].TIR |= CAN_TI1R_TXRQ;
-}
-
-// Convert Unique 96-bit value into 48 bit representation
-static void pack_uuid(uint8_t* u)
-{
-    for(int i=0; i<SHORT_UUID_LEN; i++) {
-        u[i] = *((uint8_t*)(STM32_UUID_ADDR+i)) ^
-                *((uint8_t*)(STM32_UUID_ADDR+i+SHORT_UUID_LEN));
-    }
-}
-
-static void can_uuid_resp(void)
-{
-    uint8_t short_uuid[SHORT_UUID_LEN];
-    pack_uuid(short_uuid);
-    can_transmit(PKT_ID_UUID_RESP, SHORT_UUID_LEN, short_uuid);
-}
-
-static void get_data(uint8_t* buf, uint8_t mbox)
-{
-    for(int i=0; i < 8; i++ ) {
-        if (i<4) {
-            buf[i] = (CAN->sFIFOMailBox[mbox].RDLR >> (i*8)) & 0xFF;
-        } else {
-            buf[i] = (CAN->sFIFOMailBox[mbox].RDHR >> ((i-4)*8))& 0xFF;
-        }
-    }
-}
-
-void CAN_RxCpltCallback(uint8_t mbox)
-{
-    uint32_t id = (CAN->sFIFOMailBox[mbox].RIR >> CAN_RI0R_STID_Pos) & 0x7FF;
-    uint8_t dlc = CAN->sFIFOMailBox[mbox].RDTR & CAN_RDT0R_DLC;
-    uint8_t databuf[8];
-
-    if(!MyCanId) { // If serial not assigned yet
-        if(id==PKT_ID_UUID && dlc == 0) {
-            // Just inform host about my UUID
-            can_uuid_resp();
-        } else if (id == PKT_ID_SET) {
-            uint8_t short_uuid[SHORT_UUID_LEN];
-            pack_uuid(short_uuid);
-
-            // compare my UUID with packet to check if this packet mine
-            get_data(databuf, mbox);
-            if (memcmp(&(databuf[2]), short_uuid, SHORT_UUID_LEN) == 0) {
-                memcpy(&MyCanId, databuf, sizeof(uint16_t));
-                /* Set new filter values */
-                uint32_t filternbrbitpos = (1U) << CAN_FILTER_NUMBER;
-                CAN->FA1R &= ~(filternbrbitpos);
-                /* Personal ID */
-                CAN->sFilterRegister[CAN_FILTER_NUMBER].FR1 =
-                        ((uint32_t)(MyCanId<<5) << 16U);
-                /* Catch reset command */
-                CAN->sFilterRegister[CAN_FILTER_NUMBER].FR2 =
-                        ((uint32_t)(PKT_ID_UUID<<5) << 16U);
-                /* Filter activation */
-                CAN->FA1R |= filternbrbitpos;
-                /* Leave the initialisation mode for the filter */
-                CAN->FMR &= ~(CAN_FMR_FINIT);
-            }
-        }
-    }  else {
-        if (id == MyCanId) {
-            // compare my UUID with packet to check if this packet mine
-            if(dlc == 0) {
-                // empty packet == ping request
-                can_transmit(MyCanId+1, 0, NULL);
-            } else {
-                get_data(databuf, mbox);
-                for(int i=0; i < dlc; i++ ) {
-                    serial_rx_byte(databuf[i]);
-                }
-            }
-        }
-        else if (id == PKT_ID_UUID && dlc > 0)
-        {
-            get_data(databuf, mbox);
-            if (memcmp(databuf, &MyCanId, 2) == 0)
-            {
-                // Reset from host
-                NVIC_SystemReset();
-            }
-        }
-    }
-}
-
-/**
-  * @brief This function handles HDMI-CEC and CAN global interrupts /
-  *  HDMI-CEC wake-up interrupt through EXTI line 27.
-  */
-void
-CEC_CAN_IRQHandler(void)
-{
-    if (CAN->RF0R & CAN_RF0R_FMP0) {
-        // Mailbox 0
-        while(CAN->RF0R & CAN_RF0R_FMP0) {
-            CAN_RxCpltCallback(0);
-            CAN->RF0R |= CAN_RF0R_RFOM0;
-        }
-    }
-    if (CAN->RF1R & CAN_RF1R_FMP1) {
-        // Mailbox 1
-        while(CAN->RF1R & CAN_RF1R_FMP1) {
-            CAN_RxCpltCallback(1);
-            CAN->RF1R |= CAN_RF1R_RFOM1;
-        }
-    }
-
-    /* Check Overrun flag for FIFO0 */
-    if(CAN->RF0R & CAN_RF0R_FOVR0)
-    {
-        /* Clear FIFO0 Overrun Flag */
-        CAN->RF0R |= CAN_RF0R_FOVR0;
-    }
-    /* Check Overrun flag for FIFO1 */
-    if(CAN->RF1R & CAN_RF1R_FOVR1)
-    {
-        /* Clear FIFO1 Overrun Flag */
-        CAN->RF1R |= CAN_RF1R_FOVR1;
-    }
-}
-
-void
-can_init(void)
-{
-    enable_pclock((uint32_t)CAN);
-    gpio_peripheral(GPIO_Rx, GPIO_FUNCTION(4), 1);
-    gpio_peripheral(GPIO_Tx, GPIO_FUNCTION(4), 0);
-
-    /*##-1- Configure the CAN #######################################*/
-
-    /* Exit from sleep mode */
-    CAN->MCR &= ~(CAN_MCR_SLEEP);
-    /* Request initialisation */
-    CAN->MCR |= CAN_MCR_INRQ;
-    /* Wait the acknowledge */
-    while( !(CAN->MSR & CAN_MSR_INAK) );
-
-    CAN->MCR |= MCR_FLAGS;
-    CAN->BTR = BTR_FLAGS;
-
-    /* Request leave initialisation */
-    CAN->MCR &= ~(CAN_MCR_INRQ);
-    /* Wait the acknowledge */
-    while( CAN->MSR & CAN_MSR_INAK );
-
-    /*##-2- Configure the CAN Filter #######################################*/
-    uint32_t filternbrbitpos = (1U) << CAN_FILTER_NUMBER;
-
-    /* Select the start slave bank */
-    CAN->FMR |= CAN_FMR_FINIT;
-    /* Initialisation mode for the filter */
-    CAN->FA1R &= ~(filternbrbitpos);
-
-    CAN->sFilterRegister[CAN_FILTER_NUMBER].FR1 =
-            ((uint32_t)(PKT_ID_UUID<<5) << 16U);
-    CAN->sFilterRegister[CAN_FILTER_NUMBER].FR2 =
-            ((uint32_t)(PKT_ID_SET<<5) << 16U);
-
-    /*Identifier list mode for the filter*/
-    CAN->FM1R |= filternbrbitpos;
-    /* 32-bit scale for the filter */
-    CAN->FS1R |= filternbrbitpos;
-
-    /* FIFO 0 assignation for the filter */
-    CAN->FFA1R &= ~(filternbrbitpos);
-
-    /* Filter activation */
-    CAN->FA1R |= filternbrbitpos;
-    /* Leave the initialisation mode for the filter */
-    CAN->FMR &= ~(CAN_FMR_FINIT);
-
-    /*##-3- Configure Transmission process #################################*/
-
-    CAN->IER |= (CAN_IER_FMPIE0 | CAN_IER_FMPIE1);
-    armcm_enable_irq(CEC_CAN_IRQHandler, CEC_CAN_IRQn, 0);
-
-    /*##-4- Say Hello #################################*/
-    can_uuid_resp();
-}
-DECL_INIT(can_init);
-
-void
-serial_enable_tx_irq(void)
-{
-    uint8_t databuf[8];
-    if(MyCanId == 0)
-        // Serial port not initialized
-        return;
-    uint8_t txdata =1;
-    while(txdata) {
-        int i=0;
-        for (;i<8;)
-        {
-            if(serial_get_tx_byte(&(databuf[i])) == -1) {
-                txdata = 0;
-                break;
-            }
-            i++;
-        }
-        if (i>0) {
-            can_transmit(MyCanId+1, i, databuf);
-        }
-    }
-}