diff options
Diffstat (limited to 'src/stm32/stm32f0_can.c')
| -rw-r--r-- | src/stm32/stm32f0_can.c | 267 |
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); - } - } -} |