diff options
Diffstat (limited to 'src/stm32f0/can.c')
| -rw-r--r-- | src/stm32f0/can.c | 217 |
1 files changed, 0 insertions, 217 deletions
diff --git a/src/stm32f0/can.c b/src/stm32f0/can.c deleted file mode 100644 index 6ce9aad4..00000000 --- a/src/stm32f0/can.c +++ /dev/null @@ -1,217 +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 "stm32f0xx_hal.h" -#include <string.h> -#include "can.h" -#include "command.h" // encoder -#include "board/serial_irq.h" // serial_enable_tx_irq -#include "sched.h" // DECL_INIT -#include "log.h" - -CAN_HandleTypeDef hcan; -CanTxMsgTypeDef TxMessage; -CanRxMsgTypeDef RxMessage; -static uint16_t MyCanId = 0; - - -void CanTransmit(uint32_t id, uint32_t dlc, uint8_t *pkt) -{ - memcpy(hcan.pTxMsg->Data, pkt, dlc); - hcan.pTxMsg->StdId = id; - hcan.pTxMsg->DLC = dlc; - HAL_CAN_Transmit_IT(&hcan); -} - -// Convert Unique 96-bit value into 48 bit representation -static void PackUuid(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 CanUUIDResp(void) -{ - uint8_t short_uuid[SHORT_UUID_LEN]; - PackUuid(short_uuid); - CanTransmit(PKT_ID_UUID_RESP, SHORT_UUID_LEN, short_uuid); -} - -void CanInit(void) -{ - // Master reset - //SET_BIT(CAN->MCR, CAN_MCR_RESET); - - hcan.Instance = CAN; - hcan.Init.Prescaler = 12; - hcan.Init.Mode = CAN_MODE_NORMAL; - hcan.Init.SJW = CAN_SJW_1TQ; - hcan.Init.BS1 = CAN_BS1_5TQ; - hcan.Init.BS2 = CAN_BS2_2TQ; - hcan.Init.TTCM = DISABLE; - hcan.Init.ABOM = DISABLE; - hcan.Init.AWUM = DISABLE; - hcan.Init.NART = ENABLE; - hcan.Init.RFLM = DISABLE; - hcan.Init.TXFP = DISABLE; - HAL_CAN_Init(&hcan); - hcan.pTxMsg = &TxMessage; - hcan.pRxMsg = &RxMessage; - - /*##-2- Configure the CAN Filter #######################################*/ - CAN_FilterConfTypeDef sFilterConfig; - sFilterConfig.FilterNumber = 0; - sFilterConfig.FilterMode = CAN_FILTERMODE_IDLIST; - sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT; - sFilterConfig.FilterIdHigh = PKT_ID_UUID<<5; - sFilterConfig.FilterIdLow = 0x0000; - sFilterConfig.FilterMaskIdHigh = PKT_ID_SET<<5; - sFilterConfig.FilterMaskIdLow = 0x0000; - sFilterConfig.FilterFIFOAssignment = CAN_FIFO0; - sFilterConfig.FilterActivation = ENABLE; - HAL_CAN_ConfigFilter(&hcan, &sFilterConfig); - - /*##-3- Configure Transmission process #################################*/ - hcan.pTxMsg->ExtId = 0; - HAL_CAN_Receive_IT(&hcan, CAN_FIFO0); - - /* Request for port */ - CanUUIDResp(); -} -DECL_INIT(CanInit); - -void HAL_CAN_RxCpltCallback(CAN_HandleTypeDef* h) { - int i; - - if(!MyCanId) { // If serial not assigned yet - if(h->pRxMsg->StdId == PKT_ID_UUID && h->pRxMsg->DLC == 0) { - // Just inform host about my UUID - CanUUIDResp(); - } else if (h->pRxMsg->StdId == PKT_ID_SET) { - // compare my UUID with packet to check if this packet mine - uint8_t short_uuid[SHORT_UUID_LEN]; - PackUuid(short_uuid); - if (memcmp(&(h->pRxMsg->Data[2]), short_uuid, - SHORT_UUID_LEN) == 0) { - memcpy(&MyCanId, h->pRxMsg->Data, sizeof(uint16_t)); - CAN_FilterConfTypeDef sFilterConfig; - sFilterConfig.FilterNumber = 0; - sFilterConfig.FilterMode = CAN_FILTERMODE_IDLIST; - sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT; - // Personal ID - sFilterConfig.FilterIdHigh = MyCanId<<5; - sFilterConfig.FilterIdLow = 0x0000; - // Catch reset command - sFilterConfig.FilterMaskIdHigh = PKT_ID_UUID<<5; - sFilterConfig.FilterMaskIdLow = 0x0000; - sFilterConfig.FilterFIFOAssignment = CAN_FIFO0; - sFilterConfig.FilterActivation = ENABLE; - // Disable 'set address' filter and enable only my packets - HAL_CAN_ConfigFilter(&hcan, &sFilterConfig); - } - } - } else { - if(h->pRxMsg->StdId == MyCanId) { - if(h->pRxMsg->DLC == 0) { - // empty packet == ping request - hcan.pTxMsg->StdId = MyCanId+1; - hcan.pTxMsg->DLC = 0; - HAL_CAN_Transmit_IT(&hcan); - } else { - for(i=0; i < h->pRxMsg->DLC; i++ ) { - serial_rx_byte(h->pRxMsg->Data[i]); - } - } - } else if (h->pRxMsg->StdId == PKT_ID_UUID && h->pRxMsg->DLC > 0) { - if (memcmp(&(h->pRxMsg->Data), &MyCanId, 2) == 0) { - // Reset from host - NVIC_SystemReset(); - } - } - } - HAL_CAN_Receive_IT(&hcan, CAN_FIFO0); -} - -void HAL_CAN_ErrorCallback(CAN_HandleTypeDef *h) -{ - // Overrun handling - drop damaged packet - HAL_CAN_Receive_IT(&hcan, CAN_FIFO0); -} - -/** - * @brief This function handles HDMI-CEC and CAN global interrupts / - * HDMI-CEC wake-up interrupt through EXTI line 27. - */ -void CEC_CAN_IRQHandler(void) -{ - HAL_CAN_IRQHandler(&hcan); -} - -void -serial_enable_tx_irq(void) -{ - if(MyCanId == 0) - // Serial port not initialized - return; - - int i=0; - for (;i<8;) - { - if(serial_get_tx_byte(&(hcan.pTxMsg->Data[i])) == -1) { - break; - } - i++; - } - if (i>0) { - hcan.pTxMsg->StdId = MyCanId+1; - hcan.pTxMsg->DLC = i; - HAL_CAN_Transmit_IT(&hcan); - } -} - -void HAL_CAN_TxCpltCallback(CAN_HandleTypeDef* hcan) -{ - // if we still have some data to transmit - serial_enable_tx_irq(); -} - -/* - * @brief CAN MSP Initialization - * @param h: CAN handle pointer - * @retval None - */ -void HAL_CAN_MspInit(CAN_HandleTypeDef* h) -{ - - __HAL_REMAP_PIN_ENABLE(HAL_REMAP_PA11_PA12); - - GPIO_InitTypeDef GPIO_InitStruct = {0}; - if(h->Instance==CAN) - { - /* Peripheral clock enable */ - __HAL_RCC_CAN1_CLK_ENABLE(); - - __HAL_RCC_GPIOA_CLK_ENABLE(); - /**CAN GPIO Configuration - PA11 ------> CAN_RX - PA12 ------> CAN_TX - */ - GPIO_InitStruct.Pin = GPIO_PIN_11|GPIO_PIN_12; - GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH; - GPIO_InitStruct.Alternate = GPIO_AF4_CAN; - HAL_GPIO_Init(GPIOA, &GPIO_InitStruct); - - /* CAN interrupt Init */ - HAL_NVIC_SetPriority(CEC_CAN_IRQn, 0, 0); - HAL_NVIC_EnableIRQ(CEC_CAN_IRQn); - } -} |