diff options
Diffstat (limited to 'src/stm32f0/can.c')
| -rw-r--r-- | src/stm32f0/can.c | 217 |
1 files changed, 217 insertions, 0 deletions
diff --git a/src/stm32f0/can.c b/src/stm32f0/can.c new file mode 100644 index 00000000..6ce9aad4 --- /dev/null +++ b/src/stm32f0/can.c @@ -0,0 +1,217 @@ +/* + * 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); + } +} |