test
This commit is contained in:
v0stap
281
Test2/Core/Src/can.c
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281
Test2/Core/Src/can.c
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/*
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* CAN.c
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*
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* Created on: Dec 04, 2018
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* Author: v0stap
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*/
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#include "main.h"
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#include "can.h"
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can_msg_typedef CAN_TX_Msg; // CAN message for transmit
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can_msg_typedef CAN_RX_Msg; // CAN received message
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uint8_t CAN_TX_Rdy = 0; // CAN hardware ready to transmit a message
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uint8_t CAN_RX_Rdy = 0; // CAN hardware message received
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uint32_t CAN_Speed = CAN_500KBS; // CAN Speed / CAN BTR register
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can_buffer_typedef CAN_TX_Buffer, CAN_RX_Buffer;
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uint8_t CAN_Filter_Idx = 0; // CAN filter index
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void CAN_Init(void) {
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CAN_TX_Buffer.todo = 0;
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CAN_TX_Buffer.corent = 0;
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CAN_TX_Buffer.done = 0;
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CAN_RX_Buffer.todo = 0;
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CAN_RX_Buffer.corent = 0;
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CAN_RX_Buffer.done = 0;
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CAN_Setup(CAN_1000KBS);
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CAN_Write_Filter(0x101, EXTD_FORMAT);
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CAN_Write_Filter(0x2D0, EXTD_FORMAT);
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CAN_Write_Filter(0x2D2, EXTD_FORMAT);
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//CAN_Write_Filter(0x630, STD_FORMAT);
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//CAN_Write_Filter(0x240, STD_FORMAT);
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CAN_Start();
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CAN_Wait_Ready();
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}
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/*----------------------------------------------------------------------------
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setup CAN interface
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*----------------------------------------------------------------------------*/
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void CAN_Setup(uint32_t speed) {
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RCC->AHBENR |= RCC_AHBENR_GPIOBEN;
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RCC->APB1ENR |= RCC_APB1ENR_CANEN;
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GPIOB->MODER &= ~((3 << (8 * 2)) | (3 << (9 * 2)));
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GPIOB->MODER |= ((2 << (8 * 2)) | (2 << (9 * 2)));
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GPIOB->OTYPER &= ~((1 << 8) | (1 << 9));
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GPIOB->OSPEEDR &= ~((3 << (8 * 2)) | (3 << (9 * 2)));
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GPIOB->PUPDR &= ~((3 << (8 * 2)) | (3 << (9 * 2)));
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GPIOB->AFR[1] &= ~((15 << (0 * 4)) | (15 << (1 * 4)));
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GPIOB->AFR[1] |= ((4 << 0) | (4 << (1 * 4)));
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CAN->MCR |= CAN_MCR_INRQ;
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while ((CAN->MSR & CAN_MSR_INAK) != CAN_MSR_INAK) {
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//some code
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}
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CAN->MCR &= ~ CAN_MCR_SLEEP;
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CAN->BTR &= ~(((0x03) << 24) | ((0x07) << 20) | ((0x0F) << 16) | (0x1FF));
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CAN->BTR |= speed;
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NVIC_EnableIRQ(CEC_CAN_IRQn);
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CAN->IER |= CAN_IER_FMPIE0;
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}
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/*----------------------------------------------------------------------------
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leave initialisation mode
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*----------------------------------------------------------------------------*/
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void CAN_Start(void) {
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CAN->MCR &= ~CAN_MCR_INRQ;
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while ((CAN->MSR & CAN_MSR_INAK) == CAN_MSR_INAK) {
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}
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}
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/*----------------------------------------------------------------------------
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check if transmit mailbox is empty
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*----------------------------------------------------------------------------*/
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void CAN_Wait_Ready(void) {
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while ((CAN->TSR & CAN_TSR_TME0) == 0) { // Transmit mailbox 0 is empty
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}
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CAN_TX_Rdy = 1;
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}
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// CAN send data
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void CAN_Send_Msg(can_msg_typedef *msg) {
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CAN_TX_Rdy = 0;
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CAN->sTxMailBox[0].TIR = (uint32_t) 0;
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if (msg->format == STD_FORMAT) {
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CAN->sTxMailBox[0].TIR |= (uint32_t) (msg->id << 21) | CAN_ID_STD;
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} else {
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CAN->sTxMailBox[0].TIR |= (uint32_t) (msg->id << 3) | CAN_ID_EXT;
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}
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if (msg->frame == DATA_FRAME) {
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CAN->sTxMailBox[0].TIR |= CAN_RTR_DATA;
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} else {
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CAN->sTxMailBox[0].TIR |= CAN_RTR_REMOTE;
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}
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CAN->sTxMailBox[0].TDLR = (((uint32_t) msg->data[3] << 24)
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| ((uint32_t) msg->data[2] << 16) | ((uint32_t) msg->data[1] << 8)
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| ((uint32_t) msg->data[0]));
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CAN->sTxMailBox[0].TDHR = (((uint32_t) msg->data[7] << 24)
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| ((uint32_t) msg->data[6] << 16) | ((uint32_t) msg->data[5] << 8)
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| ((uint32_t) msg->data[4]));
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CAN->sTxMailBox[0].TDTR &= ~CAN_TDT0R_DLC;
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CAN->sTxMailBox[0].TDTR |= (msg->lenght & CAN_TDT0R_DLC);
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CAN->IER |= CAN_IER_TMEIE;
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CAN->sTxMailBox[0].TIR |= CAN_TI0R_TXRQ;
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}
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// Read CAN message
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void CAN_Read_Msg(can_msg_typedef *msg) {
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if ((CAN->sFIFOMailBox[0].RIR & CAN_ID_EXT) == 0) {
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msg->format = STD_FORMAT;
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msg->id = (uint32_t) 0x000007FF & (CAN->sFIFOMailBox[0].RIR >> 21);
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} else {
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msg->format = EXTD_FORMAT;
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msg->id = (uint32_t) 0x0003FFFF & (CAN->sFIFOMailBox[0].RIR >> 3);
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}
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if ((CAN->sFIFOMailBox[0].RIR & CAN_RTR_REMOTE) == 0) {
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msg->frame = DATA_FRAME;
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} else {
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msg->frame = REMOTE_FRAME;
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}
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msg->lenght = (uint8_t) 0x0000000F & CAN->sFIFOMailBox[0].RDTR;
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msg->data[0] = (uint32_t) 0x000000FF & (CAN->sFIFOMailBox[0].RDLR);
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msg->data[1] = (uint32_t) 0x000000FF & (CAN->sFIFOMailBox[0].RDLR >> 8);
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msg->data[2] = (uint32_t) 0x000000FF & (CAN->sFIFOMailBox[0].RDLR >> 16);
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msg->data[3] = (uint32_t) 0x000000FF & (CAN->sFIFOMailBox[0].RDLR >> 24);
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msg->data[4] = (uint32_t) 0x000000FF & (CAN->sFIFOMailBox[0].RDHR);
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msg->data[5] = (uint32_t) 0x000000FF & (CAN->sFIFOMailBox[0].RDHR >> 8);
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msg->data[6] = (uint32_t) 0x000000FF & (CAN->sFIFOMailBox[0].RDHR >> 16);
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msg->data[7] = (uint32_t) 0x000000FF & (CAN->sFIFOMailBox[0].RDHR >> 24);
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CAN->RF0R |= CAN_RF0R_RFOM0;
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CAN_RX_Rdy = 0;
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// if (msg->id == 0x643)
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// printf(
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// "CAN ID: 0x%X%X Data: 0x%X 0x%X 0x%X 0x%X 0x%X 0x%X 0x%X 0x%X \n",
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// (uint16_t) (msg->id >> 16), (uint16_t) msg->id, msg->data[0],
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// msg->data[1], msg->data[2], msg->data[3], msg->data[4],
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// msg->data[5], msg->data[6], msg->data[7]);
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// //(&canRxMsg); //TO DO not realy working
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}
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//Write CAN Filter
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void CAN_Write_Filter(uint32_t id, uint8_t format) {
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uint32_t CAN_msg_typedefId = 0;
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if (CAN_Filter_Idx > 13) {
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return;
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}
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if (format == STD_FORMAT) {
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CAN_msg_typedefId |= (uint32_t) (id << 21) | CAN_ID_STD;
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} else {
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CAN_msg_typedefId |= (uint32_t) (id << 3) | CAN_ID_EXT;
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}
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CAN->FMR |= CAN_FMR_FINIT;
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CAN->FA1R &= ~(uint32_t) (1 << CAN_Filter_Idx);
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CAN->FS1R |= (uint32_t) (1 << CAN_Filter_Idx);
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CAN->FM1R |= (uint32_t) (1 << CAN_Filter_Idx);
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//Comment next to lines for no filter
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if (id != 0) {
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CAN->sFilterRegister[CAN_Filter_Idx].FR1 = CAN_msg_typedefId;
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CAN->sFilterRegister[CAN_Filter_Idx].FR2 = CAN_msg_typedefId;
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//Uncomment next to line for no filter
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} else {
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CAN->sFilterRegister[CAN_Filter_Idx].FR1 = 0; // 32-bit identifier
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CAN->sFilterRegister[CAN_Filter_Idx].FR2 = 0; // 32-bit identifier
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}
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CAN->FFA1R &= ~(uint32_t) (1 << CAN_Filter_Idx);
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CAN->FA1R |= (uint32_t) (1 << CAN_Filter_Idx);
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CAN->FMR &= ~CAN_FMR_FINIT;
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CAN_Filter_Idx++;
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}
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//CAN recive/transmit irq handler
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void CEC_CAN_IRQHandler(void) {
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if ((CAN->TSR & CAN_TSR_TME0) == CAN_TSR_TME0) {
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CAN->TSR |= CAN_TSR_RQCP0;
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CAN->IER &= ~CAN_IER_TMEIE;
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CAN_TX_Rdy = 1;
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}
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if ((CAN->RF0R & CAN_RF0R_FMP0) != 0) {
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//CAN_Add_RX_Buffer();
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// TO DO
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CAN->RF0R |= CAN_RF0R_RFOM0;
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CAN_RX_Rdy = 1;
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}
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}
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void CAN_Send_TX_Buffer(void) {
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if (CAN_TX_Rdy) {
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//HAL_GPIO_TogglePin(GPIOB, GPIO_PIN_1);
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if (CAN_TX_Buffer.todo > 0) {
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CAN_TX_Buffer.todo--;
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//HAL_GPIO_TogglePin(GPIOB, GPIO_PIN_1);
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CAN_Send_Msg(&CAN_TX_Buffer.data[CAN_TX_Buffer.done]);
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if ((CAN_TX_Buffer.done++) > 14) {
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CAN_TX_Buffer.done = 0;
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}
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}
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}
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}
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void CAN_Add_TX_Buffer(can_msg_typedef *data) {
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if ((CAN_TX_Buffer.todo++) < 15) {
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if ((CAN_TX_Buffer.corent++) > 14) {
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CAN_TX_Buffer.corent = 0;
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}
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//memcpy((void*) &canTX_buffer.data[canTX_buffer.corent], (void*) &data, sizeof(CAN_msg_typedef));
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CAN_TX_Buffer.data[CAN_TX_Buffer.corent].id = data->id;
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CAN_TX_Buffer.data[CAN_TX_Buffer.corent].format = data->format;
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CAN_TX_Buffer.data[CAN_TX_Buffer.corent].frame = data->frame;
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CAN_TX_Buffer.data[CAN_TX_Buffer.corent].lenght = data->lenght;
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CAN_TX_Buffer.data[CAN_TX_Buffer.corent].data[0] = data->data[0];
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CAN_TX_Buffer.data[CAN_TX_Buffer.corent].data[1] = data->data[1];
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CAN_TX_Buffer.data[CAN_TX_Buffer.corent].data[2] = data->data[2];
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CAN_TX_Buffer.data[CAN_TX_Buffer.corent].data[3] = data->data[3];
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CAN_TX_Buffer.data[CAN_TX_Buffer.corent].data[4] = data->data[4];
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CAN_TX_Buffer.data[CAN_TX_Buffer.corent].data[5] = data->data[5];
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CAN_TX_Buffer.data[CAN_TX_Buffer.corent].data[6] = data->data[6];
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CAN_TX_Buffer.data[CAN_TX_Buffer.corent].data[7] = data->data[7];
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}
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}
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void CAN_Add_RX_Buffer(void) {
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if ((CAN_RX_Buffer.todo) < 16) {
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CAN_RX_Buffer.todo++;
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if ((CAN->sFIFOMailBox[0].RIR & CAN_ID_EXT) == 0) {
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CAN_RX_Buffer.data[CAN_RX_Buffer.corent].format = STD_FORMAT;
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CAN_RX_Buffer.data[CAN_RX_Buffer.corent].id = (uint32_t) 0x000007FF
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& (CAN->sFIFOMailBox[0].RIR >> 21);
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} else {
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CAN_RX_Buffer.data[CAN_RX_Buffer.corent].format = EXTD_FORMAT;
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CAN_RX_Buffer.data[CAN_RX_Buffer.corent].id = (uint32_t) 0x0003FFFF
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& (CAN->sFIFOMailBox[0].RIR >> 3);
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}
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if ((CAN->sFIFOMailBox[0].RIR & CAN_RTR_REMOTE) == 0) {
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CAN_RX_Buffer.data[CAN_RX_Buffer.corent].frame = DATA_FRAME;
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} else {
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CAN_RX_Buffer.data[CAN_RX_Buffer.corent].frame = REMOTE_FRAME;
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}
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CAN_RX_Buffer.data[CAN_RX_Buffer.corent].lenght = (uint8_t) 0x0000000F
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& CAN->sFIFOMailBox[0].RDTR;
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CAN_RX_Buffer.data[CAN_RX_Buffer.corent].data[0] = (uint32_t) 0x000000FF
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& (CAN->sFIFOMailBox[0].RDLR);
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CAN_RX_Buffer.data[CAN_RX_Buffer.corent].data[1] = (uint32_t) 0x000000FF
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& (CAN->sFIFOMailBox[0].RDLR >> 8);
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CAN_RX_Buffer.data[CAN_RX_Buffer.corent].data[2] = (uint32_t) 0x000000FF
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& (CAN->sFIFOMailBox[0].RDLR >> 16);
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CAN_RX_Buffer.data[CAN_RX_Buffer.corent].data[3] = (uint32_t) 0x000000FF
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& (CAN->sFIFOMailBox[0].RDLR >> 24);
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CAN_RX_Buffer.data[CAN_RX_Buffer.corent].data[4] = (uint32_t) 0x000000FF
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& (CAN->sFIFOMailBox[0].RDHR);
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CAN_RX_Buffer.data[CAN_RX_Buffer.corent].data[5] = (uint32_t) 0x000000FF
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& (CAN->sFIFOMailBox[0].RDHR >> 8);
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CAN_RX_Buffer.data[CAN_RX_Buffer.corent].data[6] = (uint32_t) 0x000000FF
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& (CAN->sFIFOMailBox[0].RDHR >> 16);
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CAN_RX_Buffer.data[CAN_RX_Buffer.corent].data[7] = (uint32_t) 0x000000FF
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& (CAN->sFIFOMailBox[0].RDHR >> 24);
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if ((CAN_RX_Buffer.corent++) > 15) {
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CAN_RX_Buffer.corent = 0;
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}
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//canAddRXBuffer(&canRxMsg); //TO DO not realy working
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}
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CAN->RF0R |= CAN_RF0R_RFOM0;
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}
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void CAN_Read_RX_Buffer(can_msg_typedef *data) {
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if (CAN_RX_Buffer.todo > 0) {
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//memcpy((void*) &data, (void*) &canRX_buffer.data[canRX_buffer.done], sizeof(CAN_msg_typedef));
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data->id = CAN_RX_Buffer.data[CAN_RX_Buffer.done].id;
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data->format = CAN_RX_Buffer.data[CAN_RX_Buffer.done].format;
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data->frame = CAN_RX_Buffer.data[CAN_RX_Buffer.done].frame;
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data->lenght = CAN_RX_Buffer.data[CAN_RX_Buffer.done].lenght;
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data->data[0] = CAN_RX_Buffer.data[CAN_RX_Buffer.done].data[0];
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data->data[1] = CAN_RX_Buffer.data[CAN_RX_Buffer.done].data[1];
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data->data[2] = CAN_RX_Buffer.data[CAN_RX_Buffer.done].data[2];
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data->data[3] = CAN_RX_Buffer.data[CAN_RX_Buffer.done].data[3];
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data->data[4] = CAN_RX_Buffer.data[CAN_RX_Buffer.done].data[4];
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data->data[5] = CAN_RX_Buffer.data[CAN_RX_Buffer.done].data[5];
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data->data[6] = CAN_RX_Buffer.data[CAN_RX_Buffer.done].data[6];
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data->data[7] = CAN_RX_Buffer.data[CAN_RX_Buffer.done].data[7];
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if ((CAN_RX_Buffer.done++) > 15) {
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CAN_RX_Buffer.done = 0;
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}
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CAN_RX_Buffer.todo--;
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}
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}
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