jackcartersmith/blackmagic
1
0
Fork 0
Code Issues Pull Requests Releases Activity

Various fixes to the can test program.

Browse Source 
- External Clock is 8Mhz not 16Mhz
- CAN peripherial should be deinitialized at the beginning
- Added can receive interrupt handler
- Added some more led indicators of internal state (error reporting)
  - Orange: send indicator
  - Blue: message queue full indicator
  - Red: INACK failure indicator
This commit is contained in:
Piotr Esden-Tempski 2010-12-23 02:01:00 +01:00
parent d1e5a5069e
commit 1471b6d297
1 changed files with 32 additions and 5 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

37
examples/obldc/can/can.c
View File

@ -89,7 +89,7 @@ void systick_setup()
void can_setup()
{
u32 wait_ack = 0x00000000;
u32 can_msr_inak_timeout = 0x0000FFFF;
u32 can_msr_inak_timeout = 0x000FFFFF;
/* Enable peripheral clocks */
rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_AFIOEN);
@ -109,6 +109,11 @@ void can_setup()
nvic_enable_irq(NVIC_USB_LP_CAN_RX0_IRQ);
nvic_set_priority(NVIC_USB_LP_CAN_RX0_IRQ, 1);
/* --- reset CAN periphery ------------------------------------------ */
rcc_peripheral_reset(&RCC_APB1RSTR, RCC_APB1RSTR_CANRST);
rcc_peripheral_clear_reset(&RCC_APB1RSTR, RCC_APB1RSTR_CANRST);
/* --- CAN cell init ------------------------------------------------ */
/* Exit from sleep mode */
@ -126,10 +131,19 @@ void can_setup()
/* Check the acknowledge */
if ((CAN_MSR(CAN1) & CAN_MSR_INAK) != CAN_MSR_INAK) {
/* we should set some flag here or so because we failed */
gpio_clear(GPIOB, GPIO1);
} else {
/* set the automatic bus-off management */
CAN_MCR(CAN1) &= ~CAN_MCR_TTCM;
CAN_MCR(CAN1) |= CAN_MCR_ABOM;
CAN_MCR(CAN1) &= ~CAN_MCR_AWUM;
CAN_MCR(CAN1) &= ~CAN_MCR_NART;
CAN_MCR(CAN1) &= ~CAN_MCR_TXFP;
/* Set bit timings */
CAN_BTR(CAN1) = CAN_BTR_SJW_1TQ |
CAN_BTR(CAN1) = 0x00000000 |
CAN_BTR_SJW_1TQ |
CAN_BTR_TS2_3TQ |
CAN_BTR_TS2_4TQ |
(u32)(CAN_BTR_BRP_MASK & 12);
@ -139,14 +153,17 @@ void can_setup()
/* Wait for acknowledge */
wait_ack = 0x00000000;
while ((wait_ack != can_msr_inak_timeout) && ((CAN_MSR(CAN1) & CAN_MSR_INAK) == CAN_MSR_INAK)) {
while ((wait_ack != can_msr_inak_timeout) &&
((CAN_MSR(CAN1) & CAN_MSR_INAK) == CAN_MSR_INAK)) {
wait_ack++;
}
if ((CAN_MSR(CAN1) & CAN_MSR_INAK) != CAN_MSR_INAK) {
if ((CAN_MSR(CAN1) & CAN_MSR_INAK) == CAN_MSR_INAK) {
/* set some flag here because we failed */
gpio_clear(GPIOB, GPIO1);
} else {
/* set some flag here because we succeeded */
gpio_set(GPIOB, GPIO1);
}
}
@ -192,12 +209,16 @@ void can_transmit(u32 id, u8 length, u8 data)
if ((CAN_TSR(CAN1) & CAN_TSR_TME0) == CAN_TSR_TME0) {
mailbox = CAN_MBOX0;
gpio_set(GPIOB, GPIO0);
} else if ((CAN_TSR(CAN1) & CAN_TSR_TME1) == CAN_TSR_TME1) {
mailbox = CAN_MBOX1;
gpio_set(GPIOB, GPIO0);
} else if ((CAN_TSR(CAN1) & CAN_TSR_TME2) == CAN_TSR_TME2) {
mailbox = CAN_MBOX2;
gpio_set(GPIOB, GPIO0);
} else {
mailbox = 0; /* no mailbox */
gpio_clear(GPIOB, GPIO0);
}
if ( mailbox != 0 ) { /* check if we have an empty mailbox */
@ -234,9 +255,15 @@ void sys_tick_handler()
}
}
void usb_lp_can_rx0_isr(void)
{
gpio_toggle(GPIOA, GPIO7);
CAN_RF0R(CAN1) |= CAN_RF0R_RFOM0;
}
int main(void)
{
rcc_clock_setup_in_hse_16mhz_out_72mhz();
rcc_clock_setup_in_hse_8mhz_out_72mhz();
gpio_setup();
can_setup();
systick_setup();