[doc] Added preliminary STM32 CAN documentation.
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Piotr Esden-Tempski
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@ -1,3 +1,17 @@
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/** @defgroup can_defines CAN defines
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@ingroup STM32F_defines
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@brief <b>libopencm3 Defined Constants and Types for STM32 CAN </b>
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@version 1.0.0
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@author @htmlonly © @endhtmlonly 2010 Piotr Esden-Tempski <piotr@esden.net>
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@date 12 November 2012
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LGPL License Terms @ref lgpl_license
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*/
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/*
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* This file is part of the libopencm3 project.
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*
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@ -23,11 +37,19 @@
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#include <libopencm3/stm32/memorymap.h>
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#include <libopencm3/cm3/common.h>
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/**@{*/
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/* --- Convenience macros -------------------------------------------------- */
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/* CAN register base adresses (for convenience) */
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/*****************************************************************************/
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/** @defgroup can_reg_base CAN register base address
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@ingroup can_defines
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@{*/
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#define CAN1 BX_CAN1_BASE
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#define CAN2 BX_CAN2_BASE
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/**@}*/
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/* --- CAN registers ------------------------------------------------------- */
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148
lib/stm32/can.c
148
lib/stm32/can.c
@ -1,3 +1,21 @@
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/** @defgroup can_file CAN
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@ingroup STM32F_files
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@brief <b>libopencm3 STM32Fxxx CAN</b>
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@version 1.0.0
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@author @htmlonly © @endhtmlonly 2010 Piotr Esden-Tempski <piotr@esden.net>
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@date 12 November 2012
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Devices can have up to two CAN peripherals. The peripherals support up to 1MBit
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transmission rate. The peripheral has several filters for incoming messages that
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can be distributed between two FIFOs and three transmit mailboxes.
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LGPL License Terms @ref lgpl_license
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*/
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/*
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* This file is part of the libopencm3 project.
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*
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@ -29,6 +47,14 @@
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# error "stm32 family not defined."
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#endif
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/*-----------------------------------------------------------------------------*/
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/** @brief CAN Reset
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The CAN peripheral and all its associated configuration registers are placed in the
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reset condition. The reset is effective via the RCC peripheral reset system.
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@param[in] canport Unsigned int32. CAN block register address base @ref can_reg_base.
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*/
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void can_reset(u32 canport)
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{
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if (canport == CAN1) {
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@ -40,6 +66,24 @@ void can_reset(u32 canport)
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}
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}
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/*-----------------------------------------------------------------------------*/
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/** @brief CAN Init
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Initialize the selected CAN peripheral block.
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@param[in] canport Unsigend int32. CAN register base address @ref can_reg_base.
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@param[in] ttcm bool. Time triggered communication mode.
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@param[in] abom bool. Automatic bus-off management.
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@param[in] awum bool. Automatic wakeup mode.
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@param[in] nart bool. No automatic retransmission.
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@param[in] rflm bool. Receive FIFO locked mode.
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@param[in] txfp bool. Transmit FIFO priority.
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@param[in] sjw Unsigned int32. Resynchronization time quanta jump width.
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@param[in] ts1 Unsigned int32. Time segment 1 time quanta width.
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@param[in] ts2 Unsigned int32. Time segment 2 time quanta width.
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@param[in] brp Unsigned int32. Baud rate prescaler.
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@returns int 0 on success, 1 on initialization failure.
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*/
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int can_init(u32 canport, bool ttcm, bool abom, bool awum, bool nart,
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bool rflm, bool txfp, u32 sjw, u32 ts1, u32 ts2, u32 brp)
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{
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@ -114,6 +158,20 @@ int can_init(u32 canport, bool ttcm, bool abom, bool awum, bool nart,
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return ret;
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}
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/*-----------------------------------------------------------------------------*/
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/** @brief CAN Filter Init
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Initialize incoming message filter and assign to FIFO.
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@param[in] canport Unsigned int32. CAN block register base @ref can_reg_base.
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@param[in] nr Unsigned int32. ID number of the filter.
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@param[in] scale_32bit bool. 32-bit scale for the filter?
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@param[in] id_list_mode bool. ID list filter mode?
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@param[in] fr1 Unsigned int32. First filter register content.
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@param[in] fr2 Unsigned int32. Second filter register content.
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@param[in] fifo Unsigned int32. FIFO id.
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@param[in] enable bool. Enable filter?
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*/
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void can_filter_init(u32 canport, u32 nr, bool scale_32bit, bool id_list_mode,
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u32 fr1, u32 fr2, u32 fifo, bool enable)
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{
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@ -160,6 +218,18 @@ void can_filter_init(u32 canport, u32 nr, bool scale_32bit, bool id_list_mode,
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CAN_FMR(canport) &= ~CAN_FMR_FINIT;
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}
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/*-----------------------------------------------------------------------------*/
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/** @brief CAN Initialize a 16bit Message ID Mask Filter
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@param[in] canport Unsigned int32. CAN block register base @ref can_reg_base.
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@param[in] nr Unsigned int32. ID number of the filter.
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@param[in] id1 Unsigned int16. First message ID to filter.
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@param[in] mask1 Unsigned int16. First message ID bit mask.
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@param[in] id2 Unsigned int16. Second message ID to filter.
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@param[in] mask2 Unsigned int16. Second message ID bit mask.
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@param[in] fifo Unsigned int32. FIFO id.
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@param[in] enable bool. Enable filter?
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*/
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void can_filter_id_mask_16bit_init(u32 canport, u32 nr, u16 id1, u16 mask1,
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u16 id2, u16 mask2, u32 fifo, bool enable)
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{
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@ -168,12 +238,34 @@ void can_filter_id_mask_16bit_init(u32 canport, u32 nr, u16 id1, u16 mask1,
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((u32)id2 << 16) | (u32)mask2, fifo, enable);
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}
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/*-----------------------------------------------------------------------------*/
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/** @brief CAN Initialize a 32bit Message ID Mask Filter
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@param[in] canport Unsigned int32. CAN block register base @ref can_reg_base.
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@param[in] nr Unsigned int32. ID number of the filter.
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@param[in] id Unsigned int32. Message ID to filter.
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@param[in] mask Unsigned int32. Message ID bit mask.
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@param[in] fifo Unsigned int32. FIFO id.
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@param[in] enable bool. Enable filter?
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*/
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void can_filter_id_mask_32bit_init(u32 canport, u32 nr, u32 id, u32 mask,
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u32 fifo, bool enable)
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{
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can_filter_init(canport, nr, true, false, id, mask, fifo, enable);
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}
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/*-----------------------------------------------------------------------------*/
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/** @brief CAN Initialize a 16bit Message ID List Filter
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@param[in] canport Unsigned int32. CAN block register base @ref can_reg_base.
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@param[in] nr Unsigned int32. ID number of the filter.
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@param[in] id1 Unsigned int16. First message ID to match.
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@param[in] id2 Unsigned int16. Second message ID to match.
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@param[in] id3 Unsigned int16. Third message ID to match.
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@param[in] id4 Unsigned int16. Fourth message ID to match.
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@param[in] fifo Unsigned int32. FIFO id.
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@param[in] enable bool. Enable filter?
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*/
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void can_filter_id_list_16bit_init(u32 canport, u32 nr, u16 id1, u16 id2,
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u16 id3, u16 id4, u32 fifo, bool enable)
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{
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@ -182,27 +274,62 @@ void can_filter_id_list_16bit_init(u32 canport, u32 nr, u16 id1, u16 id2,
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((u32)id3 << 16) | (u32)id4, fifo, enable);
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}
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/*-----------------------------------------------------------------------------*/
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/** @brief CAN Initialize a 32bit Message ID List Filter
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@param[in] canport Unsigned int32. CAN block register base @ref can_reg_base.
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@param[in] nr Unsigned int32. ID number of the filter.
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@param[in] id1 Unsigned int32. First message ID to match.
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@param[in] id2 Unsigned int32. Second message ID to match.
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@param[in] fifo Unsigned int32. FIFO id.
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@param[in] enable bool. Enable filter?
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*/
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void can_filter_id_list_32bit_init(u32 canport, u32 nr, u32 id1, u32 id2,
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u32 fifo, bool enable)
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{
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can_filter_init(canport, nr, true, true, id1, id2, fifo, enable);
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}
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/*-----------------------------------------------------------------------------*/
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/** @brief CAN Enable IRQ
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@param[in] canport Unsigned int32. CAN block register base @ref can_reg_base.
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@param[in] irq Unsigned int32. IRQ bit(s).
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*/
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void can_enable_irq(u32 canport, u32 irq)
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{
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CAN_IER(canport) |= irq;
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}
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/*-----------------------------------------------------------------------------*/
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/** @brief CAN Disable IRQ
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@param[in] canport Unsigned int32. CAN block register base @ref can_reg_base.
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@param[in] irq Unsigned int32. IRQ bit(s).
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*/
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void can_disable_irq(u32 canport, u32 irq)
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{
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CAN_IER(canport) &= ~irq;
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}
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/*-----------------------------------------------------------------------------*/
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/** @brief CAN Transmit Message
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@param[in] canport Unsigned int32. CAN block register base @ref can_reg_base.
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@param[in] id Unsigned int32. Message ID.
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@param[in] ext bool. Extended message ID?
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@param[in] rtr bool. Request transmit?
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@param[in] length Unsigned int8. Message payload length.
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@param[in] data Unsigned int8[]. Message payload data.
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@returns int 0, 1 or 2 on success and depending on which outgoing mailbox got
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selected. -1 if no mailbox was available and no transmission got queued.
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*/
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int can_transmit(u32 canport, u32 id, bool ext, bool rtr, u8 length, u8 *data)
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{
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int ret = 0, i;
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u32 mailbox = 0;
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/* Check which transmit mailbox is empty if any. */
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if ((CAN_TSR(canport) & CAN_TSR_TME0) == CAN_TSR_TME0) {
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ret = 0;
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mailbox = CAN_MBOX0;
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@ -216,7 +343,7 @@ int can_transmit(u32 canport, u32 id, bool ext, bool rtr, u8 length, u8 *data)
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ret = -1;
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}
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/* Check if we have an empty mailbox. */
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/* If we have no empty mailbox return with an error. */
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if (ret == -1)
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return ret;
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@ -254,6 +381,12 @@ int can_transmit(u32 canport, u32 id, bool ext, bool rtr, u8 length, u8 *data)
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return ret;
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}
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/*-----------------------------------------------------------------------------*/
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/** @brief CAN Release FIFO
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@param[in] canport Unsigned int32. CAN block register base @ref can_reg_base.
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@param[in] fifo Unsigned int8. FIFO id.
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*/
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void can_fifo_release(u32 canport, u8 fifo)
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{
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if (fifo == 0)
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@ -262,6 +395,19 @@ void can_fifo_release(u32 canport, u8 fifo)
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CAN_RF1R(canport) |= CAN_RF1R_RFOM1;
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}
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/*-----------------------------------------------------------------------------*/
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/** @brief CAN Receive Message
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@param[in] canport Unsigned int32. CAN block register base @ref can_reg_base.
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@param[in] fifo Unsigned int8. FIFO id.
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@param[in] release bool. Release the FIFO automatically after coping data out.
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@param[out] id Unsigned int32 pointer. Message ID.
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@param[out] ext bool pointer. The message ID is extended?
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@param[out] rtr bool pointer. Request of transmission?
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@param[out] fmi Unsigned int32 pointer. ID of the matched filter.
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@param[out] length Unsigned int8 pointer. Length of message payload.
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@param[out] data Unsigned int8[]. Message payload data.
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*/
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void can_receive(u32 canport, u8 fifo, bool release, u32 *id, bool *ext,
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bool *rtr, u32 *fmi, u8 *length, u8 *data)
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{
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