Merge branch 'yuji-apm32' into apm32f103-arm32
This commit is contained in:
hyl
@@ -0,0 +1,11 @@
|
||||
config CAN_BUS_NAME_1
|
||||
string "can bus name"
|
||||
default "can1"
|
||||
|
||||
config CAN_DRIVER_NAME
|
||||
string "can driver name"
|
||||
default "can1_drv"
|
||||
|
||||
config CAN_1_DEVICE_NAME_1
|
||||
string "can bus 1 device 1 name"
|
||||
default "can1_dev1"
|
||||
@@ -0,0 +1,4 @@
|
||||
SRC_FILES := connect_can.c
|
||||
|
||||
|
||||
include $(KERNEL_ROOT)/compiler.mk
|
||||
@@ -0,0 +1,269 @@
|
||||
|
||||
|
||||
#include <board.h>
|
||||
#include <connect_can.h>
|
||||
|
||||
// #ifdef BSP_USING_CAN1 - TODO change to struct Stm32Can
|
||||
|
||||
static struct Stm32Can *stm32_can1;
|
||||
|
||||
// #endif // BSP_USING_CAN1
|
||||
|
||||
static unsigned int CanModeInit(void *drv, struct BusConfigureInfo *configure_info)
|
||||
{
|
||||
NULL_PARAM_CHECK(drv);
|
||||
NULL_PARAM_CHECK(configure_info);
|
||||
struct CanDriverConfigure *config = (struct CanDriverConfigure *)configure_info->private_data;
|
||||
struct CanDriver *can_drv = (struct CanDriver *)drv;
|
||||
CAN_HandleTypeDef *hcan1 = &(stm32_can1->instance);
|
||||
hcan1->Instance = CAN1;
|
||||
hcan1->Init.Prescaler = 6;
|
||||
hcan1->Init.Mode = CAN_MODE_NORMAL;
|
||||
hcan1->Init.SyncJumpWidth = CAN_SJW_1TQ;
|
||||
hcan1->Init.TimeSeg1 = CAN_BS1_6TQ;
|
||||
hcan1->Init.TimeSeg2 = CAN_BS2_5TQ;
|
||||
hcan1->Init.TimeTriggeredMode = DISABLE;
|
||||
hcan1->Init.AutoBusOff = DISABLE;
|
||||
hcan1->Init.AutoWakeUp = DISABLE;
|
||||
hcan1->Init.AutoRetransmission = DISABLE;
|
||||
hcan1->Init.ReceiveFifoLocked = DISABLE;
|
||||
hcan1->Init.TransmitFifoPriority = DISABLE;
|
||||
if (HAL_CAN_Init(hcan1) != HAL_OK)
|
||||
{
|
||||
return ERROR;
|
||||
}
|
||||
|
||||
CAN_FilterTypeDef sFilterConfig;
|
||||
sFilterConfig.FilterBank = 0; /* 过滤器组0 */
|
||||
sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK; /* 屏蔽位模式 */
|
||||
sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT; /* 32位。*/
|
||||
sFilterConfig.FilterIdHigh = 0x0000;
|
||||
sFilterConfig.FilterIdLow = 0x0000;
|
||||
sFilterConfig.FilterMaskIdHigh = 0x0000;
|
||||
sFilterConfig.FilterMaskIdLow = 0x0000;
|
||||
sFilterConfig.FilterFIFOAssignment = CAN_RX_FIFO0; /* 过滤器被关联到FIFO 0 */
|
||||
sFilterConfig.FilterActivation = ENABLE; /* 使能过滤器 */
|
||||
sFilterConfig.SlaveStartFilterBank = 14;
|
||||
if (HAL_CAN_ConfigFilter(hcan1, &sFilterConfig) != HAL_OK)
|
||||
{
|
||||
/* Filter configuration Error */
|
||||
return ERROR;
|
||||
}
|
||||
|
||||
if (HAL_CAN_Start(hcan1) != HAL_OK)
|
||||
{
|
||||
/* Start Error */
|
||||
return ERROR;
|
||||
}
|
||||
|
||||
/*##-4- Activate CAN RX notification #######################################*/
|
||||
if (HAL_CAN_ActivateNotification(hcan1, CAN_IT_RX_FIFO0_MSG_PENDING) != HAL_OK)
|
||||
{
|
||||
/* Start Error */
|
||||
return ERROR;
|
||||
}
|
||||
}
|
||||
|
||||
static uint32 CanOpen(void *dev)
|
||||
{
|
||||
KPrintf("Can open\n");
|
||||
KTaskDescriptorType task = NONE;
|
||||
task = GetKTaskDescriptor();
|
||||
KPrintf("CanOpen MdelayKTask2 %x\n", task);
|
||||
KPrintf("CanOpen task->Done %x \n", task->Done);
|
||||
return 0;
|
||||
}
|
||||
|
||||
static uint32 CanClose(void *dev)
|
||||
{
|
||||
KPrintf("Can close\n");
|
||||
return 0;
|
||||
}
|
||||
|
||||
static uint32 CanSendMsg(void *dev, struct BusBlockWriteParam *write_param)
|
||||
{
|
||||
NULL_PARAM_CHECK(dev);
|
||||
|
||||
CAN_HandleTypeDef *hcan1 = &(stm32_can1->instance);
|
||||
uint8_t i = 0;
|
||||
uint32_t TxMailbox;
|
||||
uint8_t message[8];
|
||||
uint8_t *data = (uint8 *)write_param->buffer;
|
||||
uint16_t timer_count = 1000;
|
||||
CAN_TxHeaderTypeDef TxHeader; // 发送
|
||||
|
||||
TxHeader.ExtId = CAN_TxExtId; // 扩展标识符(29位)
|
||||
TxHeader.IDE = CAN_ID_EXT; // 使用扩展帧
|
||||
TxHeader.RTR = CAN_RTR_DATA; // 数据帧
|
||||
TxHeader.DLC = write_param->size;
|
||||
TxHeader.TransmitGlobalTime = DISABLE;
|
||||
|
||||
for (i = 0; i < TxHeader.DLC; i++)
|
||||
{
|
||||
message[i] = data[i];
|
||||
}
|
||||
|
||||
if (HAL_CAN_AddTxMessage(hcan1, &TxHeader, message, &TxMailbox) != HAL_OK) // 发送
|
||||
{
|
||||
return ERROR;
|
||||
}
|
||||
while (HAL_CAN_GetTxMailboxesFreeLevel(hcan1) != 3 && timer_count)
|
||||
{
|
||||
timer_count--;
|
||||
}
|
||||
if (timer_count <= 0)
|
||||
{
|
||||
return ERROR;
|
||||
}
|
||||
return EOK;
|
||||
}
|
||||
|
||||
|
||||
static uint32 CanRecvMsg(void *dev, struct BusBlockReadParam *databuf)
|
||||
{
|
||||
NULL_PARAM_CHECK(dev);
|
||||
NULL_PARAM_CHECK(databuf);
|
||||
int size = stm32_can1->can_recv_flag;
|
||||
int i;
|
||||
uint8_t *buf = (uint8 *)(databuf->buffer);
|
||||
if (size != 0)
|
||||
{
|
||||
for(i=0;i<size;i++)
|
||||
{
|
||||
buf[i]=stm32_can1->can_Rx_Data[i];
|
||||
//KPrintf("0x%02x ", buf[i]);
|
||||
stm32_can1->can_Rx_Data[i]=0;
|
||||
}
|
||||
//KPrintf("\n");
|
||||
|
||||
stm32_can1->can_recv_flag = 0;
|
||||
}
|
||||
return size;
|
||||
}
|
||||
|
||||
static struct CanDevDone can_dev_done =
|
||||
{
|
||||
.open = CanOpen,//None
|
||||
.close = CanClose,
|
||||
.write = CanSendMsg,
|
||||
.read = CanRecvMsg
|
||||
};
|
||||
|
||||
|
||||
// #ifdef BSP_USING_CAN1
|
||||
|
||||
void USB_LP_CAN1_RX0_IRQHandler(void)
|
||||
{
|
||||
HAL_CAN_IRQHandler(&(stm32_can1->instance));
|
||||
}
|
||||
|
||||
void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *CanNum)
|
||||
{
|
||||
uint32_t i;
|
||||
uint8_t RxData[8];
|
||||
|
||||
KPrintf("in CAN1_RX0_IRQHandler\n");
|
||||
|
||||
CAN_HandleTypeDef *hcan1 = &(stm32_can1->instance);
|
||||
CAN_RxHeaderTypeDef RxHeader;
|
||||
HAL_CAN_GetRxMessage(hcan1, CAN_RX_FIFO0, &RxHeader, stm32_can1->can_Rx_Data);
|
||||
stm32_can1->can_recv_flag =RxHeader.DLC; //接收标志位
|
||||
|
||||
// for(i = 0; i<RxHeader.DLC;i++)
|
||||
// {
|
||||
// KPrintf("0x%02x ", stm32_can1->can_Rx_Data[i]);
|
||||
// }
|
||||
// KPrintf("\n%d",RxHeader.DLC);
|
||||
}
|
||||
|
||||
// #endif // BSP_USING_CAN1
|
||||
|
||||
|
||||
static int BoardCanBusInit(struct Stm32Can *stm32can_bus, struct CanDriver *can_driver)
|
||||
{
|
||||
|
||||
x_err_t ret = EOK;
|
||||
/*Init the can bus */
|
||||
ret = CanBusInit(&stm32can_bus->can_bus, stm32can_bus->bus_name);
|
||||
if (EOK != ret)
|
||||
{
|
||||
KPrintf("Board_can_init canBusInit error %d\n", ret);
|
||||
return ERROR;
|
||||
}
|
||||
/*Init the can driver*/
|
||||
ret = CanDriverInit(can_driver, CAN_DRIVER_NAME);
|
||||
if (EOK != ret)
|
||||
{
|
||||
KPrintf("Board_can_init canDriverInit error %d\n", ret);
|
||||
return ERROR;
|
||||
}
|
||||
/*Attach the can driver to the can bus*/
|
||||
ret = CanDriverAttachToBus(CAN_DRIVER_NAME, stm32can_bus->bus_name);
|
||||
if (EOK != ret)
|
||||
{
|
||||
KPrintf("Board_can_init CanDriverAttachToBus error %d\n", ret);
|
||||
return ERROR;
|
||||
}
|
||||
return ret;
|
||||
}
|
||||
|
||||
static x_err_t HwCanDeviceAttach(const char *bus_name, const char *device_name, struct Stm32Can *can1)
|
||||
{
|
||||
NULL_PARAM_CHECK(bus_name);
|
||||
NULL_PARAM_CHECK(device_name);
|
||||
x_err_t result;
|
||||
struct CanHardwareDevice *can_device;
|
||||
/* attach the device to can bus*/
|
||||
can_device = (struct CanHardwareDevice *)x_malloc(sizeof(struct CanHardwareDevice));
|
||||
memset(can_device, 0, sizeof(struct CanHardwareDevice));
|
||||
can_device->dev_done = &can_dev_done;
|
||||
can_device->private_data = stm32_can1;
|
||||
result = CanDeviceRegister(can_device, NONE, device_name);
|
||||
if (EOK != result)
|
||||
{
|
||||
KPrintf("board_can_init canDeviceInit device %s error %d\n", "can1", result);
|
||||
return ERROR;
|
||||
}
|
||||
result = CanDeviceAttachToBus(device_name, bus_name);
|
||||
if (result != EOK)
|
||||
{
|
||||
SYS_ERR("%s attach to %s faild, %d\n", device_name, bus_name, result);
|
||||
}
|
||||
CHECK(result == EOK);
|
||||
|
||||
KPrintf("%s attach to %s done\n", device_name, bus_name);
|
||||
|
||||
return result;
|
||||
}
|
||||
|
||||
int InitHwCan(void)
|
||||
{
|
||||
x_err_t ret = EOK;
|
||||
struct CanDriver *can_driver;
|
||||
|
||||
stm32_can1 = (struct Stm32Can *)x_malloc(sizeof(struct Stm32Can));
|
||||
memset(stm32_can1, 0, sizeof(struct Stm32Can));
|
||||
stm32_can1->bus_name = CAN_BUS_NAME_1;
|
||||
stm32_can1->can_bus.private_data = stm32_can1;
|
||||
|
||||
can_driver = (struct CanDriver *)x_malloc(sizeof(struct CanDriver));
|
||||
memset(can_driver, 0, sizeof(struct CanDriver));
|
||||
can_driver->configure = CanModeInit;
|
||||
can_driver->private_data = stm32_can1;
|
||||
|
||||
ret = BoardCanBusInit(stm32_can1, can_driver);
|
||||
if (EOK != ret)
|
||||
{
|
||||
KPrintf(" can_bus_init %s error ret %u\n", stm32_can1->bus_name, ret);
|
||||
return ERROR;
|
||||
}
|
||||
|
||||
ret = HwCanDeviceAttach(CAN_BUS_NAME_1, CAN_1_DEVICE_NAME_1, stm32_can1);
|
||||
if (EOK != ret)
|
||||
{
|
||||
KPrintf(" HwCanDeviceAttach %s error ret %u\n", stm32_can1->bus_name, ret);
|
||||
return ERROR;
|
||||
}
|
||||
|
||||
return EOK;
|
||||
}
|
||||
Reference in New Issue
Block a user