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bobbycar-controller-firmware/can.c

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#include "stm32f1xx_hal.h"
#include "can_feedc0de.h"
#include "can.h"
/* Definition for CANx clock resources */
#define CANx CAN1
#define CANx_CLK_ENABLE() __HAL_RCC_CAN1_CLK_ENABLE()
#define CANx_GPIO_CLK_ENABLE() __HAL_RCC_GPIOB_CLK_ENABLE()
#define CANx_FORCE_RESET() __HAL_RCC_CAN1_FORCE_RESET()
#define CANx_RELEASE_RESET() __HAL_RCC_CAN1_RELEASE_RESET()
/* Definition for CANx Pins */
#define CANx_TX_PIN GPIO_PIN_9
#define CANx_TX_GPIO_PORT GPIOB
#define CANx_RX_PIN GPIO_PIN_8
#define CANx_RX_GPIO_PORT GPIOB
/* Definition for CANx AFIO Remap */
#define CANx_AFIO_REMAP_CLK_ENABLE() __HAL_RCC_AFIO_CLK_ENABLE()
#define CANx_AFIO_REMAP_RX_TX_PIN() __HAL_AFIO_REMAP_CAN1_2()
/* Definition for CAN's NVIC */
#define CANx_RX_IRQn USB_LP_CAN1_RX0_IRQn
#define CANx_RX_IRQHandler USB_LP_CAN1_RX0_IRQHandler
#define CANx_TX_IRQn USB_HP_CAN1_TX_IRQn
#define CANx_TX_IRQHandler USB_HP_CAN1_TX_IRQHandler
/**
******************************************************************************
* @file CAN/CAN_Networking/Src/main.c
* @author MCD Application Team
* @brief This example shows how to configure the CAN peripheral
* to send and receive CAN frames in normal mode. The sent frames
* are used to control Leds by pressing KEY Push Button.
******************************************************************************
* @attention
*
* <h2><center>&copy; Copyright (c) 2016 STMicroelectronics.
* All rights reserved.</center></h2>
*
* This software component is licensed by ST under BSD 3-Clause license,
* the "License"; You may not use this file except in compliance with the
* License. You may obtain a copy of the License at:
* opensource.org/licenses/BSD-3-Clause
*
******************************************************************************
*/
/* Private variables ---------------------------------------------------------*/
uint8_t ubKeyNumber = 0x0;
CAN_HandleTypeDef CanHandle;
CAN_TxHeaderTypeDef TxHeader;
CAN_RxHeaderTypeDef RxHeader;
uint8_t TxData[8];
uint8_t RxData[8];
uint32_t TxMailbox;
/* Private function prototypes -----------------------------------------------*/
static void __NO_RETURN Error_Handler(void);
static void CAN_MspInit(CAN_HandleTypeDef *hcan);
static void CAN_MspDeInit(CAN_HandleTypeDef *hcan);
static void CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan);
static void CAN_TxMailboxCompleteCallback(CAN_HandleTypeDef *hcan);
/* Private functions ---------------------------------------------------------*/
static uint32_t len_to_dlc(uint8_t len)
{
uint32_t len_u32 = len;
if (len_u32 <= 8)
return len_u32;
// CAN-FD-only lengths currently not supported
Error_Handler();
}
static uint8_t dlc_to_len(uint32_t dlc)
{
// Check if DLC valid
if (dlc & ~0xFu)
Error_Handler();
// CAN-FD-only lengths currently not supported
if (dlc > 8)
Error_Handler();
return dlc;
}
void can_tx(uint16_t id, const uint8_t* data, uint8_t len)
{
TxHeader.StdId = id;
TxHeader.DLC = len_to_dlc(len);
while (HAL_CAN_GetTxMailboxesFreeLevel(&CanHandle) < 1)
{
}
/* Start the Transmission process */
if (HAL_CAN_AddTxMessage(&CanHandle, &TxHeader, (uint8_t *)data, &TxMailbox) != HAL_OK)
{
/* Transmission request Error */
Error_Handler();
}
}
/**
* @brief This function is executed in case of error occurrence.
* @param None
* @retval None
*/
static void __NO_RETURN Error_Handler(void)
{
while (1)
{
}
}
/**
* @brief Configures the CAN.
* @param None
* @retval None
*/
void can_init(void)
{
CAN_FilterTypeDef sFilterConfig;
/* Configure the CAN peripheral */
CanHandle.Instance = CANx;
CanHandle.MspInitCallback = CAN_MspInit;
CanHandle.MspDeInitCallback = CAN_MspDeInit;
CanHandle.Init.TimeTriggeredMode = DISABLE;
CanHandle.Init.AutoBusOff = ENABLE;
CanHandle.Init.AutoWakeUp = DISABLE;
CanHandle.Init.AutoRetransmission = ENABLE;
CanHandle.Init.ReceiveFifoLocked = DISABLE;
CanHandle.Init.TransmitFifoPriority = DISABLE;
CanHandle.Init.Mode = CAN_MODE_NORMAL;
CanHandle.Init.SyncJumpWidth = CAN_SJW_1TQ;
CanHandle.Init.TimeSeg1 = CAN_BS1_6TQ;
CanHandle.Init.TimeSeg2 = CAN_BS2_1TQ;
CanHandle.Init.Prescaler = 4;
if (HAL_CAN_Init(&CanHandle) != HAL_OK)
{
/* Initialization Error */
Error_Handler();
}
/* Configure the CAN Filter */
sFilterConfig.FilterBank = 0;
sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
sFilterConfig.FilterIdHigh = 0x0000;
sFilterConfig.FilterIdLow = CAN_ID_BOARD | (BOARD_INDEX << 4) | CAN_DIRECTION_STW_TO_BOARD;
sFilterConfig.FilterMaskIdHigh = 0x0000;
sFilterConfig.FilterMaskIdLow = 0x07F1;
sFilterConfig.FilterFIFOAssignment = CAN_RX_FIFO0;
sFilterConfig.FilterActivation = ENABLE;
sFilterConfig.SlaveStartFilterBank = 14;
if (HAL_CAN_ConfigFilter(&CanHandle, &sFilterConfig) != HAL_OK)
{
/* Filter configuration Error */
Error_Handler();
}
if (HAL_CAN_RegisterCallback(&CanHandle, HAL_CAN_RX_FIFO0_MSG_PENDING_CB_ID, CAN_RxFifo0MsgPendingCallback) != HAL_OK)
{
Error_Handler();
}
if (HAL_CAN_RegisterCallback(&CanHandle, HAL_CAN_TX_MAILBOX0_COMPLETE_CB_ID, CAN_TxMailboxCompleteCallback) != HAL_OK)
{
Error_Handler();
}
if (HAL_CAN_RegisterCallback(&CanHandle, HAL_CAN_TX_MAILBOX1_COMPLETE_CB_ID, CAN_TxMailboxCompleteCallback) != HAL_OK)
{
Error_Handler();
}
if (HAL_CAN_RegisterCallback(&CanHandle, HAL_CAN_TX_MAILBOX2_COMPLETE_CB_ID, CAN_TxMailboxCompleteCallback) != HAL_OK)
{
Error_Handler();
}
/* Start the CAN peripheral */
if (HAL_CAN_Start(&CanHandle) != HAL_OK)
{
/* Start Error */
Error_Handler();
}
/* Activate CAN RX notification */
if (HAL_CAN_ActivateNotification(&CanHandle, CAN_IT_RX_FIFO0_MSG_PENDING) != HAL_OK)
{
/* Notification Error */
Error_Handler();
}
/* Activate CAN TX notification */
if (HAL_CAN_ActivateNotification(&CanHandle, CAN_IT_TX_MAILBOX_EMPTY) != HAL_OK)
{
/* Notification Error */
Error_Handler();
}
/* Configure Transmission process */
TxHeader.StdId = 0x321;
TxHeader.ExtId = 0x01;
TxHeader.RTR = CAN_RTR_DATA;
TxHeader.IDE = CAN_ID_STD;
TxHeader.DLC = 2;
TxHeader.TransmitGlobalTime = DISABLE;
}
/**
* @brief Rx Fifo 0 message pending callback in non blocking mode
* @param CanHandle: pointer to a CAN_HandleTypeDef structure that contains
* the configuration information for the specified CAN.
* @retval None
*/
static void CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *CanHandle)
{
/* Get RX message */
if (HAL_CAN_GetRxMessage(CanHandle, CAN_RX_FIFO0, &RxHeader, RxData) != HAL_OK)
{
/* Reception Error */
Error_Handler();
}
if (RxHeader.IDE == CAN_ID_STD &&
(RxHeader.StdId == CAN_ID_COMMAND_STW_TO_BOARD(BOARD_INDEX) ||
RxHeader.StdId == CAN_ID_FEEDBACK_STW_TO_BOARD(BOARD_INDEX)))
{
can_feedc0de_handle_frame(RxHeader.StdId, RxData, dlc_to_len(RxHeader.DLC));
}
// slightly yucky, but we don't want to block inside the IRQ handler
if (HAL_CAN_GetTxMailboxesFreeLevel(CanHandle) >= 2)
{
can_feedc0de_poll();
}
}
static void CAN_TxMailboxCompleteCallback(CAN_HandleTypeDef *hcan)
{
// slightly yucky, but we don't want to block inside the IRQ handler
if (HAL_CAN_GetTxMailboxesFreeLevel(hcan) >= 2)
{
can_feedc0de_poll();
}
}
/**
* @brief CAN MSP Initialization
* This function configures the hardware resources used in this example:
* - Peripheral's clock enable
* - Peripheral's GPIO Configuration
* - NVIC configuration for DMA interrupt request enable
* @param hcan: CAN handle pointer
* @retval None
*/
static void CAN_MspInit(CAN_HandleTypeDef *hcan)
{
GPIO_InitTypeDef GPIO_InitStruct;
/*##-1- Enable peripherals and GPIO Clocks #################################*/
/* CAN1 Periph clock enable */
CANx_CLK_ENABLE();
/* Enable GPIO clock ****************************************/
CANx_GPIO_CLK_ENABLE();
/* Enable AFIO clock and Remap CAN PINs to PB8 and PB9*******/
CANx_AFIO_REMAP_CLK_ENABLE();
CANx_AFIO_REMAP_RX_TX_PIN();
/*##-2- Configure peripheral GPIO ##########################################*/
/* CAN1 TX GPIO pin configuration */
GPIO_InitStruct.Pin = CANx_TX_PIN;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
GPIO_InitStruct.Pull = GPIO_PULLUP;
HAL_GPIO_Init(CANx_TX_GPIO_PORT, &GPIO_InitStruct);
/* CAN1 RX GPIO pin configuration */
GPIO_InitStruct.Pin = CANx_RX_PIN;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
GPIO_InitStruct.Pull = GPIO_PULLUP;
HAL_GPIO_Init(CANx_RX_GPIO_PORT, &GPIO_InitStruct);
/*##-3- Configure the NVIC #################################################*/
/* NVIC configuration for CAN1 Reception complete interrupt */
HAL_NVIC_SetPriority(CANx_RX_IRQn, 1, 0);
HAL_NVIC_EnableIRQ(CANx_RX_IRQn);
HAL_NVIC_SetPriority(CANx_TX_IRQn, 1, 0);
HAL_NVIC_EnableIRQ(CANx_TX_IRQn);
}
/**
* @brief CAN MSP De-Initialization
* This function frees the hardware resources used in this example:
* - Disable the Peripheral's clock
* - Revert GPIO to their default state
* @param hcan: CAN handle pointer
* @retval None
*/
static void CAN_MspDeInit(CAN_HandleTypeDef *hcan)
{
/*##-1- Reset peripherals ##################################################*/
CANx_FORCE_RESET();
CANx_RELEASE_RESET();
/*##-2- Disable peripherals and GPIO Clocks ################################*/
/* De-initialize the CAN1 TX GPIO pin */
HAL_GPIO_DeInit(CANx_TX_GPIO_PORT, CANx_TX_PIN);
/* De-initialize the CAN1 RX GPIO pin */
HAL_GPIO_DeInit(CANx_RX_GPIO_PORT, CANx_RX_PIN);
/*##-4- Disable the NVIC for CAN reception #################################*/
HAL_NVIC_DisableIRQ(CANx_RX_IRQn);
}
/**
* @brief This function handles CAN1 RX0 interrupt request.
* @param None
* @retval None
*/
void CANx_RX_IRQHandler(void)
{
HAL_CAN_IRQHandler(&CanHandle);
}
void CANx_TX_IRQHandler(void)
{
HAL_CAN_IRQHandler(&CanHandle);
}
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