// assumes Init parameters have been set up correctly
STATIC bool can_init(pyb_can_obj_t *can_obj) {
CAN_TypeDef *CANx = NULL;
uint32_t sce_irq = 0;
const pin_obj_t *pins[2];
switch (can_obj->can_id) {
#if defined(MICROPY_HW_CAN1_TX)
case PYB_CAN_1:
CANx = CAN1;
sce_irq = CAN1_SCE_IRQn;
pins[0] = MICROPY_HW_CAN1_TX;
pins[1] = MICROPY_HW_CAN1_RX;
__CAN1_CLK_ENABLE();
break;
#endif
#if defined(MICROPY_HW_CAN2_TX)
case PYB_CAN_2:
CANx = CAN2;
sce_irq = CAN2_SCE_IRQn;
pins[0] = MICROPY_HW_CAN2_TX;
pins[1] = MICROPY_HW_CAN2_RX;
__CAN1_CLK_ENABLE(); // CAN2 is a "slave" and needs CAN1 enabled as well
__CAN2_CLK_ENABLE();
break;
#endif
default:
return false;
}
// init GPIO
uint32_t mode = MP_HAL_PIN_MODE_ALT;
uint32_t pull = MP_HAL_PIN_PULL_UP;
for (int i = 0; i < 2; i++) {
if (!mp_hal_pin_config_alt(pins[i], mode, pull, AF_FN_CAN, can_obj->can_id)) {
return false;
}
}
// init CANx
can_obj->can.Instance = CANx;
HAL_CAN_Init(&can_obj->can);
can_obj->is_enabled = true;
can_obj->num_error_warning = 0;
can_obj->num_error_passive = 0;
can_obj->num_bus_off = 0;
__HAL_CAN_ENABLE_IT(&can_obj->can, CAN_IT_ERR | CAN_IT_BOF | CAN_IT_EPV | CAN_IT_EWG);
HAL_NVIC_SetPriority(sce_irq, IRQ_PRI_CAN, IRQ_SUBPRI_CAN);
HAL_NVIC_EnableIRQ(sce_irq);
return true;
}
/**
* @brief Initiates and transmits a CAN frame message.
* @param hcan: pointer to a CAN_HandleTypeDef structure that contains
* the configuration information for the specified CAN.
* @retval HAL status
*/
HAL_StatusTypeDef HAL_CAN_Transmit_IT(CAN_HandleTypeDef* hcan)
{
uint32_t transmitmailbox = CAN_TXSTATUS_NOMAILBOX;
/* Check the parameters */
assert_param(IS_CAN_IDTYPE(hcan->pTxMsg->IDE));
assert_param(IS_CAN_RTR(hcan->pTxMsg->RTR));
assert_param(IS_CAN_DLC(hcan->pTxMsg->DLC));
if((hcan->State == HAL_CAN_STATE_READY) || (hcan->State == HAL_CAN_STATE_BUSY_RX))
{
/* Process Locked */
__HAL_LOCK(hcan);
/* Select one empty transmit mailbox */
if((hcan->Instance->TSR&CAN_TSR_TME0) == CAN_TSR_TME0)
{
transmitmailbox = 0;
}
else if((hcan->Instance->TSR&CAN_TSR_TME1) == CAN_TSR_TME1)
{
transmitmailbox = 1;
}
else if((hcan->Instance->TSR&CAN_TSR_TME2) == CAN_TSR_TME2)
{
transmitmailbox = 2;
}
if(transmitmailbox != CAN_TXSTATUS_NOMAILBOX)
{
/* Set up the Id */
hcan->Instance->sTxMailBox[transmitmailbox].TIR &= CAN_TI0R_TXRQ;
if(hcan->pTxMsg->IDE == CAN_ID_STD)
{
assert_param(IS_CAN_STDID(hcan->pTxMsg->StdId));
hcan->Instance->sTxMailBox[transmitmailbox].TIR |= ((hcan->pTxMsg->StdId << 21) | \
hcan->pTxMsg->RTR);
}
else
{
assert_param(IS_CAN_EXTID(hcan->pTxMsg->ExtId));
hcan->Instance->sTxMailBox[transmitmailbox].TIR |= ((hcan->pTxMsg->ExtId << 3) | \
hcan->pTxMsg->IDE | \
hcan->pTxMsg->RTR);
}
/* Set up the DLC */
hcan->pTxMsg->DLC &= (uint8_t)0x0000000F;
hcan->Instance->sTxMailBox[transmitmailbox].TDTR &= (uint32_t)0xFFFFFFF0;
hcan->Instance->sTxMailBox[transmitmailbox].TDTR |= hcan->pTxMsg->DLC;
/* Set up the data field */
hcan->Instance->sTxMailBox[transmitmailbox].TDLR = (((uint32_t)hcan->pTxMsg->Data[3] << 24) |
((uint32_t)hcan->pTxMsg->Data[2] << 16) |
((uint32_t)hcan->pTxMsg->Data[1] << 8) |
((uint32_t)hcan->pTxMsg->Data[0]));
hcan->Instance->sTxMailBox[transmitmailbox].TDHR = (((uint32_t)hcan->pTxMsg->Data[7] << 24) |
((uint32_t)hcan->pTxMsg->Data[6] << 16) |
((uint32_t)hcan->pTxMsg->Data[5] << 8) |
((uint32_t)hcan->pTxMsg->Data[4]));
if(hcan->State == HAL_CAN_STATE_BUSY_RX)
{
/* Change CAN state */
hcan->State = HAL_CAN_STATE_BUSY_TX_RX;
}
else
{
/* Change CAN state */
hcan->State = HAL_CAN_STATE_BUSY_TX;
}
/* Set CAN error code to none */
hcan->ErrorCode = HAL_CAN_ERROR_NONE;
/* Process Unlocked */
__HAL_UNLOCK(hcan);
/* Enable Error warning Interrupt */
__HAL_CAN_ENABLE_IT(hcan, CAN_IT_EWG);
/* Enable Error passive Interrupt */
__HAL_CAN_ENABLE_IT(hcan, CAN_IT_EPV);
/* Enable Bus-off Interrupt */
__HAL_CAN_ENABLE_IT(hcan, CAN_IT_BOF);
/* Enable Last error code Interrupt */
__HAL_CAN_ENABLE_IT(hcan, CAN_IT_LEC);
/* Enable Error Interrupt */
__HAL_CAN_ENABLE_IT(hcan, CAN_IT_ERR);
/* Enable Transmit mailbox empty Interrupt */
__HAL_CAN_ENABLE_IT(hcan, CAN_IT_TME);
/* Request transmission */
hcan->Instance->sTxMailBox[transmitmailbox].TIR |= CAN_TI0R_TXRQ;
}
}
else
{
return HAL_BUSY;
}
return HAL_OK;
}