void can_init(can_t *obj, PinName rd, PinName td)
{
uint32_t can_td = (CANName)pinmap_peripheral(td, PinMap_CAN_TD);
uint32_t can_rd = (CANName)pinmap_peripheral(rd, PinMap_CAN_RD);
obj->can = (CANName)pinmap_merge(can_td, can_rd);
MBED_ASSERT((int)obj->can != NC);
const struct nu_modinit_s *modinit = get_modinit(obj->can, can_modinit_tab);
MBED_ASSERT(modinit != NULL);
MBED_ASSERT(modinit->modname == obj->can);
// Reset this module
SYS_ResetModule(modinit->rsetidx);
// Enable IP clock
CLK_EnableModuleClock(modinit->clkidx);
obj->index = 0;
pinmap_pinout(td, PinMap_CAN_TD);
pinmap_pinout(rd, PinMap_CAN_RD);
/* For M453 mbed Board Transmitter Setting (RS Pin) */
GPIO_SetMode(PA, BIT0| BIT1, GPIO_MODE_OUTPUT);
PA0 = 0x00;
PA1 = 0x00;
CAN_Open((CAN_T *)NU_MODBASE(obj->can), 500000, CAN_NORMAL_MODE);
can_filter(obj, 0, 0, CANStandard, 0);
}
void can_init(can_t *obj, PinName rd, PinName td)
{
CANName can_rd = (CANName)pinmap_peripheral(rd, PinMap_CAN_RD);
CANName can_td = (CANName)pinmap_peripheral(td, PinMap_CAN_TD);
obj->can = (CANName)pinmap_merge(can_rd, can_td);
MBED_ASSERT((int)obj->can != NC);
if (obj->can == CAN_1) {
__HAL_RCC_CAN1_CLK_ENABLE();
obj->index = 0;
}
#if defined(CAN2_BASE) && (CAN_NUM == 2)
else if (obj->can == CAN_2) {
__HAL_RCC_CAN1_CLK_ENABLE(); // needed to set filters
__HAL_RCC_CAN2_CLK_ENABLE();
obj->index = 1;
}
#endif
else {
return;
}
// Configure the CAN pins
pinmap_pinout(rd, PinMap_CAN_RD);
pinmap_pinout(td, PinMap_CAN_TD);
if (rd != NC) {
pin_mode(rd, PullUp);
}
if (td != NC) {
pin_mode(td, PullUp);
}
CanHandle.Instance = (CAN_TypeDef *)(obj->can);
CanHandle.Init.TTCM = DISABLE;
CanHandle.Init.ABOM = DISABLE;
CanHandle.Init.AWUM = DISABLE;
CanHandle.Init.NART = DISABLE;
CanHandle.Init.RFLM = DISABLE;
CanHandle.Init.TXFP = DISABLE;
CanHandle.Init.Mode = CAN_MODE_NORMAL;
CanHandle.Init.SJW = CAN_SJW_1TQ;
CanHandle.Init.BS1 = CAN_BS1_6TQ;
CanHandle.Init.BS2 = CAN_BS2_8TQ;
CanHandle.Init.Prescaler = 2;
if (HAL_CAN_Init(&CanHandle) != HAL_OK) {
error("Cannot initialize CAN");
}
// Set initial CAN frequency to 100 kb/s
can_frequency(obj, 100000);
uint32_t filter_number = (obj->can == CAN_1) ? 0 : 14;
can_filter(obj, 0, 0, CANStandard, filter_number);
}
/* Calls the initialization routines */
static inline void
init(void)
{
uint8_t cnf1=0x03, cnf2=0xb6, cnf3=0x04; /* Defaults to 125k */
uint8_t can_speed = 0;
init_spi();
/* Set the direction for the status LEDs' */
DDRB |= (1<<PB0);
DDRB |= (1<<PB1);
/* Set the CAN speed. The values for 125k are the defaults so 0 is ignored
and bad values also result in 125k */
can_speed = eeprom_read_byte(EE_CAN_SPEED);
if(can_speed==BITRATE_250) cnf1=0x01; /* 250kbps */
else if(can_speed==BITRATE_500) cnf1=0x00; /* 500kbps */
else if(can_speed==BITRATE_1000) { cnf1=0x00; cnf2=0x92; cnf3=0x02; } /* 1Mbps */
node_id = eeprom_read_byte(EE_NODE_ID);
/* Initialize the MCP2515 */
can_init(cnf1, cnf2, cnf3, 0x00);
/* Set the masks and filters to listen for Node Specific Messages
on RX 0. We put the node specific messages in RX0 and the
two way communication channels in RX1 */
can_mode(CAN_MODE_CONFIG, 0);
can_mask(0, 0x0700);
/* This sets the filter to get a firmware update command to our
node address. For the bootloader this is all we care about. */
can_filter(CAN_RXF0SIDH, 0x0700);
can_mask(1, 0x07C0);
can_filter(CAN_RXF2SIDH, 0x06E0);
can_mode(CAN_MODE_NORMAL, 0);
#ifdef UART_DEBUG
init_serial();
#endif
TCCR1B=0x05; /* Set Timer/Counter 1 to clk/1024 */
/* Move the Interrupt Vector table to the Bootloader section */
MCUCR = (1<<IVCE);
MCUCR = (1<<IVSEL);
EICRA = 0x02; /* Set INT0 to falling edge */
}
/** init the CAN frequency.
*
* @param rd receive pin.
* @param td transmit pin.
* @param hz The bus frequency in hertz.
*/
void can_init_freq(can_t *obj, PinName rd, PinName td, int hz)
{
CANName can_rd = (CANName)pinmap_peripheral(rd, PinMap_CAN_RD);
CANName can_td = (CANName)pinmap_peripheral(td, PinMap_CAN_TD);
obj->can = (CANName)pinmap_merge(can_rd, can_td);
MBED_ASSERT((int)obj->can != NC);
if (obj->can == CAN_0) {
rcu_periph_clock_enable(RCU_CAN0);
can_deinit(obj->can);
obj->index = 0;
} else if (obj->can == CAN_1) {
rcu_periph_clock_enable(RCU_CAN0);
rcu_periph_clock_enable(RCU_CAN1);
can_deinit(obj->can);
obj->index = 1;
} else {
return;
}
/* Configure the CAN pins */
pinmap_pinout(rd, PinMap_CAN_RD);
pinmap_pinout(td, PinMap_CAN_TD);
if (rd != NC) {
pin_mode(rd, PullUp);
}
if (td != NC) {
pin_mode(td, PullUp);
}
dev_can_mode_config(obj->can, CAN_NORMAL_MODE);
can_frequency(obj, hz);
if (obj->can == CAN_0) {
can_filter(obj, 0, 0, CANStandard, 0);
} else {
can_filter(obj, 0, 0, CANStandard, 14);
}
}
int CAN::filter(unsigned int id, unsigned int mask, CANFormat format, int handle) {
lock();
int ret = can_filter(&_can, id, mask, format, handle);
unlock();
return ret;
}
void can_init_freq (can_t *obj, PinName rd, PinName td, int hz)
{
CANName can_rd = (CANName)pinmap_peripheral(rd, PinMap_CAN_RD);
CANName can_td = (CANName)pinmap_peripheral(td, PinMap_CAN_TD);
CANName can = (CANName)pinmap_merge(can_rd, can_td);
MBED_ASSERT((int)can != NC);
if (can == CAN_1) {
__HAL_RCC_CAN1_CLK_ENABLE();
obj->index = 0;
}
#if defined(CAN2_BASE) && (CAN_NUM > 1)
else if (can == CAN_2) {
__HAL_RCC_CAN1_CLK_ENABLE(); // needed to set filters
__HAL_RCC_CAN2_CLK_ENABLE();
obj->index = 1;
}
#endif
#if defined(CAN3_BASE) && (CAN_NUM > 2)
else if (can == CAN_3) {
__HAL_RCC_CAN3_CLK_ENABLE();
obj->index = 2;
}
#endif
else {
return;
}
// Configure the CAN pins
pinmap_pinout(rd, PinMap_CAN_RD);
pinmap_pinout(td, PinMap_CAN_TD);
if (rd != NC) {
pin_mode(rd, PullUp);
}
if (td != NC) {
pin_mode(td, PullUp);
}
/* Use default values for rist init */
obj->CanHandle.Instance = (CAN_TypeDef *)can;
obj->CanHandle.Init.TTCM = DISABLE;
obj->CanHandle.Init.ABOM = DISABLE;
obj->CanHandle.Init.AWUM = DISABLE;
obj->CanHandle.Init.NART = DISABLE;
obj->CanHandle.Init.RFLM = DISABLE;
obj->CanHandle.Init.TXFP = DISABLE;
obj->CanHandle.Init.Mode = CAN_MODE_NORMAL;
obj->CanHandle.Init.SJW = CAN_SJW_1TQ;
obj->CanHandle.Init.BS1 = CAN_BS1_6TQ;
obj->CanHandle.Init.BS2 = CAN_BS2_8TQ;
obj->CanHandle.Init.Prescaler = 2;
/* Store frequency to be restored in case of reset */
obj->hz = hz;
can_registers_init(obj);
/* Bits 27:14 are available for dual CAN configuration and are reserved for
single CAN configuration: */
#if defined(CAN3_BASE) && (CAN_NUM > 2)
uint32_t filter_number = (can == CAN_1 || can == CAN_3) ? 0 : 14;
#else
uint32_t filter_number = (can == CAN_1) ? 0 : 14;
#endif
can_filter(obj, 0, 0, CANStandard, filter_number);
}
int CAN::filter(unsigned int id, unsigned int mask, CANFormat format, int handle) {
return can_filter(&_can, id, mask, format, handle);
}
