Esempio n. 1
0
void can_setup(void)
{
    /* Enable peripheral clocks. */
    rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_AFIOEN);
    rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPBEN);
    rcc_peripheral_enable_clock(&RCC_APB1ENR, RCC_APB1ENR_CANEN);

    AFIO_MAPR = AFIO_MAPR_CAN1_REMAP_PORTB;

    /* Configure CAN pin: RX (input pull-up). */
    gpio_set_mode(GPIOB, GPIO_MODE_INPUT,
                  GPIO_CNF_INPUT_PULL_UPDOWN, GPIO_CAN1_PB_RX);
    gpio_set(GPIOB, GPIO_CAN1_PB_RX);

    /* Configure CAN pin: TX. */
    gpio_set_mode(GPIOB, GPIO_MODE_OUTPUT_50_MHZ,
                  GPIO_CNF_OUTPUT_ALTFN_PUSHPULL, GPIO_CAN1_PB_TX);

    /* NVIC setup. */
    nvic_enable_irq(NVIC_USB_LP_CAN_RX0_IRQ);
    nvic_set_priority(NVIC_USB_LP_CAN_RX0_IRQ, 1);

    /* Reset CAN. */
    can_reset(CAN1);

    /* CAN cell init. */
    if (can_init(CAN1,
                 false,           /* TTCM: Time triggered comm mode? */
                 true,            /* ABOM: Automatic bus-off management? */
                 false,           /* AWUM: Automatic wakeup mode? */
                 false,           /* NART: No automatic retransmission? */
                 false,           /* RFLM: Receive FIFO locked mode? */
                 false,           /* TXFP: Transmit FIFO priority? */
                 CAN_BTR_SJW_1TQ,
                 CAN_BTR_TS1_3TQ,
                 CAN_BTR_TS2_4TQ,
                 12))             /* BRP+1: Baud rate prescaler */
    {
        gpio_set(GPIOA, GPIO8);		/* LED0 off */
        gpio_set(GPIOB, GPIO4);		/* LED1 off */
        gpio_set(GPIOC, GPIO15);       	/* LED2 off */
        gpio_clear(GPIOC, GPIO2);       /* LED3 on */
        gpio_set(GPIOC, GPIO5);	        /* LED4 off */

        /* Die because we failed to initialize. */
        while (1)
            __asm__("nop");
    }

    /* CAN filter 0 init. */
    can_filter_id_mask_32bit_init(CAN1,
                                  0,     /* Filter ID */
                                  0,     /* CAN ID */
                                  0,     /* CAN ID mask */
                                  0,     /* FIFO assignment (here: FIFO0) */
                                  true); /* Enable the filter. */

    /* Enable CAN RX interrupt. */
    can_enable_irq(CAN1, CAN_IER_FMPIE0);
}
Esempio n. 2
0
File: em-stop.c Progetto: GBert/misc
static void can_setup(void) {
    /* Enable peripheral clocks */
    rcc_periph_clock_enable(RCC_AFIO);
    rcc_periph_clock_enable(RCC_CAN1);

    AFIO_MAPR |= AFIO_MAPR_CAN1_REMAP_PORTB;

    /* Configure CAN pin: RX (input pull-up) */
    gpio_set_mode(GPIO_BANK_CAN1_PB_RX, GPIO_MODE_INPUT, GPIO_CNF_INPUT_PULL_UPDOWN, GPIO_CAN1_PB_RX);
    gpio_set(GPIO_BANK_CAN1_PB_RX, GPIO_CAN1_PB_RX);

    /* Configure CAN pin: TX */
    gpio_set_mode(GPIO_BANK_CAN1_PB_TX, GPIO_MODE_OUTPUT_50_MHZ, GPIO_CNF_OUTPUT_ALTFN_PUSHPULL, GPIO_CAN1_PB_TX);

    /* NVIC setup */
    nvic_enable_irq(NVIC_USB_LP_CAN_RX0_IRQ);
    nvic_set_priority(NVIC_USB_LP_CAN_RX0_IRQ, 1);

    /* Reset CAN */
    can_reset(CAN1);

    /* CAN cell init.
     * Setting the bitrate to 250kHz. APB1 = 36MHz, 
     * prescaler = 9 -> 4MHz time quanta frequency.
     * 1tq sync + 9tq bit segment1 (TS1) + 6tq bit segment2 (TS2) = 
     * 16time quanto per bit period, therefor 4MHz/16 = 250kHz
     */
    if (can_init(CAN1, false,	/* TTCM: Time triggered comm mode? */
		 true,		/* ABOM: Automatic bus-off management? */
		 false,		/* AWUM: Automatic wakeup mode? */
		 false,		/* NART: No automatic retransmission? */
		 false,		/* RFLM: Receive FIFO locked mode? */
		 false,		/* TXFP: Transmit FIFO priority? */
		 CAN_BTR_SJW_1TQ, CAN_BTR_TS1_9TQ, CAN_BTR_TS2_6TQ, 9, false, false)) {
	gpio_clear(GPIOC, GPIO13);	/* LED green on */

	/* Die because we failed to initialize. */
	while (1)
	    __asm__("nop");
    }

    /* CAN filter 0 init. */
    can_filter_id_mask_32bit_init(CAN1, 0,	/* Filter ID */
				  0,	/* CAN ID */
				  0,	/* CAN ID mask */
				  0,	/* FIFO assignment (here: FIFO0) */
				  true);	/* Enable the filter. */

    /* Enable CAN RX interrupt. */
    can_enable_irq(CAN1, CAN_IER_FMPIE0);
}
Esempio n. 3
0
void can_hw_init(void)
{

  /* Enable peripheral clocks. */
  rcc_periph_clock_enable(RCC_AFIO);
  rcc_periph_clock_enable(RCC_GPIOB);
  rcc_periph_clock_enable(RCC_CAN1);

  /* Remap the gpio pin if necessary. */
  AFIO_MAPR |= AFIO_MAPR_CAN1_REMAP_PORTB;

  /* Configure CAN pin: RX (input pull-up). */
  gpio_set_mode(GPIO_BANK_CAN1_PB_RX, GPIO_MODE_INPUT,
                GPIO_CNF_INPUT_PULL_UPDOWN, GPIO_CAN1_PB_RX);
  gpio_set(GPIO_BANK_CAN1_PB_RX, GPIO_CAN1_PB_RX);

  /* Configure CAN pin: TX (output push-pull). */
  gpio_set_mode(GPIO_BANK_CAN1_PB_TX, GPIO_MODE_OUTPUT_50_MHZ,
                GPIO_CNF_OUTPUT_ALTFN_PUSHPULL, GPIO_CAN1_PB_TX);

  /* NVIC setup. */
  nvic_enable_irq(NVIC_USB_LP_CAN_RX0_IRQ);
  nvic_set_priority(NVIC_USB_LP_CAN_RX0_IRQ, NVIC_USB_LP_CAN_RX0_IRQ_PRIO);

  /* Reset CAN. */
  can_reset(CAN1);

  /* CAN cell init.
   * For time quanta calculation see STM32 reference manual
   * section 24.7.7 "Bit timing" page 645
   *
   * To talk to CSC using LPC mcu we need a baud rate of 375kHz
   * The APB1 runs at 36MHz therefor we select a prescaler of 12
   * resulting in time quanta frequency of 36MHz / 12 = 3MHz
   *
   * As the Bit time is combined of 1tq for SYNC_SEG, TS1tq for bit
   * segment 1 and TS2tq for bit segment 2:
   * BITtq = 1tq + TS1tq + TS2tq
   *
   * We can choose to use TS1 = 3 and TS2 = 4 getting
   * 1tq + 3tq + 4tq = 8tq per bit therefor a bit frequency is
   * 3MHZ / 8 = 375kHz
   *
   * Maximum baud rate of CAN is 1MHz so we can choose to use
   * prescaler of 2 resulting in a quanta frequency of 36MHz / 2 = 18Mhz
   *
   * So we need to devide the frequency by 18. This can be accomplished
   * using TS1 = 10 and TS2 = 7 resulting in:
   * 1tq + 10tq + 7tq = 18tq
   *
   * NOTE: Although it is out of spec I managed to have CAN run at 2MBit
   * Just decrease the prescaler to 1. It worked for me(tm) (esden)
   */
  if (can_init(CAN1,
               false,           /* TTCM: Time triggered comm mode? */
               true,            /* ABOM: Automatic bus-off management? */
               false,           /* AWUM: Automatic wakeup mode? */
               false,           /* NART: No automatic retransmission? */
               false,           /* RFLM: Receive FIFO locked mode? */
               false,           /* TXFP: Transmit FIFO priority? */
               CAN_BTR_SJW_1TQ,
               CAN_BTR_TS1_10TQ,
               CAN_BTR_TS2_7TQ,
               2,               /* BRP+1: Baud rate prescaler */
               false,           /* loopback mode */
               false))          /* silent mode */
  {
    /* TODO we need something somewhere where we can leave a note
     * that CAN was unable to initialize. Just like any other
     * driver should...
     */

    can_reset(CAN1);

    return;
  }

  /* CAN filter 0 init. */
  can_filter_id_mask_32bit_init(CAN1,
                                0,     /* Filter ID */
                                0,     /* CAN ID */
                                0,     /* CAN ID mask */
                                0,     /* FIFO assignment (here: FIFO0) */
                                true); /* Enable the filter. */

  /* Enable CAN RX interrupt. */
  can_enable_irq(CAN1, CAN_IER_FMPIE0);

  /* Remember that we succeeded to initialize. */
  can_initialized = true;
}
Esempio n. 4
0
void can_setup(void)
{

	/* Enable peripheral clocks. */
	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_AFIOEN);
	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPAEN);
	rcc_peripheral_enable_clock(&RCC_APB1ENR, RCC_APB1ENR_CANEN);

	/* Configure CAN pin: RX */
	gpio_set_mode(GPIOA, GPIO_MODE_INPUT,
		      GPIO_CNF_INPUT_PULL_UPDOWN, GPIO_CAN_RX);
	gpio_set(GPIOA, GPIO_CAN_RX);

	/* Configure CAN pin: TX */
	gpio_set_mode(GPIOA, GPIO_MODE_OUTPUT_50_MHZ,
		      GPIO_CNF_OUTPUT_ALTFN_PUSHPULL, GPIO_CAN_TX);

	/* NVIC configuration */
	nvic_enable_irq(NVIC_USB_LP_CAN_RX0_IRQ);
	nvic_set_priority(NVIC_USB_LP_CAN_RX0_IRQ, 1);

	/* CAN register init */
	can_reset(CAN1);

	/* CAN cell init */
	if (can_init(CAN1,
		     false,           /* TTCM: Time triggered comm mode? */
		     true,            /* ABOM: Automatic bus-off management? */
		     false,           /* AWUM: Automatic wakeup mode? */
		     false,           /* NART: No automatic retransmission? */
		     false,           /* RFLM: Receive FIFO locked mode? */
		     false,           /* TXFP: Transmit FIFO priority? */
		     CAN_BTR_SJW_1TQ,
		     CAN_BTR_TS1_3TQ,
		     CAN_BTR_TS2_4TQ,
		     12,
		     false,
		     false))             /* BRP+1: Baud rate prescaler */
	{
		ON(LED_RED);
		OFF(LED_GREEN);
		OFF(LED_BLUE);
		OFF(LED_ORANGE);

		/* Die because we failed to initialize. */
		while (1)
			__asm__("nop");
	}

	/* CAN filter init */
	can_filter_id_mask_32bit_init(CAN1,
				      0,     /* Filter ID */
				      0,     /* CAN ID */
				      0,     /* CAN ID mask */
				      0,     /* FIFO assignment (here: FIFO0) */
				      true); /* Enable the filter. */

	/* transmit struct init */
	can_tx_msg.id = 0x0;
	can_tx_msg.rtr = false;
#ifdef CAN__USE_EXT_ID
	can_tx_msg.ide = true;
#else
	can_tx_msg.ide = false;
#endif
	can_tx_msg.dlc = 1;

	can_enable_irq(CAN1, CAN_IER_FMPIE0);
}
Esempio n. 5
0
void modcan_init(void)
{
	// enable the clocks
	rcc_periph_clock_enable(RCC_CAN1);
	rcc_periph_clock_enable(RCC_CAN2);
	rcc_periph_clock_enable(RCC_GPIOB);
	rcc_periph_clock_enable(RCC_GPIOA);

	// init pins
	gpio_mode_setup(GPIOB, GPIO_MODE_AF, GPIO_PUPD_PULLUP, GPIO5 | GPIO6 );
	gpio_set_af(GPIOB, GPIO_AF9, GPIO5 | GPIO6 );
	gpio_mode_setup(GPIOA, GPIO_MODE_AF, GPIO_PUPD_PULLUP, GPIO11 | GPIO12 );
	gpio_set_af(GPIOA, GPIO_AF9, GPIO11 | GPIO12 );
	gpio_set_output_options(GPIOB, GPIO_OTYPE_OD, GPIO_OSPEED_25MHZ, GPIO6 );
	gpio_set_output_options(GPIOA, GPIO_OTYPE_OD, GPIO_OSPEED_25MHZ, GPIO12 );

	can_reset(CAN1);
	can_reset(CAN2);

	can_leave_sleep_mode(CAN1);
	can_leave_sleep_mode(CAN2);

	struct can_timing ct;
	can_timing_init(&ct, CAN_FREQ_500K, CAN_SAMPLE_75);

	//uint32_t canfreq = can_timing_getfreq(&ct);

	if (can_enter_init_mode_blocking(CAN1)) {
		can_mode_set_autobusoff(CAN1, true);
		can_mode_set_timetriggered(CAN1, true);
		can_timing_set(CAN1, &ct);
		can_filter_set_slave_start(CAN1, 5);

		//CAN_MCR(CAN1) &= ~CAN_MCR_DBF;

		can_filter_init_enter(CAN1);
		can_filter_set_mask32(CAN1, 0, 0, MOB_ANY, MOB_ANY);
		can_filter_set_mask32(CAN1, 5, 0, MOB_ANY, MOB_ANY);
		can_filter_init_leave(CAN1);

		can_leave_init_mode_blocking(CAN1);
	}

	if (can_enter_init_mode_blocking(CAN2)) {
		can_mode_set_autobusoff(CAN2, true);
		can_mode_set_timetriggered(CAN2, true);
		can_timing_set(CAN2, &ct);


		can_leave_init_mode_blocking(CAN2);
	}

	nvic_enable_irq(NVIC_CAN1_RX0_IRQ);
	nvic_enable_irq(NVIC_CAN1_RX1_IRQ);
	nvic_enable_irq(NVIC_CAN2_RX0_IRQ);
	nvic_enable_irq(NVIC_CAN2_RX1_IRQ);
	nvic_enable_irq(NVIC_CAN1_SCE_IRQ);
	nvic_enable_irq(NVIC_CAN2_SCE_IRQ);
	nvic_enable_irq(NVIC_CAN1_TX_IRQ);
	nvic_enable_irq(NVIC_CAN2_TX_IRQ);

	nvic_set_priority(NVIC_CAN1_RX0_IRQ, 1);
	nvic_set_priority(NVIC_CAN1_RX1_IRQ, 1);
	nvic_set_priority(NVIC_CAN2_RX0_IRQ, 1);
	nvic_set_priority(NVIC_CAN2_RX1_IRQ, 1);
	nvic_set_priority(NVIC_CAN1_SCE_IRQ, 1);
	nvic_set_priority(NVIC_CAN2_SCE_IRQ, 1);
	nvic_set_priority(NVIC_CAN1_TX_IRQ, 1);
	nvic_set_priority(NVIC_CAN2_TX_IRQ, 1);

	/* Enable CAN RX interrupt. */
	can_enable_irq(CAN1, CAN_IER_FMPIE0 | CAN_IER_FMPIE1 | CAN_IER_TMEIE);
	can_enable_irq(CAN2, CAN_IER_FMPIE0 | CAN_IER_FMPIE1 | CAN_IER_TMEIE);
}