diff options
| -rw-r--r-- | bsp/stm32f10x/applications/canapp.c | 275 | ||||
| -rw-r--r-- | bsp/stm32f10x/drivers/bxcan.c | 2016 |
2 files changed, 1279 insertions, 1012 deletions
diff --git a/bsp/stm32f10x/applications/canapp.c b/bsp/stm32f10x/applications/canapp.c index 01ca1c9cbb..9789bc6c0b 100644 --- a/bsp/stm32f10x/applications/canapp.c +++ b/bsp/stm32f10x/applications/canapp.c @@ -8,29 +8,129 @@ * http://www.rt-thread.org/license/LICENSE * * Change Logs: - * Date Author Notes - * 2015-05-14 [email protected] first version + * Date Author Notes + * 2015-05-14 [email protected] first version */ -#ifdef RT_USING_CAN #include <board.h> #include <rtthread.h> #include <rtdevice.h> +#ifdef RT_USING_CAN +#define CANRT1 8 +#define CANERR1 9 +#define CANRT2 37 +#define CANERR2 38 +static struct canledtype +{ + struct stm32_hw_pin_userdata rtd; + struct stm32_hw_pin_userdata err; +} canled[] = +{ +#ifdef USING_BXCAN1 + { + {CANRT1, PIN_MODE_OUTPUT_OD,}, + {CANERR1, PIN_MODE_OUTPUT_OD,}, + }, +#endif /*USING_BXCAN1*/ +#ifdef USING_BXCAN2 + { + {CANRT2, PIN_MODE_OUTPUT_OD,}, + {CANERR2, PIN_MODE_OUTPUT_OD,}, + }, +#endif /*USING_BXCAN2*/ +}; +void can_bus_hook(struct rt_can_device *can, struct canledtype *led) +{ + if (can->timerinitflag == 1) + { + rt_pin_write(led->rtd.pin, 0); + } + else + { + if (can->status.rcvchange == 1 || can->status.sndchange == 1) + { + can->status.rcvchange = 0; + can->status.sndchange = 0; + rt_pin_write(led->rtd.pin, rt_pin_read(led->rtd.pin) ? 0 : 1); + } + else + { + rt_pin_write(led->rtd.pin, 1); + } + } + if (can->timerinitflag == 1) + { + rt_pin_write(led->err.pin, 0); + } + else + { + if (can->status.errcode) + { + rt_pin_write(led->err.pin, 0); + } + else + { + rt_pin_write(led->err.pin, 1); + } + } +} +#ifdef USING_BXCAN1 +void can1_bus_hook(struct rt_can_device *can) +{ + static rt_int32_t inited = 0; + if (!inited) + { + inited = 1; + rt_pin_mode(canled[0].rtd.pin, canled[0].rtd.mode); + rt_pin_mode(canled[0].err.pin, canled[0].err.mode); + } + can_bus_hook(can, &canled[0]); +} +#endif /*USING_BXCAN1*/ +#ifdef USING_BXCAN2 +void can2_bus_hook(struct rt_can_device *can) +{ + static rt_int32_t inited = 0; + if (!inited) + { + inited = 1; + rt_pin_mode(canled[1].rtd.pin, canled[1].rtd.mode); + rt_pin_mode(canled[1].err.pin, canled[1].err.mode); + } + can_bus_hook(can, &canled[1]); +} +#endif /*USING_BXCAN2*/ +int can_bus_hook_init(void) +{ + rt_device_t candev; +#ifdef USING_BXCAN1 + candev = rt_device_find("bxcan1"); + RT_ASSERT(candev); + rt_device_control(candev, RT_CAN_CMD_SET_BUS_HOOK, (void *)can1_bus_hook); +#endif /*USING_BXCAN1*/ +#ifdef USING_BXCAN2 + candev = rt_device_find("bxcan2"); + RT_ASSERT(candev); + rt_device_control(candev, RT_CAN_CMD_SET_BUS_HOOK, (void *)can2_bus_hook); +#endif /*USING_BXCAN2*/ + return RT_EOK; +} +INIT_DEVICE_EXPORT(can_bus_hook_init); struct can_app_struct { - const char* name; + const char *name; struct rt_event event; - struct rt_can_filter_config * filter; + struct rt_can_filter_config *filter; rt_uint8_t eventopt; }; static struct can_app_struct can_data[2]; -static rt_err_t can1ind(rt_device_t dev, void* args, rt_int32_t hdr, rt_size_t size) +static rt_err_t can1ind(rt_device_t dev, void *args, rt_int32_t hdr, rt_size_t size) { rt_event_t pevent = (rt_event_t)args; rt_event_send(pevent, 1 << (hdr)); return RT_EOK; } -static rt_err_t can2ind(rt_device_t dev, void* args, rt_int32_t hdr, rt_size_t size) +static rt_err_t can2ind(rt_device_t dev, void *args, rt_int32_t hdr, rt_size_t size) { rt_event_t pevent = (rt_event_t)args; rt_event_send(pevent, 1 << (hdr)); @@ -38,106 +138,117 @@ static rt_err_t can2ind(rt_device_t dev, void* args, rt_int32_t hdr, rt_size_t } struct rt_can_filter_item filter1item[4] = { - RT_CAN_FILTER_STD_INIT(1,can1ind,&can_data[0].event), - RT_CAN_FILTER_STD_INIT(2,can1ind,&can_data[0].event), - RT_CAN_STD_RMT_FILTER_INIT(3,can1ind,&can_data[0].event), - RT_CAN_STD_RMT_DATA_FILTER_INIT(4,can1ind,&can_data[0].event), + RT_CAN_FILTER_STD_INIT(1, can1ind, &can_data[0].event), + RT_CAN_FILTER_STD_INIT(2, can1ind, &can_data[0].event), + RT_CAN_STD_RMT_FILTER_INIT(3, can1ind, &can_data[0].event), + RT_CAN_STD_RMT_DATA_FILTER_INIT(4, can1ind, &can_data[0].event), }; struct rt_can_filter_item filter2item[4] = { - RT_CAN_FILTER_STD_INIT(1,can2ind,&can_data[1].event), - RT_CAN_FILTER_STD_INIT(2,can2ind,&can_data[1].event), - RT_CAN_STD_RMT_FILTER_INIT(3,can2ind,&can_data[1].event), - RT_CAN_STD_RMT_DATA_FILTER_INIT(4,can2ind,&can_data[1].event), + RT_CAN_FILTER_STD_INIT(1, can2ind, &can_data[1].event), + RT_CAN_FILTER_STD_INIT(2, can2ind, &can_data[1].event), + RT_CAN_STD_RMT_FILTER_INIT(3, can2ind, &can_data[1].event), + RT_CAN_STD_RMT_DATA_FILTER_INIT(4, can2ind, &can_data[1].event), }; struct rt_can_filter_config filter1 = { - .count = 4, - .actived = 1, - .items = filter1item, + .count = 4, + .actived = 1, + .items = filter1item, }; struct rt_can_filter_config filter2 = { - .count = 4, - .actived = 1, - .items = filter2item, + .count = 4, + .actived = 1, + .items = filter2item, }; -static struct can_app_struct can_data[2] = { +static struct can_app_struct can_data[2] = +{ { - .name = "bxcan1", - .filter = &filter1, - .eventopt = RT_EVENT_FLAG_OR | RT_EVENT_FLAG_CLEAR, + .name = "bxcan1", + .filter = &filter1, + .eventopt = RT_EVENT_FLAG_OR | RT_EVENT_FLAG_CLEAR, }, { - .name = "bxcan2", - .filter = &filter2, - .eventopt = RT_EVENT_FLAG_AND | RT_EVENT_FLAG_CLEAR, + .name = "bxcan2", + .filter = &filter2, + .eventopt = RT_EVENT_FLAG_AND | RT_EVENT_FLAG_CLEAR, }, }; -void rt_can_thread_entry(void* parameter) +void rt_can_thread_entry(void *parameter) { - struct rt_can_msg msg; - struct can_app_struct* canpara = (struct can_app_struct*) parameter; - rt_device_t candev; - rt_uint32_t e; + struct rt_can_msg msg; + struct can_app_struct *canpara = (struct can_app_struct *) parameter; + rt_device_t candev; + rt_uint32_t e; - candev = rt_device_find(canpara->name); - RT_ASSERT(candev); - rt_event_init(&canpara->event, canpara->name, RT_IPC_FLAG_FIFO); - rt_device_open(candev, (RT_DEVICE_OFLAG_RDWR | RT_DEVICE_FLAG_INT_RX | RT_DEVICE_FLAG_INT_TX)); - rt_device_control(candev,RT_CAN_CMD_SET_FILTER,canpara->filter); - while(1) { - if ( - rt_event_recv(&canpara->event, - ((1 << canpara->filter->items[0].hdr) | - (1 << canpara->filter->items[1].hdr) | - (1 << canpara->filter->items[2].hdr) | - (1 << canpara->filter->items[3].hdr)), - canpara->eventopt, - RT_WAITING_FOREVER, &e) != RT_EOK - ) { - continue; - } - if(e & (1 << canpara->filter->items[0].hdr)) { - msg.hdr = canpara->filter->items[0].hdr; - while (rt_device_read(candev, 0, &msg, sizeof(msg)) == sizeof(msg)) { - rt_device_write(candev, 0, &msg, sizeof(msg)); - } - } - if(e & (1 << canpara->filter->items[1].hdr)) { - msg.hdr = canpara->filter->items[1].hdr; - while (rt_device_read(candev, 0, &msg, sizeof(msg)) == sizeof(msg)) { - rt_device_write(candev, 0, &msg, sizeof(msg)); - } - } - if(e & (1 << canpara->filter->items[2].hdr)) { - msg.hdr = canpara->filter->items[2].hdr; - while (rt_device_read(candev, 0, &msg, sizeof(msg)) == sizeof(msg)) { - rt_device_write(candev, 0, &msg, sizeof(msg)); - } - } - if(e & (1 << canpara->filter->items[3].hdr)) { - msg.hdr = canpara->filter->items[3].hdr; - while (rt_device_read(candev, 0, &msg, sizeof(msg)) == sizeof(msg)) { - rt_device_write(candev, 0, &msg, sizeof(msg)); - } - } - } + candev = rt_device_find(canpara->name); + RT_ASSERT(candev); + rt_event_init(&canpara->event, canpara->name, RT_IPC_FLAG_FIFO); + rt_device_open(candev, (RT_DEVICE_OFLAG_RDWR | RT_DEVICE_FLAG_INT_RX | RT_DEVICE_FLAG_INT_TX)); + rt_device_control(candev, RT_CAN_CMD_SET_FILTER, canpara->filter); + while (1) + { + if ( + rt_event_recv(&canpara->event, + ((1 << canpara->filter->items[0].hdr) | + (1 << canpara->filter->items[1].hdr) | + (1 << canpara->filter->items[2].hdr) | + (1 << canpara->filter->items[3].hdr)), + canpara->eventopt, + RT_WAITING_FOREVER, &e) != RT_EOK + ) + { + continue; + } + if (e & (1 << canpara->filter->items[0].hdr)) + { + msg.hdr = canpara->filter->items[0].hdr; + while (rt_device_read(candev, 0, &msg, sizeof(msg)) == sizeof(msg)) + { + rt_device_write(candev, 0, &msg, sizeof(msg)); + } + } + if (e & (1 << canpara->filter->items[1].hdr)) + { + msg.hdr = canpara->filter->items[1].hdr; + while (rt_device_read(candev, 0, &msg, sizeof(msg)) == sizeof(msg)) + { + rt_device_write(candev, 0, &msg, sizeof(msg)); + } + } + if (e & (1 << canpara->filter->items[2].hdr)) + { + msg.hdr = canpara->filter->items[2].hdr; + while (rt_device_read(candev, 0, &msg, sizeof(msg)) == sizeof(msg)) + { + rt_device_write(candev, 0, &msg, sizeof(msg)); + } + } + if (e & (1 << canpara->filter->items[3].hdr)) + { + msg.hdr = canpara->filter->items[3].hdr; + while (rt_device_read(candev, 0, &msg, sizeof(msg)) == sizeof(msg)) + { + rt_device_write(candev, 0, &msg, sizeof(msg)); + } + } + } } int rt_can_app_init(void) { rt_thread_t tid; - + tid = rt_thread_create("canapp1", - rt_can_thread_entry, &can_data[0], - 512, RT_THREAD_PRIORITY_MAX /3 - 1, 20); + rt_can_thread_entry, &can_data[0], + 512, RT_THREAD_PRIORITY_MAX / 3 - 1, 20); if (tid != RT_NULL) rt_thread_startup(tid); - + tid = rt_thread_create("canapp2", - rt_can_thread_entry, &can_data[1], - 512, RT_THREAD_PRIORITY_MAX /3 - 1, 20); + rt_can_thread_entry, &can_data[1], + 512, RT_THREAD_PRIORITY_MAX / 3 - 1, 20); if (tid != RT_NULL) rt_thread_startup(tid); - + return 0; } diff --git a/bsp/stm32f10x/drivers/bxcan.c b/bsp/stm32f10x/drivers/bxcan.c index 6f1f05c32b..59daea593d 100644 --- a/bsp/stm32f10x/drivers/bxcan.c +++ b/bsp/stm32f10x/drivers/bxcan.c @@ -8,8 +8,8 @@ * http://www.rt-thread.org/license/LICENSE * * Change Logs: - * Date Author Notes - * 2015-05-14 [email protected] first version + * Date Author Notes + * 2015-05-14 [email protected] first version */ #include <rthw.h> #include <rtdevice.h> @@ -32,26 +32,28 @@ #define BX_CAN_MAX_FILTER_MASKS BX_CAN_MAX_FILTERS #define BX_CAN_FILTER_MAX_ARRAY_SIZE ((BX_CAN_MAX_FILTERS + 32 - 1) / 32) -struct stm_bxcanfiltermap { +struct stm_bxcanfiltermap +{ rt_uint32_t id32mask_cnt; rt_uint32_t id32bit_cnt; rt_uint32_t id16mask_cnt; rt_uint32_t id16bit_cnt; }; -struct stm_bxcanfilter_masks { - rt_uint32_t id32maskm[BX_CAN_FILTER_MAX_ARRAY_SIZE]; - rt_uint32_t id32bitm[BX_CAN_FILTER_MAX_ARRAY_SIZE]; - rt_uint32_t id16maskm[BX_CAN_FILTER_MAX_ARRAY_SIZE]; - rt_uint32_t id16bitm[BX_CAN_FILTER_MAX_ARRAY_SIZE]; - rt_uint32_t id32maskshift[2]; - rt_uint32_t id32bitshift[2]; - rt_uint32_t id16maskshift[2]; - rt_uint32_t id16bitshift[2]; +struct stm_bxcanfilter_masks +{ + rt_uint32_t id32maskm[BX_CAN_FILTER_MAX_ARRAY_SIZE]; + rt_uint32_t id32bitm[BX_CAN_FILTER_MAX_ARRAY_SIZE]; + rt_uint32_t id16maskm[BX_CAN_FILTER_MAX_ARRAY_SIZE]; + rt_uint32_t id16bitm[BX_CAN_FILTER_MAX_ARRAY_SIZE]; + rt_uint32_t id32maskshift[2]; + rt_uint32_t id32bitshift[2]; + rt_uint32_t id16maskshift[2]; + rt_uint32_t id16bitshift[2]; }; struct stm_bxcan { - CAN_TypeDef* reg; - void* mfrbase; + CAN_TypeDef *reg; + void *mfrbase; IRQn_Type sndirq; IRQn_Type rcvirq0; IRQn_Type rcvirq1; @@ -68,62 +70,80 @@ static void bxcan1_filter_init(struct rt_can_device *can) rt_uint32_t i; rt_uint32_t mask; struct stm_bxcan *pbxcan = (struct stm_bxcan *) can->parent.user_data; - for(i = 0; i < BX_CAN2_FMRSTART; i++) { + for (i = 0; i < BX_CAN2_FMRSTART; i++) + { CAN1->FMR |= FMR_FINIT; mask = 0x01 << (i + 0); - if(i < pbxcan->fifo1filteroff) { - if(pbxcan->filtermap[0].id32mask_cnt && i < pbxcan->filtermap[0].id32mask_cnt) { - CAN1->FS1R |= mask; - CAN1->FM1R &= ~mask; - CAN1->FFA1R &= ~mask; - } else if(pbxcan->filtermap[0].id32bit_cnt && - i < pbxcan->filtermap[0].id32mask_cnt + pbxcan->filtermap[0].id32bit_cnt /2) { - CAN1->FS1R |= mask; - CAN1->FM1R |= mask; - CAN1->FFA1R &= ~mask; - } else if(pbxcan->filtermap[0].id16mask_cnt && - i < pbxcan->filtermap[0].id32mask_cnt + pbxcan->filtermap[0].id32bit_cnt /2 - + pbxcan->filtermap[0].id16mask_cnt /2) { - CAN1->FS1R &= ~mask; - CAN1->FM1R &= ~mask; - CAN1->FFA1R &= ~mask; - } else if(pbxcan->filtermap[0].id16bit_cnt && - i < pbxcan->filtermap[0].id32mask_cnt + pbxcan->filtermap[0].id32bit_cnt /2 - + pbxcan->filtermap[0].id16mask_cnt /2 + pbxcan->filtermap[0].id16bit_cnt / 4 - ) { - CAN1->FS1R &= ~mask; - CAN1->FM1R |= mask; - CAN1->FFA1R &= ~mask; - } - } else { - if(pbxcan->filtermap[1].id32mask_cnt && - i < pbxcan->filtermap[1].id32mask_cnt + pbxcan->fifo1filteroff) { - CAN1->FS1R |= mask; - CAN1->FM1R &= ~mask; - CAN1->FFA1R |= mask; - } else if(pbxcan->filtermap[1].id32bit_cnt && - i < pbxcan->filtermap[1].id32mask_cnt + pbxcan->filtermap[1].id32bit_cnt /2 - + pbxcan->fifo1filteroff) { - CAN1->FS1R |= mask; - CAN1->FM1R |= mask; - CAN1->FFA1R |= mask; - } else if(pbxcan->filtermap[1].id16mask_cnt && - i < pbxcan->filtermap[1].id32mask_cnt + pbxcan->filtermap[1].id32bit_cnt /2 - + pbxcan->filtermap[1].id16mask_cnt / 2 + pbxcan->fifo1filteroff) { - CAN1->FS1R &= ~mask; - CAN1->FM1R &= ~mask; - CAN1->FFA1R |= mask; - } else if(pbxcan->filtermap[1].id16bit_cnt && - i < pbxcan->filtermap[1].id32mask_cnt + pbxcan->filtermap[1].id32bit_cnt /2 - + pbxcan->filtermap[1].id16mask_cnt /2 + pbxcan->filtermap[1].id16bit_cnt / 4 - + pbxcan->fifo1filteroff) { - CAN1->FS1R &= ~mask; - CAN1->FM1R |= mask; - CAN1->FFA1R |= mask; - } + if (i < pbxcan->fifo1filteroff) + { + if (pbxcan->filtermap[0].id32mask_cnt && i < pbxcan->filtermap[0].id32mask_cnt) + { + CAN1->FS1R |= mask; + CAN1->FM1R &= ~mask; + CAN1->FFA1R &= ~mask; + } + else if (pbxcan->filtermap[0].id32bit_cnt && + i < pbxcan->filtermap[0].id32mask_cnt + pbxcan->filtermap[0].id32bit_cnt / 2) + { + CAN1->FS1R |= mask; + CAN1->FM1R |= mask; + CAN1->FFA1R &= ~mask; + } + else if (pbxcan->filtermap[0].id16mask_cnt && + i < pbxcan->filtermap[0].id32mask_cnt + pbxcan->filtermap[0].id32bit_cnt / 2 + + pbxcan->filtermap[0].id16mask_cnt / 2) + { + CAN1->FS1R &= ~mask; + CAN1->FM1R &= ~mask; + CAN1->FFA1R &= ~mask; + } + else if (pbxcan->filtermap[0].id16bit_cnt && + i < pbxcan->filtermap[0].id32mask_cnt + pbxcan->filtermap[0].id32bit_cnt / 2 + + pbxcan->filtermap[0].id16mask_cnt / 2 + pbxcan->filtermap[0].id16bit_cnt / 4 + ) + { + CAN1->FS1R &= ~mask; + CAN1->FM1R |= mask; + CAN1->FFA1R &= ~mask; + } + } + else + { + if (pbxcan->filtermap[1].id32mask_cnt && + i < pbxcan->filtermap[1].id32mask_cnt + pbxcan->fifo1filteroff) + { + CAN1->FS1R |= mask; + CAN1->FM1R &= ~mask; + CAN1->FFA1R |= mask; + } + else if (pbxcan->filtermap[1].id32bit_cnt && + i < pbxcan->filtermap[1].id32mask_cnt + pbxcan->filtermap[1].id32bit_cnt / 2 + + pbxcan->fifo1filteroff) + { + CAN1->FS1R |= mask; + CAN1->FM1R |= mask; + CAN1->FFA1R |= mask; + } + else if (pbxcan->filtermap[1].id16mask_cnt && + i < pbxcan->filtermap[1].id32mask_cnt + pbxcan->filtermap[1].id32bit_cnt / 2 + + pbxcan->filtermap[1].id16mask_cnt / 2 + pbxcan->fifo1filteroff) + { + CAN1->FS1R &= ~mask; + CAN1->FM1R &= ~mask; + CAN1->FFA1R |= mask; + } + else if (pbxcan->filtermap[1].id16bit_cnt && + i < pbxcan->filtermap[1].id32mask_cnt + pbxcan->filtermap[1].id32bit_cnt / 2 + + pbxcan->filtermap[1].id16mask_cnt / 2 + pbxcan->filtermap[1].id16bit_cnt / 4 + + pbxcan->fifo1filteroff) + { + CAN1->FS1R &= ~mask; + CAN1->FM1R |= mask; + CAN1->FFA1R |= mask; + } } - CAN1->sFilterRegister[i].FR1 = 0xFFFFFFFF; - CAN1->sFilterRegister[i].FR2 = 0xFFFFFFFF; + CAN1->sFilterRegister[i].FR1 = 0xFFFFFFFF; + CAN1->sFilterRegister[i].FR2 = 0xFFFFFFFF; CAN1->FMR &= ~FMR_FINIT; } calcfiltermasks(pbxcan); @@ -135,63 +155,81 @@ static void bxcan2_filter_init(struct rt_can_device *can) rt_uint32_t mask; CAN_SlaveStartBank(BX_CAN2_FMRSTART); struct stm_bxcan *pbxcan = (struct stm_bxcan *) can->parent.user_data; - for(i = BX_CAN2_FMRSTART; i < BX_CAN_FMRNUMBER; i++) { + for (i = BX_CAN2_FMRSTART; i < BX_CAN_FMRNUMBER; i++) + { CAN1->FMR |= FMR_FINIT; mask = 0x01 << (i + 0); off = i - BX_CAN2_FMRSTART; - if(off < pbxcan->fifo1filteroff) { - if(pbxcan->filtermap[0].id32mask_cnt && off < pbxcan->filtermap[0].id32mask_cnt) { - CAN1->FS1R |= mask; - CAN1->FM1R &= ~mask; - CAN1->FFA1R &= ~mask; - } else if(pbxcan->filtermap[0].id32bit_cnt && - off < pbxcan->filtermap[0].id32mask_cnt + pbxcan->filtermap[0].id32bit_cnt /2) { - CAN1->FS1R |= mask; - CAN1->FM1R |= mask; - CAN1->FFA1R &= ~mask; - } else if(pbxcan->filtermap[0].id16mask_cnt && - off < pbxcan->filtermap[0].id32mask_cnt + pbxcan->filtermap[0].id32bit_cnt /2 - + pbxcan->filtermap[0].id16mask_cnt /2) { - CAN1->FS1R &= ~mask; - CAN1->FM1R &= ~mask; - CAN1->FFA1R &= ~mask; - } else if(pbxcan->filtermap[0].id16bit_cnt && - off < pbxcan->filtermap[0].id32mask_cnt + pbxcan->filtermap[0].id32bit_cnt /2 - + pbxcan->filtermap[0].id16mask_cnt /2 + pbxcan->filtermap[0].id16bit_cnt / 4 - ) { - CAN1->FS1R &= ~mask; - CAN1->FM1R |= mask; - CAN1->FFA1R &= ~mask; - } - } else { - if(pbxcan->filtermap[1].id32mask_cnt && - off < pbxcan->filtermap[1].id32mask_cnt + pbxcan->fifo1filteroff) { - CAN1->FS1R |= mask; - CAN1->FM1R &= ~mask; - CAN1->FFA1R |= mask; - } else if(pbxcan->filtermap[1].id32bit_cnt && - off < pbxcan->filtermap[1].id32mask_cnt + pbxcan->filtermap[1].id32bit_cnt /2 - + pbxcan->fifo1filteroff) { - CAN1->FS1R |= mask; - CAN1->FM1R |= mask; - CAN1->FFA1R |= mask; - } else if(pbxcan->filtermap[1].id16mask_cnt && - off < pbxcan->filtermap[1].id32mask_cnt + pbxcan->filtermap[1].id32bit_cnt /2 - + pbxcan->filtermap[1].id16mask_cnt / 2 + pbxcan->fifo1filteroff) { - CAN1->FS1R &= ~mask; - CAN1->FM1R &= ~mask; - CAN1->FFA1R |= mask; - } else if(pbxcan->filtermap[1].id16bit_cnt && - off < pbxcan->filtermap[1].id32mask_cnt + pbxcan->filtermap[1].id32bit_cnt /2 - + pbxcan->filtermap[1].id16mask_cnt /2 + pbxcan->filtermap[1].id16bit_cnt / 4 - + pbxcan->fifo1filteroff) { - CAN1->FS1R &= ~mask; - CAN1->FM1R |= mask; - CAN1->FFA1R |= mask; - } + if (off < pbxcan->fifo1filteroff) + { + if (pbxcan->filtermap[0].id32mask_cnt && off < pbxcan->filtermap[0].id32mask_cnt) + { + CAN1->FS1R |= mask; + CAN1->FM1R &= ~mask; + CAN1->FFA1R &= ~mask; + } + else if (pbxcan->filtermap[0].id32bit_cnt && + off < pbxcan->filtermap[0].id32mask_cnt + pbxcan->filtermap[0].id32bit_cnt / 2) + { + CAN1->FS1R |= mask; + CAN1->FM1R |= mask; + CAN1->FFA1R &= ~mask; + } + else if (pbxcan->filtermap[0].id16mask_cnt && + off < pbxcan->filtermap[0].id32mask_cnt + pbxcan->filtermap[0].id32bit_cnt / 2 + + pbxcan->filtermap[0].id16mask_cnt / 2) + { + CAN1->FS1R &= ~mask; + CAN1->FM1R &= ~mask; + CAN1->FFA1R &= ~mask; + } + else if (pbxcan->filtermap[0].id16bit_cnt && + off < pbxcan->filtermap[0].id32mask_cnt + pbxcan->filtermap[0].id32bit_cnt / 2 + + pbxcan->filtermap[0].id16mask_cnt / 2 + pbxcan->filtermap[0].id16bit_cnt / 4 + ) + { + CAN1->FS1R &= ~mask; + CAN1->FM1R |= mask; + CAN1->FFA1R &= ~mask; + } } - CAN1->sFilterRegister[i].FR1 = 0xFFFFFFFF; - CAN1->sFilterRegister[i].FR2 = 0xFFFFFFFF; + else + { + if (pbxcan->filtermap[1].id32mask_cnt && + off < pbxcan->filtermap[1].id32mask_cnt + pbxcan->fifo1filteroff) + { + CAN1->FS1R |= mask; + CAN1->FM1R &= ~mask; + CAN1->FFA1R |= mask; + } + else if (pbxcan->filtermap[1].id32bit_cnt && + off < pbxcan->filtermap[1].id32mask_cnt + pbxcan->filtermap[1].id32bit_cnt / 2 + + pbxcan->fifo1filteroff) + { + CAN1->FS1R |= mask; + CAN1->FM1R |= mask; + CAN1->FFA1R |= mask; + } + else if (pbxcan->filtermap[1].id16mask_cnt && + off < pbxcan->filtermap[1].id32mask_cnt + pbxcan->filtermap[1].id32bit_cnt / 2 + + pbxcan->filtermap[1].id16mask_cnt / 2 + pbxcan->fifo1filteroff) + { + CAN1->FS1R &= ~mask; + CAN1->FM1R &= ~mask; + CAN1->FFA1R |= mask; + } + else if (pbxcan->filtermap[1].id16bit_cnt && + off < pbxcan->filtermap[1].id32mask_cnt + pbxcan->filtermap[1].id32bit_cnt / 2 + + pbxcan->filtermap[1].id16mask_cnt / 2 + pbxcan->filtermap[1].id16bit_cnt / 4 + + pbxcan->fifo1filteroff) + { + CAN1->FS1R &= ~mask; + CAN1->FM1R |= mask; + CAN1->FFA1R |= mask; + } + } + CAN1->sFilterRegister[i].FR1 = 0xFFFFFFFF; + CAN1->sFilterRegister[i].FR2 = 0xFFFFFFFF; CAN1->FMR &= ~FMR_FINIT; } calcfiltermasks(pbxcan); @@ -207,212 +245,212 @@ static void bxcan2_filter_init(struct rt_can_device *can) #define MK_BKCAN_BAUD(SJW,BS1,BS2,PRES) \ ((SJW << SJWSHIFT) | (BS1 << BS1SHIFT) | (BS2 << BS2SHIFT) | (PRES << RRESCLSHIFT)) - + static const rt_uint32_t bxcan_baud_rate_tab[] = { // 48 M - MK_BKCAN_BAUD(CAN_SJW_2tq,CAN_BS1_12tq,CAN_BS2_3tq,3), - MK_BKCAN_BAUD(CAN_SJW_2tq,CAN_BS1_6tq,CAN_BS2_3tq,6), - MK_BKCAN_BAUD(CAN_SJW_2tq,CAN_BS1_12tq,CAN_BS2_3tq,5), - MK_BKCAN_BAUD(CAN_SJW_2tq,CAN_BS1_12tq,CAN_BS2_3tq,11), - MK_BKCAN_BAUD(CAN_SJW_2tq,CAN_BS1_12tq,CAN_BS2_3tq,23), - MK_BKCAN_BAUD(CAN_SJW_2tq,CAN_BS1_12tq,CAN_BS2_3tq,29), - MK_BKCAN_BAUD(CAN_SJW_2tq,CAN_BS1_12tq,CAN_BS2_3tq,59), - MK_BKCAN_BAUD(CAN_SJW_2tq,CAN_BS1_14tq,CAN_BS2_3tq,149), - MK_BKCAN_BAUD(CAN_SJW_2tq,CAN_BS1_16tq,CAN_BS2_8tq,199), + MK_BKCAN_BAUD(CAN_SJW_2tq, CAN_BS1_12tq, CAN_BS2_3tq, 3), + MK_BKCAN_BAUD(CAN_SJW_2tq, CAN_BS1_6tq, CAN_BS2_3tq, 6), + MK_BKCAN_BAUD(CAN_SJW_2tq, CAN_BS1_12tq, CAN_BS2_3tq, 5), + MK_BKCAN_BAUD(CAN_SJW_2tq, CAN_BS1_12tq, CAN_BS2_3tq, 11), + MK_BKCAN_BAUD(CAN_SJW_2tq, CAN_BS1_12tq, CAN_BS2_3tq, 23), + MK_BKCAN_BAUD(CAN_SJW_2tq, CAN_BS1_12tq, CAN_BS2_3tq, 29), + MK_BKCAN_BAUD(CAN_SJW_2tq, CAN_BS1_12tq, CAN_BS2_3tq, 59), + MK_BKCAN_BAUD(CAN_SJW_2tq, CAN_BS1_14tq, CAN_BS2_3tq, 149), + MK_BKCAN_BAUD(CAN_SJW_2tq, CAN_BS1_16tq, CAN_BS2_8tq, 199), }; #define BAUD_DATA(TYPE,NO) \ ((bxcan_baud_rate_tab[NO] & TYPE##MASK) >> TYPE##SHIFT) -static void bxcan_init(CAN_TypeDef* pcan, rt_uint32_t baud, rt_uint32_t mode) +static void bxcan_init(CAN_TypeDef *pcan, rt_uint32_t baud, rt_uint32_t mode) { - CAN_InitTypeDef CAN_InitStructure; + CAN_InitTypeDef CAN_InitStructure; - CAN_InitStructure.CAN_TTCM = DISABLE; - CAN_InitStructure.CAN_ABOM = ENABLE; - CAN_InitStructure.CAN_AWUM = DISABLE; - CAN_InitStructure.CAN_NART = DISABLE; - CAN_InitStructure.CAN_RFLM = DISABLE; - CAN_InitStructure.CAN_TXFP = ENABLE; - switch(mode) - { - case RT_CAN_MODE_NORMAL: + CAN_InitStructure.CAN_TTCM = DISABLE; + CAN_InitStructure.CAN_ABOM = ENABLE; + CAN_InitStructure.CAN_AWUM = DISABLE; + CAN_InitStructure.CAN_NART = DISABLE; + CAN_InitStructure.CAN_RFLM = DISABLE; + CAN_InitStructure.CAN_TXFP = ENABLE; + switch (mode) + { + case RT_CAN_MODE_NORMAL: CAN_InitStructure.CAN_Mode = CAN_Mode_Normal; - break; - case RT_CAN_MODE_LISEN: + break; + case RT_CAN_MODE_LISEN: CAN_InitStructure.CAN_Mode = CAN_Mode_Silent; - break; - case RT_CAN_MODE_LOOPBACK: + break; + case RT_CAN_MODE_LOOPBACK: CAN_InitStructure.CAN_Mode = CAN_Mode_LoopBack; - break; - case RT_CAN_MODE_LOOPBACKANLISEN: + break; + case RT_CAN_MODE_LOOPBACKANLISEN: CAN_InitStructure.CAN_Mode = CAN_Mode_Silent_LoopBack; - break; - } - CAN_InitStructure.CAN_SJW = BAUD_DATA(SJW,baud); - CAN_InitStructure.CAN_BS1 = BAUD_DATA(BS1,baud); - CAN_InitStructure.CAN_BS2 = BAUD_DATA(BS2,baud); - CAN_InitStructure.CAN_Prescaler =BAUD_DATA(RRESCL,baud); + break; + } + CAN_InitStructure.CAN_SJW = BAUD_DATA(SJW, baud); + CAN_InitStructure.CAN_BS1 = BAUD_DATA(BS1, baud); + CAN_InitStructure.CAN_BS2 = BAUD_DATA(BS2, baud); + CAN_InitStructure.CAN_Prescaler = BAUD_DATA(RRESCL, baud); - CAN_Init(pcan, &CAN_InitStructure); + CAN_Init(pcan, &CAN_InitStructure); } static void bxcan1_hw_init(void) { - GPIO_InitTypeDef GPIO_InitStructure; - NVIC_InitTypeDef NVIC_InitStructure; + GPIO_InitTypeDef GPIO_InitStructure; + NVIC_InitTypeDef NVIC_InitStructure; + + GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11; + GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU; + GPIO_Init(GPIOA, &GPIO_InitStructure); - GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11; - GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU; - GPIO_Init(GPIOA, &GPIO_InitStructure); - - GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12; - GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; - GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; - GPIO_Init(GPIOA, &GPIO_InitStructure); - - NVIC_PriorityGroupConfig(NVIC_PriorityGroup_1); - NVIC_InitStructure.NVIC_IRQChannel = CAN1_RX0_IRQn; - NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x1; - NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x0; - NVIC_InitStructure.NVIC_IRQChannelCmd = DISABLE; - NVIC_Init(&NVIC_InitStructure); - NVIC_InitStructure.NVIC_IRQChannel = CAN1_RX1_IRQn; - NVIC_Init(&NVIC_InitStructure); - NVIC_InitStructure.NVIC_IRQChannel = CAN1_TX_IRQn; - NVIC_Init(&NVIC_InitStructure); + GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12; + GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; + GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; + GPIO_Init(GPIOA, &GPIO_InitStructure); + + NVIC_PriorityGroupConfig(NVIC_PriorityGroup_1); + NVIC_InitStructure.NVIC_IRQChannel = CAN1_RX0_IRQn; + NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x1; + NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x0; + NVIC_InitStructure.NVIC_IRQChannelCmd = DISABLE; + NVIC_Init(&NVIC_InitStructure); + NVIC_InitStructure.NVIC_IRQChannel = CAN1_RX1_IRQn; + NVIC_Init(&NVIC_InitStructure); + NVIC_InitStructure.NVIC_IRQChannel = CAN1_TX_IRQn; + NVIC_Init(&NVIC_InitStructure); } static void bxcan2_hw_init(void) { - GPIO_InitTypeDef GPIO_InitStructure; - NVIC_InitTypeDef NVIC_InitStructure; + GPIO_InitTypeDef GPIO_InitStructure; + NVIC_InitTypeDef NVIC_InitStructure; - GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU; - GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12; - GPIO_Init(GPIOB, &GPIO_InitStructure); + GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU; + GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12; + GPIO_Init(GPIOB, &GPIO_InitStructure); - GPIO_InitStructure.GPIO_Pin = GPIO_Pin_13; - GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; - GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; - GPIO_Init(GPIOB, &GPIO_InitStructure); + GPIO_InitStructure.GPIO_Pin = GPIO_Pin_13; + GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; + GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; + GPIO_Init(GPIOB, &GPIO_InitStructure); - NVIC_PriorityGroupConfig(NVIC_PriorityGroup_1); - NVIC_InitStructure.NVIC_IRQChannel = CAN2_RX0_IRQn; - NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x1; - NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x0; - NVIC_InitStructure.NVIC_IRQChannelCmd = DISABLE; - NVIC_Init(&NVIC_InitStructure); - NVIC_InitStructure.NVIC_IRQChannel = CAN2_RX1_IRQn; - NVIC_Init(&NVIC_InitStructure); - NVIC_InitStructure.NVIC_IRQChannel = CAN2_TX_IRQn; - NVIC_Init(&NVIC_InitStructure); + NVIC_PriorityGroupConfig(NVIC_PriorityGroup_1); + NVIC_InitStructure.NVIC_IRQChannel = CAN2_RX0_IRQn; + NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x1; + NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x0; + NVIC_InitStructure.NVIC_IRQChannelCmd = DISABLE; + NVIC_Init(&NVIC_InitStructure); + NVIC_InitStructure.NVIC_IRQChannel = CAN2_RX1_IRQn; + NVIC_Init(&NVIC_InitStructure); + NVIC_InitStructure.NVIC_IRQChannel = CAN2_TX_IRQn; + NVIC_Init(&NVIC_InitStructure); } -static inline rt_err_t bxcan_enter_init(CAN_TypeDef* pcan) +static inline rt_err_t bxcan_enter_init(CAN_TypeDef *pcan) { - uint32_t wait_ack = 0x00000000; + uint32_t wait_ack = 0x00000000; - pcan->MCR |= CAN_MCR_INRQ ; + pcan->MCR |= CAN_MCR_INRQ ; - while (((pcan->MSR & CAN_MSR_INAK) != CAN_MSR_INAK) && (wait_ack != INAK_TIMEOUT)) - { - wait_ack++; - } - if ((pcan->MSR & CAN_MSR_INAK) != CAN_MSR_INAK) - { - return RT_ERROR; - } - return RT_EOK; + while (((pcan->MSR & CAN_MSR_INAK) != CAN_MSR_INAK) && (wait_ack != INAK_TIMEOUT)) + { + wait_ack++; + } + if ((pcan->MSR & CAN_MSR_INAK) != CAN_MSR_INAK) + { + return RT_ERROR; + } + return RT_EOK; } -static inline rt_err_t bxcan_exit_init(CAN_TypeDef* pcan) +static inline rt_err_t bxcan_exit_init(CAN_TypeDef *pcan) { - uint32_t wait_ack = 0x00000000; + uint32_t wait_ack = 0x00000000; - pcan->MCR &= ~(uint32_t)CAN_MCR_INRQ; + pcan->MCR &= ~(uint32_t)CAN_MCR_INRQ; - while (((pcan->MSR & CAN_MSR_INAK) == CAN_MSR_INAK) && (wait_ack != INAK_TIMEOUT)) - { - wait_ack++; - } - if ((pcan->MSR & CAN_MSR_INAK) != CAN_MSR_INAK) - { - return RT_ERROR; - } - return RT_EOK; + while (((pcan->MSR & CAN_MSR_INAK) == CAN_MSR_INAK) && (wait_ack != INAK_TIMEOUT)) + { + wait_ack++; + } + if ((pcan->MSR & CAN_MSR_INAK) != CAN_MSR_INAK) + { + return RT_ERROR; + } + return RT_EOK; } -static rt_err_t bxcan_set_mode(CAN_TypeDef* pcan, rt_uint32_t mode) +static rt_err_t bxcan_set_mode(CAN_TypeDef *pcan, rt_uint32_t mode) { - if(bxcan_enter_init(pcan) != RT_EOK) + if (bxcan_enter_init(pcan) != RT_EOK) { - return RT_ERROR; + return RT_ERROR; } pcan->BTR &= ~(uint32_t)((uint32_t)0x03 << 30); - switch(mode) + switch (mode) { case RT_CAN_MODE_NORMAL: - mode = CAN_Mode_Normal; - break; + mode = CAN_Mode_Normal; + break; case RT_CAN_MODE_LISEN: - mode = CAN_Mode_Silent; - break; + mode = CAN_Mode_Silent; + break; case RT_CAN_MODE_LOOPBACK: - mode = CAN_Mode_LoopBack; - break; + mode = CAN_Mode_LoopBack; + break; case RT_CAN_MODE_LOOPBACKANLISEN: - mode = CAN_Mode_Silent_LoopBack; - break; + mode = CAN_Mode_Silent_LoopBack; + break; } pcan->BTR |= ~(uint32_t)(mode << 30); - if(bxcan_exit_init(pcan) != RT_EOK) + if (bxcan_exit_init(pcan) != RT_EOK) { - return RT_ERROR; + return RT_ERROR; } - return RT_EOK; + return RT_EOK; } -static rt_err_t bxcan_set_privmode(CAN_TypeDef* pcan, rt_uint32_t mode) +static rt_err_t bxcan_set_privmode(CAN_TypeDef *pcan, rt_uint32_t mode) { - if(bxcan_enter_init(pcan) != RT_EOK) + if (bxcan_enter_init(pcan) != RT_EOK) { - return RT_ERROR; + return RT_ERROR; } if (mode == ENABLE) { - pcan->MCR |= CAN_MCR_TXFP; + pcan->MCR |= CAN_MCR_TXFP; } else { - pcan->MCR &= ~(uint32_t)CAN_MCR_TXFP; + pcan->MCR &= ~(uint32_t)CAN_MCR_TXFP; } - if(bxcan_exit_init(pcan) != RT_EOK) + if (bxcan_exit_init(pcan) != RT_EOK) { - return RT_ERROR; + return RT_ERROR; } - return RT_EOK; + return RT_EOK; } -static rt_err_t bxcan_set_baud_rate(CAN_TypeDef* pcan, rt_uint32_t baud) +static rt_err_t bxcan_set_baud_rate(CAN_TypeDef *pcan, rt_uint32_t baud) { rt_uint32_t mode; - if(bxcan_enter_init(pcan) != RT_EOK) + if (bxcan_enter_init(pcan) != RT_EOK) { - return RT_ERROR; + return RT_ERROR; } pcan->BTR = 0; mode = pcan->BTR & ((rt_uint32_t)0x03 << 30); pcan->BTR = (mode | \ - ((BAUD_DATA(SJW,baud)) << 24) | \ - ((BAUD_DATA(BS1,baud)) << 16) | \ - ((BAUD_DATA(BS2,baud)) << 20) | \ - (BAUD_DATA(RRESCL,baud))); - if(bxcan_exit_init(pcan) != RT_EOK) + ((BAUD_DATA(SJW, baud)) << 24) | \ + ((BAUD_DATA(BS1, baud)) << 16) | \ + ((BAUD_DATA(BS2, baud)) << 20) | \ + (BAUD_DATA(RRESCL, baud))); + if (bxcan_exit_init(pcan) != RT_EOK) { - return RT_ERROR; + return RT_ERROR; } - return RT_EOK; + return RT_EOK; } -static rt_err_t bxcancalcbaseoff(struct stm_bxcan *pbxcan, rt_int32_t hdr, - rt_int32_t * pbase, rt_int32_t * poff) +static rt_err_t bxcancalcbaseoff(struct stm_bxcan *pbxcan, rt_int32_t hdr, + rt_int32_t *pbase, rt_int32_t *poff) { - rt_uint32_t fifo0start,fifo0end; - rt_uint32_t fifo1start,fifo1end; + rt_uint32_t fifo0start, fifo0end; + rt_uint32_t fifo1start, fifo1end; rt_uint32_t ptr; fifo0start = 0; fifo0end = pbxcan->filtermap[0].id32mask_cnt @@ -424,607 +462,725 @@ static rt_err_t bxcancalcbaseoff(struct stm_bxcan *pbxcan, rt_int32_t hdr, + pbxcan->filtermap[1].id32bit_cnt + pbxcan->filtermap[1].id16mask_cnt + pbxcan->filtermap[1].id16bit_cnt ; - if(hdr >= fifo0start && hdr < fifo0end) { - *pbase = 0; - ptr = 0; - } else if(hdr >= fifo1start && hdr < fifo1end) { + if (hdr >= fifo0start && hdr < fifo0end) + { + *pbase = 0; + ptr = 0; + } + else if (hdr >= fifo1start && hdr < fifo1end) + { *pbase = pbxcan->fifo1filteroff; ptr = 1; - } else { - return RT_ERROR; + } + else + { + return RT_ERROR; } ptr = 0; - if(hdr > pbxcan->filtermap[ptr].id32mask_cnt) { - hdr -= pbxcan->filtermap[ptr].id32mask_cnt; - *pbase += pbxcan->filtermap[ptr].id32mask_cnt; - } else { - *pbase += hdr; - *poff = 0; - return RT_EOK; + if (hdr > pbxcan->filtermap[ptr].id32mask_cnt) + { + hdr -= pbxcan->filtermap[ptr].id32mask_cnt; + *pbase += pbxcan->filtermap[ptr].id32mask_cnt; } - if(hdr > pbxcan->filtermap[ptr].id32bit_cnt) { - hdr -= pbxcan->filtermap[ptr].id32bit_cnt; - *pbase += pbxcan->filtermap[ptr].id32bit_cnt / 2; - } else { - *pbase += hdr / 2; - *poff = hdr % 2; - return RT_EOK; + else + { + *pbase += hdr; + *poff = 0; + return RT_EOK; } - if(hdr > pbxcan->filtermap[ptr].id16mask_cnt) { - hdr -= pbxcan->filtermap[ptr].id16mask_cnt; - *pbase += pbxcan->filtermap[ptr].id16mask_cnt / 2; - } else { - *pbase += hdr / 2; - *poff = hdr % 2; - return RT_EOK; + if (hdr > pbxcan->filtermap[ptr].id32bit_cnt) + { + hdr -= pbxcan->filtermap[ptr].id32bit_cnt; + *pbase += pbxcan->filtermap[ptr].id32bit_cnt / 2; } - if(hdr > pbxcan->filtermap[ptr].id16bit_cnt) { - return RT_ERROR; - } else { - *pbase += hdr / 4; - *poff = hdr % 4; - return RT_EOK; + else + { + *pbase += hdr / 2; + *poff = hdr % 2; + return RT_EOK; + } + if (hdr > pbxcan->filtermap[ptr].id16mask_cnt) + { + hdr -= pbxcan->filtermap[ptr].id16mask_cnt; + *pbase += pbxcan->filtermap[ptr].id16mask_cnt / 2; + } + else + { + *pbase += hdr / 2; + *poff = hdr % 2; + return RT_EOK; + } + if (hdr > pbxcan->filtermap[ptr].id16bit_cnt) + { + return RT_ERROR; + } + else + { + *pbase += hdr / 4; + *poff = hdr % 4; + return RT_EOK; } } -static void calcandormask(rt_uint32_t* pmask,rt_uint32_t shift,rt_int32_t count) +static void calcandormask(rt_uint32_t *pmask, rt_uint32_t shift, rt_int32_t count) { - rt_uint32_t tmpmask; - rt_uint32_t tmpmaskarray[BX_CAN_FILTER_MAX_ARRAY_SIZE] = {0,}; - rt_int32_t i; - i = 0; - while(count > 0) { - if(i >= 32) { + rt_uint32_t tmpmask; + rt_uint32_t tmpmaskarray[BX_CAN_FILTER_MAX_ARRAY_SIZE] = {0,}; + rt_int32_t i; + i = 0; + while (count > 0) + { + if (i >= 32) + { tmpmaskarray[i] = 0xFFFFFFFF; - } else { + } + else + { tmpmaskarray[i] = (0x01 << count) - 1; - } - count -= 32; - i++; - }; - count = i; - for(i = 0; i < count && i < BX_CAN_FILTER_MAX_ARRAY_SIZE; i++) { - tmpmask = tmpmaskarray[i]; - pmask[i] |= (rt_uint32_t)(tmpmask << shift); - if(i < BX_CAN_FILTER_MAX_ARRAY_SIZE - 1) { + } + count -= 32; + i++; + }; + count = i; + for (i = 0; i < count && i < BX_CAN_FILTER_MAX_ARRAY_SIZE; i++) + { + tmpmask = tmpmaskarray[i]; + pmask[i] |= (rt_uint32_t)(tmpmask << shift); + if (i < BX_CAN_FILTER_MAX_ARRAY_SIZE - 1) + { pmask[i + 1] |= (rt_uint32_t)(tmpmask >> (32 - shift)); - } - } + } + } } static void calcfiltermasks(struct stm_bxcan *pbxcan) { - rt_memset(&pbxcan->filtermask,0,sizeof(pbxcan->filtermask)); - pbxcan->filtermask.id32maskshift[0] = 0; - if(pbxcan->filtermap[0].id32mask_cnt) { - calcandormask(pbxcan->filtermask.id32maskm,pbxcan->filtermask.id32maskshift[0], - pbxcan->filtermap[0].id32mask_cnt); - } - pbxcan->filtermask.id32maskshift[1] = pbxcan->fifo1filteroff * 4; - if(pbxcan->filtermap[1].id32mask_cnt) { - calcandormask(pbxcan->filtermask.id32maskm,pbxcan->filtermask.id32maskshift[1], - pbxcan->filtermap[1].id32mask_cnt); - } - pbxcan->filtermask.id32bitshift[0] = pbxcan->filtermask.id32maskshift[0] + - pbxcan->filtermap[0].id32mask_cnt; - if(pbxcan->filtermap[0].id32bit_cnt) { - calcandormask(pbxcan->filtermask.id32bitm,pbxcan->filtermask.id32bitshift[0], - pbxcan->filtermap[0].id32bit_cnt); - } - pbxcan->filtermask.id32bitshift[1] = pbxcan->filtermask.id32maskshift[1] + - pbxcan->filtermap[1].id32mask_cnt; - if(pbxcan->filtermap[1].id32bit_cnt) { - calcandormask(pbxcan->filtermask.id32bitm,pbxcan->filtermask.id32bitshift[1], - pbxcan->filtermap[1].id32bit_cnt); - } - pbxcan->filtermask.id16maskshift[0] = pbxcan->filtermask.id32bitshift[0] + - pbxcan->filtermap[0].id32bit_cnt; - if(pbxcan->filtermap[0].id16mask_cnt) { - calcandormask(pbxcan->filtermask.id16maskm,pbxcan->filtermask.id16maskshift[0], - pbxcan->filtermap[0].id16mask_cnt); - } - pbxcan->filtermask.id16maskshift[1] = pbxcan->filtermask.id32bitshift[1] + - pbxcan->filtermap[1].id32bit_cnt; - if(pbxcan->filtermap[1].id16mask_cnt) { - calcandormask(pbxcan->filtermask.id16maskm,pbxcan->filtermask.id16maskshift[1], - pbxcan->filtermap[1].id16mask_cnt); - } - pbxcan->filtermask.id16bitshift[0] = pbxcan->filtermask.id16maskshift[0] + - pbxcan->filtermap[0].id16mask_cnt; - if(pbxcan->filtermap[0].id16bit_cnt) { - calcandormask(pbxcan->filtermask.id16bitm,pbxcan->filtermask.id16bitshift[0], - pbxcan->filtermap[0].id16bit_cnt); - } - pbxcan->filtermask.id16bitshift[1] = pbxcan->filtermask.id16maskshift[1] + - pbxcan->filtermap[1].id16mask_cnt; - if(pbxcan->filtermap[1].id16bit_cnt) { - calcandormask(pbxcan->filtermask.id16bitm,pbxcan->filtermask.id16bitshift[1], - pbxcan->filtermap[1].id16bit_cnt); - } + rt_memset(&pbxcan->filtermask, 0, sizeof(pbxcan->filtermask)); + pbxcan->filtermask.id32maskshift[0] = 0; + if (pbxcan->filtermap[0].id32mask_cnt) + { + calcandormask(pbxcan->filtermask.id32maskm, pbxcan->filtermask.id32maskshift[0], + pbxcan->filtermap[0].id32mask_cnt); + } + pbxcan->filtermask.id32maskshift[1] = pbxcan->fifo1filteroff * 4; + if (pbxcan->filtermap[1].id32mask_cnt) + { + calcandormask(pbxcan->filtermask.id32maskm, pbxcan->filtermask.id32maskshift[1], + pbxcan->filtermap[1].id32mask_cnt); + } + pbxcan->filtermask.id32bitshift[0] = pbxcan->filtermask.id32maskshift[0] + + pbxcan->filtermap[0].id32mask_cnt; + if (pbxcan->filtermap[0].id32bit_cnt) + { + calcandormask(pbxcan->filtermask.id32bitm, pbxcan->filtermask.id32bitshift[0], + pbxcan->filtermap[0].id32bit_cnt); + } + pbxcan->filtermask.id32bitshift[1] = pbxcan->filtermask.id32maskshift[1] + + pbxcan->filtermap[1].id32mask_cnt; + if (pbxcan->filtermap[1].id32bit_cnt) + { + calcandormask(pbxcan->filtermask.id32bitm, pbxcan->filtermask.id32bitshift[1], + pbxcan->filtermap[1].id32bit_cnt); + } + pbxcan->filtermask.id16maskshift[0] = pbxcan->filtermask.id32bitshift[0] + + pbxcan->filtermap[0].id32bit_cnt; + if (pbxcan->filtermap[0].id16mask_cnt) + { + calcandormask(pbxcan->filtermask.id16maskm, pbxcan->filtermask.id16maskshift[0], + pbxcan->filtermap[0].id16mask_cnt); + } + pbxcan->filtermask.id16maskshift[1] = pbxcan->filtermask.id32bitshift[1] + + pbxcan->filtermap[1].id32bit_cnt; + if (pbxcan->filtermap[1].id16mask_cnt) + { + calcandormask(pbxcan->filtermask.id16maskm, pbxcan->filtermask.id16maskshift[1], + pbxcan->filtermap[1].id16mask_cnt); + } + pbxcan->filtermask.id16bitshift[0] = pbxcan->filtermask.id16maskshift[0] + + pbxcan->filtermap[0].id16mask_cnt; + if (pbxcan->filtermap[0].id16bit_cnt) + { + calcandormask(pbxcan->filtermask.id16bitm, pbxcan->filtermask.id16bitshift[0], + pbxcan->filtermap[0].id16bit_cnt); + } + pbxcan->filtermask.id16bitshift[1] = pbxcan->filtermask.id16maskshift[1] + + pbxcan->filtermap[1].id16mask_cnt; + if (pbxcan->filtermap[1].id16bit_cnt) + { + calcandormask(pbxcan->filtermask.id16bitm, pbxcan->filtermask.id16bitshift[1], + pbxcan->filtermap[1].id16bit_cnt); + } } -static rt_int32_t bxcanfindfilter(struct stm_bxcan *pbxcan,struct rt_can_filter_item* pitem, - rt_int32_t type,rt_int32_t* base,rt_int32_t* off) +static rt_int32_t bxcanfindfilter(struct stm_bxcan *pbxcan, struct rt_can_filter_item *pitem, + rt_int32_t type, rt_int32_t *base, rt_int32_t *off) { - rt_int32_t i; - rt_uint32_t bits,thisid,thismask,shift,found; - CAN_FilterRegister_TypeDef * pfilterreg; - found = 0; - switch(type) { - case 3: + rt_int32_t i; + rt_uint32_t bits, thisid, thismask, shift, found; + CAN_FilterRegister_TypeDef *pfilterreg; + found = 0; + switch (type) + { + case 3: shift = 3; - for(i = 0; i < BX_CAN_MAX_FILTERS; i++) { + for (i = 0; i < BX_CAN_MAX_FILTERS; i++) + { bits = 0x01 << (i & 0x1F); - if(bits & (pbxcan->filtermask.id32maskm[i >> 5] & pbxcan->alocmask[i >> 5])) { - bxcancalcbaseoff(pbxcan,i,base,off); + if (bits & (pbxcan->filtermask.id32maskm[i >> 5] & pbxcan->alocmask[i >> 5])) + { + bxcancalcbaseoff(pbxcan, i, base, off); pfilterreg = &((CAN_FilterRegister_TypeDef *)pbxcan->mfrbase)[*base]; - thisid = (rt_uint32_t)pitem->id<<shift; - thismask = (rt_uint32_t)pitem->mask<<shift; - if(pitem->ide) { - thisid |= CAN_ID_EXT; - thismask |= CAN_ID_EXT; + thisid = (rt_uint32_t)pitem->id << shift; + thismask = (rt_uint32_t)pitem->mask << shift; + if (pitem->ide) + { + thisid |= CAN_ID_EXT; + thismask |= CAN_ID_EXT; } - if(pitem->rtr) { + if (pitem->rtr) + { thisid |= CAN_RTR_REMOTE; thismask |= CAN_RTR_REMOTE; } - if(pfilterreg->FR1 == thisid && pfilterreg->FR2 == thismask) { + if (pfilterreg->FR1 == thisid && pfilterreg->FR2 == thismask) + { found = 1; break; } } } break; - case 2: + case 2: shift = 3; - for(i = 0; i < BX_CAN_MAX_FILTERS; i++) { + for (i = 0; i < BX_CAN_MAX_FILTERS; i++) + { bits = 0x01 << (i % 32); - if(bits & (pbxcan->filtermask.id32bitm[i >> 5] & pbxcan->alocmask[i >> 5])) { - bxcancalcbaseoff(pbxcan,i,base,off); - pfilterreg = &((CAN_FilterRegister_TypeDef *)pbxcan->mfrbase)[*base]; - thisid = (rt_uint32_t)pitem->id<<shift; - if(pitem->ide) { - thisid |= CAN_ID_EXT; - } - if(pitem->rtr) { - thisid |= CAN_RTR_REMOTE; - } - if((*off == 0 && pfilterreg->FR1 == thisid) || - (*off == 1 && pfilterreg->FR2 == thisid) - ) { + if (bits & (pbxcan->filtermask.id32bitm[i >> 5] & pbxcan->alocmask[i >> 5])) + { + bxcancalcbaseoff(pbxcan, i, base, off); + pfilterreg = &((CAN_FilterRegister_TypeDef *)pbxcan->mfrbase)[*base]; + thisid = (rt_uint32_t)pitem->id << shift; + if (pitem->ide) + { + thisid |= CAN_ID_EXT; + } + if (pitem->rtr) + { + thisid |= CAN_RTR_REMOTE; + } + if ((*off == 0 && pfilterreg->FR1 == thisid) || + (*off == 1 && pfilterreg->FR2 == thisid) + ) + { found = 1; break; - } + } } } break; - case 1: + case 1: shift = 5; - for(i = 0; i < BX_CAN_MAX_FILTERS; i++) { + for (i = 0; i < BX_CAN_MAX_FILTERS; i++) + { bits = 0x01 << (i % 32); - if(bits & (pbxcan->filtermask.id16maskm[i >> 5] & pbxcan->alocmask[i >> 5])) { - bxcancalcbaseoff(pbxcan,i,base,off); + if (bits & (pbxcan->filtermask.id16maskm[i >> 5] & pbxcan->alocmask[i >> 5])) + { + bxcancalcbaseoff(pbxcan, i, base, off); pfilterreg = &((CAN_FilterRegister_TypeDef *)pbxcan->mfrbase)[*base]; thisid = pitem->id << shift; - if(pitem->rtr) { + if (pitem->rtr) + { thisid |= CAN_RTR_REMOTE << (shift - 2); } thismask = pitem->mask << shift; - if(pitem->rtr) { + if (pitem->rtr) + { thismask |= CAN_RTR_REMOTE << (shift - 2); } - if(*off == 0 && pfilterreg->FR1 == ((thisid & 0x0000FFFF) | ((thismask & 0x0000FFFF) << 16)) || - *off == 1 && pfilterreg->FR2 == ((thisid & 0x0000FFFF) | ((thismask & 0x0000FFFF) << 16)) - ){ + if (*off == 0 && pfilterreg->FR1 == ((thisid & 0x0000FFFF) | ((thismask & 0x0000FFFF) << 16)) || + *off == 1 && pfilterreg->FR2 == ((thisid & 0x0000FFFF) | ((thismask & 0x0000FFFF) << 16)) + ) + { found = 1; break; } } } break; - case 0: + case 0: shift = 5; - for(i = 0; i < BX_CAN_MAX_FILTERS; i++) { + for (i = 0; i < BX_CAN_MAX_FILTERS; i++) + { bits = 0x01 << (i % 32); - if(bits & (pbxcan->filtermask.id16bitm[i >> 5] & pbxcan->alocmask[i >> 5])) { - bxcancalcbaseoff(pbxcan,i,base,off); - pfilterreg = &((CAN_FilterRegister_TypeDef *)pbxcan->mfrbase)[*base]; - thisid = pitem->id << shift; - if(pitem->rtr) { - thisid |= CAN_RTR_REMOTE << (shift - 2); - } - if(*off < 2 && ((rt_uint16_t*)&pfilterreg->FR1)[*off & 0x01] == thisid || - *off >= 2 && ((rt_uint16_t*)&pfilterreg->FR2)[*off & 0x01] == thisid) { - found = 1; - break; - } + if (bits & (pbxcan->filtermask.id16bitm[i >> 5] & pbxcan->alocmask[i >> 5])) + { + bxcancalcbaseoff(pbxcan, i, base, off); + pfilterreg = &((CAN_FilterRegister_TypeDef *)pbxcan->mfrbase)[*base]; + thisid = pitem->id << shift; + if (pitem->rtr) + { + thisid |= CAN_RTR_REMOTE << (shift - 2); + } + if (*off < 2 && ((rt_uint16_t *)&pfilterreg->FR1)[*off & 0x01] == thisid || + *off >= 2 && ((rt_uint16_t *)&pfilterreg->FR2)[*off & 0x01] == thisid) + { + found = 1; + break; + } } } break; - } - if(found) { - return i; - } - return -1; + } + if (found) + { + return i; + } + return -1; } extern int __rt_ffs(int value); -static rt_err_t bxcanallocfilter(rt_uint32_t * pmask, rt_uint32_t * palocmask, - rt_uint32_t count, rt_int32_t* hdr) +static rt_err_t bxcanallocfilter(rt_uint32_t *pmask, rt_uint32_t *palocmask, + rt_uint32_t count, rt_int32_t *hdr) { - rt_int32_t i; - for(i = 0; i < count; i++) { + rt_int32_t i; + for (i = 0; i < count; i++) + { rt_enter_critical(); - if((pmask[i] & ~palocmask[i]) != 0) { - *hdr = __rt_ffs(pmask[i] & ~palocmask[i]) - 1 + i * 32; - palocmask[i] |= 0x01 <<(*hdr % 0x1F); - rt_exit_critical(); - return RT_EOK; + if ((pmask[i] & ~palocmask[i]) != 0) + { + *hdr = __rt_ffs(pmask[i] & ~palocmask[i]) - 1 + i * 32; + palocmask[i] |= 0x01 << (*hdr % 0x1F); + rt_exit_critical(); + return RT_EOK; } rt_exit_critical(); - } - if(i >= count) { - return RT_ENOMEM; - } - return RT_EOK; + } + if (i >= count) + { + return RT_ENOMEM; + } + return RT_EOK; } static rt_err_t bxcanallocnewfilter(struct stm_bxcan *pbxcan, rt_int32_t actived, - rt_int32_t type, rt_int32_t* hdr, rt_int32_t* base, rt_int32_t* off) + rt_int32_t type, rt_int32_t *hdr, rt_int32_t *base, rt_int32_t *off) { - rt_err_t res; - *hdr = -1; - switch(type) { - case 0x03: - res = bxcanallocfilter(pbxcan->filtermask.id32maskm,pbxcan->alocmask, - BX_CAN_FILTER_MAX_ARRAY_SIZE,hdr); + rt_err_t res; + *hdr = -1; + switch (type) + { + case 0x03: + res = bxcanallocfilter(pbxcan->filtermask.id32maskm, pbxcan->alocmask, + BX_CAN_FILTER_MAX_ARRAY_SIZE, hdr); break; - case 0x02: - res = bxcanallocfilter(pbxcan->filtermask.id32bitm,pbxcan->alocmask, - BX_CAN_FILTER_MAX_ARRAY_SIZE,hdr); + case 0x02: + res = bxcanallocfilter(pbxcan->filtermask.id32bitm, pbxcan->alocmask, + BX_CAN_FILTER_MAX_ARRAY_SIZE, hdr); break; - case 0x01: - res = bxcanallocfilter(pbxcan->filtermask.id16maskm,pbxcan->alocmask, - BX_CAN_FILTER_MAX_ARRAY_SIZE,hdr); + case 0x01: + res = bxcanallocfilter(pbxcan->filtermask.id16maskm, pbxcan->alocmask, + BX_CAN_FILTER_MAX_ARRAY_SIZE, hdr); break; - case 0x00: - res = bxcanallocfilter(pbxcan->filtermask.id16bitm,pbxcan->alocmask, - BX_CAN_FILTER_MAX_ARRAY_SIZE,hdr); + case 0x00: + res = bxcanallocfilter(pbxcan->filtermask.id16bitm, pbxcan->alocmask, + BX_CAN_FILTER_MAX_ARRAY_SIZE, hdr); break; - } - if(res != RT_EOK || *hdr < 0) { - return RT_ENOMEM; - } - bxcancalcbaseoff(pbxcan,*hdr,base,off); - return RT_EOK; + } + if (res != RT_EOK || *hdr < 0) + { + return RT_ENOMEM; + } + bxcancalcbaseoff(pbxcan, *hdr, base, off); + return RT_EOK; } -static rt_err_t bxmodifyfilter(struct stm_bxcan *pbxcan, struct rt_can_filter_item* pitem, rt_uint32_t actived) +static rt_err_t bxmodifyfilter(struct stm_bxcan *pbxcan, struct rt_can_filter_item *pitem, rt_uint32_t actived) { - rt_int32_t fcase; - rt_err_t res; - rt_int32_t hdr,fbase,foff; + rt_int32_t fcase; + rt_err_t res; + rt_int32_t hdr, fbase, foff; - fcase = (pitem->mode | (pitem->ide << 1)); - hdr = bxcanfindfilter(pbxcan,pitem,fcase,&fbase,&foff); - if(hdr < 0) { - if(!actived) { - return RT_EOK; - } else if(pitem->hdr == -1) { - res = bxcanallocnewfilter(pbxcan,actived,fcase,&hdr,&fbase,&foff); - if(res != RT_EOK) { - return res; - } - } else if(pitem->hdr >= 0) { - rt_enter_critical(); - res = bxcancalcbaseoff(pbxcan,pitem->hdr,&fbase,&foff); - if(res != RT_EOK) { - return res; - } - hdr = pitem->hdr; - if(actived) { - pbxcan->alocmask[hdr >> 5] |= 0x01 <<(hdr % 0x1F); - } - rt_exit_critical(); + fcase = (pitem->mode | (pitem->ide << 1)); + hdr = bxcanfindfilter(pbxcan, pitem, fcase, &fbase, &foff); + if (hdr < 0) + { + if (!actived) + { + return RT_EOK; + } + else if (pitem->hdr == -1) + { + res = bxcanallocnewfilter(pbxcan, actived, fcase, &hdr, &fbase, &foff); + if (res != RT_EOK) + { + return res; } - } else { - if(!actived) { - pitem->hdr = hdr; - } else if(hdr >= 0 && (pitem->hdr >= 0 || pitem->hdr == -1)) { - pitem->hdr = hdr; - return RT_EBUSY; + } + else if (pitem->hdr >= 0) + { + rt_enter_critical(); + res = bxcancalcbaseoff(pbxcan, pitem->hdr, &fbase, &foff); + if (res != RT_EOK) + { + return res; } - } - rt_uint32_t ID[2]; - rt_uint32_t shift; - rt_uint32_t thisid; - rt_uint32_t thismask; - CAN_FilterInitTypeDef CAN_FilterInitStructure; + hdr = pitem->hdr; + if (actived) + { + pbxcan->alocmask[hdr >> 5] |= 0x01 << (hdr % 0x1F); + } + rt_exit_critical(); + } + } + else + { + if (!actived) + { + pitem->hdr = hdr; + } + else if (hdr >= 0 && (pitem->hdr >= 0 || pitem->hdr == -1)) + { + pitem->hdr = hdr; + return RT_EBUSY; + } + } + rt_uint32_t ID[2]; + rt_uint32_t shift; + rt_uint32_t thisid; + rt_uint32_t thismask; + CAN_FilterInitTypeDef CAN_FilterInitStructure; - pitem->hdr = hdr; - CAN_FilterRegister_TypeDef * pfilterreg = &((CAN_FilterRegister_TypeDef *)pbxcan->mfrbase)[fbase]; - ID[0] = pfilterreg->FR1; - ID[1] = pfilterreg->FR2; - CAN_FilterInitStructure.CAN_FilterNumber = (pfilterreg - &CAN1->sFilterRegister[0]); - if(pitem->mode) { - CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask; - } else { - CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdList; - } - if(pitem->ide) { - CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit; - } else { - CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_16bit; - } - switch(fcase) { - case 0x03: - if(actived) { - shift = 3; - thisid = (rt_uint32_t)pitem->id<<shift; - thismask = (rt_uint32_t)pitem->mask<<shift; - if(pitem->ide) { - thisid |= CAN_ID_EXT; - thismask |= CAN_ID_EXT; - } - if(pitem->rtr) { - thisid |= CAN_RTR_REMOTE; - thismask |= CAN_RTR_REMOTE; - } - ID[0] = thisid; - ID[1] = thismask; - } else { - ID[0] = 0xFFFFFFFF; - ID[1] = 0xFFFFFFFF; - } + pitem->hdr = hdr; + CAN_FilterRegister_TypeDef *pfilterreg = &((CAN_FilterRegister_TypeDef *)pbxcan->mfrbase)[fbase]; + ID[0] = pfilterreg->FR1; + ID[1] = pfilterreg->FR2; + CAN_FilterInitStructure.CAN_FilterNumber = (pfilterreg - &CAN1->sFilterRegister[0]); + if (pitem->mode) + { + CAN_FilterInitStructure.CAN_FilterMode = CAN_FilterMode_IdMask; + } + else + { + CAN_FilterInitStructure.CAN_FilterMode = CAN_FilterMode_IdList; + } + if (pitem->ide) + { + CAN_FilterInitStructure.CAN_FilterScale = CAN_FilterScale_32bit; + } + else + { + CAN_FilterInitStructure.CAN_FilterScale = CAN_FilterScale_16bit; + } + switch (fcase) + { + case 0x03: + if (actived) + { + shift = 3; + thisid = (rt_uint32_t)pitem->id << shift; + thismask = (rt_uint32_t)pitem->mask << shift; + if (pitem->ide) + { + thisid |= CAN_ID_EXT; + thismask |= CAN_ID_EXT; + } + if (pitem->rtr) + { + thisid |= CAN_RTR_REMOTE; + thismask |= CAN_RTR_REMOTE; + } + ID[0] = thisid; + ID[1] = thismask; + } + else + { + ID[0] = 0xFFFFFFFF; + ID[1] = 0xFFFFFFFF; + } break; - case 0x02: - if(actived) { - shift = 3; - thisid = (rt_uint32_t)pitem->id<<shift; - if(pitem->ide) { - thisid |= CAN_ID_EXT; - } - if(pitem->rtr) { - thisid |= CAN_RTR_REMOTE; - } - ID[foff] = thisid; - } else { - ID[foff] = 0xFFFFFFFF; - } + case 0x02: + if (actived) + { + shift = 3; + thisid = (rt_uint32_t)pitem->id << shift; + if (pitem->ide) + { + thisid |= CAN_ID_EXT; + } + if (pitem->rtr) + { + thisid |= CAN_RTR_REMOTE; + } + ID[foff] = thisid; + } + else + { + ID[foff] = 0xFFFFFFFF; + } break; - case 0x01: - if(actived) { - shift = 5; - thisid = pitem->id << shift; - if(pitem->rtr) { - thisid |= CAN_RTR_REMOTE << (shift - 2); - } - thismask = pitem->mask << shift; - if(pitem->rtr) { - thismask |= CAN_RTR_REMOTE << (shift - 2); - } - ID[foff] = (thisid & 0x0000FFFF) | ((thismask & 0x0000FFFF) << 16); - } else { - ID[foff] = 0xFFFFFFFF; - } + case 0x01: + if (actived) + { + shift = 5; + thisid = pitem->id << shift; + if (pitem->rtr) + { + thisid |= CAN_RTR_REMOTE << (shift - 2); + } + thismask = pitem->mask << shift; + if (pitem->rtr) + { + thismask |= CAN_RTR_REMOTE << (shift - 2); + } + ID[foff] = (thisid & 0x0000FFFF) | ((thismask & 0x0000FFFF) << 16); + } + else + { + ID[foff] = 0xFFFFFFFF; + } break; - case 0x00: - if(actived) { - shift = 5; - thisid = pitem->id << shift; - if(pitem->rtr) { - thisid |= CAN_RTR_REMOTE << (shift - 2); - } - ((rt_uint16_t*) ID)[foff] = thisid; - } else { - ((rt_uint16_t*) ID)[foff] = 0xFFFF; - } + case 0x00: + if (actived) + { + shift = 5; + thisid = pitem->id << shift; + if (pitem->rtr) + { + thisid |= CAN_RTR_REMOTE << (shift - 2); + } + ((rt_uint16_t *) ID)[foff] = thisid; + } + else + { + ((rt_uint16_t *) ID)[foff] = 0xFFFF; + } break; - } - CAN_FilterInitStructure.CAN_FilterIdHigh = ((ID[1]) & 0x0000FFFF); - CAN_FilterInitStructure.CAN_FilterIdLow = ID[0] & 0x0000FFFF; - CAN_FilterInitStructure.CAN_FilterMaskIdHigh = (ID[1] & 0xFFFF0000) >> 16; - CAN_FilterInitStructure.CAN_FilterMaskIdLow = (ID[0] & 0xFFFF0000) >> 16; - if(fbase >= pbxcan->fifo1filteroff) { - CAN_FilterInitStructure.CAN_FilterFIFOAssignment = 1; - } else { - CAN_FilterInitStructure.CAN_FilterFIFOAssignment = 0; - } - if(ID[0] != 0xFFFFFFFF || ID[1] != 0xFFFFFFFF) { - CAN_FilterInitStructure.CAN_FilterActivation=ENABLE; - } else { - CAN_FilterInitStructure.CAN_FilterActivation=DISABLE; - } - if(!actived) { - rt_enter_critical(); - pbxcan->alocmask[hdr >> 5] &= ~(0x01 <<(hdr % 0x1F)); - rt_exit_critical(); - } - CAN_FilterInit(&CAN_FilterInitStructure); - return RT_EOK; + } + CAN_FilterInitStructure.CAN_FilterIdHigh = ((ID[1]) & 0x0000FFFF); + CAN_FilterInitStructure.CAN_FilterIdLow = ID[0] & 0x0000FFFF; + CAN_FilterInitStructure.CAN_FilterMaskIdHigh = (ID[1] & 0xFFFF0000) >> 16; + CAN_FilterInitStructure.CAN_FilterMaskIdLow = (ID[0] & 0xFFFF0000) >> 16; + if (fbase >= pbxcan->fifo1filteroff) + { + CAN_FilterInitStructure.CAN_FilterFIFOAssignment = 1; + } + else + { + CAN_FilterInitStructure.CAN_FilterFIFOAssignment = 0; + } + if (ID[0] != 0xFFFFFFFF || ID[1] != 0xFFFFFFFF) + { + CAN_FilterInitStructure.CAN_FilterActivation = ENABLE; + } + else + { + CAN_FilterInitStructure.CAN_FilterActivation = DISABLE; + } + if (!actived) + { + rt_enter_critical(); + pbxcan->alocmask[hdr >> 5] &= ~(0x01 << (hdr % 0x1F)); + rt_exit_critical(); + } + CAN_FilterInit(&CAN_FilterInitStructure); + return RT_EOK; } -static rt_err_t setfilter(struct stm_bxcan *pbxcan,struct rt_can_filter_config *pconfig) +static rt_err_t setfilter(struct stm_bxcan *pbxcan, struct rt_can_filter_config *pconfig) { - struct rt_can_filter_item* pitem = pconfig->items; + struct rt_can_filter_item *pitem = pconfig->items; rt_uint32_t count = pconfig->count; rt_err_t res; - while(count) { - res = bxmodifyfilter(pbxcan,pitem,pconfig->actived); - if(res != RT_EOK) { - return res; - } - pitem++; - count--; + while (count) + { + res = bxmodifyfilter(pbxcan, pitem, pconfig->actived); + if (res != RT_EOK) + { + return res; + } + pitem++; + count--; } return RT_EOK; } static rt_err_t configure(struct rt_can_device *can, struct can_configure *cfg) { - CAN_TypeDef* pbxcan; + CAN_TypeDef *pbxcan; pbxcan = ((struct stm_bxcan *) can->parent.user_data)->reg; assert_param(IS_CAN_ALL_PERIPH(pbxcan)); - if(pbxcan == CAN1) + if (pbxcan == CAN1) { bxcan1_hw_init(); - bxcan_init(pbxcan,cfg->baud_rate,can->config.mode); + bxcan_init(pbxcan, cfg->baud_rate, can->config.mode); bxcan1_filter_init(can); - } else { + } + else + { bxcan2_hw_init(); - bxcan_init(pbxcan,cfg->baud_rate,can->config.mode); + bxcan_init(pbxcan, cfg->baud_rate, can->config.mode); bxcan2_filter_init(can); } return RT_EOK; } static rt_err_t control(struct rt_can_device *can, int cmd, void *arg) { - struct stm_bxcan* pbxcan; + struct stm_bxcan *pbxcan; rt_uint32_t argval; NVIC_InitTypeDef NVIC_InitStructure; - pbxcan= (struct stm_bxcan *) can->parent.user_data; + pbxcan = (struct stm_bxcan *) can->parent.user_data; assert_param(pbxcan != RT_NULL); switch (cmd) { case RT_DEVICE_CTRL_CLR_INT: argval = (rt_uint32_t) arg; - if(argval == RT_DEVICE_FLAG_INT_RX) + if (argval == RT_DEVICE_FLAG_INT_RX) { - NVIC_DisableIRQ(pbxcan->rcvirq0); - NVIC_DisableIRQ(pbxcan->rcvirq1); - CAN_ITConfig(pbxcan->reg,CAN_IT_FMP0 ,DISABLE); - CAN_ITConfig(pbxcan->reg,CAN_IT_FF0 ,DISABLE); - CAN_ITConfig(pbxcan->reg,CAN_IT_FOV0 ,DISABLE); - CAN_ITConfig(pbxcan->reg,CAN_IT_FMP1 ,DISABLE); - CAN_ITConfig(pbxcan->reg,CAN_IT_FF1 ,DISABLE); - CAN_ITConfig(pbxcan->reg,CAN_IT_FOV1 ,DISABLE); - } else if(argval == RT_DEVICE_FLAG_INT_TX) + NVIC_DisableIRQ(pbxcan->rcvirq0); + NVIC_DisableIRQ(pbxcan->rcvirq1); + CAN_ITConfig(pbxcan->reg, CAN_IT_FMP0 , DISABLE); + CAN_ITConfig(pbxcan->reg, CAN_IT_FF0 , DISABLE); + CAN_ITConfig(pbxcan->reg, CAN_IT_FOV0 , DISABLE); + CAN_ITConfig(pbxcan->reg, CAN_IT_FMP1 , DISABLE); + CAN_ITConfig(pbxcan->reg, CAN_IT_FF1 , DISABLE); + CAN_ITConfig(pbxcan->reg, CAN_IT_FOV1 , DISABLE); + } + else if (argval == RT_DEVICE_FLAG_INT_TX) { - NVIC_DisableIRQ(pbxcan->sndirq); - CAN_ITConfig(pbxcan->reg,CAN_IT_TME,DISABLE); - } else if(argval == RT_DEVICE_CAN_INT_ERR) { - CAN_ITConfig(pbxcan->reg,CAN_IT_BOF ,DISABLE); - CAN_ITConfig(pbxcan->reg,CAN_IT_LEC ,DISABLE); - CAN_ITConfig(pbxcan->reg,CAN_IT_ERR ,DISABLE); - NVIC_DisableIRQ(pbxcan->errirq); + NVIC_DisableIRQ(pbxcan->sndirq); + CAN_ITConfig(pbxcan->reg, CAN_IT_TME, DISABLE); + } + else if (argval == RT_DEVICE_CAN_INT_ERR) + { + CAN_ITConfig(pbxcan->reg, CAN_IT_BOF , DISABLE); + CAN_ITConfig(pbxcan->reg, CAN_IT_LEC , DISABLE); + CAN_ITConfig(pbxcan->reg, CAN_IT_ERR , DISABLE); + NVIC_DisableIRQ(pbxcan->errirq); } break; case RT_DEVICE_CTRL_SET_INT: argval = (rt_uint32_t) arg; - if(argval == RT_DEVICE_FLAG_INT_RX) + if (argval == RT_DEVICE_FLAG_INT_RX) { - CAN_ITConfig(pbxcan->reg,CAN_IT_FMP0 ,ENABLE); - CAN_ITConfig(pbxcan->reg,CAN_IT_FF0 ,ENABLE); - CAN_ITConfig(pbxcan->reg,CAN_IT_FOV0 ,ENABLE); - CAN_ITConfig(pbxcan->reg,CAN_IT_FMP1 ,ENABLE); - CAN_ITConfig(pbxcan->reg,CAN_IT_FF1 ,ENABLE); - CAN_ITConfig(pbxcan->reg,CAN_IT_FOV1 ,ENABLE); - NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x1; - NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x0; - NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; - NVIC_InitStructure.NVIC_IRQChannel = pbxcan->rcvirq0; - NVIC_Init(&NVIC_InitStructure); - NVIC_InitStructure.NVIC_IRQChannel = pbxcan->rcvirq1; - NVIC_Init(&NVIC_InitStructure); - } else if(argval == RT_DEVICE_FLAG_INT_TX) + CAN_ITConfig(pbxcan->reg, CAN_IT_FMP0 , ENABLE); + CAN_ITConfig(pbxcan->reg, CAN_IT_FF0 , ENABLE); + CAN_ITConfig(pbxcan->reg, CAN_IT_FOV0 , ENABLE); + CAN_ITConfig(pbxcan->reg, CAN_IT_FMP1 , ENABLE); + CAN_ITConfig(pbxcan->reg, CAN_IT_FF1 , ENABLE); + CAN_ITConfig(pbxcan->reg, CAN_IT_FOV1 , ENABLE); + NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x1; + NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x0; + NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; + NVIC_InitStructure.NVIC_IRQChannel = pbxcan->rcvirq0; + NVIC_Init(&NVIC_InitStructure); + NVIC_InitStructure.NVIC_IRQChannel = pbxcan->rcvirq1; + NVIC_Init(&NVIC_InitStructure); + } + else if (argval == RT_DEVICE_FLAG_INT_TX) + { + CAN_ITConfig(pbxcan->reg, CAN_IT_TME, ENABLE); + NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x1; + NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x0; + NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; + NVIC_InitStructure.NVIC_IRQChannel = pbxcan->sndirq; + NVIC_Init(&NVIC_InitStructure); + } + else if (argval == RT_DEVICE_CAN_INT_ERR) { - CAN_ITConfig(pbxcan->reg,CAN_IT_TME,ENABLE); - NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x1; - NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x0; - NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; - NVIC_InitStructure.NVIC_IRQChannel = pbxcan->sndirq; - NVIC_Init(&NVIC_InitStructure); - } else if(argval == RT_DEVICE_CAN_INT_ERR) { - CAN_ITConfig(pbxcan->reg,CAN_IT_BOF ,ENABLE); - CAN_ITConfig(pbxcan->reg,CAN_IT_LEC ,ENABLE); - CAN_ITConfig(pbxcan->reg,CAN_IT_ERR ,ENABLE); - NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x1; - NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x0; - NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; - NVIC_InitStructure.NVIC_IRQChannel = pbxcan->errirq; - NVIC_Init(&NVIC_InitStructure); + CAN_ITConfig(pbxcan->reg, CAN_IT_BOF , ENABLE); + CAN_ITConfig(pbxcan->reg, CAN_IT_LEC , ENABLE); + CAN_ITConfig(pbxcan->reg, CAN_IT_ERR , ENABLE); + NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x1; + NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x0; + NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; + NVIC_InitStructure.NVIC_IRQChannel = pbxcan->errirq; + NVIC_Init(&NVIC_InitStructure); } break; case RT_CAN_CMD_SET_FILTER: - return setfilter(pbxcan, (struct rt_can_filter_config*) arg); + return setfilter(pbxcan, (struct rt_can_filter_config *) arg); break; - case RT_CAN_CMD_SET_MODE: + case RT_CAN_CMD_SET_MODE: argval = (rt_uint32_t) arg; - if(argval != RT_CAN_MODE_NORMAL || - argval != RT_CAN_MODE_LISEN || - argval != RT_CAN_MODE_LOOPBACK || - argval != RT_CAN_MODE_LOOPBACKANLISEN ) { - return RT_ERROR; - } - if(argval != can->config.mode) - { - can->config.mode = argval; - return bxcan_set_mode(pbxcan->reg, argval); - } + if (argval != RT_CAN_MODE_NORMAL || + argval != RT_CAN_MODE_LISEN || + argval != RT_CAN_MODE_LOOPBACK || + argval != RT_CAN_MODE_LOOPBACKANLISEN) + { + return RT_ERROR; + } + if (argval != can->config.mode) + { + can->config.mode = argval; + return bxcan_set_mode(pbxcan->reg, argval); + } break; - case RT_CAN_CMD_SET_BAUD: + case RT_CAN_CMD_SET_BAUD: argval = (rt_uint32_t) arg; - if(argval != CAN1MBaud && - argval != CAN800kBaud && - argval != CAN500kBaud && - argval != CAN250kBaud && - argval != CAN125kBaud && - argval != CAN100kBaud && - argval != CAN50kBaud && - argval != CAN20kBaud && - argval != CAN10kBaud ) { - return RT_ERROR; - } - if(argval != can->config.baud_rate) - { - can->config.baud_rate = argval; - return bxcan_set_baud_rate(pbxcan->reg, argval); - } + if (argval != CAN1MBaud && + argval != CAN800kBaud && + argval != CAN500kBaud && + argval != CAN250kBaud && + argval != CAN125kBaud && + argval != CAN100kBaud && + argval != CAN50kBaud && + argval != CAN20kBaud && + argval != CAN10kBaud) + { + return RT_ERROR; + } + if (argval != can->config.baud_rate) + { + can->config.baud_rate = argval; + return bxcan_set_baud_rate(pbxcan->reg, argval); + } break; - case RT_CAN_CMD_SET_PRIV: + case RT_CAN_CMD_SET_PRIV: argval = (rt_uint32_t) arg; - if(argval != RT_CAN_MODE_PRIV || - argval != RT_CAN_MODE_NOPRIV) { - return RT_ERROR; - } - if(argval != can->config.privmode) - { - can->config.privmode = argval; - return bxcan_set_privmode(pbxcan->reg, argval); - } - break; - case RT_CAN_CMD_GET_STATUS: + if (argval != RT_CAN_MODE_PRIV || + argval != RT_CAN_MODE_NOPRIV) { - rt_uint32_t errtype; - errtype = pbxcan->reg->ESR; - can->status.rcverrcnt = errtype >> 24; - can->status.snderrcnt = (errtype >> 16 & 0xFF); - can->status.errcode = errtype & 0x07; - if(arg != &can->status) { - rt_memcpy(arg,&can->status,sizeof(can->status)); - } + return RT_ERROR; + } + if (argval != can->config.privmode) + { + can->config.privmode = argval; + return bxcan_set_privmode(pbxcan->reg, argval); } break; + case RT_CAN_CMD_GET_STATUS: + { + rt_uint32_t errtype; + errtype = pbxcan->reg->ESR; + can->status.rcverrcnt = errtype >> 24; + can->status.snderrcnt = (errtype >> 16 & 0xFF); + can->status.errcode = errtype & 0x07; + if (arg != &can->status) + { + rt_memcpy(arg, &can->status, sizeof(can->status)); + } + } + break; } return RT_EOK; } -static int sendmsg(struct rt_can_device *can, const void* buf, rt_uint32_t boxno) +static int sendmsg(struct rt_can_device *can, const void *buf, rt_uint32_t boxno) { - CAN_TypeDef* pbxcan; - struct rt_can_msg* pmsg = (struct rt_can_msg*) buf; + CAN_TypeDef *pbxcan; + struct rt_can_msg *pmsg = (struct rt_can_msg *) buf; - pbxcan= ((struct stm_bxcan *) can->parent.user_data)->reg; + pbxcan = ((struct stm_bxcan *) can->parent.user_data)->reg; assert_param(IS_CAN_ALL_PERIPH(pbxcan)); pbxcan->sTxMailBox[boxno].TIR &= TMIDxR_TXRQ; if (pmsg->ide == RT_CAN_STDID) { - assert_param(IS_CAN_STDID(pmsg->id)); - pbxcan->sTxMailBox[boxno].TIR |= ((pmsg->id << 21) | \ - pmsg->rtr); + assert_param(IS_CAN_STDID(pmsg->id)); + pbxcan->sTxMailBox[boxno].TIR |= ((pmsg->id << 21) | \ + pmsg->rtr); } else { - assert_param(IS_CAN_EXTID(pmsg->id)); - pbxcan->sTxMailBox[boxno].TIR |= ((pmsg->id << 3) | \ - pmsg->ide <<2 | \ - pmsg->rtr); + assert_param(IS_CAN_EXTID(pmsg->id)); + pbxcan->sTxMailBox[boxno].TIR |= ((pmsg->id << 3) | \ + pmsg->ide << 2 | \ + pmsg->rtr); } pmsg->len &= (uint8_t)0x0000000F; @@ -1032,51 +1188,53 @@ static int sendmsg(struct rt_can_device *can, const void* buf, rt_uint32_t boxno pbxcan->sTxMailBox[boxno].TDTR |= pmsg->len; pbxcan->sTxMailBox[boxno].TDLR = (((uint32_t)pmsg->data[3] << 24) | - ((uint32_t)pmsg->data[2] << 16) | - ((uint32_t)pmsg->data[1] << 8) | - ((uint32_t)pmsg->data[0])); - if(pmsg->len > 4) { - pbxcan->sTxMailBox[boxno].TDHR = (((uint32_t)pmsg->data[7] << 24) | - ((uint32_t)pmsg->data[6] << 16) | - ((uint32_t)pmsg->data[5] << 8) | - ((uint32_t)pmsg->data[4])); + ((uint32_t)pmsg->data[2] << 16) | + ((uint32_t)pmsg->data[1] << 8) | + ((uint32_t)pmsg->data[0])); + if (pmsg->len > 4) + { + pbxcan->sTxMailBox[boxno].TDHR = (((uint32_t)pmsg->data[7] << 24) | + ((uint32_t)pmsg->data[6] << 16) | + ((uint32_t)pmsg->data[5] << 8) | + ((uint32_t)pmsg->data[4])); } pbxcan->sTxMailBox[boxno].TIR |= TMIDxR_TXRQ; return RT_EOK; } -static int recvmsg(struct rt_can_device *can, void* buf, rt_uint32_t boxno) +static int recvmsg(struct rt_can_device *can, void *buf, rt_uint32_t boxno) { - CAN_TypeDef* pbxcan; - struct rt_can_msg* pmsg = (struct rt_can_msg*) buf; + CAN_TypeDef *pbxcan; + struct rt_can_msg *pmsg = (struct rt_can_msg *) buf; - pbxcan= ((struct stm_bxcan *) can->parent.user_data)->reg; + pbxcan = ((struct stm_bxcan *) can->parent.user_data)->reg; assert_param(IS_CAN_ALL_PERIPH(pbxcan)); assert_param(IS_CAN_FIFO(boxno)); - pmsg->ide = ((uint8_t)0x04 & pbxcan->sFIFOMailBox[boxno].RIR)>>2; + pmsg->ide = ((uint8_t)0x04 & pbxcan->sFIFOMailBox[boxno].RIR) >> 2; if (pmsg->ide == CAN_Id_Standard) { - pmsg->id = (uint32_t)0x000007FF & (pbxcan->sFIFOMailBox[boxno].RIR >> 21); + pmsg->id = (uint32_t)0x000007FF & (pbxcan->sFIFOMailBox[boxno].RIR >> 21); } else { - pmsg->id = (uint32_t)0x1FFFFFFF & (pbxcan->sFIFOMailBox[boxno].RIR >> 3); + pmsg->id = (uint32_t)0x1FFFFFFF & (pbxcan->sFIFOMailBox[boxno].RIR >> 3); } - pmsg->rtr = (uint8_t) ((0x02 & pbxcan->sFIFOMailBox[boxno].RIR) >> 1); + pmsg->rtr = (uint8_t)((0x02 & pbxcan->sFIFOMailBox[boxno].RIR) >> 1); pmsg->len = (uint8_t)0x0F & pbxcan->sFIFOMailBox[boxno].RDTR; pmsg->data[0] = (uint8_t)0xFF & pbxcan->sFIFOMailBox[boxno].RDLR; pmsg->data[1] = (uint8_t)0xFF & (pbxcan->sFIFOMailBox[boxno].RDLR >> 8); pmsg->data[2] = (uint8_t)0xFF & (pbxcan->sFIFOMailBox[boxno].RDLR >> 16); pmsg->data[3] = (uint8_t)0xFF & (pbxcan->sFIFOMailBox[boxno].RDLR >> 24); - if(pmsg->len > 4) { - pmsg->data[4] = (uint8_t)0xFF & pbxcan->sFIFOMailBox[boxno].RDHR; - pmsg->data[5] = (uint8_t)0xFF & (pbxcan->sFIFOMailBox[boxno].RDHR >> 8); - pmsg->data[6] = (uint8_t)0xFF & (pbxcan->sFIFOMailBox[boxno].RDHR >> 16); - pmsg->data[7] = (uint8_t)0xFF & (pbxcan->sFIFOMailBox[boxno].RDHR >> 24); + if (pmsg->len > 4) + { + pmsg->data[4] = (uint8_t)0xFF & pbxcan->sFIFOMailBox[boxno].RDHR; + pmsg->data[5] = (uint8_t)0xFF & (pbxcan->sFIFOMailBox[boxno].RDHR >> 8); + pmsg->data[6] = (uint8_t)0xFF & (pbxcan->sFIFOMailBox[boxno].RDHR >> 16); + pmsg->data[7] = (uint8_t)0xFF & (pbxcan->sFIFOMailBox[boxno].RDHR >> 24); } pmsg->hdr = (uint8_t)0xFF & (pbxcan->sFIFOMailBox[boxno].RDTR >> 8); - if(boxno) pmsg->hdr += ((struct stm_bxcan *) can->parent.user_data)->fifo1filteroff * 4; + if (boxno) pmsg->hdr += ((struct stm_bxcan *) can->parent.user_data)->fifo1filteroff * 4; return RT_EOK; } @@ -1088,238 +1246,244 @@ static const struct rt_can_ops canops = recvmsg, }; #ifdef USING_BXCAN1 -#ifdef RT_CAN_USING_LED -static struct rt_can_led can1rcvled = -{ - CANRT1,PIN_MODE_OUTPUT_OD,1, -}; -static struct rt_can_led can1errled = -{ - CANERR1,PIN_MODE_OUTPUT_OD,1, -}; -#endif static struct stm_bxcan bxcan1data = { .reg = CAN1, - .mfrbase = (void*)&CAN1->sFilterRegister[0], + .mfrbase = (void *) &CAN1->sFilterRegister[0], .sndirq = CAN1_TX_IRQn, .rcvirq0 = CAN1_RX0_IRQn, .rcvirq1 = CAN1_RX1_IRQn, .errirq = CAN1_SCE_IRQn, - .alocmask = {0,0}, + .alocmask = {0, 0}, .filtercnt = BX_CAN2_FMRSTART, .fifo1filteroff = 7, .filtermap = { - [0] = { - .id32mask_cnt = 0, - .id32bit_cnt = 0, - .id16mask_cnt = 2, - .id16bit_cnt =24, - }, - [1] = { - .id32mask_cnt = 0, - .id32bit_cnt = 0, - .id16mask_cnt = 2, - .id16bit_cnt =24, - }, + [0] = { + .id32mask_cnt = 0, + .id32bit_cnt = 0, + .id16mask_cnt = 2, + .id16bit_cnt = 24, + }, + [1] = { + .id32mask_cnt = 0, + .id32bit_cnt = 0, + .id16mask_cnt = 2, + .id16bit_cnt = 24, + }, }, }; struct rt_can_device bxcan1; void CAN1_RX0_IRQHandler(void) { - if(CAN1->RF0R & 0x03) + if (CAN1->RF0R & 0x03) { - if ((CAN1->RF0R & CAN_RF0R_FOVR0) != 0) - { - CAN1->RF0R = CAN_RF0R_FOVR0; - rt_hw_can_isr(&bxcan1,RT_CAN_EVENT_RXOF_IND | 0<<8); - } else { - rt_hw_can_isr(&bxcan1,RT_CAN_EVENT_RX_IND | 0<<8); - } - CAN1->RF0R |= CAN_RF0R_RFOM0; + if ((CAN1->RF0R & CAN_RF0R_FOVR0) != 0) + { + CAN1->RF0R = CAN_RF0R_FOVR0; + rt_hw_can_isr(&bxcan1, RT_CAN_EVENT_RXOF_IND | 0 << 8); + } + else + { + rt_hw_can_isr(&bxcan1, RT_CAN_EVENT_RX_IND | 0 << 8); + } + CAN1->RF0R |= CAN_RF0R_RFOM0; } } void CAN1_RX1_IRQHandler(void) { - if(CAN1->RF1R & 0x03) + if (CAN1->RF1R & 0x03) { - if ((CAN1->RF1R & CAN_RF1R_FOVR1) != 0) - { - CAN1->RF1R = CAN_RF1R_FOVR1; - rt_hw_can_isr(&bxcan1,RT_CAN_EVENT_RXOF_IND | 1<<8); - } else { - rt_hw_can_isr(&bxcan1,RT_CAN_EVENT_RX_IND | 1<<8); - } - CAN1->RF1R |= CAN_RF1R_RFOM1; + if ((CAN1->RF1R & CAN_RF1R_FOVR1) != 0) + { + CAN1->RF1R = CAN_RF1R_FOVR1; + rt_hw_can_isr(&bxcan1, RT_CAN_EVENT_RXOF_IND | 1 << 8); + } + else + { + rt_hw_can_isr(&bxcan1, RT_CAN_EVENT_RX_IND | 1 << 8); + } + CAN1->RF1R |= CAN_RF1R_RFOM1; } } void CAN1_TX_IRQHandler(void) { rt_uint32_t state; - if(CAN1->TSR & (CAN_TSR_RQCP0)) + if (CAN1->TSR & (CAN_TSR_RQCP0)) { - state = CAN1->TSR & (CAN_TSR_RQCP0 | CAN_TSR_TXOK0 | CAN_TSR_TME0); + state = CAN1->TSR & (CAN_TSR_RQCP0 | CAN_TSR_TXOK0 | CAN_TSR_TME0); CAN1->TSR |= CAN_TSR_RQCP0; - if(state == (CAN_TSR_RQCP0 | CAN_TSR_TXOK0 | CAN_TSR_TME0)) + if (state == (CAN_TSR_RQCP0 | CAN_TSR_TXOK0 | CAN_TSR_TME0)) { - rt_hw_can_isr(&bxcan1,RT_CAN_EVENT_TX_DONE | 0<<8); - } else { - rt_hw_can_isr(&bxcan1,RT_CAN_EVENT_TX_FAIL | 0<<8); + rt_hw_can_isr(&bxcan1, RT_CAN_EVENT_TX_DONE | 0 << 8); + } + else + { + rt_hw_can_isr(&bxcan1, RT_CAN_EVENT_TX_FAIL | 0 << 8); } } - if(CAN1->TSR & (CAN_TSR_RQCP1)) { - state = CAN1->TSR & (CAN_TSR_RQCP1 | CAN_TSR_TXOK1 | CAN_TSR_TME1); - CAN1->TSR |= CAN_TSR_RQCP1; - if(state == (CAN_TSR_RQCP1 | CAN_TSR_TXOK1 | CAN_TSR_TME1)) + if (CAN1->TSR & (CAN_TSR_RQCP1)) + { + state = CAN1->TSR & (CAN_TSR_RQCP1 | CAN_TSR_TXOK1 | CAN_TSR_TME1); + CAN1->TSR |= CAN_TSR_RQCP1; + if (state == (CAN_TSR_RQCP1 | CAN_TSR_TXOK1 | CAN_TSR_TME1)) { - rt_hw_can_isr(&bxcan1,RT_CAN_EVENT_TX_DONE | 1<<8); - } else { - rt_hw_can_isr(&bxcan1,RT_CAN_EVENT_TX_FAIL | 1<<8); + rt_hw_can_isr(&bxcan1, RT_CAN_EVENT_TX_DONE | 1 << 8); + } + else + { + rt_hw_can_isr(&bxcan1, RT_CAN_EVENT_TX_FAIL | 1 << 8); } } - if(CAN1->TSR & (CAN_TSR_RQCP2)) { - state = CAN1->TSR & (CAN_TSR_RQCP2 | CAN_TSR_TXOK2 | CAN_TSR_TME2); - CAN1->TSR |= CAN_TSR_RQCP2; - if(state == (CAN_TSR_RQCP2 | CAN_TSR_TXOK2 | CAN_TSR_TME2)) + if (CAN1->TSR & (CAN_TSR_RQCP2)) + { + state = CAN1->TSR & (CAN_TSR_RQCP2 | CAN_TSR_TXOK2 | CAN_TSR_TME2); + CAN1->TSR |= CAN_TSR_RQCP2; + if (state == (CAN_TSR_RQCP2 | CAN_TSR_TXOK2 | CAN_TSR_TME2)) { - rt_hw_can_isr(&bxcan1,RT_CAN_EVENT_TX_DONE | 2<<8); - } else { - rt_hw_can_isr(&bxcan1,RT_CAN_EVENT_TX_FAIL | 2<<8); + rt_hw_can_isr(&bxcan1, RT_CAN_EVENT_TX_DONE | 2 << 8); + } + else + { + rt_hw_can_isr(&bxcan1, RT_CAN_EVENT_TX_FAIL | 2 << 8); } } } void CAN1_SCE_IRQHandler(void) { - rt_uint32_t errtype; - errtype = CAN1->ESR; - if(errtype & 0x70 && bxcan1.status.lasterrtype == (errtype & 0x70)) { - switch((errtype & 0x70)>>4) { - case RT_CAN_BUS_BIT_PAD_ERR: - bxcan1.status.bitpaderrcnt++; - break; - case RT_CAN_BUS_FORMAT_ERR: - bxcan1.status.formaterrcnt++; - break; - case RT_CAN_BUS_ACK_ERR: - bxcan1.status.ackerrcnt++; - break; - case RT_CAN_BUS_IMPLICIT_BIT_ERR: - case RT_CAN_BUS_EXPLICIT_BIT_ERR: - bxcan1.status.biterrcnt++; - break; - case RT_CAN_BUS_CRC_ERR: - bxcan1.status.crcerrcnt++; - break; - } - bxcan1.status.lasterrtype = errtype & 0x70; - CAN1->ESR &= ~0x70; - } - bxcan1.status.rcverrcnt = errtype >> 24; - bxcan1.status.snderrcnt = (errtype >> 16 & 0xFF); - bxcan1.status.errcode = errtype & 0x07; - CAN1->MSR |= CAN_MSR_ERRI; + rt_uint32_t errtype; + errtype = CAN1->ESR; + if (errtype & 0x70 && bxcan1.status.lasterrtype == (errtype & 0x70)) + { + switch ((errtype & 0x70) >> 4) + { + case RT_CAN_BUS_BIT_PAD_ERR: + bxcan1.status.bitpaderrcnt++; + break; + case RT_CAN_BUS_FORMAT_ERR: + bxcan1.status.formaterrcnt++; + break; + case RT_CAN_BUS_ACK_ERR: + bxcan1.status.ackerrcnt++; + break; + case RT_CAN_BUS_IMPLICIT_BIT_ERR: + case RT_CAN_BUS_EXPLICIT_BIT_ERR: + bxcan1.status.biterrcnt++; + break; + case RT_CAN_BUS_CRC_ERR: + bxcan1.status.crcerrcnt++; + break; + } + bxcan1.status.lasterrtype = errtype & 0x70; + CAN1->ESR &= ~0x70; + } + bxcan1.status.rcverrcnt = errtype >> 24; + bxcan1.status.snderrcnt = (errtype >> 16 & 0xFF); + bxcan1.status.errcode = errtype & 0x07; + CAN1->MSR |= CAN_MSR_ERRI; } #endif /*USING_BXCAN1*/ #ifdef USING_BXCAN2 -#ifdef RT_CAN_USING_LED -static struct rt_can_led can2rcvled = -{ - CANRT2,PIN_MODE_OUTPUT_OD,1, -}; -static struct rt_can_led can2errled = -{ - CANERR2,PIN_MODE_OUTPUT_OD,1, -}; -#endif static struct stm_bxcan bxcan2data = { .reg = CAN2, - .mfrbase = (void*)&CAN1->sFilterRegister[BX_CAN2_FMRSTART], + .mfrbase = (void *) &CAN1->sFilterRegister[BX_CAN2_FMRSTART], .sndirq = CAN2_TX_IRQn, .rcvirq0 = CAN2_RX0_IRQn, .rcvirq1 = CAN2_RX1_IRQn, .errirq = CAN2_SCE_IRQn, - .alocmask = {0,0}, + .alocmask = {0, 0}, .filtercnt = BX_CAN_FMRNUMBER - BX_CAN2_FMRSTART, .fifo1filteroff = 7, .filtermap = { - [0] = { - .id32mask_cnt = 0, - .id32bit_cnt = 0, - .id16mask_cnt = 2, - .id16bit_cnt =24, - }, - [1] = { - .id32mask_cnt = 0, - .id32bit_cnt = 0, - .id16mask_cnt = 2, - .id16bit_cnt =24, - }, + [0] = { + .id32mask_cnt = 0, + .id32bit_cnt = 0, + .id16mask_cnt = 2, + .id16bit_cnt = 24, + }, + [1] = { + .id32mask_cnt = 0, + .id32bit_cnt = 0, + .id16mask_cnt = 2, + .id16bit_cnt = 24, + }, }, }; struct rt_can_device bxcan2; void CAN2_RX0_IRQHandler(void) { - if(CAN2->RF0R & 0x03) + if (CAN2->RF0R & 0x03) { - if ((CAN2->RF0R & CAN_RF0R_FOVR0) != 0) - { - CAN2->RF0R = CAN_RF0R_FOVR0; - rt_hw_can_isr(&bxcan2,RT_CAN_EVENT_RXOF_IND | 0<<8); - } else { - rt_hw_can_isr(&bxcan2,RT_CAN_EVENT_RX_IND | 0<<8); - } - CAN2->RF0R |= CAN_RF0R_RFOM0; + if ((CAN2->RF0R & CAN_RF0R_FOVR0) != 0) + { + CAN2->RF0R = CAN_RF0R_FOVR0; + rt_hw_can_isr(&bxcan2, RT_CAN_EVENT_RXOF_IND | 0 << 8); + } + else + { + rt_hw_can_isr(&bxcan2, RT_CAN_EVENT_RX_IND | 0 << 8); + } + CAN2->RF0R |= CAN_RF0R_RFOM0; } } void CAN2_RX1_IRQHandler(void) { - if(CAN2->RF1R & 0x03) + if (CAN2->RF1R & 0x03) { - if ((CAN2->RF1R & CAN_RF1R_FOVR1) != 0) - { - CAN2->RF1R = CAN_RF1R_FOVR1; - rt_hw_can_isr(&bxcan2,RT_CAN_EVENT_RXOF_IND | 1<<8); - } else { - rt_hw_can_isr(&bxcan2,RT_CAN_EVENT_RX_IND | 1<<8); - } - CAN2->RF1R |= CAN_RF1R_RFOM1; + if ((CAN2->RF1R & CAN_RF1R_FOVR1) != 0) + { + CAN2->RF1R = CAN_RF1R_FOVR1; + rt_hw_can_isr(&bxcan2, RT_CAN_EVENT_RXOF_IND | 1 << 8); + } + else + { + rt_hw_can_isr(&bxcan2, RT_CAN_EVENT_RX_IND | 1 << 8); + } + CAN2->RF1R |= CAN_RF1R_RFOM1; } } void CAN2_TX_IRQHandler(void) { rt_uint32_t state; - if(CAN2->TSR & (CAN_TSR_RQCP0)) + if (CAN2->TSR & (CAN_TSR_RQCP0)) { - state = CAN2->TSR & (CAN_TSR_RQCP0 | CAN_TSR_TXOK0 | CAN_TSR_TME0); + state = CAN2->TSR & (CAN_TSR_RQCP0 | CAN_TSR_TXOK0 | CAN_TSR_TME0); CAN2->TSR |= CAN_TSR_RQCP0; - if(state == (CAN_TSR_RQCP0 | CAN_TSR_TXOK0 | CAN_TSR_TME0)) + if (state == (CAN_TSR_RQCP0 | CAN_TSR_TXOK0 | CAN_TSR_TME0)) + { + rt_hw_can_isr(&bxcan2, RT_CAN_EVENT_TX_DONE | 0 << 8); + } + else { - rt_hw_can_isr(&bxcan2,RT_CAN_EVENT_TX_DONE | 0<<8); - } else { - rt_hw_can_isr(&bxcan2,RT_CAN_EVENT_TX_FAIL | 0<<8); + rt_hw_can_isr(&bxcan2, RT_CAN_EVENT_TX_FAIL | 0 << 8); } } - if(CAN2->TSR & (CAN_TSR_RQCP1)) { - state = CAN2->TSR & (CAN_TSR_RQCP1 | CAN_TSR_TXOK1 | CAN_TSR_TME1); - CAN2->TSR |= CAN_TSR_RQCP1; - if(state == (CAN_TSR_RQCP1 | CAN_TSR_TXOK1 | CAN_TSR_TME1)) + if (CAN2->TSR & (CAN_TSR_RQCP1)) + { + state = CAN2->TSR & (CAN_TSR_RQCP1 | CAN_TSR_TXOK1 | CAN_TSR_TME1); + CAN2->TSR |= CAN_TSR_RQCP1; + if (state == (CAN_TSR_RQCP1 | CAN_TSR_TXOK1 | CAN_TSR_TME1)) + { + rt_hw_can_isr(&bxcan2, RT_CAN_EVENT_TX_DONE | 1 << 8); + } + else { - rt_hw_can_isr(&bxcan2,RT_CAN_EVENT_TX_DONE | 1<<8); - } else { - rt_hw_can_isr(&bxcan2,RT_CAN_EVENT_TX_FAIL | 1<<8); + rt_hw_can_isr(&bxcan2, RT_CAN_EVENT_TX_FAIL | 1 << 8); } } - if(CAN2->TSR & (CAN_TSR_RQCP2)) { - state = CAN2->TSR & (CAN_TSR_RQCP2 | CAN_TSR_TXOK2 | CAN_TSR_TME2); - CAN2->TSR |= CAN_TSR_RQCP2; - if(state == (CAN_TSR_RQCP2 | CAN_TSR_TXOK2 | CAN_TSR_TME2)) + if (CAN2->TSR & (CAN_TSR_RQCP2)) + { + state = CAN2->TSR & (CAN_TSR_RQCP2 | CAN_TSR_TXOK2 | CAN_TSR_TME2); + CAN2->TSR |= CAN_TSR_RQCP2; + if (state == (CAN_TSR_RQCP2 | CAN_TSR_TXOK2 | CAN_TSR_TME2)) { - rt_hw_can_isr(&bxcan2,RT_CAN_EVENT_TX_DONE | 2<<8); - } else { - rt_hw_can_isr(&bxcan2,RT_CAN_EVENT_TX_FAIL | 2<<8); + rt_hw_can_isr(&bxcan2, RT_CAN_EVENT_TX_DONE | 2 << 8); + } + else + { + rt_hw_can_isr(&bxcan2, RT_CAN_EVENT_TX_FAIL | 2 << 8); } } } @@ -1327,24 +1491,26 @@ void CAN2_SCE_IRQHandler(void) { rt_uint32_t errtype; errtype = CAN2->ESR; - if(errtype & 0x70 && bxcan2.status.lasterrtype == (errtype & 0x70)) { - switch((errtype & 0x70)>>4) { + if (errtype & 0x70 && bxcan2.status.lasterrtype == (errtype & 0x70)) + { + switch ((errtype & 0x70) >> 4) + { case RT_CAN_BUS_BIT_PAD_ERR: - bxcan2.status.bitpaderrcnt++; - break; + bxcan2.status.bitpaderrcnt++; + break; case RT_CAN_BUS_FORMAT_ERR: - bxcan2.status.formaterrcnt++; - break; + bxcan2.status.formaterrcnt++; + break; case RT_CAN_BUS_ACK_ERR: - bxcan2.status.ackerrcnt++; - break; + bxcan2.status.ackerrcnt++; + break; case RT_CAN_BUS_IMPLICIT_BIT_ERR: case RT_CAN_BUS_EXPLICIT_BIT_ERR: - bxcan2.status.biterrcnt++; - break; + bxcan2.status.biterrcnt++; + break; case RT_CAN_BUS_CRC_ERR: - bxcan2.status.crcerrcnt++; - break; + bxcan2.status.crcerrcnt++; + break; } bxcan2.status.lasterrtype = errtype & 0x70; CAN2->ESR &= ~0x70; @@ -1360,50 +1526,40 @@ int stm32_bxcan_init(void) { #ifdef USING_BXCAN1 - RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO | RCC_APB2Periph_GPIOA, ENABLE); - RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1 , ENABLE); - CAN_DeInit(CAN1); - bxcan1.config.baud_rate=CAN1MBaud; - bxcan1.config.msgboxsz=16; - bxcan1.config.sndboxnumber=3; - bxcan1.config.mode=RT_CAN_MODE_NORMAL; - bxcan1.config.privmode=0; - #ifdef RT_CAN_USING_LED - bxcan1.config.rcvled = &can1rcvled; - bxcan1.config.sndled = RT_NULL; - bxcan1.config.errled = &can1errled; - #endif - bxcan1.config.ticks = 50; + RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO | RCC_APB2Periph_GPIOA, ENABLE); + RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1 , ENABLE); + CAN_DeInit(CAN1); + bxcan1.config.baud_rate = CAN1MBaud; + bxcan1.config.msgboxsz = 16; + bxcan1.config.sndboxnumber = 3; + bxcan1.config.mode = RT_CAN_MODE_NORMAL; + bxcan1.config.privmode = 0; + bxcan1.config.ticks = 50; #ifdef RT_CAN_USING_HDR - bxcan1.config.maxhdr = BX_CAN2_FMRSTART * 4; + bxcan1.config.maxhdr = BX_CAN2_FMRSTART * 4; #endif - rt_hw_can_register(&bxcan1, "bxcan1", &canops, &bxcan1data); + rt_hw_can_register(&bxcan1, "bxcan1", &canops, &bxcan1data); #endif #ifdef USING_BXCAN2 - RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO | RCC_APB2Periph_GPIOB, ENABLE); + RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO | RCC_APB2Periph_GPIOB, ENABLE); #ifndef USING_BXCAN1 - RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1 , ENABLE); + RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1 , ENABLE); #endif - RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN2, ENABLE); - CAN_DeInit(CAN2); - bxcan2.config.baud_rate=CAN1MBaud; - bxcan2.config.msgboxsz=16; - bxcan2.config.sndboxnumber=3; - bxcan2.config.mode=RT_CAN_MODE_NORMAL; - bxcan2.config.privmode=0; - #ifdef RT_CAN_USING_LED - bxcan2.config.rcvled = &can2rcvled; - bxcan2.config.sndled = RT_NULL; - bxcan2.config.errled = &can2errled; - #endif - bxcan2.config.ticks = 50; + RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN2, ENABLE); + CAN_DeInit(CAN2); + bxcan2.config.baud_rate = CAN1MBaud; + bxcan2.config.msgboxsz = 16; + bxcan2.config.sndboxnumber = 3; + bxcan2.config.mode = RT_CAN_MODE_NORMAL; + bxcan2.config.privmode = 0; + bxcan2.config.ticks = 50; #ifdef RT_CAN_USING_HDR - bxcan2.config.maxhdr = (BX_CAN_FMRNUMBER - BX_CAN2_FMRSTART) * 4; + bxcan2.config.maxhdr = (BX_CAN_FMRNUMBER - BX_CAN2_FMRSTART) * 4; #endif - rt_hw_can_register(&bxcan2, "bxcan2", &canops, &bxcan2data); + rt_hw_can_register(&bxcan2, "bxcan2", &canops, &bxcan2data); #endif - return RT_EOK; + return RT_EOK; } INIT_BOARD_EXPORT(stm32_bxcan_init); |