Initial implementation of CAN test program.
This commit is contained in:
Piotr Esden-Tempski
parent
7f15dd0fc2
commit
3c12fc6cd3
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@ -24,7 +24,7 @@ Q := @
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MAKEFLAGS += --no-print-directory
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endif
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all: led systick usart
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all: led systick usart can
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led:
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@printf " BUILD examples/obldc/led\n"
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@ -38,6 +38,10 @@ usart:
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@printf " BUILD examples/obldc/usart\n"
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$(Q)$(MAKE) -C usart
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can:
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@printf " BUILD examples/obldc/can\n"
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$(Q)$(MAKE) -C can
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clean:
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@printf " CLEAN examples/obldc/led\n"
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$(Q)$(MAKE) -C led clean
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@ -45,6 +49,8 @@ clean:
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$(Q)$(MAKE) -C systick clean
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@printf " CLEAN examples/obldc/usart\n"
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$(Q)$(MAKE) -C usart clean
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@printf " CLEAN examples/obldc/can\n"
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$(Q)$(MAKE) -C can clean
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.PHONY: led systick usart
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.PHONY: led systick usart can
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@ -0,0 +1,22 @@
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##
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## This file is part of the libopenstm32 project.
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##
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## Copyright (C) 2009 Uwe Hermann <uwe@hermann-uwe.de>
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##
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## This program is free software: you can redistribute it and/or modify
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## it under the terms of the GNU General Public License as published by
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## the Free Software Foundation, either version 3 of the License, or
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## (at your option) any later version.
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##
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## This program is distributed in the hope that it will be useful,
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## but WITHOUT ANY WARRANTY; without even the implied warranty of
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## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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## GNU General Public License for more details.
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##
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## You should have received a copy of the GNU General Public License
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## along with this program. If not, see <http://www.gnu.org/licenses/>.
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##
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BINARY = can
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include ../../Makefile.include
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@ -0,0 +1,247 @@
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/*
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* This file is part of the libopenstm32 project.
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*
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* Copyright (C) 2010 Thomas Otto <tommi@viadmin.org>
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* Copyright (C) 2010 Piotr Esden-Tempski <piotr@esden.net>
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <libopenstm32/rcc.h>
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#include <libopenstm32/flash.h>
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#include <libopenstm32/gpio.h>
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#include <libopenstm32/nvic.h>
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#include <libopenstm32/systick.h>
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#include <libopenstm32/can.h>
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struct can_tx_msg {
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u32 std_id;
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u32 ext_id;
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u8 ide;
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u8 rtr;
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u8 dlc;
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u8 data[8];
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};
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struct can_rx_msg {
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u32 std_id;
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u32 ext_id;
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u8 ide;
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u8 rtr;
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u8 dlc;
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u8 data[8];
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u8 fmi;
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};
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struct can_tx_msg can_tx_msg;
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struct can_rx_msg can_rx_msg;
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void gpio_setup(void)
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{
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/* Enable GPIOA clock. */
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rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPAEN);
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/* Enable GPIOB clock. */
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rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPBEN);
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gpio_set(GPIOA, GPIO6); /* LED0 off */
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gpio_set(GPIOA, GPIO7); /* LED1 off */
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gpio_set(GPIOB, GPIO0); /* LED2 off */
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gpio_set(GPIOB, GPIO1); /* LED3 off */
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/* Set GPIO6/7 (in GPIO port A) to 'output push-pull' for the LEDs. */
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gpio_set_mode(GPIOA, GPIO_MODE_OUTPUT_50_MHZ,
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GPIO_CNF_OUTPUT_PUSHPULL, GPIO6);
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gpio_set_mode(GPIOA, GPIO_MODE_OUTPUT_50_MHZ,
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GPIO_CNF_OUTPUT_PUSHPULL, GPIO7);
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/* Set GPIO6/7 (in GPIO port B) to 'output push-pull' for the LEDs. */
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gpio_set_mode(GPIOB, GPIO_MODE_OUTPUT_50_MHZ,
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GPIO_CNF_OUTPUT_PUSHPULL, GPIO0);
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gpio_set_mode(GPIOB, GPIO_MODE_OUTPUT_50_MHZ,
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GPIO_CNF_OUTPUT_PUSHPULL, GPIO1);
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}
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void systick_setup()
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{
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/* 72MHz / 8 => 9000000 counts per second */
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systick_set_clocksource(STK_CTRL_CLKSOURCE_AHB_DIV8);
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/* 9000000/9000 = 1000 overflows per second - every 1ms one interrupt */
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systick_set_reload(9000);
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systick_interrupt_enable();
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/* start counting */
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systick_counter_enable();
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}
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void can_setup()
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{
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u32 wait_ack = 0x00000000;
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u32 can_msr_inak_timeout = 0x0000FFFF;
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/* Enable peripheral clocks */
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rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_AFIOEN);
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rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPAEN);
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rcc_peripheral_enable_clock(&RCC_APB1ENR, RCC_APB1ENR_CANEN);
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/* Configure CAN pin: RX (input pull-up) */
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gpio_set_mode(GPIOA, GPIO_MODE_INPUT,
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GPIO_CNF_INPUT_PULL_UPDOWN, GPIO_CAN_RX);
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gpio_set(GPIOA, GPIO_CAN_RX);
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/* Configure CAN pin: TX */
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gpio_set_mode(GPIOA, GPIO_MODE_OUTPUT_50_MHZ,
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GPIO_CNF_OUTPUT_ALTFN_PUSHPULL, GPIO_CAN_TX);
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/* NVIC setup */
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nvic_enable_irq(NVIC_USB_LP_CAN_RX0_IRQ);
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nvic_set_priority(NVIC_USB_LP_CAN_RX0_IRQ, 1);
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/* --- CAN cell init ------------------------------------------------ */
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/* Exit from sleep mode */
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CAN_MCR(CAN1) &= ~CAN_MCR_SLEEP;
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/* Request initialization "enter" */
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CAN_MCR(CAN1) |= CAN_MCR_INRQ;
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/* Wait for acknowledge */
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while ((wait_ack != can_msr_inak_timeout) &&
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((CAN_MSR(CAN1) & CAN_MSR_INAK) != CAN_MSR_INAK)) {
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wait_ack++;
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}
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/* Check the acknowledge */
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if ((CAN_MSR(CAN1) & CAN_MSR_INAK) != CAN_MSR_INAK) {
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/* we should set some flag here or so because we failed */
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} else {
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/* Set bit timings */
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CAN_BTR(CAN1) = CAN_BTR_SJW_1TQ |
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CAN_BTR_TS2_3TQ |
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CAN_BTR_TS2_4TQ |
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(u32)(CAN_BTR_BRP_MASK & 12);
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/* Request initialization "leave" */
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CAN_MCR(CAN1) &= ~CAN_MCR_INRQ;
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/* Wait for acknowledge */
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wait_ack = 0x00000000;
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while ((wait_ack != can_msr_inak_timeout) && ((CAN_MSR(CAN1) & CAN_MSR_INAK) == CAN_MSR_INAK)) {
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wait_ack++;
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}
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if ((CAN_MSR(CAN1) & CAN_MSR_INAK) != CAN_MSR_INAK) {
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/* set some flag here because we failed */
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} else {
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/* set some flag here because we succeeded */
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}
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}
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/* --- CAN filter 0 init -------------------------------------------- */
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u32 filter_select_bit = 0x00000001;
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/* Request initialization "enter" */
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CAN_FMR(CAN1) |= CAN_FMR_FINIT;
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/* Deactivate the filter */
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CAN_FA1R(CAN1) &= ~filter_select_bit;
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/* Set 32-bit scale for the filter */
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CAN_FS1R(CAN1) |= filter_select_bit;
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/* Set the filter id to 0 */
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CAN_FiR1(CAN1, 0) = 0x00000000;
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/* Set the filter id mask to 0 */
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CAN_FiR2(CAN1, 0) = 0x00000000;
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/* Set filter mode to Id/Mask mode */
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CAN_FM1R(CAN1) &= ~filter_select_bit;
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/* Select FIFO0 as filter assignement */
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CAN_FFA1R(CAN1) &= ~filter_select_bit;
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/* Reactivate the filter */
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CAN_FA1R(CAN1) |= filter_select_bit;
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/* Request initialization "leave" */
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CAN_FMR(CAN1) &= ~CAN_FMR_FINIT;
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/* --- Enable CAN rx interrupt -------------------------------------- */
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CAN_IER(CAN1) |= CAN_IER_FMPIE0;
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}
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void can_transmit(u32 id, u8 length, u8 data)
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{
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u32 mailbox = 0;
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if ((CAN_TSR(CAN1) & CAN_TSR_TME0) == CAN_TSR_TME0) {
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mailbox = CAN_MBOX0;
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} else if ((CAN_TSR(CAN1) & CAN_TSR_TME1) == CAN_TSR_TME1) {
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mailbox = CAN_MBOX1;
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} else if ((CAN_TSR(CAN1) & CAN_TSR_TME2) == CAN_TSR_TME2) {
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mailbox = CAN_MBOX2;
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} else {
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mailbox = 0; /* no mailbox */
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}
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if ( mailbox != 0 ) { /* check if we have an empty mailbox */
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/* Set the ID */
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CAN_TIxR(CAN1, mailbox) |= id << CAN_TIxR_STID_SHIFT;
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/* Set the DLC */
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CAN_TDTxR(CAN1, mailbox) &= 0xFFFFFFFF0;
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CAN_TDTxR(CAN1, mailbox) |= length & CAN_TDTxR_DLC_MASK;
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/* Set the data */
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CAN_TDLxR(CAN1, mailbox) = data;
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CAN_TDHxR(CAN1, mailbox) = 0x00000000;
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/* Request transmission */
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CAN_TIxR(CAN1, mailbox) |= CAN_TIxR_TXRQ;
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}
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}
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void sys_tick_handler()
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{
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static int temp32 = 0;
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temp32++;
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/* we call this handler every 1ms so 1000ms = 1s on/off */
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if (temp32 == 1000) {
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gpio_toggle(GPIOA, GPIO6); /* LED2 on/off */
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temp32 = 0;
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/* --- Transmit CAN frame ----------------------------------- */
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can_transmit(0, 0, 10);
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}
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}
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int main(void)
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{
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rcc_clock_setup_in_hse_16mhz_out_72mhz();
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gpio_setup();
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can_setup();
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systick_setup();
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while(1); /* Halt. */
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return 0;
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}
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@ -0,0 +1,31 @@
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/*
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* This file is part of the libopenstm32 project.
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*
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* Copyright (C) 2010 Thomas Otto <tommi@viadmin.org>
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/* Linker script for an STM32F103RBT6 board (128K flash, 20K RAM). */
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/* Define memory regions. */
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MEMORY
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{
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rom (rx) : ORIGIN = 0x08000000, LENGTH = 128K
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ram (rwx) : ORIGIN = 0x20000000, LENGTH = 20K
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}
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/* Include the common ld script from libopenstm32. */
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INCLUDE libopenstm32.ld
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