238 lines
6.1 KiB
C
238 lines
6.1 KiB
C
/*
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* This file is part of the libopencm3 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 library is free software: you can redistribute it and/or modify
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* it under the terms of the GNU Lesser 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 library 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 Lesser General Public License for more details.
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*
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* You should have received a copy of the GNU Lesser General Public License
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* along with this library. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <libopencm3/stm32/f1/rcc.h>
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#include <libopencm3/stm32/f1/flash.h>
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#include <libopencm3/stm32/f1/gpio.h>
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#include <libopencm3/cm3/nvic.h>
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#include <libopencm3/cm3/systick.h>
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#include <libopencm3/stm32/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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static void gpio_setup(void)
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{
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/* Enable Alternate Function clock. */
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rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_AFIOEN);
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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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/* Enable GPIOC clock. */
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rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPCEN);
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/* Preconfigure LEDs. */
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gpio_set(GPIOA, GPIO8); /* LED0 off */
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gpio_set(GPIOB, GPIO4); /* LED1 off */
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gpio_set(GPIOC, GPIO15); /* LED2 off */
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gpio_set(GPIOC, GPIO2); /* LED3 off */
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gpio_set(GPIOC, GPIO5); /* LED4 off */
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/* Configure LED GPIOOs. */
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gpio_set_mode(GPIOA, GPIO_MODE_OUTPUT_50_MHZ,
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GPIO_CNF_OUTPUT_PUSHPULL, GPIO8);
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gpio_set_mode(GPIOB, GPIO_MODE_OUTPUT_50_MHZ,
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GPIO_CNF_OUTPUT_PUSHPULL, GPIO4);
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gpio_set_mode(GPIOC, GPIO_MODE_OUTPUT_50_MHZ,
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GPIO_CNF_OUTPUT_PUSHPULL, GPIO15);
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gpio_set_mode(GPIOC, GPIO_MODE_OUTPUT_50_MHZ,
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GPIO_CNF_OUTPUT_PUSHPULL, GPIO2);
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gpio_set_mode(GPIOC, GPIO_MODE_OUTPUT_50_MHZ,
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GPIO_CNF_OUTPUT_PUSHPULL, GPIO5);
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/* Configure PB4 as GPIO. */
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AFIO_MAPR |= AFIO_MAPR_SWJ_CFG_FULL_SWJ_NO_JNTRST;
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}
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static void systick_setup(void)
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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 interrupt every N clock pulses: set reload to N-1 */
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systick_set_reload(8999);
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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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static void can_setup(void)
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{
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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_IOPBEN);
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rcc_peripheral_enable_clock(&RCC_APB1ENR, RCC_APB1ENR_CANEN);
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AFIO_MAPR |= AFIO_MAPR_CAN1_REMAP_PORTB;
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/* Configure CAN pin: RX (input pull-up). */
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gpio_set_mode(GPIO_BANK_CAN1_PB_RX, GPIO_MODE_INPUT,
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GPIO_CNF_INPUT_PULL_UPDOWN, GPIO_CAN1_PB_RX);
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gpio_set(GPIOB, GPIO_CAN1_PB_RX);
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/* Configure CAN pin: TX. */
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gpio_set_mode(GPIO_BANK_CAN1_PB_TX, GPIO_MODE_OUTPUT_50_MHZ,
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GPIO_CNF_OUTPUT_ALTFN_PUSHPULL, GPIO_CAN1_PB_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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/* Reset CAN. */
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can_reset(CAN1);
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/* CAN cell init. */
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if (can_init(CAN1,
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false, /* TTCM: Time triggered comm mode? */
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true, /* ABOM: Automatic bus-off management? */
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false, /* AWUM: Automatic wakeup mode? */
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false, /* NART: No automatic retransmission? */
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false, /* RFLM: Receive FIFO locked mode? */
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false, /* TXFP: Transmit FIFO priority? */
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CAN_BTR_SJW_1TQ,
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CAN_BTR_TS1_3TQ,
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CAN_BTR_TS2_4TQ,
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12, /* BRP+1: Baud rate prescaler */
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false, /* loopback mode */
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false)) /* silent mode */
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{
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gpio_set(GPIOA, GPIO8); /* LED0 off */
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gpio_set(GPIOB, GPIO4); /* LED1 off */
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gpio_set(GPIOC, GPIO15); /* LED2 off */
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gpio_clear(GPIOC, GPIO2); /* LED3 on */
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gpio_set(GPIOC, GPIO5); /* LED4 off */
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/* Die because we failed to initialize. */
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while (1)
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__asm__("nop");
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}
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/* CAN filter 0 init. */
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can_filter_id_mask_32bit_init(CAN1,
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0, /* Filter ID */
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0, /* CAN ID */
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0, /* CAN ID mask */
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0, /* FIFO assignment (here: FIFO0) */
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true); /* Enable the filter. */
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/* Enable CAN RX interrupt. */
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can_enable_irq(CAN1, CAN_IER_FMPIE0);
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}
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void sys_tick_handler(void)
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{
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static int temp32 = 0;
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static u8 data[8] = {0, 1, 2, 0, 0, 0, 0, 0};
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/* We call this handler every 1ms so 100ms = 1s
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* Resulting in 100Hz message frequency.
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*/
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if (++temp32 != 100)
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return;
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temp32 = 0;
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/* Transmit CAN frame. */
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data[0]++;
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if (can_transmit(CAN1,
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0, /* (EX/ST)ID: CAN ID */
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false, /* IDE: CAN ID extended? */
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false, /* RTR: Request transmit? */
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8, /* DLC: Data length */
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data) == -1)
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{
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gpio_set(GPIOA, GPIO8); /* LED0 off */
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gpio_set(GPIOB, GPIO4); /* LED1 off */
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gpio_set(GPIOC, GPIO15); /* LED2 off */
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gpio_set(GPIOC, GPIO2); /* LED3 off */
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gpio_clear(GPIOC, GPIO5); /* LED4 on */
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}
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}
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void usb_lp_can_rx0_isr(void)
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{
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u32 id, fmi;
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bool ext, rtr;
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u8 length, data[8];
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can_receive(CAN1, 0, false, &id, &ext, &rtr, &fmi, &length, data);
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if (data[0] & 1)
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gpio_clear(GPIOA, GPIO8);
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else
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gpio_set(GPIOA, GPIO8);
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if (data[0] & 2)
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gpio_clear(GPIOB, GPIO4);
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else
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gpio_set(GPIOB, GPIO4);
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if (data[0] & 4)
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gpio_clear(GPIOC, GPIO15);
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else
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gpio_set(GPIOC, GPIO15);
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if (data[0] & 8)
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gpio_clear(GPIOC, GPIO2);
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else
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gpio_set(GPIOC, GPIO2);
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can_fifo_release(CAN1, 0);
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}
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int main(void)
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{
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rcc_clock_setup_in_hse_12mhz_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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