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Merge pull request #38 from smartavionics/mb-stm32f4-can2

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Add support for the second stm32f4 CAN interface.
This commit is contained in:
James Snyder 2014-01-27 11:54:48 -08:00
commit b2f36c8ced
2 changed files with 64 additions and 43 deletions
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2
src/platform/stm32f4/cpu_stm32f407vg.h
View File

@ -15,7 +15,7 @@
#define NUM_PHYS_TIMER 12
#define NUM_PWM 4
#define NUM_ADC 18
#define NUM_CAN 1
#define NUM_CAN 2
#define ADC_BIT_RESOLUTION 12

105
src/platform/stm32f4/platform.c
View File

@ -849,44 +849,65 @@ timer_data_type platform_timer_read_sys()
// TODO: Many things
#if (NUM_CAN > 0)
#if defined( ELUA_BOARD_STM32F4ALT )
#define CANx CAN1
#define CAN_CLK RCC_APB1Periph_CAN1
#define CAN_RX_PIN GPIO_Pin_8
#define CAN_TX_PIN GPIO_Pin_9
#define CAN_GPIO_PORT GPIOB
#define CAN_GPIO_CLK RCC_AHB1Periph_GPIOB
#define CAN_AF_PORT GPIO_AF_CAN1
#define CAN_RX_SOURCE GPIO_PinSource8
#define CAN_TX_SOURCE GPIO_PinSource9
CAN_TypeDef *const stm32_can[] = { CAN1, CAN2 };
const u8 stm32_can_AF[] = { GPIO_AF_CAN1, GPIO_AF_CAN2 };
static const u32 can_clock[] = { RCC_APB1Periph_CAN1, RCC_APB1Periph_CAN2 };
#if defined( ELUA_BOARD_STM32F4_CAN_PIN_CONFIG_1 )
static GPIO_TypeDef *const can_gpio_port[] = { GPIOD, GPIOB };
static const u16 can_gpio_rx_pin[] = { GPIO_Pin_0, GPIO_Pin_12 };
static const u8 can_gpio_rx_pin_source[] = { GPIO_PinSource0, GPIO_PinSource12 };
static const u16 can_gpio_tx_pin[] = { GPIO_Pin_1, GPIO_Pin_13 };
static const u8 can_gpio_tx_pin_source[] = { GPIO_PinSource1, GPIO_PinSource13 };
#elif defined( ELUA_BOARD_STM32F4_CAN_PIN_CONFIG_2 )
static GPIO_TypeDef *const can_gpio_port[] = { GPIOD, GPIOB };
static const u16 can_gpio_rx_pin[] = { GPIO_Pin_0, GPIO_Pin_5 };
static const u8 can_gpio_rx_pin_source[] = { GPIO_PinSource0, GPIO_PinSource5 };
static const u16 can_gpio_tx_pin[] = { GPIO_Pin_1, GPIO_Pin_6 };
static const u8 can_gpio_tx_pin_source[] = { GPIO_PinSource1, GPIO_PinSource6 };
#elif defined( ELUA_BOARD_STM32F4_CAN_PIN_CONFIG_3 )
static GPIO_TypeDef *const can_gpio_port[] = { GPIOB, GPIOB };
static const u16 can_gpio_rx_pin[] = { GPIO_Pin_8, GPIO_Pin_12 };
static const u8 can_gpio_rx_pin_source[] = { GPIO_PinSource8, GPIO_PinSource12 };
static const u16 can_gpio_tx_pin[] = { GPIO_Pin_9, GPIO_Pin_13 };
static const u8 can_gpio_tx_pin_source[] = { GPIO_PinSource9, GPIO_PinSource13 };
#elif defined( ELUA_BOARD_STM32F4_CAN_PIN_CONFIG_4 )
static GPIO_TypeDef *const can_gpio_port[] = { GPIOB, GPIOB };
static const u16 can_gpio_rx_pin[] = { GPIO_Pin_8, GPIO_Pin_5 };
static const u8 can_gpio_rx_pin_source[] = { GPIO_PinSource8, GPIO_PinSource5 };
static const u16 can_gpio_tx_pin[] = { GPIO_Pin_9, GPIO_Pin_6 };
static const u8 can_gpio_tx_pin_source[] = { GPIO_PinSource9, GPIO_PinSource6 };
#elif defined( ELUA_BOARD_STM32F4ALT ) || defined( ELUA_BOARD_STM32_E407 )
static GPIO_TypeDef *const can_gpio_port[] = { GPIOB, GPIOB };
static const u16 can_gpio_rx_pin[] = { GPIO_Pin_8, GPIO_Pin_12 };
static const u8 can_gpio_rx_pin_source[] = { GPIO_PinSource8, GPIO_PinSource12 };
static const u16 can_gpio_tx_pin[] = { GPIO_Pin_9, GPIO_Pin_13 };
static const u8 can_gpio_tx_pin_source[] = { GPIO_PinSource9, GPIO_PinSource13 };
#elif defined( ELUA_BOARD_STM32_E407 )
#define CANx CAN1
#define CAN_CLK RCC_APB1Periph_CAN1
#define CAN_RX_PIN GPIO_Pin_8
#define CAN_TX_PIN GPIO_Pin_9
#define CAN_GPIO_PORT GPIOB
#define CAN_GPIO_CLK RCC_AHB1Periph_GPIOB
#define CAN_AF_PORT GPIO_AF_CAN1
#define CAN_RX_SOURCE GPIO_PinSource8
#define CAN_TX_SOURCE GPIO_PinSource9
#else
#define CANx CAN1
#define CAN_CLK RCC_APB1Periph_CAN1
#define CAN_RX_PIN GPIO_Pin_0
#define CAN_TX_PIN GPIO_Pin_1
#define CAN_GPIO_PORT GPIOD
#define CAN_GPIO_CLK RCC_AHB1Periph_GPIOD
#define CAN_AF_PORT GPIO_AF_CAN1
#define CAN_RX_SOURCE GPIO_PinSource0
#define CAN_TX_SOURCE GPIO_PinSource1
static GPIO_TypeDef *const can_gpio_port[] = { GPIOD, GPIOB };
static const u16 can_gpio_rx_pin[] = { GPIO_Pin_0, GPIO_Pin_12 };
static const u8 can_gpio_rx_pin_source[] = { GPIO_PinSource0, GPIO_PinSource12 };
static const u16 can_gpio_tx_pin[] = { GPIO_Pin_1, GPIO_Pin_13 };
static const u8 can_gpio_tx_pin_source[] = { GPIO_PinSource1, GPIO_PinSource13 };
#endif
void cans_init( void )
{
// CAN Periph clock enable
RCC_APB1PeriphClockCmd(CAN_CLK, ENABLE);
RCC_APB1PeriphClockCmd(can_clock[0], ENABLE);
RCC_APB1PeriphClockCmd(can_clock[1], ENABLE);
}
/* BS1 BS2 SJW Pre
@ -911,16 +932,16 @@ u32 platform_can_setup( unsigned id, u32 clock )
int cbaudidx = -1;
/* Connect CAN pins to AF9 */
GPIO_PinAFConfig(CAN_GPIO_PORT, CAN_RX_SOURCE, CAN_AF_PORT);
GPIO_PinAFConfig(CAN_GPIO_PORT, CAN_TX_SOURCE, CAN_AF_PORT);
GPIO_PinAFConfig(can_gpio_port[id], can_gpio_rx_pin_source[id], stm32_can_AF[id]);
GPIO_PinAFConfig(can_gpio_port[id], can_gpio_tx_pin_source[id], stm32_can_AF[id]);
// Configure IO Pins -- This is for STM32F103RE
GPIO_InitStructure.GPIO_Pin = CAN_RX_PIN | CAN_TX_PIN;
GPIO_InitStructure.GPIO_Pin = can_gpio_rx_pin[id] | can_gpio_tx_pin[id];
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
GPIO_Init( CAN_GPIO_PORT, &GPIO_InitStructure );
GPIO_Init( can_gpio_port[id], &GPIO_InitStructure );
// Select baud rate up to requested rate, except for below min, where min is selected
if ( clock >= can_baud_rate[ CAN_BAUD_COUNT - 1 ] ) // round down to peak rate if >= peak rate
@ -935,7 +956,7 @@ u32 platform_can_setup( unsigned id, u32 clock )
}
/* Deinitialize CAN Peripheral */
CAN_DeInit( CANx );
CAN_DeInit( stm32_can[id] );
CAN_StructInit( &CAN_InitStructure );
/* CAN cell init */
@ -950,10 +971,10 @@ u32 platform_can_setup( unsigned id, u32 clock )
CAN_InitStructure.CAN_BS1=can_baud_bs1[ cbaudidx ];
CAN_InitStructure.CAN_BS2=can_baud_bs2[ cbaudidx ];
CAN_InitStructure.CAN_Prescaler=can_baud_pre[ cbaudidx ];
CAN_Init( CANx, &CAN_InitStructure );
CAN_Init( stm32_can[id], &CAN_InitStructure );
/* CAN filter init */
CAN_FilterInitStructure.CAN_FilterNumber=0;
/* CAN filter init, start bank for CAN2 defaults to 0x0e */
CAN_FilterInitStructure.CAN_FilterNumber=(CAN1==stm32_can[id])? 0 : 14;
CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask;
CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit;
CAN_FilterInitStructure.CAN_FilterIdHigh=0x0000;
@ -1007,7 +1028,7 @@ int platform_can_send( unsigned id, u32 canid, u8 idtype, u8 len, const u8 *data
d = ( char * )TxMessage.Data;
DUFF_DEVICE_8( len, *d++ = *s++ );
if( CAN_Transmit( CAN1, &TxMessage ) == CAN_TxStatus_NoMailBox )
if( CAN_Transmit( stm32_can[id], &TxMessage ) == CAN_TxStatus_NoMailBox )
return PLATFORM_ERR;
return PLATFORM_OK;
@ -1026,7 +1047,7 @@ void USB_LP_CAN_RX0_IRQHandler(void)
RxMessage.Data[0]=0x00;
RxMessage.Data[1]=0x00;
CAN_Receive(CANx, CAN_FIFO0, &RxMessage);
CAN_Receive(stm32_can[id], CAN_FIFO0, &RxMessage);
if((RxMessage.ExtId==0x1234) && (RxMessage.IDE==CAN_ID_EXT)
&& (RxMessage.DLC==2) && ((RxMessage.Data[1]|RxMessage.Data[0]<<8)==0xDECA))
@ -1045,9 +1066,9 @@ int platform_can_recv( unsigned id, u32 *canid, u8 *idtype, u8 *len, u8 *data )
const char *s;
char *d;
if( CAN_MessagePending( CAN1, CAN_FIFO0 ) > 0 )
if( CAN_MessagePending( stm32_can[id], CAN_FIFO0 ) > 0 )
{
CAN_Receive(CAN1, CAN_FIFO0, &RxMessage);
CAN_Receive(stm32_can[id], CAN_FIFO0, &RxMessage);
if( RxMessage.IDE == CAN_ID_STD )
{