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get rid of CAN_HAL data structure

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This commit is contained in:
Hubert Denkmair 2016-04-20 22:18:23 +02:00
parent a02ec96b24
commit 6269866806
5 changed files with 58 additions and 49 deletions
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24
include/can.h
View File

@ -31,15 +31,23 @@ THE SOFTWARE.
#include "stm32f0xx_hal.h"
#include <gs_usb.h>
void can_init(CAN_HandleTypeDef *hcan, CAN_TypeDef *instance);
void can_set_bittiming(CAN_HandleTypeDef *hcan, uint16_t brp, uint8_t phase_seg1, uint8_t phase_seg2, uint8_t sjw);
void can_enable(CAN_HandleTypeDef *hcan, bool loop_back, bool listen_only, bool one_shot);
void can_disable(CAN_HandleTypeDef *hcan);
typedef struct {
CAN_TypeDef *instance;
uint16_t brp;
uint8_t phase_seg1;
uint8_t phase_seg2;
uint8_t sjw;
} can_data_t;
bool can_receive(CAN_HandleTypeDef *hcan, struct gs_host_frame *rx_frame);
bool can_is_rx_pending(CAN_HandleTypeDef *hcan);
void can_init(can_data_t *hcan, CAN_TypeDef *instance);
bool can_set_bittiming(can_data_t *hcan, uint16_t brp, uint8_t phase_seg1, uint8_t phase_seg2, uint8_t sjw);
void can_enable(can_data_t *hcan, bool loop_back, bool listen_only, bool one_shot);
void can_disable(can_data_t *hcan);
bool can_send(CAN_HandleTypeDef *hcan, struct gs_host_frame *frame);
bool can_receive(can_data_t *hcan, struct gs_host_frame *rx_frame);
bool can_is_rx_pending(can_data_t *hcan);
uint32_t can_get_error_status(CAN_HandleTypeDef *hcan);
bool can_send(can_data_t *hcan, struct gs_host_frame *frame);
uint32_t can_get_error_status(can_data_t *hcan);
bool can_parse_error_status(uint32_t err, struct gs_host_frame *frame);

3
include/usbd_gs_can.h
View File

@ -30,11 +30,12 @@ THE SOFTWARE.
#include <usbd_def.h>
#include <queue.h>
#include <led.h>
#include <can.h>
extern USBD_ClassTypeDef USBD_GS_CAN;
uint8_t USBD_GS_CAN_Init(USBD_HandleTypeDef *pdev, queue_t *q_frame_pool, queue_t *q_from_host, led_data_t *leds);
void USBD_GS_CAN_SetChannel(USBD_HandleTypeDef *pdev, uint8_t channel, CAN_HandleTypeDef* handle);
void USBD_GS_CAN_SetChannel(USBD_HandleTypeDef *pdev, uint8_t channel, can_data_t* handle);
bool USBD_GS_CAN_TxReady(USBD_HandleTypeDef *pdev);
uint8_t USBD_GS_CAN_Transmit(USBD_HandleTypeDef *pdev, uint8_t *buf, uint16_t len);
uint8_t USBD_GS_CAN_PrepareReceive(USBD_HandleTypeDef *pdev);

72
src/can.c
View File

@ -26,7 +26,7 @@ THE SOFTWARE.
#include "can.h"
void can_init(CAN_HandleTypeDef *hcan, CAN_TypeDef *instance)
void can_init(can_data_t *hcan, CAN_TypeDef *instance)
{
__HAL_RCC_CAN1_CLK_ENABLE();
@ -38,43 +38,43 @@ void can_init(CAN_HandleTypeDef *hcan, CAN_TypeDef *instance)
itd.Alternate = GPIO_AF4_CAN;
HAL_GPIO_Init(GPIOB, &itd);
hcan->Instance = instance;
hcan->Init.Prescaler = 6-1;
hcan->Init.BS1 = CAN_BS1_13TQ;
hcan->Init.BS2 = CAN_BS2_2TQ;
hcan->Init.SJW = CAN_SJW_1TQ;
hcan->instance = instance;
hcan->brp = 6;
hcan->phase_seg1 = 13;
hcan->phase_seg2 = 2;
hcan->sjw = 1;
}
void can_set_bittiming(CAN_HandleTypeDef *hcan, uint16_t brp, uint8_t phase_seg1, uint8_t phase_seg2, uint8_t sjw)
bool can_set_bittiming(can_data_t *hcan, uint16_t brp, uint8_t phase_seg1, uint8_t phase_seg2, uint8_t sjw)
{
hcan->Init.Prescaler = brp & 0x3FF;
if ((phase_seg1>0) && (phase_seg1<17)) {
hcan->Init.BS1 = (phase_seg1-1)<<16;
}
if ((phase_seg2>0) && (phase_seg2<9)) {
hcan->Init.BS2 = (phase_seg2-1)<<20;
}
if ((sjw>0) && (sjw<5)) {
hcan->Init.SJW = (sjw-1)<<24;
if ( (brp>0) && (brp<=1024)
&& (phase_seg1>0) && (phase_seg1<=16)
&& (phase_seg2>0) && (phase_seg2<=8)
&& (sjw>0) && (sjw<=4)
) {
hcan->brp = brp & 0x3FF;
hcan->phase_seg1 = phase_seg1;
hcan->phase_seg2 = phase_seg2;
hcan->sjw = sjw;
return true;
} else {
return false;
}
}
void can_enable(CAN_HandleTypeDef *hcan, bool loop_back, bool listen_only, bool one_shot)
void can_enable(can_data_t *hcan, bool loop_back, bool listen_only, bool one_shot)
{
CAN_TypeDef *can = hcan->Instance;
CAN_TypeDef *can = hcan->instance;
uint32_t mcr = CAN_MCR_INRQ
| CAN_MCR_ABOM
| CAN_MCR_TXFP
| (one_shot ? CAN_MCR_NART : 0);
uint32_t btr = hcan->Init.SJW
| hcan->Init.BS1
| hcan->Init.BS2
| (hcan->Init.Prescaler - 1)
uint32_t btr = ((uint32_t)(hcan->sjw-1)) << 24
| ((uint32_t)(hcan->phase_seg1-1)) << 16
| ((uint32_t)(hcan->phase_seg2-1)) << 20
| (hcan->brp - 1)
| (loop_back ? CAN_MODE_LOOPBACK : 0)
| (listen_only ? CAN_MODE_SILENT : 0);
@ -107,21 +107,21 @@ void can_enable(CAN_HandleTypeDef *hcan, bool loop_back, bool listen_only, bool
}
void can_disable(CAN_HandleTypeDef *hcan)
void can_disable(can_data_t *hcan)
{
CAN_TypeDef *can = hcan->Instance;
CAN_TypeDef *can = hcan->instance;
can->MCR |= CAN_MCR_INRQ ; // send can controller into initialization mode
}
bool can_is_rx_pending(CAN_HandleTypeDef *hcan)
bool can_is_rx_pending(can_data_t *hcan)
{
CAN_TypeDef *can = hcan->Instance;
CAN_TypeDef *can = hcan->instance;
return ((can->RF0R & CAN_RF0R_FMP0) != 0);
}
bool can_receive(CAN_HandleTypeDef *hcan, struct gs_host_frame *rx_frame)
bool can_receive(can_data_t *hcan, struct gs_host_frame *rx_frame)
{
CAN_TypeDef *can = hcan->Instance;
CAN_TypeDef *can = hcan->instance;
if (can_is_rx_pending(hcan)) {
@ -159,9 +159,9 @@ bool can_receive(CAN_HandleTypeDef *hcan, struct gs_host_frame *rx_frame)
}
}
static CAN_TxMailBox_TypeDef *can_find_free_mailbox(CAN_HandleTypeDef *hcan)
static CAN_TxMailBox_TypeDef *can_find_free_mailbox(can_data_t *hcan)
{
CAN_TypeDef *can = hcan->Instance;
CAN_TypeDef *can = hcan->instance;
uint32_t tsr = can->TSR;
if ( tsr & CAN_TSR_TME0 ) {
@ -175,7 +175,7 @@ static CAN_TxMailBox_TypeDef *can_find_free_mailbox(CAN_HandleTypeDef *hcan)
}
}
bool can_send(CAN_HandleTypeDef *hcan, struct gs_host_frame *frame)
bool can_send(can_data_t *hcan, struct gs_host_frame *frame)
{
CAN_TxMailBox_TypeDef *mb = can_find_free_mailbox(hcan);
if (mb != 0) {
@ -217,9 +217,9 @@ bool can_send(CAN_HandleTypeDef *hcan, struct gs_host_frame *frame)
}
}
uint32_t can_get_error_status(CAN_HandleTypeDef *hcan)
uint32_t can_get_error_status(can_data_t *hcan)
{
CAN_TypeDef *can = hcan->Instance;
CAN_TypeDef *can = hcan->instance;
return can->ESR;
}

2
src/main.c
View File

@ -42,7 +42,7 @@ void HAL_MspInit(void);
void SystemClock_Config(void);
static bool send_to_host_or_enqueue(struct gs_host_frame *frame);
CAN_HandleTypeDef hCAN;
can_data_t hCAN;
USBD_HandleTypeDef hUSB;
led_data_t hLED;

6
src/usbd_gs_can.c
View File

@ -56,7 +56,7 @@ typedef struct {
struct gs_host_frame *from_host_buf;
CAN_HandleTypeDef *channels[NUM_CAN_CHANNEL];
can_data_t *channels[NUM_CAN_CHANNEL];
uint32_t out_requests;
uint32_t out_requests_fail;
@ -302,7 +302,7 @@ static uint8_t USBD_GS_CAN_DeInit(USBD_HandleTypeDef *pdev, uint8_t cfgidx)
}
void USBD_GS_CAN_SetChannel(USBD_HandleTypeDef *pdev, uint8_t channel, CAN_HandleTypeDef* handle) {
void USBD_GS_CAN_SetChannel(USBD_HandleTypeDef *pdev, uint8_t channel, can_data_t* handle) {
USBD_GS_CAN_HandleTypeDef *hcan = (USBD_GS_CAN_HandleTypeDef*) pdev->pClassData;
if ((hcan!=NULL) && (channel < NUM_CAN_CHANNEL)) {
hcan->channels[channel] = handle;
@ -315,7 +315,7 @@ static uint8_t USBD_GS_CAN_EP0_RxReady(USBD_HandleTypeDef *pdev) {
struct gs_device_bittiming *timing;
struct gs_device_mode *mode;
CAN_HandleTypeDef *ch;
can_data_t *ch;
switch (hcan->req_bRequest) {