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FX3U code ready

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This commit is contained in:
Edward Emelianov
2024-09-27 15:46:12 +03:00
parent b9942f2e9f
commit 1b73ebad2c
8 changed files with 346 additions and 55 deletions
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30
F1:F103/FX3U/can.c
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@@ -119,8 +119,8 @@ void CAN_setup(uint32_t speed){
else if(speed > CAN_MAX_SPEED) speed = CAN_MAX_SPEED;
uint32_t tmout = 16000000;
// Configure GPIO: PD0 - CAN_Rx, PD1 - CAN_Tx
AFIO->MAPR |= AFIO_MAPR_CAN_REMAP_REMAP3;
AFIO->MAPR |= AFIO_MAPR_SWJ_CFG_DISABLE; // I don't know why, but without this string JTAG works (despite on turning it off in hardware.c)!
// I don't know why, but without AFIO_MAPR_SWJ_CFG_DISABLE here JTAG works (despite on turning it off in hardware.c)!
AFIO->MAPR |= AFIO_MAPR_CAN_REMAP_REMAP3 | AFIO_MAPR_SWJ_CFG_DISABLE;
GPIOD->CRL = (GPIOD->CRL & ~(CRL(0,0xf)|CRL(1,0xf))) |
CRL(0, CNF_FLINPUT | MODE_INPUT) | CRL(1, CNF_AFPP | MODE_NORMAL);
/* Enable the peripheral clock CAN */
@@ -171,9 +171,9 @@ void CAN_setup(uint32_t speed){
CAN1->IER |= CAN_IER_ERRIE | CAN_IER_FOVIE0 | CAN_IER_FOVIE1 | CAN_IER_BOFIE; /* (13) */
/* Configure IT */
NVIC_SetPriority(USB_LP_CAN1_RX0_IRQn, 0); // RX FIFO0 IRQ
NVIC_SetPriority(CAN1_RX1_IRQn, 0); // RX FIFO1 IRQ
NVIC_SetPriority(CAN1_SCE_IRQn, 0); // RX status changed IRQ
NVIC_SetPriority(USB_LP_CAN1_RX0_IRQn, 4); // RX FIFO0 IRQ
NVIC_SetPriority(CAN1_RX1_IRQn, 4); // RX FIFO1 IRQ
NVIC_SetPriority(CAN1_SCE_IRQn, 4); // RX status changed IRQ
NVIC_EnableIRQ(USB_LP_CAN1_RX0_IRQn);
NVIC_EnableIRQ(CAN1_RX1_IRQn);
NVIC_EnableIRQ(CAN1_SCE_IRQn);
@@ -192,10 +192,7 @@ void CAN_sniffer(uint8_t issniffer){
void CAN_printerr(){
uint32_t last_err_code = CAN1->ESR;
if(!last_err_code){
usart_send("No errors\n");
return;
}
if(!last_err_code) return;
usart_send("Receive error counter: ");
usart_send(u2str((last_err_code & CAN_ESR_REC)>>24));
usart_send("\nTransmit error counter: ");
@@ -226,6 +223,7 @@ void CAN_proc(){
if(flags.can_printoff){
const char *e;
switch(can_status){
case CAN_STOP: e = "STOP"; break;
case CAN_ERR: e = "ERRI"; break;
case CAN_FIFO_OVERRUN: e = "FIFO_OVERRUN"; break;
default: e = "UNKNOWN";
@@ -234,7 +232,8 @@ void CAN_proc(){
usart_send(e); newline();
CAN_printerr();
}
CAN_reinit(0);
if(can_status == CAN_FIFO_OVERRUN) can_status = CAN_READY;
else CAN_reinit(0);
}
// check for messages in FIFO0 & FIFO1
if(CAN1->RF0R & CAN_RF0R_FMP0){
@@ -345,7 +344,7 @@ static void can_process_fifo(uint8_t fifo_num){
}
IWDG->KR = IWDG_REFRESH;
if(CAN_messagebuf_push(&msg)) return; // error: buffer is full, try later
*RFxR |= CAN_RF0R_RFOM0; // release fifo for access to next message
*RFxR = CAN_RF0R_RFOM0; // release fifo for access to next message
}
//if(*RFxR & CAN_RF0R_FULL0) *RFxR &= ~CAN_RF0R_FULL0;
*RFxR = 0; // clear FOVR & FULL
@@ -353,28 +352,25 @@ static void can_process_fifo(uint8_t fifo_num){
void usb_lp_can_rx0_isr(){ // Rx FIFO0 (overrun)
if(CAN1->RF0R & CAN_RF0R_FOVR0){ // FIFO overrun
CAN1->RF0R &= ~CAN_RF0R_FOVR0;
CAN1->RF0R = CAN_RF0R_FOVR0; // clear flag
can_status = CAN_FIFO_OVERRUN;
RCC->APB1ENR &= ~RCC_APB1ENR_CAN1EN;
}
}
void can_rx1_isr(){ // Rx FIFO1 (overrun)
if(CAN1->RF1R & CAN_RF1R_FOVR1){
CAN1->RF1R &= ~CAN_RF1R_FOVR1;
CAN1->RF1R = CAN_RF1R_FOVR1; // clear flag
can_status = CAN_FIFO_OVERRUN;
RCC->APB1ENR &= ~RCC_APB1ENR_CAN1EN;
}
}
void can_sce_isr(){ // status changed
if(CAN1->MSR & CAN_MSR_ERRI){ // Error
CAN1->MSR &= ~CAN_MSR_ERRI;
CAN1->MSR = CAN_MSR_ERRI; // clear flag
// request abort for problem mailbox
if(CAN1->TSR & CAN_TSR_TERR0) CAN1->TSR |= CAN_TSR_ABRQ0;
if(CAN1->TSR & CAN_TSR_TERR1) CAN1->TSR |= CAN_TSR_ABRQ1;
if(CAN1->TSR & CAN_TSR_TERR2) CAN1->TSR |= CAN_TSR_ABRQ2;
can_status = CAN_ERR;
RCC->APB1ENR &= ~RCC_APB1ENR_CAN1EN;
}
}