eddy/stm32samples
1
0
Fork 0
mirror of https://github.com/eddyem/stm32samples.git synced 2026-03-22 09:41:00 +03:00
Code Issues Packages Projects Releases Wiki Activity

usbcan_relay works!

Browse Source
This commit is contained in:
Edward Emelianov
2021-07-24 15:17:00 +03:00
parent 4fc13b2b11
commit f554e66e24
11 changed files with 459 additions and 13 deletions
Download Patch File Download Diff File Expand all files Collapse all files

16
F0-nolib/usbcan_relay/can.c
View File

@@ -17,6 +17,7 @@
*/
#include "can.h"
#include "canproto.h"
#include "hardware.h"
#include "proto.h"
@@ -120,8 +121,9 @@ void CAN_setup(uint16_t speed){
/* Enable the peripheral clock CAN */
RCC->APB1ENR |= RCC_APB1ENR_CANEN;
// Configure CAN
while((CAN->MSR & CAN_MSR_INAK)!=CAN_MSR_INAK)
{
CAN->MCR |= CAN_MCR_INRQ; // Enter CAN init mode to write the configuration
while((CAN->MSR & CAN_MSR_INAK) != CAN_MSR_INAK){
IWDG->KR = IWDG_REFRESH;
if(--tmout == 0) break;
}
CAN->MCR &=~ CAN_MCR_SLEEP;
@@ -129,7 +131,10 @@ void CAN_setup(uint16_t speed){
CAN->BTR = 2 << 20 | 3 << 16 | (6000/speed - 1); // speed
CAN->MCR &=~ CAN_MCR_INRQ;
tmout = 16000000;
while((CAN->MSR & CAN_MSR_INAK)==CAN_MSR_INAK) if(--tmout == 0) break;
while((CAN->MSR & CAN_MSR_INAK) == CAN_MSR_INAK){ // Wait the init mode leaving
IWDG->KR = IWDG_REFRESH;
if(--tmout == 0) break;
}
// accept self ID at filter 0, ALL other at filters 1 and 2
CAN->FMR = CAN_FMR_FINIT;
CAN->FA1R = CAN_FA1R_FACT0 | CAN_FA1R_FACT1 | CAN_FA1R_FACT2;
@@ -188,6 +193,7 @@ void can_proc(){
if(CAN->ESR & CAN_ESR_EPVF) SEND("Passive error limit");
if(CAN->ESR & CAN_ESR_EWGF) SEND("Error counter limit");
NL();
IWDG->KR = IWDG_REFRESH;
// request abort for all mailboxes
CAN->TSR |= CAN_TSR_ABRQ0 | CAN_TSR_ABRQ1 | CAN_TSR_ABRQ2;
// reset CAN bus
@@ -271,7 +277,6 @@ static void can_process_fifo(uint8_t fifo_num){
// read all
while(*RFxR & CAN_RF0R_FMP0){ // amount of messages pending
// CAN_RDTxR: (16-31) - timestamp, (8-15) - filter match index, (0-3) - data length
/* TODO: check filter match index if more than one ID can receive */
CAN_message msg;
uint8_t *dat = msg.data;
uint8_t len = box->RDTR & 0x0f;
@@ -307,7 +312,8 @@ static void can_process_fifo(uint8_t fifo_num){
dat[0] = lb & 0xff;
}
}
if(CAN_messagebuf_push(&msg)) return; // error: buffer is full, try later
if(msg.ID == CANID) parseCANcommand(&msg);
else if(CAN_messagebuf_push(&msg)) return; // error: buffer is full, try later
*RFxR |= CAN_RF0R_RFOM0; // release fifo for access to next message
}
//if(*RFxR & CAN_RF0R_FULL0) *RFxR &= ~CAN_RF0R_FULL0;