9db2398009
This is necessary for the machine.CAN implementation to use the same low-level functions. Includes some refactoring around FIFO selection as there was a footgun where CAN_FIFO0/1 are 0/1 but FDCAN_RX_FIFO0/1 are not. Added an explicit type for non-hardware-specific FIFO numbering. Also moved responsibility for re-enabling CAN receive interrupts into the higher layer (pyb_can.c layer) after calling can_receive(). Also includes this behaviour change for FDCAN boards: - Fix for boards with FDCAN not updating error status counters (num_error_warning, num_error_passive, num_bus_off). These are now updated the same as on boards with CAN Classic controllers, as documented. - Previously FDCAN boards would trigger the RX callback function on error events instead (passing undocumented irq numbers 3, 4, 5). This behaviour has been removed in favour of the documented behaviour of updating the status counters. This work was funded through GitHub Sponsors. Signed-off-by: Angus Gratton <angus@redyak.com.au>
124 lines
4.3 KiB
C
124 lines
4.3 KiB
C
/*
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* This file is part of the MicroPython project, http://micropython.org/
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*
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* The MIT License (MIT)
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*
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* Copyright (c) 2014 Damien P. George
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
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* of this software and associated documentation files (the "Software"), to deal
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* in the Software without restriction, including without limitation the rights
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the Software is
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* furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in
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* all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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* THE SOFTWARE.
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*/
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#ifndef MICROPY_INCLUDED_STM32_CAN_H
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#define MICROPY_INCLUDED_STM32_CAN_H
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#include "py/mphal.h"
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#if MICROPY_HW_ENABLE_CAN
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// This API provides a higher abstraction layer over the two STM32
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// CAN controller APIs provided by the ST HAL (one for their classic
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// CAN controller, one for their FD CAN controller.)
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// There are two implementations, can.c and fdcan.c - only one is included in
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// the build for a given board.
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#define PYB_CAN_1 (1)
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#define PYB_CAN_2 (2)
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#define PYB_CAN_3 (3)
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#define MASK16 (0)
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#define LIST16 (1)
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#define MASK32 (2)
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#define LIST32 (3)
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#if MICROPY_HW_ENABLE_FDCAN
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#define CAN_TypeDef FDCAN_GlobalTypeDef
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#define CAN_HandleTypeDef FDCAN_HandleTypeDef
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#define CanTxMsgTypeDef FDCAN_TxHeaderTypeDef
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#define CanRxMsgTypeDef FDCAN_RxHeaderTypeDef
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#endif
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enum {
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CAN_STATE_STOPPED,
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CAN_STATE_ERROR_ACTIVE,
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CAN_STATE_ERROR_WARNING,
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CAN_STATE_ERROR_PASSIVE,
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CAN_STATE_BUS_OFF,
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};
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typedef enum _rx_state_t {
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RX_STATE_FIFO_EMPTY = 0,
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RX_STATE_MESSAGE_PENDING,
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RX_STATE_FIFO_FULL,
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RX_STATE_FIFO_OVERFLOW,
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} rx_state_t;
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typedef enum {
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CAN_INT_MESSAGE_RECEIVED,
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CAN_INT_FIFO_FULL,
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CAN_INT_FIFO_OVERFLOW, // These first 3 correspond to pyb.CAN.rxcallback args
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CAN_INT_ERR_BUS_OFF,
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CAN_INT_ERR_PASSIVE,
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CAN_INT_ERR_WARNING,
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} can_int_t;
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// RX FIFO numbering
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//
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// Note: For traditional CAN peripheral, the values of CAN_FIFO0 and CAN_FIFO1 are the same
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// as this enum. FDCAN macros FDCAN_RX_FIFO0 and FDCAN_RX_FIFO1 are hardware offsets and not the same.
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typedef enum {
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CAN_RX_FIFO0,
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CAN_RX_FIFO1,
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} can_rx_fifo_t;
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bool can_init(CAN_HandleTypeDef *can, int can_id, uint32_t mode, uint32_t prescaler, uint32_t sjw, uint32_t bs1, uint32_t bs2, bool auto_restart);
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void can_deinit(CAN_HandleTypeDef *can);
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void can_clearfilter(CAN_HandleTypeDef *can, uint32_t filter_num, uint8_t bank);
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int can_receive(CAN_HandleTypeDef *can, can_rx_fifo_t fifo, CanRxMsgTypeDef *msg, uint8_t *data, uint32_t timeout_ms);
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HAL_StatusTypeDef can_transmit(CAN_HandleTypeDef *hcan, CanTxMsgTypeDef *txmsg, uint8_t *data, uint32_t Timeout);
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// Disable all CAN receive interrupts for a FIFO
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void can_disable_rx_interrupts(CAN_HandleTypeDef *can, can_rx_fifo_t fifo);
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// Enable CAN receive interrupts for a FIFO.
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//
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// Interrupt for CAN_INT_MESSAGE_RECEIVED is only enabled if enable_msg_received is set.
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void can_enable_rx_interrupts(CAN_HandleTypeDef *can, can_rx_fifo_t fifo, bool enable_msg_received);
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// Implemented in pyb_can.c, called from lower layer
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extern void can_irq_handler(uint can_id, can_int_t interrupt, can_rx_fifo_t fifo);
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#if MICROPY_HW_ENABLE_FDCAN
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static inline unsigned can_rx_pending(CAN_HandleTypeDef *can, can_rx_fifo_t fifo) {
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return HAL_FDCAN_GetRxFifoFillLevel(can, fifo == CAN_RX_FIFO0 ? FDCAN_RX_FIFO0 : FDCAN_RX_FIFO1);
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}
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#else
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static inline unsigned can_rx_pending(CAN_HandleTypeDef *can, can_rx_fifo_t fifo) {
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return __HAL_CAN_MSG_PENDING(can, fifo == CAN_RX_FIFO0 ? CAN_FIFO0 : CAN_FIFO1);
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}
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#endif // MICROPY_HW_ENABLE_FDCAN
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#endif // MICROPY_HW_ENABLE_CAN
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#endif // MICROPY_INCLUDED_STM32_CAN_H
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