mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-05 06:54:49 +08:00
[stm32][can] Ported the can driver to locm3. Added a simple test firmware.
This commit is contained in:
Piotr Esden-Tempski
@@ -224,6 +224,7 @@
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<target name="test_rc_spektrum" board="lisa_m_2.0"/>
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<target name="test_baro" board="lisa_m_2.0"/>
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<target name="test_imu_b2" board="lisa_m_2.0"/>
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<target name="test_can" board="lisa_m_2.0"/>
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<!--<target name="test_imu" board="lisa_m_2.0"/>
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<target name="test_rc_ppm" board="lisa_m_2.0"/>
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<target name="test_adc" board="lisa_m_2.0"/>
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@@ -564,3 +564,16 @@ test_actuators_asctecv1.srcs += mcu_periph/i2c.c $(SRC_ARCH)/mcu_periph/i2c_ar
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#test_manual.srcs += $(SRC_SUBSYSTEMS)/radio_control/spektrum.c
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#test_manual.srcs += $(SRC_ARCH)/subsystems/radio_control/spektrum_arch.c
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##
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## test can interface
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##
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test_can.ARCHDIR = $(ARCH)
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test_can.CFLAGS = $(COMMON_TEST_CFLAGS)
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test_can.srcs = $(COMMON_TEST_SRCS)
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test_can.CFLAGS += $(COMMON_TELEMETRY_CFLAGS)
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test_can.srcs += $(COMMON_TELEMETRY_SRCS)
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test_can.CFLAGS += -I$(SRC_LISA) -I$(SRC_BOARD)
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test_can.CFLAGS += -I$(SRC_LISA)
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test_can.srcs += lisa/test_can.c
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test_can.srcs += mcu_periph/can.c $(SRC_ARCH)/mcu_periph/can_arch.c
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@@ -1,5 +1,5 @@
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/*
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* Copyright (C) 2010 Piotr Esden-Tempski <piotr@esden.net>
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* Copyright (C) 2012 Piotr Esden-Tempski <piotr@esden.net>
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*
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* This file is part of paparazzi.
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*
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@@ -26,128 +26,123 @@
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#include "mcu_periph/can_arch.h"
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#include "mcu_periph/can.h"
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#include <stm32/rcc.h>
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#include <stm32/gpio.h>
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#include <stm32/flash.h>
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#include <stm32/misc.h>
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#include <stm32/can.h>
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#include <libopencm3/stm32/f1/rcc.h>
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#include <libopencm3/stm32/f1/gpio.h>
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#include <libopencm3/stm32/can.h>
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#include <libopencm3/cm3/nvic.h>
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#include "led.h"
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#define RCC_APB2Periph_GPIO_CAN RCC_APB2Periph_GPIOA
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#define GPIO_CAN GPIOA
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#define GPIO_Pin_CAN_RX GPIO_Pin_11
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#define GPIO_Pin_CAN_TX GPIO_Pin_12
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CanTxMsg can_tx_msg;
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CanRxMsg can_rx_msg;
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void _can_run_rx_callback(uint32_t id, uint8_t *buf, uint8_t len);
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bool can_initialized = false;
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void can_hw_init(void)
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{
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GPIO_InitTypeDef gpio;
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NVIC_InitTypeDef nvic;
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CAN_InitTypeDef can;
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CAN_FilterInitTypeDef can_filter;
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/* Enable peripheral clocks */
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RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO |
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RCC_APB2Periph_GPIOA, ENABLE);
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RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);
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/* Enable peripheral clocks. */
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rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_AFIOEN);
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rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPBEN);
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rcc_peripheral_enable_clock(&RCC_APB1ENR, RCC_APB1ENR_CAN1EN);
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/* Configure CAN pin: RX */
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gpio.GPIO_Pin = GPIO_Pin_11;
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gpio.GPIO_Mode = GPIO_Mode_IPU;
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GPIO_Init(GPIOA, &gpio);
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/* Remap the gpio pin if necessary. */
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AFIO_MAPR |= AFIO_MAPR_CAN1_REMAP_PORTB;
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/* Configure CAN pin: TX */
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gpio.GPIO_Pin = GPIO_Pin_12;
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gpio.GPIO_Mode = GPIO_Mode_AF_PP;
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gpio.GPIO_Speed = GPIO_Speed_50MHz;
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GPIO_Init(GPIOA, &gpio);
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/* Configure CAN pin: RX (input pull-up). */
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gpio_set_mode(GPIO_BANK_CAN1_PB_RX, GPIO_MODE_INPUT,
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GPIO_CNF_INPUT_PULL_UPDOWN, GPIO_CAN1_PB_RX);
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gpio_set(GPIO_BANK_CAN1_PB_RX, GPIO_CAN1_PB_RX);
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/* NVIC configuration */
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NVIC_PriorityGroupConfig(NVIC_PriorityGroup_0);
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/* Configure CAN pin: TX (output push-pull). */
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gpio_set_mode(GPIO_BANK_CAN1_PB_TX, GPIO_MODE_OUTPUT_50_MHZ,
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GPIO_CNF_OUTPUT_ALTFN_PUSHPULL, GPIO_CAN1_PB_TX);
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nvic.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn;
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nvic.NVIC_IRQChannelPreemptionPriority = 0x00;
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nvic.NVIC_IRQChannelSubPriority = 0x00;
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nvic.NVIC_IRQChannelCmd = ENABLE;
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NVIC_Init(&nvic);
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/* NVIC setup. */
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nvic_enable_irq(NVIC_USB_LP_CAN_RX0_IRQ);
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nvic_set_priority(NVIC_USB_LP_CAN_RX0_IRQ, 1);
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/* CAN register init */
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CAN_DeInit(CAN1);
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CAN_StructInit(&can);
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/* Reset CAN. */
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can_reset(CAN1);
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/* CAN cell init */
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can.CAN_TTCM = DISABLE;
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can.CAN_ABOM = CAN_ERR_RESUME;
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can.CAN_AWUM = DISABLE;
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can.CAN_NART = DISABLE;
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can.CAN_RFLM = DISABLE;
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can.CAN_TXFP = DISABLE;
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can.CAN_Mode = CAN_Mode_Normal;
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can.CAN_SJW = CAN_SJW_TQ;
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can.CAN_BS1 = CAN_BS1_TQ;
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can.CAN_BS2 = CAN_BS2_TQ;
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can.CAN_Prescaler = CAN_PRESCALER;
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can.CAN_ABOM = ENABLE;
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CAN_Init(CAN1, &can);
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/* CAN cell init. */
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if (can_init(CAN1,
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false, /* TTCM: Time triggered comm mode? */
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true, /* ABOM: Automatic bus-off management? */
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false, /* AWUM: Automatic wakeup mode? */
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false, /* NART: No automatic retransmission? */
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false, /* RFLM: Receive FIFO locked mode? */
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false, /* TXFP: Transmit FIFO priority? */
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CAN_BTR_SJW_1TQ,
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CAN_BTR_TS1_3TQ,
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CAN_BTR_TS2_4TQ,
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12)) /* BRP+1: Baud rate prescaler */
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{
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/* TODO we need something somewhere where we can leave a note
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* that CAN was unable to initialize. Just like any other
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* driver should...
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*/
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/* CAN filter init */
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can_filter.CAN_FilterNumber = 0;
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can_filter.CAN_FilterMode = CAN_FilterMode_IdMask;
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can_filter.CAN_FilterScale = CAN_FilterScale_32bit;
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can_filter.CAN_FilterIdHigh = 0x0000;
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can_filter.CAN_FilterIdLow = 0x0000;
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can_filter.CAN_FilterMaskIdHigh = 0x0000;
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can_filter.CAN_FilterMaskIdLow = 0x0000;
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can_filter.CAN_FilterFIFOAssignment = 0;
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can_filter.CAN_FilterActivation = ENABLE;
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CAN_FilterInit(&can_filter);
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can_reset(CAN1);
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/* transmit struct init */
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can_tx_msg.StdId = 0x0;
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can_tx_msg.ExtId = 0x0;
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can_tx_msg.RTR = CAN_RTR_DATA;
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#ifdef USE_CAN_EXT_ID
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can_tx_msg.IDE = CAN_ID_EXT;
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#else
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can_tx_msg.IDE = CAN_ID_STD;
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#endif
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can_tx_msg.DLC = 1;
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return;
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}
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CAN_ITConfig(CAN1, CAN_IT_FMP0, ENABLE);
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/* CAN filter 0 init. */
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can_filter_id_mask_32bit_init(CAN1,
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0, /* Filter ID */
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0, /* CAN ID */
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0, /* CAN ID mask */
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0, /* FIFO assignment (here: FIFO0) */
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true); /* Enable the filter. */
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/* Enable CAN RX interrupt. */
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can_enable_irq(CAN1, CAN_IER_FMPIE0);
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/* Remember that we succeeded to initialize. */
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can_initialized = true;
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}
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int can_hw_transmit(uint32_t id, const uint8_t *buf, uint8_t len)
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{
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if (!can_initialized) {
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return -2;
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}
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if(len > 8){
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return -1;
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}
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return can_transmit(CAN1,
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id, /* (EX/ST)ID: CAN ID */
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#ifdef USE_CAN_EXT_ID
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can_tx_msg.ExtId = id;
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true, /* IDE: CAN ID extended */
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#else
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can_tx_msg.StdId = id;
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false, /* IDE: CAN ID not extended */
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#endif
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can_tx_msg.DLC = len;
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memcpy(can_tx_msg.Data, buf, len);
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CAN_Transmit(CAN1, &can_tx_msg);
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return 0;
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false, /* RTR: Request transmit? */
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len, /* DLC: Data length */
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buf);
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}
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void usb_lp_can1_rx0_irq_handler(void)
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void usb_lp_can_rx0_isr(void)
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{
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CAN_Receive(CAN1, CAN_FIFO0, &can_rx_msg);
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#ifdef USE_CAN_EXT_ID
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_can_run_rx_callback(can_rx_msg.ExtId, can_rx_msg.Data, can_rx_msg.DLC);
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#else
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_can_run_rx_callback(can_rx_msg.StdId, can_rx_msg.Data, can_rx_msg.DLC);
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#endif
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u32 id, fmi;
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bool ext, rtr;
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u8 length, data[8];
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can_receive(CAN1,
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0, /* FIFO: 0 */
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false, /* Release */
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&id,
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&ext,
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&rtr,
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&fmi,
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&length,
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data);
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_can_run_rx_callback(id, data, length);
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can_fifo_release(CAN1, 0);
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}
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@@ -0,0 +1,136 @@
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/*
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* $Id:$
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*
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* Copyright (C) 2012 Piotr Esden-Tempski <piotr@esden.net>
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*
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* This file is part of paparazzi.
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*
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* paparazzi is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2, or (at your option)
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* any later version.
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*
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* paparazzi is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with paparazzi; see the file COPYING. If not, write to
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* the Free Software Foundation, 59 Temple Place - Suite 330,
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* Boston, MA 02111-1307, USA.
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*/
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#include "mcu.h"
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#include "mcu_periph/sys_time.h"
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#include "led.h"
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#include "subsystems/datalink/downlink.h"
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#include "mcu_periph/uart.h"
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#include "mcu_periph/can.h"
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static inline void main_init( void );
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static inline void main_periodic_task( void );
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static inline void main_event_task( void );
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void main_on_can_msg(uint32_t id, uint8_t *data, int len);
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uint8_t tx_data[8];
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uint8_t rx_data[8];
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bool new_can_data = false;
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int main(void) {
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main_init();
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tx_data[0] = 0;
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tx_data[1] = 0;
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tx_data[2] = 0;
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tx_data[3] = 0;
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tx_data[4] = 0;
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tx_data[5] = 0;
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tx_data[6] = 0;
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tx_data[7] = 0;
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new_can_data = false;
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while(1) {
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if (sys_time_check_and_ack_timer(0))
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main_periodic_task();
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main_event_task();
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}
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return 0;
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}
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static inline void main_init( void ) {
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mcu_init();
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sys_time_register_timer((1./PERIODIC_FREQUENCY), NULL);
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ppz_can_init(main_on_can_msg);
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}
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static inline void main_periodic_task( void ) {
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static int delay = 0;
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DOWNLINK_SEND_ALIVE(DefaultChannel, DefaultDevice, 16, MD5SUM);
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LED_PERIODIC();
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if (delay < 100) {
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delay++;
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return;
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}
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delay = 0;
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tx_data[0]+=1;
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ppz_can_transmit(0, tx_data, 8);
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}
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static inline void main_event_task( void ) {
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if (new_can_data) {
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if (rx_data[0] & 1) {
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LED_ON(2);
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} else {
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LED_OFF(2);
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}
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}
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if (new_can_data) {
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if (rx_data[0] & 2) {
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LED_ON(3);
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} else {
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LED_OFF(3);
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}
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}
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if (new_can_data) {
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if (rx_data[0] & 4) {
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LED_ON(4);
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} else {
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LED_OFF(4);
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}
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}
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if (new_can_data) {
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if (rx_data[0] & 8) {
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LED_ON(5);
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} else {
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LED_OFF(5);
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}
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}
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}
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void main_on_can_msg(uint32_t id, uint8_t *data, int len)
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{
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for (int i = 0; i<8; i++) {
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rx_data[i] = data[i];
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}
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new_can_data = true;
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}
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@@ -1,5 +1,5 @@
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/*
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* Copyright (C) 2010 Piotr Esden-Tempski <piotr@esden.net>
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* Copyright (C) 2012 Piotr Esden-Tempski <piotr@esden.net>
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*
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* This file is part of paparazzi.
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*
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@@ -29,13 +29,13 @@ can_rx_callback_t can_rx_callback;
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void _can_run_rx_callback(uint32_t id, uint8_t *buf, uint8_t len);
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void can_init(can_rx_callback_t callback)
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void ppz_can_init(can_rx_callback_t callback)
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{
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can_rx_callback = callback;
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can_hw_init();
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}
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int can_transmit(uint32_t id, const uint8_t *buf, uint8_t len)
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int ppz_can_transmit(uint32_t id, const uint8_t *buf, uint8_t len)
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{
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return can_hw_transmit(id, buf, len);
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}
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@@ -1,5 +1,5 @@
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/*
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* Copyright (C) 2010 Piotr Esden-Tempski <piotr@esden.net>
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* Copyright (C) 2012 Piotr Esden-Tempski <piotr@esden.net>
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*
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* This file is part of paparazzi.
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*
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@@ -25,7 +25,7 @@
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typedef void(* can_rx_callback_t)(uint32_t id, uint8_t *buf, int len);
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void can_init(can_rx_callback_t callback);
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int can_transmit(uint32_t id, const uint8_t *buf, uint8_t len);
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void ppz_can_init(can_rx_callback_t callback);
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int ppz_can_transmit(uint32_t id, const uint8_t *buf, uint8_t len);
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#endif /* CAN_H */
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