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authorUwe Hermann2010-12-26 00:30:05 +0100
committerUwe Hermann2010-12-26 00:30:05 +0100
commit06d1a5ca80e81b06d430201923d4002b7eb6ebe8 (patch)
tree7034888a3cfef68fffecb27124e6d6ca57376019 /examples/obldc/can/can.c
parente7d765ea907dada5d42735a43ccf0b45080789c1 (diff)
CAN: Cosmetics and coding-style fixes.
Diffstat (limited to 'examples/obldc/can/can.c')
-rw-r--r--examples/obldc/can/can.c104
1 files changed, 47 insertions, 57 deletions
diff --git a/examples/obldc/can/can.c b/examples/obldc/can/can.c
index bc5f23f..881a185 100644
--- a/examples/obldc/can/can.c
+++ b/examples/obldc/can/can.c
@@ -51,6 +51,7 @@ void gpio_setup(void)
{
/* Enable GPIOA clock. */
rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPAEN);
+
/* Enable GPIOB clock. */
rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPBEN);
@@ -72,7 +73,7 @@ void gpio_setup(void)
GPIO_CNF_OUTPUT_PUSHPULL, GPIO1);
}
-void systick_setup()
+void systick_setup(void)
{
/* 72MHz / 8 => 9000000 counts per second */
systick_set_clocksource(STK_CTRL_CLKSOURCE_AHB_DIV8);
@@ -82,35 +83,34 @@ void systick_setup()
systick_interrupt_enable();
- /* start counting */
+ /* Start counting. */
systick_counter_enable();
}
-void can_setup()
+void can_setup(void)
{
-
- /* Enable peripheral clocks */
+ /* Enable peripheral clocks. */
rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_AFIOEN);
rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPAEN);
rcc_peripheral_enable_clock(&RCC_APB1ENR, RCC_APB1ENR_CANEN);
- /* Configure CAN pin: RX (input pull-up) */
+ /* Configure CAN pin: RX (input pull-up). */
gpio_set_mode(GPIOA, GPIO_MODE_INPUT,
GPIO_CNF_INPUT_PULL_UPDOWN, GPIO_CAN_RX);
gpio_set(GPIOA, GPIO_CAN_RX);
- /* Configure CAN pin: TX */
+ /* Configure CAN pin: TX. */
gpio_set_mode(GPIOA, GPIO_MODE_OUTPUT_50_MHZ,
GPIO_CNF_OUTPUT_ALTFN_PUSHPULL, GPIO_CAN_TX);
- /* NVIC setup */
+ /* NVIC setup. */
nvic_enable_irq(NVIC_USB_LP_CAN_RX0_IRQ);
nvic_set_priority(NVIC_USB_LP_CAN_RX0_IRQ, 1);
- /* reset CAN */
+ /* Reset CAN. */
can_reset(CAN1);
- /* CAN cell init */
+ /* CAN cell init. */
if (can_init(CAN1,
false, /* TTCM: Time triggered comm mode? */
true, /* ABOM: Automatic bus-off management? */
@@ -121,107 +121,97 @@ void can_setup()
CAN_BTR_SJW_1TQ,
CAN_BTR_TS1_3TQ,
CAN_BTR_TS2_4TQ,
- 12)) { /* BRP+1: Baud rate prescaler */
-
+ 12)) /* BRP+1: Baud rate prescaler */
+ {
gpio_set(GPIOA, GPIO6); /* LED0 off */
gpio_set(GPIOA, GPIO7); /* LED1 off */
gpio_set(GPIOB, GPIO0); /* LED2 off */
gpio_clear(GPIOB, GPIO1); /* LED3 on */
- /* die because we failed to initialize */
- while(1){
- __asm("nop");
- }
+ /* Die because we failed to initialize. */
+ while (1)
+ __asm__("nop");
}
- /* --- CAN filter 0 init -------------------------------------------- */
-
+ /* CAN filter 0 init. */
can_filter_id_mask_32bit_init(CAN1,
- 0, /* Filter id */
- 0, /* CAN id */
- 0, /* CAN id mask */
- 0, /* FIFO assignement (in this case FIFO0) */
- true); /* Enable the filter */
-
- /* --- Enable CAN rx interrupt -------------------------------------- */
+ 0, /* Filter ID */
+ 0, /* CAN ID */
+ 0, /* CAN ID mask */
+ 0, /* FIFO assignment (here: FIFO0) */
+ true); /* Enable the filter. */
+ /* Enable CAN RX interrupt. */
can_enable_irq(CAN1, CAN_IER_FMPIE0);
}
-void sys_tick_handler()
+void sys_tick_handler(void)
{
static int temp32 = 0;
- static u8 data[8] = {0,1,2,0,0,0,0,0};
+ static u8 data[8] = {0, 1, 2, 0, 0, 0, 0, 0};
temp32++;
- /* we call this handler every 1ms so 1000ms = 1s on/off */
+ /* We call this handler every 1ms so 1000ms = 1s on/off. */
if (temp32 == 1000) {
temp32 = 0;
- /* --- Transmit CAN frame ----------------------------------- */
-
+ /* Transmit CAN frame. */
data[0]++;
- if(can_transmit(CAN1,
- 0, /* (EX/ST)ID: CAN id */
- false, /* IDE: CAN id extended? */
- false, /* RTR: Request Transmit? */
- 8, /* DLC: Data Length */
- data) == -1) {
+ if (can_transmit(CAN1,
+ 0, /* (EX/ST)ID: CAN ID */
+ false, /* IDE: CAN ID extended? */
+ false, /* RTR: Request transmit? */
+ 8, /* DLC: Data length */
+ data) == -1)
+ {
gpio_set(GPIOA, GPIO6); /* LED0 off */
gpio_set(GPIOA, GPIO7); /* LED1 off */
gpio_clear(GPIOB, GPIO0); /* LED2 on */
- gpio_set(GPIOB, GPIO1); /* LED3 off */
+ gpio_set(GPIOB, GPIO1); /* LED3 off */
}
}
}
void usb_lp_can_rx0_isr(void)
{
- u32 id;
- bool ext;
- bool rtr;
- u32 fmi;
- u8 length;
- u8 data[8];
+ u32 id, fmi;
+ bool ext, rtr;
+ u8 length, data[8];
can_receive(CAN1, 0, false, &id, &ext, &rtr, &fmi, &length, data);
- if (data[0] & 1) {
+ if (data[0] & 1)
gpio_clear(GPIOA, GPIO6);
- } else {
+ else
gpio_set(GPIOA, GPIO6);
- }
- if (data[0] & 2) {
+ if (data[0] & 2)
gpio_clear(GPIOA, GPIO7);
- } else {
+ else
gpio_set(GPIOA, GPIO7);
- }
- if (data[0] & 4) {
+ if (data[0] & 4)
gpio_clear(GPIOB, GPIO0);
- } else {
+ else
gpio_set(GPIOB, GPIO0);
- }
- if (data[0] & 8) {
+ if (data[0] & 8)
gpio_clear(GPIOB, GPIO1);
- } else {
+ else
gpio_set(GPIOB, GPIO1);
- }
can_fifo_release(CAN1, 0);
}
int main(void)
{
- rcc_clock_setup_in_hse_8mhz_out_72mhz();
+ rcc_clock_setup_in_hse_8mhz_out_72mhz();
gpio_setup();
can_setup();
systick_setup();
- while(1); /* Halt. */
+ while (1); /* Halt. */
return 0;
}