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authorPiotr Esden-Tempski2010-12-22 22:57:25 +0100
committerPiotr Esden-Tempski2010-12-22 22:57:25 +0100
commit3c12fc6cd302ab5314c259a130ee0b32ccc35ca1 (patch)
tree4835c0cb4a53c34c72eeb689afa0dcc75cbbe627 /examples
parent7f15dd0fc2d268eb02f9649d625dd0e6f1069b42 (diff)
Initial implementation of CAN test program.
Diffstat (limited to 'examples')
-rw-r--r--examples/obldc/Makefile10
-rw-r--r--examples/obldc/can/Makefile22
-rw-r--r--examples/obldc/can/can.c247
-rw-r--r--examples/obldc/can/can.ld31
4 files changed, 308 insertions, 2 deletions
diff --git a/examples/obldc/Makefile b/examples/obldc/Makefile
index 88182d5..8014fce 100644
--- a/examples/obldc/Makefile
+++ b/examples/obldc/Makefile
@@ -24,7 +24,7 @@ Q := @
MAKEFLAGS += --no-print-directory
endif
-all: led systick usart
+all: led systick usart can
led:
@printf " BUILD examples/obldc/led\n"
@@ -38,6 +38,10 @@ usart:
@printf " BUILD examples/obldc/usart\n"
$(Q)$(MAKE) -C usart
+can:
+ @printf " BUILD examples/obldc/can\n"
+ $(Q)$(MAKE) -C can
+
clean:
@printf " CLEAN examples/obldc/led\n"
$(Q)$(MAKE) -C led clean
@@ -45,6 +49,8 @@ clean:
$(Q)$(MAKE) -C systick clean
@printf " CLEAN examples/obldc/usart\n"
$(Q)$(MAKE) -C usart clean
+ @printf " CLEAN examples/obldc/can\n"
+ $(Q)$(MAKE) -C can clean
-.PHONY: led systick usart
+.PHONY: led systick usart can
diff --git a/examples/obldc/can/Makefile b/examples/obldc/can/Makefile
new file mode 100644
index 0000000..124b7a7
--- /dev/null
+++ b/examples/obldc/can/Makefile
@@ -0,0 +1,22 @@
+##
+## This file is part of the libopenstm32 project.
+##
+## Copyright (C) 2009 Uwe Hermann <uwe@hermann-uwe.de>
+##
+## This program is free software: you can redistribute it and/or modify
+## it under the terms of the GNU General Public License as published by
+## the Free Software Foundation, either version 3 of the License, or
+## (at your option) any later version.
+##
+## This program is distributed in the hope that it will be useful,
+## but WITHOUT ANY WARRANTY; without even the implied warranty of
+## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+## GNU General Public License for more details.
+##
+## You should have received a copy of the GNU General Public License
+## along with this program. If not, see <http://www.gnu.org/licenses/>.
+##
+
+BINARY = can
+
+include ../../Makefile.include
diff --git a/examples/obldc/can/can.c b/examples/obldc/can/can.c
new file mode 100644
index 0000000..3e576d5
--- /dev/null
+++ b/examples/obldc/can/can.c
@@ -0,0 +1,247 @@
+/*
+ * This file is part of the libopenstm32 project.
+ *
+ * Copyright (C) 2010 Thomas Otto <tommi@viadmin.org>
+ * Copyright (C) 2010 Piotr Esden-Tempski <piotr@esden.net>
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <libopenstm32/rcc.h>
+#include <libopenstm32/flash.h>
+#include <libopenstm32/gpio.h>
+#include <libopenstm32/nvic.h>
+#include <libopenstm32/systick.h>
+#include <libopenstm32/can.h>
+
+struct can_tx_msg {
+ u32 std_id;
+ u32 ext_id;
+ u8 ide;
+ u8 rtr;
+ u8 dlc;
+ u8 data[8];
+};
+
+struct can_rx_msg {
+ u32 std_id;
+ u32 ext_id;
+ u8 ide;
+ u8 rtr;
+ u8 dlc;
+ u8 data[8];
+ u8 fmi;
+};
+
+struct can_tx_msg can_tx_msg;
+struct can_rx_msg can_rx_msg;
+
+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);
+
+ gpio_set(GPIOA, GPIO6); /* LED0 off */
+ gpio_set(GPIOA, GPIO7); /* LED1 off */
+ gpio_set(GPIOB, GPIO0); /* LED2 off */
+ gpio_set(GPIOB, GPIO1); /* LED3 off */
+
+ /* Set GPIO6/7 (in GPIO port A) to 'output push-pull' for the LEDs. */
+ gpio_set_mode(GPIOA, GPIO_MODE_OUTPUT_50_MHZ,
+ GPIO_CNF_OUTPUT_PUSHPULL, GPIO6);
+ gpio_set_mode(GPIOA, GPIO_MODE_OUTPUT_50_MHZ,
+ GPIO_CNF_OUTPUT_PUSHPULL, GPIO7);
+
+ /* Set GPIO6/7 (in GPIO port B) to 'output push-pull' for the LEDs. */
+ gpio_set_mode(GPIOB, GPIO_MODE_OUTPUT_50_MHZ,
+ GPIO_CNF_OUTPUT_PUSHPULL, GPIO0);
+ gpio_set_mode(GPIOB, GPIO_MODE_OUTPUT_50_MHZ,
+ GPIO_CNF_OUTPUT_PUSHPULL, GPIO1);
+}
+
+void systick_setup()
+{
+ /* 72MHz / 8 => 9000000 counts per second */
+ systick_set_clocksource(STK_CTRL_CLKSOURCE_AHB_DIV8);
+
+ /* 9000000/9000 = 1000 overflows per second - every 1ms one interrupt */
+ systick_set_reload(9000);
+
+ systick_interrupt_enable();
+
+ /* start counting */
+ systick_counter_enable();
+}
+
+void can_setup()
+{
+ u32 wait_ack = 0x00000000;
+ u32 can_msr_inak_timeout = 0x0000FFFF;
+
+ /* 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) */
+ 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 */
+ gpio_set_mode(GPIOA, GPIO_MODE_OUTPUT_50_MHZ,
+ GPIO_CNF_OUTPUT_ALTFN_PUSHPULL, GPIO_CAN_TX);
+
+ /* NVIC setup */
+ nvic_enable_irq(NVIC_USB_LP_CAN_RX0_IRQ);
+ nvic_set_priority(NVIC_USB_LP_CAN_RX0_IRQ, 1);
+
+ /* --- CAN cell init ------------------------------------------------ */
+
+ /* Exit from sleep mode */
+ CAN_MCR(CAN1) &= ~CAN_MCR_SLEEP;
+
+ /* Request initialization "enter" */
+ CAN_MCR(CAN1) |= CAN_MCR_INRQ;
+
+ /* Wait for acknowledge */
+ while ((wait_ack != can_msr_inak_timeout) &&
+ ((CAN_MSR(CAN1) & CAN_MSR_INAK) != CAN_MSR_INAK)) {
+ wait_ack++;
+ }
+
+ /* Check the acknowledge */
+ if ((CAN_MSR(CAN1) & CAN_MSR_INAK) != CAN_MSR_INAK) {
+ /* we should set some flag here or so because we failed */
+ } else {
+
+ /* Set bit timings */
+ CAN_BTR(CAN1) = CAN_BTR_SJW_1TQ |
+ CAN_BTR_TS2_3TQ |
+ CAN_BTR_TS2_4TQ |
+ (u32)(CAN_BTR_BRP_MASK & 12);
+
+ /* Request initialization "leave" */
+ CAN_MCR(CAN1) &= ~CAN_MCR_INRQ;
+
+ /* Wait for acknowledge */
+ wait_ack = 0x00000000;
+ while ((wait_ack != can_msr_inak_timeout) && ((CAN_MSR(CAN1) & CAN_MSR_INAK) == CAN_MSR_INAK)) {
+ wait_ack++;
+ }
+
+ if ((CAN_MSR(CAN1) & CAN_MSR_INAK) != CAN_MSR_INAK) {
+ /* set some flag here because we failed */
+ } else {
+ /* set some flag here because we succeeded */
+ }
+ }
+
+ /* --- CAN filter 0 init -------------------------------------------- */
+
+ u32 filter_select_bit = 0x00000001;
+
+ /* Request initialization "enter" */
+ CAN_FMR(CAN1) |= CAN_FMR_FINIT;
+
+ /* Deactivate the filter */
+ CAN_FA1R(CAN1) &= ~filter_select_bit;
+
+ /* Set 32-bit scale for the filter */
+ CAN_FS1R(CAN1) |= filter_select_bit;
+
+ /* Set the filter id to 0 */
+ CAN_FiR1(CAN1, 0) = 0x00000000;
+
+ /* Set the filter id mask to 0 */
+ CAN_FiR2(CAN1, 0) = 0x00000000;
+
+ /* Set filter mode to Id/Mask mode */
+ CAN_FM1R(CAN1) &= ~filter_select_bit;
+
+ /* Select FIFO0 as filter assignement */
+ CAN_FFA1R(CAN1) &= ~filter_select_bit;
+
+ /* Reactivate the filter */
+ CAN_FA1R(CAN1) |= filter_select_bit;
+
+ /* Request initialization "leave" */
+ CAN_FMR(CAN1) &= ~CAN_FMR_FINIT;
+
+ /* --- Enable CAN rx interrupt -------------------------------------- */
+
+ CAN_IER(CAN1) |= CAN_IER_FMPIE0;
+}
+
+void can_transmit(u32 id, u8 length, u8 data)
+{
+ u32 mailbox = 0;
+
+ if ((CAN_TSR(CAN1) & CAN_TSR_TME0) == CAN_TSR_TME0) {
+ mailbox = CAN_MBOX0;
+ } else if ((CAN_TSR(CAN1) & CAN_TSR_TME1) == CAN_TSR_TME1) {
+ mailbox = CAN_MBOX1;
+ } else if ((CAN_TSR(CAN1) & CAN_TSR_TME2) == CAN_TSR_TME2) {
+ mailbox = CAN_MBOX2;
+ } else {
+ mailbox = 0; /* no mailbox */
+ }
+
+ if ( mailbox != 0 ) { /* check if we have an empty mailbox */
+ /* Set the ID */
+ CAN_TIxR(CAN1, mailbox) |= id << CAN_TIxR_STID_SHIFT;
+
+ /* Set the DLC */
+ CAN_TDTxR(CAN1, mailbox) &= 0xFFFFFFFF0;
+ CAN_TDTxR(CAN1, mailbox) |= length & CAN_TDTxR_DLC_MASK;
+
+ /* Set the data */
+ CAN_TDLxR(CAN1, mailbox) = data;
+ CAN_TDHxR(CAN1, mailbox) = 0x00000000;
+
+ /* Request transmission */
+ CAN_TIxR(CAN1, mailbox) |= CAN_TIxR_TXRQ;
+ }
+}
+
+void sys_tick_handler()
+{
+ static int temp32 = 0;
+
+ temp32++;
+
+ /* we call this handler every 1ms so 1000ms = 1s on/off */
+ if (temp32 == 1000) {
+ gpio_toggle(GPIOA, GPIO6); /* LED2 on/off */
+ temp32 = 0;
+
+ /* --- Transmit CAN frame ----------------------------------- */
+
+ can_transmit(0, 0, 10);
+ }
+}
+
+int main(void)
+{
+ rcc_clock_setup_in_hse_16mhz_out_72mhz();
+ gpio_setup();
+ can_setup();
+ systick_setup();
+
+ while(1); /* Halt. */
+
+ return 0;
+}
diff --git a/examples/obldc/can/can.ld b/examples/obldc/can/can.ld
new file mode 100644
index 0000000..a1e9de5
--- /dev/null
+++ b/examples/obldc/can/can.ld
@@ -0,0 +1,31 @@
+/*
+ * This file is part of the libopenstm32 project.
+ *
+ * Copyright (C) 2010 Thomas Otto <tommi@viadmin.org>
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ */
+
+/* Linker script for an STM32F103RBT6 board (128K flash, 20K RAM). */
+
+/* Define memory regions. */
+MEMORY
+{
+ rom (rx) : ORIGIN = 0x08000000, LENGTH = 128K
+ ram (rwx) : ORIGIN = 0x20000000, LENGTH = 20K
+}
+
+/* Include the common ld script from libopenstm32. */
+INCLUDE libopenstm32.ld
+