From 5d4d84026a2bd67b0e772333488cd2695aa79547 Mon Sep 17 00:00:00 2001 From: Piotr Esden-Tempski Date: Thu, 8 Nov 2012 15:18:26 -0800 Subject: Added updated and improved CAN example for Lisa/M 2.0. --- examples/stm32/f1/lisa-m-2/can/Makefile | 29 ++++ examples/stm32/f1/lisa-m-2/can/README | 4 + examples/stm32/f1/lisa-m-2/can/can.c | 234 ++++++++++++++++++++++++++++++++ 3 files changed, 267 insertions(+) create mode 100644 examples/stm32/f1/lisa-m-2/can/Makefile create mode 100644 examples/stm32/f1/lisa-m-2/can/README create mode 100644 examples/stm32/f1/lisa-m-2/can/can.c (limited to 'examples') diff --git a/examples/stm32/f1/lisa-m-2/can/Makefile b/examples/stm32/f1/lisa-m-2/can/Makefile new file mode 100644 index 0000000..e9191fa --- /dev/null +++ b/examples/stm32/f1/lisa-m-2/can/Makefile @@ -0,0 +1,29 @@ +## +## This file is part of the libopencm3 project. +## +## Copyright (C) 2009 Uwe Hermann +## +## This library is free software: you can redistribute it and/or modify +## it under the terms of the GNU Lesser General Public License as published by +## the Free Software Foundation, either version 3 of the License, or +## (at your option) any later version. +## +## This library 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 Lesser General Public License for more details. +## +## You should have received a copy of the GNU Lesser General Public License +## along with this library. If not, see . +## + +BINARY = can + +LDSCRIPT = ../lisa-m.ld + +# You need to set this if your device is running luftboot. +# All Lisa/M 2.0 come with Luftboot preflashed. +LDFLAGS += -Wl,-Ttext=0x8002000 + +include ../../Makefile.include + diff --git a/examples/stm32/f1/lisa-m-2/can/README b/examples/stm32/f1/lisa-m-2/can/README new file mode 100644 index 0000000..3a14e3b --- /dev/null +++ b/examples/stm32/f1/lisa-m-2/can/README @@ -0,0 +1,4 @@ +This test sets up the CAN interface on Lisa/M and transmits 8 bites every +100ms. The first byte is being incremented in each cycle. The demo also +receives messages and is displaing the first 4 bits of the first byte on the +board LEDs. diff --git a/examples/stm32/f1/lisa-m-2/can/can.c b/examples/stm32/f1/lisa-m-2/can/can.c new file mode 100644 index 0000000..dd673ba --- /dev/null +++ b/examples/stm32/f1/lisa-m-2/can/can.c @@ -0,0 +1,234 @@ +/* + * This file is part of the libopencm3 project. + * + * Copyright (C) 2010 Thomas Otto + * Copyright (C) 2010-2011 Piotr Esden-Tempski + * + * This library is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This library 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 Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with this library. If not, see . + */ + +#include +#include +#include +#include +#include +#include + +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 Alternate Function clock. */ + rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_AFIOEN); + + /* Enable GPIOA clock. */ + rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPAEN); + + /* Enable GPIOB clock. */ + rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPBEN); + + /* Enable GPIOC clock. */ + rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPCEN); + + /* Preconfigure LEDs. */ + gpio_set(GPIOA, GPIO8); /* LED1 off */ + gpio_set(GPIOB, GPIO4); /* LED2 off */ + gpio_set(GPIOC, GPIO2); /* LED3 off */ + gpio_set(GPIOC, GPIO5); /* LED4 off */ + gpio_set(GPIOC, GPIO15); /* LED5 off */ + + /* Configure LED GPIOOs. */ + gpio_set_mode(GPIOA, GPIO_MODE_OUTPUT_50_MHZ, + GPIO_CNF_OUTPUT_PUSHPULL, GPIO8); + gpio_set_mode(GPIOB, GPIO_MODE_OUTPUT_50_MHZ, + GPIO_CNF_OUTPUT_PUSHPULL, GPIO4); + gpio_set_mode(GPIOC, GPIO_MODE_OUTPUT_50_MHZ, + GPIO_CNF_OUTPUT_PUSHPULL, GPIO2); + gpio_set_mode(GPIOC, GPIO_MODE_OUTPUT_50_MHZ, + GPIO_CNF_OUTPUT_PUSHPULL, GPIO5); + gpio_set_mode(GPIOC, GPIO_MODE_OUTPUT_50_MHZ, + GPIO_CNF_OUTPUT_PUSHPULL, GPIO15); + + /* Configure PB4 as GPIO. */ + AFIO_MAPR |= AFIO_MAPR_SWJ_CFG_FULL_SWJ_NO_JNTRST; + +} + +void systick_setup(void) +{ + /* 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(void) +{ + /* Enable peripheral clocks. */ + rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_AFIOEN); + rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPBEN); + rcc_peripheral_enable_clock(&RCC_APB1ENR, RCC_APB1ENR_CAN1EN); + + AFIO_MAPR |= AFIO_MAPR_CAN1_REMAP_PORTB; + + /* Configure CAN pin: RX (input pull-up). */ + gpio_set_mode(GPIO_BANK_CAN1_PB_RX, GPIO_MODE_INPUT, + GPIO_CNF_INPUT_PULL_UPDOWN, GPIO_CAN1_PB_RX); + gpio_set(GPIO_BANK_CAN1_PB_RX, GPIO_CAN1_PB_RX); + + /* Configure CAN pin: TX. */ + gpio_set_mode(GPIO_BANK_CAN1_PB_TX, GPIO_MODE_OUTPUT_50_MHZ, + GPIO_CNF_OUTPUT_ALTFN_PUSHPULL, GPIO_CAN1_PB_TX); + + /* NVIC setup. */ + nvic_enable_irq(NVIC_USB_LP_CAN_RX0_IRQ); + nvic_set_priority(NVIC_USB_LP_CAN_RX0_IRQ, 1); + + /* Reset CAN. */ + can_reset(CAN1); + + /* CAN cell init. */ + if (can_init(CAN1, + false, /* TTCM: Time triggered comm mode? */ + true, /* ABOM: Automatic bus-off management? */ + false, /* AWUM: Automatic wakeup mode? */ + false, /* NART: No automatic retransmission? */ + false, /* RFLM: Receive FIFO locked mode? */ + false, /* TXFP: Transmit FIFO priority? */ + CAN_BTR_SJW_1TQ, + CAN_BTR_TS1_3TQ, + CAN_BTR_TS2_4TQ, + 12)) /* BRP+1: Baud rate prescaler */ + { + gpio_set(GPIOA, GPIO8); /* LED1 off */ + gpio_set(GPIOB, GPIO4); /* LED2 off */ + gpio_set(GPIOC, GPIO2); /* LED3 off */ + gpio_clear(GPIOC, GPIO5); /* LED4 on */ + gpio_set(GPIOC, GPIO15); /* LED5 off */ + + /* Die because we failed to initialize. */ + while (1) + __asm__("nop"); + } + + /* CAN filter 0 init. */ + can_filter_id_mask_32bit_init(CAN1, + 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) +{ + static int temp32 = 0; + static u8 data[8] = {0, 1, 2, 0, 0, 0, 0, 0}; + + /* We call this handler every 1ms so every 100ms = 0.1s + * resulting in 100Hz message rate. + */ + if (++temp32 != 100) + return; + + temp32 = 0; + + /* 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) + { + gpio_set(GPIOA, GPIO8); /* LED1 off */ + gpio_set(GPIOB, GPIO4); /* LED2 off */ + gpio_set(GPIOC, GPIO2); /* LED3 off */ + gpio_set(GPIOC, GPIO5); /* LED4 off */ + gpio_clear(GPIOC, GPIO15); /* LED5 on */ + } +} + +void usb_lp_can_rx0_isr(void) +{ + 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) + gpio_clear(GPIOA, GPIO8); + else + gpio_set(GPIOA, GPIO8); + + if (data[0] & 2) + gpio_clear(GPIOB, GPIO4); + else + gpio_set(GPIOB, GPIO4); + + if (data[0] & 4) + gpio_clear(GPIOC, GPIO2); + else + gpio_set(GPIOC, GPIO2); + + if (data[0] & 8) + gpio_clear(GPIOC, GPIO5); + else + gpio_set(GPIOC, GPIO5); + + can_fifo_release(CAN1, 0); +} + +int main(void) +{ + rcc_clock_setup_in_hse_12mhz_out_72mhz(); + gpio_setup(); + can_setup(); + systick_setup(); + + while (1); /* Halt. */ + + return 0; +} -- cgit v1.2.3