init new PC
This commit is contained in:
262
Core/Drivers/CAND_CanDriver.c
Normal file
262
Core/Drivers/CAND_CanDriver.c
Normal file
@ -0,0 +1,262 @@
|
||||
//=================================================================================================
|
||||
//
|
||||
// Company: Paul Scherrer Institut
|
||||
// 5232 Villigen PSI
|
||||
// Switzerland
|
||||
//
|
||||
//-------------------------------------------------------------------------------------------------
|
||||
//
|
||||
// Project: Peltier Controller V2
|
||||
// Author: Noah Piqué (noah.pique@psi.ch)
|
||||
//
|
||||
//-------------------------------------------------------------------------------------------------
|
||||
//
|
||||
// Module: Can Driver
|
||||
// Filename: CAND_CanDriver.c
|
||||
// Date: Handled by Subversion (version control system)
|
||||
// Revision: Handled by Subversion (version control system)
|
||||
// History: Handled by Subversion (version control system)
|
||||
//
|
||||
//-------------------------------------------------------------------------------------------------
|
||||
//
|
||||
// Description: This source file contains all functions dealing with the analog outputs ports
|
||||
//
|
||||
//=================================================================================================
|
||||
|
||||
|
||||
|
||||
//=================================================================================================
|
||||
// Section: INCLUDES
|
||||
// Description: List of required include files.
|
||||
//=================================================================================================
|
||||
|
||||
#include "CAND_CanDriver.h"
|
||||
|
||||
// Toolbox
|
||||
#include "../Toolbox/UTIL_Utility.h"
|
||||
|
||||
// Driver
|
||||
#include "DIPO_DigitalPorts.h"
|
||||
|
||||
// include STM32 drivers
|
||||
#include "stm32l4xx_hal.h"
|
||||
|
||||
#include "cmsis_os2.h"
|
||||
|
||||
//=================================================================================================
|
||||
// Section: DEFINITIONS
|
||||
// Description: Definition of local constants (visible by this module only).
|
||||
//=================================================================================================
|
||||
|
||||
#define CAND_SHIFT 0x1 // Shift address space (0-3)
|
||||
|
||||
#define CAND_PRIVATE 1
|
||||
#define CAND_PUBLIC 0
|
||||
|
||||
#define CAND_RECEIVE 0
|
||||
#define CAND_SEND 1
|
||||
|
||||
//=================================================================================================
|
||||
// Section: MACROS
|
||||
// Description: Definition of local macros (visible by this module only).
|
||||
//=================================================================================================
|
||||
|
||||
|
||||
|
||||
//=================================================================================================
|
||||
// Section: ENUMERATIONS
|
||||
// Description: Definition of local enumerations (visible by this module only).
|
||||
//=================================================================================================
|
||||
|
||||
|
||||
//=================================================================================================
|
||||
// Section: STRUCTURES
|
||||
// Description: Definition of local Structures (visible by this module only).
|
||||
//=================================================================================================
|
||||
|
||||
|
||||
//=================================================================================================
|
||||
// Section: LOCAL VARIABLES
|
||||
// Description: Definition of local variables (visible by this module only).
|
||||
//=================================================================================================
|
||||
CAND_pfnRxCallback m_pfnRxCallback = NULL;
|
||||
|
||||
U8 u8BoardId = 0x00;
|
||||
|
||||
CAN_FilterTypeDef stFilter_public = {
|
||||
(CAND_SHIFT<<14)|(CAND_PUBLIC<<13)|(CAND_RECEIVE<<11), // FilterIdHigh
|
||||
0x0000, // FilterIdLow
|
||||
0xE800, // FilterMaskIdHigh
|
||||
0x0000, // FilterMaskIdLow
|
||||
CAN_FILTER_FIFO0, // FilterFIFOAssignment
|
||||
0x00, // FilterBank
|
||||
CAN_FILTERMODE_IDMASK, // FilterMode
|
||||
CAN_FILTERSCALE_32BIT, // FilterScale
|
||||
CAN_FILTER_ENABLE, // FilterActivation
|
||||
0x00 // SlaveStartFilterBank
|
||||
};
|
||||
|
||||
CAN_FilterTypeDef stFilter_private = {
|
||||
(CAND_SHIFT<<14)|(CAND_PRIVATE<<13)|(CAND_RECEIVE<<11), // FilterIdHigh
|
||||
0x0000, // FilterIdLow
|
||||
0xE9E0, // FilterMaskIdHigh
|
||||
0x0000, // FilterMaskIdLow
|
||||
CAN_FILTER_FIFO0, // FilterFIFOAssignment
|
||||
0x01, // FilterBank
|
||||
CAN_FILTERMODE_IDMASK, // FilterMode
|
||||
CAN_FILTERSCALE_32BIT, // FilterScale
|
||||
CAN_FILTER_ENABLE, // FilterActivation
|
||||
0x00 // SlaveStartFilterBank
|
||||
};
|
||||
|
||||
//=================================================================================================
|
||||
// Section: LOCAL CONSTANTS
|
||||
// Description: Definition of local constants (visible by this module only).
|
||||
//=================================================================================================
|
||||
|
||||
|
||||
//=================================================================================================
|
||||
// Section: LOCAL FUNCTIONS (PROTOTYPES)
|
||||
// Description: Definition of local functions (visible by this module only).
|
||||
//=================================================================================================
|
||||
|
||||
|
||||
//=================================================================================================
|
||||
// Section: EXTERNAL FUNCTIONS
|
||||
// Description: Definition of external (global) functions.
|
||||
//=================================================================================================
|
||||
|
||||
|
||||
|
||||
//=================================================================================================
|
||||
// Section: EXTERNAL VARIABLES
|
||||
// Description: Definition of external (global) variables.
|
||||
//=================================================================================================
|
||||
|
||||
extern CAN_HandleTypeDef hcan1;
|
||||
|
||||
//=================================================================================================
|
||||
// Section: GLOBAL FUNCTIONS
|
||||
// Description: Definition (implementation) of global functions.
|
||||
//=================================================================================================
|
||||
|
||||
//-------------------------------------------------------------------------------------------------
|
||||
// Function: CAND_boInitializeModule
|
||||
// Description: Initializes the module. Function must be called once immediately after power-up.
|
||||
// Parameters: None
|
||||
// Returns: Boolean, TRUE if successful
|
||||
//-------------------------------------------------------------------------------------------------
|
||||
BOOL CAND_boInitializeModule( VOID )
|
||||
{
|
||||
BOOL boOK = TRUE;
|
||||
|
||||
u8BoardId |= DIPO_boGetInput(DIPO_eADR0) << 0;
|
||||
u8BoardId |= DIPO_boGetInput(DIPO_eADR1) << 1;
|
||||
u8BoardId |= DIPO_boGetInput(DIPO_eADR2) << 2;
|
||||
u8BoardId |= DIPO_boGetInput(DIPO_eADR3) << 3;
|
||||
|
||||
stFilter_private.FilterIdHigh |= u8BoardId << 5;
|
||||
|
||||
boOK &= ( HAL_CAN_ConfigFilter(&hcan1, &stFilter_public) == HAL_OK ) ? TRUE : FALSE;
|
||||
boOK &= ( HAL_CAN_ConfigFilter(&hcan1, &stFilter_private) == HAL_OK ) ? TRUE : FALSE;
|
||||
|
||||
boOK &= ( HAL_CAN_Start(&hcan1) == HAL_OK ) ? TRUE : FALSE;
|
||||
|
||||
boOK &= ( HAL_CAN_ActivateNotification( &hcan1, CAN_IT_RX_FIFO0_MSG_PENDING ) == HAL_OK ) ? TRUE : FALSE;
|
||||
|
||||
return( boOK );
|
||||
}
|
||||
|
||||
//-------------------------------------------------------------------------------------------------
|
||||
// Function: CAND_u8GetBoardId
|
||||
// Description: Returns the Board ID
|
||||
// Parameters: None
|
||||
// Returns: U8 Board ID
|
||||
//-------------------------------------------------------------------------------------------------
|
||||
U8 CAND_u8GetBoardId( VOID ){
|
||||
return u8BoardId;
|
||||
}
|
||||
|
||||
//-------------------------------------------------------------------------------------------------
|
||||
// Function: CAND_boSendMessage
|
||||
// Description: Send a Message over the CAN Interface
|
||||
// Parameters: U8 Id
|
||||
// U8 Length
|
||||
// PU8 Data Buffer
|
||||
// Returns: Boolean, TRUE if successful
|
||||
//-------------------------------------------------------------------------------------------------
|
||||
BOOL CAND_boSendMessage( U16 u16Id, PU8 pu8Buffer, U8 u8Len ){
|
||||
BOOL boOK = TRUE;
|
||||
|
||||
if( u8Len > 8 ) return FALSE;
|
||||
|
||||
CAN_TxHeaderTypeDef header = {
|
||||
u16Id | (CAND_SEND<<6),
|
||||
0,
|
||||
CAN_ID_STD,
|
||||
CAN_RTR_DATA,
|
||||
u8Len,
|
||||
DISABLE
|
||||
};
|
||||
|
||||
boOK &= HAL_CAN_AddTxMessage( &hcan1, &header, pu8Buffer, (PU32)CAN_TX_MAILBOX0 ) == HAL_OK ? TRUE : FALSE;
|
||||
|
||||
return boOK;
|
||||
}
|
||||
|
||||
|
||||
//-------------------------------------------------------------------------------------------------
|
||||
// Function: CAND_vSetRxCallback
|
||||
// Description: Send a Message over the CAN Interface
|
||||
// Parameters: CAND_pfnRxCallback Callback Function
|
||||
// Returns: none
|
||||
//-------------------------------------------------------------------------------------------------
|
||||
VOID CAND_vSetRxCallback( CAND_pfnRxCallback pfnRxCallback ){
|
||||
m_pfnRxCallback = pfnRxCallback;
|
||||
}
|
||||
|
||||
|
||||
|
||||
//=================================================================================================
|
||||
// Section: LOCAL FUNCTIONS
|
||||
// Descriptionn: Definition (implementation) of local functions.
|
||||
//=================================================================================================
|
||||
|
||||
|
||||
//-------------------------------------------------------------------------------------------------
|
||||
// Function: HAL_CAN_RxFifo0MsgPendingCallback
|
||||
// Description: HAL Can Rx FIFO Msg Pending Callback
|
||||
// Parameters: CAN_HandleTypeDef *hcan
|
||||
// Returns: None
|
||||
//-------------------------------------------------------------------------------------------------
|
||||
void HAL_CAN_RxFifo0MsgPendingCallback( CAN_HandleTypeDef *hcan ){
|
||||
|
||||
CAN_RxHeaderTypeDef header;
|
||||
U8 au8Data[8];
|
||||
|
||||
HAL_CAN_GetRxMessage( hcan, CAN_RX_FIFO0, &header, au8Data );
|
||||
|
||||
CAND_Message stMessage;
|
||||
|
||||
stMessage.u16Id = header.StdId;
|
||||
stMessage.u8Type = (header.StdId & 0x030) >> 4;
|
||||
stMessage.u8Len = header.DLC;
|
||||
UTIL_vMemCopy( au8Data,stMessage.au8Data,stMessage.u8Len );
|
||||
|
||||
m_pfnRxCallback( stMessage );
|
||||
|
||||
}
|
||||
|
||||
//-------------------------------------------------------------------------------------------------
|
||||
// Function: HAL_CAN_ErrorCallback
|
||||
// Description: HAL Can error callback function
|
||||
// Parameters: CAN_HandleTypeDef *hcan
|
||||
// Returns: None
|
||||
//-------------------------------------------------------------------------------------------------
|
||||
void HAL_CAN_ErrorCallback( CAN_HandleTypeDef *hcan ){
|
||||
U32 u32Error = hcan->ErrorCode;
|
||||
// TODO: Can Error Handling
|
||||
}
|
||||
|
||||
|
||||
|
||||
Reference in New Issue
Block a user