267 lines
9.9 KiB
C
267 lines
9.9 KiB
C
//=================================================================================================
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//
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// Company: Paul Scherrer Institut
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// 5232 Villigen PSI
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// Switzerland
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//
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//-------------------------------------------------------------------------------------------------
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//
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// Project: Peltier Controller V2
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// Author: Noah Piqué (noah.pique@psi.ch)
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//
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//-------------------------------------------------------------------------------------------------
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//
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// Module: Can Driver
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// Filename: CAND_CanDriver.c
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// Date: Handled by Subversion (version control system)
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// Revision: Handled by Subversion (version control system)
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// History: Handled by Subversion (version control system)
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//
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//-------------------------------------------------------------------------------------------------
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//
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// Description: This source file contains all functions dealing with the analog outputs ports
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//
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//=================================================================================================
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//=================================================================================================
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// Section: INCLUDES
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// Description: List of required include files.
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//=================================================================================================
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#include "CAND_CanDriver.h"
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// Toolbox
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#include "../Toolbox/UTIL_Utility.h"
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// Driver
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#include "DIPO_DigitalPorts.h"
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// include STM32 drivers
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#include "stm32l4xx_hal.h"
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#include "cmsis_os2.h"
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//=================================================================================================
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// Section: DEFINITIONS
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// Description: Definition of local constants (visible by this module only).
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//=================================================================================================
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#define CAND_SHIFT 0x1 // Shift address space (0-3)
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#define CAND_PRIVATE 1
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#define CAND_PUBLIC 0
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#define CAND_RECEIVE 0
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#define CAND_SEND 1
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//=================================================================================================
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// Section: MACROS
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// Description: Definition of local macros (visible by this module only).
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//=================================================================================================
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//=================================================================================================
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// Section: ENUMERATIONS
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// Description: Definition of local enumerations (visible by this module only).
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//=================================================================================================
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//=================================================================================================
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// Section: STRUCTURES
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// Description: Definition of local Structures (visible by this module only).
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//=================================================================================================
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//=================================================================================================
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// Section: LOCAL VARIABLES
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// Description: Definition of local variables (visible by this module only).
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//=================================================================================================
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CAND_pfnRxCallback m_pfnRxCallback = NULL;
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U8 u8BoardId = 0x00;
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CAN_FilterTypeDef stFilter_public = {
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(CAND_SHIFT<<14)|(CAND_PUBLIC<<13)|(CAND_RECEIVE<<11), // FilterIdHigh
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0x0000, // FilterIdLow
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0xE800, // FilterMaskIdHigh
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0x0000, // FilterMaskIdLow
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CAN_FILTER_FIFO0, // FilterFIFOAssignment
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0x00, // FilterBank
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CAN_FILTERMODE_IDMASK, // FilterMode
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CAN_FILTERSCALE_32BIT, // FilterScale
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CAN_FILTER_ENABLE, // FilterActivation
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0x00 // SlaveStartFilterBank
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};
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CAN_FilterTypeDef stFilter_private = {
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(CAND_SHIFT<<14)|(CAND_PRIVATE<<13)|(CAND_RECEIVE<<11), // FilterIdHigh
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0x0000, // FilterIdLow
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0xE9E0, // FilterMaskIdHigh
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0x0000, // FilterMaskIdLow
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CAN_FILTER_FIFO0, // FilterFIFOAssignment
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0x01, // FilterBank
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CAN_FILTERMODE_IDMASK, // FilterMode
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CAN_FILTERSCALE_32BIT, // FilterScale
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CAN_FILTER_ENABLE, // FilterActivation
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0x00 // SlaveStartFilterBank
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};
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//=================================================================================================
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// Section: LOCAL CONSTANTS
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// Description: Definition of local constants (visible by this module only).
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//=================================================================================================
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//=================================================================================================
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// Section: LOCAL FUNCTIONS (PROTOTYPES)
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// Description: Definition of local functions (visible by this module only).
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//=================================================================================================
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//=================================================================================================
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// Section: EXTERNAL FUNCTIONS
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// Description: Definition of external (global) functions.
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//=================================================================================================
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//=================================================================================================
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// Section: EXTERNAL VARIABLES
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// Description: Definition of external (global) variables.
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//=================================================================================================
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extern CAN_HandleTypeDef hcan1;
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//=================================================================================================
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// Section: GLOBAL FUNCTIONS
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// Description: Definition (implementation) of global functions.
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//=================================================================================================
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//-------------------------------------------------------------------------------------------------
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// Function: CAND_boInitializeModule
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// Description: Initializes the module. Function must be called once immediately after power-up.
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// Parameters: None
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// Returns: Boolean, TRUE if successful
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//-------------------------------------------------------------------------------------------------
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BOOL CAND_boInitializeModule( VOID )
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{
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BOOL boOK = TRUE;
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u8BoardId |= DIPO_boGetInput(DIPO_eADR0) << 0;
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u8BoardId |= DIPO_boGetInput(DIPO_eADR1) << 1;
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u8BoardId |= DIPO_boGetInput(DIPO_eADR2) << 2;
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u8BoardId |= DIPO_boGetInput(DIPO_eADR3) << 3;
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stFilter_private.FilterIdHigh |= u8BoardId << 5;
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boOK &= ( HAL_CAN_ConfigFilter(&hcan1, &stFilter_public) == HAL_OK ) ? TRUE : FALSE;
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boOK &= ( HAL_CAN_ConfigFilter(&hcan1, &stFilter_private) == HAL_OK ) ? TRUE : FALSE;
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boOK &= ( HAL_CAN_Start(&hcan1) == HAL_OK ) ? TRUE : FALSE;
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boOK &= ( HAL_CAN_ActivateNotification( &hcan1, CAN_IT_RX_FIFO0_MSG_PENDING ) == HAL_OK ) ? TRUE : FALSE;
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return( boOK );
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}
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//-------------------------------------------------------------------------------------------------
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// Function: CAND_u8GetBoardId
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// Description: Returns the Board ID
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// Parameters: None
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// Returns: U8 Board ID
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//-------------------------------------------------------------------------------------------------
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U8 CAND_u8GetBoardId( VOID ){
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return u8BoardId;
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}
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//-------------------------------------------------------------------------------------------------
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// Function: CAND_boSendMessage
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// Description: Send a Message over the CAN Interface
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// Parameters: U8 Id
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// U8 Length
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// PU8 Data Buffer
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// Returns: Boolean, TRUE if successful
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//-------------------------------------------------------------------------------------------------
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BOOL CAND_boSendMessage( PU8 pu8Buffer, U8 u8Len, BOOL boIsPrivate, U8 u8Type ){
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BOOL boOK = TRUE;
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U16 u16Id = 0x000;
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if( u8Len > 8 ) return FALSE;
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u16Id = (CAND_SHIFT<<9)|(boIsPrivate<<8)|(CAND_SEND<<6)|(u8Type<<4)|(U16)u8BoardId;
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CAN_TxHeaderTypeDef header = {
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u16Id,
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0,
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CAN_ID_STD,
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CAN_RTR_DATA,
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u8Len,
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DISABLE
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};
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boOK &= HAL_CAN_AddTxMessage( &hcan1, &header, pu8Buffer, (PU32)CAN_TX_MAILBOX0 ) == HAL_OK ? TRUE : FALSE;
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return boOK;
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}
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//-------------------------------------------------------------------------------------------------
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// Function: CAND_vSetRxCallback
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// Description: Send a Message over the CAN Interface
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// Parameters: CAND_pfnRxCallback Callback Function
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// Returns: none
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//-------------------------------------------------------------------------------------------------
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VOID CAND_vSetRxCallback( CAND_pfnRxCallback pfnRxCallback ){
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m_pfnRxCallback = pfnRxCallback;
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}
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//=================================================================================================
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// Section: LOCAL FUNCTIONS
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// Descriptionn: Definition (implementation) of local functions.
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//=================================================================================================
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//-------------------------------------------------------------------------------------------------
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// Function: HAL_CAN_RxFifo0MsgPendingCallback
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// Description: HAL Can Rx FIFO Msg Pending Callback
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// Parameters: CAN_HandleTypeDef *hcan
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// Returns: None
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//-------------------------------------------------------------------------------------------------
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void HAL_CAN_RxFifo0MsgPendingCallback( CAN_HandleTypeDef *hcan ){
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CAN_RxHeaderTypeDef header;
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U8 au8Data[8];
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HAL_CAN_GetRxMessage( hcan, CAN_RX_FIFO0, &header, au8Data );
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CAND_Message stMessage;
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stMessage.boIsPrivate = (header.StdId & 0x100) >> 8;
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stMessage.u8Type = (header.StdId & 0x030) >> 4;
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stMessage.u8Len = header.DLC;
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UTIL_vMemCopy( au8Data,stMessage.au8Data,stMessage.u8Len );
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m_pfnRxCallback( stMessage );
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}
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//-------------------------------------------------------------------------------------------------
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// Function: HAL_CAN_ErrorCallback
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// Description: HAL Can error callback function
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// Parameters: CAN_HandleTypeDef *hcan
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// Returns: None
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//-------------------------------------------------------------------------------------------------
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void HAL_CAN_ErrorCallback( CAN_HandleTypeDef *hcan ){
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U32 u32Error = hcan->ErrorCode;
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// TODO: Can Error Handling
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}
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