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CAN: Cosmetics and coding-style fixes.

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This commit is contained in:
Uwe Hermann
2010-12-26 00:30:05 +01:00
parent e7d765ea90
commit 06d1a5ca80
4 changed files with 174 additions and 235 deletions
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2
examples/obldc/can/Makefile
View File

@@ -17,6 +17,6 @@
## along with this program. If not, see <http://www.gnu.org/licenses/>.
##
BINARY = can
BINARY = can
include ../../Makefile.include

104
examples/obldc/can/can.c
View File

@@ -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;
}