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Added updated and improved CAN example for Lisa/M 2.0.

pull/62/merge
Piotr Esden-Tempski 12 years ago
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3 changed files with 267 additions and 0 deletions
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  1. 29
      examples/stm32/f1/lisa-m-2/can/Makefile
  2. 4
      examples/stm32/f1/lisa-m-2/can/README
  3. 234
      examples/stm32/f1/lisa-m-2/can/can.c

29
examples/stm32/f1/lisa-m-2/can/Makefile
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@ -0,0 +1,29 @@
##
## This file is part of the libopencm3 project.
##
## Copyright (C) 2009 Uwe Hermann <uwe@hermann-uwe.de>
##
## 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 <http://www.gnu.org/licenses/>.
##
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

4
examples/stm32/f1/lisa-m-2/can/README
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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.

234
examples/stm32/f1/lisa-m-2/can/can.c
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/*
* This file is part of the libopencm3 project.
*
* Copyright (C) 2010 Thomas Otto <tommi@viadmin.org>
* Copyright (C) 2010-2011 Piotr Esden-Tempski <piotr@esden.net>
*
* 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 <http://www.gnu.org/licenses/>.
*/
#include <libopencm3/stm32/f1/rcc.h>
#include <libopencm3/stm32/f1/flash.h>
#include <libopencm3/stm32/f1/gpio.h>
#include <libopencm3/cm3/nvic.h>
#include <libopencm3/cm3/systick.h>
#include <libopencm3/stm32/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 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;
}
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