diff options
Diffstat (limited to 'stmhal')
| -rw-r--r-- | stmhal/can.c | 94 |
1 files changed, 92 insertions, 2 deletions
diff --git a/stmhal/can.c b/stmhal/can.c index 02afbbf82..f60f79532 100644 --- a/stmhal/can.c +++ b/stmhal/can.c @@ -170,6 +170,96 @@ STATIC void can_clearfilter(uint32_t f) { HAL_CAN_ConfigFilter(NULL, &filter); } +// We have our own version of CAN transmit so we can handle Timeout=0 correctly. +STATIC HAL_StatusTypeDef CAN_Transmit(CAN_HandleTypeDef *hcan, uint32_t Timeout) { + uint32_t transmitmailbox; + uint32_t tickstart; + uint32_t rqcpflag; + uint32_t txokflag; + + // Check the parameters + assert_param(IS_CAN_IDTYPE(hcan->pTxMsg->IDE)); + assert_param(IS_CAN_RTR(hcan->pTxMsg->RTR)); + assert_param(IS_CAN_DLC(hcan->pTxMsg->DLC)); + + // Select one empty transmit mailbox + if ((hcan->Instance->TSR&CAN_TSR_TME0) == CAN_TSR_TME0) { + transmitmailbox = CAN_TXMAILBOX_0; + rqcpflag = CAN_FLAG_RQCP0; + txokflag = CAN_FLAG_TXOK0; + } else if ((hcan->Instance->TSR&CAN_TSR_TME1) == CAN_TSR_TME1) { + transmitmailbox = CAN_TXMAILBOX_1; + rqcpflag = CAN_FLAG_RQCP1; + txokflag = CAN_FLAG_TXOK1; + } else if ((hcan->Instance->TSR&CAN_TSR_TME2) == CAN_TSR_TME2) { + transmitmailbox = CAN_TXMAILBOX_2; + rqcpflag = CAN_FLAG_RQCP2; + txokflag = CAN_FLAG_TXOK2; + } else { + transmitmailbox = CAN_TXSTATUS_NOMAILBOX; + } + + if (transmitmailbox != CAN_TXSTATUS_NOMAILBOX) { + // Set up the Id + hcan->Instance->sTxMailBox[transmitmailbox].TIR &= CAN_TI0R_TXRQ; + if (hcan->pTxMsg->IDE == CAN_ID_STD) { + assert_param(IS_CAN_STDID(hcan->pTxMsg->StdId)); + hcan->Instance->sTxMailBox[transmitmailbox].TIR |= ((hcan->pTxMsg->StdId << 21) | \ + hcan->pTxMsg->RTR); + } else { + assert_param(IS_CAN_EXTID(hcan->pTxMsg->ExtId)); + hcan->Instance->sTxMailBox[transmitmailbox].TIR |= ((hcan->pTxMsg->ExtId << 3) | \ + hcan->pTxMsg->IDE | \ + hcan->pTxMsg->RTR); + } + + // Set up the DLC + hcan->pTxMsg->DLC &= (uint8_t)0x0000000F; + hcan->Instance->sTxMailBox[transmitmailbox].TDTR &= (uint32_t)0xFFFFFFF0; + hcan->Instance->sTxMailBox[transmitmailbox].TDTR |= hcan->pTxMsg->DLC; + + // Set up the data field + hcan->Instance->sTxMailBox[transmitmailbox].TDLR = (((uint32_t)hcan->pTxMsg->Data[3] << 24) | + ((uint32_t)hcan->pTxMsg->Data[2] << 16) | + ((uint32_t)hcan->pTxMsg->Data[1] << 8) | + ((uint32_t)hcan->pTxMsg->Data[0])); + hcan->Instance->sTxMailBox[transmitmailbox].TDHR = (((uint32_t)hcan->pTxMsg->Data[7] << 24) | + ((uint32_t)hcan->pTxMsg->Data[6] << 16) | + ((uint32_t)hcan->pTxMsg->Data[5] << 8) | + ((uint32_t)hcan->pTxMsg->Data[4])); + // Request transmission + hcan->Instance->sTxMailBox[transmitmailbox].TIR |= CAN_TI0R_TXRQ; + + if (Timeout == 0) { + return HAL_OK; + } + + // Get tick + tickstart = HAL_GetTick(); + // Check End of transmission flag + while (!(__HAL_CAN_TRANSMIT_STATUS(hcan, transmitmailbox))) { + // Check for the Timeout + if (Timeout != HAL_MAX_DELAY) { + if ((HAL_GetTick() - tickstart) > Timeout) { + // When the timeout expires, we try to abort the transmission of the packet + __HAL_CAN_CANCEL_TRANSMIT(hcan, transmitmailbox); + while (!__HAL_CAN_GET_FLAG(hcan, rqcpflag)) { + } + if (__HAL_CAN_GET_FLAG(hcan, txokflag)) { + // The abort attempt failed and the message was sent properly + return HAL_OK; + } else { + return HAL_TIMEOUT; + } + } + } + } + return HAL_OK; + } else { + return HAL_BUSY; + } +} + /******************************************************************************/ // Micro Python bindings @@ -348,7 +438,7 @@ STATIC mp_obj_t pyb_can_send(mp_uint_t n_args, const mp_obj_t *pos_args, mp_map_ static const mp_arg_t allowed_args[] = { { MP_QSTR_send, MP_ARG_REQUIRED | MP_ARG_OBJ, {.u_obj = MP_OBJ_NULL} }, { MP_QSTR_addr, MP_ARG_REQUIRED | MP_ARG_INT, {.u_int = 0} }, - { MP_QSTR_timeout, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 5000} }, + { MP_QSTR_timeout, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 0} }, }; // parse args @@ -380,7 +470,7 @@ STATIC mp_obj_t pyb_can_send(mp_uint_t n_args, const mp_obj_t *pos_args, mp_map_ tx_msg.Data[i] = ((byte*)bufinfo.buf)[i]; // Data is uint32_t but holds only 1 byte } self->can.pTxMsg = &tx_msg; - HAL_StatusTypeDef status = HAL_CAN_Transmit(&self->can, args[2].u_int); + HAL_StatusTypeDef status = CAN_Transmit(&self->can, args[2].u_int); if (status != HAL_OK) { mp_hal_raise(status); |