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Support of the embot::hw::can driver on board amc (#252)
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* amc: enabled embot::hw::can inside the bsp + prepared a simple CAN loopback test

* stm32hal -> enabled FDCAN_FRAME_CLASSIC for amc

* added init of hw driver

* amc: test program for can

* corrected a if() in the demo
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@marcoaccame
marcoaccame authored Feb 18, 2022
1 parent 9e4e2f5 commit 2335ea4
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Showing 11 changed files with 619 additions and 304 deletions.
255 changes: 156 additions & 99 deletions emBODY/eBcode/arch-arm/board/amc/bsp/embot_hw_bsp_amc.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -335,7 +335,6 @@ namespace embot { namespace hw { namespace can {

#else

#error support for hw_can in embot::hw::bsp is yet to be done

namespace embot { namespace hw { namespace can {

Expand All @@ -344,116 +343,157 @@ namespace embot { namespace hw { namespace can {

// it has HAL_FDCAN_MODULE_ENABLED

FDCAN_HandleTypeDef hfdcan;

/**
* @brief Configures the FDCAN.
* @param None
* @retval None
*/
static void my_FDCAN1_Config(void)
{
FDCAN_FilterTypeDef sFilterConfig;

/* Bit time configuration:
fdcan_ker_ck = 40 MHz
Time_quantum (tq) = 25 ns
Synchronization_segment = 1 tq
Propagation_segment = 23 tq
Phase_segment_1 = 8 tq
Phase_segment_2 = 8 tq
Synchronization_Jump_width = 8 tq
Bit_length = 40 tq = 1 µs
Bit_rate = 1 MBit/s
*/
hfdcan.Instance = FDCAN1;
hfdcan.Init.FrameFormat = FDCAN_FRAME_CLASSIC;
hfdcan.Init.Mode = FDCAN_MODE_NORMAL;
hfdcan.Init.AutoRetransmission = ENABLE;
hfdcan.Init.TransmitPause = DISABLE;
hfdcan.Init.ProtocolException = ENABLE;
hfdcan.Init.NominalPrescaler = 0x1; /* tq = NominalPrescaler x (1/fdcan_ker_ck) */
hfdcan.Init.NominalSyncJumpWidth = 0x8;
hfdcan.Init.NominalTimeSeg1 = 0x1F; /* NominalTimeSeg1 = Propagation_segment + Phase_segment_1 */
hfdcan.Init.NominalTimeSeg2 = 0x8;
hfdcan.Init.MessageRAMOffset = 0;
hfdcan.Init.StdFiltersNbr = 1;
hfdcan.Init.ExtFiltersNbr = 0;
hfdcan.Init.RxFifo0ElmtsNbr = 1;
hfdcan.Init.RxFifo0ElmtSize = FDCAN_DATA_BYTES_8;
hfdcan.Init.RxFifo1ElmtsNbr = 0;
hfdcan.Init.RxBuffersNbr = 0;
hfdcan.Init.TxEventsNbr = 0;
hfdcan.Init.TxBuffersNbr = 0;
hfdcan.Init.TxFifoQueueElmtsNbr = 1;
hfdcan.Init.TxFifoQueueMode = FDCAN_TX_FIFO_OPERATION;
hfdcan.Init.TxElmtSize = FDCAN_DATA_BYTES_8;
if (HAL_FDCAN_Init(&hfdcan) != HAL_OK)
{
/* Initialization Error */
Error_Handler();
}

//#define DO_THE_REST_IN_embot_hw_can
#if !defined(DO_THE_REST_IN_embot_hw_can)
/* Configure Rx filter */
sFilterConfig.IdType = FDCAN_STANDARD_ID;
sFilterConfig.FilterIndex = 0;
sFilterConfig.FilterType = FDCAN_FILTER_MASK;
sFilterConfig.FilterConfig = FDCAN_FILTER_TO_RXFIFO0;
sFilterConfig.FilterID1 = 0x321;
sFilterConfig.FilterID2 = 0x7FF;
if (HAL_FDCAN_ConfigFilter(&hfdcan, &sFilterConfig) != HAL_OK)
{
/* Filter configuration Error */
Error_Handler();
}

// /* Start the FDCAN module */
// if (HAL_FDCAN_Start(&hfdcan) != HAL_OK)
// FDCAN_HandleTypeDef hfdcan;
//
// /**
// * @brief Configures the FDCAN.
// * @param None
// * @retval None
// */
// static void my_FDCAN1_Config(void)
// {
// FDCAN_FilterTypeDef sFilterConfig;

// /* Bit time configuration:
// fdcan_ker_ck = 40 MHz
// Time_quantum (tq) = 25 ns
// Synchronization_segment = 1 tq
// Propagation_segment = 23 tq
// Phase_segment_1 = 8 tq
// Phase_segment_2 = 8 tq
// Synchronization_Jump_width = 8 tq
// Bit_length = 40 tq = 1 µs
// Bit_rate = 1 MBit/s
// */
// hfdcan.Instance = FDCAN1;
// hfdcan.Init.FrameFormat = FDCAN_FRAME_CLASSIC;
// hfdcan.Init.Mode = FDCAN_MODE_NORMAL;
// hfdcan.Init.AutoRetransmission = ENABLE;
// hfdcan.Init.TransmitPause = DISABLE;
// hfdcan.Init.ProtocolException = ENABLE;
// hfdcan.Init.NominalPrescaler = 0x1; /* tq = NominalPrescaler x (1/fdcan_ker_ck) */
// hfdcan.Init.NominalSyncJumpWidth = 0x8;
// hfdcan.Init.NominalTimeSeg1 = 0x1F; /* NominalTimeSeg1 = Propagation_segment + Phase_segment_1 */
// hfdcan.Init.NominalTimeSeg2 = 0x8;
// hfdcan.Init.MessageRAMOffset = 0;
// hfdcan.Init.StdFiltersNbr = 1;
// hfdcan.Init.ExtFiltersNbr = 0;
// hfdcan.Init.RxFifo0ElmtsNbr = 1;
// hfdcan.Init.RxFifo0ElmtSize = FDCAN_DATA_BYTES_8;
// hfdcan.Init.RxFifo1ElmtsNbr = 0;
// hfdcan.Init.RxBuffersNbr = 0;
// hfdcan.Init.TxEventsNbr = 0;
// hfdcan.Init.TxBuffersNbr = 0;
// hfdcan.Init.TxFifoQueueElmtsNbr = 1;
// hfdcan.Init.TxFifoQueueMode = FDCAN_TX_FIFO_OPERATION;
// hfdcan.Init.TxElmtSize = FDCAN_DATA_BYTES_8;
// if (HAL_FDCAN_Init(&hfdcan) != HAL_OK)
// {
// /* Start Error */
// /* Initialization Error */
// Error_Handler();
// }

// if (HAL_FDCAN_ActivateNotification(&hfdcan, FDCAN_IT_RX_FIFO0_NEW_MESSAGE, 0) != HAL_OK)
////#define DO_THE_REST_IN_embot_hw_can
//#if !defined(DO_THE_REST_IN_embot_hw_can)
// /* Configure Rx filter */
// sFilterConfig.IdType = FDCAN_STANDARD_ID;
// sFilterConfig.FilterIndex = 0;
// sFilterConfig.FilterType = FDCAN_FILTER_MASK;
// sFilterConfig.FilterConfig = FDCAN_FILTER_TO_RXFIFO0;
// sFilterConfig.FilterID1 = 0x321;
// sFilterConfig.FilterID2 = 0x7FF;
// if (HAL_FDCAN_ConfigFilter(&hfdcan, &sFilterConfig) != HAL_OK)
// {
// /* Notification Error */
// /* Filter configuration Error */
// Error_Handler();
// }

// /* Prepare Tx Header */
// TxHeader.Identifier = 0x321;
// TxHeader.IdType = FDCAN_STANDARD_ID;
// TxHeader.TxFrameType = FDCAN_DATA_FRAME;
// TxHeader.DataLength = FDCAN_DLC_BYTES_2;
// TxHeader.ErrorStateIndicator = FDCAN_ESI_ACTIVE;
// TxHeader.BitRateSwitch = FDCAN_BRS_OFF;
// TxHeader.FDFormat = FDCAN_CLASSIC_CAN;
// TxHeader.TxEventFifoControl = FDCAN_NO_TX_EVENTS;
// TxHeader.MessageMarker = 0;
#endif

}

constexpr PROP can1p = { .handle = &hfdcan };
//constexpr PROP can2p = { .handle = &hfdcan2 };
//// /* Start the FDCAN module */
//// if (HAL_FDCAN_Start(&hfdcan) != HAL_OK)
//// {
//// /* Start Error */
//// Error_Handler();
//// }

//// if (HAL_FDCAN_ActivateNotification(&hfdcan, FDCAN_IT_RX_FIFO0_NEW_MESSAGE, 0) != HAL_OK)
//// {
//// /* Notification Error */
//// Error_Handler();
//// }

//// /* Prepare Tx Header */
//// TxHeader.Identifier = 0x321;
//// TxHeader.IdType = FDCAN_STANDARD_ID;
//// TxHeader.TxFrameType = FDCAN_DATA_FRAME;
//// TxHeader.DataLength = FDCAN_DLC_BYTES_2;
//// TxHeader.ErrorStateIndicator = FDCAN_ESI_ACTIVE;
//// TxHeader.BitRateSwitch = FDCAN_BRS_OFF;
//// TxHeader.FDFormat = FDCAN_CLASSIC_CAN;
//// TxHeader.TxEventFifoControl = FDCAN_NO_TX_EVENTS;
//// TxHeader.MessageMarker = 0;
//#endif
//
// }

constexpr PROP can1p = { .handle = &hfdcan1 };
constexpr PROP can2p = { .handle = &hfdcan2 };

constexpr BSP thebsp {
// maskofsupported
mask::pos2mask<uint32_t>(CAN::one),
mask::pos2mask<uint32_t>(CAN::one) | mask::pos2mask<uint32_t>(CAN::two),
// properties
{{
&can1p
&can1p, &can2p
}}
};


void hwdriver_init(embot::hw::CAN h)
{
constexpr std::array<embot::hw::GPIO, 2> candrivergpiosstandby = { {
{embot::hw::GPIO::PORT::D, embot::hw::GPIO::PIN::four}, // CAN1_STBY_GPIO_Port, CAN1_STBY_Pin
{embot::hw::GPIO::PORT::D, embot::hw::GPIO::PIN::five} // CAN2_STBY_GPIO_Port, CAN2_STBY_Pin
} };

constexpr embot::hw::GPIO candrivergpioshutdown =
{embot::hw::GPIO::PORT::D, embot::hw::GPIO::PIN::zero}; // CAN_SHDN_GPIO_Port, CAN_SHDN_Pin, GPIO_PIN_RESET

constexpr embot::hw::gpio::Config cfg {
embot::hw::gpio::Mode::OUTPUTpushpull,
embot::hw::gpio::Pull::nopull,
embot::hw::gpio::Speed::medium };

//static bool initted {false};

// init the pins
embot::hw::gpio::init(candrivergpiosstandby[embot::core::tointegral(h)], cfg);
embot::hw::gpio::init(candrivergpioshutdown, cfg);

// move them to reset state
embot::hw::gpio::set(candrivergpiosstandby[embot::core::tointegral(h)], embot::hw::gpio::State::RESET);
embot::hw::gpio::set(candrivergpioshutdown, embot::hw::gpio::State::RESET);
HAL_Delay(10);
}

void BSP::init(embot::hw::CAN h) const
{
if(h == CAN::one)
{
my_FDCAN1_Config();
MX_FDCAN1_Init();
// Activate the external driver out of STANDBY
//HAL_GPIO_WritePin(CAN1_STBY_GPIO_Port, CAN1_STBY_Pin, GPIO_PIN_RESET);
}
else if(h == CAN::two)
{
MX_FDCAN2_Init();
// Activate the external driver out of STANDBY
//HAL_GPIO_WritePin(CAN2_STBY_GPIO_Port, CAN2_STBY_Pin, GPIO_PIN_RESET);
}
// Activate both driver out of SHUTDOWN mode
//HAL_GPIO_WritePin(CAN_SHDN_GPIO_Port, CAN_SHDN_Pin, GPIO_PIN_RESET);
//HAL_Delay(10);

hwdriver_init(h);
}

#else
Expand All @@ -474,7 +514,24 @@ namespace embot { namespace hw { namespace can {

void FDCAN1_IT0_IRQHandler(void)
{
HAL_FDCAN_IRQHandler(&embot::hw::can::hfdcan);
HAL_FDCAN_IRQHandler(&hfdcan1);
}

void FDCAN2_IT0_IRQHandler(void)
{
HAL_FDCAN_IRQHandler(&hfdcan2);
}


void FDCAN1_IT1_IRQHandler(void)
{
HAL_FDCAN_IRQHandler(&hfdcan1);
}


void FDCAN2_IT1_IRQHandler(void)
{
HAL_FDCAN_IRQHandler(&hfdcan2);
}

#else
Expand Down Expand Up @@ -698,14 +755,14 @@ namespace embot { namespace hw { namespace spi { namespace bsp {
}


SPI_HandleTypeDef hspi1;
constexpr std::array<embot::hw::GPIO, SignalsNumberOf> pinoutspi1 = { {
{embot::hw::GPIO::PORT::G, embot::hw::GPIO::PIN::nine}, // miso
{embot::hw::GPIO::PORT::D, embot::hw::GPIO::PIN::seven}, // mosi
{embot::hw::GPIO::PORT::G, embot::hw::GPIO::PIN::eleven}, // sckl
{embot::hw::GPIO::PORT::G, embot::hw::GPIO::PIN::ten} // ssel
} };
constexpr PROP spi1p = { &hspi1, 50*1000*1000, pinoutspi1 };
SPI_HandleTypeDef hspi1;
constexpr std::array<embot::hw::GPIO, SignalsNumberOf> pinoutspi1 = { {
{embot::hw::GPIO::PORT::G, embot::hw::GPIO::PIN::nine}, // miso
{embot::hw::GPIO::PORT::D, embot::hw::GPIO::PIN::seven}, // mosi
{embot::hw::GPIO::PORT::G, embot::hw::GPIO::PIN::eleven}, // sckl
{embot::hw::GPIO::PORT::G, embot::hw::GPIO::PIN::ten} // ssel
} };
constexpr PROP spi1p = { &hspi1, 50*1000*1000, pinoutspi1 };


SPI_HandleTypeDef hspi2;
Expand Down
2 changes: 1 addition & 1 deletion emBODY/eBcode/arch-arm/board/amc/bsp/embot_hw_bsp_amc_config.h
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Original file line number Diff line number Diff line change
Expand Up @@ -30,7 +30,7 @@
// #define EMBOT_ENABLE_hw_spi_123

// #define EMBOT_ENABLE_hw_button
// #define EMBOT_ENABLE_hw_can
#define EMBOT_ENABLE_hw_can
#undef EMBOT_ENABLE_hw_flash
// #define EMBOT_ENABLE_hw_eth
#define EMBOT_ENABLE_hw_eth_phytimeout
Expand Down
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