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Fix STM32 CAN reset to not lose context #4932

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merged 6 commits into from
Sep 20, 2017
Merged

Fix STM32 CAN reset to not lose context #4932

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66162c6
STM32: move can_s definition to common_objects.h
LMESTM Aug 17, 2017
759642a
STM32: Define CAN handle as part of can object
LMESTM Aug 17, 2017
57222b6
STM32: CAN: do not overwite BTR register when setting frequency
LMESTM Aug 17, 2017
8357f6f
STM32: CAN: store the mode in object context
LMESTM Aug 18, 2017
04ac65a
STM32: CAN: restore registers after can_reset
LMESTM Aug 17, 2017
5997811
STM32: F2: put can_s struct under DEVICE_CAN option
LMESTM Aug 21, 2017
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STM32: CAN: restore registers after can_reset 
After reset the MCR register content needs to be restored so we're
introducing the can_registers_init function to be called at the first
init stage, but also after reset. We also store the can frequency to
go through the initialisation phase again.
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@LMESTM
LMESTM committed Sep 5, 2017
commit 04ac65a4e6475255eccf26880f812515b420aed5
1 change: 1 addition & 0 deletions targets/TARGET_STM/TARGET_STM32F0/common_objects.h
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Original file line number Diff line number Diff line change
Expand Up @@ -132,6 +132,7 @@ struct dac_s {
struct can_s {
CAN_HandleTypeDef CanHandle;
int index;
int hz;
};
#endif

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1 change: 1 addition & 0 deletions targets/TARGET_STM/TARGET_STM32F1/common_objects.h
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Expand Up @@ -120,6 +120,7 @@ struct analogin_s {
struct can_s {
CAN_HandleTypeDef CanHandle;
int index;
int hz;
};
#endif

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1 change: 1 addition & 0 deletions targets/TARGET_STM/TARGET_STM32F2/objects.h
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Expand Up @@ -139,6 +139,7 @@ struct pwmout_s {
struct can_s {
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Hello Laurent,
Could you add #if DEVICE_CAN (in case of future STM32F2 device that does not support CAN) ?

CAN_HandleTypeDef CanHandle;
int index;
int hz;
};

#define GPIO_IP_WITHOUT_BRR
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1 change: 1 addition & 0 deletions targets/TARGET_STM/TARGET_STM32F3/common_objects.h
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Original file line number Diff line number Diff line change
Expand Up @@ -128,6 +128,7 @@ struct analogin_s {
struct can_s {
CAN_HandleTypeDef CanHandle;
int index;
int hz;
};
#endif

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1 change: 1 addition & 0 deletions targets/TARGET_STM/TARGET_STM32F4/common_objects.h
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Original file line number Diff line number Diff line change
Expand Up @@ -137,6 +137,7 @@ struct dac_s {
struct can_s {
CAN_HandleTypeDef CanHandle;
int index;
int hz;
};
#endif

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1 change: 1 addition & 0 deletions targets/TARGET_STM/TARGET_STM32F7/common_objects.h
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Expand Up @@ -136,6 +136,7 @@ struct flash_s {
struct can_s {
CAN_HandleTypeDef CanHandle;
int index;
int hz;
};
#endif

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1 change: 1 addition & 0 deletions targets/TARGET_STM/TARGET_STM32L4/common_objects.h
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Original file line number Diff line number Diff line change
Expand Up @@ -139,6 +139,7 @@ struct dac_s {
struct can_s {
CAN_HandleTypeDef CanHandle;
int index;
int hz;
};
#endif

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30 changes: 22 additions & 8 deletions targets/TARGET_STM/can_api.c
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Expand Up @@ -28,6 +28,18 @@
static uint32_t can_irq_ids[CAN_NUM] = {0};
static can_irq_handler irq_handler;

static void can_registers_init(can_t *obj)
{
if (HAL_CAN_Init(&obj->CanHandle) != HAL_OK) {
error("Cannot initialize CAN");
}

// Set initial CAN frequency to specified frequency
if (can_frequency(obj, obj->hz) != 1) {
error("Can frequency could not be set\n");
}
}

void can_init(can_t *obj, PinName rd, PinName td)
{
can_init_freq(obj, rd, td, 100000);
Expand Down Expand Up @@ -66,8 +78,8 @@ void can_init_freq (can_t *obj, PinName rd, PinName td, int hz)
pin_mode(td, PullUp);
}

/* Use default values for rist init */
obj->CanHandle.Instance = (CAN_TypeDef *)can;

obj->CanHandle.Init.TTCM = DISABLE;
obj->CanHandle.Init.ABOM = DISABLE;
obj->CanHandle.Init.AWUM = DISABLE;
Expand All @@ -80,19 +92,16 @@ void can_init_freq (can_t *obj, PinName rd, PinName td, int hz)
obj->CanHandle.Init.BS2 = CAN_BS2_8TQ;
obj->CanHandle.Init.Prescaler = 2;

if (HAL_CAN_Init(&obj->CanHandle) != HAL_OK) {
error("Cannot initialize CAN");
}
/* Store frequency to be restored in case of reset */
obj->hz = hz;

// Set initial CAN frequency to specified frequency
if (can_frequency(obj, hz) != 1) {
error("Can frequency could not be set\n");
}
can_registers_init(obj);

uint32_t filter_number = (can == CAN_1) ? 0 : 14;
can_filter(obj, 0, 0, CANStandard, filter_number);
}


void can_irq_init(can_t *obj, can_irq_handler handler, uint32_t id)
{
irq_handler = handler;
Expand Down Expand Up @@ -329,8 +338,13 @@ int can_read(can_t *obj, CAN_Message *msg, int handle)
void can_reset(can_t *obj)
{
CAN_TypeDef *can = obj->CanHandle.Instance;

/* Reset IP and delete errors */
can->MCR |= CAN_MCR_RESET;
can->ESR = 0x0;

/* restore registers state as saved in obj context */
can_registers_init(obj);
}

unsigned char can_rderror(can_t *obj)
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