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Fix for #3863: STM Check can sync error #4329

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Merged
merged 6 commits into from
May 30, 2017
Merged

Fix for #3863: STM Check can sync error #4329

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52d38a1
Handle can_frequency sync error
adustm Apr 27, 2017
897625c
Give access to HAL_GetTick function
adustm Apr 27, 2017
9a1d055
Optimize the use of the status value
adustm May 16, 2017
b99ccf6
Add timeout also on the 1st while loop
adustm May 16, 2017
795bfd2
Fix coding style
adustm May 22, 2017
6770678
Fix another typo
adustm May 23, 2017
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1 change: 1 addition & 0 deletions targets/TARGET_STM/TARGET_STM32F0/can_device.h
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Original file line number Diff line number Diff line change
Expand Up @@ -17,6 +17,7 @@
#define MBED_CAN_DEVICE_H

#include "cmsis.h"
#include "stm32f0xx_hal.h"

#ifdef __cplusplus
extern "C" {
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1 change: 1 addition & 0 deletions targets/TARGET_STM/TARGET_STM32F1/can_device.h
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Expand Up @@ -17,6 +17,7 @@
#define MBED_CAN_DEVICE_H

#include "cmsis.h"
#include "stm32f1xx_hal.h"

#ifdef __cplusplus
extern "C" {
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1 change: 1 addition & 0 deletions targets/TARGET_STM/TARGET_STM32F2/can_device.h
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Expand Up @@ -17,6 +17,7 @@
#define MBED_CAN_DEVICE_H

#include "cmsis.h"
#include "stm32f2xx_hal.h"

#ifdef __cplusplus
extern "C" {
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1 change: 1 addition & 0 deletions targets/TARGET_STM/TARGET_STM32F3/can_device.h
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Expand Up @@ -17,6 +17,7 @@
#define MBED_CAN_DEVICE_H

#include "cmsis.h"
#include "stm32f3xx_hal.h"

#ifdef __cplusplus
extern "C" {
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1 change: 1 addition & 0 deletions targets/TARGET_STM/TARGET_STM32F4/can_device.h
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Expand Up @@ -17,6 +17,7 @@
#define MBED_CAN_DEVICE_H

#include "cmsis.h"
#include "stm32f4xx_hal.h"

#ifdef __cplusplus
extern "C" {
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1 change: 1 addition & 0 deletions targets/TARGET_STM/TARGET_STM32F7/can_device.h
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Expand Up @@ -17,6 +17,7 @@
#define MBED_CAN_DEVICE_H

#include "cmsis.h"
#include "stm32f7xx_hal.h"

#ifdef __cplusplus
extern "C" {
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1 change: 1 addition & 0 deletions targets/TARGET_STM/TARGET_STM32L4/can_device.h
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Expand Up @@ -17,6 +17,7 @@
#define MBED_CAN_DEVICE_H

#include "cmsis.h"
#include "stm32l4xx_hal.h"

#ifdef __cplusplus
extern "C" {
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41 changes: 32 additions & 9 deletions targets/TARGET_STM/can_api.c
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Expand Up @@ -85,8 +85,10 @@ void can_init_freq (can_t *obj, PinName rd, PinName td, int hz)
error("Cannot initialize CAN");
}

// Set initial CAN frequency to requested kb/s
can_frequency(obj, hz);
// Set initial CAN frequency to 100 kb/s
if (can_frequency(obj, 100000) != 1) {
error("Can frequency could not be set\n");
}

uint32_t filter_number = (obj->can == CAN_1) ? 0 : 14;
can_filter(obj, 0, 0, CANStandard, filter_number);
Expand Down Expand Up @@ -195,19 +197,40 @@ int can_frequency(can_t *obj, int f)
int pclk = HAL_RCC_GetPCLK1Freq();
int btr = can_speed(pclk, (unsigned int)f, 1);
CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
uint32_t tickstart = 0;
int status = 1;

if (btr > 0) {
can->MCR |= CAN_MCR_INRQ ;
/* Get tick */
tickstart = HAL_GetTick();
while ((can->MSR & CAN_MSR_INAK) != CAN_MSR_INAK) {
if ((HAL_GetTick() - tickstart) > 2) {
status = 0;
break;
}
}
can->BTR = btr;
can->MCR &= ~(uint32_t)CAN_MCR_INRQ;
while ((can->MSR & CAN_MSR_INAK) == CAN_MSR_INAK) {
if (status != 0) {
can->BTR = btr;
can->MCR &= ~(uint32_t)CAN_MCR_INRQ;
/* Get tick */
tickstart = HAL_GetTick();
while ((can->MSR & CAN_MSR_INAK) == CAN_MSR_INAK) {
if ((HAL_GetTick() - tickstart) > 2) {
status = 0;
break;
}
}
if (status == 0) {
error("can ESR 0x%04x.%04x + timeout status %d", (can->ESR & 0xFFFF0000) >> 16, (can->ESR & 0xFFFF), status);
}
} else {
error("can init request timeout\n");
}
return 1;
} else {
return 0;
status = 0;
}
return status;
}

int can_write(can_t *obj, CAN_Message msg, int cc)
Expand Down Expand Up @@ -243,8 +266,8 @@ int can_write(can_t *obj, CAN_Message msg, int cc)
((uint32_t)msg.data[1] << 8) |
((uint32_t)msg.data[0]));
can->sTxMailBox[transmitmailbox].TDHR = (((uint32_t)msg.data[7] << 24) |
((uint32_t)msg.data[6] << 16) |
((uint32_t)msg.data[5] << 8) |
((uint32_t)msg.data[6] << 16) |
((uint32_t)msg.data[5] << 8) |
((uint32_t)msg.data[4]));
/* Request transmission */
can->sTxMailBox[transmitmailbox].TIR |= CAN_TI0R_TXRQ;
Expand Down