can_arch.c File Reference

Handling of CAN hardware for STM32. More...

#include <stdint.h>
#include <string.h>
#include "mcu_periph/can_arch.h"
#include "mcu_periph/can.h"
#include <libopencm3/stm32/rcc.h>
#include <libopencm3/stm32/gpio.h>
#include <libopencm3/stm32/can.h>
#include <libopencm3/cm3/nvic.h>
#include "led.h"

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Data Structures
struct	can_arch_periph

Macros
#define	NVIC_USB_LP_CAN_RX0_IRQ_PRIO   1
#define	NVIC_CAN1_RX_IRQ_PRIO   1

Functions
void	_can_run_rx_callback (uint32_t id, uint8_t *buf, uint8_t len)
void	can_hw_init (void)
int	can_transmit_frame (struct pprzcan_frame *txframe, struct pprzaddr_can *addr)
void	__unsupported_isr (void)
void	can_event ()

Variables
struct can_arch_periph	can1_arch_s

Detailed Description

Handling of CAN hardware for STM32.

Definition in file can_arch.c.

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Data Structure Documentation

can_arch_periph

struct can_arch_periph

Definition at line 24 of file can_arch.c.

Collaboration diagram for can_arch_periph:

Data Fields
struct pprzaddr_can	addr
uint32_t	can_baudrate
bool	can_initialized
CANDriver *	cand
uint32_t	canport
CANConfig	cfg
int	if_index
bool	new_rxframe
struct pprzcan_frame	rxframe
void *	thread_rx_wa
size_t	thread_rx_wa_size

Macro Definition Documentation

NVIC_CAN1_RX_IRQ_PRIO

#define NVIC_CAN1_RX_IRQ_PRIO   1

Definition at line 48 of file can_arch.c.

NVIC_USB_LP_CAN_RX0_IRQ_PRIO

#define NVIC_USB_LP_CAN_RX0_IRQ_PRIO   1

Definition at line 47 of file can_arch.c.

Function Documentation

__unsupported_isr()

void __unsupported_isr

(

void

)

Definition at line 213 of file can_arch.c.

References can1_arch_s, can_dlc_to_len(), CAN_FRAME_EFF, CAN_FRAME_RTR, pprzcan_frame::can_id, can_arch_periph::canport, pprzcan_frame::data, foo, pprzcan_frame::len, can_arch_periph::new_rxframe, can_arch_periph::rxframe, and pprzcan_frame::timestamp.

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_can_run_rx_callback()

void _can_run_rx_callback	(	uint32_t	id,
		uint8_t *	buf,
		uint8_t	len
	)

can_event()

void can_event

(

void

)

Definition at line 250 of file can_arch.c.

References can_arch_periph::addr, can1_arch_s, CAN_NB_CALLBACKS_MAX, foo, can_arch_periph::new_rxframe, and can_arch_periph::rxframe.

can_hw_init()

void can_hw_init

(

void

)

Definition at line 70 of file can_arch.c.

References can1_arch_s, can_init(), can_arch_periph::can_initialized, can_arch_periph::canport, foo, GPIO8, GPIO9, GPIO_AF9, gpio_set(), GPIOB, NVIC_CAN1_RX_IRQ_PRIO, and NVIC_USB_LP_CAN_RX0_IRQ_PRIO.

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can_transmit_frame()

int can_transmit_frame	(	struct pprzcan_frame *	txframe,
		struct pprzaddr_can *	addr
	)

Definition at line 184 of file can_arch.c.

References can1_arch_s, CAN_EID_MASK, CAN_FRAME_RTR, can_arch_periph::can_initialized, can_len_to_dlc(), CAN_SID_MASK, can_arch_periph::canport, and foo.

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Variable Documentation

can1_arch_s

struct can_arch_periph can1_arch_s

Initial value:

= {
  .canport = CAN1,
  .can_initialized = false,
  .addr = {.can_ifindex = 1},
  .rxframe = {0},
  .new_rxframe = false;
}

Definition at line 61 of file can_arch.c.

Referenced by __unsupported_isr(), can_event(), can_hw_init(), can_hw_init(), can_start(), and can_transmit_frame().