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stm32: Improved CAN support for STM32 (#2976)

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Reworked the STM32F0 CAN bus implementation. It's more robust and higher performance.

Added support for function remapping to different pins.  API is emulating an STM32F0.

Improved and ported CAN bus to STM32F0, F1 and F4.

Signed-off-by: Pontus Borg <glpontus@gmail.com>
This commit is contained in:
bondus
2020-06-25 00:59:38 +02:00
committed by GitHub
parent 7cab732ae9
commit 7a8e9591e3
7 changed files with 493 additions and 279 deletions
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31
src/stm32/stm32f1.c
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@@ -64,6 +64,18 @@ gpio_clock_enable(GPIO_TypeDef *regs)
RCC->APB2ENR;
}
static void stm32f1_alternative_remap(uint32_t mapr_mask, uint32_t mapr_value)
{
// The MAPR register is a mix of write only and r/w bits
// We have to save the written values in a global variable
static uint32_t mapr = 0;
mapr &= ~mapr_mask;
mapr |= mapr_value;
AFIO->MAPR = mapr;
}
// Set the mode and extended function of a pin
void
gpio_peripheral(uint32_t gpio, uint32_t mode, int pullup)
@@ -105,9 +117,23 @@ gpio_peripheral(uint32_t gpio, uint32_t mode, int pullup)
if (gpio == GPIO('A', 13) || gpio == GPIO('A', 14))
// Disable SWD to free PA13, PA14
AFIO->MAPR = AFIO_MAPR_SWJ_CFG_DISABLE;
stm32f1_alternative_remap(AFIO_MAPR_SWJ_CFG_Msk,
AFIO_MAPR_SWJ_CFG_DISABLE);
// STM32F1 remaps functions to pins in a very different
// way from other STM32s.
// Code below is emulating a few mappings to work like an STM32F4
uint32_t func = (mode >> 4) & 0xf;
if(( gpio == GPIO('B', 8) || gpio == GPIO('B', 9)) &&
func == 9) { // CAN
stm32f1_alternative_remap(AFIO_MAPR_CAN_REMAP_Msk,
AFIO_MAPR_CAN_REMAP_REMAP2);
}
// Add more as needed
}
// Handle USB reboot requests
void
usb_request_bootloader(void)
@@ -180,7 +206,8 @@ armcm_main(void)
// Disable JTAG to free PA15, PB3, PB4
enable_pclock(AFIO_BASE);
AFIO->MAPR = AFIO_MAPR_SWJ_CFG_JTAGDISABLE;
stm32f1_alternative_remap(AFIO_MAPR_SWJ_CFG_Msk,
AFIO_MAPR_SWJ_CFG_JTAGDISABLE);
sched_main();
}