Implementation of Photon CAN bus Driver

.gitignore

@@ -27,6 +27,9 @@ Release/*
 *.d
 *.o
 
+# Unit test build folder
+user/tests/unit/obj/*
+
 # Platform-specific settings
 .settings/*
 .cproject

hal-dynalib/src/hal_can.c

@@ -0,0 +1 @@
+#include "hal_dynalib_can.h"

hal/inc/can_hal.h

@@ -0,0 +1,144 @@
+/**
+ ******************************************************************************
+ * @file    can_hal.h
+ * @author  Brian Spranger, Julien Vanier
+ * @version V1.0.0
+ * @date    04-Jan-2016
+ * @brief
+ ******************************************************************************
+   Copyright (c) 2013-2015 Particle Industries, Inc.  All rights reserved.
+
+   This library is free software; you can redistribute it and/or
+   modify it under the terms of the GNU Lesser General Public
+   License as published by the Free Software Foundation, either
+   version 3 of the License, or (at your option) any later version.
+
+   This library is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+   Lesser General Public License for more details.
+
+   You should have received a copy of the GNU Lesser General Public
+   License along with this library; if not, see <http://www.gnu.org/licenses/>.
+ ******************************************************************************
+ */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __CAN_HAL_H
+#define __CAN_HAL_H
+
+#include <stdbool.h>
+
+/* Includes ------------------------------------------------------------------*/
+#include "pinmap_hal.h"
+
+/* Exported defines ----------------------------------------------------------*/
+#if PLATFORM_ID == 6 || PLATFORM_ID == 8 // Photon and P1
+ #define TOTAL_CAN   1
+ #define HAL_HAS_CAN_D1_D2
+#elif PLATFORM_ID == 10 // Electron
+ #define TOTAL_CAN   2
+ #define HAL_HAS_CAN_D1_D2
+ #define HAL_HAS_CAN_C4_C5
+#else
+  // Core 
+ #define TOTAL_CAN   0
+#endif
+
+/* Exported constants --------------------------------------------------------*/
+
+typedef enum HAL_CAN_Channel
+{
+#ifdef HAL_HAS_CAN_D1_D2
+   CAN_D1_D2,
+#endif
+#ifdef HAL_HAS_CAN_C4_C5
+   CAN_C4_C5,
+#endif
+} HAL_CAN_Channel;
+
+// Flags for HAL_CAN_Begin
+typedef enum HAL_CAN_Flags {
+  CAN_TEST_MODE = 0x0001,
+} HAL_CAN_Flags;
+
+typedef enum HAL_CAN_Errors {
+  CAN_NO_ERROR,
+  CAN_ERROR_PASSIVE,
+  CAN_BUS_OFF
+} HAL_CAN_Errors;
+
+typedef enum HAL_CAN_Filters {
+  CAN_FILTER_STANDARD,
+  CAN_FILTER_EXTENDED
+} HAL_CAN_Filters;
+
+/* Exported types ------------------------------------------------------------*/
+
+struct CANMessage
+{
+   uint32_t id;
+   uint8_t  size;
+   bool     extended;
+   bool     rtr;
+   uint8_t  len;
+   uint8_t  data[8];
+
+#ifdef __cplusplus
+   CANMessage()
+     : id { 0 },
+       size { sizeof(CANMessage) },
+       extended { false },
+       rtr { false },
+       len { 0 },
+       data { 0 }
+   {
+   }
+#endif
+};
+
+/* Exported constants --------------------------------------------------------*/
+
+/* Exported macros -----------------------------------------------------------*/
+
+/* Exported functions --------------------------------------------------------*/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+void HAL_CAN_Init(HAL_CAN_Channel channel,
+                  uint16_t rxQueueSize,
+                  uint16_t txQueueSize,
+                  void *reserved);
+void HAL_CAN_Begin(HAL_CAN_Channel channel,
+                   uint32_t baud,
+                   uint32_t flags,
+                   void *reserved);
+void HAL_CAN_End(HAL_CAN_Channel channel,
+                 void *reserved);
+bool HAL_CAN_Transmit(HAL_CAN_Channel channel,
+                      const CANMessage *message,
+                      void *reserved);
+bool HAL_CAN_Receive(HAL_CAN_Channel channel,
+                     CANMessage *message,
+                     void *reserved);
+uint8_t HAL_CAN_Available_Messages(HAL_CAN_Channel channel,
+                                   void *reserved);
+bool HAL_CAN_Add_Filter(HAL_CAN_Channel channel,
+                        uint32_t id,
+                        uint32_t mask,
+                        HAL_CAN_Filters type,
+                        void *reserved);
+void HAL_CAN_Clear_Filters(HAL_CAN_Channel channel,
+                           void *reserved);
+bool HAL_CAN_Is_Enabled(HAL_CAN_Channel channel);
+HAL_CAN_Errors HAL_CAN_Error_Status(HAL_CAN_Channel channel);
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  /* __CAN_HAL_H */
+

hal/inc/hal_dynalib_can.h

@@ -0,0 +1,49 @@
+/**
+ ******************************************************************************
+ * @file    hal_dynalib_can.h
+ * @authors Brian Spranger
+ * @date    01 October 2015
+ ******************************************************************************
+  Copyright (c) 2015 Particle Industries, Inc.  All rights reserved.
+
+  This library is free software; you can redistribute it and/or
+  modify it under the terms of the GNU Lesser General Public
+  License as published by the Free Software Foundation, either
+  version 3 of the License, or (at your option) any later version.
+
+  This library is distributed in the hope that it will be useful,
+  but WITHOUT ANY WARRANTY; without even the implied warranty of
+  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+  Lesser General Public License for more details.
+
+  You should have received a copy of the GNU Lesser General Public
+  License along with this library; if not, see <http://www.gnu.org/licenses/>.
+ ******************************************************************************
+ */
+
+#ifndef HAL_DYNALIB_CAN_H
+#define HAL_DYNALIB_CAN_H
+
+#include "dynalib.h"
+
+#ifdef DYNALIB_EXPORT
+#include "can_hal.h"
+#endif
+
+DYNALIB_BEGIN(hal_can)
+
+DYNALIB_FN(hal_can,HAL_CAN_Init)
+DYNALIB_FN(hal_can,HAL_CAN_Begin)
+DYNALIB_FN(hal_can,HAL_CAN_End)
+DYNALIB_FN(hal_can,HAL_CAN_Transmit)
+DYNALIB_FN(hal_can,HAL_CAN_Receive)
+DYNALIB_FN(hal_can,HAL_CAN_Available_Messages)
+DYNALIB_FN(hal_can,HAL_CAN_Add_Filter)
+DYNALIB_FN(hal_can,HAL_CAN_Clear_Filters)
+DYNALIB_FN(hal_can,HAL_CAN_Is_Enabled)
+DYNALIB_FN(hal_can,HAL_CAN_Error_Status)
+
+DYNALIB_END(hal_can)
+
+#endif	/* HAL_DYNALIB_CAN_H */
+

hal/inc/interrupts_irq.h

@@ -126,7 +126,11 @@ typedef enum hal_irq_t {
     SysInterrupt_CAN2_RX0_IRQ,
     SysInterrupt_CAN2_RX1_IRQ,
     SysInterrupt_CAN2_SCE_IRQ,
-    __Last_irq = 46
+    SysInterrupt_CAN1_TX_IRQ,
+    SysInterrupt_CAN1_RX0_IRQ,
+    SysInterrupt_CAN1_RX1_IRQ,
+    SysInterrupt_CAN1_SCE_IRQ,
+    __Last_irq = SysInterrupt_CAN1_SCE_IRQ + 1,
 #else
     __Last_irq = 0
 #endif

hal/src/electron/core_hal.c

@@ -94,10 +94,10 @@ IDX[x] = added IRQ handler
 32 [ ] DMA1_Stream5_IRQHandler           // DMA1 Stream 5
 33 [ ] DMA1_Stream6_IRQHandler           // DMA1 Stream 6
 34 [x] ADC_IRQHandler                    // ADC1, ADC2 and ADC3s
-35 [ ] CAN1_TX_IRQHandler                // CAN1 TX
-36 [ ] CAN1_RX0_IRQHandler               // CAN1 RX0
-37 [ ] CAN1_RX1_IRQHandler               // CAN1 RX1
-38 [ ] CAN1_SCE_IRQHandler               // CAN1 SCE
+35 [x] CAN1_TX_IRQHandler                // CAN1 TX
+36 [x] CAN1_RX0_IRQHandler               // CAN1 RX0
+37 [x] CAN1_RX1_IRQHandler               // CAN1 RX1
+38 [x] CAN1_SCE_IRQHandler               // CAN1 SCE
 39 [x] EXTI9_5_IRQHandler                // External Line[9:5]s
 40 [x] TIM1_BRK_TIM9_IRQHandler          // TIM1 Break and TIM9
 41 [x] TIM1_UP_TIM10_IRQHandler          // TIM1 Update and TIM10
@@ -174,6 +174,10 @@ const unsigned EXTI2_IRQHandler_Idx                 = 24;
 const unsigned EXTI3_IRQHandler_Idx                 = 25;
 const unsigned EXTI4_IRQHandler_Idx                 = 26;
 const unsigned ADC_IRQHandler_Idx                   = 34;
+const unsigned CAN1_TX_IRQHandler_Idx               = 35;
+const unsigned CAN1_RX0_IRQHandler_Idx              = 36;
+const unsigned CAN1_RX1_IRQHandler_Idx              = 37;
+const unsigned CAN1_SCE_IRQHandler_Idx              = 38;
 const unsigned EXTI9_5_IRQHandler_Idx               = 39;
 const unsigned TIM1_BRK_TIM9_IRQHandler_Idx         = 40;
 const unsigned TIM1_UP_TIM10_IRQHandler_Idx         = 41;
@@ -251,6 +255,10 @@ void HAL_Core_Setup_override_interrupts(void)
     isrs[EXTI3_IRQHandler_Idx]              = (uint32_t)EXTI3_IRQHandler;
     isrs[EXTI4_IRQHandler_Idx]              = (uint32_t)EXTI4_IRQHandler;
     isrs[ADC_IRQHandler_Idx]                = (uint32_t)ADC_irq;
+    isrs[CAN1_TX_IRQHandler_Idx]            = (uint32_t)CAN1_TX_irq;
+    isrs[CAN1_RX0_IRQHandler_Idx]           = (uint32_t)CAN1_RX0_irq;
+    isrs[CAN1_RX1_IRQHandler_Idx]           = (uint32_t)CAN1_RX1_irq;
+    isrs[CAN1_SCE_IRQHandler_Idx]           = (uint32_t)CAN1_SCE_irq;
     isrs[EXTI9_5_IRQHandler_Idx]            = (uint32_t)EXTI9_5_IRQHandler;
     isrs[TIM1_BRK_TIM9_IRQHandler_Idx]      = (uint32_t)TIM1_BRK_TIM9_irq;
     isrs[TIM1_UP_TIM10_IRQHandler_Idx]      = (uint32_t)TIM1_UP_TIM10_irq;
@@ -601,10 +609,6 @@ void DMA1_Stream3_IRQHandler(void)  {__ASM("bkpt 0");}
 void DMA1_Stream4_IRQHandler(void)  {__ASM("bkpt 0");}
 void DMA1_Stream5_IRQHandler(void)  {__ASM("bkpt 0");}
 void DMA1_Stream6_IRQHandler(void)  {__ASM("bkpt 0");}
-void CAN1_TX_IRQHandler(void)       {__ASM("bkpt 0");}
-void CAN1_RX0_IRQHandler(void)      {__ASM("bkpt 0");}
-void CAN1_RX1_IRQHandler(void)      {__ASM("bkpt 0");}
-void CAN1_SCE_IRQHandler(void)      {__ASM("bkpt 0");}
 void I2C2_EV_IRQHandler(void)       {__ASM("bkpt 0");}
 void I2C2_ER_IRQHandler(void)       {__ASM("bkpt 0");}
 void SPI1_IRQHandler(void)          {__ASM("bkpt 0");}

hal/src/newhal/sources.mk

@@ -31,5 +31,6 @@ CPPSRC += $(call target_files,$(overridedir)/,*.cpp)
 # ASM source files included in this build.
 ASRC +=
 
+CPPFLAGS += -std=gnu++11
 
 

hal/src/photon/core_hal.c

@@ -50,6 +50,10 @@ const unsigned USART2Index = 54;
 const unsigned ButtonExtiIndex = BUTTON1_EXTI_IRQ_INDEX;
 const unsigned TIM7Index = 71;
 const unsigned DMA2Stream2Index = 74;
+const unsigned CAN2_TX_IRQHandler_Idx               = 79;
+const unsigned CAN2_RX0_IRQHandler_Idx              = 80;
+const unsigned CAN2_RX1_IRQHandler_Idx              = 81;
+const unsigned CAN2_SCE_IRQHandler_Idx              = 82;
 /**
  * Updated by HAL_1Ms_Tick()
  */
@@ -73,6 +77,10 @@ void HAL_Core_Setup_override_interrupts(void) {
     isrs[ButtonExtiIndex] = (uint32_t)Mode_Button_EXTI_irq;
     isrs[TIM7Index] = (uint32_t)TIM7_override;  // WICED uses this for a JTAG watchdog handler
     isrs[DMA2Stream2Index] = (uint32_t)DMA2_Stream2_irq_override;
+    isrs[CAN2_TX_IRQHandler_Idx]            = (uint32_t)CAN2_TX_irq;
+    isrs[CAN2_RX0_IRQHandler_Idx]           = (uint32_t)CAN2_RX0_irq;
+    isrs[CAN2_RX1_IRQHandler_Idx]           = (uint32_t)CAN2_RX1_irq;
+    isrs[CAN2_SCE_IRQHandler_Idx]           = (uint32_t)CAN2_SCE_irq;
     SCB->VTOR = (unsigned long)isrs;
 }
 

hal/src/photon/wiced/platform/MCU/STM32F2xx/peripherals/platform_mcu_peripheral.h

@@ -51,6 +51,7 @@
 #include "stm32f2xx_syscfg.h"
 #include "stm32f2xx_tim.h"
 #include "stm32f2xx_usart.h"
+#include "stm32f2xx_can.h"
 #include "wwd_constants.h"
 #include "RTOS/wwd_rtos_interface.h"
 #include "ring_buffer.h"