diff options
Diffstat (limited to 'os/hal/platforms/STM32/can_lld.c')
| -rw-r--r-- | os/hal/platforms/STM32/can_lld.c | 29 |
1 files changed, 16 insertions, 13 deletions
diff --git a/os/hal/platforms/STM32/can_lld.c b/os/hal/platforms/STM32/can_lld.c index 2e3ed43df..86c8ecbf5 100644 --- a/os/hal/platforms/STM32/can_lld.c +++ b/os/hal/platforms/STM32/can_lld.c @@ -163,21 +163,25 @@ void can_lld_init(void) { */
void can_lld_start(CANDriver *canp) {
- if (canp->cd_state == CAN_STOP) {
- /* Clock activation.*/
+ /* Clock activation.*/
#if USE_STM32_CAN1
- if (&CAND1 == canp) {
- NVICEnableVector(USB_HP_CAN1_TX_IRQn, STM32_CAN1_IRQ_PRIORITY);
- NVICEnableVector(USB_LP_CAN1_RX0_IRQn, STM32_CAN1_IRQ_PRIORITY);
- NVICEnableVector(CAN1_RX1_IRQn, STM32_CAN1_IRQ_PRIORITY);
- NVICEnableVector(CAN1_SCE_IRQn, STM32_CAN1_IRQ_PRIORITY);
- RCC->APB1ENR |= RCC_APB1ENR_CAN1EN;
- }
-#endif
+ if (&CAND1 == canp) {
+ NVICEnableVector(USB_HP_CAN1_TX_IRQn, STM32_CAN1_IRQ_PRIORITY);
+ NVICEnableVector(USB_LP_CAN1_RX0_IRQn, STM32_CAN1_IRQ_PRIORITY);
+ NVICEnableVector(CAN1_RX1_IRQn, STM32_CAN1_IRQ_PRIORITY);
+ NVICEnableVector(CAN1_SCE_IRQn, STM32_CAN1_IRQ_PRIORITY);
+ RCC->APB1ENR |= RCC_APB1ENR_CAN1EN;
}
- /* Configuration.*/
- canp->cd_can->MCR = canp->cd_config->cc_mcr;
+#endif
+
+ /* Entering initialization mode. */
+ canp->cd_state = CAN_STARTING;
+ canp->cd_can->MCR = CAN_MCR_INRQ;
+ while ((canp->cd_can->MSR & CAN_MSR_INAK) == 0)
+ chThdSleepS(1);
+ /* Initialization.*/
canp->cd_can->BTR = canp->cd_config->cc_btr;
+ canp->cd_can->MCR = canp->cd_config->cc_mcr;
canp->cd_can->IER = CAN_IER_TMEIE | CAN_IER_FMPIE0 | CAN_IER_FMPIE1 |
CAN_IER_WKUIE | CAN_IER_ERRIE | CAN_IER_LECIE |
CAN_IER_BOFIE | CAN_IER_EPVIE | CAN_IER_EWGIE |
@@ -196,7 +200,6 @@ void can_lld_stop(CANDriver *canp) { #if USE_STM32_CAN1
if (&CAND1 == canp) {
CAN1->MCR = 0x00010002; /* Register reset value. */
- CAN1->BTR = 0x01230000; /* Register reset value. */
CAN1->IER = 0x00000000; /* All sources disabled. */
NVICDisableVector(USB_HP_CAN1_TX_IRQn);
NVICDisableVector(USB_LP_CAN1_RX0_IRQn);
|