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Initail STM32 Baremetal build

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This commit is contained in:
David Sidrane
2015-08-14 05:46:33 -10:00
parent b0fef2ed1f
commit 9750e3f58d
4 changed files with 105 additions and 21 deletions
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libuavcan_drivers/stm32/driver/src/uc_stm32_can.cpp
+31 -4
View File
@@ -14,11 +14,13 @@
# include <nuttx/arch.h>
# include <nuttx/irq.h>
# include <arch/board/board.h>
#elif UAVCAN_STM32_BAREMETAL
#include <chip.h>
#else
# error "Unknown OS"
#endif
#if !UAVCAN_STM32_NUTTX
#if UAVCAN_STM32_CHIBIOS || UAVCAN_STM32_BAREMETAL
# if !(defined(STM32F10X_CL) || defined(STM32F2XX) || defined(STM32F4XX))
// IRQ numbers
# define CAN1_RX0_IRQn USB_LP_CAN1_RX0_IRQn
@@ -188,7 +190,9 @@ int CanIface::computeTimings(const uavcan::uint32_t target_bitrate, Timings& out
/*
* Hardware configuration
*/
#if UAVCAN_STM32_CHIBIOS
#if UAVCAN_STM32_BAREMETAL
const uavcan::uint32_t pclk = STM32_PCLK1_FREQUENCY;
#elif UAVCAN_STM32_CHIBIOS
const uavcan::uint32_t pclk = STM32_PCLK1;
#elif UAVCAN_STM32_NUTTX
const uavcan::uint32_t pclk = STM32_PCLK1_FREQUENCY;
@@ -838,6 +842,22 @@ uavcan::int16_t CanDriver::select(uavcan::CanSelectMasks& inout_masks,
return 1; // Return value doesn't matter as long as it is non-negative
}
#if UAVCAN_STM32_BAREMETAL
static void nvicEnableVector(int irq, uint8_t prio)
{
NVIC_InitTypeDef NVIC_InitStructure;
NVIC_InitStructure.NVIC_IRQChannel = irq;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = prio;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
}
#endif
int CanDriver::init(const uavcan::uint32_t bitrate, const CanIface::OperatingMode mode)
{
int res = 0;
@@ -921,7 +941,7 @@ int CanDriver::init(const uavcan::uint32_t bitrate, const CanIface::OperatingMod
IRQ_ATTACH(STM32_IRQ_CAN2SCE, can2_irq);
# endif
# undef IRQ_ATTACH
#else
#elif UAVCAN_STM32_CHIBIOS || UAVCAN_STM32_BAREMETAL
{
CriticalSectionLocker lock;
nvicEnableVector(CAN1_TX_IRQn, UAVCAN_STM32_IRQ_PRIORITY_MASK);
@@ -1044,7 +1064,7 @@ static int can2_irq(const int irq, void*)
# endif
#else // UAVCAN_STM32_NUTTX
UAVCAN_STM32_IRQ_HANDLER(CAN1_TX_IRQHandler);
UAVCAN_STM32_IRQ_HANDLER(CAN1_TX_IRQHandler)
{
UAVCAN_STM32_IRQ_PROLOGUE();
@@ -1052,6 +1072,7 @@ UAVCAN_STM32_IRQ_HANDLER(CAN1_TX_IRQHandler)
UAVCAN_STM32_IRQ_EPILOGUE();
}
UAVCAN_STM32_IRQ_HANDLER(CAN1_RX0_IRQHandler);
UAVCAN_STM32_IRQ_HANDLER(CAN1_RX0_IRQHandler)
{
UAVCAN_STM32_IRQ_PROLOGUE();
@@ -1059,6 +1080,7 @@ UAVCAN_STM32_IRQ_HANDLER(CAN1_RX0_IRQHandler)
UAVCAN_STM32_IRQ_EPILOGUE();
}
UAVCAN_STM32_IRQ_HANDLER(CAN1_RX1_IRQHandler);
UAVCAN_STM32_IRQ_HANDLER(CAN1_RX1_IRQHandler)
{
UAVCAN_STM32_IRQ_PROLOGUE();
@@ -1066,6 +1088,7 @@ UAVCAN_STM32_IRQ_HANDLER(CAN1_RX1_IRQHandler)
UAVCAN_STM32_IRQ_EPILOGUE();
}
UAVCAN_STM32_IRQ_HANDLER(CAN1_SCE_IRQHandler);
UAVCAN_STM32_IRQ_HANDLER(CAN1_SCE_IRQHandler)
{
UAVCAN_STM32_IRQ_PROLOGUE();
@@ -1075,6 +1098,7 @@ UAVCAN_STM32_IRQ_HANDLER(CAN1_SCE_IRQHandler)
# if UAVCAN_STM32_NUM_IFACES > 1
UAVCAN_STM32_IRQ_HANDLER(CAN2_TX_IRQHandler);
UAVCAN_STM32_IRQ_HANDLER(CAN2_TX_IRQHandler)
{
UAVCAN_STM32_IRQ_PROLOGUE();
@@ -1082,6 +1106,7 @@ UAVCAN_STM32_IRQ_HANDLER(CAN2_TX_IRQHandler)
UAVCAN_STM32_IRQ_EPILOGUE();
}
UAVCAN_STM32_IRQ_HANDLER(CAN2_RX0_IRQHandler);
UAVCAN_STM32_IRQ_HANDLER(CAN2_RX0_IRQHandler)
{
UAVCAN_STM32_IRQ_PROLOGUE();
@@ -1089,6 +1114,7 @@ UAVCAN_STM32_IRQ_HANDLER(CAN2_RX0_IRQHandler)
UAVCAN_STM32_IRQ_EPILOGUE();
}
UAVCAN_STM32_IRQ_HANDLER(CAN2_RX1_IRQHandler);
UAVCAN_STM32_IRQ_HANDLER(CAN2_RX1_IRQHandler)
{
UAVCAN_STM32_IRQ_PROLOGUE();
@@ -1096,6 +1122,7 @@ UAVCAN_STM32_IRQ_HANDLER(CAN2_RX1_IRQHandler)
UAVCAN_STM32_IRQ_EPILOGUE();
}
UAVCAN_STM32_IRQ_HANDLER(CAN2_SCE_IRQHandler);
UAVCAN_STM32_IRQ_HANDLER(CAN2_SCE_IRQHandler)
{
UAVCAN_STM32_IRQ_PROLOGUE();