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Added support for ch32 boards #137

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2 changes: 2 additions & 0 deletions src/CAN.h
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Original file line number Diff line number Diff line change
Expand Up @@ -6,6 +6,8 @@

#ifdef ARDUINO_ARCH_ESP32
#include "ESP32SJA1000.h"
#elif defined(CH32V20x) || defined(CH32V30x)
#include "CH32.h"
#else
#include "MCP2515.h"
#endif
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310 changes: 310 additions & 0 deletions src/CH32.cpp
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#include "CH32.h"

#if defined(CH32V20x) || defined(CH32V30x)

CH32Class::CH32Class(CAN_TypeDef *CANx) :
_CANx(CANx),
_CAN_InitSturcture({0}) {
}

CH32Class::~CH32Class() {
}

int CH32Class::begin(long baudRate) {
CANControllerClass::begin(baudRate);

// http://www.bittiming.can-wiki.info - for STM bxCAN
const struct {
long clockFrequency;
long baudRate;
uint8_t bs[2];
uint16_t brp;
} CNF_MAPPER[] = {
{ (long)144E6, (long)1000E3, { CAN_BS1_15tq, CAN_BS2_2tq }, 8 },
{ (long)144E6, (long)800E3, { CAN_BS1_15tq, CAN_BS2_2tq }, 10 },
{ (long)144E6, (long)500E3, { CAN_BS1_15tq, CAN_BS2_2tq }, 16 },
{ (long)144E6, (long)250E3, { CAN_BS1_15tq, CAN_BS2_2tq }, 32 },
{ (long)144E6, (long)200E3, { CAN_BS1_15tq, CAN_BS2_2tq }, 40 },
{ (long)144E6, (long)125E3, { CAN_BS1_15tq, CAN_BS2_2tq }, 64 },
{ (long)144E6, (long)100E3, { CAN_BS1_15tq, CAN_BS2_2tq }, 80 },
{ (long)144E6, (long)83E3, { CAN_BS1_15tq, CAN_BS2_2tq }, 96 },
{ (long)144E6, (long)50E3, { CAN_BS1_15tq, CAN_BS2_2tq }, 160 },
{ (long)144E6, (long)40E3, { CAN_BS1_15tq, CAN_BS2_2tq }, 200 },
{ (long)144E6, (long)20E3, { CAN_BS1_15tq, CAN_BS2_2tq }, 400 },
{ (long)144E6, (long)10E3, { CAN_BS1_15tq, CAN_BS2_2tq }, 800 },
{ (long)96E6, (long)1000E3, { CAN_BS1_13tq, CAN_BS2_2tq }, 6 },
{ (long)96E6, (long)800E3, { CAN_BS1_12tq, CAN_BS2_2tq }, 8 },
{ (long)96E6, (long)500E3, { CAN_BS1_13tq, CAN_BS2_2tq }, 12 },
{ (long)96E6, (long)250E3, { CAN_BS1_13tq, CAN_BS2_2tq }, 24 },
{ (long)96E6, (long)200E3, { CAN_BS1_13tq, CAN_BS2_2tq }, 30 },
{ (long)96E6, (long)125E3, { CAN_BS1_13tq, CAN_BS2_2tq }, 48 },
{ (long)96E6, (long)100E3, { CAN_BS1_13tq, CAN_BS2_2tq }, 60 },
{ (long)96E6, (long)83E3, { CAN_BS1_13tq, CAN_BS2_2tq }, 72 },
{ (long)96E6, (long)50E3, { CAN_BS1_13tq, CAN_BS2_2tq }, 120 },
{ (long)96E6, (long)40E3, { CAN_BS1_13tq, CAN_BS2_2tq }, 150 },
{ (long)96E6, (long)20E3, { CAN_BS1_13tq, CAN_BS2_2tq }, 300 },
{ (long)96E6, (long)10E3, { CAN_BS1_13tq, CAN_BS2_2tq }, 600 },
{ (long)72E6, (long)1000E3, { CAN_BS1_15tq, CAN_BS2_2tq }, 4 },
{ (long)72E6, (long)800E3, { CAN_BS1_15tq, CAN_BS2_2tq }, 5 },
{ (long)72E6, (long)500E3, { CAN_BS1_15tq, CAN_BS2_2tq }, 8 },
{ (long)72E6, (long)250E3, { CAN_BS1_15tq, CAN_BS2_2tq }, 16 },
{ (long)72E6, (long)200E3, { CAN_BS1_15tq, CAN_BS2_2tq }, 20 },
{ (long)72E6, (long)125E3, { CAN_BS1_15tq, CAN_BS2_2tq }, 32 },
{ (long)72E6, (long)100E3, { CAN_BS1_15tq, CAN_BS2_2tq }, 40 },
{ (long)72E6, (long)83E3, { CAN_BS1_15tq, CAN_BS2_2tq }, 48 },
{ (long)72E6, (long)50E3, { CAN_BS1_15tq, CAN_BS2_2tq }, 80 },
{ (long)72E6, (long)40E3, { CAN_BS1_15tq, CAN_BS2_2tq }, 100 },
{ (long)72E6, (long)20E3, { CAN_BS1_15tq, CAN_BS2_2tq }, 200 },
{ (long)72E6, (long)10E3, { CAN_BS1_15tq, CAN_BS2_2tq }, 400 },
{ (long)48E6, (long)1000E3, { CAN_BS1_13tq, CAN_BS2_2tq }, 3 },
{ (long)48E6, (long)800E3, { CAN_BS1_12tq, CAN_BS2_2tq }, 4 },
{ (long)48E6, (long)500E3, { CAN_BS1_13tq, CAN_BS2_2tq }, 6 },
{ (long)48E6, (long)250E3, { CAN_BS1_13tq, CAN_BS2_2tq }, 12 },
{ (long)48E6, (long)200E3, { CAN_BS1_13tq, CAN_BS2_2tq }, 15 },
{ (long)48E6, (long)125E3, { CAN_BS1_13tq, CAN_BS2_2tq }, 24 },
{ (long)48E6, (long)100E3, { CAN_BS1_13tq, CAN_BS2_2tq }, 30 },
{ (long)48E6, (long)83E3, { CAN_BS1_13tq, CAN_BS2_2tq }, 36 },
{ (long)48E6, (long)50E3, { CAN_BS1_13tq, CAN_BS2_2tq }, 60 },
{ (long)48E6, (long)40E3, { CAN_BS1_13tq, CAN_BS2_2tq }, 75 },
{ (long)48E6, (long)20E3, { CAN_BS1_13tq, CAN_BS2_2tq }, 150 },
{ (long)48E6, (long)10E3, { CAN_BS1_13tq, CAN_BS2_2tq }, 300 },
};

// set Pins for CAN
GPIO_InitTypeDef GPIO_InitSturcture={0};

if (_CANx == CAN1) {
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO | RCC_APB2Periph_GPIOA, ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);

GPIO_InitSturcture.GPIO_Pin = GPIO_Pin_12; // TX (MAX 2551)
GPIO_InitSturcture.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitSturcture.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init( GPIOA, &GPIO_InitSturcture);

GPIO_InitSturcture.GPIO_Pin = GPIO_Pin_11; // RX (MAX 2551)
GPIO_InitSturcture.GPIO_Mode = GPIO_Mode_IPU;
GPIO_Init( GPIOA, &GPIO_InitSturcture);
} else {
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO | RCC_APB2Periph_GPIOB, ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN2, ENABLE);

GPIO_InitSturcture.GPIO_Pin = GPIO_Pin_13; // TX (MAX 2551)
GPIO_InitSturcture.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitSturcture.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init( GPIOB, &GPIO_InitSturcture);

GPIO_InitSturcture.GPIO_Pin = GPIO_Pin_12; // RX (MAX 2551)
GPIO_InitSturcture.GPIO_Mode = GPIO_Mode_IPU;
GPIO_Init( GPIOB, &GPIO_InitSturcture);
}

_CAN_InitSturcture.CAN_TTCM = DISABLE;
_CAN_InitSturcture.CAN_ABOM = DISABLE;
_CAN_InitSturcture.CAN_AWUM = DISABLE;
_CAN_InitSturcture.CAN_NART = ENABLE;
_CAN_InitSturcture.CAN_RFLM = DISABLE;
_CAN_InitSturcture.CAN_TXFP = DISABLE;
_CAN_InitSturcture.CAN_Mode = CAN_Mode_Normal;
_CAN_InitSturcture.CAN_SJW = CAN_SJW_1tq;

bool match = false;

RCC_ClocksTypeDef RCC_Clocks;
RCC_GetClocksFreq(&RCC_Clocks);

for (unsigned int i = 0; i < (sizeof(CNF_MAPPER) / sizeof(CNF_MAPPER[0])); i++) {
if (CNF_MAPPER[i].clockFrequency == RCC_Clocks.PCLK1_Frequency && CNF_MAPPER[i].baudRate == baudRate) {
_CAN_InitSturcture.CAN_BS1 = CNF_MAPPER[i].bs[0];
_CAN_InitSturcture.CAN_BS2 = CNF_MAPPER[i].bs[1];
_CAN_InitSturcture.CAN_Prescaler = CNF_MAPPER[i].brp;

match = true;
break;
}
}

if (!match) {
printf("Not match\r\n");
return 0;
}

CAN_Init(_CANx, &_CAN_InitSturcture);

return 1;
}

void CH32Class::end() {
CANControllerClass::end();

CAN_DeInit(_CANx);
}

int CH32Class::endPacket() {
if (!CANControllerClass::endPacket()) {
return 0;
}

CanTxMsg CanTxStructure;

if (_txExtended) {
CanTxStructure.ExtId = _txId;
CanTxStructure.IDE = CAN_Id_Extended;
} else {
CanTxStructure.StdId = _txId;
CanTxStructure.IDE = CAN_Id_Standard;
}

if (_txRtr) {
CanTxStructure.RTR = CAN_RTR_Remote;
CanTxStructure.DLC = _txLength;
} else {
CanTxStructure.RTR = CAN_RTR_Data;
CanTxStructure.DLC = _txLength;

for (int i = 0; i < _txLength; i++) {
CanTxStructure.Data[i] = _txData[i];
}
}

uint8_t mbox = CAN_Transmit(_CANx, &CanTxStructure);
uint16_t i = 0;

while((CAN_TransmitStatus(_CANx, mbox) != CAN_TxStatus_Ok) && (i < 0xFFF)) {
i++;
//yield();
}

if(i == 0xFFF) {
return 1;
} else {
return 0;
}
}

int CH32Class::parsePacket() {
u8 i;

CanRxMsg CanRxStructure;

if(CAN_MessagePending(_CANx, CAN_FIFO0) == 0) {
return 0;
}

CAN_Receive(_CANx, CAN_FIFO0, &CanRxStructure);

_rxExtended = CanRxStructure.IDE == CAN_Id_Extended ? true : false;
_rxRtr = CanRxStructure.RTR == CAN_RTR_Remote ? true : false;
_rxId = _rxExtended ? CanRxStructure.ExtId : CanRxStructure.StdId;
_rxDlc = CanRxStructure.DLC;
_rxIndex = 0;

if (_rxRtr) {
_rxLength = 0;
} else {
_rxLength = _rxDlc;

for (int i = 0; i < _rxLength; i++) {
_rxData[i] = CanRxStructure.Data[i];
}
}

return 1;
}

void CH32Class::onReceive(void(*callback)(int)) {
CANControllerClass::onReceive(callback);

// TODO:
}

int CH32Class::filter(int id, int mask) {
id &= 0x7ff;
mask &= 0x7ff;

CAN_FilterInitTypeDef CAN_FilterInitSturcture={0};

CAN_FilterInitSturcture.CAN_FilterNumber = 0;
if (_CANx != CAN1) {
CAN_FilterInitSturcture.CAN_FilterNumber = 10;
}

/* identifier/mask mode, One 32-bit filter, StdId: 0x317 */
CAN_FilterInitSturcture.CAN_FilterMode = CAN_FilterMode_IdMask;
CAN_FilterInitSturcture.CAN_FilterScale = CAN_FilterScale_32bit;
CAN_FilterInitSturcture.CAN_FilterIdHigh = id;
CAN_FilterInitSturcture.CAN_FilterIdLow = 0;
CAN_FilterInitSturcture.CAN_FilterMaskIdHigh = mask;
CAN_FilterInitSturcture.CAN_FilterMaskIdLow = 0x0006;

CAN_FilterInitSturcture.CAN_FilterFIFOAssignment = CAN_Filter_FIFO0;
CAN_FilterInitSturcture.CAN_FilterActivation = ENABLE;
CAN_FilterInit(&CAN_FilterInitSturcture);

if (_CANx != CAN1) {
CAN_SlaveStartBank(9);
}

return 1;
}

int CH32Class::filterExtended(long id, long mask) {
id &= 0x1FFFFFFF;
mask &= 0x1FFFFFFF;

CAN_FilterInitTypeDef CAN_FilterInitSturcture={0};

CAN_FilterInitSturcture.CAN_FilterNumber = 0;
if (_CANx != CAN1) {
CAN_FilterInitSturcture.CAN_FilterNumber = 10;
}

CAN_FilterInitSturcture.CAN_FilterMode = CAN_FilterMode_IdMask;
CAN_FilterInitSturcture.CAN_FilterScale = CAN_FilterScale_32bit;

CAN_FilterInitSturcture.CAN_FilterIdHigh = id >> 13 & 0xFFFF;
CAN_FilterInitSturcture.CAN_FilterIdLow = id << 3 & 0xFFF8;
CAN_FilterInitSturcture.CAN_FilterMaskIdHigh = mask >> 13 & 0xFFFF;
CAN_FilterInitSturcture.CAN_FilterMaskIdLow = mask << 3 & 0xFFF8;

CAN_FilterInitSturcture.CAN_FilterFIFOAssignment = CAN_Filter_FIFO0;
CAN_FilterInitSturcture.CAN_FilterActivation = ENABLE;
CAN_FilterInit(&CAN_FilterInitSturcture);

if (_CANx != CAN1) {
CAN_SlaveStartBank(9);
}

return 1;
}

int CH32Class::observe() {
_CAN_InitSturcture.CAN_Mode |= CAN_Mode_Silent;
CAN_Init(_CANx, &_CAN_InitSturcture);

return 0;
}

int CH32Class::loopback() {
_CAN_InitSturcture.CAN_Mode |= CAN_Mode_LoopBack;
CAN_Init(_CANx, &_CAN_InitSturcture);

return 0;
}

int CH32Class::sleep() {
return CAN_Sleep(_CANx);
}

int CH32Class::wakeup() {
return CAN_WakeUp(_CANx);
}

#if defined(CH32V20x)
CH32Class CAN(CAN1);
#elif defined(CH32V30x)
CH32Class CAN_1(CAN1);
CH32Class CAN_2(CAN2);
#endif

#endif
43 changes: 43 additions & 0 deletions src/CH32.h
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#ifndef CH32_H
#define CH32_H

#if defined(CH32V20x) || defined(CH32V30x)

#include "CANController.h"

class CH32Class : public CANControllerClass {
public:
CH32Class(CAN_TypeDef *CANx); // constructor declaration
~CH32Class(); // destructor declaration

int begin(long baudRate) override;
void end() override;
int endPacket() override;
int parsePacket() override;

void onReceive(void(*callback)(int)) override;

using CANControllerClass::filter;
virtual int filter(int id, int mask);
using CANControllerClass::filterExtended;
virtual int filterExtended(long id, long mask);

int observe() override;
int loopback() override;
int sleep() override;
int wakeup() override;
private:
CAN_TypeDef *_CANx;
CAN_InitTypeDef _CAN_InitSturcture;
};

#if defined(CH32V20x)
extern CH32Class CAN;
#else
extern CH32Class CAN_1;
extern CH32Class CAN_2;
#endif

#endif

#endif // CH32_H
2 changes: 1 addition & 1 deletion src/MCP2515.cpp
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// Copyright (c) Sandeep Mistry. All rights reserved.
// Licensed under the MIT license. See LICENSE file in the project root for full license information.

#ifndef ARDUINO_ARCH_ESP32
#if !defined(ARDUINO_ARCH_ESP32) && !defined(CH32V20x) && !defined(CH32V30x)

#include "MCP2515.h"

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