text stringlengths 0 234 |
|---|
end Convert; |
overriding |
procedure Receive_Message_Blocking |
(This : in out CAN_Driver; |
Msg : out ACO.Messages.Message) |
is |
Rx_Msg : CAN_Message; |
begin |
-- Suspend until new CAN message is received |
This.Controller.Receive_Message (Rx_Msg); |
Msg := ACO.Messages.Create |
(CAN_Id => ACO.Messages.Id_Type (Rx_Msg.Std_ID), |
RTR => Rx_Msg.Rtr, |
DLC => ACO.Messages.Data_Length (Rx_Msg.Dlc), |
Data => Convert (Rx_Msg.Data)); |
end Receive_Message_Blocking; |
overriding |
procedure Send_Message |
(This : in out CAN_Driver; |
Msg : in ACO.Messages.Message) |
is |
Success : Boolean; |
Tx_Msg : constant CAN_Message := |
(Std_ID => Standard_Id (ACO.Messages.CAN_Id (Msg)), |
Ext_ID => 0, |
Ide => False, |
Rtr => Msg.RTR, |
Dlc => Data_Length_Type (Msg.Length), |
Data => Convert (Msg.Data)); |
begin |
This.Controller.Transmit_Message |
(Message => Tx_Msg, |
Success => Success); |
end Send_Message; |
overriding |
procedure Initialize (This : in out CAN_Driver) |
is |
use STM32.GPIO; |
use STM32.Device; |
Tx_Pin : GPIO_Point renames PD1; |
Rx_Pin : GPIO_Point renames PD0; |
Fifo_X : constant Fifo_Nr := FIFO_0; |
-- For now, set to 125 kbit/s |
-- see http://www.bittiming.can-wiki.info/#bxCAN |
Bit_Timing : constant Bit_Timing_Config := |
(Resynch_Jump_Width => 1, |
Time_Segment_1 => 13, |
Time_Segment_2 => 2, |
Quanta_Prescaler => 21); |
Mask_Allow_All : constant Filter_32 := |
(Std_ID => 0, |
Ext_ID => 0, |
Ide => False, |
Rtr => False); |
Bank_Config : constant CAN_Filter_Bank := |
(Bank_Nr => 0, |
Activated => True, |
Fifo_Assignment => Fifo_X, |
Filters => (Mask32, (Mask_Allow_All, Mask_Allow_All))); |
begin |
Enable_Clock (Points => (Tx_Pin, Rx_Pin)); |
Configure_IO (Rx_Pin, (Mode_AF, Pull_Up, Push_Pull, Speed_50MHz, GPIO_AF_CAN1_9)); |
Configure_IO (Tx_Pin, (Mode_AF, Floating, Push_Pull, Speed_50MHz, GPIO_AF_CAN1_9)); |
Enable_Clock (This.Device.all); |
Reset (This.Device.all); |
Configure |
(This => This.Device.all, |
Mode => Normal, |
Time_Triggered => False, |
Auto_Bus_Off => False, |
Auto_Wakeup => False, |
Auto_Retransmission => False, |
Rx_FIFO_Locked => False, |
Tx_FIFO_Prio => False, |
Timing_Config => Bit_Timing); |
Set_Slave_Start_Bank (14); |
Configure_Filter |
(This => This.Device.all, |
Bank_Config => Bank_Config); |
This.Controller.Enable_Receiver (Fifo_X); |
end Initialize; |
overriding |
function Is_Message_Pending |
(This : CAN_Driver) |
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