STM32: Define CAN handle as part of can object

Instead of a static object, this will make driver
instantiation more robust and allow to re-use init
configuration on a need basis.

The CANName struct member is actually the CAN registers base address,
which is now available in the CanHandle.Instance field, so we don't need
CANName anymore.

Author: LMESTM

targets/TARGET_STM/TARGET_STM32F0/common_objects.h

@@ -130,7 +130,7 @@ struct dac_s {
 
 #if DEVICE_CAN
 struct can_s {
-    CANName can;
+    CAN_HandleTypeDef CanHandle;
     int index;
 };
 #endif

targets/TARGET_STM/TARGET_STM32F1/common_objects.h

@@ -118,7 +118,7 @@ struct analogin_s {
 
 #if DEVICE_CAN
 struct can_s {
-    CANName can;
+    CAN_HandleTypeDef CanHandle;
     int index;
 };
 #endif

targets/TARGET_STM/TARGET_STM32F2/objects.h

@@ -137,7 +137,7 @@ struct pwmout_s {
 };
 
 struct can_s {
-    CANName can;
+    CAN_HandleTypeDef CanHandle;
     int index;
 };
 

targets/TARGET_STM/TARGET_STM32F3/common_objects.h

@@ -126,7 +126,7 @@ struct analogin_s {
 
 #if DEVICE_CAN
 struct can_s {
-    CANName can;
+    CAN_HandleTypeDef CanHandle;
     int index;
 };
 #endif

targets/TARGET_STM/TARGET_STM32F4/common_objects.h

@@ -135,7 +135,7 @@ struct dac_s {
 
 #if DEVICE_CAN
 struct can_s {
-    CANName can;
+    CAN_HandleTypeDef CanHandle;
     int index;
 };
 #endif

targets/TARGET_STM/TARGET_STM32F7/common_objects.h

@@ -134,7 +134,7 @@ struct flash_s {
 
 #if DEVICE_CAN
 struct can_s {
-    CANName can;
+    CAN_HandleTypeDef CanHandle;
     int index;
 };
 #endif

targets/TARGET_STM/TARGET_STM32L4/common_objects.h

@@ -137,7 +137,7 @@ struct dac_s {
 
 #if DEVICE_CAN
 struct can_s {
-    CANName can;
+    CAN_HandleTypeDef CanHandle;
     int index;
 };
 #endif

targets/TARGET_STM/can_api.c

@@ -25,7 +25,6 @@
 #include <math.h>
 #include <string.h>
 
-static CAN_HandleTypeDef CanHandle;
 static uint32_t can_irq_ids[CAN_NUM] = {0};
 static can_irq_handler irq_handler;
 
@@ -38,16 +37,16 @@ void can_init_freq (can_t *obj, PinName rd, PinName td, int hz)
 {
     CANName can_rd = (CANName)pinmap_peripheral(rd, PinMap_CAN_RD);
     CANName can_td = (CANName)pinmap_peripheral(td, PinMap_CAN_TD);
+    CANName can = (CANName)pinmap_merge(can_rd, can_td);
 
-    obj->can = (CANName)pinmap_merge(can_rd, can_td);
-    MBED_ASSERT((int)obj->can != NC);
+    MBED_ASSERT((int)can != NC);
 
-    if (obj->can == CAN_1) {
+    if (can == CAN_1) {
         __HAL_RCC_CAN1_CLK_ENABLE();
         obj->index = 0;
     }
 #if defined(CAN2_BASE) && (CAN_NUM == 2)
-    else if (obj->can == CAN_2) {
+    else if (can == CAN_2) {
         __HAL_RCC_CAN1_CLK_ENABLE(); // needed to set filters
         __HAL_RCC_CAN2_CLK_ENABLE();
         obj->index = 1;
@@ -67,21 +66,21 @@ void can_init_freq (can_t *obj, PinName rd, PinName td, int hz)
         pin_mode(td, PullUp);
     }
 
-    CanHandle.Instance = (CAN_TypeDef *)(obj->can);
+    obj->CanHandle.Instance = (CAN_TypeDef *)can;
 
-    CanHandle.Init.TTCM = DISABLE;
-    CanHandle.Init.ABOM = DISABLE;
-    CanHandle.Init.AWUM = DISABLE;
-    CanHandle.Init.NART = DISABLE;
-    CanHandle.Init.RFLM = DISABLE;
-    CanHandle.Init.TXFP = DISABLE;
-    CanHandle.Init.Mode = CAN_MODE_NORMAL;
-    CanHandle.Init.SJW = CAN_SJW_1TQ;
-    CanHandle.Init.BS1 = CAN_BS1_6TQ;
-    CanHandle.Init.BS2 = CAN_BS2_8TQ;
-    CanHandle.Init.Prescaler = 2;
+    obj->CanHandle.Init.TTCM = DISABLE;
+    obj->CanHandle.Init.ABOM = DISABLE;
+    obj->CanHandle.Init.AWUM = DISABLE;
+    obj->CanHandle.Init.NART = DISABLE;
+    obj->CanHandle.Init.RFLM = DISABLE;
+    obj->CanHandle.Init.TXFP = DISABLE;
+    obj->CanHandle.Init.Mode = CAN_MODE_NORMAL;
+    obj->CanHandle.Init.SJW = CAN_SJW_1TQ;
+    obj->CanHandle.Init.BS1 = CAN_BS1_6TQ;
+    obj->CanHandle.Init.BS2 = CAN_BS2_8TQ;
+    obj->CanHandle.Init.Prescaler = 2;
 
-    if (HAL_CAN_Init(&CanHandle) != HAL_OK) {
+    if (HAL_CAN_Init(&obj->CanHandle) != HAL_OK) {
         error("Cannot initialize CAN");
     }
 
@@ -90,7 +89,7 @@ void can_init_freq (can_t *obj, PinName rd, PinName td, int hz)
         error("Can frequency could not be set\n");
     }
 
-    uint32_t filter_number = (obj->can == CAN_1) ? 0 : 14;
+    uint32_t filter_number = (can == CAN_1) ? 0 : 14;
     can_filter(obj, 0, 0, CANStandard, filter_number);
 }
 
@@ -102,7 +101,7 @@ void can_irq_init(can_t *obj, can_irq_handler handler, uint32_t id)
 
 void can_irq_free(can_t *obj)
 {
-    CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
+    CAN_TypeDef *can = obj->CanHandle.Instance;
 
     can->IER &= ~(CAN_IT_FMP0 | CAN_IT_FMP1 | CAN_IT_TME | \
                   CAN_IT_ERR | CAN_IT_EPV | CAN_IT_BOF);
@@ -111,14 +110,15 @@ void can_irq_free(can_t *obj)
 
 void can_free(can_t *obj)
 {
+    CANName can = (CANName) obj->CanHandle.Instance;
     // Reset CAN and disable clock
-    if (obj->can == CAN_1) {
+    if (can == CAN_1) {
         __HAL_RCC_CAN1_FORCE_RESET();
         __HAL_RCC_CAN1_RELEASE_RESET();
         __HAL_RCC_CAN1_CLK_DISABLE();
     }
 #if defined(CAN2_BASE) && (CAN_NUM == 2)
-    if (obj->can == CAN_2) {
+    if (can == CAN_2) {
         __HAL_RCC_CAN2_FORCE_RESET();
         __HAL_RCC_CAN2_RELEASE_RESET();
         __HAL_RCC_CAN2_CLK_DISABLE();
@@ -196,7 +196,7 @@ int can_frequency(can_t *obj, int f)
 {
     int pclk = HAL_RCC_GetPCLK1Freq();
     int btr = can_speed(pclk, (unsigned int)f, 1);
-    CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
+    CAN_TypeDef *can = obj->CanHandle.Instance;
     uint32_t tickstart = 0;
     int status = 1;
 
@@ -236,7 +236,7 @@ int can_frequency(can_t *obj, int f)
 int can_write(can_t *obj, CAN_Message msg, int cc)
 {
     uint32_t  transmitmailbox = CAN_TXSTATUS_NOMAILBOX;
-    CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
+    CAN_TypeDef *can = obj->CanHandle.Instance;
 
     /* Select one empty transmit mailbox */
     if ((can->TSR & CAN_TSR_TME0) == CAN_TSR_TME0) {
@@ -279,7 +279,7 @@ int can_read(can_t *obj, CAN_Message *msg, int handle)
 {
     //handle is the FIFO number
 
-    CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
+    CAN_TypeDef *can = obj->CanHandle.Instance;
 
     // check FPM0 which holds the pending message count in FIFO 0
     // if no message is pending, return 0
@@ -324,26 +324,26 @@ int can_read(can_t *obj, CAN_Message *msg, int handle)
 
 void can_reset(can_t *obj)
 {
-    CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
+    CAN_TypeDef *can = obj->CanHandle.Instance;
     can->MCR |= CAN_MCR_RESET;
     can->ESR = 0x0;
 }
 
 unsigned char can_rderror(can_t *obj)
 {
-    CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
+    CAN_TypeDef *can = obj->CanHandle.Instance;
     return (can->ESR >> 24) & 0xFF;
 }
 
 unsigned char can_tderror(can_t *obj)
 {
-    CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
+    CAN_TypeDef *can = obj->CanHandle.Instance;
     return (can->ESR >> 16) & 0xFF;
 }
 
 void can_monitor(can_t *obj, int silent)
 {
-    CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
+    CAN_TypeDef *can = obj->CanHandle.Instance;
 
     can->MCR |= CAN_MCR_INRQ ;
     while ((can->MSR & CAN_MSR_INAK) != CAN_MSR_INAK) {
@@ -363,7 +363,7 @@ void can_monitor(can_t *obj, int silent)
 int can_mode(can_t *obj, CanMode mode)
 {
     int success = 0;
-    CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
+    CAN_TypeDef *can = obj->CanHandle.Instance;
 
     can->MCR |= CAN_MCR_INRQ ;
     while ((can->MSR & CAN_MSR_INAK) != CAN_MSR_INAK) {
@@ -407,7 +407,6 @@ int can_filter(can_t *obj, uint32_t id, uint32_t mask, CANFormat format, int32_t
 
     // filter for CANAny format cannot be configured for STM32
     if ((format == CANStandard) || (format == CANExtended)) {
-        CanHandle.Instance = (CAN_TypeDef *)(obj->can);
         CAN_FilterConfTypeDef  sFilterConfig;
         sFilterConfig.FilterNumber = handle;
         sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
@@ -429,7 +428,7 @@ int can_filter(can_t *obj, uint32_t id, uint32_t mask, CANFormat format, int32_t
         sFilterConfig.FilterActivation = ENABLE;
         sFilterConfig.BankNumber = 14 + handle;
 
-        HAL_CAN_ConfigFilter(&CanHandle, &sFilterConfig);
+        HAL_CAN_ConfigFilter(&obj->CanHandle, &sFilterConfig);
         retval = handle;
     }
     return retval;
@@ -438,6 +437,7 @@ int can_filter(can_t *obj, uint32_t id, uint32_t mask, CANFormat format, int32_t
 static void can_irq(CANName name, int id)
 {
     uint32_t tmp1 = 0, tmp2 = 0, tmp3 = 0;
+    CAN_HandleTypeDef CanHandle;
     CanHandle.Instance = (CAN_TypeDef *)name;
 
     if (__HAL_CAN_GET_IT_SOURCE(&CanHandle, CAN_IT_TME)) {
@@ -535,13 +535,12 @@ void CAN2_SCE_IRQHandler(void)
 
 void can_irq_set(can_t *obj, CanIrqType type, uint32_t enable)
 {
-
-    CAN_TypeDef *can = (CAN_TypeDef *)(obj->can);
+    CAN_TypeDef *can = obj->CanHandle.Instance;
     IRQn_Type irq_n = (IRQn_Type)0;
     uint32_t vector = 0;
     uint32_t ier;
 
-    if (obj->can == CAN_1) {
+    if ((CANName) can == CAN_1) {
         switch (type) {
             case IRQ_RX:
                 ier = CAN_IT_FMP0;
@@ -573,7 +572,7 @@ void can_irq_set(can_t *obj, CanIrqType type, uint32_t enable)
         }
     }
 #if defined(CAN2_BASE) && (CAN_NUM == 2)
-    else if (obj->can == CAN_2) {
+    else if ((CANName) can == CAN_2) {
         switch (type) {
             case IRQ_RX:
                 ier = CAN_IT_FMP0;