diff options
| -rw-r--r-- | src/generic/canbus.h | 11 | ||||
| -rw-r--r-- | src/stm32/can.c | 48 |
2 files changed, 57 insertions, 2 deletions
diff --git a/src/generic/canbus.h b/src/generic/canbus.h index f21a7cc4..a0a2c2ab 100644 --- a/src/generic/canbus.h +++ b/src/generic/canbus.h @@ -17,9 +17,20 @@ struct canbus_msg { #define CANMSG_DATA_LEN(msg) ((msg)->dlc > 8 ? 8 : (msg)->dlc) +struct canbus_status { + uint32_t rx_error, tx_error, tx_retries; + uint32_t bus_state; +}; + +enum { + CANBUS_STATE_ACTIVE, CANBUS_STATE_WARN, CANBUS_STATE_PASSIVE, + CANBUS_STATE_OFF, +}; + // callbacks provided by board specific code int canhw_send(struct canbus_msg *msg); void canhw_set_filter(uint32_t id); +void canhw_get_status(struct canbus_status *status); // canbus.c int canbus_send(struct canbus_msg *msg); diff --git a/src/stm32/can.c b/src/stm32/can.c index dc915328..6d35e677 100644 --- a/src/stm32/can.c +++ b/src/stm32/can.c @@ -2,7 +2,7 @@ // // Copyright (C) 2019 Eug Krashtan <eug.krashtan@gmail.com> // Copyright (C) 2020 Pontus Borg <glpontus@gmail.com> -// Copyright (C) 2021 Kevin O'Connor <kevin@koconnor.net> +// Copyright (C) 2021-2025 Kevin O'Connor <kevin@koconnor.net> // // This file may be distributed under the terms of the GNU GPLv3 license. @@ -168,6 +168,31 @@ canhw_set_filter(uint32_t id) fcan->FMR = fmr & ~CAN_FMR_FINIT; } +static struct { + uint32_t rx_error, tx_error; +} CAN_Errors; + +// Report interface status +void +canhw_get_status(struct canbus_status *status) +{ + irqstatus_t flag = irq_save(); + uint32_t esr = SOC_CAN->ESR; + uint32_t rx_error = CAN_Errors.rx_error, tx_error = CAN_Errors.tx_error; + irq_restore(flag); + + status->rx_error = rx_error; + status->tx_error = tx_error; + if (esr & CAN_ESR_BOFF) + status->bus_state = CANBUS_STATE_OFF; + else if (esr & CAN_ESR_EPVF) + status->bus_state = CANBUS_STATE_PASSIVE; + else if (esr & CAN_ESR_EWGF) + status->bus_state = CANBUS_STATE_WARN; + else + status->bus_state = 0; +} + // This function handles CAN global interrupts void CAN_IRQHandler(void) @@ -190,6 +215,8 @@ CAN_IRQHandler(void) // Process packet canbus_process_data(&msg); } + + // Check for transmit ready uint32_t ier = SOC_CAN->IER; if (ier & CAN_IER_TMEIE && SOC_CAN->TSR & (CAN_TSR_RQCP0|CAN_TSR_RQCP1|CAN_TSR_RQCP2)) { @@ -197,6 +224,21 @@ CAN_IRQHandler(void) SOC_CAN->IER = ier & ~CAN_IER_TMEIE; canbus_notify_tx(); } + + // Check for error irq + uint32_t msr = SOC_CAN->MSR; + if (msr & CAN_MSR_ERRI) { + uint32_t esr = SOC_CAN->ESR; + uint32_t lec = (esr & CAN_ESR_LEC_Msk) >> CAN_ESR_LEC_Pos; + if (lec && lec != 7) { + SOC_CAN->ESR = 7 << CAN_ESR_LEC_Pos; + if (lec >= 3 && lec <= 5) + CAN_Errors.tx_error += 1; + else + CAN_Errors.rx_error += 1; + } + SOC_CAN->MSR = CAN_MSR_ERRI; + } } static inline const uint32_t @@ -289,6 +331,8 @@ can_init(void) armcm_enable_irq(CAN_IRQHandler, CAN_RX1_IRQn, 0); if (CAN_RX0_IRQn != CAN_TX_IRQn) armcm_enable_irq(CAN_IRQHandler, CAN_TX_IRQn, 0); - SOC_CAN->IER = CAN_IER_FMPIE0; + if (CAN_RX0_IRQn != CAN_SCE_IRQn) + armcm_enable_irq(CAN_IRQHandler, CAN_SCE_IRQn, 0); + SOC_CAN->IER = CAN_IER_FMPIE0 | CAN_IER_ERRIE; } DECL_INIT(can_init); |