aboutsummaryrefslogtreecommitdiffstats
path: root/lib
diff options
context:
space:
mode:
Diffstat (limited to 'lib')
-rw-r--r--lib/can2040/can2040.c65
1 files changed, 39 insertions, 26 deletions
diff --git a/lib/can2040/can2040.c b/lib/can2040/can2040.c
index 9eef0d43..926893d9 100644
--- a/lib/can2040/can2040.c
+++ b/lib/can2040/can2040.c
@@ -76,21 +76,21 @@ rp2040_gpio_peripheral(uint32_t gpio, int func, int pull_up)
#define can2040_offset_shared_rx_read 13u
#define can2040_offset_shared_rx_end 15u
#define can2040_offset_match_load_next 18u
+#define can2040_offset_tx_conflict 24u
#define can2040_offset_match_end 25u
#define can2040_offset_tx_got_recessive 25u
-#define can2040_offset_tx_start 26u
-#define can2040_offset_tx_conflict 31u
+#define can2040_offset_tx_write_pin 27u
static const uint16_t can2040_program_instructions[] = {
0x0085, // 0: jmp y--, 5
0x0048, // 1: jmp x--, 8
- 0xe12a, // 2: set x, 10 [1]
+ 0xe029, // 2: set x, 9
0x00cc, // 3: jmp pin, 12
0xc000, // 4: irq nowait 0
0x00c0, // 5: jmp pin, 0
0xc040, // 6: irq clear 0
- 0xe229, // 7: set x, 9 [2]
- 0xf242, // 8: set y, 2 [18]
+ 0xe429, // 7: set x, 9 [4]
+ 0xf043, // 8: set y, 3 [16]
0xc104, // 9: irq nowait 4 [1]
0x03c5, // 10: jmp pin, 5 [3]
0x0307, // 11: jmp 7 [3]
@@ -98,7 +98,7 @@ static const uint16_t can2040_program_instructions[] = {
0x20c4, // 13: wait 1 irq, 4
0x4001, // 14: in pins, 1
0xa046, // 15: mov y, isr
- 0x00b2, // 16: jmp x != y, 18
+ 0x01b2, // 16: jmp x != y, 18 [1]
0xc002, // 17: irq nowait 2
0x40eb, // 18: in osr, 11
0x4054, // 19: in y, 20
@@ -107,13 +107,13 @@ static const uint16_t can2040_program_instructions[] = {
0xa027, // 22: mov x, osr
0x0098, // 23: jmp y--, 24
0xa0e2, // 24: mov osr, y
- 0xa242, // 25: nop [2]
- 0x6021, // 26: out x, 1
- 0xa001, // 27: mov pins, x
- 0x20c4, // 28: wait 1 irq, 4
- 0x00d9, // 29: jmp pin, 25
- 0x023a, // 30: jmp !x, 26 [2]
- 0x001f, // 31: jmp 31
+ 0x6021, // 25: out x, 1
+ 0x00df, // 26: jmp pin, 31
+ 0xb801, // 27: mov pins, x [24]
+ 0x02d9, // 28: jmp pin, 25 [2]
+ 0x0058, // 29: jmp x--, 24
+ 0x6021, // 30: out x, 1
+ 0x011b, // 31: jmp 27 [1]
};
// Local names for PIO state machine IRQs
@@ -138,7 +138,7 @@ pio_sync_setup(struct can2040 *cd)
| cd->gpio_rx << PIO_SM0_PINCTRL_SET_BASE_LSB);
sm->instr = 0xe080; // set pindirs, 0
sm->pinctrl = 0;
- pio_hw->txf[0] = PIO_CLOCK_PER_BIT / 2 * 7 - 5 - 1;
+ pio_hw->txf[0] = 9 + 6 * PIO_CLOCK_PER_BIT / 2;
sm->instr = 0x80a0; // pull block
sm->instr = can2040_offset_sync_entry; // jmp sync_entry
}
@@ -183,7 +183,10 @@ pio_tx_setup(struct can2040 *cd)
{
pio_hw_t *pio_hw = cd->pio_hw;
struct pio_sm_hw *sm = &pio_hw->sm[3];
- sm->execctrl = cd->gpio_rx << PIO_SM0_EXECCTRL_JMP_PIN_LSB;
+ sm->execctrl = (
+ cd->gpio_rx << PIO_SM0_EXECCTRL_JMP_PIN_LSB
+ | can2040_offset_tx_conflict << PIO_SM0_EXECCTRL_WRAP_TOP_LSB
+ | can2040_offset_tx_conflict << PIO_SM0_EXECCTRL_WRAP_BOTTOM_LSB);
sm->shiftctrl = (PIO_SM0_SHIFTCTRL_FJOIN_TX_BITS
| PIO_SM0_SHIFTCTRL_AUTOPULL_BITS);
sm->pinctrl = (1 << PIO_SM0_PINCTRL_SET_COUNT_LSB
@@ -247,6 +250,7 @@ static void
pio_tx_reset(struct can2040 *cd)
{
pio_hw_t *pio_hw = cd->pio_hw;
+ pio_hw->ctrl = 0x07 << PIO_CTRL_SM_ENABLE_LSB;
pio_hw->ctrl = ((0x07 << PIO_CTRL_SM_ENABLE_LSB)
| (0x08 << PIO_CTRL_SM_RESTART_LSB));
pio_hw->irq = (SI_MATCHED | SI_ACKDONE) >> 8; // clear PIO irq flags
@@ -255,9 +259,6 @@ pio_tx_reset(struct can2040 *cd)
sm->shiftctrl = 0;
sm->shiftctrl = (PIO_SM0_SHIFTCTRL_FJOIN_TX_BITS
| PIO_SM0_SHIFTCTRL_AUTOPULL_BITS);
- // Must reset again after clearing fifo
- pio_hw->ctrl = ((0x07 << PIO_CTRL_SM_ENABLE_LSB)
- | (0x08 << PIO_CTRL_SM_RESTART_LSB));
}
// Queue a message for transmission on PIO "tx" state machine
@@ -266,13 +267,14 @@ pio_tx_send(struct can2040 *cd, uint32_t *data, uint32_t count)
{
pio_hw_t *pio_hw = cd->pio_hw;
pio_tx_reset(cd);
- pio_hw->instr_mem[can2040_offset_tx_got_recessive] = 0xa242; // nop [2]
+ pio_hw->instr_mem[can2040_offset_tx_got_recessive] = 0x6021; // out x, 1
uint32_t i;
for (i=0; i<count; i++)
pio_hw->txf[3] = data[i];
struct pio_sm_hw *sm = &pio_hw->sm[3];
sm->instr = 0xe001; // set pins, 1
- sm->instr = can2040_offset_tx_start; // jmp tx_start
+ sm->instr = 0x6021; // out x, 1
+ sm->instr = can2040_offset_tx_write_pin; // jmp tx_write_pin
sm->instr = 0x20c0; // wait 1 irq, 0
pio_hw->ctrl = 0x0f << PIO_CTRL_SM_ENABLE_LSB;
}
@@ -287,7 +289,8 @@ pio_tx_inject_ack(struct can2040 *cd, uint32_t match_key)
pio_hw->txf[3] = 0x7fffffff;
struct pio_sm_hw *sm = &pio_hw->sm[3];
sm->instr = 0xe001; // set pins, 1
- sm->instr = can2040_offset_tx_start; // jmp tx_start
+ sm->instr = 0x6021; // out x, 1
+ sm->instr = can2040_offset_tx_write_pin; // jmp tx_write_pin
sm->instr = 0x20c2; // wait 1 irq, 2
pio_hw->ctrl = 0x0f << PIO_CTRL_SM_ENABLE_LSB;
@@ -680,8 +683,11 @@ tx_check_local_message(struct can2040 *cd)
return 0;
struct can2040_transmit *qt = &cd->tx_queue[tx_qpos(cd, cd->tx_pull_pos)];
struct can2040_msg *pm = &cd->parse_msg, *tm = &qt->msg;
- if (qt->crc == cd->parse_crc && tm->id == pm->id && tm->dlc == pm->dlc
- && tm->data32[0] == pm->data32[0] && tm->data32[1] == pm->data32[1]) {
+ if (tm->id == pm->id) {
+ if (qt->crc != cd->parse_crc || tm->dlc != pm->dlc
+ || tm->data32[0] != pm->data32[0] || tm->data32[1] != pm->data32[1])
+ // Message with same id that differs in content - an error
+ return -1;
// This is a self transmit
cd->tx_state = TS_CONFIRM_TX;
return 1;
@@ -757,22 +763,25 @@ report_note_message_start(struct can2040 *cd)
}
// Setup for ack injection (if receiving) or ack confirmation (if transmit)
-static void
+static int
report_note_crc_start(struct can2040 *cd)
{
int ret = tx_check_local_message(cd);
if (ret) {
+ if (ret < 0)
+ return -1;
// This is a self transmit - setup tx eof "matched" signal
cd->report_state = RS_NEED_TX_ACK;
uint32_t bits = (cd->parse_crc_bits << 9) | 0x0ff;
pio_match_check(cd, pio_match_calc_key(bits, cd->parse_crc_pos + 9));
- return;
+ return 0;
}
// Setup for ack inject (after rx fifos fully drained)
cd->report_state = RS_NEED_RX_ACK;
pio_signal_set_txpending(cd);
pio_irq_set(cd, SI_MAYTX | SI_TXPENDING);
+ return 0;
}
// Parser successfully found matching crc
@@ -961,7 +970,11 @@ data_state_go_crc(struct can2040 *cd)
cd->parse_crc_bits = (crc_bits << 1) | 0x01; // Add crc delimiter
cd->parse_crc_pos = crcstart_bitpos + crc_bitcount + 1;
- report_note_crc_start(cd);
+ int ret = report_note_crc_start(cd);
+ if (ret) {
+ data_state_go_discard(cd);
+ return;
+ }
data_state_go_next(cd, MS_CRC, 16);
}
generated by cgit v1.2.3-70-g09d2 (git 2.50.1) at 2025-09-02 14:23:27 +0000