diff options
Diffstat (limited to 'src/generic/canbus.c')
| -rw-r--r-- | src/generic/canbus.c | 334 |
1 files changed, 12 insertions, 322 deletions
diff --git a/src/generic/canbus.c b/src/generic/canbus.c index 3cc051c8..a4f33aa1 100644 --- a/src/generic/canbus.c +++ b/src/generic/canbus.c @@ -1,342 +1,32 @@ -// Generic handling of serial over CAN support +// Wrapper functions connecting canserial.c to low-level can hardware // -// 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) 2022 Kevin O'Connor <kevin@koconnor.net> // // This file may be distributed under the terms of the GNU GPLv3 license. -#include <string.h> // memcpy -#include "board/armcm_reset.h" // try_request_canboot -#include "board/io.h" // readb -#include "board/irq.h" // irq_save -#include "board/misc.h" // console_sendf -#include "canbus.h" // canbus_set_uuid -#include "command.h" // DECL_CONSTANT -#include "fasthash.h" // fasthash64 -#include "sched.h" // sched_wake_task +#include "canbus.h" // canbus_send +#include "canserial.h" // canserial_send -#define CANBUS_UUID_LEN 6 - -// Global storage -static struct canbus_data { - uint32_t assigned_id; - uint8_t uuid[CANBUS_UUID_LEN]; - - // Tx data - struct task_wake tx_wake; - uint8_t transmit_pos, transmit_max; - - // Rx data - struct task_wake rx_wake; - uint8_t receive_pos; - uint32_t admin_pull_pos, admin_push_pos; - - // Transfer buffers - struct canbus_msg admin_queue[8]; - uint8_t transmit_buf[96]; - uint8_t receive_buf[192]; -} CanData; - - -/**************************************************************** - * Data transmission over CAN - ****************************************************************/ - -void -canbus_notify_tx(void) +int +canserial_send(struct canbus_msg *msg) { - sched_wake_task(&CanData.tx_wake); + return canbus_send(msg); } void -canbus_tx_task(void) +canserial_set_filter(uint32_t id) { - if (!sched_check_wake(&CanData.tx_wake)) - return; - uint32_t id = CanData.assigned_id; - if (!id) { - CanData.transmit_pos = CanData.transmit_max = 0; - return; - } - struct canbus_msg msg; - msg.id = id + 1; - uint32_t tpos = CanData.transmit_pos, tmax = CanData.transmit_max; - for (;;) { - int avail = tmax - tpos, now = avail > 8 ? 8 : avail; - if (avail <= 0) - break; - msg.dlc = now; - memcpy(msg.data, &CanData.transmit_buf[tpos], now); - int ret = canbus_send(&msg); - if (ret <= 0) - break; - tpos += now; - } - CanData.transmit_pos = tpos; + canbus_set_filter(id); } -DECL_TASK(canbus_tx_task); -// Encode and transmit a "response" message void -console_sendf(const struct command_encoder *ce, va_list args) -{ - // Verify space for message - uint32_t tpos = CanData.transmit_pos, tmax = CanData.transmit_max; - if (tpos >= tmax) - CanData.transmit_pos = CanData.transmit_max = tpos = tmax = 0; - uint32_t max_size = ce->max_size; - if (tmax + max_size > sizeof(CanData.transmit_buf)) { - if (tmax + max_size - tpos > sizeof(CanData.transmit_buf)) - // Not enough space for message - return; - // Move buffer - tmax -= tpos; - memmove(&CanData.transmit_buf[0], &CanData.transmit_buf[tpos], tmax); - CanData.transmit_pos = tpos = 0; - CanData.transmit_max = tmax; - } - - // Generate message - uint32_t msglen = command_encode_and_frame(&CanData.transmit_buf[tmax] - , ce, args); - - // Start message transmit - CanData.transmit_max = tmax + msglen; - canbus_notify_tx(); -} - - -/**************************************************************** - * CAN "admin" command handling - ****************************************************************/ - -// Available commands and responses -#define CANBUS_CMD_QUERY_UNASSIGNED 0x00 -#define CANBUS_CMD_SET_KLIPPER_NODEID 0x01 -#define CANBUS_CMD_REQUEST_BOOTLOADER 0x02 -#define CANBUS_RESP_NEED_NODEID 0x20 - -// Helper to verify a UUID in a command matches this chip's UUID -static int -can_check_uuid(struct canbus_msg *msg) -{ - return (msg->dlc >= 7 - && memcmp(&msg->data[1], CanData.uuid, sizeof(CanData.uuid)) == 0); -} - -// Helpers to encode/decode a CAN identifier to a 1-byte "nodeid" -static int -can_get_nodeid(void) -{ - if (!CanData.assigned_id) - return 0; - return (CanData.assigned_id - 0x100) >> 1; -} -static uint32_t -can_decode_nodeid(int nodeid) -{ - return (nodeid << 1) + 0x100; -} - -static void -can_process_query_unassigned(struct canbus_msg *msg) -{ - if (CanData.assigned_id) - return; - struct canbus_msg send; - send.id = CANBUS_ID_ADMIN_RESP; - send.dlc = 8; - send.data[0] = CANBUS_RESP_NEED_NODEID; - memcpy(&send.data[1], CanData.uuid, sizeof(CanData.uuid)); - send.data[7] = CANBUS_CMD_SET_KLIPPER_NODEID; - // Send with retry - for (;;) { - int ret = canbus_send(&send); - if (ret >= 0) - return; - } -} - -static void -can_id_conflict(void) -{ - CanData.assigned_id = 0; - canbus_set_filter(CanData.assigned_id); - shutdown("Another CAN node assigned this ID"); -} - -static void -can_process_set_klipper_nodeid(struct canbus_msg *msg) -{ - if (msg->dlc < 8) - return; - uint32_t newid = can_decode_nodeid(msg->data[7]); - if (can_check_uuid(msg)) { - if (newid != CanData.assigned_id) { - CanData.assigned_id = newid; - canbus_set_filter(CanData.assigned_id); - } - } else if (newid == CanData.assigned_id) { - can_id_conflict(); - } -} - -static void -can_process_request_bootloader(struct canbus_msg *msg) -{ - if (!can_check_uuid(msg)) - return; - try_request_canboot(); -} - -// Handle an "admin" command -static void -can_process_admin(struct canbus_msg *msg) -{ - if (!msg->dlc) - return; - switch (msg->data[0]) { - case CANBUS_CMD_QUERY_UNASSIGNED: - can_process_query_unassigned(msg); - break; - case CANBUS_CMD_SET_KLIPPER_NODEID: - can_process_set_klipper_nodeid(msg); - break; - case CANBUS_CMD_REQUEST_BOOTLOADER: - can_process_request_bootloader(msg); - break; - } -} - - -/**************************************************************** - * CAN packet reading - ****************************************************************/ - -static void -canbus_notify_rx(void) +canbus_notify_tx(void) { - sched_wake_task(&CanData.rx_wake); + canserial_notify_tx(); } -DECL_CONSTANT("RECEIVE_WINDOW", ARRAY_SIZE(CanData.receive_buf)); - -// Handle incoming data (called from IRQ handler) void canbus_process_data(struct canbus_msg *msg) { - uint32_t id = msg->id; - if (CanData.assigned_id && id == CanData.assigned_id) { - // Add to incoming data buffer - int rpos = CanData.receive_pos; - uint32_t len = CANMSG_DATA_LEN(msg); - if (len > sizeof(CanData.receive_buf) - rpos) - len = sizeof(CanData.receive_buf) - rpos; - memcpy(&CanData.receive_buf[rpos], msg->data, len); - CanData.receive_pos = rpos + len; - canbus_notify_rx(); - } else if (id == CANBUS_ID_ADMIN - || (CanData.assigned_id && id == CanData.assigned_id + 1)) { - // Add to admin command queue - uint32_t pushp = CanData.admin_push_pos; - if (pushp >= CanData.admin_pull_pos + ARRAY_SIZE(CanData.admin_queue)) - // No space - drop message - return; - uint32_t pos = pushp % ARRAY_SIZE(CanData.admin_queue); - memcpy(&CanData.admin_queue[pos], msg, sizeof(*msg)); - CanData.admin_push_pos = pushp + 1; - canbus_notify_rx(); - } -} - -// Remove from the receive buffer the given number of bytes -static void -console_pop_input(int len) -{ - int copied = 0; - for (;;) { - int rpos = readb(&CanData.receive_pos); - int needcopy = rpos - len; - if (needcopy) { - memmove(&CanData.receive_buf[copied] - , &CanData.receive_buf[copied + len], needcopy - copied); - copied = needcopy; - canbus_notify_rx(); - } - irqstatus_t flag = irq_save(); - if (rpos != readb(&CanData.receive_pos)) { - // Raced with irq handler - retry - irq_restore(flag); - continue; - } - CanData.receive_pos = needcopy; - irq_restore(flag); - break; - } -} - -// Task to process incoming commands and admin messages -void -canbus_rx_task(void) -{ - if (!sched_check_wake(&CanData.rx_wake)) - return; - - // Process pending admin messages - for (;;) { - uint32_t pushp = readl(&CanData.admin_push_pos); - uint32_t pullp = CanData.admin_pull_pos; - if (pushp == pullp) - break; - uint32_t pos = pullp % ARRAY_SIZE(CanData.admin_queue); - struct canbus_msg *msg = &CanData.admin_queue[pos]; - uint32_t id = msg->id; - if (CanData.assigned_id && id == CanData.assigned_id + 1) - can_id_conflict(); - else if (id == CANBUS_ID_ADMIN) - can_process_admin(msg); - CanData.admin_pull_pos = pullp + 1; - } - - // Check for a complete message block and process it - uint_fast8_t rpos = readb(&CanData.receive_pos), pop_count; - int ret = command_find_block(CanData.receive_buf, rpos, &pop_count); - if (ret > 0) - command_dispatch(CanData.receive_buf, pop_count); - if (ret) { - console_pop_input(pop_count); - if (ret > 0) - command_send_ack(); - } -} -DECL_TASK(canbus_rx_task); - - -/**************************************************************** - * Setup and shutdown - ****************************************************************/ - -void -command_get_canbus_id(uint32_t *args) -{ - sendf("canbus_id canbus_uuid=%.*s canbus_nodeid=%u" - , sizeof(CanData.uuid), CanData.uuid, can_get_nodeid()); -} -DECL_COMMAND_FLAGS(command_get_canbus_id, HF_IN_SHUTDOWN, "get_canbus_id"); - -void -canbus_set_uuid(uint8_t *raw_uuid, uint32_t raw_uuid_len) -{ - uint64_t hash = fasthash64(raw_uuid, raw_uuid_len, 0xA16231A7); - memcpy(CanData.uuid, &hash, sizeof(CanData.uuid)); - canbus_notify_rx(); -} - -void -canbus_shutdown(void) -{ - canbus_notify_tx(); - canbus_notify_rx(); + canserial_process_data(msg); } -DECL_SHUTDOWN(canbus_shutdown); |