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-rw-r--r--src/stm32/can.c245
1 files changed, 70 insertions, 175 deletions
diff --git a/src/stm32/can.c b/src/stm32/can.c
index 20162f14..987a8190 100644
--- a/src/stm32/can.c
+++ b/src/stm32/can.c
@@ -9,10 +9,10 @@
#include <string.h> // memcpy
#include "autoconf.h" // CONFIG_MACH_STM32F1
#include "board/irq.h" // irq_disable
-#include "can.h" // SHORT_UUID_LEN
#include "command.h" // DECL_CONSTANT_STR
#include "fasthash.h" // fasthash64
#include "generic/armcm_boot.h" // armcm_enable_irq
+#include "generic/canbus.h" // canbus_notify_tx
#include "generic/serial_irq.h" // serial_rx_byte
#include "internal.h" // enable_pclock
#include "sched.h" // DECL_INIT
@@ -87,64 +87,76 @@
#error No known CAN device for configured MCU
#endif
-static uint16_t MyCanId = 0;
-
-static int
-can_find_empty_tx_mbox(void)
+// Read the next CAN packet
+int
+canbus_read(uint32_t *id, uint8_t *data)
{
- uint32_t tsr = SOC_CAN->TSR;
- if (tsr & (CAN_TSR_TME0|CAN_TSR_TME1|CAN_TSR_TME2))
- return (tsr & CAN_TSR_CODE) >> CAN_TSR_CODE_Pos;
- return -1;
+ if (!(SOC_CAN->RF0R & CAN_RF0R_FMP0)) {
+ // All rx mboxes empty, enable wake on rx IRQ
+ irq_disable();
+ SOC_CAN->IER |= CAN_IER_FMPIE0;
+ irq_enable();
+ return -1;
+ }
+
+ // Read and ack packet
+ CAN_FIFOMailBox_TypeDef *mb = &SOC_CAN->sFIFOMailBox[0];
+ uint32_t rir_id = (mb->RIR >> CAN_RI0R_STID_Pos) & 0x7FF;
+ uint32_t dlc = mb->RDTR & CAN_RDT0R_DLC;
+ uint32_t rdlr = mb->RDLR, rdhr = mb->RDHR;
+ SOC_CAN->RF0R = CAN_RF0R_RFOM0;
+
+ // Return packet
+ *id = rir_id;
+ data[0] = (rdlr >> 0) & 0xff;
+ data[1] = (rdlr >> 8) & 0xff;
+ data[2] = (rdlr >> 16) & 0xff;
+ data[3] = (rdlr >> 24) & 0xff;
+ data[4] = (rdhr >> 0) & 0xff;
+ data[5] = (rdhr >> 8) & 0xff;
+ data[6] = (rdhr >> 16) & 0xff;
+ data[7] = (rdhr >> 24) & 0xff;
+ return dlc;
}
-static void
-can_transmit_mbox(uint32_t id, int mbox, uint32_t dlc, uint8_t *pkt)
+// Transmit a packet
+int
+canbus_send(uint32_t id, uint32_t len, uint8_t *data)
{
+ uint32_t tsr = SOC_CAN->TSR;
+ if (!(tsr & (CAN_TSR_TME0|CAN_TSR_TME1|CAN_TSR_TME2))) {
+ // No space in transmit fifo - enable tx irq
+ irq_disable();
+ SOC_CAN->IER |= CAN_IER_TMEIE;
+ irq_enable();
+ return -1;
+ }
+ int mbox = (tsr & CAN_TSR_CODE) >> CAN_TSR_CODE_Pos;
CAN_TxMailBox_TypeDef *mb = &SOC_CAN->sTxMailBox[mbox];
/* Set up the DLC */
- mb->TDTR = (mb->TDTR & 0xFFFFFFF0) | (dlc & 0x0F);
+ mb->TDTR = (mb->TDTR & 0xFFFFFFF0) | (len & 0x0F);
/* Set up the data field */
- if (pkt) {
- mb->TDLR = (((uint32_t)pkt[3] << 24)
- | ((uint32_t)pkt[2] << 16)
- | ((uint32_t)pkt[1] << 8)
- | ((uint32_t)pkt[0] << 0));
- mb->TDHR = (((uint32_t)pkt[7] << 24)
- | ((uint32_t)pkt[6] << 16)
- | ((uint32_t)pkt[5] << 8)
- | ((uint32_t)pkt[4] << 0));
+ if (len) {
+ mb->TDLR = (((uint32_t)data[3] << 24)
+ | ((uint32_t)data[2] << 16)
+ | ((uint32_t)data[1] << 8)
+ | ((uint32_t)data[0] << 0));
+ mb->TDHR = (((uint32_t)data[7] << 24)
+ | ((uint32_t)data[6] << 16)
+ | ((uint32_t)data[5] << 8)
+ | ((uint32_t)data[4] << 0));
}
/* Request transmission */
mb->TIR = (id << CAN_TI0R_STID_Pos) | CAN_TI0R_TXRQ;
-}
-
-// Blocking transmit function
-static void
-can_transmit(uint32_t id, uint32_t dlc, uint8_t *pkt)
-{
- int mbox = -1;
-
- do {
- mbox = can_find_empty_tx_mbox();
- } while (mbox < 0);
-
- can_transmit_mbox(id, mbox, dlc, pkt);
-}
-
-// Convert Unique 96-bit value into 48 bit representation
-static void
-pack_uuid(uint8_t *u)
-{
- uint64_t hash = fasthash64((uint8_t*)UID_BASE, 12, 0xA16231A7);
- memcpy(u, &hash, SHORT_UUID_LEN);
+ return len;
}
#define CAN_FILTER_NUMBER 0
+// Setup the receive packet filter
static void
can_set_filter(uint32_t id1, uint32_t id2)
{
@@ -172,145 +184,33 @@ can_set_filter(uint32_t id1, uint32_t id2)
SOC_CAN->FMR &= ~CAN_FMR_FINIT;
}
-static void
-can_process_data(uint32_t id, uint32_t dlc, uint8_t *data)
-{
- int i;
- for (i=0; i < dlc; i++)
- serial_rx_byte(data[i]);
-}
-
-static void
-can_process_ping(uint32_t id, uint32_t dlc, uint8_t *data)
-{
- can_transmit(MyCanId+1, 0, NULL);
-}
-
-static void
-can_process_reset(uint32_t id, uint32_t dlc, uint8_t *data)
-{
- uint32_t reset_id = data[0] | (data[1] << 8);
- if (reset_id == MyCanId)
- NVIC_SystemReset();
-}
-
-static void
-can_process_uuid(uint32_t id, uint32_t dlc, uint8_t *data)
-{
- if (MyCanId)
- return;
- uint8_t short_uuid[SHORT_UUID_LEN];
- pack_uuid(short_uuid);
- can_transmit(PKT_ID_UUID_RESP, SHORT_UUID_LEN, short_uuid);
-}
-
-static void
-can_process_set_id(uint32_t id, uint32_t dlc, uint8_t *data)
-{
- uint8_t short_uuid[SHORT_UUID_LEN];
- pack_uuid(short_uuid);
-
- // compare my UUID with packet to check if this packet mine
- if (memcmp(&data[2], short_uuid, SHORT_UUID_LEN) == 0) {
- MyCanId = data[0] | (data[1] << 8);
- can_set_filter(MyCanId, PKT_ID_UUID);
- }
-}
-
-static void
-can_process(uint32_t id, uint32_t dlc, uint8_t *data)
+void
+canbus_set_dataport(uint32_t id)
{
- if (id == MyCanId) {
- if (dlc)
- can_process_data(id, dlc, data);
- else
- can_process_ping(id, dlc, data);
- } else if (id == PKT_ID_UUID) {
- if (dlc)
- can_process_reset(id, dlc, data);
- else
- can_process_uuid(id, dlc, data);
- } else if (id==PKT_ID_SET) {
- can_process_set_id(id, dlc, data);
- }
+ can_set_filter(CANBUS_ID_UUID, id);
}
-static struct task_wake canbus_wake;
-
void
-can_dispatch_task(void)
+canbus_reboot(void)
{
- if (!sched_check_wake(&canbus_wake))
- return;
-
- // Check for rx
- for (;;) {
- if (!(SOC_CAN->RF0R & CAN_RF0R_FMP0)) {
- // All rx mboxes empty, enable wake on rx IRQ
- irq_disable();
- SOC_CAN->IER |= CAN_IER_FMPIE0;
- irq_enable();
- break;
- }
-
- // Read and ack packet
- CAN_FIFOMailBox_TypeDef *mb = &SOC_CAN->sFIFOMailBox[0];
- uint32_t id = (mb->RIR >> CAN_RI0R_STID_Pos) & 0x7FF;
- uint32_t dlc = mb->RDTR & CAN_RDT0R_DLC;
- uint32_t rdlr = mb->RDLR, rdhr = mb->RDHR;
- SOC_CAN->RF0R = CAN_RF0R_RFOM0;
-
- // Process packet
- uint8_t data[8];
- data[0] = (rdlr >> 0) & 0xff;
- data[1] = (rdlr >> 8) & 0xff;
- data[2] = (rdlr >> 16) & 0xff;
- data[3] = (rdlr >> 24) & 0xff;
- data[4] = (rdhr >> 0) & 0xff;
- data[5] = (rdhr >> 8) & 0xff;
- data[6] = (rdhr >> 16) & 0xff;
- data[7] = (rdhr >> 24) & 0xff;
- can_process(id, dlc, data);
- }
-
- // Check for tx data
- for (;;) {
- int mbox = can_find_empty_tx_mbox();
- if (mbox < 0) {
- // All tx mboxes full, enable wake on tx IRQ
- irq_disable();
- SOC_CAN->IER |= CAN_IER_TMEIE;
- irq_enable();
- break;
- }
- int i;
- uint8_t databuf[8];
- for (i=0; i<8; i++) {
- if (serial_get_tx_byte(&(databuf[i])) == -1)
- break;
- }
- if (!i)
- break;
- can_transmit_mbox(MyCanId+1, mbox, i, databuf);
- }
+ NVIC_SystemReset();
}
-DECL_TASK(can_dispatch_task);
// This function handles CAN global interrupts
void
CAN_IRQHandler(void)
{
- if (SOC_CAN->RF0R & CAN_RF0R_FMP0) {
+ uint32_t ier = SOC_CAN->IER;
+ if (ier & CAN_IER_FMPIE0 && SOC_CAN->RF0R & CAN_RF0R_FMP0) {
// Rx
- SOC_CAN->IER &= ~CAN_IER_FMPIE0;
- sched_wake_task(&canbus_wake);
+ SOC_CAN->IER = ier = ier & ~CAN_IER_FMPIE0;
+ canbus_notify_rx();
}
- uint32_t ier = SOC_CAN->IER;
if (ier & CAN_IER_TMEIE
&& SOC_CAN->TSR & (CAN_TSR_RQCP0|CAN_TSR_RQCP1|CAN_TSR_RQCP2)) {
// Tx
- SOC_CAN->IER &= ~CAN_IER_TMEIE;
- sched_wake_task(&canbus_wake);
+ SOC_CAN->IER = ier & ~CAN_IER_TMEIE;
+ canbus_notify_tx();
}
}
@@ -372,7 +272,7 @@ can_init(void)
uint32_t pclock = get_pclock_frequency((uint32_t)SOC_CAN);
- uint32_t btr = compute_btr(pclock, CONFIG_SERIAL_BAUD);
+ uint32_t btr = compute_btr(pclock, CONFIG_CANBUS_FREQUENCY);
/*##-1- Configure the CAN #######################################*/
@@ -392,7 +292,7 @@ can_init(void)
;
/*##-2- Configure the CAN Filter #######################################*/
- can_set_filter(PKT_ID_UUID, PKT_ID_SET);
+ can_set_filter(CANBUS_ID_UUID, CANBUS_ID_SET);
/*##-3- Configure Interrupts #################################*/
@@ -404,13 +304,8 @@ can_init(void)
if (CAN_RX0_IRQn != CAN_TX_IRQn)
armcm_enable_irq(CAN_IRQHandler, CAN_TX_IRQn, 0);
- /*##-4- Say Hello #################################*/
- can_process_uuid(0, 0, NULL);
+ // Convert unique 96-bit chip id into 48 bit representation
+ uint64_t hash = fasthash64((uint8_t*)UID_BASE, 12, 0xA16231A7);
+ canbus_set_uuid(&hash);
}
DECL_INIT(can_init);
-
-void
-serial_enable_tx_irq(void)
-{
- sched_wake_task(&canbus_wake);
-}
generated by cgit v1.2.3-70-g09d2 (git 2.50.1) at 2025-09-02 12:08:05 +0000