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some bugs fixed, but found new (e.g. ADC always give 4095)

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This commit is contained in:
Edward Emelianov
2023-02-21 23:01:43 +03:00
parent ab5f7bc87b
commit 1a8345d4f0
14 changed files with 161 additions and 70 deletions
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31
F3:F303/Multistepper/can.c
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@@ -22,6 +22,9 @@
#include "hardware.h"
#include "strfunc.h"
#include "usb.h"
#ifdef EBUG
#include "proto.h"
#endif
// PD1 - Tx, PD0 - Rx !!!
@@ -53,7 +56,11 @@ CAN_status CAN_get_status(){
static int CAN_messagebuf_push(CAN_message *msg){
//MSG("Try to push\n");
#ifdef EBUG
USB_sendstr("push\n");
USB_sendstr("push: ");
for(int i = 0; i < msg->length; ++i){
printuhex(msg->data[i]); USB_putbyte(' ');
}
newline();
#endif
if(first_free_idx == first_nonfree_idx){
#ifdef EBUG
@@ -80,6 +87,13 @@ CAN_message *CAN_messagebuf_pop(){
first_nonfree_idx = -1;
first_free_idx = 0;
}
#ifdef EBUG
USB_sendstr("pop: ");
for(int i = 0; i < msg->length; ++i){
printuhex(msg->data[i]); USB_putbyte(' ');
}
newline();
#endif
return msg;
}
@@ -304,8 +318,7 @@ uint32_t CAN_speed(){
return oldspeed;
}
static void formerr(CAN_message *msg, errcodes err){
if(msg->length < 4) msg->length = 4;
TRUE_INLINE void formerr(CAN_message *msg, errcodes err){
msg->data[3] = (uint8_t)err;
}
@@ -317,15 +330,16 @@ static void formerr(CAN_message *msg, errcodes err){
* [CMD][PAR][errcode][VALUE]
* CMD - uint16_t, PAR - uint8_t, errcode - one of CAN_errcodes, VALUE - int32_t
* `errcode` of incoming message doesn't matter
* all answers have 8 bytes length; incoming data may have variable length
*/
TRUE_INLINE void parseCANcommand(CAN_message *msg){
int N = 1000;
// we don't check msg here as it cannot be NULL
#ifdef EBUG
DBG("Get data");
DBG("Get data: ");
for(int i = 0; i < msg->length; ++i){
USB_sendstr(uhex2str(msg->data[i])); USB_putbyte(' ');
}
for(int i = msg->length-1; i < 8; ++i) msg->data[i] = 0;
newline();
#endif
if(msg->length == 0) goto sendmessage; // PING
@@ -356,10 +370,10 @@ TRUE_INLINE void parseCANcommand(CAN_message *msg){
errcodes ec = cancmdlist[Index](par, val);
if(ec != ERR_OK){
formerr(msg, ec);
}else{
msg->length = 8;
}
sendmessage:
msg->length = 8;
int N = 1000;
while(CAN_BUSY == CAN_send(msg->data, msg->length, the_conf.CANID))
if(--N == 0) break;
}
@@ -369,7 +383,8 @@ static void can_process_fifo(uint8_t fifo_num){
CAN_FIFOMailBox_TypeDef *box = &CAN->sFIFOMailBox[fifo_num];
volatile uint32_t *RFxR = (fifo_num) ? &CAN->RF1R : &CAN->RF0R;
#ifdef EBUG
USB_sendstr(u2str(*RFxR & CAN_RF0R_FMP0)); USB_sendstr(" messages in FIFO\n");
USB_sendstr(u2str(*RFxR & CAN_RF0R_FMP0)); USB_sendstr(" messages in FIFO #");
USB_sendstr(u2str(fifo_num)); newline();
#endif
// read all
while(*RFxR & CAN_RF0R_FMP0){ // amount of messages pending