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fix some bugs

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This commit is contained in:
Edward Emelianov
2024-01-08 00:18:44 +03:00
parent 98b61c7e9a
commit 24a270a932
16 changed files with 265 additions and 96 deletions
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89
F3:F303/CANbus4BTA/can.c
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@@ -24,10 +24,16 @@
#include "strfunc.h"
#include "usb.h"
#ifdef EBUG
#undef EBUG
#endif
// PD1 - Tx, PD0 - Rx !!!
#include <string.h> // memcpy
uint8_t cansniffer = 0; // 0 - receive only 0 and myID, 1 - receive all
// circular buffer for received messages
static CAN_message messages[CAN_INMESSAGE_SIZE];
static uint8_t first_free_idx = 0; // index of first empty cell
@@ -45,8 +51,9 @@ static CAN_message loc_flood_msg;
static CAN_message *flood_msg = NULL; // == loc_flood_msg - to flood
CAN_status CAN_get_status(){
int st = can_status;
can_status = CAN_OK;
CAN_status st = can_status;
//can_status = CAN_OK;
if(st == CAN_FIFO_OVERRUN) can_status = CAN_READY;
return st;
}
@@ -95,7 +102,7 @@ CAN_message *CAN_messagebuf_pop(){
return msg;
}
void CAN_reinit(uint16_t speed){
void CAN_reinit(uint32_t speed){
CAN->TSR |= CAN_TSR_ABRQ0 | CAN_TSR_ABRQ1 | CAN_TSR_ABRQ2;
RCC->APB1RSTR |= RCC_APB1RSTR_CANRST;
RCC->APB1RSTR &= ~RCC_APB1RSTR_CANRST;
@@ -127,8 +134,8 @@ so if TBS1=4 and TBS2=3, sum=8, bit sampling freq is 36/8 = 4.5MHz
// GPIO configured in hw_setup
void CAN_setup(uint32_t speed){
if(speed == 0) speed = oldspeed;
else if(speed < 50) speed = 50;
else if(speed > 3000) speed = 3000;
else if(speed < CAN_MIN_SPEED) speed = CAN_MIN_SPEED;
else if(speed > CAN_MAX_SPEED) speed = CAN_MAX_SPEED;
uint32_t tmout = 10000;
/* Enable the peripheral clock CAN */
RCC->APB1ENR |= RCC_APB1ENR_CANEN;
@@ -141,7 +148,7 @@ void CAN_setup(uint32_t speed){
/* (6) Wait the init mode leaving */
/* (7) Enter filter init mode, (16-bit + mask, bank 0 for FIFO 0) */
/* (8) Acivate filter 0 for two IDs */
/* (9) Identifier list mode */
/* (9) Identifier mode for bank#0, mask mode for #1 */
/* (10) Set the Id list */
/* (12) Leave filter init */
/* (13) Set error interrupts enable (& bus off) */
@@ -151,21 +158,28 @@ void CAN_setup(uint32_t speed){
if(tmout==0){ DBG("timeout!\n");}
CAN->MCR &=~ CAN_MCR_SLEEP; /* (3) */
CAN->MCR |= CAN_MCR_ABOM; /* allow automatically bus-off */
CAN->BTR = 2 << 20 | 3 << 16 | (4500000/speed - 1); //| CAN_BTR_SILM | CAN_BTR_LBKM; /* (4) */
oldspeed = 4500000/((CAN->BTR & CAN_BTR_BRP) + 1);
CAN->BTR = 2 << 20 | 3 << 16 | (((uint32_t)4500000UL)/speed - 1); //| CAN_BTR_SILM | CAN_BTR_LBKM; /* (4) */
oldspeed = ((uint32_t)4500000UL)/(uint32_t)((CAN->BTR & CAN_BTR_BRP) + 1);
CAN->MCR &= ~CAN_MCR_INRQ; /* (5) */
tmout = 10000;
while(CAN->MSR & CAN_MSR_INAK) /* (6) */
if(--tmout == 0) break;
if(tmout==0){ DBG("timeout!\n");}
// accept ALL
// accept only 0 & ID or ALL depending on `cansniffer` value
CAN->FMR = CAN_FMR_FINIT; /* (7) */
CAN->FA1R = CAN_FA1R_FACT0 | CAN_FA1R_FACT1; /* (8) */
// set to 1 all needed bits of CAN->FFA1R to switch given filters to FIFO1
CAN->sFilterRegister[0].FR1 = (1<<21)|(1<<5); // all odd IDs
CAN->FFA1R = 2; // filter 1 for FIFO1, filter 0 - for FIFO0
CAN->sFilterRegister[1].FR1 = (1<<21); // all even IDs
CAN->FA1R = CAN_FA1R_FACT0; /* (8) */
CAN->FM1R = CAN_FM1R_FBM0; /* (9) */
// CAN->FSCx = 0 -> dual 16-bit scale configuration
// filter 0 for FIFO0
CAN->sFilterRegister[0].FR1 = the_conf.CANID << 5; // (10) CANID and 0
if(cansniffer){ /* (11) */
CAN->FA1R |= CAN_FA1R_FACT1; // activate filter1
CAN->sFilterRegister[1].FR1 = 0; // all packets
// mask mode, all odd and even IDs
//CAN->sFilterRegister[1].FR1 = (1<<21)|(1<<5); // all odd IDs, mask mode
//CAN->sFilterRegister[1].FR2 = (1<<21)|(0<<5); // all even IDs, mask mode
CAN->FFA1R = 2; // filter 1 for FIFO1
}
CAN->FMR &= ~CAN_FMR_FINIT; /* (12) */
CAN->IER |= CAN_IER_ERRIE | CAN_IER_FOVIE0 | CAN_IER_FOVIE1 | CAN_IER_BOFIE; /* (13) */
@@ -180,6 +194,15 @@ void CAN_setup(uint32_t speed){
can_status = CAN_READY;
}
/**
* @brief CAN_sniffer - reconfigure CAN in sniffer or normal mode
* @param issniffer - ==0 for normal mode
*/
void CAN_sniffer(uint8_t issniffer){
cansniffer = issniffer;
CAN_reinit(0);
}
void CAN_printerr(){
if(!last_err_code) last_err_code = CAN->ESR;
if(!last_err_code){
@@ -228,14 +251,9 @@ void CAN_proc(){
}
IWDG->KR = IWDG_REFRESH;
if(CAN->ESR & (CAN_ESR_BOFF | CAN_ESR_EPVF | CAN_ESR_EWGF)){ // much errors - restart CAN BUS
USB_sendstr("\nToo much errors, restarting CAN!\n");
USB_sendstr("error=canbuserr\n");
CAN_printerr();
// request abort for all mailboxes
CAN->TSR |= CAN_TSR_ABRQ0 | CAN_TSR_ABRQ1 | CAN_TSR_ABRQ2;
// reset CAN bus
RCC->APB1RSTR |= RCC_APB1RSTR_CANRST;
RCC->APB1RSTR &= ~RCC_APB1RSTR_CANRST;
CAN_setup(0);
CAN_reinit(0);
}
static uint32_t lastFloodTime = 0;
static uint32_t incrmessagectr = 0;
@@ -255,11 +273,17 @@ CAN_status CAN_send(CAN_message *message){
uint8_t *msg = message->data;
uint8_t len = message->length;
uint16_t target_id = message->ID;
uint8_t mailbox = 0;
uint8_t mailbox = 0xff;
// check first free mailbox
if(CAN->TSR & (CAN_TSR_TME)){
mailbox = (CAN->TSR & CAN_TSR_CODE) >> 24;
}else{ // no free mailboxes
uint32_t Tstart = Tms;
while(Tms - Tstart < SEND_TIMEOUT_MS/10){
IWDG->KR = IWDG_REFRESH;
if(CAN->TSR & (CAN_TSR_TME)){
mailbox = (CAN->TSR & CAN_TSR_CODE) >> 24;
break;
}
}
if(mailbox == 0xff){// no free mailboxes
#ifdef EBUG
USB_sendstr("No free mailboxes\n");
#endif
@@ -336,9 +360,13 @@ TRUE_INLINE void parseCANcommand(CAN_message *msg){
msg->ID = the_conf.CANID; // set own ID for broadcast messages
// check PING
if(msg->length != 0) run_can_cmd(msg);
int N = 1000;
while(CAN_BUSY == CAN_send(msg))
if(--N == 0) break;
uint32_t Tstart = Tms;
while(Tms - Tstart < SEND_TIMEOUT_MS){
if(CAN_OK == CAN_send(msg)) return;
IWDG->KR = IWDG_REFRESH;
}
// TODO: buzzer error can't send
USB_sendstr("error=canbusy\n");
}
static void can_process_fifo(uint8_t fifo_num){
@@ -354,6 +382,7 @@ static void can_process_fifo(uint8_t fifo_num){
// CAN_RDTxR: (16-31) - timestamp, (8-15) - filter match index, (0-3) - data length
/* TODO: check filter match index if more than one ID can receive */
CAN_message msg;
bzero(&msg, sizeof(msg));
uint8_t *dat = msg.data;
uint8_t len = box->RDTR & 0x0f;
msg.length = len;
@@ -389,7 +418,7 @@ static void can_process_fifo(uint8_t fifo_num){
}
}
if(msg.ID == the_conf.CANID || msg.ID == 0) parseCANcommand(&msg);
if(CAN_messagebuf_push(&msg)) return; // error: buffer is full, try later
if(cansniffer && CAN_messagebuf_push(&msg)) return; // error: buffer is full, try later
*RFxR |= CAN_RF0R_RFOM0; // release fifo for access to next message
}
//if(*RFxR & CAN_RF0R_FULL0) *RFxR &= ~CAN_RF0R_FULL0;