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This commit is contained in:
Edward Emelianov
2023-02-16 20:08:27 +03:00
parent 617daf62c7
commit 2cc06884b4
16 changed files with 758 additions and 28 deletions
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63
F3:F303/Multistepper/can.c
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@@ -17,6 +17,8 @@
*/
#include "can.h"
#include "commonproto.h"
#include "flash.h"
#include "hardware.h"
#include "strfunc.h"
#include "usb.h"
@@ -302,6 +304,66 @@ uint32_t CAN_speed(){
return oldspeed;
}
static void formerr(CAN_message *msg, errcodes err){
if(msg->length < 4) msg->length = 4;
msg->data[3] = (uint8_t)err;
}
/**
* @brief parseCANcommand - parser
* @param msg - incoming message @ my CANID
* FORMAT:
* 0 1 2 3 4 5 6 7
* [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
*/
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");
for(int i = 0; i < msg->length; ++i){
USB_sendstr(uhex2str(msg->data[i])); USB_putbyte(' ');
}
newline();
#endif
if(msg->length == 0) goto sendmessage; // PING
uint16_t Index = *(uint16_t*)msg->data;
#ifdef EBUG
USB_sendstr("Index = "); USB_sendstr(u2str(Index)); newline();
#endif
if(Index >= CCMD_AMOUNT){
formerr(msg, ERR_BADCMD);
goto sendmessage;
}
msg->data[3] = ERR_OK;
uint8_t par = msg->data[2];
if(par & 0x80){
formerr(msg, ERR_BADPAR);
goto sendmessage;
}
int32_t *val = (int32_t *)(&msg->data[4]);
if(msg->length == 8) par |= 0x80;
else if(msg->length == 2) par = CANMESG_NOPAR; // no parameter
else if(msg->length != 3){ // wrong length
formerr(msg, ERR_WRONGLEN);
goto sendmessage;
}
#ifdef EBUG
USB_sendstr("Run command\n");
#endif
errcodes ec = cancmdlist[Index](par, val);
if(ec != ERR_OK){
formerr(msg, ec);
}else{
msg->length = 8;
}
sendmessage:
while(CAN_BUSY == CAN_send(msg->data, msg->length, the_conf.CANID))
if(--N == 0) break;
}
static void can_process_fifo(uint8_t fifo_num){
if(fifo_num > 1) return;
CAN_FIFOMailBox_TypeDef *box = &CAN->sFIFOMailBox[fifo_num];
@@ -348,6 +410,7 @@ static void can_process_fifo(uint8_t fifo_num){
dat[0] = lb & 0xff;
}
}
if(msg.ID == the_conf.CANID) parseCANcommand(&msg);
if(CAN_messagebuf_push(&msg)) return; // error: buffer is full, try later
*RFxR |= CAN_RF0R_RFOM0; // release fifo for access to next message
}