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Fixed USB, problems with CAN

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This commit is contained in:
Edward Emelianov
2023-02-07 01:15:28 +03:00
parent daf17a651e
commit 2ecd2d188e
20 changed files with 111 additions and 80 deletions
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24
F3:F303/Multistepper/can.c
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@@ -116,7 +116,7 @@ void CAN_setup(uint16_t speed){
else if(speed < 50) speed = 50;
else if(speed > 3000) speed = 3000;
oldspeed = speed;
uint32_t tmout = 16000000;
uint32_t tmout = 10000;
/* Enable the peripheral clock CAN */
RCC->APB1ENR |= RCC_APB1ENR_CANEN;
/* Configure CAN */
@@ -135,14 +135,16 @@ void CAN_setup(uint16_t speed){
CAN->MCR |= CAN_MCR_INRQ; /* (1) */
while((CAN->MSR & CAN_MSR_INAK) != CAN_MSR_INAK) /* (2) */
if(--tmout == 0) break;
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 | (4500/speed - 1); //| CAN_BTR_SILM | CAN_BTR_LBKM; /* (4) */
CAN->MCR &= ~CAN_MCR_INRQ; /* (5) */
tmout = 16000000;
tmout = 10000;
while((CAN->MSR & CAN_MSR_INAK) == CAN_MSR_INAK) /* (6) */
if(--tmout == 0) break;
if(tmout==0){ DBG("timeout!\n");}
// accept ALL
CAN->FMR = CAN_FMR_FINIT; /* (7) */
CAN->FA1R = CAN_FA1R_FACT0 | CAN_FA1R_FACT1; /* (8) */
@@ -164,7 +166,7 @@ void CAN_setup(uint16_t speed){
can_status = CAN_READY;
}
void printCANerr(){
void CAN_printerr(){
if(!last_err_code) last_err_code = CAN->ESR;
if(!last_err_code){
USB_sendstr("No errors\n");
@@ -194,7 +196,7 @@ void printCANerr(){
USB_putbyte('\n');
}
void can_proc(){
void CAN_proc(){
#ifdef EBUG
if(last_err_code){
USB_sendstr("Error, ESR=");
@@ -213,7 +215,7 @@ 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");
printCANerr();
CAN_printerr();
// request abort for all mailboxes
CAN->TSR |= CAN_TSR_ABRQ0 | CAN_TSR_ABRQ1 | CAN_TSR_ABRQ2;
// reset CAN bus
@@ -225,14 +227,14 @@ void can_proc(){
static uint32_t incrmessagectr = 0;
if(flood_msg && (Tms - lastFloodTime) >= floodT){ // flood every ~5ms
lastFloodTime = Tms;
can_send(flood_msg->data, flood_msg->length, flood_msg->ID);
CAN_send(flood_msg->data, flood_msg->length, flood_msg->ID);
}else if(incrflood && (Tms - lastFloodTime) >= floodT){
lastFloodTime = Tms;
if(CAN_OK == can_send((uint8_t*)&incrmessagectr, 4, flood_msg->ID)) ++incrmessagectr;
if(CAN_OK == CAN_send((uint8_t*)&incrmessagectr, 4, flood_msg->ID)) ++incrmessagectr;
}
}
CAN_status can_send(uint8_t *msg, uint8_t len, uint16_t target_id){
CAN_status CAN_send(uint8_t *msg, uint8_t len, uint16_t target_id){
uint8_t mailbox = 0;
// check first free mailbox
if(CAN->TSR & (CAN_TSR_TME)){
@@ -286,7 +288,7 @@ CAN_status can_send(uint8_t *msg, uint8_t len, uint16_t target_id){
return CAN_OK;
}
void set_flood(CAN_message *msg, int incr){
void CAN_flood(CAN_message *msg, int incr){
if(incr){ incrflood = 1; return; }
incrflood = 0;
if(!msg) flood_msg = NULL;
@@ -296,6 +298,10 @@ void set_flood(CAN_message *msg, int incr){
}
}
uint32_t CAN_speed(){
return oldspeed;
}
static void can_process_fifo(uint8_t fifo_num){
if(fifo_num > 1) return;
CAN_FIFOMailBox_TypeDef *box = &CAN->sFIFOMailBox[fifo_num];