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Add ID filtering for CAN-USB

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This commit is contained in:
eddyem 2020-04-12 18:44:42 +03:00
parent a4bb12966c
commit 360de69497
7 changed files with 258 additions and 11 deletions
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3
F0-nolib/Snippets/Readme.md
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@ -2,3 +2,6 @@ Some snippets
=============
* Flash_EEPROM - EEPROM emulation in flash
* Jump2Boot.c - software init of bootloader
* printuhex.c - print uint32_t in HEX
* readint.c - read integer number in any (bin/hex/dec) system

77
F0-nolib/Snippets/readint.c Normal file
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@ -0,0 +1,77 @@
char *omit_spaces(char *buf){
while(*buf){
if(*buf > ' ') break;
++buf;
}
return buf;
}
// THERE'S NO OVERFLOW PROTECTION IN NUMBER READ PROCEDURES!
// read decimal number
static char *getdec(char *buf, uint32_t *N){
uint32_t num = 0;
while(*buf){
char c = *buf;
if(c < '0' || c > '9'){
break;
}
num *= 10;
num += c - '0';
++buf;
}
*N = num;
return buf;
}
// read hexadecimal number (without 0x prefix!)
static char *gethex(char *buf, uint32_t *N){
uint32_t num = 0;
while(*buf){
char c = *buf;
uint8_t M = 0;
if(c >= '0' && c <= '9'){
M = '0';
}else if(c >= 'A' && c <= 'F'){
M = 'A' - 10;
}else if(c >= 'a' && c <= 'f'){
M = 'a' - 10;
}
if(M){
num <<= 4;
num += c - M;
}else{
break;
}
++buf;
}
*N = num;
return buf;
}
// read binary number (without 0b prefix!)
static char *getbin(char *buf, uint32_t *N){
uint32_t num = 0;
while(*buf){
char c = *buf;
if(c < '0' || c > '1'){
break;
}
num <<= 1;
if(c == '1') num |= 1;
++buf;
}
*N = num;
return buf;
}
/**
* @brief getnum - read uint32_t from string (dec, hex or bin: 127, 0x7f, 0b1111111)
* @param buf - buffer with number and so on
* @param N - the number read
* @return pointer to first non-number symbol in buf (if it is == buf, there's no number)
*/
char *getnum(char *txt, uint32_t *N){
if(*txt == '0'){
if(txt[1] == 'x' || txt[1] == 'X') return gethex(txt+2, N);
if(txt[1] == 'b' || txt[1] == 'B') return getbin(txt+2, N);
}
return getdec(txt, N);
}

8
F0-nolib/usbcdc/can.c
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@ -168,13 +168,15 @@ void CAN_setup(uint16_t speed){
while((CAN->MSR & CAN_MSR_INAK)==CAN_MSR_INAK) if(--tmout == 0) break; /* (6) */
// accept ALL
CAN->FMR = CAN_FMR_FINIT; /* (7) */
CAN->FA1R = CAN_FA1R_FACT0; /* (8) */
CAN->FA1R = CAN_FA1R_FACT0 | CAN_FA1R_FACT1; /* (8) */
// set to 1 all needed bits of CAN->FFA1R to switch given filters to FIFO1
#if 0
CAN->FM1R = CAN_FM1R_FBM0; /* (9) */
CAN->sFilterRegister[0].FR1 = CANID << 5 | ((BCAST_ID << 5) << 16); /* (10) */
#else
CAN->sFilterRegister[0].FR1 = 0;
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
#endif
CAN->FMR &=~ CAN_FMR_FINIT; /* (12) */
CAN->IER |= CAN_IER_ERRIE | CAN_IER_FOVIE0 | CAN_IER_FOVIE1; /* (13) */
@ -352,6 +354,8 @@ static void can_process_fifo(uint8_t fifo_num){
uint8_t len = box->RDTR & 0x7;
msg.length = len;
msg.ID = box->RIR >> 21;
msg.filterNo = (box->RDTR >> 8) & 0xff;
msg.fifoNum = fifo_num;
if(len){ // message can be without data
uint32_t hb = box->RDHR, lb = box->RDLR;
switch(len){

5
F0-nolib/usbcdc/can.h
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@ -26,6 +26,9 @@
#include "hardware.h"
// amount of filter banks in STM32F0
#define STM32F0FBANKNO 28
// simple 1-byte commands
#define CMD_TOGGLE (0xDA)
#define CMD_BCAST (0xAD)
@ -45,6 +48,8 @@
typedef struct{
uint8_t data[8]; // up to 8 bytes of data
uint8_t length; // data length
uint8_t filterNo; // filter number
uint8_t fifoNum; // message FIFO number
uint16_t ID; // ID of receiver
} CAN_message;

4
F0-nolib/usbcdc/main.c
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@ -137,6 +137,10 @@ int main(void){
switchbuff(3);
SEND("got message, ID=");
printuhex(can_mesg->ID);
SEND(", filter #");
printu(can_mesg->filterNo);
SEND(", FIFO #");
printu(can_mesg->fifoNum);
SEND(", len=");
printu(len);
SEND(", data: ");

172
F0-nolib/usbcdc/proto.c
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@ -264,6 +264,154 @@ TRUE_INLINE void print_ign_buf(){
}
}
// print ID/mask of CAN->sFilterRegister[x] half
static void printID(uint16_t FRn){
if(FRn & 0x1f) return; // trash
printuhex(FRn >> 5);
}
/*
Can filtering: FSCx=0 (CAN->FS1R) -> 16-bit identifiers
CAN->FMR = (sb)<<8 | FINIT - init filter in starting bank sb
CAN->FFA1R FFAx = 1 -> FIFO1, 0 -> FIFO0
CAN->FA1R FACTx=1 - filter active
MASK: FBMx=0 (CAN->FM1R), two filters (n in FR1 and n+1 in FR2)
ID: CAN->sFilterRegister[x].FRn[0..15]
MASK: CAN->sFilterRegister[x].FRn[16..31]
FR bits: STID[10:0] RTR IDE EXID[17:15]
LIST: FBMx=1, four filters (n&n+1 in FR1, n+2&n+3 in FR2)
IDn: CAN->sFilterRegister[x].FRn[0..15]
IDn+1: CAN->sFilterRegister[x].FRn[16..31]
*/
TRUE_INLINE void list_filters(){
uint32_t fa = CAN->FA1R, ctr = 0, mask = 1;
while(fa){
if(fa & 1){
SEND("Filter "); printu(ctr); SEND(", FIFO");
if(CAN->FFA1R & mask) SEND("1");
else SEND("0");
SEND(" in ");
if(CAN->FM1R & mask){ // up to 4 filters in LIST mode
SEND("LIST mode, IDs: ");
printID(CAN->sFilterRegister[ctr].FR1 & 0xffff);
SEND(" ");
printID(CAN->sFilterRegister[ctr].FR1 >> 16);
SEND(" ");
printID(CAN->sFilterRegister[ctr].FR2 & 0xffff);
SEND(" ");
printID(CAN->sFilterRegister[ctr].FR2 >> 16);
}else{ // up to 2 filters in MASK mode
SEND("MASK mode: ");
if(!(CAN->sFilterRegister[ctr].FR1&0x1f)){
SEND("ID="); printID(CAN->sFilterRegister[ctr].FR1 & 0xffff);
SEND(", MASK="); printID(CAN->sFilterRegister[ctr].FR1 >> 16);
SEND(" ");
}
if(!(CAN->sFilterRegister[ctr].FR2&0x1f)){
SEND("ID="); printID(CAN->sFilterRegister[ctr].FR2 & 0xffff);
SEND(", MASK="); printID(CAN->sFilterRegister[ctr].FR2 >> 16);
}
}
newline();
}
fa >>= 1;
++ctr;
mask <<= 1;
}
sendbuf();
}
/**
* @brief add_filter - add/modify filter
* @param str - string in format "bank# FIFO# mode num0 .. num3"
* where bank# - 0..27
* if there's nothing after bank# - delete filter
* FIFO# - 0,1
* mode - 'I' for ID, 'M' for mask
* num0..num3 - IDs in ID mode, ID/MASK for mask mode
*/
static void add_filter(char *str){
uint32_t N;
str = omit_spaces(str);
char *n = getnum(str, &N);
if(n == str){
SEND("No bank# given");
return;
}
if(N > STM32F0FBANKNO-1){
SEND("bank# > 27");
return;
}
uint8_t bankno = (uint8_t)N;
str = omit_spaces(n);
if(!*str){ // deactivate filter
SEND("Deactivate filters in bank ");
printu(bankno);
CAN->FMR = CAN_FMR_FINIT;
CAN->FA1R &= ~(1<<bankno);
CAN->FMR &=~ CAN_FMR_FINIT;
return;
}
uint8_t fifono = 0;
if(*str == '1') fifono = 1;
else if(*str != '0'){
SEND("FIFO# is 0 or 1");
return;
}
str = omit_spaces(str + 1);
char c = *str;
uint8_t mode = 0; // ID
if(c == 'M' || c == 'm') mode = 1;
else if(c != 'I' && c != 'i'){
SEND("mode is 'M/m' for MASK and 'I/i' for IDLIST");
return;
}
str = omit_spaces(str + 1);
uint32_t filters[4];
uint32_t nfilt;
for(nfilt = 0; nfilt < 4; ++nfilt){
n = getnum(str, &N);
if(n == str) break;
filters[nfilt] = N;
str = omit_spaces(n);
}
if(nfilt == 0){
SEND("You should add at least one filter!");
return;
}
if(mode && (nfilt&1)){
SEND("In MASK mode you should point pairs of ID/MASK");
return;
}
CAN->FMR = CAN_FMR_FINIT;
uint32_t mask = 1<<bankno;
CAN->FA1R |= mask; // activate given filter
if(fifono) CAN->FFA1R |= mask; // set FIFO number
else CAN->FFA1R &= ~mask;
if(mode) CAN->FM1R &= ~mask; // MASK
else CAN->FM1R |= mask; // LIST
uint32_t F1 = (0x8f<<16);
uint32_t F2 = (0x8f<<16);
// reset filter registers to wrong value
CAN->sFilterRegister[bankno].FR1 = (0x8f<<16) | 0x8f;
CAN->sFilterRegister[bankno].FR2 = (0x8f<<16) | 0x8f;
switch(nfilt){
case 4:
F2 = filters[3] << 21;
// fallthrough
case 3:
CAN->sFilterRegister[bankno].FR2 = (F2 & 0xffff0000) | (filters[2] << 5);
// fallthrough
case 2:
F1 = filters[1] << 21;
// fallthrough
case 1:
CAN->sFilterRegister[bankno].FR1 = (F1 & 0xffff0000) | (filters[0] << 5);
}
CAN->FMR &=~ CAN_FMR_FINIT;
SEND("Added filter with ");
printu(nfilt); SEND(" parameters");
}
/**
* @brief cmd_parser - command parsing
* @param txt - buffer with commands & data
@ -277,24 +425,26 @@ void cmd_parser(char *txt, uint8_t isUSB){
* parse long commands here
*/
switch(_1st){
case 's':
case 'S':
sendCANcommand(txt + 1);
case 'a':
addIGN(txt + 1);
goto eof;
break;
case 'b':
CANini(txt + 1);
goto eof;
break;
case 'a':
addIGN(txt + 1);
case 'f':
add_filter(txt + 1);
goto eof;
break;
case 's':
case 'S':
sendCANcommand(txt + 1);
goto eof;
break;
}
if(txt[1] != '\n') *txt = '?'; // help for wrong message length
switch(_1st){
case 'f':
transmit_tbuf();
break;
case 'B':
can_send_broadcast();
break;
@ -315,6 +465,9 @@ void cmd_parser(char *txt, uint8_t isUSB){
printuhex(getCANID());
newline();
break;
case 'l':
list_filters();
break;
case 'p':
print_ign_buf();
break;
@ -345,9 +498,10 @@ void cmd_parser(char *txt, uint8_t isUSB){
"'B' - send broadcast dummy byte\n"
"'C' - send dummy byte over CAN\n"
"'d' - delete ignore list\n"
"'f' - flush UART buffer\n"
"'f' - add/delete filter, format: bank# FIFO# mode(M/I) num0 [num1 [num2 [num3]]]\n"
"'G' - get CAN address\n"
"'I' - reinit CAN (with new address)\n"
"'l' - list all active filters\n"
"'p' - print ignore buffer\n"
"'R' - software reset\n"
"'s/S' - send data over CAN: s ID byte0 .. byteN\n"

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F0-nolib/usbcdc/usbcan.bin
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