fixed some bugs in canUART for F103, add some features to usbcan_ringbuffer for F0

2026-02-28 03:44:30 +03:00 · 2022-12-05 18:05:35 +03:00
parent cfff079dba
commit 59fb731725
24 changed files with 379 additions and 90 deletions
--- a/F0:F030,F042,F072/usbcan_ringbuffer/Makefile
+++ b/F0:F030,F042,F072/usbcan_ringbuffer/Makefile
@@ -8,6 +8,7 @@ FAMILY		?= F0
 MCU			?= F042x6
 # change this linking script depending on particular MCU model,
 LDSCRIPT	?= stm32f042x6.ld
+#DEFS = -DEBUG

 # autoincremental version & build date
 VERSION_FILE = version.inc
--- a/F0:F030,F042,F072/usbcan_ringbuffer/can.c
+++ b/F0:F030,F042,F072/usbcan_ringbuffer/can.c
@@ -21,17 +21,14 @@
 #include "proto.h"
 #include "usb.h"

-#include <string.h> // memcpy
-
 // circular buffer for  received messages
 static CAN_message messages[CAN_INMESSAGE_SIZE];
 static uint8_t first_free_idx = 0;    // index of first empty cell
 static int8_t first_nonfree_idx = -1; // index of first data cell
 static uint16_t oldspeed = 100; // speed of last init
+uint32_t floodT = FLOOD_PERIOD_MS-1; // flood period in ms

-#ifdef EBUG
 static uint32_t last_err_code = 0;
-#endif
 static CAN_status can_status = CAN_STOP;

 static void can_process_fifo(uint8_t fifo_num);
@@ -65,7 +62,7 @@ static int CAN_messagebuf_push(CAN_message *msg){
        return 1; // no free space
    }
    if(first_nonfree_idx < 0) first_nonfree_idx = 0;  // first message in empty buffer
-    memcpy(&messages[first_free_idx++], msg, sizeof(CAN_message));
+    messages[first_free_idx++] = *msg;
    // need to roll?
    if(first_free_idx == CAN_INMESSAGE_SIZE) first_free_idx = 0;
    return 0;
@@ -146,9 +143,7 @@ void CAN_setup(uint16_t speed){
    /* (13) Set error interrupts enable */
    CAN->MCR |= CAN_MCR_INRQ; /* (1) */
    while((CAN->MSR & CAN_MSR_INAK)!=CAN_MSR_INAK) /* (2) */
-    {
        if(--tmout == 0) break;
-    }
    CAN->MCR &=~ CAN_MCR_SLEEP; /* (3) */
    CAN->MCR |= CAN_MCR_ABOM; /* allow automatically bus-off */

@@ -174,6 +169,36 @@ void CAN_setup(uint16_t speed){
    can_status = CAN_READY;
 }

+void printCANerr(){
+    if(!last_err_code) last_err_code = CAN->ESR;
+    if(!last_err_code){
+        USB_sendstr("No errors\n");
+        return;
+    }
+    USB_sendstr("Receive error counter: ");
+    printu((last_err_code & CAN_ESR_REC)>>24);
+    USB_sendstr("\nTransmit error counter: ");
+    printu((last_err_code & CAN_ESR_TEC)>>16);
+    USB_sendstr("\nLast error code: ");
+    int lec = (last_err_code & CAN_ESR_LEC) >> 4;
+    const char *errmsg = "No";
+    switch(lec){
+        case 1: errmsg = "Stuff"; break;
+        case 2: errmsg = "Form"; break;
+        case 3: errmsg = "Ack"; break;
+        case 4: errmsg = "Bit recessive"; break;
+        case 5: errmsg = "Bit dominant"; break;
+        case 6: errmsg = "CRC"; break;
+        case 7: errmsg = "(set by software)"; break;
+    }
+    USB_sendstr(errmsg); USB_sendstr(" error\n");
+    if(last_err_code & CAN_ESR_BOFF) USB_sendstr("Bus off ");
+    if(last_err_code & CAN_ESR_EPVF) USB_sendstr("Passive error limit ");
+    if(last_err_code & CAN_ESR_EWGF) USB_sendstr("Error counter limit");
+    last_err_code = 0;
+    USB_putbyte('\n');
+}
+
 void can_proc(){
 #ifdef EBUG
    if(last_err_code){
@@ -193,27 +218,7 @@ 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");
-        USB_sendstr("Receive error counter: ");
-        printu((CAN->ESR & CAN_ESR_REC)>>24);
-        USB_sendstr("\nTransmit error counter: ");
-        printu((CAN->ESR & CAN_ESR_TEC)>>16);
-        USB_sendstr("\nLast error code: ");
-        int lec = (CAN->ESR & CAN_ESR_LEC) >> 4;
-        const char *errmsg = "No";
-        switch(lec){
-            case 1: errmsg = "Stuff"; break;
-            case 2: errmsg = "Form"; break;
-            case 3: errmsg = "Ack"; break;
-            case 4: errmsg = "Bit recessive"; break;
-            case 5: errmsg = "Bit dominant"; break;
-            case 6: errmsg = "CRC"; break;
-            case 7: errmsg = "(set by software)"; break;
-        }
-        USB_sendstr(errmsg); USB_sendstr(" error\n");
-        if(CAN->ESR & CAN_ESR_BOFF) USB_sendstr("Bus off ");
-        if(CAN->ESR & CAN_ESR_EPVF) USB_sendstr("Passive error limit ");
-        if(CAN->ESR & CAN_ESR_EWGF) USB_sendstr("Error counter limit");
-        USB_putbyte('\n');
+        printCANerr();
        // request abort for all mailboxes
        CAN->TSR |= CAN_TSR_ABRQ0 | CAN_TSR_ABRQ1 | CAN_TSR_ABRQ2;
        // reset CAN bus
@@ -222,7 +227,7 @@ void can_proc(){
        CAN_setup(0);
    }
    static uint32_t lastFloodTime = 0;
-    if(flood_msg && (Tms - lastFloodTime) > (FLOOD_PERIOD_MS-1)){ // flood every ~5ms
+    if(flood_msg && (Tms - lastFloodTime) > (floodT)){ // flood every ~5ms
        lastFloodTime = Tms;
        can_send(flood_msg->data, flood_msg->length, flood_msg->ID);
    }
@@ -285,7 +290,21 @@ CAN_status can_send(uint8_t *msg, uint8_t len, uint16_t target_id){
 void set_flood(CAN_message *msg){
    if(!msg) flood_msg = NULL;
    else{
-        memcpy(&loc_flood_msg, msg, sizeof(CAN_message));
+#ifdef EBUG
+        USB_sendstr("flood msg: #");
+        printuhex(msg->ID);
+        for(uint8_t ctr = 0; ctr < msg->length; ++ctr){
+            USB_putbyte(' ');
+            printuhex(msg->data[ctr]);
+        }
+        USB_putbyte('\n');
+#endif
+        // I meet strange problems with `loc_flood_msg = *msg` and system memcpy, so..
+        loc_flood_msg.ID = msg->ID;
+        loc_flood_msg.length = msg->length;
+        *((uint32_t*)loc_flood_msg.data) = *((uint32_t*)msg->data);
+        if(loc_flood_msg.length > 4)
+            *((uint32_t*)&loc_flood_msg.data[4]) = *((uint32_t*)&msg->data[4]);
        flood_msg = &loc_flood_msg;
    }
 }
@@ -364,3 +383,4 @@ void cec_can_isr(){
 #endif
    }
 }
+
--- a/F0:F030,F042,F072/usbcan_ringbuffer/can.h
+++ b/F0:F030,F042,F072/usbcan_ringbuffer/can.h
@@ -18,7 +18,7 @@

 #pragma once

-#include "hardware.h"
+#include <stdint.h>

 // amount of filter banks in STM32F0
 #define STM32F0FBANKNO      28
@@ -28,6 +28,8 @@
 // incoming message buffer size
 #define CAN_INMESSAGE_SIZE  (8)

+extern uint32_t floodT;
+
 // CAN message
 typedef struct{
    uint8_t data[8];    // up to 8 bytes of data
@@ -50,6 +52,7 @@ void CAN_setup(uint16_t speed);

 CAN_status can_send(uint8_t *msg, uint8_t len, uint16_t target_id);
 void can_proc();
+void printCANerr();

 CAN_message *CAN_messagebuf_pop();

--- a/F0:F030,F042,F072/usbcan_ringbuffer/main.c
+++ b/F0:F030,F042,F072/usbcan_ringbuffer/main.c
@@ -68,7 +68,7 @@ int main(void){
                    USB_sendstr(" #");
                    printuhex(can_mesg->ID);
                    for(uint8_t ctr = 0; ctr < len; ++ctr){
-                        USB_putbyte('\n');
+                        USB_putbyte(' ');
                        printuhex(can_mesg->data[ctr]);
                    }
                    USB_putbyte('\n');
--- a/F0:F030,F042,F072/usbcan_ringbuffer/proto.c
+++ b/F0:F030,F042,F072/usbcan_ringbuffer/proto.c
@@ -137,6 +137,7 @@ static char *getbin(const char *buf, uint32_t *N){
 char *getnum(const char *txt, uint32_t *N){
    char *nxt = NULL;
    char *s = omit_spaces(txt);
+    if(!*s) return (char*)txt;
    if(*s == '0'){ // hex, oct or 0
        if(s[1] == 'x' || s[1] == 'X'){ // hex
            nxt = gethex(s+2, N);
@@ -166,7 +167,6 @@ static CAN_message *parseCANmsg(char *txt){
    int ctr = -1;
    canmsg.ID = 0xffff;
    do{
-        txt = omit_spaces(txt);
        n = getnum(txt, &N);
        if(txt == n) break;
        txt = n;
@@ -200,16 +200,19 @@ static CAN_message *parseCANmsg(char *txt){

 // USB_sendstr command, format: ID (hex/bin/dec) data bytes (up to 8 bytes, space-delimeted)
 TRUE_INLINE void USB_sendstrCANcommand(char *txt){
+    if(CAN->MSR & CAN_MSR_INAK){
+        USB_sendstr("CAN bus is off, try to restart it\n");
+        return;
+    }
    CAN_message *msg = parseCANmsg(txt);
    if(!msg) return;
-    uint32_t N = 1000000;
+    uint32_t N = 5;
    while(CAN_BUSY == can_send(msg->data, msg->length, msg->ID)){
        if(--N == 0) break;
    }
 }

 TRUE_INLINE void CANini(char *txt){
-    txt = omit_spaces(txt);
    uint32_t N;
    char *n = getnum(txt, &N);
    if(txt == n){
@@ -318,6 +321,17 @@ TRUE_INLINE void list_filters(){
    }
 }

+TRUE_INLINE void setfloodt(char *s){
+    uint32_t N;
+    s = omit_spaces(s);
+    char *n = getnum(s, &N);
+    if(s == n || N == 0){
+        USB_sendstr("t="); printu(floodT); USB_putbyte('\n');
+        return;
+    }
+    floodT = N - 1;
+}
+
 /**
 * @brief add_filter - add/modify filter
 * @param str - string in format "bank# FIFO# mode num0 .. num3"
@@ -414,10 +428,12 @@ const char *helpmsg =
    "https://github.com/eddyem/stm32samples/tree/master/F0-nolib/usbcan_ringbuffer build#" BUILD_NUMBER " @ " BUILD_DATE "\n"
    "'a' - add ID to ignore list (max 10 IDs)\n"
    "'b' - reinit CAN with given baudrate\n"
+    "'c' - get CAN status\n"
    "'d' - delete ignore list\n"
    "'D' - activate DFU mode\n"
+    "'e' - get CAN errcodes\n"
    "'f' - add/delete filter, format: bank# FIFO# mode(M/I) num0 [num1 [num2 [num3]]]\n"
-    "'F' - USB_sendstr/clear flood message: F ID byte0 ... byteN\n"
+    "'F' - send/clear flood message: F ID byte0 ... byteN\n"
    "'I' - reinit CAN\n"
    "'l' - list all active filters\n"
    "'o' - turn LEDs OFF\n"
@@ -425,10 +441,22 @@ const char *helpmsg =
    "'p' - print ignore buffer\n"
    "'P' - pause/resume in packets displaying\n"
    "'R' - software reset\n"
-    "'s/S' - USB_sendstr data over CAN: s ID byte0 .. byteN\n"
+    "'s/S' - send data over CAN: s ID byte0 .. byteN\n"
+    "'t' - change flood period (>=1ms)\n"
    "'T' - get time from start (ms)\n"
 ;

+TRUE_INLINE void getcanstat(){
+    USB_sendstr("CAN_MSR=");
+    printuhex(CAN->MSR);
+    USB_sendstr("\nCAN_TSR=");
+    printuhex(CAN->TSR);
+    USB_sendstr("\nCAN_RF0R=");
+    printuhex(CAN->RF0R);
+    USB_sendstr("\nCAN_RF1R=");
+    printuhex(CAN->RF1R);
+}
+
 /**
 * @brief cmd_parser - command parsing
 * @param txt   - buffer with commands & data
@@ -436,37 +464,48 @@ const char *helpmsg =
 */
 void cmd_parser(char *txt){
    char _1st = txt[0];
+    ++txt;
    /*
     * parse long commands here
     */
    switch(_1st){
        case 'a':
-            addIGN(txt + 1);
+            addIGN(txt);
            goto eof;
        break;
        case 'b':
-            CANini(txt + 1);
+            CANini(txt);
            goto eof;
        break;
        case 'f':
-            add_filter(txt + 1);
+            add_filter(txt);
            goto eof;
        break;
        case 'F':
-            set_flood(parseCANmsg(txt + 1));
+            set_flood(parseCANmsg(txt));
            goto eof;
        break;
        case 's':
        case 'S':
-            USB_sendstrCANcommand(txt + 1);
+            USB_sendstrCANcommand(txt);
+            goto eof;
+        break;
+        case 't':
+            setfloodt(txt);
            goto eof;
        break;
    }
-    if(txt[1] != '\n') *txt = '?'; // help for wrong message length
+    if(*txt != '\n') _1st = '?'; // help for wrong message length
    switch(_1st){
+        case 'c':
+            getcanstat();
+        break;
        case 'd':
            IgnSz = 0;
        break;
+        case 'e':
+            printCANerr();
+        break;
        case 'D':
            USB_sendstr("Go into DFU mode\n");
            USB_sendall();
--- a/F0:F030,F042,F072/usbcan_ringbuffer/usbcan.bin
+++ b/F0:F030,F042,F072/usbcan_ringbuffer/usbcan.bin
--- a/F0:F030,F042,F072/usbcan_ringbuffer/usbcanrb.cflags
+++ b/F0:F030,F042,F072/usbcan_ringbuffer/usbcanrb.cflags
@@ -0,0 +1 @@
+-std=c17
--- a/F0:F030,F042,F072/usbcan_ringbuffer/usbcanrb.config
+++ b/F0:F030,F042,F072/usbcan_ringbuffer/usbcanrb.config
@@ -0,0 +1,5 @@
+// Add predefined macros for your project here. For example:
+// #define THE_ANSWER 42
+#define EBUG
+#define STM32F0
+#define STM32F042x6
--- a/F0:F030,F042,F072/usbcan_ringbuffer/usbcanrb.creator
+++ b/F0:F030,F042,F072/usbcan_ringbuffer/usbcanrb.creator
@@ -0,0 +1 @@
+[General]
--- a/F0:F030,F042,F072/usbcan_ringbuffer/usbcanrb.creator.user
+++ b/F0:F030,F042,F072/usbcan_ringbuffer/usbcanrb.creator.user
@@ -0,0 +1,160 @@
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+   <valuemap type="QVariantMap" key="ProjectExplorer.Target.RunConfiguration.0">
+    <valuelist type="QVariantList" key="CustomOutputParsers"/>
+    <value type="int" key="PE.EnvironmentAspect.Base">2</value>
+    <valuelist type="QVariantList" key="PE.EnvironmentAspect.Changes"/>
+    <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.CustomExecutableRunConfiguration</value>
+    <value type="QString" key="ProjectExplorer.RunConfiguration.BuildKey"></value>
+    <value type="bool" key="RunConfiguration.UseCppDebugger">false</value>
+    <value type="bool" key="RunConfiguration.UseCppDebuggerAuto">true</value>
+    <value type="bool" key="RunConfiguration.UseQmlDebugger">false</value>
+    <value type="bool" key="RunConfiguration.UseQmlDebuggerAuto">true</value>
+   </valuemap>
+   <value type="int" key="ProjectExplorer.Target.RunConfigurationCount">1</value>
+  </valuemap>
+ </data>
+ <data>
+  <variable>ProjectExplorer.Project.TargetCount</variable>
+  <value type="int">1</value>
+ </data>
+ <data>
+  <variable>ProjectExplorer.Project.Updater.FileVersion</variable>
+  <value type="int">22</value>
+ </data>
+ <data>
+  <variable>Version</variable>
+  <value type="int">22</value>
+ </data>
+</qtcreator>
--- a/F0:F030,F042,F072/usbcan_ringbuffer/usbcanrb.cxxflags
+++ b/F0:F030,F042,F072/usbcan_ringbuffer/usbcanrb.cxxflags
@@ -0,0 +1 @@
+-std=c++17
--- a/F0:F030,F042,F072/usbcan_ringbuffer/usbcanrb.files
+++ b/F0:F030,F042,F072/usbcan_ringbuffer/usbcanrb.files
@@ -0,0 +1,16 @@
+can.c
+can.h
+hardware.c
+hardware.h
+main.c
+proto.c
+proto.h
+ringbuffer.c
+ringbuffer.h
+usb.c
+usb.h
+usb_defs.h
+usb_lib.c
+usb_lib.h
+usbhw.c
+usbhw.h
--- a/F0:F030,F042,F072/usbcan_ringbuffer/usbcanrb.includes
+++ b/F0:F030,F042,F072/usbcan_ringbuffer/usbcanrb.includes
@@ -0,0 +1,6 @@
+.
+../inc
+../inc/Fx
+../inc/cm
+../inc/ld
+../inc/startup
--- a/F0:F030,F042,F072/usbcan_ringbuffer/version.inc
+++ b/F0:F030,F042,F072/usbcan_ringbuffer/version.inc
@@ -1,2 +1,2 @@
-#define BUILD_NUMBER "1"
-#define BUILD_DATE "2022-10-28"
+#define BUILD_NUMBER "23"
+#define BUILD_DATE "2022-12-05"