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

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This commit is contained in:
Edward Emelianov
2022-12-05 18:05:35 +03:00
parent cfff079dba
commit 59fb731725
24 changed files with 379 additions and 90 deletions
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80
F0:F030,F042,F072/usbcan_ringbuffer/can.c
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@@ -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
}
}