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CAN works

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This commit is contained in:
Edward Emelianov
2026-02-19 23:11:11 +03:00
parent 80c894517e
commit 6c21d9f91a
8 changed files with 62 additions and 50 deletions
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14
F3:F303/InterfaceBoard/can.c
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@@ -45,7 +45,7 @@
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
static uint32_t oldspeed = 100000; // speed of last init
uint32_t floodT = FLOOD_PERIOD_MS; // flood period in ms
static uint8_t incrflood = 0; // ==1 for incremental flooding
static uint32_t incrmessagectr = 0; // counter for incremental flooding
@@ -66,7 +66,7 @@ CAN_status CAN_get_status(){
// push next message into buffer; return 1 if buffer overfull
static int CAN_messagebuf_push(CAN_message *msg){
DBG("PUSH");
//DBG("PUSH");
if(first_free_idx == first_nonfree_idx){
DBG("INBUF OVERFULL");
return 1; // no free space
@@ -87,11 +87,11 @@ CAN_message *CAN_messagebuf_pop(){
first_nonfree_idx = -1;
first_free_idx = 0;
}
DBG("POP");
//DBG("POP");
return msg;
}
void CAN_reinit(uint16_t speed){
void CAN_reinit(uint32_t speed){
DBG("CAN_reinit");
CAN->TSR |= CAN_TSR_ABRQ0 | CAN_TSR_ABRQ1 | CAN_TSR_ABRQ2;
RCC->APB1RSTR |= RCC_APB1RSTR_CANRST;
@@ -148,8 +148,10 @@ void CAN_setup(uint32_t speed){
if(tmout==0){ DBG("timeout!\n");}
CAN->MCR &=~ CAN_MCR_SLEEP; /* (3) */
CAN->MCR |= CAN_MCR_ABOM; /* allow automatically bus-off */
DBG("new speed:"); DBGs(u2str(speed)); DBGn();
CAN->BTR = (CAN_TBS2-1) << 20 | (CAN_TBS1-1) << 16 | (CAN_BIT_OSC/speed - 1); /* (4) */
oldspeed = CAN_BIT_OSC/(uint32_t)((CAN->BTR & CAN_BTR_BRP) + 1);
DBG("saved sped:"); DBGs(u2str(oldspeed)); DBGn();
CAN->MCR &= ~CAN_MCR_INRQ; /* (5) */
tmout = 10000;
while(CAN->MSR & CAN_MSR_INAK) /* (6) */
@@ -232,7 +234,7 @@ void CAN_proc(){
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, loc_flood_msg.ID)) ++incrmessagectr;
}
}
@@ -245,7 +247,7 @@ CAN_status CAN_send(uint8_t *msg, uint8_t len, uint16_t target_id){
DBG("No free mailboxes");
return CAN_BUSY;
}
#ifdef EBUG
#if 0
DBGs("Send data. Len="); DBGs(u2str(len));
DBGs(", tagid="); DBGs(u2str(target_id));
DBGs(", data=");