From 7fb3d5ac599b130b5e573cf3a9c20fe567f59f37 Mon Sep 17 00:00:00 2001 From: Edward Emelianov Date: Mon, 30 Jan 2023 20:58:06 +0300 Subject: [PATCH] Add CAN-USB for STM32F303 --- F0:F030,F042,F072/usbcan_ringbuffer/proto.c | 2 +- F3:F303/CANusb/Makefile | 8 + F3:F303/CANusb/can.c | 378 +++++++++++++++++ F3:F303/CANusb/can.h | 59 +++ F3:F303/CANusb/canusb.bin | Bin 0 -> 10424 bytes F3:F303/CANusb/canusb.cflags | 1 + F3:F303/CANusb/canusb.config | 7 + F3:F303/CANusb/canusb.creator | 1 + F3:F303/CANusb/canusb.creator.user | 171 ++++++++ F3:F303/CANusb/canusb.cxxflags | 1 + F3:F303/CANusb/canusb.files | 17 + F3:F303/CANusb/canusb.includes | 6 + F3:F303/CANusb/hardware.c | 63 +++ F3:F303/CANusb/hardware.h | 43 ++ F3:F303/CANusb/main.c | 84 ++++ F3:F303/CANusb/openocd.cfg | 119 ++++++ F3:F303/CANusb/proto.c | 428 ++++++++++++++++++++ F3:F303/CANusb/proto.h | 32 ++ F3:F303/CANusb/ringbuffer.c | 124 ++++++ F3:F303/CANusb/ringbuffer.h | 35 ++ F3:F303/CANusb/strfunc.c | 256 ++++++++++++ F3:F303/CANusb/strfunc.h | 13 + F3:F303/CANusb/usb.c | 176 ++++++++ F3:F303/CANusb/usb.h | 41 ++ F3:F303/CANusb/usb_lib.c | 389 ++++++++++++++++++ F3:F303/CANusb/usb_lib.h | 182 +++++++++ F3:F303/CANusb/usbhw.c | 137 +++++++ F3:F303/CANusb/usbhw.h | 103 +++++ F3:F303/CANusb/version.inc | 2 + 29 files changed, 2877 insertions(+), 1 deletion(-) create mode 100644 F3:F303/CANusb/Makefile create mode 100644 F3:F303/CANusb/can.c create mode 100644 F3:F303/CANusb/can.h create mode 100755 F3:F303/CANusb/canusb.bin create mode 100644 F3:F303/CANusb/canusb.cflags create mode 100644 F3:F303/CANusb/canusb.config create mode 100644 F3:F303/CANusb/canusb.creator create mode 100644 F3:F303/CANusb/canusb.creator.user create mode 100644 F3:F303/CANusb/canusb.cxxflags create mode 100644 F3:F303/CANusb/canusb.files create mode 100644 F3:F303/CANusb/canusb.includes create mode 100644 F3:F303/CANusb/hardware.c create mode 100644 F3:F303/CANusb/hardware.h create mode 100644 F3:F303/CANusb/main.c create mode 100644 F3:F303/CANusb/openocd.cfg create mode 100644 F3:F303/CANusb/proto.c create mode 100644 F3:F303/CANusb/proto.h create mode 100644 F3:F303/CANusb/ringbuffer.c create mode 100644 F3:F303/CANusb/ringbuffer.h create mode 100644 F3:F303/CANusb/strfunc.c create mode 100644 F3:F303/CANusb/strfunc.h create mode 100644 F3:F303/CANusb/usb.c create mode 100644 F3:F303/CANusb/usb.h create mode 100644 F3:F303/CANusb/usb_lib.c create mode 100644 F3:F303/CANusb/usb_lib.h create mode 100644 F3:F303/CANusb/usbhw.c create mode 100644 F3:F303/CANusb/usbhw.h create mode 100644 F3:F303/CANusb/version.inc diff --git a/F0:F030,F042,F072/usbcan_ringbuffer/proto.c b/F0:F030,F042,F072/usbcan_ringbuffer/proto.c index 4624132..38b295f 100644 --- a/F0:F030,F042,F072/usbcan_ringbuffer/proto.c +++ b/F0:F030,F042,F072/usbcan_ringbuffer/proto.c @@ -24,7 +24,7 @@ extern volatile uint8_t canerror; -uint8_t ShowMsgs = 07; +uint8_t ShowMsgs = 0; uint16_t Ignore_IDs[IGN_SIZE]; uint8_t IgnSz = 0; diff --git a/F3:F303/CANusb/Makefile b/F3:F303/CANusb/Makefile new file mode 100644 index 0000000..77c3b45 --- /dev/null +++ b/F3:F303/CANusb/Makefile @@ -0,0 +1,8 @@ +BINARY := canusb +# MCU code +MCU := F303xb +# change this linking script depending on particular MCU model, +LDSCRIPT := stm32f303xB.ld + +include ../makefile.f3 +include ../../makefile.stm32 diff --git a/F3:F303/CANusb/can.c b/F3:F303/CANusb/can.c new file mode 100644 index 0000000..d11365a --- /dev/null +++ b/F3:F303/CANusb/can.c @@ -0,0 +1,378 @@ +/* + * This file is part of the canusb project. + * Copyright 2023 Edward V. Emelianov . + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + */ + +#include "can.h" +#include "hardware.h" +#include "strfunc.h" +#include "usb.h" + +// PB8/PB9!!! + +#include // 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 + +static uint32_t last_err_code = 0; +static CAN_status can_status = CAN_STOP; + +static void can_process_fifo(uint8_t fifo_num); + +static CAN_message loc_flood_msg; +static CAN_message *flood_msg = NULL; // == loc_flood_msg - to flood + +CAN_status CAN_get_status(){ + int st = can_status; + can_status = CAN_OK; + return st; +} + +// push next message into buffer; return 1 if buffer overfull +static int CAN_messagebuf_push(CAN_message *msg){ + //MSG("Try to push\n"); +#ifdef EBUG + USB_sendstr("push\n"); +#endif + if(first_free_idx == first_nonfree_idx){ +#ifdef EBUG + USB_sendstr("INBUF OVERFULL\n"); +#endif + 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)); + // need to roll? + if(first_free_idx == CAN_INMESSAGE_SIZE) first_free_idx = 0; + return 0; +} + +// pop message from buffer +CAN_message *CAN_messagebuf_pop(){ + if(first_nonfree_idx < 0) return NULL; + #ifdef EBUG + //MSG("read from idx "); printu(first_nonfree_idx); NL(); + #endif + CAN_message *msg = &messages[first_nonfree_idx++]; + if(first_nonfree_idx == CAN_INMESSAGE_SIZE) first_nonfree_idx = 0; + if(first_nonfree_idx == first_free_idx){ // buffer is empty - refresh it + first_nonfree_idx = -1; + first_free_idx = 0; + } + return msg; +} + +void CAN_reinit(uint16_t speed){ + CAN->TSR |= CAN_TSR_ABRQ0 | CAN_TSR_ABRQ1 | CAN_TSR_ABRQ2; + RCC->APB1RSTR |= RCC_APB1RSTR_CANRST; + RCC->APB1RSTR &= ~RCC_APB1RSTR_CANRST; + CAN_setup(speed); +} + +/* +Can filtering: FSCx=0 (CAN->FS1R) -> 16-bit identifiers +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] +*/ + +/* +Can timing: main freq - APB (PLL=48MHz) +segment = 1sync + TBS1 + TBS2, sample point is between TBS1 and TBS2, +so if TBS1=4 and TBS2=3, sum=8, bit sampling freq is 48/8 = 6MHz +-> to get 100kbps we need prescaler=60 + 250kbps - 24 + 500kbps - 12 + 1MBps - 6 +*/ + +// speed - in kbps +void CAN_setup(uint16_t speed){ + LED_off(LED1); + if(speed == 0) speed = oldspeed; + else if(speed < 50) speed = 50; + else if(speed > 3000) speed = 3000; + oldspeed = speed; + uint32_t tmout = 16000000; + // Configure GPIO: PB8 - CAN_Rx, PB9 - CAN_Tx (both AF9) + RCC->AHBENR |= RCC_AHBENR_GPIOBEN; + GPIOB->MODER = (GPIOB->MODER & ~(GPIO_MODER_MODER8 | GPIO_MODER_MODER9)) + | (GPIO_MODER_MODER8_AF | GPIO_MODER_MODER9_AF); + GPIOB->AFR[1] = (GPIOB->AFR[1] &~ (GPIO_AFRH_AFRH0 | GPIO_AFRH_AFRH1))\ + | AFRf(9, 8) | AFRf(9, 9); + /* Enable the peripheral clock CAN */ + RCC->APB1ENR |= RCC_APB1ENR_CANEN; + /* Configure CAN */ + /* (1) Enter CAN init mode to write the configuration */ + /* (2) Wait the init mode entering */ + /* (3) Exit sleep mode */ + /* (4) Normal mode, set timing to 100kb/s: TBS1 = 4, TBS2 = 3, prescaler = 60 */ + /* (5) Leave init mode */ + /* (6) Wait the init mode leaving */ + /* (7) Enter filter init mode, (16-bit + mask, bank 0 for FIFO 0) */ + /* (8) Acivate filter 0 for two IDs */ + /* (9) Identifier list mode */ + /* (10) Set the Id list */ + /* (12) Leave filter init */ + /* (13) Set error interrupts enable (& bus off) */ + 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 */ + + CAN->BTR = 2 << 20 | 3 << 16 | (4500/speed - 1); //| CAN_BTR_SILM | CAN_BTR_LBKM; /* (4) */ + CAN->MCR &= ~CAN_MCR_INRQ; /* (5) */ + tmout = 16000000; + while((CAN->MSR & CAN_MSR_INAK) == CAN_MSR_INAK) /* (6) */ + if(--tmout == 0) break; + // accept ALL + CAN->FMR = CAN_FMR_FINIT; /* (7) */ + CAN->FA1R = CAN_FA1R_FACT0 | CAN_FA1R_FACT1; /* (8) */ + // set to 1 all needed bits of CAN->FFA1R to switch given filters to FIFO1 + 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 + CAN->FMR &= ~CAN_FMR_FINIT; /* (12) */ + CAN->IER |= CAN_IER_ERRIE | CAN_IER_FOVIE0 | CAN_IER_FOVIE1 | CAN_IER_BOFIE; /* (13) */ + + /* Configure IT */ + NVIC_SetPriority(USB_LP_CAN_RX0_IRQn, 0); // RX FIFO0 IRQ + NVIC_SetPriority(CAN_RX1_IRQn, 0); // RX FIFO1 IRQ + NVIC_SetPriority(CAN_SCE_IRQn, 0); // RX status changed IRQ + NVIC_EnableIRQ(USB_LP_CAN_RX0_IRQn); + NVIC_EnableIRQ(CAN_RX1_IRQn); + NVIC_EnableIRQ(CAN_SCE_IRQn); + CAN->MSR = 0; // clear SLAKI, WKUI, ERRI + 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: "); + USB_sendstr(u2str((last_err_code & CAN_ESR_REC)>>24)); + USB_sendstr("\nTransmit error counter: "); + USB_sendstr(u2str((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){ + USB_sendstr("Error, ESR="); + USB_sendstr(u2str(last_err_code)); + USB_putbyte('\n'); + last_err_code = 0; + } +#endif + // check for messages in FIFO0 & FIFO1 + if(CAN->RF0R & CAN_RF0R_FMP0){ + can_process_fifo(0); + } + if(CAN->RF1R & CAN_RF1R_FMP1){ + can_process_fifo(1); + } + 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(); + // request abort for all mailboxes + CAN->TSR |= CAN_TSR_ABRQ0 | CAN_TSR_ABRQ1 | CAN_TSR_ABRQ2; + // reset CAN bus + RCC->APB1RSTR |= RCC_APB1RSTR_CANRST; + RCC->APB1RSTR &= ~RCC_APB1RSTR_CANRST; + CAN_setup(0); + } + static uint32_t lastFloodTime = 0; + if(flood_msg && (Tms - lastFloodTime) > (floodT)){ // flood every ~5ms + lastFloodTime = Tms; + can_send(flood_msg->data, flood_msg->length, flood_msg->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)){ + mailbox = (CAN->TSR & CAN_TSR_CODE) >> 24; + }else{ // no free mailboxes +#ifdef EBUG + USB_sendstr("No free mailboxes\n"); +#endif + return CAN_BUSY; + } +#ifdef EBUG + USB_sendstr("Send data. Len="); USB_sendstr(u2str(len)); + USB_sendstr(", tagid="); USB_sendstr(u2str(target_id)); + USB_sendstr(", data="); + for(int i = 0; i < len; ++i){ + USB_sendstr(" "); USB_sendstr(uhex2str(msg[i])); + } + USB_putbyte('\n'); +#endif + CAN_TxMailBox_TypeDef *box = &CAN->sTxMailBox[mailbox]; + uint32_t lb = 0, hb = 0; + switch(len){ + case 8: + hb |= (uint32_t)msg[7] << 24; + __attribute__((fallthrough)); + case 7: + hb |= (uint32_t)msg[6] << 16; + __attribute__((fallthrough)); + case 6: + hb |= (uint32_t)msg[5] << 8; + __attribute__((fallthrough)); + case 5: + hb |= (uint32_t)msg[4]; + __attribute__((fallthrough)); + case 4: + lb |= (uint32_t)msg[3] << 24; + __attribute__((fallthrough)); + case 3: + lb |= (uint32_t)msg[2] << 16; + __attribute__((fallthrough)); + case 2: + lb |= (uint32_t)msg[1] << 8; + __attribute__((fallthrough)); + default: + lb |= (uint32_t)msg[0]; + } + box->TDLR = lb; + box->TDHR = hb; + box->TDTR = len; + box->TIR = (target_id & 0x7FF) << 21 | CAN_TI0R_TXRQ; + return CAN_OK; +} + +void set_flood(CAN_message *msg){ + if(!msg) flood_msg = NULL; + else{ + memcpy(&loc_flood_msg, msg, sizeof(CAN_message)); + flood_msg = &loc_flood_msg; + } +} + +static void can_process_fifo(uint8_t fifo_num){ + if(fifo_num > 1) return; + LED_on(LED1); + CAN_FIFOMailBox_TypeDef *box = &CAN->sFIFOMailBox[fifo_num]; + volatile uint32_t *RFxR = (fifo_num) ? &CAN->RF1R : &CAN->RF0R; +#ifdef EBUG + USB_sendstr(u2str(*RFxR & CAN_RF0R_FMP0)); USB_sendstr(" messages in FIFO\n"); +#endif + // read all + while(*RFxR & CAN_RF0R_FMP0){ // amount of messages pending + // CAN_RDTxR: (16-31) - timestamp, (8-15) - filter match index, (0-3) - data length + /* TODO: check filter match index if more than one ID can receive */ + CAN_message msg; + uint8_t *dat = msg.data; + uint8_t len = box->RDTR & 0x0f; + 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){ + case 8: + dat[7] = hb>>24; + __attribute__((fallthrough)); + case 7: + dat[6] = (hb>>16) & 0xff; + __attribute__((fallthrough)); + case 6: + dat[5] = (hb>>8) & 0xff; + __attribute__((fallthrough)); + case 5: + dat[4] = hb & 0xff; + __attribute__((fallthrough)); + case 4: + dat[3] = lb>>24; + __attribute__((fallthrough)); + case 3: + dat[2] = (lb>>16) & 0xff; + __attribute__((fallthrough)); + case 2: + dat[1] = (lb>>8) & 0xff; + __attribute__((fallthrough)); + case 1: + dat[0] = lb & 0xff; + } + } + if(CAN_messagebuf_push(&msg)) return; // error: buffer is full, try later + *RFxR |= CAN_RF0R_RFOM0; // release fifo for access to next message + } + //if(*RFxR & CAN_RF0R_FULL0) *RFxR &= ~CAN_RF0R_FULL0; + *RFxR = 0; // clear FOVR & FULL +} + +void usb_lp_can1_rx0_isr(){ // Rx FIFO0 (overrun) + if(CAN->RF0R & CAN_RF0R_FOVR0){ // FIFO overrun + CAN->RF0R &= ~CAN_RF0R_FOVR0; + can_status = CAN_FIFO_OVERRUN; + } +} + +void can1_rx1_isr(){ // Rx FIFO1 (overrun) + if(CAN->RF1R & CAN_RF1R_FOVR1){ + CAN->RF1R &= ~CAN_RF1R_FOVR1; + can_status = CAN_FIFO_OVERRUN; + } +} + +void can1_sce_isr(){ // status changed + if(CAN->MSR & CAN_MSR_ERRI){ // Error +#ifdef EBUG + last_err_code = CAN->ESR; +#endif + CAN->MSR &= ~CAN_MSR_ERRI; + // request abort for problem mailbox + if(CAN->TSR & CAN_TSR_TERR0) CAN->TSR |= CAN_TSR_ABRQ0; + if(CAN->TSR & CAN_TSR_TERR1) CAN->TSR |= CAN_TSR_ABRQ1; + if(CAN->TSR & CAN_TSR_TERR2) CAN->TSR |= CAN_TSR_ABRQ2; + can_status = CAN_ERR; + } +} diff --git a/F3:F303/CANusb/can.h b/F3:F303/CANusb/can.h new file mode 100644 index 0000000..1dfb6f0 --- /dev/null +++ b/F3:F303/CANusb/can.h @@ -0,0 +1,59 @@ +/* + * This file is part of the canusb project. + * Copyright 2023 Edward V. Emelianov . + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + */ + +#pragma once + +#include + +// amount of filter banks in STM32F0 +#define STM32F0FBANKNO 28 +// flood period in milliseconds +#define FLOOD_PERIOD_MS 5 + +// 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 + uint8_t length; // data length + uint16_t ID; // ID of receiver +} CAN_message; + +typedef enum{ + CAN_STOP, + CAN_READY, + CAN_BUSY, + CAN_OK, + CAN_ERR, + CAN_FIFO_OVERRUN +} CAN_status; + +CAN_status CAN_get_status(); + +void CAN_reinit(uint16_t speed); +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(); + +void set_flood(CAN_message *msg); diff --git a/F3:F303/CANusb/canusb.bin b/F3:F303/CANusb/canusb.bin new file mode 100755 index 0000000000000000000000000000000000000000..928e6e69a651c7d994c747d4e9ca51755fc9fbcc GIT binary patch literal 10424 zcmd6MZCF!Rw(ve5`5=IN>L8$=Bru>s37{Q6s)QsQfq+4AZv7k+NHnQHQW9J3OfM1C z(XqBF))vrtt?hJdr&U1ht*yS;YUj37=bc1l9@O?qTQOGJ&Ow7Yq9%9k6VOiQ&OFck z_sX-*-h1t})?RDvwbtG{q63I2PC(Kx2qeAqBS1g;hiNciG;TkQ`A41~%lO}pzlcTB z6986#|1IzT@ANao|JfGYCcJ=<>|t& zyY_2?y<&r;Y-x?pX1G)6iq7pQJ(JG1==OBFBCU-)b=htI%bfFzQCgcSNWJ-g$p!BfqEyq&Qz@eO zp1QK#{DF7^cuAGsn|MjCQg}5g!WSjhUR+~9ie)CtLmAjF*dLeuNX7X+joQt>sxJ45 zR3>kf>V}V$cku_+P5hzwgZ$g-K0lsSs1|sYs>i%?Rj;pQYobl8TG+c3ET6z`?ONDb zSst-{`bY$R*43;HUMMrHG@TW=3Ds%eNk5iaa%)r3cI{){l3QEM+qF}@uMK*rqr=U& zmq+c|8gD~+Dcyve=%h?@3`r=SKdk;gez9tbSE`!eMXG(m>V%5Lt4j$lk|&td zWmTq~enOz#CaiLhe@nf||CaKiUy?~PNBpGnFaDOT2{u#!@|8%{@9pB>W@M%>1!~PL zBELmD$vdX^=n!hm^d243G){o8r?D|$J(4I-EeQu-2(9vKZczf=_zOpePCFU{PaKiS zlVQ#iS_mtg@aM}DV6-7r=BMTH&~t~1{aNxc&~t<|{v3HM^qvgOf!S#2SwoNcaSlGr zN61SLgQOX9Bs~r7Nq{{70RRSYkYT#3{Of)HmzSO<2V%s5lw+W+{xaS5J0u$P6pM!5 zE7sgBl211E@Mz~mBjmFb5opj;v@M{i^l%KyAhJ#Lphq7wh$`u!(|Rr!&ZLVjPS=Z|_Vn8_JC%0S zvgbw|Iy7I7Wr}1yOc|0xl*FgjIs(Y7|u@ZEK*Vf%@jSLqvCnO2y^17X|DlAR__N|vX}GC$oc+~gKN}fv(Y9F>b_bv$+vht z&0VFIsOEaHEQyL7B*=nZEQ{<*;!MWtK6>EHLwOQG-mObJwb7<8eA(<3f3>O%WME!G z;4Kt*i9V$I^h#b1*28#HM`2y0-8zn-h-rhDnt;2{i#0&Xc+llNf6IC@Kj|o}`qTJ6 zQSNJlW;*$jC?~o1iHvca)A-r|O&#=61LAQYuh7s5HqlWzuMHMSZuF`%zVrVqW5C~} z9b!0s_qCi~`?LzXe{F4%*a_@J6CyAS1JTd(nKU{m57=Spaxy}4NhB=YKs+EWzE`&We zMzXRBYVaOHeW~p4?vY7Xq_B%LIjAOH9ncd|QxH!~80;NASO0wO+&O9jcWlXLZ)o4` zPEVVj_WJmh6LZoIY7ccQ*!-jIX)Vx8V$)fX&Cp5A`%B6UeKecI6Kh30;rKv%*SAL- zby;MK9-pAEoe22lG*7H*1^gLXku6Do#&pKET}xg$V_TZ~p(&mf;^cUOq20EtWAp^I zvm~>xD;)gp-p5^YPh z54aw1$GqQ=>>Jt-x^=d+w8zr!q&#-i`wg10SNppGT6Cy;9QzX3F_t|J-x=&NR;i!H z&h0FpxN7{U&e)bNE%C*%;+W5yZCYD_zS-1lYXRMxZEdMdCbghDWqW%-OcV3c^?7>W zR1rLpyAL=qN6iQaEpV)6n@rdItJ$yo&f`htd-!ZM)#*HyP@z$XhCENvgE=T1d_62? zD^K+Bnmmnaj29^g<;T26z6ofZr#5y0oiiMK>>l9E&Qk3n~xAh0*QK0=!?*-cFQ(Z6&6osl&d}*?9!_7S+^Zu~W$T^SCxhf&T=-;jT_{;FXgn>$)yogKUc9qk-b z4pxcCK5T2%2|@vRKxBi=zl2bBz)LU`>?YU-c0V2dn;+|jF{pb~p7gjTDjZx9I(0*; 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Emelianov . + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + */ + +#include "hardware.h" + +uint8_t ledsON = 1; // ==0 to turn off CAN diagnostic LEDs + +TRUE_INLINE void gpio_setup(){ + RCC->AHBENR |= RCC_AHBENR_GPIOAEN | RCC_AHBENR_GPIOBEN; // for USART and LEDs + for(int i = 0; i < 10000; ++i) nop(); + // PB0/1 - CAN status + GPIOB->MODER = GPIO_MODER_MODER0_O | GPIO_MODER_MODER1_O; + LED_off(LED0); LED_off(LED1); + // PA6 - heartbeat + GPIOA->MODER = GPIO_MODER_MODER6_O; + GPIOA->BSRR = GPIO_BSRR_BS_6; // turn off LED PA6 +} + +//#ifndef EBUG +TRUE_INLINE void iwdg_setup(){ + uint32_t tmout = 16000000; + /* Enable the peripheral clock RTC */ + /* (1) Enable the LSI (40kHz) */ + /* (2) Wait while it is not ready */ + RCC->CSR |= RCC_CSR_LSION; /* (1) */ + while((RCC->CSR & RCC_CSR_LSIRDY) != RCC_CSR_LSIRDY){if(--tmout == 0) break;} /* (2) */ + /* Configure IWDG */ + /* (1) Activate IWDG (not needed if done in option bytes) */ + /* (2) Enable write access to IWDG registers */ + /* (3) Set prescaler by 64 (1.6ms for each tick) */ + /* (4) Set reload value to have a rollover each 2s */ + /* (5) Check if flags are reset */ + /* (6) Refresh counter */ + IWDG->KR = IWDG_START; /* (1) */ + IWDG->KR = IWDG_WRITE_ACCESS; /* (2) */ + IWDG->PR = IWDG_PR_PR_1; /* (3) */ + IWDG->RLR = 1250; /* (4) */ + tmout = 16000000; + while(IWDG->SR){if(--tmout == 0) break;} /* (5) */ + IWDG->KR = IWDG_REFRESH; /* (6) */ +} +//#endif + +void hw_setup(){ + gpio_setup(); + iwdg_setup(); +} + diff --git a/F3:F303/CANusb/hardware.h b/F3:F303/CANusb/hardware.h new file mode 100644 index 0000000..d7195c7 --- /dev/null +++ b/F3:F303/CANusb/hardware.h @@ -0,0 +1,43 @@ +/* + * This file is part of the canusb project. + * Copyright 2023 Edward V. Emelianov . + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + */ + +#pragma once + +#include + +// LEDS: 0 - PB0, 1 - PB1, hearbeat - PA6 +// LED0 +#define LED0_port GPIOB +#define LED0_pin (1<<0) +// LED1 +#define LED1_port GPIOB +#define LED1_pin (1<<1) +// HB +#define LEDhb_port GPIOA +#define LEDhb_pin (1<<6) + +#define LED_blink(x) do{if(ledsON) pin_toggle(x ## _port, x ## _pin);}while(0) +#define LED_on(x) do{if(ledsON) pin_clear(x ## _port, x ## _pin);}while(0) +#define LED_off(x) do{pin_set(x ## _port, x ## _pin);}while(0) + + +extern volatile uint32_t Tms; +extern uint8_t ledsON; + +void hw_setup(); + diff --git a/F3:F303/CANusb/main.c b/F3:F303/CANusb/main.c new file mode 100644 index 0000000..69a883c --- /dev/null +++ b/F3:F303/CANusb/main.c @@ -0,0 +1,84 @@ +/* + * This file is part of the canusb project. + * Copyright 2023 Edward V. Emelianov . + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + */ + +#include "can.h" +#include "hardware.h" +#include "proto.h" +#include "usb.h" + +#define MAXSTRLEN RBINSZ + +volatile uint32_t Tms = 0; + +void sys_tick_handler(void){ + ++Tms; +} + +int main(void){ + char inbuff[MAXSTRLEN+1]; + if(StartHSE()){ + SysTick_Config((uint32_t)72000); // 1ms + }else{ + StartHSI(); + SysTick_Config((uint32_t)48000); // 1ms + } + hw_setup(); + USB_setup(); + CAN_setup(100); + uint32_t ctr = 0, lastT = 0; // ctr - for heartbeat, lastT - to turn off active LED after 0.5s + CAN_message *can_mesg; + while(1){ + IWDG->KR = IWDG_REFRESH; + if(Tms - ctr > 499){ + ctr = Tms; + pin_toggle(LEDhb_port, LEDhb_pin); // toggle LED @ PA6 + + } + if(lastT && (Tms - lastT > 499)){ + LED_off(LED0); + lastT = 0; + } + can_proc(); + USB_proc(); + if(CAN_get_status() == CAN_FIFO_OVERRUN){ + USB_sendstr("CAN bus fifo overrun occured!\n"); + } + while((can_mesg = CAN_messagebuf_pop())){ + if(can_mesg && isgood(can_mesg->ID)){ + LED_on(LED0); + lastT = Tms; + if(!lastT) lastT = 1; + if(ShowMsgs){ // new data in buff + IWDG->KR = IWDG_REFRESH; + uint8_t len = can_mesg->length; + printu(Tms); + USB_sendstr(" #"); + printuhex(can_mesg->ID); + for(uint8_t i = 0; i < len; ++i){ + USB_putbyte(' '); + printuhex(can_mesg->data[i]); + } + USB_putbyte('\n'); + } + } + } + int l = USB_receivestr(inbuff, MAXSTRLEN); + if(l < 0) USB_sendstr("ERROR: USB buffer overflow or string was too long\n"); + else if(l) cmd_parser(inbuff); + } +} diff --git a/F3:F303/CANusb/openocd.cfg b/F3:F303/CANusb/openocd.cfg new file mode 100644 index 0000000..56ccc2e --- /dev/null +++ b/F3:F303/CANusb/openocd.cfg @@ -0,0 +1,119 @@ +# SPDX-License-Identifier: GPL-2.0-or-later + +# script for stm32f3x family + +# +# stm32 devices support both JTAG and SWD transports. +# +source [find interface/stlink-v2-1.cfg] +source [find target/swj-dp.tcl] +source [find mem_helper.tcl] + +if { [info exists CHIPNAME] } { + set _CHIPNAME $CHIPNAME +} else { + set _CHIPNAME stm32f3x +} + +set _ENDIAN little + +# Work-area is a space in RAM used for flash programming +# By default use 16kB +if { [info exists WORKAREASIZE] } { + set _WORKAREASIZE $WORKAREASIZE +} else { + set _WORKAREASIZE 0x4000 +} + +# JTAG speed should be <= F_CPU/6. F_CPU after reset is 8MHz, so use F_JTAG = 1MHz +# +# Since we may be running of an RC oscilator, we crank down the speed a +# bit more to be on the safe side. Perhaps superstition, but if are +# running off a crystal, we can run closer to the limit. Note +# that there can be a pretty wide band where things are more or less stable. +adapter speed 1000 + +adapter srst delay 100 +if {[using_jtag]} { + jtag_ntrst_delay 100 +} + +#jtag scan chain +if { [info exists CPUTAPID] } { + set _CPUTAPID $CPUTAPID +} else { + if { [using_jtag] } { + # See STM Document RM0316 + # Section 29.6.3 - corresponds to Cortex-M4 r0p1 + set _CPUTAPID 0x4ba00477 + } { + set _CPUTAPID 0x2ba01477 + } +} + +swj_newdap $_CHIPNAME cpu -irlen 4 -ircapture 0x1 -irmask 0xf -expected-id $_CPUTAPID +dap create $_CHIPNAME.dap -chain-position $_CHIPNAME.cpu + +if {[using_jtag]} { + jtag newtap $_CHIPNAME bs -irlen 5 +} + +set _TARGETNAME $_CHIPNAME.cpu +target create $_TARGETNAME cortex_m -endian $_ENDIAN -dap $_CHIPNAME.dap + +$_TARGETNAME configure -work-area-phys 0x20000000 -work-area-size $_WORKAREASIZE -work-area-backup 0 + +set _FLASHNAME $_CHIPNAME.flash +flash bank $_FLASHNAME stm32f1x 0 0 0 0 $_TARGETNAME + +reset_config srst_nogate + +if {![using_hla]} { + # if srst is not fitted use SYSRESETREQ to + # perform a soft reset + cortex_m reset_config sysresetreq +} + +proc stm32f3x_default_reset_start {} { + # Reset clock is HSI (8 MHz) + adapter speed 1000 +} + +proc stm32f3x_default_examine_end {} { + # Enable debug during low power modes (uses more power) + mmw 0xe0042004 0x00000007 0 ;# DBGMCU_CR |= DBG_STANDBY | DBG_STOP | DBG_SLEEP + + # Stop watchdog counters during halt + mmw 0xe0042008 0x00001800 0 ;# DBGMCU_APB1_FZ |= DBG_IWDG_STOP | DBG_WWDG_STOP +} + +proc stm32f3x_default_reset_init {} { + # Configure PLL to boost clock to HSI x 8 (64 MHz) + mww 0x40021004 0x00380400 ;# RCC_CFGR = PLLMUL[3:1] | PPRE1[2] + mmw 0x40021000 0x01000000 0 ;# RCC_CR |= PLLON + mww 0x40022000 0x00000012 ;# FLASH_ACR = PRFTBE | LATENCY[1] + sleep 10 ;# Wait for PLL to lock + mmw 0x40021004 0x00000002 0 ;# RCC_CFGR |= SW[1] + + # Boost JTAG frequency + adapter speed 8000 +} + +# Default hooks +$_TARGETNAME configure -event examine-end { stm32f3x_default_examine_end } +$_TARGETNAME configure -event reset-start { stm32f3x_default_reset_start } +$_TARGETNAME configure -event reset-init { stm32f3x_default_reset_init } + +tpiu create $_CHIPNAME.tpiu -dap $_CHIPNAME.dap -ap-num 0 -baseaddr 0xE0040000 + +lappend _telnet_autocomplete_skip _proc_pre_enable_$_CHIPNAME.tpiu +proc _proc_pre_enable_$_CHIPNAME.tpiu {_targetname} { + targets $_targetname + + # Set TRACE_IOEN; TRACE_MODE is set to async; when using sync + # change this value accordingly to configure trace pins + # assignment + mmw 0xe0042004 0x00000020 0 +} + +$_CHIPNAME.tpiu configure -event pre-enable "_proc_pre_enable_$_CHIPNAME.tpiu $_TARGETNAME" diff --git a/F3:F303/CANusb/proto.c b/F3:F303/CANusb/proto.c new file mode 100644 index 0000000..a4c90ac --- /dev/null +++ b/F3:F303/CANusb/proto.c @@ -0,0 +1,428 @@ +/* + * This file is part of the canusb project. + * Copyright 2023 Edward V. Emelianov . + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + */ + +#include +#include + +#include "can.h" +#include "hardware.h" +#include "proto.h" +#include "version.inc" + +// software ignore buffer size +#define IGN_SIZE 10 + +extern volatile uint32_t Tms; + +uint8_t ShowMsgs = 1; +// software ignore buffers +static uint16_t Ignore_IDs[IGN_SIZE]; +static uint8_t IgnSz = 0; + +// parse `txt` to CAN_message +static CAN_message *parseCANmsg(const char *txt){ + static CAN_message canmsg; + uint32_t N; + int ctr = -1; + canmsg.ID = 0xffff; + do{ + const char *n = getnum(txt, &N); + if(txt == n) break; + txt = n; + if(ctr == -1){ + if(N > 0x7ff){ + USB_sendstr("ID should be 11-bit number!\n"); + return NULL; + } + canmsg.ID = (uint16_t)(N&0x7ff); + ctr = 0; + continue; + } + if(ctr > 7){ + USB_sendstr("ONLY 8 data bytes allowed!\n"); + return NULL; + } + if(N > 0xff){ + USB_sendstr("Every data portion is a byte!\n"); + return NULL; + } + canmsg.data[ctr++] = (uint8_t)(N&0xff); + }while(1); + if(canmsg.ID == 0xffff){ + USB_sendstr("NO ID given, send nothing!\n"); + return NULL; + } + USB_sendstr("Message parsed OK\n"); + canmsg.length = (uint8_t) ctr; + return &canmsg; +} + +// 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 = 5; + while(CAN_BUSY == can_send(msg->data, msg->length, msg->ID)){ + if(--N == 0) break; + } +} + +TRUE_INLINE void CANini(const char *txt){ + uint32_t N; + const char *n = getnum(txt, &N); + if(txt == n){ + USB_sendstr("No speed given"); + return; + } + if(N < 50){ + USB_sendstr("Lowest speed is 50kbps"); + return; + }else if(N > 3000){ + USB_sendstr("Highest speed is 3000kbps"); + return; + } + CAN_reinit((uint16_t)N); + USB_sendstr("Reinit CAN bus with speed "); + printu(N); USB_sendstr("kbps"); +} + +TRUE_INLINE void addIGN(const char *txt){ + if(IgnSz == IGN_SIZE){ + USB_sendstr("Ignore buffer is full"); + return; + } + txt = omit_spaces(txt); + uint32_t N; + const char *n = getnum(txt, &N); + if(txt == n){ + USB_sendstr("No ID given"); + return; + } + if(N > 0x7ff){ + USB_sendstr("ID should be 11-bit number!"); + return; + } + Ignore_IDs[IgnSz++] = (uint16_t)(N & 0x7ff); + USB_sendstr("Added ID "); printu(N); + USB_sendstr("\nIgn buffer size: "); printu(IgnSz); +} + +TRUE_INLINE void print_ign_buf(){ + if(IgnSz == 0){ + USB_sendstr("Ignore buffer is empty"); + return; + } + USB_sendstr("Ignored IDs:\n"); + for(int i = 0; i < IgnSz; ++i){ + printu(i); + USB_sendstr(": "); + printuhex(Ignore_IDs[i]); + USB_putbyte('\n'); + } +} + +// 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){ + USB_sendstr("Filter "); printu(ctr); USB_sendstr(", FIFO"); + if(CAN->FFA1R & mask) USB_sendstr("1"); + else USB_sendstr("0"); + USB_sendstr(" in "); + if(CAN->FM1R & mask){ // up to 4 filters in LIST mode + USB_sendstr("LIST mode, IDs: "); + printID(CAN->sFilterRegister[ctr].FR1 & 0xffff); + USB_sendstr(" "); + printID(CAN->sFilterRegister[ctr].FR1 >> 16); + USB_sendstr(" "); + printID(CAN->sFilterRegister[ctr].FR2 & 0xffff); + USB_sendstr(" "); + printID(CAN->sFilterRegister[ctr].FR2 >> 16); + }else{ // up to 2 filters in MASK mode + USB_sendstr("MASK mode: "); + if(!(CAN->sFilterRegister[ctr].FR1&0x1f)){ + USB_sendstr("ID="); printID(CAN->sFilterRegister[ctr].FR1 & 0xffff); + USB_sendstr(", MASK="); printID(CAN->sFilterRegister[ctr].FR1 >> 16); + USB_sendstr(" "); + } + if(!(CAN->sFilterRegister[ctr].FR2&0x1f)){ + USB_sendstr("ID="); printID(CAN->sFilterRegister[ctr].FR2 & 0xffff); + USB_sendstr(", MASK="); printID(CAN->sFilterRegister[ctr].FR2 >> 16); + } + } + USB_putbyte('\n'); + } + fa >>= 1; + ++ctr; + mask <<= 1; + } +} + +TRUE_INLINE void setfloodt(const char *s){ + uint32_t N; + s = omit_spaces(s); + const 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" + * 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(const char *str){ + uint32_t N; + str = omit_spaces(str); + const char *n = getnum(str, &N); + if(n == str){ + USB_sendstr("No bank# given"); + return; + } + if(N > STM32F0FBANKNO-1){ + USB_sendstr("bank# > 27"); + return; + } + uint8_t bankno = (uint8_t)N; + str = omit_spaces(n); + if(!*str){ // deactivate filter + USB_sendstr("Deactivate filters in bank "); + printu(bankno); + CAN->FMR = CAN_FMR_FINIT; + CAN->FA1R &= ~(1<FMR &=~ CAN_FMR_FINIT; + return; + } + uint8_t fifono = 0; + if(*str == '1') fifono = 1; + else if(*str != '0'){ + USB_sendstr("FIFO# is 0 or 1"); + return; + } + str = omit_spaces(str + 1); + const char c = *str; + uint8_t mode = 0; // ID + if(c == 'M' || c == 'm') mode = 1; + else if(c != 'I' && c != 'i'){ + USB_sendstr("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){ + USB_sendstr("You should add at least one filter!"); + return; + } + if(mode && (nfilt&1)){ + USB_sendstr("In MASK mode you should point pairs of ID/MASK"); + return; + } + CAN->FMR = CAN_FMR_FINIT; + uint32_t mask = 1<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; + USB_sendstr("Added filter with "); + printu(nfilt); USB_sendstr(" parameters"); +} + +const char *helpstring = + "https://github.com/eddyem/stm32samples/tree/master/F3:F303/CANusb 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" + "'e' - get CAN errcodes\n" + "'f' - add/delete filter, format: bank# FIFO# mode(M/I) num0 [num1 [num2 [num3]]]\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" + "'O' - turn LEDs ON\n" + "'p' - print ignore buffer\n" + "'P' - pause/resume in packets displaying\n" + "'R' - software reset\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 + * @param isUSB - == 1 if data got from USB + */ +void cmd_parser(char *txt){ + char _1st = txt[0]; + ++txt; + /* + * parse long commands here + */ + switch(_1st){ + case 'a': + addIGN(txt); + goto eof; + break; + case 'b': + CANini(txt); + goto eof; + break; + case 'f': + add_filter(txt); + goto eof; + break; + case 'F': + set_flood(parseCANmsg(txt)); + goto eof; + break; + case 's': + case 'S': + USB_sendstrCANcommand(txt); + goto eof; + break; + case 't': + setfloodt(txt); + goto eof; + break; + } + if(*txt) _1st = '?'; // help for wrong message length + switch(_1st){ + case 'c': + getcanstat(); + break; + case 'd': + IgnSz = 0; + break; + case 'e': + printCANerr(); + break; + case 'I': + CAN_reinit(0); + break; + case 'l': + list_filters(); + break; + case 'o': + ledsON = 0; + LED_off(LED0); + LED_off(LED1); + break; + case 'O': + ledsON = 1; + break; + case 'p': + print_ign_buf(); + break; + case 'P': + ShowMsgs = !ShowMsgs; + if(ShowMsgs) USB_sendstr("Resume\n"); + else USB_sendstr("Pause\n"); + break; + case 'R': + USB_sendstr("Soft reset\n"); + USB_sendall(); // wait until everything will gone + NVIC_SystemReset(); + break; + case 'T': + USB_sendstr("Time (ms): "); + printu(Tms); + USB_putbyte('\n'); + break; + default: // help + USB_sendstr(helpstring); + break; + } +eof: + USB_putbyte('\n'); +} + +// check Ignore_IDs & return 1 if ID isn't in list +uint8_t isgood(uint16_t ID){ + for(int i = 0; i < IgnSz; ++i) + if(Ignore_IDs[i] == ID) return 0; + return 1; +} diff --git a/F3:F303/CANusb/proto.h b/F3:F303/CANusb/proto.h new file mode 100644 index 0000000..c9aeb5c --- /dev/null +++ b/F3:F303/CANusb/proto.h @@ -0,0 +1,32 @@ +/* + * This file is part of the canusb project. + * Copyright 2023 Edward V. Emelianov . + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + */ + +#pragma once + +#include + +#include "strfunc.h" +#include "usb.h" + +#define printu(x) do{USB_sendstr(u2str(x));}while(0) +#define printuhex(x) do{USB_sendstr(uhex2str(x));}while(0) + +extern uint8_t ShowMsgs; // show CAN messages flag + +void cmd_parser(char *txt); +uint8_t isgood(uint16_t ID); diff --git a/F3:F303/CANusb/ringbuffer.c b/F3:F303/CANusb/ringbuffer.c new file mode 100644 index 0000000..d355cf8 --- /dev/null +++ b/F3:F303/CANusb/ringbuffer.c @@ -0,0 +1,124 @@ +/* + * This file is part of the canusb project. + * Copyright 2023 Edward V. Emelianov . + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + */ + +#include "ringbuffer.h" + +// stored data length +int RB_datalen(ringbuffer *b){ + if(b->tail >= b->head) return (b->tail - b->head); + else return (b->length - b->head + b->tail); +} + +/** + * @brief RB_hasbyte - check if buffer has given byte stored + * @param b - buffer + * @param byte - byte to find + * @return index if found, -1 if none + */ +int RB_hasbyte(ringbuffer *b, uint8_t byte){ + if(b->head == b->tail) return -1; // no data in buffer + int startidx = b->head; + if(b->head > b->tail){ // + for(int found = b->head; found < b->length; ++found) + if(b->data[found] == byte) return found; + startidx = 0; + } + for(int found = startidx; found < b->tail; ++found) + if(b->data[found] == byte) return found; + return -1; +} + +// poor memcpy +static void mcpy(uint8_t *targ, const uint8_t *src, int l){ + while(l--) *targ++ = *src++; +} + +// increment head or tail +TRUE_INLINE void incr(ringbuffer *b, volatile int *what, int n){ + *what += n; + if(*what >= b->length) *what -= b->length; +} + +/** + * @brief RB_read - read data from ringbuffer + * @param b - buffer + * @param s - array to write data + * @param len - max len of `s` + * @return bytes read + */ +int RB_read(ringbuffer *b, uint8_t *s, int len){ + int l = RB_datalen(b); + if(!l) return 0; + if(l > len) l = len; + int _1st = b->length - b->head; + if(_1st > l) _1st = l; + if(_1st > len) _1st = len; + mcpy(s, b->data + b->head, _1st); + if(_1st < len && l > _1st){ + mcpy(s+_1st, b->data, l - _1st); + incr(b, &b->head, l); + return l; + } + incr(b, &b->head, _1st); + return _1st; +} + +/** + * @brief RB_readto fill array `s` with data until byte `byte` (with it) + * @param b - ringbuffer + * @param byte - check byte + * @param s - buffer to write data + * @param len - length of `s` + * @return amount of bytes written (negative, if lenhead; + // now calculate length of new data portion + if(idx < b->head) partlen += b->length; + if(partlen > len) return -RB_read(b, s, len); + return RB_read(b, s, partlen); +} + +/** + * @brief RB_write - write some data to ringbuffer + * @param b - buffer + * @param str - data + * @param l - length + * @return amount of bytes written + */ +int RB_write(ringbuffer *b, const uint8_t *str, int l){ + int r = b->length - 1 - RB_datalen(b); // rest length + if(l > r) l = r; + if(!l) return 0; + int _1st = b->length - b->tail; + if(_1st > l) _1st = l; + mcpy(b->data + b->tail, str, _1st); + if(_1st < l){ // add another piece from start + mcpy(b->data, str+_1st, l-_1st); + } + incr(b, &b->tail, l); + return l; +} + +// just delete all information in buffer `b` +void RB_clearbuf(ringbuffer *b){ + b->head = 0; + b->tail = 0; +} diff --git a/F3:F303/CANusb/ringbuffer.h b/F3:F303/CANusb/ringbuffer.h new file mode 100644 index 0000000..8060fae --- /dev/null +++ b/F3:F303/CANusb/ringbuffer.h @@ -0,0 +1,35 @@ +/* + * This file is part of the canusb project. + * Copyright 2023 Edward V. Emelianov . + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + */ + +#pragma once + +#include + +typedef struct{ + uint8_t *data; // data buffer + const int length; // its length + int head; // head index + int tail; // tail index +} ringbuffer; + +int RB_read(ringbuffer *b, uint8_t *s, int len); +int RB_readto(ringbuffer *b, uint8_t byte, uint8_t *s, int len); +int RB_hasbyte(ringbuffer *b, uint8_t byte); +int RB_write(ringbuffer *b, const uint8_t *str, int l); +int RB_datalen(ringbuffer *b); +void RB_clearbuf(ringbuffer *b); diff --git a/F3:F303/CANusb/strfunc.c b/F3:F303/CANusb/strfunc.c new file mode 100644 index 0000000..c006e59 --- /dev/null +++ b/F3:F303/CANusb/strfunc.c @@ -0,0 +1,256 @@ +#include + +/** + * @brief hexdump - dump hex array by 16 bytes in string + * @param sendfun - function to send data + * @param arr - array to dump + * @param len - length of `arr` + */ +void hexdump(int (*sendfun)(const char *s), uint8_t *arr, uint16_t len){ + char buf[52], *bptr = buf; + for(uint16_t l = 0; l < len; ++l, ++arr){ + for(int16_t j = 1; j > -1; --j){ + register uint8_t half = (*arr >> (4*j)) & 0x0f; + if(half < 10) *bptr++ = half + '0'; + else *bptr++ = half - 10 + 'a'; + } + if(l % 16 == 15){ + *bptr++ = '\n'; + *bptr = 0; + sendfun(buf); + bptr = buf; + }else *bptr++ = ' '; + } + if(bptr != buf){ + *bptr++ = '\n'; + *bptr = 0; + sendfun(buf); + } +} + +/** + * @brief _2str - convert value into string buffer + * @param val - |value| + * @param minus - ==0 if value > 0 + * @return buffer with number + */ +static char *_2str(uint32_t val, uint8_t minus){ + static char strbuf[12]; + char *bufptr = &strbuf[11]; + *bufptr = 0; + if(!val){ + *(--bufptr) = '0'; + }else{ + while(val){ + uint32_t x = val / 10; + *(--bufptr) = (val - 10*x) + '0'; + val = x; + //*(--bufptr) = val % 10 + '0'; + //val /= 10; + } + } + if(minus) *(--bufptr) = '-'; + return bufptr; +} + +// return string with number `val` +char *u2str(uint32_t val){ + return _2str(val, 0); +} +char *i2str(int32_t i){ + uint8_t minus = 0; + uint32_t val; + if(i < 0){ + minus = 1; + val = -i; + }else val = i; + return _2str(val, minus); +} + +/** + * @brief uhex2str - print 32bit unsigned int as hex + * @param val - value + * @return string with number + */ +char *uhex2str(uint32_t val){ + static char buf[12] = "0x"; + int npos = 2; + uint8_t *ptr = (uint8_t*)&val + 3; + int8_t i, j, z=1; + for(i = 0; i < 4; ++i, --ptr){ + if(*ptr == 0){ // omit leading zeros + if(i == 3) z = 0; + if(z) continue; + } + else z = 0; + for(j = 1; j > -1; --j){ + uint8_t half = (*ptr >> (4*j)) & 0x0f; + if(half < 10) buf[npos++] = half + '0'; + else buf[npos++] = half - 10 + 'a'; + } + } + buf[npos] = 0; + return buf; +} + +/** + * @brief omit_spaces - eliminate leading spaces and other trash in string + * @param buf - string + * @return - pointer to first character in `buf` > ' ' + */ +const char *omit_spaces(const char *buf){ + while(*buf){ + if(*buf > ' ') break; + ++buf; + } + return buf; +} + +/** + * @brief getdec - read decimal number & return pointer to next non-number symbol + * @param buf - string + * @param N - number read + * @return Next non-number symbol. In case of overflow return `buf` and N==0xffffffff + */ +static const char *getdec(const char *buf, uint32_t *N){ + char *start = (char*)buf; + uint32_t num = 0; + while(*buf){ + char c = *buf; + if(c < '0' || c > '9'){ + break; + } + if(num > 429496729 || (num == 429496729 && c > '5')){ // overflow + *N = 0xffffff; + return start; + } + num *= 10; + num += c - '0'; + ++buf; + } + *N = num; + return buf; +} +// read hexadecimal number (without 0x prefix!) +static const char *gethex(const char *buf, uint32_t *N){ + const char *start = buf; + 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){ + if(num & 0xf0000000){ // overflow + *N = 0xffffff; + return start; + } + num <<= 4; + num += c - M; + }else{ + break; + } + ++buf; + } + *N = num; + return buf; +} +// read octal number (without 0 prefix!) +static const char *getoct(const char *buf, uint32_t *N){ + const char *start = (char*)buf; + uint32_t num = 0; + while(*buf){ + char c = *buf; + if(c < '0' || c > '7'){ + break; + } + if(num & 0xe0000000){ // overflow + *N = 0xffffff; + return start; + } + num <<= 3; + num += c - '0'; + ++buf; + } + *N = num; + return buf; +} +// read binary number (without b prefix!) +static const char *getbin(const char *buf, uint32_t *N){ + const char *start = (char*)buf; + uint32_t num = 0; + while(*buf){ + char c = *buf; + if(c < '0' || c > '1'){ + break; + } + if(num & 0x80000000){ // overflow + *N = 0xffffff; + return start; + } + 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 or if *N==0xffffffff there was overflow) + */ +const char *getnum(const char *txt, uint32_t *N){ + const char *nxt = NULL; + const char *s = omit_spaces(txt); + if(*s == '0'){ // hex, oct or 0 + if(s[1] == 'x' || s[1] == 'X'){ // hex + nxt = gethex(s+2, N); + if(nxt == s+2) nxt = (char*)txt; + }else if(s[1] > '0'-1 && s[1] < '8'){ // oct + nxt = getoct(s+1, N); + if(nxt == s+1) nxt = (char*)txt; + }else{ // 0 + nxt = s+1; + *N = 0; + } + }else if(*s == 'b' || *s == 'B'){ + nxt = getbin(s+1, N); + if(nxt == s+1) nxt = (char*)txt; + }else{ + nxt = getdec(s, N); + if(nxt == s) nxt = (char*)txt; + } + return nxt; +} + +// get signed integer +const char *getint(const char *txt, int32_t *I){ + const char *s = omit_spaces(txt); + int32_t sign = 1; + uint32_t U; + if(*s == '-'){ + sign = -1; + ++s; + } + const char *nxt = getnum(s, &U); + if(nxt == s) return txt; + if(U & 0x80000000) return txt; // overfull + *I = sign * (int32_t)U; + return nxt; +} + +/* +void mymemcpy(char *dest, const char *src, int len){ + if(len < 1) return; + while(len--) *dest++ = *src++; +} +*/ diff --git a/F3:F303/CANusb/strfunc.h b/F3:F303/CANusb/strfunc.h new file mode 100644 index 0000000..e42ffdb --- /dev/null +++ b/F3:F303/CANusb/strfunc.h @@ -0,0 +1,13 @@ +#pragma once + +#include +#include + +void hexdump(int (*sendfun)(const char *s), uint8_t *arr, uint16_t len); +const char *u2str(uint32_t val); +const char *i2str(int32_t i); +const char *uhex2str(uint32_t val); +const char *getnum(const char *txt, uint32_t *N); +const char *omit_spaces(const char *buf); +const char *getint(const char *txt, int32_t *I); +//void mymemcpy(char *dest, const char *src, int len); diff --git a/F3:F303/CANusb/usb.c b/F3:F303/CANusb/usb.c new file mode 100644 index 0000000..25f7f79 --- /dev/null +++ b/F3:F303/CANusb/usb.c @@ -0,0 +1,176 @@ +/* + * This file is part of the canusb project. + * Copyright 2023 Edward V. Emelianov . + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + */ + +#include + +#include "hardware.h" +#include "ringbuffer.h" +#include "usb.h" +#include "usb_lib.h" + +static volatile uint8_t usbbuff[USB_TXBUFSZ]; // temporary buffer for sending data +// ring buffers for incoming and outgoing data +static uint8_t obuf[RBOUTSZ], ibuf[RBINSZ]; +static volatile ringbuffer out = {.data = obuf, .length = RBOUTSZ, .head = 0, .tail = 0}; +static volatile ringbuffer in = {.data = ibuf, .length = RBINSZ, .head = 0, .tail = 0}; +// transmission is succesfull +static volatile uint8_t bufisempty = 1; +static volatile uint8_t bufovrfl = 0; + +static void send_next(){ + if(bufisempty) return; + static int lastdsz = 0; + int buflen = RB_read((ringbuffer*)&out, (uint8_t*)usbbuff, USB_TXBUFSZ); + if(!buflen){ + if(lastdsz == 64) EP_Write(3, NULL, 0); // send ZLP after 64 bits packet when nothing more to send + lastdsz = 0; + bufisempty = 1; + return; + } + EP_Write(3, (uint8_t*)usbbuff, buflen); + lastdsz = buflen; +} + +// blocking send full content of ring buffer +int USB_sendall(){ + while(!bufisempty){ + if(!usbON) return 0; + } + return 1; +} + +// put `buf` into queue to send +int USB_send(const uint8_t *buf, int len){ + if(!buf || !usbON || !len) return 0; + while(len){ + int a = RB_write((ringbuffer*)&out, buf, len); + len -= a; + buf += a; + if(bufisempty){ + bufisempty = 0; + send_next(); + } + } + return 1; +} + +int USB_putbyte(uint8_t byte){ + if(!usbON) return 0; + while(0 == RB_write((ringbuffer*)&out, &byte, 1)){ + if(bufisempty){ + bufisempty = 0; + send_next(); + } + } + return 1; +} + +int USB_sendstr(const char *string){ + if(!string || !usbON) return 0; + int len = 0; + const char *b = string; + while(*b++) ++len; + if(!len) return 0; + return USB_send((const uint8_t*)string, len); +} + +/** + * @brief USB_receive - get binary data from receiving ring-buffer + * @param buf (i) - buffer for received data + * @param len - length of `buf` + * @return amount of received bytes (negative, if overfull happened) + */ +int USB_receive(uint8_t *buf, int len){ + int sz = RB_read((ringbuffer*)&in, buf, len); + if(bufovrfl){ + RB_clearbuf((ringbuffer*)&in); + if(!sz) sz = -1; + else sz = -sz; + bufovrfl = 0; + } + return sz; +} + +/** + * @brief USB_receivestr - get string up to '\n' and replace '\n' with 0 + * @param buf - receiving buffer + * @param len - its length + * @return strlen or negative value indicating overflow (if so, string won't be ends with 0 and buffer should be cleared) + */ +int USB_receivestr(char *buf, int len){ + int l = RB_readto((ringbuffer*)&in, '\n', (uint8_t*)buf, len); + if(l == 0) return 0; + if(--l < 0 || bufovrfl) RB_clearbuf((ringbuffer*)&in); + else buf[l] = 0; // replace '\n' with strend + if(bufovrfl){ + if(l > 0) l = -l; + else l = -1; + bufovrfl = 0; + } + return l; +} + +// interrupt IN handler (never used?) +static void EP1_Handler(){ + uint16_t epstatus = KEEP_DTOG(USB->EPnR[1]); + if(RX_FLAG(epstatus)) epstatus = (epstatus & ~USB_EPnR_STAT_TX) ^ USB_EPnR_STAT_RX; // set valid RX + else epstatus = epstatus & ~(USB_EPnR_STAT_TX|USB_EPnR_STAT_RX); + // clear CTR + epstatus = (epstatus & ~(USB_EPnR_CTR_RX|USB_EPnR_CTR_TX)); + USB->EPnR[1] = epstatus; +} + +// data IN/OUT handlers +static void transmit_Handler(){ // EP3IN + uint16_t epstatus = KEEP_DTOG_STAT(USB->EPnR[3]); + // clear CTR keep DTOGs & STATs + USB->EPnR[3] = (epstatus & ~(USB_EPnR_CTR_TX)); // clear TX ctr + send_next(); +} + +static void receive_Handler(){ // EP2OUT + uint8_t buf[USB_RXBUFSZ]; + uint16_t epstatus = KEEP_DTOG(USB->EPnR[2]); + uint8_t sz = EP_Read(2, (uint16_t*)buf); + if(sz){ + if(RB_write((ringbuffer*)&in, buf, sz) != sz) bufovrfl = 1; + } + // keep stat_tx & set ACK rx, clear RX ctr + USB->EPnR[2] = (epstatus & ~USB_EPnR_CTR_RX) ^ USB_EPnR_STAT_RX; +} + +void USB_proc(){ + switch(USB_Dev.USB_Status){ + case USB_STATE_CONFIGURED: + // make new BULK endpoint + // Buffer have 1024 bytes, but last 256 we use for CAN bus (30.2 of RM: USB main features) + EP_Init(1, EP_TYPE_INTERRUPT, USB_EP1BUFSZ, 0, EP1_Handler); // IN1 - transmit + EP_Init(2, EP_TYPE_BULK, 0, USB_RXBUFSZ, receive_Handler); // OUT2 - receive data + EP_Init(3, EP_TYPE_BULK, USB_TXBUFSZ, 0, transmit_Handler); // IN3 - transmit data + USB_Dev.USB_Status = USB_STATE_CONNECTED; + break; + case USB_STATE_DEFAULT: + case USB_STATE_ADDRESSED: + if(usbON){ + usbON = 0; + } + break; + default: // USB_STATE_CONNECTED - send next data portion + if(!usbON) return; + } +} diff --git a/F3:F303/CANusb/usb.h b/F3:F303/CANusb/usb.h new file mode 100644 index 0000000..c73b206 --- /dev/null +++ b/F3:F303/CANusb/usb.h @@ -0,0 +1,41 @@ +/* + * This file is part of the canusb project. + * Copyright 2023 Edward V. Emelianov . + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + */ + +#pragma once + +#include "usbhw.h" + +// sizes of ringbuffers for outgoing and incoming data +#define RBOUTSZ (512) +#define RBINSZ (512) + +#define newline() USB_putbyte('\n') + +#ifdef EBUG +#define DBG(str) do{USB_sendstr(__FILE__ " (L" STR(__LINE__) "): " str);}while(0) +#else +#define DBG(str) +#endif + +void USB_proc(); +int USB_sendall(); +int USB_send(const uint8_t *buf, int len); +int USB_putbyte(uint8_t byte); +int USB_sendstr(const char *string); +int USB_receive(uint8_t *buf, int len); +int USB_receivestr(char *buf, int len); diff --git a/F3:F303/CANusb/usb_lib.c b/F3:F303/CANusb/usb_lib.c new file mode 100644 index 0000000..c2b7a87 --- /dev/null +++ b/F3:F303/CANusb/usb_lib.c @@ -0,0 +1,389 @@ +/* + * This file is part of the canusb project. + * Copyright 2023 Edward V. Emelianov . + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + */ + +#include +#include "usb_lib.h" + +ep_t endpoints[STM32ENDPOINTS]; + +usb_dev_t USB_Dev; +static usb_LineCoding lineCoding = {115200, 0, 0, 8}; +config_pack_t setup_packet; +uint8_t ep0databuf[EP0DATABUF_SIZE]; +uint8_t ep0dbuflen = 0; + +usb_LineCoding getLineCoding(){return lineCoding;} + +volatile uint8_t usbON = 0; // device disconnected from terminal + +// definition of parts common for USB_DeviceDescriptor & USB_DeviceQualifierDescriptor +#define bcdUSB_L 0x10 +#define bcdUSB_H 0x01 +#define bDeviceClass 0 +#define bDeviceSubClass 0 +#define bDeviceProtocol 0 +#define bNumConfigurations 1 + +static const uint8_t USB_DeviceDescriptor[] = { + 18, // bLength + 0x01, // bDescriptorType - Device descriptor + bcdUSB_L, // bcdUSB_L - 1.10 + bcdUSB_H, // bcdUSB_H + bDeviceClass, // bDeviceClass - USB_COMM + bDeviceSubClass, // bDeviceSubClass + bDeviceProtocol, // bDeviceProtocol + USB_EP0_BUFSZ, // bMaxPacketSize + 0x7b, // idVendor_L PL2303: VID=0x067b, PID=0x2303 + 0x06, // idVendor_H + 0x03, // idProduct_L + 0x23, // idProduct_H + 0x00, // bcdDevice_Ver_L + 0x03, // bcdDevice_Ver_H + 0x01, // iManufacturer + 0x02, // iProduct + 0x00, // iSerialNumber + bNumConfigurations // bNumConfigurations +}; + +static const uint8_t USB_DeviceQualifierDescriptor[] = { + 10, //bLength + 0x06, // bDescriptorType - Device qualifier + bcdUSB_L, // bcdUSB_L + bcdUSB_H, // bcdUSB_H + bDeviceClass, // bDeviceClass + bDeviceSubClass, // bDeviceSubClass + bDeviceProtocol, // bDeviceProtocol + USB_EP0_BUFSZ, // bMaxPacketSize0 + bNumConfigurations, // bNumConfigurations + 0x00 // Reserved +}; + +static const uint8_t USB_ConfigDescriptor[] = { + /*Configuration Descriptor*/ + 0x09, /* bLength: Configuration Descriptor size */ + 0x02, /* bDescriptorType: Configuration */ + 39, /* wTotalLength:no of returned bytes */ + 0x00, + 0x01, /* bNumInterfaces: 1 interface */ + 0x01, /* bConfigurationValue: Configuration value */ + 0x00, /* iConfiguration: Index of string descriptor describing the configuration */ + 0xa0, /* bmAttributes - Bus powered, Remote wakeup */ + 0x32, /* MaxPower 100 mA */ + + /*---------------------------------------------------------------------------*/ + + /*Interface Descriptor */ + 0x09, /* bLength: Interface Descriptor size */ + 0x04, /* bDescriptorType: Interface */ + 0x00, /* bInterfaceNumber: Number of Interface */ + 0x00, /* bAlternateSetting: Alternate setting */ + 0x03, /* bNumEndpoints: 3 endpoints used */ + 0xff, /* bInterfaceClass */ + 0x00, /* bInterfaceSubClass */ + 0x00, /* bInterfaceProtocol */ + 0x00, /* iInterface: */ +/////////////////////////////////////////////////// + /*Endpoint 1 Descriptor*/ + 0x07, /* bLength: Endpoint Descriptor size */ + 0x05, /* bDescriptorType: Endpoint */ + 0x81, /* bEndpointAddress IN1 */ + 0x03, /* bmAttributes: Interrupt */ + 0x0a, /* wMaxPacketSize LO: */ + 0x00, /* wMaxPacketSize HI: */ + 0x01, /* bInterval: */ + + /*Endpoint OUT2 Descriptor*/ + 0x07, /* bLength: Endpoint Descriptor size */ + 0x05, /* bDescriptorType: Endpoint */ + 0x02, /* bEndpointAddress: OUT2 */ + 0x02, /* bmAttributes: Bulk */ + (USB_RXBUFSZ & 0xff), /* wMaxPacketSize: 64 */ + (USB_RXBUFSZ >> 8), + 0x00, /* bInterval: ignore for Bulk transfer */ + + /*Endpoint IN3 Descriptor*/ + 0x07, /* bLength: Endpoint Descriptor size */ + 0x05, /* bDescriptorType: Endpoint */ + 0x83, /* bEndpointAddress IN3 */ + 0x02, /* bmAttributes: Bulk */ + (USB_TXBUFSZ & 0xff), /* wMaxPacketSize: 64 */ + (USB_TXBUFSZ >> 8), + 0x00, /* bInterval: ignore for Bulk transfer */ +}; + +_USB_LANG_ID_(USB_StringLangDescriptor, LANG_US); +// these descriptors are not used in PL2303 emulator! +_USB_STRING_(USB_StringSerialDescriptor, u"0"); +_USB_STRING_(USB_StringManufacturingDescriptor, u"Prolific Technology Inc."); +_USB_STRING_(USB_StringProdDescriptor, u"USB-Serial Controller"); + +/* + * default handlers + */ +// SET_LINE_CODING +void WEAK linecoding_handler(usb_LineCoding __attribute__((unused)) *lc){ +} + +// SET_CONTROL_LINE_STATE +void WEAK clstate_handler(uint16_t __attribute__((unused)) val){ +} + +// SEND_BREAK +void WEAK break_handler(){ +} + +// handler of vendor requests +void WEAK vendor_handler(config_pack_t *packet){ + uint16_t c; + if(packet->bmRequestType & 0x80){ // read + switch(packet->wValue){ + case 0x8484: + c = 2; + break; + case 0x0080: + c = 1; + break; + case 0x8686: + c = 0xaa; + break; + default: + c = 0; + } + EP_WriteIRQ(0, (uint8_t*)&c, 1); + }else{ // write ZLP + c = 0; + EP_WriteIRQ(0, (uint8_t *)&c, 0); + } +} + +static void wr0(const uint8_t *buf, uint16_t size){ + if(setup_packet.wLength < size) size = setup_packet.wLength; // shortened request + if(size < endpoints[0].txbufsz){ + EP_WriteIRQ(0, buf, size); + return; + } + while(size){ + uint16_t l = size; + if(l > endpoints[0].txbufsz) l = endpoints[0].txbufsz; + EP_WriteIRQ(0, buf, l); + buf += l; + size -= l; + uint8_t needzlp = (l == endpoints[0].txbufsz) ? 1 : 0; + if(size || needzlp){ // send last data buffer + uint16_t status = KEEP_DTOG(USB->EPnR[0]); + // keep DTOGs, clear CTR_RX,TX, set TX VALID, leave stat_Rx + USB->EPnR[0] = (status & ~(USB_EPnR_CTR_RX|USB_EPnR_CTR_TX|USB_EPnR_STAT_RX)) + ^ USB_EPnR_STAT_TX; + uint32_t ctr = 1000000; + while(--ctr && (USB->ISTR & USB_ISTR_CTR) == 0){IWDG->KR = IWDG_REFRESH;}; + if((USB->ISTR & USB_ISTR_CTR) == 0){ + return; + } + if(needzlp) EP_WriteIRQ(0, (uint8_t*)0, 0); + } + } +} + +static inline void get_descriptor(){ + switch(setup_packet.wValue){ + case DEVICE_DESCRIPTOR: + wr0(USB_DeviceDescriptor, sizeof(USB_DeviceDescriptor)); + break; + case CONFIGURATION_DESCRIPTOR: + wr0(USB_ConfigDescriptor, sizeof(USB_ConfigDescriptor)); + break; + case STRING_LANG_DESCRIPTOR: + wr0((const uint8_t *)&USB_StringLangDescriptor, STRING_LANG_DESCRIPTOR_SIZE_BYTE); + break; + case STRING_MAN_DESCRIPTOR: + wr0((const uint8_t *)&USB_StringManufacturingDescriptor, USB_StringManufacturingDescriptor.bLength); + break; + case STRING_PROD_DESCRIPTOR: + wr0((const uint8_t *)&USB_StringProdDescriptor, USB_StringProdDescriptor.bLength); + break; + case STRING_SN_DESCRIPTOR: + wr0((const uint8_t *)&USB_StringSerialDescriptor, USB_StringSerialDescriptor.bLength); + break; + case DEVICE_QUALIFIER_DESCRIPTOR: + wr0(USB_DeviceQualifierDescriptor, USB_DeviceQualifierDescriptor[0]); + break; + default: + break; + } +} + +static uint16_t configuration = 0; // reply for GET_CONFIGURATION (==1 if configured) +static inline void std_d2h_req(){ + uint16_t status = 0; // bus powered + switch(setup_packet.bRequest){ + case GET_DESCRIPTOR: + get_descriptor(); + break; + case GET_STATUS: + EP_WriteIRQ(0, (uint8_t *)&status, 2); // send status: Bus Powered + break; + case GET_CONFIGURATION: + EP_WriteIRQ(0, (uint8_t*)&configuration, 1); + break; + default: + break; + } +} + +static inline void std_h2d_req(){ + switch(setup_packet.bRequest){ + case SET_ADDRESS: + // new address will be assigned later - after acknowlegement or request to host + USB_Dev.USB_Addr = setup_packet.wValue; + break; + case SET_CONFIGURATION: + // Now device configured + USB_Dev.USB_Status = USB_STATE_CONFIGURED; + configuration = setup_packet.wValue; + break; + default: + break; + } +} + +/* +bmRequestType: 76543210 +7 direction: 0 - host->device, 1 - device->host +65 type: 0 - standard, 1 - class, 2 - vendor +4..0 getter: 0 - device, 1 - interface, 2 - endpoint, 3 - other +*/ +/** + * Endpoint0 (control) handler + */ +void EP0_Handler(){ + uint16_t epstatus = USB->EPnR[0]; // EP0R on input -> return this value after modifications + uint8_t reqtype = setup_packet.bmRequestType & 0x7f; + uint8_t dev2host = (setup_packet.bmRequestType & 0x80) ? 1 : 0; + int rxflag = RX_FLAG(epstatus); + if(rxflag && SETUP_FLAG(epstatus)){ + switch(reqtype){ + case STANDARD_DEVICE_REQUEST_TYPE: // standard device request + if(dev2host){ + std_d2h_req(); + }else{ + std_h2d_req(); + EP_WriteIRQ(0, (uint8_t *)0, 0); + } + break; + case STANDARD_ENDPOINT_REQUEST_TYPE: // standard endpoint request + if(setup_packet.bRequest == CLEAR_FEATURE){ + EP_WriteIRQ(0, (uint8_t *)0, 0); + } + break; + case VENDOR_REQUEST_TYPE: + vendor_handler(&setup_packet); + break; + case CONTROL_REQUEST_TYPE: + switch(setup_packet.bRequest){ + case GET_LINE_CODING: + EP_WriteIRQ(0, (uint8_t*)&lineCoding, sizeof(lineCoding)); + break; + case SET_LINE_CODING: // omit this for next stage, when data will come + break; + case SET_CONTROL_LINE_STATE: + usbON = 1; + clstate_handler(setup_packet.wValue); + break; + case SEND_BREAK: + usbON = 0; + break_handler(); + break; + default: + break; + } + if(setup_packet.bRequest != GET_LINE_CODING) EP_WriteIRQ(0, (uint8_t *)0, 0); // write acknowledgement + break; + default: + EP_WriteIRQ(0, (uint8_t *)0, 0); + } + }else if(rxflag){ // got data over EP0 or host acknowlegement + if(endpoints[0].rx_cnt){ + if(setup_packet.bRequest == SET_LINE_CODING){ + linecoding_handler((usb_LineCoding*)ep0databuf); + } + } + } else if(TX_FLAG(epstatus)){ // package transmitted + // now we can change address after enumeration + if ((USB->DADDR & USB_DADDR_ADD) != USB_Dev.USB_Addr){ + USB->DADDR = USB_DADDR_EF | USB_Dev.USB_Addr; + // change state to ADRESSED + USB_Dev.USB_Status = USB_STATE_ADDRESSED; + } + } + epstatus = KEEP_DTOG(USB->EPnR[0]); + if(rxflag) epstatus ^= USB_EPnR_STAT_TX; // start ZLP/data transmission + else epstatus &= ~USB_EPnR_STAT_TX; // or leave unchanged + // keep DTOGs, clear CTR_RX,TX, set RX VALID + USB->EPnR[0] = (epstatus & ~(USB_EPnR_CTR_RX|USB_EPnR_CTR_TX)) ^ USB_EPnR_STAT_RX; +} + +/** + * Write data to EP buffer (called from IRQ handler) + * @param number - EP number + * @param *buf - array with data + * @param size - its size + */ +void EP_WriteIRQ(uint8_t number, const uint8_t *buf, uint16_t size){ + uint8_t i; + if(size > endpoints[number].txbufsz) size = endpoints[number].txbufsz; + uint16_t N2 = (size + 1) >> 1; + // the buffer is 16-bit, so we should copy data as it would be uint16_t + uint16_t *buf16 = (uint16_t *)buf; + uint32_t *out = (uint32_t *)endpoints[number].tx_buf; + for(i = 0; i < N2; ++i, ++out){ + *out = buf16[i]; + } + USB_BTABLE->EP[number].USB_COUNT_TX = size; +} + +/** + * Write data to EP buffer (called outside IRQ handler) + * @param number - EP number + * @param *buf - array with data + * @param size - its size + */ +void EP_Write(uint8_t number, const uint8_t *buf, uint16_t size){ + EP_WriteIRQ(number, buf, size); + uint16_t status = KEEP_DTOG(USB->EPnR[number]); + // keep DTOGs, clear CTR_TX & set TX VALID to start transmission + USB->EPnR[number] = (status & ~(USB_EPnR_CTR_TX)) ^ USB_EPnR_STAT_TX; +} + +/* + * Copy data from EP buffer into user buffer area + * @param *buf - user array for data + * @return amount of data read + */ +int EP_Read(uint8_t number, uint16_t *buf){ + int sz = endpoints[number].rx_cnt; + if(!sz) return 0; + endpoints[number].rx_cnt = 0; + int n = (sz + 1) >> 1; + uint32_t *in = (uint32_t *)endpoints[number].rx_buf; + if(n){ + for(int i = 0; i < n; ++i, ++in) + buf[i] = *(uint16_t*)in; + } + return sz; +} + diff --git a/F3:F303/CANusb/usb_lib.h b/F3:F303/CANusb/usb_lib.h new file mode 100644 index 0000000..8e80b62 --- /dev/null +++ b/F3:F303/CANusb/usb_lib.h @@ -0,0 +1,182 @@ +/* + * This file is part of the canusb project. + * Copyright 2023 Edward V. Emelianov . + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + */ + +#pragma once + +#include +#include "usbhw.h" + +#define EP0DATABUF_SIZE (64) +#define LASTADDR_DEFAULT (STM32ENDPOINTS * 8) + +// bmRequestType & 0x7f +#define STANDARD_DEVICE_REQUEST_TYPE 0 +#define STANDARD_ENDPOINT_REQUEST_TYPE 2 +#define VENDOR_REQUEST_TYPE 0x40 +#define CONTROL_REQUEST_TYPE 0x21 +// bRequest, standard; for bmRequestType == 0x80 +#define GET_STATUS 0x00 +#define GET_DESCRIPTOR 0x06 +#define GET_CONFIGURATION 0x08 +// for bmRequestType == 0 +#define CLEAR_FEATURE 0x01 +#define SET_FEATURE 0x03 // unused +#define SET_ADDRESS 0x05 +#define SET_DESCRIPTOR 0x07 // unused +#define SET_CONFIGURATION 0x09 +// for bmRequestType == 0x81, 1 or 0xB2 +#define GET_INTERFACE 0x0A // unused +#define SET_INTERFACE 0x0B // unused +#define SYNC_FRAME 0x0C // unused +#define VENDOR_REQUEST 0x01 // unused + +// Class-Specific Control Requests +#define SEND_ENCAPSULATED_COMMAND 0x00 // unused +#define GET_ENCAPSULATED_RESPONSE 0x01 // unused +#define SET_COMM_FEATURE 0x02 // unused +#define GET_COMM_FEATURE 0x03 // unused +#define CLEAR_COMM_FEATURE 0x04 // unused +#define SET_LINE_CODING 0x20 +#define GET_LINE_CODING 0x21 +#define SET_CONTROL_LINE_STATE 0x22 +#define SEND_BREAK 0x23 + +// control line states +#define CONTROL_DTR 0x01 +#define CONTROL_RTS 0x02 + +// wValue +#define DEVICE_DESCRIPTOR 0x100 +#define CONFIGURATION_DESCRIPTOR 0x200 +#define STRING_LANG_DESCRIPTOR 0x300 +#define STRING_MAN_DESCRIPTOR 0x301 +#define STRING_PROD_DESCRIPTOR 0x302 +#define STRING_SN_DESCRIPTOR 0x303 +#define DEVICE_QUALIFIER_DESCRIPTOR 0x600 + +#define RX_FLAG(epstat) (epstat & USB_EPnR_CTR_RX) +#define TX_FLAG(epstat) (epstat & USB_EPnR_CTR_TX) +#define SETUP_FLAG(epstat) (epstat & USB_EPnR_SETUP) + +// EPnR bits manipulation +#define KEEP_DTOG_STAT(EPnR) (EPnR & ~(USB_EPnR_STAT_RX|USB_EPnR_STAT_TX|USB_EPnR_DTOG_RX|USB_EPnR_DTOG_TX)) +#define KEEP_DTOG(EPnR) (EPnR & ~(USB_EPnR_DTOG_RX|USB_EPnR_DTOG_TX)) + +// USB state: uninitialized, addressed, ready for use +typedef enum{ + USB_STATE_DEFAULT, + USB_STATE_ADDRESSED, + USB_STATE_CONFIGURED, + USB_STATE_CONNECTED +} USB_state; + +// EP types +#define EP_TYPE_BULK 0x00 +#define EP_TYPE_CONTROL 0x01 +#define EP_TYPE_ISO 0x02 +#define EP_TYPE_INTERRUPT 0x03 + +#define LANG_US (uint16_t)0x0409 + +#define _USB_STRING_(name, str) \ +static const struct name \ +{ \ + uint8_t bLength; \ + uint8_t bDescriptorType; \ + uint16_t bString[(sizeof(str) - 2) / 2]; \ + \ +} \ +name = {sizeof(name), 0x03, str} + +#define _USB_LANG_ID_(name, lng_id) \ + \ +static const struct name \ +{ \ + uint8_t bLength; \ + uint8_t bDescriptorType; \ + uint16_t bString; \ + \ +} \ +name = {0x04, 0x03, lng_id} +#define STRING_LANG_DESCRIPTOR_SIZE_BYTE (4) + +// EP0 configuration packet +typedef struct { + uint8_t bmRequestType; + uint8_t bRequest; + uint16_t wValue; + uint16_t wIndex; + uint16_t wLength; +} config_pack_t; + +// endpoints state +typedef struct{ + uint16_t *tx_buf; // transmission buffer address + uint16_t txbufsz; // transmission buffer size + uint16_t *rx_buf; // reception buffer address + void (*func)(); // endpoint action function + unsigned rx_cnt : 10; // received data counter +} ep_t; + +// USB status & its address +typedef struct { + uint8_t USB_Status; + uint16_t USB_Addr; +}usb_dev_t; + +typedef struct { + uint32_t dwDTERate; + uint8_t bCharFormat; + #define USB_CDC_1_STOP_BITS 0 + #define USB_CDC_1_5_STOP_BITS 1 + #define USB_CDC_2_STOP_BITS 2 + uint8_t bParityType; + #define USB_CDC_NO_PARITY 0 + #define USB_CDC_ODD_PARITY 1 + #define USB_CDC_EVEN_PARITY 2 + #define USB_CDC_MARK_PARITY 3 + #define USB_CDC_SPACE_PARITY 4 + uint8_t bDataBits; +} __attribute__ ((packed)) usb_LineCoding; + +typedef struct { + uint8_t bmRequestType; + uint8_t bNotificationType; + uint16_t wValue; + uint16_t wIndex; + uint16_t wLength; +} __attribute__ ((packed)) usb_cdc_notification; + +extern ep_t endpoints[]; +extern usb_dev_t USB_Dev; +extern volatile uint8_t usbON; +extern config_pack_t setup_packet; +extern uint8_t ep0databuf[]; +extern uint8_t ep0dbuflen; + +void EP0_Handler(); + +void EP_WriteIRQ(uint8_t number, const uint8_t *buf, uint16_t size); +void EP_Write(uint8_t number, const uint8_t *buf, uint16_t size); +int EP_Read(uint8_t number, uint16_t *buf); +usb_LineCoding getLineCoding(); + +void linecoding_handler(usb_LineCoding *lc); +void clstate_handler(uint16_t val); +void break_handler(); +void vendor_handler(config_pack_t *packet); diff --git a/F3:F303/CANusb/usbhw.c b/F3:F303/CANusb/usbhw.c new file mode 100644 index 0000000..d881eb7 --- /dev/null +++ b/F3:F303/CANusb/usbhw.c @@ -0,0 +1,137 @@ +/* + * This file is part of the canusb project. + * Copyright 2023 Edward V. Emelianov . + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + */ + +#include "usb.h" +#include "usb_lib.h" + +void USB_setup(){ + NVIC_DisableIRQ(USB_LP_IRQn); + // remap USB LP & Wakeup interrupts to 75 and 76 - works only on pure F303 + RCC->APB2ENR |= RCC_APB2ENR_SYSCFGEN; // enable tacting of SYSCFG + SYSCFG->CFGR1 |= SYSCFG_CFGR1_USB_IT_RMP; + // setup pullup + RCC->AHBENR |= RCC_AHBENR_GPIOAEN; + USBPU_OFF(); + //GPIOA->MODER = (GPIOA->MODER & ~(GPIO_MODER_MODER15_Msk | GPIO_MODER_MODER11_Msk | GPIO_MODER_MODER12_Msk)) | + GPIOA->MODER = (GPIOA->MODER & (MODER_CLR(11) & MODER_CLR(12) & MODER_CLR(15))) | + (MODER_AF(11) | MODER_AF(12) | MODER_O(15)); + //(GPIO_MODER_MODER11_AF | GPIO_MODER_MODER12_AF | GPIO_MODER_MODER15_O); + // USB - alternate function 14 @ pins PA11/PA12 + GPIOA->AFR[1] = (GPIOA->AFR[1] & ~(GPIO_AFRH_AFRH3_Msk | GPIO_AFRH_AFRH4_Msk)) | + //AFR1(14, 11) | AFR1(14, 12); + AFRf(14, 11) | AFRf(14, 12); + RCC->APB1ENR |= RCC_APB1ENR_USBEN; + USB->CNTR = USB_CNTR_FRES; // Force USB Reset + for(uint32_t ctr = 0; ctr < 72000; ++ctr) nop(); // wait >1ms + //uint32_t ctr = 0; + USB->CNTR = 0; + USB->BTABLE = 0; + USB->DADDR = 0; + USB->ISTR = 0; + USB->CNTR = USB_CNTR_RESETM | USB_CNTR_WKUPM; // allow only wakeup & reset interrupts + NVIC_EnableIRQ(USB_LP_IRQn); + USBPU_ON(); +} + +static uint16_t lastaddr = LASTADDR_DEFAULT; +/** + * Endpoint initialisation + * @param number - EP num (0...7) + * @param type - EP type (EP_TYPE_BULK, EP_TYPE_CONTROL, EP_TYPE_ISO, EP_TYPE_INTERRUPT) + * @param txsz - transmission buffer size @ USB/CAN buffer + * @param rxsz - reception buffer size @ USB/CAN buffer + * @param uint16_t (*func)(ep_t *ep) - EP handler function + * @return 0 if all OK + */ +int EP_Init(uint8_t number, uint8_t type, uint16_t txsz, uint16_t rxsz, void (*func)(ep_t ep)){ + if(number >= STM32ENDPOINTS) return 4; // out of configured amount + if(txsz > USB_BTABLE_SIZE || rxsz > USB_BTABLE_SIZE) return 1; // buffer too large + if(lastaddr + txsz + rxsz >= USB_BTABLE_SIZE) return 2; // out of btable + USB->EPnR[number] = (type << 9) | (number & USB_EPnR_EA); + USB->EPnR[number] ^= USB_EPnR_STAT_RX | USB_EPnR_STAT_TX_1; + if(rxsz & 1 || rxsz > 512) return 3; // wrong rx buffer size + uint16_t countrx = 0; + if(rxsz < 64) countrx = rxsz / 2; + else{ + if(rxsz & 0x1f) return 3; // should be multiple of 32 + countrx = 31 + rxsz / 32; + } + USB_BTABLE->EP[number].USB_ADDR_TX = lastaddr; + endpoints[number].tx_buf = (uint16_t *)(USB_BTABLE_BASE + lastaddr*2); + endpoints[number].txbufsz = txsz; + lastaddr += txsz; + USB_BTABLE->EP[number].USB_COUNT_TX = 0; + USB_BTABLE->EP[number].USB_ADDR_RX = lastaddr; + endpoints[number].rx_buf = (uint16_t *)(USB_BTABLE_BASE + lastaddr*2); + lastaddr += rxsz; + USB_BTABLE->EP[number].USB_COUNT_RX = countrx << 10; + endpoints[number].func = func; + return 0; +} + +// standard IRQ handler +void usb_lp_isr(){ + if(USB->ISTR & USB_ISTR_RESET){ + usbON = 0; + // Reinit registers + USB->CNTR = USB_CNTR_RESETM | USB_CNTR_CTRM | USB_CNTR_SUSPM | USB_CNTR_WKUPM; + // Endpoint 0 - CONTROL + // ON USB LS size of EP0 may be 8 bytes, but on FS it should be 64 bytes! + lastaddr = LASTADDR_DEFAULT; + // clear address, leave only enable bit + USB->DADDR = USB_DADDR_EF; + USB_Dev.USB_Status = USB_STATE_DEFAULT; + if(EP_Init(0, EP_TYPE_CONTROL, USB_EP0_BUFSZ, USB_EP0_BUFSZ, EP0_Handler)){ + return; + } + USB->ISTR = ~USB_ISTR_RESET; + } + if(USB->ISTR & USB_ISTR_CTR){ + // EP number + uint8_t n = USB->ISTR & USB_ISTR_EPID; + // copy status register + uint16_t epstatus = USB->EPnR[n]; + // copy received bytes amount + endpoints[n].rx_cnt = USB_BTABLE->EP[n].USB_COUNT_RX & 0x3FF; // low 10 bits is counter + // check direction + if(USB->ISTR & USB_ISTR_DIR){ // OUT interrupt - receive data, CTR_RX==1 (if CTR_TX == 1 - two pending transactions: receive following by transmit) + if(n == 0){ // control endpoint + if(epstatus & USB_EPnR_SETUP){ // setup packet -> copy data to conf_pack + EP_Read(0, (uint16_t*)&setup_packet); + ep0dbuflen = 0; + // interrupt handler will be called later + }else if(epstatus & USB_EPnR_CTR_RX){ // data packet -> push received data to ep0databuf + ep0dbuflen = endpoints[0].rx_cnt; + EP_Read(0, (uint16_t*)&ep0databuf); + } + } + } + // call EP handler + if(endpoints[n].func) endpoints[n].func(endpoints[n]); + } + if(USB->ISTR & USB_ISTR_SUSP){ // suspend -> still no connection, may sleep + usbON = 0; + USB->CNTR |= USB_CNTR_FSUSP | USB_CNTR_LP_MODE; + USB->ISTR = ~USB_ISTR_SUSP; + } + if(USB->ISTR & USB_ISTR_WKUP){ // wakeup + USB->CNTR &= ~(USB_CNTR_FSUSP | USB_CNTR_LP_MODE); // clear suspend flags + USB->ISTR = ~USB_ISTR_WKUP; + } +} + diff --git a/F3:F303/CANusb/usbhw.h b/F3:F303/CANusb/usbhw.h new file mode 100644 index 0000000..5999d67 --- /dev/null +++ b/F3:F303/CANusb/usbhw.h @@ -0,0 +1,103 @@ +/* + * This file is part of the canusb project. + * Copyright 2023 Edward V. Emelianov . + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + */ + +#pragma once + +#include + +#define USBPU_port GPIOA +#define USBPU_pin (1<<15) +#define USBPU_ON() pin_clear(USBPU_port, USBPU_pin) +#define USBPU_OFF() pin_set(USBPU_port, USBPU_pin) + +// max endpoints number +#define STM32ENDPOINTS 8 +/** + * Buffers size definition + **/ +#define USB_BTABLE_SIZE 512 +// first 64 bytes of USB_BTABLE are registers! +//#define USB_EP0_BASEADDR 64 +// for USB FS EP0 buffers are from 8 to 64 bytes long (64 for PL2303) +#define USB_EP0_BUFSZ 64 +// USB transmit buffer size (64 for PL2303) +#define USB_TXBUFSZ 64 +// USB receive buffer size (64 for PL2303) +#define USB_RXBUFSZ 64 +// EP1 - interrupt - buffer size +#define USB_EP1BUFSZ 8 + +#define USB_BTABLE_BASE 0x40006000 +#define USB ((USB_TypeDef *) USB_BASE) + +#ifdef USB_BTABLE +#undef USB_BTABLE +#endif +#define USB_BTABLE ((USB_BtableDef *)(USB_BTABLE_BASE)) +#define USB_ISTR_EPID 0x0000000F +#define USB_FNR_LSOF_0 0x00000800 +#define USB_FNR_lSOF_1 0x00001000 +#define USB_LPMCSR_BESL_0 0x00000010 +#define USB_LPMCSR_BESL_1 0x00000020 +#define USB_LPMCSR_BESL_2 0x00000040 +#define USB_LPMCSR_BESL_3 0x00000080 +#define USB_EPnR_CTR_RX 0x00008000 +#define USB_EPnR_DTOG_RX 0x00004000 +#define USB_EPnR_STAT_RX 0x00003000 +#define USB_EPnR_STAT_RX_0 0x00001000 +#define USB_EPnR_STAT_RX_1 0x00002000 +#define USB_EPnR_SETUP 0x00000800 +#define USB_EPnR_EP_TYPE 0x00000600 +#define USB_EPnR_EP_TYPE_0 0x00000200 +#define USB_EPnR_EP_TYPE_1 0x00000400 +#define USB_EPnR_EP_KIND 0x00000100 +#define USB_EPnR_CTR_TX 0x00000080 +#define USB_EPnR_DTOG_TX 0x00000040 +#define USB_EPnR_STAT_TX 0x00000030 +#define USB_EPnR_STAT_TX_0 0x00000010 +#define USB_EPnR_STAT_TX_1 0x00000020 +#define USB_EPnR_EA 0x0000000F +#define USB_COUNTn_RX_BLSIZE 0x00008000 +#define USB_COUNTn_NUM_BLOCK 0x00007C00 +#define USB_COUNTn_RX 0x0000003F + +#define USB_TypeDef USB_TypeDef_custom + +typedef struct { + __IO uint32_t EPnR[STM32ENDPOINTS]; + __IO uint32_t RESERVED[STM32ENDPOINTS]; + __IO uint32_t CNTR; + __IO uint32_t ISTR; + __IO uint32_t FNR; + __IO uint32_t DADDR; + __IO uint32_t BTABLE; +} USB_TypeDef; + +typedef struct{ + __IO uint32_t USB_ADDR_TX; + __IO uint32_t USB_COUNT_TX; + __IO uint32_t USB_ADDR_RX; + __IO uint32_t USB_COUNT_RX; +} USB_EPDATA_TypeDef; + +typedef struct{ + __IO USB_EPDATA_TypeDef EP[STM32ENDPOINTS]; +} USB_BtableDef; + +void USB_setup(); +int EP_Init(uint8_t number, uint8_t type, uint16_t txsz, uint16_t rxsz, void (*func)()); diff --git a/F3:F303/CANusb/version.inc b/F3:F303/CANusb/version.inc new file mode 100644 index 0000000..27666b7 --- /dev/null +++ b/F3:F303/CANusb/version.inc @@ -0,0 +1,2 @@ +#define BUILD_NUMBER "15" +#define BUILD_DATE "2023-01-30"