mirror of
https://github.com/eddyem/stm32samples.git
synced 2026-02-28 11:54:30 +03:00
Add CAN-USB for STM32F303
This commit is contained in:
Edward Emelianov
428
F3:F303/CANusb/proto.c
Normal file
428
F3:F303/CANusb/proto.c
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@@ -0,0 +1,428 @@
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/*
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* This file is part of the canusb project.
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* Copyright 2023 Edward V. Emelianov <edward.emelianoff@gmail.com>.
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <stm32f3.h>
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#include <string.h>
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#include "can.h"
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#include "hardware.h"
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#include "proto.h"
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#include "version.inc"
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// software ignore buffer size
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#define IGN_SIZE 10
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extern volatile uint32_t Tms;
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uint8_t ShowMsgs = 1;
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// software ignore buffers
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static uint16_t Ignore_IDs[IGN_SIZE];
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static uint8_t IgnSz = 0;
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// parse `txt` to CAN_message
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static CAN_message *parseCANmsg(const char *txt){
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static CAN_message canmsg;
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uint32_t N;
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int ctr = -1;
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canmsg.ID = 0xffff;
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do{
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const char *n = getnum(txt, &N);
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if(txt == n) break;
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txt = n;
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if(ctr == -1){
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if(N > 0x7ff){
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USB_sendstr("ID should be 11-bit number!\n");
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return NULL;
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}
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canmsg.ID = (uint16_t)(N&0x7ff);
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ctr = 0;
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continue;
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}
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if(ctr > 7){
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USB_sendstr("ONLY 8 data bytes allowed!\n");
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return NULL;
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}
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if(N > 0xff){
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USB_sendstr("Every data portion is a byte!\n");
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return NULL;
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}
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canmsg.data[ctr++] = (uint8_t)(N&0xff);
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}while(1);
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if(canmsg.ID == 0xffff){
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USB_sendstr("NO ID given, send nothing!\n");
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return NULL;
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}
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USB_sendstr("Message parsed OK\n");
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canmsg.length = (uint8_t) ctr;
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return &canmsg;
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}
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// USB_sendstr command, format: ID (hex/bin/dec) data bytes (up to 8 bytes, space-delimeted)
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TRUE_INLINE void USB_sendstrCANcommand(char *txt){
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if(CAN->MSR & CAN_MSR_INAK){
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USB_sendstr("CAN bus is off, try to restart it\n");
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return;
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}
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CAN_message *msg = parseCANmsg(txt);
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if(!msg) return;
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uint32_t N = 5;
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while(CAN_BUSY == can_send(msg->data, msg->length, msg->ID)){
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if(--N == 0) break;
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}
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}
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TRUE_INLINE void CANini(const char *txt){
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uint32_t N;
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const char *n = getnum(txt, &N);
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if(txt == n){
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USB_sendstr("No speed given");
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return;
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}
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if(N < 50){
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USB_sendstr("Lowest speed is 50kbps");
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return;
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}else if(N > 3000){
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USB_sendstr("Highest speed is 3000kbps");
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return;
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}
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CAN_reinit((uint16_t)N);
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USB_sendstr("Reinit CAN bus with speed ");
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printu(N); USB_sendstr("kbps");
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}
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TRUE_INLINE void addIGN(const char *txt){
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if(IgnSz == IGN_SIZE){
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USB_sendstr("Ignore buffer is full");
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return;
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}
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txt = omit_spaces(txt);
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uint32_t N;
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const char *n = getnum(txt, &N);
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if(txt == n){
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USB_sendstr("No ID given");
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return;
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}
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if(N > 0x7ff){
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USB_sendstr("ID should be 11-bit number!");
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return;
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}
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Ignore_IDs[IgnSz++] = (uint16_t)(N & 0x7ff);
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USB_sendstr("Added ID "); printu(N);
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USB_sendstr("\nIgn buffer size: "); printu(IgnSz);
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}
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TRUE_INLINE void print_ign_buf(){
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if(IgnSz == 0){
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USB_sendstr("Ignore buffer is empty");
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return;
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}
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USB_sendstr("Ignored IDs:\n");
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for(int i = 0; i < IgnSz; ++i){
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printu(i);
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USB_sendstr(": ");
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printuhex(Ignore_IDs[i]);
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USB_putbyte('\n');
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}
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}
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// print ID/mask of CAN->sFilterRegister[x] half
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static void printID(uint16_t FRn){
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if(FRn & 0x1f) return; // trash
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printuhex(FRn >> 5);
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}
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/*
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Can filtering: FSCx=0 (CAN->FS1R) -> 16-bit identifiers
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CAN->FMR = (sb)<<8 | FINIT - init filter in starting bank sb
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CAN->FFA1R FFAx = 1 -> FIFO1, 0 -> FIFO0
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CAN->FA1R FACTx=1 - filter active
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MASK: FBMx=0 (CAN->FM1R), two filters (n in FR1 and n+1 in FR2)
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ID: CAN->sFilterRegister[x].FRn[0..15]
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MASK: CAN->sFilterRegister[x].FRn[16..31]
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FR bits: STID[10:0] RTR IDE EXID[17:15]
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LIST: FBMx=1, four filters (n&n+1 in FR1, n+2&n+3 in FR2)
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IDn: CAN->sFilterRegister[x].FRn[0..15]
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IDn+1: CAN->sFilterRegister[x].FRn[16..31]
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*/
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TRUE_INLINE void list_filters(){
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uint32_t fa = CAN->FA1R, ctr = 0, mask = 1;
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while(fa){
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if(fa & 1){
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USB_sendstr("Filter "); printu(ctr); USB_sendstr(", FIFO");
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if(CAN->FFA1R & mask) USB_sendstr("1");
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else USB_sendstr("0");
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USB_sendstr(" in ");
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if(CAN->FM1R & mask){ // up to 4 filters in LIST mode
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USB_sendstr("LIST mode, IDs: ");
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printID(CAN->sFilterRegister[ctr].FR1 & 0xffff);
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USB_sendstr(" ");
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printID(CAN->sFilterRegister[ctr].FR1 >> 16);
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USB_sendstr(" ");
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printID(CAN->sFilterRegister[ctr].FR2 & 0xffff);
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USB_sendstr(" ");
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printID(CAN->sFilterRegister[ctr].FR2 >> 16);
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}else{ // up to 2 filters in MASK mode
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USB_sendstr("MASK mode: ");
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if(!(CAN->sFilterRegister[ctr].FR1&0x1f)){
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USB_sendstr("ID="); printID(CAN->sFilterRegister[ctr].FR1 & 0xffff);
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USB_sendstr(", MASK="); printID(CAN->sFilterRegister[ctr].FR1 >> 16);
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USB_sendstr(" ");
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}
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if(!(CAN->sFilterRegister[ctr].FR2&0x1f)){
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USB_sendstr("ID="); printID(CAN->sFilterRegister[ctr].FR2 & 0xffff);
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USB_sendstr(", MASK="); printID(CAN->sFilterRegister[ctr].FR2 >> 16);
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}
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}
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USB_putbyte('\n');
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}
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fa >>= 1;
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++ctr;
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mask <<= 1;
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}
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}
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TRUE_INLINE void setfloodt(const char *s){
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uint32_t N;
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s = omit_spaces(s);
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const char *n = getnum(s, &N);
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if(s == n || N == 0){
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USB_sendstr("t="); printu(floodT); USB_putbyte('\n');
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return;
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}
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floodT = N - 1;
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}
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/**
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* @brief add_filter - add/modify filter
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* @param str - string in format "bank# FIFO# mode num0 .. num3"
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* where bank# - 0..27
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* if there's nothing after bank# - delete filter
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* FIFO# - 0,1
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* mode - 'I' for ID, 'M' for mask
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* num0..num3 - IDs in ID mode, ID/MASK for mask mode
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*/
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static void add_filter(const char *str){
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uint32_t N;
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str = omit_spaces(str);
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const char *n = getnum(str, &N);
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if(n == str){
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USB_sendstr("No bank# given");
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return;
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}
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if(N > STM32F0FBANKNO-1){
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USB_sendstr("bank# > 27");
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return;
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}
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uint8_t bankno = (uint8_t)N;
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str = omit_spaces(n);
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if(!*str){ // deactivate filter
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USB_sendstr("Deactivate filters in bank ");
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printu(bankno);
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CAN->FMR = CAN_FMR_FINIT;
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CAN->FA1R &= ~(1<<bankno);
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CAN->FMR &=~ CAN_FMR_FINIT;
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return;
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}
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uint8_t fifono = 0;
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if(*str == '1') fifono = 1;
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else if(*str != '0'){
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USB_sendstr("FIFO# is 0 or 1");
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return;
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}
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str = omit_spaces(str + 1);
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const char c = *str;
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uint8_t mode = 0; // ID
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if(c == 'M' || c == 'm') mode = 1;
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else if(c != 'I' && c != 'i'){
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USB_sendstr("mode is 'M/m' for MASK and 'I/i' for IDLIST");
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return;
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}
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str = omit_spaces(str + 1);
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uint32_t filters[4];
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uint32_t nfilt;
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for(nfilt = 0; nfilt < 4; ++nfilt){
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n = getnum(str, &N);
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if(n == str) break;
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filters[nfilt] = N;
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str = omit_spaces(n);
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}
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if(nfilt == 0){
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USB_sendstr("You should add at least one filter!");
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return;
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}
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if(mode && (nfilt&1)){
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USB_sendstr("In MASK mode you should point pairs of ID/MASK");
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return;
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}
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CAN->FMR = CAN_FMR_FINIT;
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uint32_t mask = 1<<bankno;
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CAN->FA1R |= mask; // activate given filter
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if(fifono) CAN->FFA1R |= mask; // set FIFO number
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else CAN->FFA1R &= ~mask;
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if(mode) CAN->FM1R &= ~mask; // MASK
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else CAN->FM1R |= mask; // LIST
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uint32_t F1 = (0x8f<<16);
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uint32_t F2 = (0x8f<<16);
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// reset filter registers to wrong value
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CAN->sFilterRegister[bankno].FR1 = (0x8f<<16) | 0x8f;
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CAN->sFilterRegister[bankno].FR2 = (0x8f<<16) | 0x8f;
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switch(nfilt){
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case 4:
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F2 = filters[3] << 21;
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// fallthrough
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case 3:
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CAN->sFilterRegister[bankno].FR2 = (F2 & 0xffff0000) | (filters[2] << 5);
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// fallthrough
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case 2:
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F1 = filters[1] << 21;
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// fallthrough
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case 1:
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CAN->sFilterRegister[bankno].FR1 = (F1 & 0xffff0000) | (filters[0] << 5);
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}
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CAN->FMR &=~ CAN_FMR_FINIT;
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USB_sendstr("Added filter with ");
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printu(nfilt); USB_sendstr(" parameters");
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}
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const char *helpstring =
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"https://github.com/eddyem/stm32samples/tree/master/F3:F303/CANusb build#" BUILD_NUMBER " @ " BUILD_DATE "\n"
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"'a' - add ID to ignore list (max 10 IDs)\n"
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"'b' - reinit CAN with given baudrate\n"
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"'c' - get CAN status\n"
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"'d' - delete ignore list\n"
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"'e' - get CAN errcodes\n"
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"'f' - add/delete filter, format: bank# FIFO# mode(M/I) num0 [num1 [num2 [num3]]]\n"
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"'F' - send/clear flood message: F ID byte0 ... byteN\n"
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"'I' - reinit CAN\n"
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"'l' - list all active filters\n"
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"'o' - turn LEDs OFF\n"
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"'O' - turn LEDs ON\n"
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"'p' - print ignore buffer\n"
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"'P' - pause/resume in packets displaying\n"
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"'R' - software reset\n"
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"'s/S' - send data over CAN: s ID byte0 .. byteN\n"
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"'t' - change flood period (>=1ms)\n"
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"'T' - get time from start (ms)\n"
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;
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TRUE_INLINE void getcanstat(){
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USB_sendstr("CAN_MSR=");
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printuhex(CAN->MSR);
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USB_sendstr("\nCAN_TSR=");
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printuhex(CAN->TSR);
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USB_sendstr("\nCAN_RF0R=");
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printuhex(CAN->RF0R);
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USB_sendstr("\nCAN_RF1R=");
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printuhex(CAN->RF1R);
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}
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/**
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* @brief cmd_parser - command parsing
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* @param txt - buffer with commands & data
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* @param isUSB - == 1 if data got from USB
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*/
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void cmd_parser(char *txt){
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char _1st = txt[0];
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++txt;
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/*
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* parse long commands here
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*/
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switch(_1st){
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case 'a':
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addIGN(txt);
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goto eof;
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break;
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case 'b':
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CANini(txt);
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goto eof;
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break;
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case 'f':
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add_filter(txt);
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goto eof;
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break;
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case 'F':
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set_flood(parseCANmsg(txt));
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goto eof;
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break;
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case 's':
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case 'S':
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USB_sendstrCANcommand(txt);
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goto eof;
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break;
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case 't':
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setfloodt(txt);
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goto eof;
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break;
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}
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if(*txt) _1st = '?'; // help for wrong message length
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switch(_1st){
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case 'c':
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getcanstat();
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break;
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case 'd':
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IgnSz = 0;
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break;
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case 'e':
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printCANerr();
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break;
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case 'I':
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CAN_reinit(0);
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break;
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case 'l':
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list_filters();
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break;
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case 'o':
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ledsON = 0;
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LED_off(LED0);
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LED_off(LED1);
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break;
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case 'O':
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ledsON = 1;
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break;
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case 'p':
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print_ign_buf();
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break;
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case 'P':
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ShowMsgs = !ShowMsgs;
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if(ShowMsgs) USB_sendstr("Resume\n");
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else USB_sendstr("Pause\n");
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break;
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case 'R':
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USB_sendstr("Soft reset\n");
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USB_sendall(); // wait until everything will gone
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NVIC_SystemReset();
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break;
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case 'T':
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USB_sendstr("Time (ms): ");
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printu(Tms);
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USB_putbyte('\n');
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break;
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default: // help
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USB_sendstr(helpstring);
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break;
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}
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eof:
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USB_putbyte('\n');
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}
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// check Ignore_IDs & return 1 if ID isn't in list
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uint8_t isgood(uint16_t ID){
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for(int i = 0; i < IgnSz; ++i)
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if(Ignore_IDs[i] == ID) return 0;
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return 1;
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}
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