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add CAN, not tested yet

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Edward Emelianov
2026-02-18 22:54:20 +03:00
parent 68028f42a3
commit 80c894517e
16 changed files with 1028 additions and 7 deletions
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2
F3:F303/InterfaceBoard/Debug.c
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@@ -67,5 +67,3 @@ void print_debug_messages(){
}
#endif

387
F3:F303/InterfaceBoard/can.c Normal file
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@@ -0,0 +1,387 @@
/*
* This file is part of the multiiface project.
* Copyright 2026 Edward V. Emelianov <edward.emelianoff@gmail.com>.
*
* 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 <http://www.gnu.org/licenses/>.
*/
#include <string.h> // memcpy
// read private defines from "canproto.h"
#define CANPRIVATE__
#include "can.h"
#include "canproto.h"
#include "Debug.h"
#include "hardware.h"
#include "strfunc.h"
// PB9 - Tx, PB8 - Rx !!!
// CAN settings
// CAN bus oscillator frequency: 36MHz (APB1)
#define CAN_F_OSC (36000000UL)
// timing values TBS1 and TBS2 (in BTR [TBS1-1] and [TBS2-1])
// use 3 and 2 to get 6MHz
#define CAN_TBS1 (3)
#define CAN_TBS2 (2)
// bitrate oscillator frequency
#define CAN_BIT_OSC (CAN_F_OSC / (1+CAN_TBS1+CAN_TBS2))
// 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; // flood period in ms
static uint8_t incrflood = 0; // ==1 for incremental flooding
static uint32_t incrmessagectr = 0; // counter for incremental flooding
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){
DBG("PUSH");
if(first_free_idx == first_nonfree_idx){
DBG("INBUF OVERFULL");
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;
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;
}
DBG("POP");
return msg;
}
void CAN_reinit(uint16_t speed){
DBG("CAN_reinit");
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
// GPIO configured in hw_setup
void CAN_setup(uint32_t speed){
DBG("CAN_setup");
if(speed == 0) speed = oldspeed;
else if(speed < CAN_MIN_SPEED) speed = CAN_MIN_SPEED;
else if(speed > CAN_MAX_SPEED) speed = CAN_MAX_SPEED;
uint32_t tmout = 10000;
// CAN clocking and pins enabled in hardware.c
/* 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: 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;
if(tmout==0){ DBG("timeout!\n");}
CAN->MCR &=~ CAN_MCR_SLEEP; /* (3) */
CAN->MCR |= CAN_MCR_ABOM; /* allow automatically bus-off */
CAN->BTR = (CAN_TBS2-1) << 20 | (CAN_TBS1-1) << 16 | (CAN_BIT_OSC/speed - 1); /* (4) */
oldspeed = CAN_BIT_OSC/(uint32_t)((CAN->BTR & CAN_BTR_BRP) + 1);
CAN->MCR &= ~CAN_MCR_INRQ; /* (5) */
tmout = 10000;
while(CAN->MSR & CAN_MSR_INAK) /* (6) */
if(--tmout == 0) break;
if(tmout==0){ DBG("timeout!\n");}
// 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;
DBGs("CAN configured");
}
void CAN_printerr(){
if(!last_err_code) last_err_code = CAN->ESR;
if(!last_err_code){
PRIstr("No errors\n");
return;
}
PRIstr("Receive error counter: ");
PRIstr(u2str((last_err_code & CAN_ESR_REC)>>24));
PRIstr("\nTransmit error counter: ");
PRIstr(u2str((last_err_code & CAN_ESR_TEC)>>16));
PRIstr("\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;
}
PRIstr(errmsg); PRIstr(" error\n");
if(last_err_code & CAN_ESR_BOFF) PRIstr("Bus off ");
if(last_err_code & CAN_ESR_EPVF) PRIstr("Passive error limit ");
if(last_err_code & CAN_ESR_EWGF) PRIstr("Error counter limit");
last_err_code = 0;
PRIn();
}
void CAN_proc(){
// 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
PRIstr("\nToo much errors, restarting CAN!\n");
CAN_printerr();
// 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);
}else if(incrflood && (Tms - lastFloodTime) >= floodT){
lastFloodTime = Tms;
if(CAN_OK == CAN_send((uint8_t*)&incrmessagectr, 4, flood_msg->ID)) ++incrmessagectr;
}
}
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
DBG("No free mailboxes");
return CAN_BUSY;
}
#ifdef EBUG
DBGs("Send data. Len="); DBGs(u2str(len));
DBGs(", tagid="); DBGs(u2str(target_id));
DBGs(", data=");
for(int i = 0; i < len; ++i){
DBGs(" "); DBGs(uhex2str(msg[i]));
}
DBGn();
#endif
CAN_TxMailBox_TypeDef *box = &CAN->sTxMailBox[mailbox];
uint32_t lb = 0, hb = 0;
switch(len){
case 8:
hb |= (uint32_t)msg[7] << 24;
// fallthrough
case 7:
hb |= (uint32_t)msg[6] << 16;
// fallthrough
case 6:
hb |= (uint32_t)msg[5] << 8;
// fallthrough
case 5:
hb |= (uint32_t)msg[4];
// fallthrough
case 4:
lb |= (uint32_t)msg[3] << 24;
// fallthrough
case 3:
lb |= (uint32_t)msg[2] << 16;
// fallthrough
case 2:
lb |= (uint32_t)msg[1] << 8;
// 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;
}
// return: 1 - flood is ON, 0 - flood is OFF
int CAN_flood(CAN_message *msg, int incr){
if(incr){
incrmessagectr = 0;
incrflood = 1;
return 1;
}else incrflood = 0;
if(!msg){
flood_msg = NULL;
return 0;
}else{
memcpy(&loc_flood_msg, msg, sizeof(CAN_message));
flood_msg = &loc_flood_msg;
}
return 1;
}
uint32_t CAN_speed(){
return oldspeed;
}
static void can_process_fifo(uint8_t fifo_num){
if(fifo_num > 1) return;
CAN_FIFOMailBox_TypeDef *box = &CAN->sFIFOMailBox[fifo_num];
volatile uint32_t *RFxR = (fifo_num) ? &CAN->RF1R : &CAN->RF0R;
// 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;
// fallthrough
case 7:
dat[6] = (hb>>16) & 0xff;
// fallthrough
case 6:
dat[5] = (hb>>8) & 0xff;
// fallthrough
case 5:
dat[4] = hb & 0xff;
// fallthrough
case 4:
dat[3] = lb>>24;
// fallthrough
case 3:
dat[2] = (lb>>16) & 0xff;
// fallthrough
case 2:
dat[1] = (lb>>8) & 0xff;
// fallthrough
case 1:
dat[0] = lb & 0xff;
}
}
//if(msg.ID == the_conf.CANID) parseCANcommand(&msg);
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
last_err_code = CAN->ESR;
CAN->MSR = CAN_MSR_ERRI; // clear flag
// 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;
}
}

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F3:F303/InterfaceBoard/can.h Normal file
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/*
* This file is part of the multistepper project.
* Copyright 2023 Edward V. Emelianov <edward.emelianoff@gmail.com>.
*
* 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 <http://www.gnu.org/licenses/>.
*/
#pragma once
#include <stdint.h>
#define CAN_MAX_SPEED ((uint32_t)3000000UL)
#define CAN_MIN_SPEED ((uint32_t)9600UL)
// amount of filter banks in STM32F
#define STM32FBANKNO 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(uint32_t speed);
CAN_status CAN_send(uint8_t *msg, uint8_t len, uint16_t target_id);
void CAN_proc();
void CAN_printerr();
CAN_message *CAN_messagebuf_pop();
int CAN_flood(CAN_message *msg, int incr);
uint32_t CAN_speed();

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F3:F303/InterfaceBoard/canproto.c Normal file
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/*
* This file is part of the canusb project.
* Copyright 2023 Edward V. Emelianov <edward.emelianoff@gmail.com>.
*
* 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 <http://www.gnu.org/licenses/>.
*/
#include <stm32f3.h>
#include <string.h>
// read private defines from "canproto.h"
#define CANPRIVATE__
#include "can.h"
#include "canproto.h"
#include "hardware.h"
#define printu(x) PRIstr(u2str(x))
#define printuhex(x) PRIstr(uhex2str(x))
// software ignore buffer size
#define IGN_SIZE 10
extern volatile uint32_t Tms;
uint8_t CANShowMsgs = 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){
PRIstrn("ID should be 11-bit number!");
return NULL;
}
canmsg.ID = (uint16_t)(N&0x7ff);
ctr = 0;
continue;
}
if(ctr > 7){
PRIstrn("ONLY 8 data bytes allowed!");
return NULL;
}
if(N > 0xff){
PRIstrn("Every data portion is a byte!");
return NULL;
}
canmsg.data[ctr++] = (uint8_t)(N&0xff);
}while(1);
if(canmsg.ID == 0xffff){
PRIstrn("NO ID given, send nothing!");
return NULL;
}
PRIstrn("Message parsed OK");
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){
PRIstrn("CAN bus is off, try to restart it");
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){
PRIstr("No speed given");
return;
}
if(N < 50){
PRIstr("Lowest speed is 50kbps");
return;
}else if(N > 3000){
PRIstr("Highest speed is 3000kbps");
return;
}
CAN_reinit((uint16_t)N);
PRIstr("Reinit CAN bus with speed ");
printu(N); PRIstrn("kbps");
}
TRUE_INLINE void addIGN(const char *txt){
if(IgnSz == IGN_SIZE){
PRIstrn("Ignore buffer is full");
return;
}
txt = omit_spaces(txt);
uint32_t N;
const char *n = getnum(txt, &N);
if(txt == n){
PRIstrn("No ID given");
return;
}
if(N > 0x7ff){
PRIstrn("ID should be 11-bit number!");
return;
}
Ignore_IDs[IgnSz++] = (uint16_t)(N & 0x7ff);
PRIstr("Added ID "); printu(N);
PRIstrn("\nIgn buffer size: "); PRIstrn(u2str(IgnSz));
}
TRUE_INLINE void print_ign_buf(){
if(IgnSz == 0){
PRIstrn("Ignore buffer is empty");
return;
}
PRIstrn("Ignored IDs:");
for(int i = 0; i < IgnSz; ++i){
printu(i);
PRIstr(": ");
PRIstrn(u2str(Ignore_IDs[i]));
}
}
// 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){
PRIstr("Filter "); printu(ctr); PRIstr(", FIFO");
if(CAN->FFA1R & mask) PRIstr("1");
else PRIstr("0");
PRIstr(" in ");
if(CAN->FM1R & mask){ // up to 4 filters in LIST mode
PRIstr("LIST mode, IDs: ");
printID(CAN->sFilterRegister[ctr].FR1 & 0xffff);
PRIstr(" ");
printID(CAN->sFilterRegister[ctr].FR1 >> 16);
PRIstr(" ");
printID(CAN->sFilterRegister[ctr].FR2 & 0xffff);
PRIstr(" ");
printID(CAN->sFilterRegister[ctr].FR2 >> 16);
}else{ // up to 2 filters in MASK mode
PRIstr("MASK mode: ");
if(!(CAN->sFilterRegister[ctr].FR1&0x1f)){
PRIstr("ID="); printID(CAN->sFilterRegister[ctr].FR1 & 0xffff);
PRIstr(", MASK="); printID(CAN->sFilterRegister[ctr].FR1 >> 16);
PRIstr(" ");
}
if(!(CAN->sFilterRegister[ctr].FR2&0x1f)){
PRIstr("ID="); printID(CAN->sFilterRegister[ctr].FR2 & 0xffff);
PRIstr(", MASK="); printID(CAN->sFilterRegister[ctr].FR2 >> 16);
}
}
PRIstr("\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){
PRIstrn("t="); PRIstrn(u2str(floodT));
return;
}
floodT = N;
}
/**
* @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){
PRIstrn("No bank# given");
return;
}
if(N > STM32FBANKNO-1){
PRIstrn("bank# too big");
return;
}
uint8_t bankno = (uint8_t)N;
str = omit_spaces(n);
if(!*str){ // deactivate filter
PRIstr("Deactivate filters in bank ");
printu(bankno);
PRIn();
CAN->FMR = CAN_FMR_FINIT;
CAN->FA1R &= ~(1<<bankno);
CAN->FMR &=~ CAN_FMR_FINIT;
return;
}
uint8_t fifono = 0;
if(*str == '1') fifono = 1;
else if(*str != '0'){
PRIstrn("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'){
PRIstrn("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){
PRIstrn("You should add at least one filter!");
return;
}
if(mode && (nfilt&1)){
PRIstrn("In MASK mode you should point pairs of ID/MASK");
return;
}
CAN->FMR = CAN_FMR_FINIT;
uint32_t mask = 1<<bankno;
CAN->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;
PRIstr("Added filter with ");
printu(nfilt); PRIstrn(" parameters");
}
static const char *helpstring =
"'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' - send incremental flood message (ID == ID for `F`)\n"
"'I' - reinit CAN\n"
"'l' - list all active filters\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 (>=0ms)\n"
"'T' - get time from start (ms)\n"
;
TRUE_INLINE void getcanstat(){
PRIstr("CAN_MSR=");
printuhex(CAN->MSR);
PRIstr("\nCAN_TSR=");
printuhex(CAN->TSR);
PRIstr("\nCAN_RF0R=");
printuhex(CAN->RF0R);
PRIstr("\nCAN_RF1R=");
PRIstrn(u2str(CAN->RF1R));
}
/**
* @brief CANcmd_parser - CAN command parsing
* @param txt - buffer with commands & data
* @param isUSB - == 1 if data got from USB
*/
void CANcmd_parser(char *txt){
char _1st = txt[0];
++txt;
/*
* parse long commands here
*/
switch(_1st){
case 'a':
addIGN(txt);
return;
break;
case 'b':
CANini(txt);
return;
break;
case 'f':
add_filter(txt);
return;
break;
case 'F':
CAN_flood(parseCANmsg(txt), 0);
return;
break;
case 's':
case 'S':
USB_sendstrCANcommand(txt);
return;
break;
case 't':
setfloodt(txt);
return;
break;
}
if(*txt) _1st = '?'; // help for wrong message length
switch(_1st){
case 'c':
getcanstat();
break;
case 'd':
IgnSz = 0;
break;
case 'e':
CAN_printerr();
break;
case 'i':
CAN_flood(NULL, 1);
PRIstrn("Incremental flooding is ON ('F' to off)");
break;
case 'I':
CAN_reinit(0);
break;
case 'l':
list_filters();
break;
case 'p':
print_ign_buf();
break;
case 'P':
CANShowMsgs = !CANShowMsgs;
if(CANShowMsgs) PRIstrn("Resume");
else PRIstrn("Pause");
break;
case 'R':
PRIstrn("Soft reset");
USB_sendall(ICAN); // wait until everything will gone
NVIC_SystemReset();
break;
case 'T':
PRIstr("Time (ms): ");
PRIstrn(u2str(Tms));
break;
default: // help
PRIstrn(helpstring);
break;
}
}
// check Ignore_IDs & return 1 if ID isn't in list
uint8_t CANsoftFilter(uint16_t ID){
for(int i = 0; i < IgnSz; ++i)
if(Ignore_IDs[i] == ID) return 0;
return 1;
}

39
F3:F303/InterfaceBoard/canproto.h Normal file
View File

@@ -0,0 +1,39 @@
/*
* This file is part of the canusb project.
* Copyright 2023 Edward V. Emelianov <edward.emelianoff@gmail.com>.
*
* 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 <http://www.gnu.org/licenses/>.
*/
#pragma once
#include <stdint.h>
#ifdef CANPRIVATE__
#include "strfunc.h"
#include "usb_descr.h"
#include "usb_dev.h"
// USB messages to CAN interface
#define PRIstr(s) USB_sendstr(ICAN, s)
#define PRIstrn(s) do{USB_sendstr(ICAN, s); USB_putbyte(ICAN, '\n');}while(0)
#define PRIch(c) USB_putbyte(ICAN, c)
#define PRIn() USB_putbyte(ICAN, '\n')
#endif // CANPRIVATE__
extern uint8_t CANShowMsgs; // show CAN messages flag
void CANcmd_parser(char *txt);
uint8_t CANsoftFilter(uint16_t ID);

1
F3:F303/InterfaceBoard/flash.c
View File

@@ -42,6 +42,7 @@ user_conf the_conf = {
[ICAN] = u"usbCAN"
},
.iIlengths = {22,22,22,22,22,12,12},
.CANspeed = 100000
};
int currentconfidx = -1; // index of current configuration

1
F3:F303/InterfaceBoard/flash.h
View File

@@ -37,6 +37,7 @@ typedef struct __attribute__((packed, aligned(4))){
// we store iInterface "as is"
uint16_t iInterface[InterfacesAmount][MAX_IINTERFACE_SZ]; // hryunikod!
uint8_t iIlengths[InterfacesAmount];
uint32_t CANspeed;
} user_conf;
extern user_conf the_conf;

32
F3:F303/InterfaceBoard/main.c
View File

@@ -16,10 +16,13 @@
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "can.h"
#include "canproto.h"
#include "Debug.h"
#include "flash.h"
#include "hardware.h"
#include "proto.h"
#include "strfunc.h"
#include "usart.h"
#include "usb_dev.h"
@@ -44,6 +47,7 @@ int main(void){
hw_setup();
USBPU_OFF();
USB_setup();
CAN_setup(the_conf.CANspeed);
//uint32_t ctr = Tms;
//usb_LineCoding lc = {9600, 0, 0, 8};
//for(int i = 0; i < 5; ++i) usart_config(i, &lc); // configure all U[S]ARTs for default data
@@ -51,6 +55,7 @@ int main(void){
while(1){
// Put here code working WITOUT USB connected
if(!usbON) continue;
// and here is code what should run when USB connected
usarts_process();
DBGpri();
/*for(int i = 0; i < 6; ++i){ // just echo for first time
@@ -58,7 +63,32 @@ int main(void){
int l = USB_receive(i, (uint8_t*)inbuff, MAXSTRLEN);
if(l) USB_send(i, (uint8_t*)inbuff, l);
}*/
// and here is code what should run when USB connected
if(CDCready[ICAN]){
CAN_proc();
if(CAN_get_status() == CAN_FIFO_OVERRUN){
USB_sendstr(ICAN, "CAN bus fifo overrun occured!\n");
}
CAN_message *can_mesg;
while((can_mesg = CAN_messagebuf_pop())){
if(can_mesg && CANsoftFilter(can_mesg->ID)){
if(CANShowMsgs){ // display message content
IWDG->KR = IWDG_REFRESH;
uint8_t len = can_mesg->length;
USB_sendstr(ICAN, u2str(Tms));
USB_sendstr(ICAN, " #");
USB_sendstr(ICAN, u2str(can_mesg->ID));
for(uint8_t i = 0; i < len; ++i){
USB_putbyte(ICAN, ' ');
USB_sendstr(ICAN, u2str(can_mesg->data[i]));
}
newline(ICAN);
}
}
}
int l = USB_receivestr(ICAN, inbuff, MAXSTRLEN);
if(l < 0) USB_sendstr(ICAN, "ERROR: USB buffer overflow or string was too long\n");
else if(l) CANcmd_parser(inbuff);
}
if(Config_mode && CDCready[ICFG]){
/*if(Tms - ctr > 4999){
ctr = Tms;

BIN
F3:F303/InterfaceBoard/multiiface.bin
View File

Binary file not shown.

1
F3:F303/InterfaceBoard/multiiface.config
View File

@@ -6,3 +6,4 @@
#define __thumb2__ 1
#define __ARM_ARCH_7M__
#define USB1_16
#define CANPRIVATE__

2
F3:F303/InterfaceBoard/multiiface.creator.user
View File

@@ -1,6 +1,6 @@
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE QtCreatorProject>
<!-- Written by QtCreator 18.0.2, 2026-02-17T23:35:31. -->
<!-- Written by QtCreator 18.0.2, 2026-02-18T22:53:46. -->
<qtcreator>
<data>
<variable>EnvironmentId</variable>

4
F3:F303/InterfaceBoard/multiiface.files
View File

@@ -1,5 +1,9 @@
Debug.c
Debug.h
can.c
can.h
canproto.c
canproto.h
flash.c
flash.h
hardware.c

52
F3:F303/InterfaceBoard/proto.c
View File

@@ -19,6 +19,7 @@
#include <stm32f3.h>
#include <string.h>
#include "can.h" // min/max speeds
#include "flash.h"
#include "strfunc.h"
#include "usart.h"
@@ -39,13 +40,16 @@ const char *helpstring =
"1..5x - send data over IF1..5\n"
"d - dump flash\n"
"ix - rename interface number x (0..6)\n"
"Cx - starting CAN bus speed (9600...3000000)\n"
"Ex - erase full storage (witout x) or only page x\n"
"F - reinit configurations from flash\n"
"I - show current config of all interfaces\n"
"R - soft reset\n"
"S - store new parameters into flash\n"
"T - print current Tms\n"
;
// dump flash configuration
static void dumpflash(){
CFGWR("userconf_sz="); CFGWR(u2str(the_conf.userconf_sz));
CFGWR("\ncurrentconfidx="); CFGWRn(i2str(currentconfidx));
@@ -60,8 +64,10 @@ static void dumpflash(){
}
CFGn();
}
CFGWR("canspeed="); CFGWRn(u2str(the_conf.CANspeed));
}
// set new interface name
static void setiface(const char *str){
if(!str || !*str) goto err;
uint32_t N;
@@ -85,6 +91,7 @@ err:
CFGWR(sERRn);
}
// erase custom flash page
static const char* erpg(const char *str){
uint32_t N;
if(str == getnum(str, &N)) return sERRn;
@@ -92,6 +99,7 @@ static const char* erpg(const char *str){
return sOKn;
}
// send message over U[S]ART
static void sendoverU(uint8_t ifno, char *str){
int len = strlen(str);
CFGWR("try to send "); CFGWRn(str);
@@ -99,6 +107,45 @@ static void sendoverU(uint8_t ifno, char *str){
CFGWR("sent "); CFGWR(i2str(len)); CFGWR("bytes\n");
}
// show interfaces settings
static void Uconfig(){
usb_LineCoding lc;
for(int i = 0; i < InterfacesAmount; ++i){
uint8_t on = IFconfig(i, &lc);
CFGWR("Interface "); USB_putbyte(ICFG, '0' + i);
CFGWR(" -> status: "); CFGWR(on ? "ON" : "OFF");
if(on){
CFGWR("; baudrate: "); CFGWR(u2str(lc.dwDTERate));
CFGWR("; ");
const char *s;
switch(lc.bCharFormat){
case USB_CDC_1_STOP_BITS: s = "1"; break;
case USB_CDC_1_5_STOP_BITS: s = "1.5"; break;
case USB_CDC_2_STOP_BITS: s = "2"; break;
}
CFGWR(s); CFGWR(" stop bits; parity: ");
switch(lc.bParityType){
case USB_CDC_NO_PARITY: s = "no"; break;
case USB_CDC_ODD_PARITY: s = "odd"; break;
case USB_CDC_EVEN_PARITY: s = "even"; break;
default: s = "prohibited";
}
CFGWR(s); CFGWR("; ");
USB_putbyte(ICFG, '0' + lc.bDataBits);
CFGWR(" data bits");
}
CFGn();
}
}
static const char* setCANspeed(char *buf){
uint32_t N;
if(buf == getnum(buf, &N)) return sERRn;
if(N < CAN_MIN_SPEED || N > CAN_MAX_SPEED) return sERRn;
the_conf.CANspeed = N;
return sOKn;
}
const char *parse_cmd(char *buf){
if(!buf || !*buf) return NULL;
if(strlen(buf) > 1){
@@ -109,6 +156,8 @@ const char *parse_cmd(char *buf){
return NULL;
}
switch(c){
case 'C':
return setCANspeed(buf);
case 'E':
return erpg(buf);
case 'i':
@@ -131,6 +180,9 @@ const char *parse_cmd(char *buf){
case 'F':
flashstorage_init();
return sOKn;
case 'I':
Uconfig();
break;
case 'R':
NVIC_SystemReset();
return NULL;

19
F3:F303/InterfaceBoard/usb_dev.c
View File

@@ -189,12 +189,14 @@ void usb_class_request(config_pack_t *req, uint8_t *data, uint16_t datalen){
linecoding_handler(ifno, (usb_LineCoding*)data);
break;
case GET_LINE_CODING:
DBG("GET_LINE_CODING");
EP_WriteIRQ(0, (uint8_t*)&lineCoding[ifno], sizeof(lineCoding));
break;
case SET_CONTROL_LINE_STATE:
clstate_handler(ifno, req->wValue);
break;
case SEND_BREAK:
DBG("SEND_BREAK");
break_handler(ifno);
break;
default:
@@ -266,6 +268,11 @@ int USB_send(uint8_t ifno, const uint8_t *buf, int len){
return TRUE;
}
/* only try to add data to USB buffer, without sending
int USB_adddata(uint8_t ifno, const uint8_t *buf, int len){
return RB_write((ringbuffer*)&rbout[ifno], buf, len);
}
*/
int USB_putbyte(uint8_t ifno, uint8_t byte){
if(!CDCready[ifno]) return FALSE;
int l = 0;
@@ -339,3 +346,15 @@ int USB_receivestr(uint8_t ifno, char *buf, int len){
buf[l-1] = 0; // replace '\n' with strend
return l;
}
/**
* @brief IFconfig - interface configuration
* @param ifno - index
* @param l (o, user allocated) - settings
* @return value of CDCready
*/
uint8_t IFconfig(uint8_t ifno, usb_LineCoding *l){
if(ifno >= InterfacesAmount) return 0;
if(l) *l = lineCoding[ifno];
return CDCready[ifno];
}

2
F3:F303/InterfaceBoard/usb_dev.h
View File

@@ -58,7 +58,9 @@ void linecoding_handler(uint8_t ifno, usb_LineCoding *lc);
int USB_sendbufspace(uint8_t ifno);
int USB_sendall(uint8_t ifno);
int USB_send(uint8_t ifno, const uint8_t *buf, int len);
//int USB_adddata(uint8_t ifno, const uint8_t *buf, int len);
int USB_putbyte(uint8_t ifno, uint8_t byte);
int USB_sendstr(uint8_t ifno, const char *string);
int USB_receive(uint8_t ifno, uint8_t *buf, int len);
int USB_receivestr(uint8_t ifno, char *buf, int len);
uint8_t IFconfig(uint8_t ifno, usb_LineCoding *l);

4
F3:F303/InterfaceBoard/version.inc
View File

@@ -1,2 +1,2 @@
#define BUILD_NUMBER "140"
#define BUILD_DATE "2026-02-17"
#define BUILD_NUMBER "145"
#define BUILD_DATE "2026-02-18"