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fix problems with CANbus, add USB-dump of error & command codes for CAN

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This commit is contained in:
Edward Emelianov 2021-12-02 17:46:26 +03:00
parent b24111f884
commit 867abe359a
8 changed files with 123 additions and 64 deletions
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22
F0-nolib/3steppersLB/can.c
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@ -203,7 +203,7 @@ CAN_status can_send(uint8_t *msg, uint8_t len, uint16_t target_id){
return CAN_BUSY;
}
#ifdef EBUG
DBG("Send data. Len="); printu(len);
DBG("Send data"); SEND("Len="); printu(len);
SEND(", tagid="); printuhex(target_id);
SEND(", data=");
for(int i = 0; i < len; ++i){
@ -254,6 +254,10 @@ static void can_process_fifo(uint8_t fifo_num){
// CAN_RDTxR: (16-31) - timestamp, (8-15) - filter match index, (0-3) - data length
CAN_message msg;
uint8_t *dat = msg.data;
{ // set all data to 0
uint32_t *dptr = (uint32_t*)msg.data;
dptr[0] = dptr[1] = 0;
}
uint8_t len = box->RDTR & 0x0f;
msg.length = len;
msg.ID = box->RIR >> 21;
@ -287,7 +291,7 @@ static void can_process_fifo(uint8_t fifo_num){
dat[0] = lb & 0xff;
}
}
if(msg.ID == OUTPID) parseCANcommand(&msg);
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
}
@ -313,14 +317,17 @@ TRUE_INLINE void parseCANcommand(CAN_message *msg){
int N = 1000;
// we don't check msg here as it cannot be NULL
#ifdef EBUG
SEND("Get data: ");
DBG("Get data");
for(int i = 0; i < msg->length; ++i){
printuhex(msg->data[i]); bufputchar(' ');
}
NL();
newline();
#endif
if(msg->length == 0) goto sendmessage; // PING
uint16_t Index = *(uint16_t*)msg->data;
#ifdef EBUG
SEND("Index = "); printu(Index); newline();
#endif
if(Index >= CMD_AMOUNT){
formerr(msg, ERR_BADCMD);
goto sendmessage;
@ -338,12 +345,17 @@ TRUE_INLINE void parseCANcommand(CAN_message *msg){
formerr(msg, ERR_WRONGLEN);
goto sendmessage;
}
#ifdef EBUG
SEND("Run command\n");
#endif
errcodes ec = cmdlist[Index](par, val);
if(ec != ERR_OK){
formerr(msg, ec);
}else{
msg->length = 8;
}
sendmessage:
while(CAN_BUSY == can_send(msg->data, msg->length, OUTPID))
while(CAN_BUSY == can_send(msg->data, msg->length, the_conf.CANID))
if(--N == 0) break;
}

3
F0-nolib/3steppersLB/can.h
View File

@ -23,9 +23,6 @@
#include "flash.h"
#include "hardware.h"
// output messages identifier
#define OUTPID (the_conf.CANID)
// CAN ID mask (11 bits)
#define CANIDMASK (0x7ff)

12
F0-nolib/3steppersLB/commonproto.h
View File

@ -37,12 +37,12 @@
// error codes for answer message
typedef enum{
ERR_OK, // all OK
ERR_BADPAR, // parameter's value is wrong
ERR_BADVAL, // wrong parameter's value
ERR_WRONGLEN, // wrong message length
ERR_BADCMD, // unknown command
ERR_CANTRUN, // can't run given command due to bad parameters or other
ERR_OK, // 0 - all OK
ERR_BADPAR, // 1 - parameter's value is wrong
ERR_BADVAL, // 2 - wrong parameter's value
ERR_WRONGLEN, // 3 - wrong message length
ERR_BADCMD, // 4 - unknown command
ERR_CANTRUN, // 5 - can't run given command due to bad parameters or other
} errcodes;
// pointer to function for command execution, both should be non-NULL for common cases

2
F0-nolib/3steppersLB/flash.h
View File

@ -50,7 +50,7 @@ typedef struct{
uint8_t encreverse : 1; // bit1 - reversing encoder rotation TODO: configure encoder's timer to downcounting
uint8_t haveencoder : 1; // bit2 - have encoder
uint8_t donthold : 1; // bit3 - clear power @ stop (don't hold motor when stopped)
uint8_t eswinv : 1; // bit4 - invers end-switches
uint8_t eswinv : 1; // bit4 - inverse end-switches
uint8_t keeppos : 1; // bit5 - keep current position (as servo motor)
} motflags_t;

24
F0-nolib/3steppersLB/main.c
View File

@ -77,7 +77,7 @@ int main(void){
flashstorage_init(); // should be called before any other functions
gpio_setup();
USB_setup();
CAN_setup(DEFAULT_CAN_SPEED);
CAN_setup(the_conf.CANspeed);
adc_setup();
init_steppers();
RCC->CSR |= RCC_CSR_RMVF; // remove reset flags
@ -102,19 +102,17 @@ int main(void){
process_steppers();
IWDG->KR = IWDG_REFRESH;
while((can_mesg = CAN_messagebuf_pop())){
if(can_mesg && isgood(can_mesg->ID)){
if(ShowMsgs){ // new data in buff
IWDG->KR = IWDG_REFRESH;
len = can_mesg->length;
printu(Tms);
SEND(" #");
printuhex(can_mesg->ID);
for(ctr = 0; ctr < len; ++ctr){
SEND(" ");
printuhex(can_mesg->data[ctr]);
}
newline(); sendbuf();
if(can_mesg && ShowMsgs && isgood(can_mesg->ID)){
IWDG->KR = IWDG_REFRESH;
len = can_mesg->length;
printu(Tms);
SEND(" #");
printuhex(can_mesg->ID);
for(ctr = 0; ctr < len; ++ctr){
SEND(" ");
printuhex(can_mesg->data[ctr]);
}
newline(); sendbuf();
}
}
IWDG->KR = IWDG_REFRESH;

BIN
F0-nolib/3steppersLB/steppers.bin
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Binary file not shown.

120
F0-nolib/3steppersLB/strfunct.c
View File

@ -356,6 +356,7 @@ void canid(char *txt){
int32_t N;
if(eq != getnum(eq, &N) && N > -1 && N < 0xfff){
the_conf.CANID = (uint16_t)N;
CAN_reinit(the_conf.CANspeed);
good = TRUE;
}
}
@ -396,27 +397,38 @@ void getcounter(_U_ char *txt){
void wdcheck(_U_ char *txt){
while(1){nop();}
}
/*
void stp_check(char *txt){
uint8_t N = *txt - '0';
if(N < 3){
MOTOR_EN(N);
MOTOR_CW(N);
mottimers[N]->ARR = 300;
mottimers[N]->CR1 |= TIM_CR1_CEN;
}else{
for(N = 0; N < 3; ++N){
MOTOR_DIS(N);
MOTOR_CCW(N);
mottimers[N]->CR1 &= ~TIM_CR1_CEN;
}
}
}*/
typedef struct{
errcodes code;
const char *descr;
} codetext;
static const codetext errtxt[] = {
{ERR_OK, "all OK"},
{ERR_BADPAR, "wrong parameter's value"},
{ERR_BADVAL, "wrong setter of parameter"},
{ERR_WRONGLEN, "bad message length"},
{ERR_BADCMD, "unknown command"},
{ERR_CANTRUN, "temporary can't run given command"},
{-1, NULL}
};
void dumperrcodes(_U_ char *txt){
const codetext *c = errtxt;
SEND("Error codes:\n");
while(c->descr){
printu(c->code);
SEND(" - ");
SEND(c->descr);
newline();
++c;
}
sendbuf();
}
typedef void(*specfpointer)(char *arg);
enum{
SCMD_NONE, // omit zero
SCMD_IGNORE,
SCMD_DELIGNLIST,
SCMD_DFU,
@ -431,16 +443,39 @@ enum{
SCMD_DUMPCONF,
SCMD_GETCTR,
SCMD_WD,
SCMD_DUMPERR,
SCMD_DUMPCMD,
//SCMD_ST,
SCMD_AMOUNT
};
void dumpcmdcodes(_U_ char *txt);
static specfpointer speccmdlist[SCMD_AMOUNT] = {
[SCMD_IGNORE] = addIGN,
[SCMD_DELIGNLIST] = delignlist,
[SCMD_DFU] = bootldr,
[SCMD_FILTER] = add_filter,
[SCMD_CANSPEED] = CANini,
[SCMD_CANID] = canid,
[SCMD_LISTFILTERS] = list_filters,
[SCMD_IGNBUF] = print_ign_buf,
[SCMD_PAUSE] = inpause,
[SCMD_RESUME] = inresume,
[SCMD_SEND] = sendCANcommand,
[SCMD_DUMPCONF] = dump_userconf,
[SCMD_GETCTR] = getcounter,
[SCMD_WD] = wdcheck,
[SCMD_DUMPCMD] = dumpcmdcodes,
[SCMD_DUMPERR] = dumperrcodes,
//[SCMD_ST] = stp_check,
};
typedef struct{
int cmd_code; // CMD_... or <0 for usb-only commands
const char *command; // text command (up to 65536 commands)
const char *help; // help message for text protocol
} commands;
// the main commands list, index is CAN command code
static const commands textcommands[] = {
// different commands
@ -489,6 +524,8 @@ static const commands textcommands[] = {
{-SCMD_CANSPEED, "canspeed", "CAN bus speed"},
{-SCMD_DELIGNLIST, "delignlist", "delete ignore list"},
{-SCMD_DFU, "dfu", "activate DFU mode"},
{-SCMD_DUMPERR, "dumperr", "dump error codes"},
{-SCMD_DUMPCMD, "dumpcmd", "dump command codes"},
{-SCMD_DUMPCONF, "dumpconf", "dump current configuration"},
{-SCMD_FILTER, "filter", "add/modify filter, format: bank# FIFO# mode(M/I) num0 [num1 [num2 [num3]]]"},
{-SCMD_GETCTR, "getctr", "get TIM1/2/3 counters"},
@ -503,24 +540,39 @@ static const commands textcommands[] = {
{0, NULL, NULL}
};
void dumpcmdcodes(_U_ char *txt){
SEND("Commands list:\n");
for(uint16_t i = 0; i < CMD_AMOUNT; ++i){
printu(i);
SEND(" - ");
const commands *c = textcommands;
while(c->command){
if(c->cmd_code == i && *c->command){
SEND(c->help); break;
}
++c;
}
newline();
}
sendbuf();
}
static specfpointer speccmdlist[SCMD_AMOUNT] = {
[SCMD_IGNORE] = addIGN,
[SCMD_DELIGNLIST] = delignlist,
[SCMD_DFU] = bootldr,
[SCMD_FILTER] = add_filter,
[SCMD_CANSPEED] = CANini,
[SCMD_CANID] = canid,
[SCMD_LISTFILTERS] = list_filters,
[SCMD_IGNBUF] = print_ign_buf,
[SCMD_PAUSE] = inpause,
[SCMD_RESUME] = inresume,
[SCMD_SEND] = sendCANcommand,
[SCMD_DUMPCONF] = dump_userconf,
[SCMD_GETCTR] = getcounter,
[SCMD_WD] = wdcheck,
//[SCMD_ST] = stp_check,
};
/*
void stp_check(char *txt){
uint8_t N = *txt - '0';
if(N < 3){
MOTOR_EN(N);
MOTOR_CW(N);
mottimers[N]->ARR = 300;
mottimers[N]->CR1 |= TIM_CR1_CEN;
}else{
for(N = 0; N < 3; ++N){
MOTOR_DIS(N);
MOTOR_CCW(N);
mottimers[N]->CR1 &= ~TIM_CR1_CEN;
}
}
}*/
static void showHelp(){
SEND("https://github.com/eddyem/stm32samples/tree/master/F0-nolib/3steppersLB build#" BUILD_NUMBER " @ " BUILD_DATE "\n");

4
F0-nolib/3steppersLB/version.inc
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@ -1,2 +1,2 @@
#define BUILD_NUMBER "129"
#define BUILD_DATE "2021-12-01"
#define BUILD_NUMBER "139"
#define BUILD_DATE "2021-12-02"