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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;
}