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fix USBCAN code

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This commit is contained in:
eddyem 2020-06-25 23:38:39 +03:00
parent e9b497f827
commit 8d6aeb8f00
13 changed files with 99 additions and 523 deletions
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2
F0-nolib/usbcan/Makefile
View File

@ -6,8 +6,6 @@ FAMILY = F0
# MCU code # MCU code
MCU = F042x6 MCU = F042x6
# hardware definitions # hardware definitions
DEFS += -DUSARTNUM=1
#DEFS += -DCHECK_TMOUT
#DEFS += -DEBUG #DEFS += -DEBUG
# change this linking script depending on particular MCU model, # change this linking script depending on particular MCU model,
# for example, if you have STM32F103VBT6, you should write: # for example, if you have STM32F103VBT6, you should write:

17
F0-nolib/usbcan/Readme.md
View File

@ -2,22 +2,9 @@ Simple code for CAN/USB development board
Simultaneous work of USB CDC (PL2303 emulation) and CAN Simultaneous work of USB CDC (PL2303 emulation) and CAN
Pinout: Pinout:
PC13 - LED0 PB0 - LED0 - short blink when message received
PC14 - LED1 PB1 - LED1 - shine when line OK
PB0..2 - Outputs 1..3
PB8, PB9 - CAN Rx/Tx PB8, PB9 - CAN Rx/Tx
PB14 - BRDaddr0
PB15 - BRDaddr1
PA8 - BRDaddr2
PA0 - V12 (external 12V voltage)
PA1 - V5 (5V voltage level)
PA4, PA5 - Inputs 1,2
PA9, PA10 - USART1 Tx/Rx
PA11. PA12 - USB DM/DP PA11. PA12 - USB DM/DP

74
F0-nolib/usbcan/can.c
View File

@ -23,7 +23,6 @@
#include "can.h" #include "can.h"
#include "hardware.h" #include "hardware.h"
#include "proto.h" #include "proto.h"
#include "usart.h"
#include <string.h> // memcpy #include <string.h> // memcpy
@ -33,7 +32,6 @@ 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 int8_t first_nonfree_idx = -1; // index of first data cell
static uint16_t oldspeed = 100; // speed of last init static uint16_t oldspeed = 100; // speed of last init
static uint16_t CANID = 0xFFFF;
#ifdef EBUG #ifdef EBUG
static uint32_t last_err_code = 0; static uint32_t last_err_code = 0;
#endif #endif
@ -62,9 +60,6 @@ static int CAN_messagebuf_push(CAN_message *msg){
memcpy(&messages[first_free_idx++], msg, sizeof(CAN_message)); memcpy(&messages[first_free_idx++], msg, sizeof(CAN_message));
// need to roll? // need to roll?
if(first_free_idx == CAN_INMESSAGE_SIZE) first_free_idx = 0; if(first_free_idx == CAN_INMESSAGE_SIZE) first_free_idx = 0;
#ifdef EBUG
//MSG("1st free: "); printu(first_free_idx); NL();
#endif
return 0; return 0;
} }
@ -79,26 +74,11 @@ CAN_message *CAN_messagebuf_pop(){
if(first_nonfree_idx == first_free_idx){ // buffer is empty - refresh it if(first_nonfree_idx == first_free_idx){ // buffer is empty - refresh it
first_nonfree_idx = -1; first_nonfree_idx = -1;
first_free_idx = 0; first_free_idx = 0;
#ifdef EBUG
// MSG("refresh buffer\n"); NL();
#endif
} }
return msg; return msg;
} }
// get CAN address data from GPIO pins
void readCANID(){
uint8_t CAN_addr = READ_CAN_INV_ADDR();
CAN_addr = ~CAN_addr & 0x7;
CANID = (CAN_ID_PREFIX & CAN_ID_MASK) | CAN_addr;
}
uint16_t getCANID(){
return CANID;
}
void CAN_reinit(uint16_t speed){ void CAN_reinit(uint16_t speed){
readCANID();
CAN->TSR |= CAN_TSR_ABRQ0 | CAN_TSR_ABRQ1 | CAN_TSR_ABRQ2; CAN->TSR |= CAN_TSR_ABRQ0 | CAN_TSR_ABRQ1 | CAN_TSR_ABRQ2;
RCC->APB1RSTR |= RCC_APB1RSTR_CANRST; RCC->APB1RSTR |= RCC_APB1RSTR_CANRST;
RCC->APB1RSTR &= ~RCC_APB1RSTR_CANRST; RCC->APB1RSTR &= ~RCC_APB1RSTR_CANRST;
@ -134,7 +114,6 @@ void CAN_setup(uint16_t speed){
else if(speed > 3000) speed = 3000; else if(speed > 3000) speed = 3000;
oldspeed = speed; oldspeed = speed;
uint32_t tmout = 16000000; uint32_t tmout = 16000000;
if(CANID == 0xFFFF) readCANID();
// Configure GPIO: PB8 - CAN_Rx, PB9 - CAN_Tx // Configure GPIO: PB8 - CAN_Rx, PB9 - CAN_Tx
/* (1) Select AF mode (10) on PB8 and PB9 */ /* (1) Select AF mode (10) on PB8 and PB9 */
/* (2) AF4 for CAN signals */ /* (2) AF4 for CAN signals */
@ -173,14 +152,9 @@ void CAN_setup(uint16_t speed){
CAN->FMR = CAN_FMR_FINIT; /* (7) */ CAN->FMR = CAN_FMR_FINIT; /* (7) */
CAN->FA1R = CAN_FA1R_FACT0 | CAN_FA1R_FACT1; /* (8) */ CAN->FA1R = CAN_FA1R_FACT0 | CAN_FA1R_FACT1; /* (8) */
// set to 1 all needed bits of CAN->FFA1R to switch given filters to FIFO1 // set to 1 all needed bits of CAN->FFA1R to switch given filters to FIFO1
#if 0
CAN->FM1R = CAN_FM1R_FBM0; /* (9) */
CAN->sFilterRegister[0].FR1 = CANID << 5 | ((BCAST_ID << 5) << 16); /* (10) */
#else
CAN->sFilterRegister[0].FR1 = (1<<21)|(1<<5); // all odd IDs CAN->sFilterRegister[0].FR1 = (1<<21)|(1<<5); // all odd IDs
CAN->FFA1R = 2; // filter 1 for FIFO1, filter 0 - for FIFO0 CAN->FFA1R = 2; // filter 1 for FIFO1, filter 0 - for FIFO0
CAN->sFilterRegister[1].FR1 = (1<<21); // all even IDs CAN->sFilterRegister[1].FR1 = (1<<21); // all even IDs
#endif
CAN->FMR &=~ CAN_FMR_FINIT; /* (12) */ CAN->FMR &=~ CAN_FMR_FINIT; /* (12) */
CAN->IER |= CAN_IER_ERRIE | CAN_IER_FOVIE0 | CAN_IER_FOVIE1; /* (13) */ CAN->IER |= CAN_IER_ERRIE | CAN_IER_FOVIE0 | CAN_IER_FOVIE1; /* (13) */
@ -244,30 +218,6 @@ void can_proc(){
lastFloodTime = Tms; lastFloodTime = Tms;
can_send(flood_msg->data, flood_msg->length, flood_msg->ID); can_send(flood_msg->data, flood_msg->length, flood_msg->ID);
} }
#if 0
static uint32_t esr, msr, tsr;
uint32_t msr_now = CAN->MSR & 0xf;
if(esr != CAN->ESR || msr != msr_now || tsr != CAN->TSR){
MSG("Timestamp: ");
printu(Tms);
NL();
}
if((CAN->ESR) != esr){
esr = CAN->ESR;
MSG("CAN->ESR: ");
printuhex(esr); NL();
}
if(msr_now != msr){
msr = msr_now;
MSG("CAN->MSR & 0xf: ");
printuhex(msr); NL();
}
if(CAN->TSR != tsr){
tsr = CAN->TSR;
MSG("CAN->TSR: ");
printuhex(tsr); NL();
}
#endif
} }
CAN_status can_send(uint8_t *msg, uint8_t len, uint16_t target_id){ CAN_status can_send(uint8_t *msg, uint8_t len, uint16_t target_id){
@ -324,23 +274,6 @@ CAN_status can_send(uint8_t *msg, uint8_t len, uint16_t target_id){
return CAN_OK; return CAN_OK;
} }
void can_send_dummy(){
uint8_t msg = CMD_TOGGLE;
if(CAN_OK != can_send(&msg, 1, TARG_ID)) SEND("Bus busy!\n");
MSG("CAN->MSR: ");
printuhex(CAN->MSR); NL();
MSG("CAN->TSR: ");
printuhex(CAN->TSR); NL();
MSG("CAN->ESR: ");
printuhex(CAN->ESR); NL();
}
void can_send_broadcast(){
uint8_t msg = CMD_BCAST;
if(CAN_OK != can_send(&msg, 1, BCAST_ID)) SEND("Bus busy!\n");
MSG("Broadcast message sent\n");
}
void set_flood(CAN_message *msg){ void set_flood(CAN_message *msg){
if(!msg) flood_msg = NULL; if(!msg) flood_msg = NULL;
else{ else{
@ -354,13 +287,6 @@ static void can_process_fifo(uint8_t fifo_num){
LED_on(LED1); // Turn on LED1 - message received LED_on(LED1); // Turn on LED1 - message received
CAN_FIFOMailBox_TypeDef *box = &CAN->sFIFOMailBox[fifo_num]; CAN_FIFOMailBox_TypeDef *box = &CAN->sFIFOMailBox[fifo_num];
volatile uint32_t *RFxR = (fifo_num) ? &CAN->RF1R : &CAN->RF0R; volatile uint32_t *RFxR = (fifo_num) ? &CAN->RF1R : &CAN->RF0R;
/*
MSG("\nReceive, RDTR=");
#ifdef EBUG
printuhex(box->RDTR);
NL();
#endif
*/
// read all // read all
while(*RFxR & CAN_RF0R_FMP0){ // amount of messages pending while(*RFxR & CAN_RF0R_FMP0){ // amount of messages pending
// CAN_RDTxR: (16-31) - timestamp, (8-15) - filter match index, (0-3) - data length // CAN_RDTxR: (16-31) - timestamp, (8-15) - filter match index, (0-3) - data length

19
F0-nolib/usbcan/can.h
View File

@ -31,18 +31,6 @@
// flood period in milliseconds // flood period in milliseconds
#define FLOOD_PERIOD_MS 5 #define FLOOD_PERIOD_MS 5
// simple 1-byte commands
#define CMD_TOGGLE (0xDA)
#define CMD_BCAST (0xAD)
// mask heading 8 bits of can ID
#define CAN_ID_MASK (0x7F8)
// prefix to make ID from any number (0..7)
#define CAN_ID_PREFIX (0xAAA)
// "target" ID: num=0
#define TARG_ID (CAN_ID_PREFIX & CAN_ID_MASK)
// "broadcast" ID: all ones
#define BCAST_ID (0x7FF)
// incoming message buffer size // incoming message buffer size
#define CAN_INMESSAGE_SIZE (8) #define CAN_INMESSAGE_SIZE (8)
@ -50,8 +38,6 @@
typedef struct{ typedef struct{
uint8_t data[8]; // up to 8 bytes of data uint8_t data[8]; // up to 8 bytes of data
uint8_t length; // data length uint8_t length; // data length
//uint8_t filterNo; // filter number
//uint8_t fifoNum; // message FIFO number
uint16_t ID; // ID of receiver uint16_t ID; // ID of receiver
} CAN_message; } CAN_message;
@ -65,15 +51,10 @@ typedef enum{
CAN_status CAN_get_status(); CAN_status CAN_get_status();
void readCANID();
uint16_t getCANID();
void CAN_reinit(uint16_t speed); void CAN_reinit(uint16_t speed);
void CAN_setup(uint16_t speed); void CAN_setup(uint16_t speed);
CAN_status can_send(uint8_t *msg, uint8_t len, uint16_t target_id); CAN_status can_send(uint8_t *msg, uint8_t len, uint16_t target_id);
void can_send_dummy();
void can_send_broadcast();
void can_proc(); void can_proc();
CAN_message *CAN_messagebuf_pop(); CAN_message *CAN_messagebuf_pop();

53
F0-nolib/usbcan/hardware.c
View File

@ -22,24 +22,17 @@
*/ */
#include "hardware.h" #include "hardware.h"
#include "usart.h"
uint8_t ledsON = 0;
void gpio_setup(void){ void gpio_setup(void){
// here we turn on clocking for all periph. RCC->AHBENR |= RCC_AHBENR_GPIOBEN;
RCC->AHBENR |= RCC_AHBENR_GPIOAEN | RCC_AHBENR_GPIOBEN | RCC_AHBENR_GPIOCEN | RCC_AHBENR_DMAEN; // Set LEDS (PB0/1) as output
// Set LEDS (PC13/14) as output
GPIOC->MODER = (GPIOC->MODER & ~(GPIO_MODER_MODER13 | GPIO_MODER_MODER14)
) |
GPIO_MODER_MODER13_O | GPIO_MODER_MODER14_O;
// PB14(0), PB15(1), PA8(2) - CAN address, pullup inputs
GPIOA->PUPDR = (GPIOA->PUPDR & ~(GPIO_PUPDR_PUPDR8)
) |
GPIO_PUPDR_PUPDR8_0;
GPIOB->PUPDR = (GPIOB->PUPDR & ~(GPIO_PUPDR_PUPDR14 | GPIO_PUPDR_PUPDR15)
) |
GPIO_PUPDR_PUPDR14_0 | GPIO_PUPDR_PUPDR15_0;
pin_set(LED0_port, LED0_pin); // clear LEDs pin_set(LED0_port, LED0_pin); // clear LEDs
pin_set(LED1_port, LED1_pin); pin_set(LED1_port, LED1_pin);
GPIOB->MODER = (GPIOB->MODER & ~(GPIO_MODER_MODER0 | GPIO_MODER_MODER1)
) |
GPIO_MODER_MODER0_O | GPIO_MODER_MODER1_O;
} }
void iwdg_setup(){ void iwdg_setup(){
@ -70,3 +63,35 @@ void pause_ms(uint32_t pause){
uint32_t Tnxt = Tms + pause; uint32_t Tnxt = Tms + pause;
while(Tms < Tnxt) nop(); while(Tms < Tnxt) nop();
} }
void Jump2Boot(){
void (*SysMemBootJump)(void);
volatile uint32_t addr = 0x1FFFC800;
// reset systick
SysTick->CTRL = 0;
// reset clocks
RCC->APB1RSTR = RCC_APB1RSTR_CECRST | RCC_APB1RSTR_DACRST | RCC_APB1RSTR_PWRRST | RCC_APB1RSTR_CRSRST |
RCC_APB1RSTR_CANRST | RCC_APB1RSTR_USBRST | RCC_APB1RSTR_I2C2RST | RCC_APB1RSTR_I2C1RST |
RCC_APB1RSTR_USART4RST | RCC_APB1RSTR_USART3RST | RCC_APB1RSTR_USART2RST | RCC_APB1RSTR_SPI2RST |
RCC_APB1RSTR_WWDGRST | RCC_APB1RSTR_TIM14RST |
#ifdef STM32F072xB
RCC_APB1RSTR_TIM7RST | RCC_APB1RSTR_TIM6RST |
#endif
RCC_APB1RSTR_TIM3RST | RCC_APB1RSTR_TIM2RST;
RCC->APB2RSTR = RCC_APB2RSTR_DBGMCURST | RCC_APB2RSTR_TIM17RST | RCC_APB2RSTR_TIM16RST |
#ifdef STM32F072xB
RCC_APB2RSTR_TIM15RST |
#endif
RCC_APB2RSTR_USART1RST | RCC_APB2RSTR_SPI1RST | RCC_APB2RSTR_TIM1RST | RCC_APB2RSTR_ADCRST | RCC_APB2RSTR_SYSCFGRST;
RCC->AHBRSTR = 0;
RCC->APB1RSTR = 0;
RCC->APB2RSTR = 0;
// remap memory to 0 (only for STM32F0)
SYSCFG->CFGR1 = 0x01; __DSB(); __ISB();
SysMemBootJump = (void (*)(void)) (*((uint32_t *)(addr + 4)));
// set main stack pointer
__set_MSP(*((uint32_t *)addr));
// jump to bootloader
SysMemBootJump();
}

19
F0-nolib/usbcan/hardware.h
View File

@ -33,17 +33,17 @@
#define FORMUSART(X) CONCAT(USART, X) #define FORMUSART(X) CONCAT(USART, X)
#define USARTX FORMUSART(USARTNUM) #define USARTX FORMUSART(USARTNUM)
// LEDS: 0 - PC13, 1 - PC14 // LEDS: 0 - PB0, 1 - PB1
// LED0 // LED0
#define LED0_port GPIOC #define LED0_port GPIOB
#define LED0_pin (1<<13) #define LED0_pin (1<<0)
// LED1 // LED1
#define LED1_port GPIOC #define LED1_port GPIOB
#define LED1_pin (1<<14) #define LED1_pin (1<<1)
#define LED_blink(x) pin_toggle(x ## _port, x ## _pin) #define LED_blink(x) do{if(ledsON) pin_toggle(x ## _port, x ## _pin);}while(0)
#define LED_on(x) pin_clear(x ## _port, x ## _pin) #define LED_on(x) do{if(ledsON) pin_clear(x ## _port, x ## _pin);}while(0)
#define LED_off(x) pin_set(x ## _port, x ## _pin) #define LED_off(x) do{pin_set(x ## _port, x ## _pin);}while(0)
// CAN address - PB14(0), PB15(1), PA8(2) // CAN address - PB14(0), PB15(1), PA8(2)
@ -52,8 +52,11 @@
extern volatile uint32_t Tms; extern volatile uint32_t Tms;
extern uint8_t ledsON;
void gpio_setup(void); void gpio_setup(void);
void iwdg_setup(); void iwdg_setup();
void pause_ms(uint32_t pause); void pause_ms(uint32_t pause);
void Jump2Boot();
#endif // __HARDWARE_H__ #endif // __HARDWARE_H__

71
F0-nolib/usbcan/main.c
View File

@ -22,7 +22,6 @@
#include "can.h" #include "can.h"
#include "hardware.h" #include "hardware.h"
#include "proto.h" #include "proto.h"
#include "usart.h"
#include "usb.h" #include "usb.h"
#include "usb_lib.h" #include "usb_lib.h"
@ -33,27 +32,6 @@ void sys_tick_handler(void){
++Tms; ++Tms;
} }
/*
// usb getline
static char *get_USB(){
static char tmpbuf[512], *curptr = tmpbuf;
static int rest = 511;
uint8_t x = USB_receive((uint8_t*)curptr);
curptr[x] = 0;
if(!x) return NULL;
if(curptr[x-1] == '\n'){
curptr = tmpbuf;
rest = 511;
return tmpbuf;
}
curptr += x; rest -= x;
if(rest <= 0){ // buffer overflow
curptr = tmpbuf;
rest = 511;
}
return NULL;
}*/
#define USBBUF 63 #define USBBUF 63
// usb getline // usb getline
static char *get_USB(){ static char *get_USB(){
@ -81,15 +59,12 @@ static char *get_USB(){
} }
curptr += x; rest -= x; curptr += x; rest -= x;
if(rest <= 0){ // buffer overflow if(rest <= 0){ // buffer overflow
usart_send("\nUSB buffer overflow!\n"); transmit_tbuf();
curptr = tmpbuf; curptr = tmpbuf;
rest = USBBUF; rest = USBBUF;
} }
return NULL; return NULL;
} }
int main(void){ int main(void){
uint32_t lastT = 0; uint32_t lastT = 0;
uint8_t ctr, len; uint8_t ctr, len;
@ -98,68 +73,44 @@ int main(void){
sysreset(); sysreset();
SysTick_Config(6000, 1); SysTick_Config(6000, 1);
gpio_setup(); gpio_setup();
usart_setup(); USB_setup();
readCANID();
CAN_setup(100); CAN_setup(100);
switchbuff(0);
SEND("Greetings! My address is ");
printuhex(getCANID());
newline();
if(RCC->CSR & RCC_CSR_IWDGRSTF){ // watchdog reset occured
SEND("WDGRESET=1\n");
}
if(RCC->CSR & RCC_CSR_SFTRSTF){ // software reset occured
SEND("SOFTRESET=1\n");
}
sendbuf();
RCC->CSR |= RCC_CSR_RMVF; // remove reset flags RCC->CSR |= RCC_CSR_RMVF; // remove reset flags
iwdg_setup(); iwdg_setup();
USB_setup();
while (1){ while (1){
IWDG->KR = IWDG_REFRESH; // refresh watchdog IWDG->KR = IWDG_REFRESH; // refresh watchdog
if(lastT > Tms || Tms - lastT > 499){ if(lastT && (Tms - lastT > 199)){
LED_blink(LED0); LED_off(LED0);
lastT = Tms; lastT = 0;
transmit_tbuf(); // non-blocking transmission of data from UART buffer every 0.5s
} }
can_proc(); can_proc();
usb_proc(); usb_proc();
if(CAN_get_status() == CAN_FIFO_OVERRUN){ if(CAN_get_status() == CAN_FIFO_OVERRUN){
register uint8_t o = switchbuff(3);
SEND("CAN bus fifo overrun occured!\n"); SEND("CAN bus fifo overrun occured!\n");
sendbuf(); switchbuff(o); sendbuf();
} }
can_mesg = CAN_messagebuf_pop(); can_mesg = CAN_messagebuf_pop();
if(ShowMsgs && can_mesg && isgood(can_mesg->ID)){ // new data in buff 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; IWDG->KR = IWDG_REFRESH;
len = can_mesg->length; len = can_mesg->length;
printu(Tms); printu(Tms);
SEND(" #"); SEND(" #");
printuhex(can_mesg->ID); printuhex(can_mesg->ID);
/*SEND(", filter #");
printu(can_mesg->filterNo);
SEND(", FIFO #");
printu(can_mesg->fifoNum);*/
/*SEND(", len=");
printu(len);
SEND(", data: ");*/
for(ctr = 0; ctr < len; ++ctr){ for(ctr = 0; ctr < len; ++ctr){
SEND(" "); SEND(" ");
printuhex(can_mesg->data[ctr]); printuhex(can_mesg->data[ctr]);
} }
newline(); sendbuf(); newline(); sendbuf();
} }
if(usartrx()){ // usart1 received data, store in in buffer
usart_getline(&txt);
IWDG->KR = IWDG_REFRESH;
cmd_parser(txt, 0);
} }
if((txt = get_USB())){ if((txt = get_USB())){
IWDG->KR = IWDG_REFRESH; IWDG->KR = IWDG_REFRESH;
cmd_parser(txt, 1); cmd_parser(txt);
} }
} }
return 0; return 0;

71
F0-nolib/usbcan/proto.c
View File

@ -23,7 +23,6 @@
#include "can.h" #include "can.h"
#include "hardware.h" #include "hardware.h"
#include "proto.h" #include "proto.h"
#include "usart.h"
#include "usb.h" #include "usb.h"
#include <string.h> // strlen #include <string.h> // strlen
@ -33,32 +32,20 @@ extern volatile uint8_t canerror;
uint8_t ShowMsgs = 07; uint8_t ShowMsgs = 07;
uint16_t Ignore_IDs[IGN_SIZE]; uint16_t Ignore_IDs[IGN_SIZE];
uint8_t IgnSz = 0; uint8_t IgnSz = 0;
static char buff[UARTBUFSZ+1], *bptr = buff; static char buff[BUFSZ+1], *bptr = buff;
static uint8_t blen = 0, USBcmd = 0; static uint8_t blen = 0;
void sendbuf(){ void sendbuf(){
IWDG->KR = IWDG_REFRESH; IWDG->KR = IWDG_REFRESH;
if(blen == 0) return; if(blen == 0) return;
*bptr = 0; *bptr = 0;
if(USBcmd) USB_sendstr(buff); USB_sendstr(buff);
if(USBcmd != 1){
usart_send(buff);
transmit_tbuf();
}
bptr = buff; bptr = buff;
blen = 0; blen = 0;
} }
// 1 - USB, 0 - USART, other number - both
// @return old buff state
uint8_t switchbuff(uint8_t isUSB){
uint8_t r = USBcmd;
USBcmd = isUSB;
return r;
}
void bufputchar(char ch){ void bufputchar(char ch){
if(blen > UARTBUFSZ-1){ if(blen > BUFSZ-1){
sendbuf(); sendbuf();
} }
*bptr++ = ch; *bptr++ = ch;
@ -415,9 +402,7 @@ static void add_filter(char *str){
* @param txt - buffer with commands & data * @param txt - buffer with commands & data
* @param isUSB - == 1 if data got from USB * @param isUSB - == 1 if data got from USB
*/ */
void cmd_parser(char *txt, uint8_t isUSB){ void cmd_parser(char *txt){
USBcmd = isUSB;
//int16_t L = (int16_t)strlen(txt);
char _1st = txt[0]; char _1st = txt[0];
/* /*
* parse long commands here * parse long commands here
@ -447,29 +432,28 @@ void cmd_parser(char *txt, uint8_t isUSB){
} }
if(txt[1] != '\n') *txt = '?'; // help for wrong message length if(txt[1] != '\n') *txt = '?'; // help for wrong message length
switch(_1st){ switch(_1st){
case 'B':
can_send_broadcast();
break;
case 'C':
can_send_dummy();
break;
case 'd': case 'd':
IgnSz = 0; IgnSz = 0;
break; break;
case 'G': case 'D':
SEND("Can address: "); SEND("Go into DFU mode\n");
printuhex(getCANID()); sendbuf();
newline(); Jump2Boot();
break; break;
case 'I': case 'I':
CAN_reinit(0); CAN_reinit(0);
SEND("Can address: ");
printuhex(getCANID());
newline();
break; break;
case 'l': case 'l':
list_filters(); list_filters();
break; break;
case 'o':
ledsON = 0;
LED_off(LED0);
LED_off(LED1);
break;
case 'O':
ledsON = 1;
break;
case 'p': case 'p':
print_ign_buf(); print_ign_buf();
break; break;
@ -489,34 +473,23 @@ void cmd_parser(char *txt, uint8_t isUSB){
printu(Tms); printu(Tms);
newline(); newline();
break; break;
case 'U':
USND("Test string for USB; a very long string that don't fit into one 64-byte buffer, what will be with it?\n");
break;
case 'W':
SEND("Test watchdog\n");
sendbuf();
pause_ms(5); // a little pause to transmit data
while(1){nop();}
break;
default: // help default: // help
SEND( SEND(
"'a' - add ID to ignore list (max 10 IDs)\n" "'a' - add ID to ignore list (max 10 IDs)\n"
"'b' - reinit CAN with given baudrate\n" "'b' - reinit CAN with given baudrate\n"
"'B' - send broadcast dummy byte\n"
"'C' - send dummy byte over CAN\n"
"'d' - delete ignore list\n" "'d' - delete ignore list\n"
"'D' - activate DFU mode\n"
"'f' - add/delete filter, format: bank# FIFO# mode(M/I) num0 [num1 [num2 [num3]]]\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" "'F' - send/clear flood message: F ID byte0 ... byteN\n"
"'G' - get CAN address\n" "'I' - reinit CAN\n"
"'I' - reinit CAN (with new address)\n"
"'l' - list all active filters\n" "'l' - list all active filters\n"
"'o' - turn LEDs OFF\n"
"'O' - turn LEDs ON\n"
"'p' - print ignore buffer\n" "'p' - print ignore buffer\n"
"'P' - pause/resume in packets displaying\n" "'P' - pause/resume in packets displaying\n"
"'R' - software reset\n" "'R' - software reset\n"
"'s/S' - send data over CAN: s ID byte0 .. byteN\n" "'s/S' - send data over CAN: s ID byte0 .. byteN\n"
"'T' - gen time from start (ms)\n" "'T' - get time from start (ms)\n"
"'U' - send test string over USB\n"
"'W' - test watchdog\n"
); );
break; break;
} }

7
F0-nolib/usbcan/proto.h
View File

@ -27,6 +27,8 @@
#include "stm32f0.h" #include "stm32f0.h"
#include "hardware.h" #include "hardware.h"
#define BUFSZ (64)
// macro for static strings // macro for static strings
#define SEND(str) do{addtobuf(str);}while(0) #define SEND(str) do{addtobuf(str);}while(0)
@ -38,20 +40,19 @@
#define newline() do{bufputchar('\n');}while(0) #define newline() do{bufputchar('\n');}while(0)
// newline with buffer sending over USART // newline with buffer sending over USART
#define NL() do{bufputchar('\n'); register uint8_t o = switchbuff(3); sendbuf(); switchbuff(o);}while(0) #define NL() do{bufputchar('\n'); sendbuf();}while(0)
#define IGN_SIZE 10 #define IGN_SIZE 10
extern uint16_t Ignore_IDs[IGN_SIZE]; extern uint16_t Ignore_IDs[IGN_SIZE];
extern uint8_t IgnSz; extern uint8_t IgnSz;
extern uint8_t ShowMsgs; extern uint8_t ShowMsgs;
void cmd_parser(char *buf, uint8_t isUSB); void cmd_parser(char *buf);
void addtobuf(const char *txt); void addtobuf(const char *txt);
void bufputchar(char ch); void bufputchar(char ch);
void printu(uint32_t val); void printu(uint32_t val);
void printuhex(uint32_t val); void printuhex(uint32_t val);
void sendbuf(); void sendbuf();
uint8_t switchbuff(uint8_t isUSB);
char *omit_spaces(char *buf); char *omit_spaces(char *buf);
char *getnum(char *buf, uint32_t *N); char *getnum(char *buf, uint32_t *N);

221
F0-nolib/usbcan/usart.c
View File

@ -1,221 +0,0 @@
/*
* usart.c
*
* Copyright 2017 Edward V. Emelianoff <eddy@sao.ru, 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 2 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, write to the Free Software
* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
* MA 02110-1301, USA.
*/
#include "stm32f0.h"
#include "hardware.h"
#include "usart.h"
#include <string.h>
static volatile int idatalen[2] = {0,0}; // received data line length (including '\n')
static volatile int odatalen[2] = {0,0};
static volatile int dlen = 0; // length of data (including '\n') in current buffer
volatile int linerdy = 0, // received data ready
bufovr = 0, // input buffer overfull
txrdy = 1 // transmission done
;
static int rbufno = 0, tbufno = 0; // current rbuf/tbuf numbers
static char rbuf[2][UARTBUFSZ], tbuf[2][UARTBUFSZ]; // receive & transmit buffers
static char *recvdata = NULL;
/**
* return length of received data (without trailing zero
*/
int usart_getline(char **line){
if(bufovr){
bufovr = 0;
linerdy = 0;
return 0;
}
*line = recvdata;
linerdy = 0;
return dlen;
}
// transmit current tbuf and swap buffers
void transmit_tbuf(){
uint32_t tmout = 16000000;
while(!txrdy){if(--tmout == 0) break;}; // wait for previos buffer transmission
register int l = odatalen[tbufno];
if(!l) return;
txrdy = 0;
odatalen[tbufno] = 0;
#if USARTNUM == 2
DMA1_Channel4->CCR &= ~DMA_CCR_EN;
DMA1_Channel4->CMAR = (uint32_t) tbuf[tbufno]; // mem
DMA1_Channel4->CNDTR = l;
DMA1_Channel4->CCR |= DMA_CCR_EN; // start transmission
#elif USARTNUM == 1
DMA1_Channel2->CCR &= ~DMA_CCR_EN;
DMA1_Channel2->CMAR = (uint32_t) tbuf[tbufno]; // mem
DMA1_Channel2->CNDTR = l;
DMA1_Channel2->CCR |= DMA_CCR_EN;
#else
#error "Not implemented"
#endif
tbufno = !tbufno;
}
void usart_putchar(const char ch){
if(odatalen[tbufno] == UARTBUFSZ) transmit_tbuf();
tbuf[tbufno][odatalen[tbufno]++] = ch;
}
void usart_send(const char *str){
uint32_t x = 512;
while(*str && --x){
if(odatalen[tbufno] == UARTBUFSZ) transmit_tbuf();
tbuf[tbufno][odatalen[tbufno]++] = *str++;
}
}
void usart_sendn(const char *str, uint8_t L){
for(uint8_t i = 0; i < L; ++i){
if(odatalen[tbufno] == UARTBUFSZ) transmit_tbuf();
tbuf[tbufno][odatalen[tbufno]++] = *str++;
}
}
void usart_setup(){
// Nucleo's USART2 connected to VCP proxy of st-link
uint32_t tmout = 16000000;
#if USARTNUM == 2
// setup pins: PA2 (Tx - AF1), PA15 (Rx - AF1)
// AF mode (AF1)
GPIOA->MODER = (GPIOA->MODER & ~(GPIO_MODER_MODER2|GPIO_MODER_MODER15))\
| (GPIO_MODER_MODER2_AF | GPIO_MODER_MODER15_AF);
GPIOA->AFR[0] = (GPIOA->AFR[0] &~GPIO_AFRH_AFRH2) | 1 << (2 * 4); // PA2
GPIOA->AFR[1] = (GPIOA->AFR[1] &~GPIO_AFRH_AFRH7) | 1 << (7 * 4); // PA15
// DMA: Tx - Ch4
DMA1_Channel4->CPAR = (uint32_t) &USART2->TDR; // periph
DMA1_Channel4->CCR |= DMA_CCR_MINC | DMA_CCR_DIR | DMA_CCR_TCIE; // 8bit, mem++, mem->per, transcompl irq
// Tx CNDTR set @ each transmission due to data size
NVIC_SetPriority(DMA1_Channel4_5_IRQn, 3);
NVIC_EnableIRQ(DMA1_Channel4_5_IRQn);
NVIC_SetPriority(USART2_IRQn, 0);
// setup usart2
RCC->APB1ENR |= RCC_APB1ENR_USART2EN; // clock
// oversampling by16, 115200bps (fck=48mHz)
//USART2_BRR = 0x1a1; // 48000000 / 115200
USART2->BRR = 480000 / 1152;
USART2->CR3 = USART_CR3_DMAT; // enable DMA Tx
USART2->CR1 = USART_CR1_TE | USART_CR1_RE | USART_CR1_UE; // 1start,8data,nstop; enable Rx,Tx,USART
while(!(USART2->ISR & USART_ISR_TC)){if(--tmout == 0) break;} // polling idle frame Transmission
USART2->ICR |= USART_ICR_TCCF; // clear TC flag
USART2->CR1 |= USART_CR1_RXNEIE;
NVIC_EnableIRQ(USART2_IRQn);
// USART1 of main board
#elif USARTNUM == 1
// PA9 - Tx, PA10 - Rx (AF1)
GPIOA->MODER = (GPIOA->MODER & ~(GPIO_MODER_MODER9 | GPIO_MODER_MODER10))\
| (GPIO_MODER_MODER9_AF | GPIO_MODER_MODER10_AF);
GPIOA->AFR[1] = (GPIOA->AFR[1] & ~(GPIO_AFRH_AFRH1 | GPIO_AFRH_AFRH2)) |
1 << (1 * 4) | 1 << (2 * 4); // PA9, PA10
// USART1 Tx DMA - Channel2 (default value in SYSCFG_CFGR1)
DMA1_Channel2->CPAR = (uint32_t) &USART1->TDR; // periph
DMA1_Channel2->CMAR = (uint32_t) tbuf; // mem
DMA1_Channel2->CCR |= DMA_CCR_MINC | DMA_CCR_DIR | DMA_CCR_TCIE; // 8bit, mem++, mem->per, transcompl irq
// Tx CNDTR set @ each transmission due to data size
NVIC_SetPriority(DMA1_Channel2_3_IRQn, 3);
NVIC_EnableIRQ(DMA1_Channel2_3_IRQn);
NVIC_SetPriority(USART1_IRQn, 0);
// setup usart1
RCC->APB2ENR |= RCC_APB2ENR_USART1EN;
USART1->BRR = 480000 / 1152;
USART1->CR3 = USART_CR3_DMAT; // enable DMA Tx
USART1->CR1 = USART_CR1_TE | USART_CR1_RE | USART_CR1_UE; // 1start,8data,nstop; enable Rx,Tx,USART
while(!(USART1->ISR & USART_ISR_TC)){if(--tmout == 0) break;} // polling idle frame Transmission
USART1->ICR |= USART_ICR_TCCF; // clear TC flag
USART1->CR1 |= USART_CR1_RXNEIE;
NVIC_EnableIRQ(USART1_IRQn);
#else
#error "Not implemented"
#endif
}
#if USARTNUM == 2
void usart2_isr(){
// USART1
#elif USARTNUM == 1
void usart1_isr(){
#else
#error "Not implemented"
#endif
#ifdef CHECK_TMOUT
static uint32_t tmout = 0;
#endif
if(USARTX->ISR & USART_ISR_RXNE){ // RX not emty - receive next char
#ifdef CHECK_TMOUT
if(tmout && Tms >= tmout){ // set overflow flag
bufovr = 1;
idatalen[rbufno] = 0;
}
tmout = Tms + TIMEOUT_MS;
if(!tmout) tmout = 1; // prevent 0
#endif
// read RDR clears flag
uint8_t rb = USARTX->RDR;
USARTX->TDR = rb;
if(idatalen[rbufno] < UARTBUFSZ){ // put next char into buf
rbuf[rbufno][idatalen[rbufno]++] = rb;
if(rb == '\n'){ // got newline - line ready
linerdy = 1;
dlen = idatalen[rbufno];
recvdata = rbuf[rbufno];
recvdata[dlen] = 0;
// prepare other buffer
rbufno = !rbufno;
idatalen[rbufno] = 0;
#ifdef CHECK_TMOUT
// clear timeout at line end
tmout = 0;
#endif
}
}else{ // buffer overrun
bufovr = 1;
idatalen[rbufno] = 0;
#ifdef CHECK_TMOUT
tmout = 0;
#endif
}
}
}
#if USARTNUM == 2
void dma1_channel4_5_isr(){
if(DMA1->ISR & DMA_ISR_TCIF4){ // Tx
DMA1->IFCR |= DMA_IFCR_CTCIF4; // clear TC flag
txrdy = 1;
}
}
// USART1
#elif USARTNUM == 1
void dma1_channel2_3_isr(){
if(DMA1->ISR & DMA_ISR_TCIF2){ // Tx
DMA1->IFCR |= DMA_IFCR_CTCIF2; // clear TC flag
txrdy = 1;
}
}
#else
#error "Not implemented"
#endif

47
F0-nolib/usbcan/usart.h
View File

@ -1,47 +0,0 @@
/*
* usart.h
*
* Copyright 2017 Edward V. Emelianoff <eddy@sao.ru, 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 2 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, write to the Free Software
* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
* MA 02110-1301, USA.
*/
#pragma once
#ifndef __USART_H__
#define __USART_H__
#include "hardware.h"
// input and output buffers size
#define UARTBUFSZ (64)
// timeout between data bytes
#ifndef TIMEOUT_MS
#define TIMEOUT_MS (1500)
#endif
#define usartrx() (linerdy)
#define usartovr() (bufovr)
extern volatile int linerdy, bufovr, txrdy;
void transmit_tbuf();
void usart_setup();
int usart_getline(char **line);
void usart_send(const char *str);
void usart_sendn(const char *str, uint8_t L);
void usart_putchar(const char ch);
void hexdump(uint8_t *arr, uint16_t len);
#endif // __USART_H__

1
F0-nolib/usbcan/usb.c
View File

@ -23,7 +23,6 @@
#include "usb.h" #include "usb.h"
#include "usb_lib.h" #include "usb_lib.h"
#include "usart.h"
static volatile uint8_t tx_succesfull = 1; static volatile uint8_t tx_succesfull = 1;
static volatile uint8_t rxNE = 0; static volatile uint8_t rxNE = 0;

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F0-nolib/usbcan/usbcan.bin
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