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add CAN

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This commit is contained in:
Edward Emelianov 2023-04-29 21:49:45 +03:00
parent 72ef5c9cc6
commit 9b0504944b
14 changed files with 993 additions and 15 deletions
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4
F3:F303/Seven_CDCs/7CDCs.files
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can.c
can.h
canproto.c
canproto.h
cmdproto.c
cmdproto.h
debug.h

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F3:F303/Seven_CDCs/can.c Normal file
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/*
* This file is part of the 7CDCs 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 "can.h"
#include "hardware.h"
#include "strfunc.h"
#include "usb.h"
#define SEND(str) do{USB_sendstr(CAN_IDX, str);}while(0)
#define SENDN(str) do{USB_sendstr(CAN_IDX, str); USB_putbyte(CAN_IDX, '\n');}while(0)
// PB8/PB9!!!
#include <string.h> // memcpy
// 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 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){
//MSG("Try to push\n");
#ifdef EBUG
SENDN("push");
#endif
if(first_free_idx == first_nonfree_idx){
#ifdef EBUG
SENDN("INBUF OVERFULL");
#endif
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;
}
return msg;
}
void CAN_reinit(uint16_t speed){
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
void CAN_setup(uint16_t speed){
//LED_off(LED1);
if(speed == 0) speed = oldspeed;
else if(speed < 50) speed = 50;
else if(speed > 3000) speed = 3000;
oldspeed = speed;
uint32_t tmout = 16000000;
// Configure GPIO: PB8 - CAN_Rx, PB9 - CAN_Tx (both AF9)
RCC->AHBENR |= RCC_AHBENR_GPIOBEN;
GPIOB->MODER = (GPIOB->MODER & ~(GPIO_MODER_MODER8 | GPIO_MODER_MODER9))
| (GPIO_MODER_MODER8_AF | GPIO_MODER_MODER9_AF);
GPIOB->AFR[1] = (GPIOB->AFR[1] &~ (GPIO_AFRH_AFRH0 | GPIO_AFRH_AFRH1))
| AFRf(9, 8) | AFRf(9, 9);
/* Enable the peripheral clock CAN */
RCC->APB1ENR |= RCC_APB1ENR_CANEN;
/* 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 to 100kb/s: 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;
CAN->MCR &=~ CAN_MCR_SLEEP; /* (3) */
CAN->MCR |= CAN_MCR_ABOM; /* allow automatically bus-off */
CAN->BTR = 2 << 20 | 3 << 16 | (4500/speed - 1); //| CAN_BTR_SILM | CAN_BTR_LBKM; /* (4) */
CAN->MCR &= ~CAN_MCR_INRQ; /* (5) */
tmout = 16000000;
while((CAN->MSR & CAN_MSR_INAK) == CAN_MSR_INAK) /* (6) */
if(--tmout == 0) break;
// 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;
}
void printCANerr(){
if(!last_err_code) last_err_code = CAN->ESR;
if(!last_err_code){
SENDN("No errors");
return;
}
SEND("Receive error counter: ");
SEND(u2str((last_err_code & CAN_ESR_REC)>>24));
SEND("\nTransmit error counter: ");
SEND(u2str((last_err_code & CAN_ESR_TEC)>>16));
SEND("\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;
}
SEND(errmsg); SENDN(" error");
if(last_err_code & CAN_ESR_BOFF) SENDN("Bus off");
if(last_err_code & CAN_ESR_EPVF) SENDN("Passive error limit");
if(last_err_code & CAN_ESR_EWGF) SENDN("Error counter limit");
last_err_code = 0;
}
void can_proc(){
#ifdef EBUG
if(last_err_code){
SEND("Error, ESR=");
SENDN(u2str(last_err_code));
last_err_code = 0;
}
#endif
// 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
SENDN("\nToo much errors, restarting CAN!");
printCANerr();
// 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;
static uint32_t incrmessagectr = 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
#ifdef EBUG
SENDN("No free mailboxes");
#endif
return CAN_BUSY;
}
#ifdef EBUG
SEND("Send data. Len="); SENDN(u2str(len));
SEND(", tagid="); SENDN(u2str(target_id));
SEND(", data=");
for(int i = 0; i < len; ++i){
SEND(" "); SEND(uhex2str(msg[i]));
}
SEND("\n");
#endif
CAN_TxMailBox_TypeDef *box = &CAN->sTxMailBox[mailbox];
uint32_t lb = 0, hb = 0;
switch(len){
case 8:
hb |= (uint32_t)msg[7] << 24;
__attribute__((fallthrough));
case 7:
hb |= (uint32_t)msg[6] << 16;
__attribute__((fallthrough));
case 6:
hb |= (uint32_t)msg[5] << 8;
__attribute__((fallthrough));
case 5:
hb |= (uint32_t)msg[4];
__attribute__((fallthrough));
case 4:
lb |= (uint32_t)msg[3] << 24;
__attribute__((fallthrough));
case 3:
lb |= (uint32_t)msg[2] << 16;
__attribute__((fallthrough));
case 2:
lb |= (uint32_t)msg[1] << 8;
__attribute__((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;
}
void set_flood(CAN_message *msg, int incr){
if(incr){ incrflood = 1; return; }
incrflood = 0;
if(!msg) flood_msg = NULL;
else{
memcpy(&loc_flood_msg, msg, sizeof(CAN_message));
flood_msg = &loc_flood_msg;
}
}
static void can_process_fifo(uint8_t fifo_num){
if(fifo_num > 1) return;
//LED_on(LED1);
CAN_FIFOMailBox_TypeDef *box = &CAN->sFIFOMailBox[fifo_num];
volatile uint32_t *RFxR = (fifo_num) ? &CAN->RF1R : &CAN->RF0R;
#ifdef EBUG
SEND(u2str(*RFxR & CAN_RF0R_FMP0)); SENDN(" messages in FIFO");
#endif
// 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;
__attribute__((fallthrough));
case 7:
dat[6] = (hb>>16) & 0xff;
__attribute__((fallthrough));
case 6:
dat[5] = (hb>>8) & 0xff;
__attribute__((fallthrough));
case 5:
dat[4] = hb & 0xff;
__attribute__((fallthrough));
case 4:
dat[3] = lb>>24;
__attribute__((fallthrough));
case 3:
dat[2] = (lb>>16) & 0xff;
__attribute__((fallthrough));
case 2:
dat[1] = (lb>>8) & 0xff;
__attribute__((fallthrough));
case 1:
dat[0] = lb & 0xff;
}
}
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
#ifdef EBUG
last_err_code = CAN->ESR;
#endif
CAN->MSR &= ~CAN_MSR_ERRI;
// 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/Seven_CDCs/can.h Normal file
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/*
* This file is part of the 7CDCs 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>
// amount of filter banks in STM32F0
#define STM32F0FBANKNO 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(uint16_t speed);
CAN_status can_send(uint8_t *msg, uint8_t len, uint16_t target_id);
void can_proc();
void printCANerr();
CAN_message *CAN_messagebuf_pop();
void set_flood(CAN_message *msg, int incr);

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F3:F303/Seven_CDCs/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>
#include "can.h"
#include "hardware.h"
#include "canproto.h"
#include "version.inc"
#include "usb.h"
#include "strfunc.h"
#define SEND(str) do{USB_sendstr(CAN_IDX, str);}while(0)
#define SENDN(str) do{USB_sendstr(CAN_IDX, str); USB_putbyte(CAN_IDX, '\n');}while(0)
#define printu(x) SEND(u2str(x))
#define printuhex(x) SEND(uhex2str(x))
// software ignore buffer size
#define IGN_SIZE 10
extern volatile uint32_t Tms;
uint8_t ShowMsgs = 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){
SENDN("ID should be 11-bit number!");
return NULL;
}
canmsg.ID = (uint16_t)(N&0x7ff);
ctr = 0;
continue;
}
if(ctr > 7){
SENDN("ONLY 8 data bytes allowed!");
return NULL;
}
if(N > 0xff){
SENDN("Every data portion is a byte!");
return NULL;
}
canmsg.data[ctr++] = (uint8_t)(N&0xff);
}while(1);
if(canmsg.ID == 0xffff){
SENDN("NO ID given, send nothing!");
return NULL;
}
SENDN("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){
SENDN("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){
SEND("No speed given");
return;
}
if(N < 50){
SEND("Lowest speed is 50kbps");
return;
}else if(N > 3000){
SEND("Highest speed is 3000kbps");
return;
}
CAN_reinit((uint16_t)N);
SEND("Reinit CAN bus with speed ");
printu(N); SENDN("kbps");
}
TRUE_INLINE void addIGN(const char *txt){
if(IgnSz == IGN_SIZE){
SENDN("Ignore buffer is full");
return;
}
txt = omit_spaces(txt);
uint32_t N;
const char *n = getnum(txt, &N);
if(txt == n){
SENDN("No ID given");
return;
}
if(N > 0x7ff){
SENDN("ID should be 11-bit number!");
return;
}
Ignore_IDs[IgnSz++] = (uint16_t)(N & 0x7ff);
SEND("Added ID "); printu(N);
SENDN("\nIgn buffer size: "); SENDN(u2str(IgnSz));
}
TRUE_INLINE void print_ign_buf(){
if(IgnSz == 0){
SENDN("Ignore buffer is empty");
return;
}
SENDN("Ignored IDs:");
for(int i = 0; i < IgnSz; ++i){
printu(i);
SEND(": ");
SENDN(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){
SEND("Filter "); printu(ctr); SEND(", FIFO");
if(CAN->FFA1R & mask) SEND("1");
else SEND("0");
SEND(" in ");
if(CAN->FM1R & mask){ // up to 4 filters in LIST mode
SEND("LIST mode, IDs: ");
printID(CAN->sFilterRegister[ctr].FR1 & 0xffff);
SEND(" ");
printID(CAN->sFilterRegister[ctr].FR1 >> 16);
SEND(" ");
printID(CAN->sFilterRegister[ctr].FR2 & 0xffff);
SEND(" ");
printID(CAN->sFilterRegister[ctr].FR2 >> 16);
}else{ // up to 2 filters in MASK mode
SEND("MASK mode: ");
if(!(CAN->sFilterRegister[ctr].FR1&0x1f)){
SEND("ID="); printID(CAN->sFilterRegister[ctr].FR1 & 0xffff);
SEND(", MASK="); printID(CAN->sFilterRegister[ctr].FR1 >> 16);
SEND(" ");
}
if(!(CAN->sFilterRegister[ctr].FR2&0x1f)){
SEND("ID="); printID(CAN->sFilterRegister[ctr].FR2 & 0xffff);
SEND(", MASK="); printID(CAN->sFilterRegister[ctr].FR2 >> 16);
}
}
SEND("\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){
SENDN("t="); SENDN(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){
SENDN("No bank# given");
return;
}
if(N > STM32F0FBANKNO-1){
SENDN("bank# > 27");
return;
}
uint8_t bankno = (uint8_t)N;
str = omit_spaces(n);
if(!*str){ // deactivate filter
SEND("Deactivate filters in bank ");
printu(bankno);
SEND("\n");
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'){
SENDN("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'){
SENDN("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){
SENDN("You should add at least one filter!");
return;
}
if(mode && (nfilt&1)){
SENDN("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;
SEND("Added filter with ");
printu(nfilt); SENDN(" parameters");
}
static const char *helpstring =
"https://github.com/eddyem/stm32samples/tree/master/F3:F303/Seven_CDCs build#" BUILD_NUMBER " @ " BUILD_DATE "\n"
"'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"
// "'o' - turn LEDs OFF\n"
// "'O' - turn LEDs ON\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(){
SEND("CAN_MSR=");
printuhex(CAN->MSR);
SEND("\nCAN_TSR=");
printuhex(CAN->TSR);
SEND("\nCAN_RF0R=");
printuhex(CAN->RF0R);
SEND("\nCAN_RF1R=");
SENDN(u2str(CAN->RF1R));
}
/**
* @brief cmd_parser - command parsing
* @param txt - buffer with commands & data
* @param isUSB - == 1 if data got from USB
*/
void cmd_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':
set_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':
printCANerr();
break;
case 'i':
set_flood(NULL, 1);
SENDN("Incremental flooding is ON ('F' to off)");
break;
case 'I':
CAN_reinit(0);
break;
case 'l':
list_filters();
break;
/* case 'o':
ledsON = 0;
LED_off(LED0);
LED_off(LED1);
break;
case 'O':
ledsON = 1;
break;*/
case 'p':
print_ign_buf();
break;
case 'P':
ShowMsgs = !ShowMsgs;
if(ShowMsgs) SENDN("Resume");
else SENDN("Pause");
break;
case 'R':
SENDN("Soft reset");
USB_sendall(CAN_IDX); // wait until everything will gone
NVIC_SystemReset();
break;
case 'T':
SEND("Time (ms): ");
SENDN(u2str(Tms));
break;
default: // help
SENDN(helpstring);
break;
}
}
// check Ignore_IDs & return 1 if ID isn't in list
uint8_t isgood(uint16_t ID){
for(int i = 0; i < IgnSz; ++i)
if(Ignore_IDs[i] == ID) return 0;
return 1;
}

26
F3:F303/Seven_CDCs/canproto.h Normal file
View File

@ -0,0 +1,26 @@
/*
* 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>
extern uint8_t ShowMsgs; // show CAN messages flag
void cmd_parser(char *txt);
uint8_t isgood(uint16_t ID);

15
F3:F303/Seven_CDCs/cmdproto.c
View File

@ -19,6 +19,7 @@
#include "cmdproto.h"
#include "debug.h"
#include "strfunc.h"
#include "usart.h"
#include "usb.h"
#include "usb_lib.h" // USBON
#include "version.inc"
@ -28,12 +29,13 @@
extern volatile uint32_t Tms;
const char* helpmsg =
"https://github.com/eddyem/stm32samples/tree/master/F3:F303/PL2303 build#" BUILD_NUMBER " @ " BUILD_DATE "\n"
static const char* helpmsg =
"https://github.com/eddyem/stm32samples/tree/master/F3:F303/Seven_CDCs build#" BUILD_NUMBER " @ " BUILD_DATE "\n"
"2..7 - send next string to given EP\n"
"'i' - print USB->ISTR state\n"
"'N' - read number (dec, 0xhex, 0oct, bbin) and show it in decimal\n"
"'R' - software reset\n"
"'ux data' - send data to USARTx\n"
"'U' - get USB status\n"
"'W' - test watchdog\n"
;
@ -94,6 +96,15 @@ void parse_cmd(const char *buf){
SEND(nxt);
}else SEND("\n");
break;
case 'u':
nxt = getnum(buf, &Num);
if(buf == nxt || Num < 1 || Num > USARTSNO){
if(Num == 0) SENDN("Wrong USART number");
}
nxt = omit_spaces(nxt);
usart_sendn(Num, (uint8_t*)nxt, mystrlen(nxt));
SENDN("OK");
break;
default:
SEND(buf-1); // echo
return;

31
F3:F303/Seven_CDCs/hardware.c
View File

@ -19,19 +19,44 @@
#include "hardware.h"
#include "usart.h"
TRUE_INLINE void iwdg_setup(){
uint32_t tmout = 16000000;
/* Enable the peripheral clock RTC */
/* (1) Enable the LSI (40kHz) */
/* (2) Wait while it is not ready */
RCC->CSR |= RCC_CSR_LSION; /* (1) */
while((RCC->CSR & RCC_CSR_LSIRDY) != RCC_CSR_LSIRDY){if(--tmout == 0) break;} /* (2) */
/* Configure IWDG */
/* (1) Activate IWDG (not needed if done in option bytes) */
/* (2) Enable write access to IWDG registers */
/* (3) Set prescaler by 64 (1.6ms for each tick) */
/* (4) Set reload value to have a rollover each 2s */
/* (5) Check if flags are reset */
/* (6) Refresh counter */
IWDG->KR = IWDG_START; /* (1) */
IWDG->KR = IWDG_WRITE_ACCESS; /* (2) */
IWDG->PR = IWDG_PR_PR_1; /* (3) */
IWDG->RLR = 1250; /* (4) */
tmout = 16000000;
while(IWDG->SR){if(--tmout == 0) break;} /* (5) */
IWDG->KR = IWDG_REFRESH; /* (6) */
}
static inline void gpio_setup(){
RCC->AHBENR |= RCC_AHBENR_GPIOAEN | RCC_AHBENR_GPIOBEN;
// LEDs on PB0 and PB1
GPIOB->MODER = GPIO_MODER_MODER0_O | GPIO_MODER_MODER1_O;
GPIOB->ODR = 1;
// USB - alternate function 14 @ pins PA11/PA12; USART1 = AF7 @PA9/10; SWD - AF0 @PA13/14
GPIOA->AFR[1] = AFRf(7, 9) | AFRf(7, 10) | AFRf(14, 11) | AFRf(14, 12);
// USART1: PA10(Rx), PA9(Tx); USB - PA11, PA12; SWDIO - PA13, PA14; Pullup - PA15
GPIOA->MODER = MODER_AF(9) | MODER_AF(10) | MODER_AF(11) | MODER_AF(12) | MODER_AF(13) | MODER_AF(14) | MODER_O(15);
GPIOA->OSPEEDR = OSPEED_HI(11) | OSPEED_HI(12) | OSPEED_HI(13) | OSPEED_HI(14);
// LEDs on PB0 and PB1
GPIOB->MODER = GPIO_MODER_MODER0_O | GPIO_MODER_MODER1_O;
GPIOB->ODR = 1;
}
void hw_setup(){
gpio_setup();
iwdg_setup();
}

30
F3:F303/Seven_CDCs/main.c
View File

@ -16,6 +16,8 @@
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "can.h"
#include "canproto.h"
#include "cmdproto.h"
#include "debug.h"
#include "hardware.h"
@ -46,17 +48,40 @@ int main(void){
hw_setup();
usarts_setup();
USB_setup();
CAN_setup(100);
USBPU_ON();
CAN_message *can_mesg;
uint32_t ctr = Tms;
while(1){
IWDG->KR = IWDG_REFRESH;
if(Tms - ctr > 499){
ctr = Tms;
pin_toggle(GPIOB, 1 << 1 | 1 << 0); // toggle LED @ PB0
USB_sendstr(CMD_IDX, "1");
//USB_sendstr(CMD_IDX, "1");
//DBGmesg(u2str(Tms));
//DBGnl();
}
can_proc();
if(CAN_get_status() == CAN_FIFO_OVERRUN){
USB_sendstr(CAN_IDX, "CAN bus fifo overrun occured!\n");
}
while((can_mesg = CAN_messagebuf_pop())){
if(isgood(can_mesg->ID)){
if(ShowMsgs){ // display message content
IWDG->KR = IWDG_REFRESH;
uint8_t len = can_mesg->length;
USB_sendstr(CAN_IDX, u2str(Tms));
USB_sendstr(CAN_IDX, " #");
USB_sendstr(CAN_IDX, uhex2str(can_mesg->ID));
for(uint8_t i = 0; i < len; ++i){
USB_putbyte(CAN_IDX, ' ');
USB_sendstr(CAN_IDX, uhex2str(can_mesg->data[i]));
}
USB_putbyte(CAN_IDX, '\n');
}
}
}
for(int i = 0; i < MAX_IDX; ++i){
int l = USB_receivestr(i, inbuff, MAXSTRLEN);
if(l < 0){
@ -73,6 +98,9 @@ int main(void){
case CMD_IDX:
parse_cmd(inbuff);
break;
case CAN_IDX:
cmd_parser(inbuff);
break;
default:
break;
}

BIN
F3:F303/Seven_CDCs/sevenCDCs.bin
View File

Binary file not shown.

7
F3:F303/Seven_CDCs/strfunc.c
View File

@ -268,6 +268,13 @@ const char *getint(const char *txt, int32_t *I){
return nxt;
}
int mystrlen(const char *txt){
if(!txt) return 0;
int r = 0;
while(*txt++) ++r;
return r;
}
/*
void mymemcpy(char *dest, const char *src, int len){
if(len < 1) return;

1
F3:F303/Seven_CDCs/strfunc.h
View File

@ -28,5 +28,6 @@ const char *uhex2str(uint32_t val);
const char *getnum(const char *txt, uint32_t *N);
const char *omit_spaces(const char *buf);
const char *getint(const char *txt, int32_t *I);
int mystrlen(const char *txt);
//void mymemcpy(char *dest, const char *src, int len);
char * float2str(float x, uint8_t prec);

9
F3:F303/Seven_CDCs/usb.c
View File

@ -19,6 +19,7 @@
#include <string.h>
#include "hardware.h"
#include "strfunc.h"
#include "usb.h"
#include "usb_lib.h"
@ -89,12 +90,8 @@ int USB_putbyte(int ifNo, uint8_t byte){
}
int USB_sendstr(int ifNo, const char *string){
if(!string || !USBON(ifNo)) return 0;
int len = 0;
const char *b = string;
while(*b++) ++len;
if(!len) return 0;
return USB_send(ifNo, (const uint8_t*)string, len);
if(!string) return 0;
return USB_send(ifNo, (const uint8_t*)string, mystrlen(string));
}
/**

3
F3:F303/Seven_CDCs/usb_lib.c
View File

@ -775,9 +775,8 @@ static void rxtx_Handler(uint8_t epno){
case USART4_EPNO:
; // we have no USART4 in STM32F303CBT6
break;
default:
if(RB_write((ringbuffer*)&rbin[idx], buf, sz) != sz) bufovrfl[idx] = 1;
}
if(RB_write((ringbuffer*)&rbin[idx], buf, sz) != sz) bufovrfl[idx] = 1;
}
// set ACK Rx
USB->EPnR[epno] = (KEEP_DTOG(USB->EPnR[epno]) & ~(USB_EPnR_STAT_TX)) ^ USB_EPnR_STAT_RX;

2
F3:F303/Seven_CDCs/version.inc
View File

@ -1,2 +1,2 @@
#define BUILD_NUMBER "122"
#define BUILD_NUMBER "133"
#define BUILD_DATE "2023-04-29"