USB CAN sniffer: works as broadcast listener & can write someth; TODO: add filters

F0-nolib/Snippets/printuhex.c

@@ -0,0 +1,14 @@
+// print 32bit unsigned int as hex
+void printuhex(uint32_t val){
+    addtobuf("0x");
+    uint8_t *ptr = (uint8_t*)&val + 3;
+    int8_t i, j;
+    for(i = 0; i < 4; ++i, --ptr){
+        if(*ptr == 0 && i != 3) continue; // omit leading zeros
+        for(j = 1; j > -1; --j){
+            uint8_t half = (*ptr >> (4*j)) & 0x0f;
+            if(half < 10) bufputchar(half + '0');
+            else bufputchar(half - 10 + 'a');
+        }
+    }
+}

F0-nolib/usbcdc/can.c

@@ -31,6 +31,7 @@
 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
 
 static uint16_t CANID = 0xFFFF;
 #ifdef EBUG
@@ -52,14 +53,14 @@ CAN_status CAN_get_status(){
 
 // push next message into buffer; return 1 if buffer overfull
 static int CAN_messagebuf_push(CAN_message *msg){
-    MSG("Try to push\n");
+    //MSG("Try to push\n");
     if(first_free_idx == first_nonfree_idx) 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;
     #ifdef EBUG
-    MSG("1st free: "); usart_putchar('0' + first_free_idx); NL();
+    //MSG("1st free: "); printu(first_free_idx); NL();
     #endif
     return 0;
 }
@@ -68,14 +69,16 @@ static int CAN_messagebuf_push(CAN_message *msg){
 CAN_message *CAN_messagebuf_pop(){
     if(first_nonfree_idx < 0) return NULL;
     #ifdef EBUG
-    MSG("read from idx "); usart_putchar('0' + first_nonfree_idx); NL();
+    //MSG("read from idx "); printu(first_nonfree_idx); NL();
     #endif
     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;
-        MSG("refresh buffer\n");
+#ifdef EBUG
+    //  MSG("refresh buffer\n"); NL();
+#endif
     }
     return msg;
 }
@@ -91,15 +94,42 @@ uint16_t getCANID(){
     return CANID;
 }
 
-void CAN_reinit(){
+void CAN_reinit(uint16_t speed){
     readCANID();
     CAN->TSR |= CAN_TSR_ABRQ0 | CAN_TSR_ABRQ1 | CAN_TSR_ABRQ2;
     RCC->APB1RSTR |= RCC_APB1RSTR_CANRST;
     RCC->APB1RSTR &= ~RCC_APB1RSTR_CANRST;
-    CAN_setup();
+    CAN_setup(speed);
 }
 
-void CAN_setup(){
+/*
+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;
     if(CANID == 0xFFFF) readCANID();
     // Configure GPIO: PB8 - CAN_Rx, PB9 - CAN_Tx
@@ -115,10 +145,10 @@ void CAN_setup(){
     /* (1) Enter CAN init mode to write the configuration */
     /* (2) Wait the init mode entering */
     /* (3) Exit sleep mode */
-    /* (4) Loopback mode, set timing to 100kb/s: BS1 = 4, BS2 = 3, prescaler = 60 */
+    /* (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, filter 0 for FIFO 0) */
+    /* (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 */
@@ -130,20 +160,22 @@ void CAN_setup(){
         if(--tmout == 0) break;
     }
     CAN->MCR &=~ CAN_MCR_SLEEP; /* (3) */
-    CAN->MCR |= CAN_MCR_ABOM;
+    CAN->MCR |= CAN_MCR_ABOM; /* allow automatically bus-off */
 
-    CAN->BTR |=  2 << 20 | 3 << 16 | 59 << 0; /* (4) */
+    CAN->BTR |=  2 << 20 | 3 << 16 | (6000/speed) << 0; /* (4) */
     CAN->MCR &=~ CAN_MCR_INRQ; /* (5) */
     tmout = 16000000;
-    while((CAN->MSR & CAN_MSR_INAK)==CAN_MSR_INAK) /* (6) */
+    while((CAN->MSR & CAN_MSR_INAK)==CAN_MSR_INAK) if(--tmout == 0) break; /* (6) */
-    {
+    // accept ALL
-        if(--tmout == 0) break;
-    }
     CAN->FMR = CAN_FMR_FINIT; /* (7) */
     CAN->FA1R = CAN_FA1R_FACT0; /* (8) */
+    // 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 = 0;
+#endif
     CAN->FMR &=~ CAN_FMR_FINIT; /* (12) */
     CAN->IER |= CAN_IER_ERRIE | CAN_IER_FOVIE0 | CAN_IER_FOVIE1; /* (13) */
 
@@ -200,9 +232,8 @@ void can_proc(){
         // reset CAN bus
         RCC->APB1RSTR |= RCC_APB1RSTR_CANRST;
         RCC->APB1RSTR &= ~RCC_APB1RSTR_CANRST;
-        CAN_setup();
+        CAN_setup(0);
     }
-    LED_off(LED1);
 #if 0
     static uint32_t esr, msr, tsr;
     uint32_t msr_now = CAN->MSR & 0xf;
@@ -212,7 +243,6 @@ void can_proc(){
         NL();
     }
     if((CAN->ESR) != esr){
-        usart_putchar(((CAN->ESR & CAN_ESR_BOFF) != 0) + '0');
         esr = CAN->ESR;
         MSG("CAN->ESR: ");
         printuhex(esr); NL();
@@ -236,8 +266,20 @@ CAN_status can_send(uint8_t *msg, uint8_t len, uint16_t target_id){
     if(CAN->TSR & (CAN_TSR_TME)){
         mailbox = (CAN->TSR & CAN_TSR_CODE) >> 24;
     }else{ // no free mailboxes
+#ifdef EBUG
+        MSG("No free mailboxes"); NL();
+#endif
         return CAN_BUSY;
     }
+#ifdef EBUG
+    MSG("Send data. Len="); printu(len);
+    SEND(", tagid="); printuhex(target_id);
+    SEND(", data=");
+    for(int i = 0; i < len; ++i){
+        SEND(" "); printuhex(msg[i]);
+    }
+    NL();
+#endif
     CAN_TxMailBox_TypeDef *box = &CAN->sTxMailBox[mailbox];
     uint32_t lb = 0, hb = 0;
     switch(len){
@@ -291,14 +333,16 @@ void can_send_broadcast(){
 
 static void can_process_fifo(uint8_t fifo_num){
     if(fifo_num > 1) return;
-    LED_on(LED1); // Toggle LED1
+    LED_on(LED1); // Turn on LED1 - message received
     CAN_FIFOMailBox_TypeDef *box = &CAN->sFIFOMailBox[fifo_num];
     volatile uint32_t *RFxR = (fifo_num) ? &CAN->RF1R : &CAN->RF0R;
-    MSG("Receive, RDTR=");
+    /*
+    MSG("\nReceive, RDTR=");
     #ifdef EBUG
     printuhex(box->RDTR);
     NL();
     #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
@@ -307,6 +351,7 @@ static void can_process_fifo(uint8_t fifo_num){
         uint8_t *dat = msg.data;
         uint8_t len = box->RDTR & 0x7;
         msg.length = len;
+        msg.ID = box->RIR >> 21;
         if(len){ // message can be without data
             uint32_t hb = box->RDHR, lb = box->RDLR;
             switch(len){
@@ -338,7 +383,8 @@ static void can_process_fifo(uint8_t fifo_num){
         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;
+    //if(*RFxR & CAN_RF0R_FULL0) *RFxR &= ~CAN_RF0R_FULL0;
+    *RFxR = 0; // clear FOVR & FULL
 }
 
 void cec_can_isr(){

F0-nolib/usbcdc/can.h

@@ -41,9 +41,11 @@
 // incoming message buffer size
 #define CAN_INMESSAGE_SIZE  (8)
 
+// CAN message
 typedef struct{
-    uint8_t data[8];
+    uint8_t data[8];    // up to 8 bytes of data
-    uint8_t length;
+    uint8_t length;     // data length
+    uint16_t ID;        // ID of receiver
 } CAN_message;
 
 typedef enum{
@@ -59,9 +61,10 @@ CAN_status CAN_get_status();
 void readCANID();
 uint16_t getCANID();
 
-void CAN_reinit();
+void CAN_reinit(uint16_t speed);
-void CAN_setup();
+void CAN_setup(uint16_t speed);
 
+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();

F0-nolib/usbcdc/main.c

@@ -100,7 +100,7 @@ int main(void){
     gpio_setup();
     usart_setup();
     readCANID();
-    CAN_setup();
+    CAN_setup(100);
 
     switchbuff(0);
     SEND("Greetings! My address is ");
@@ -127,19 +127,24 @@ int main(void){
         can_proc();
         usb_proc();
         if(CAN_get_status() == CAN_FIFO_OVERRUN){
-            SEND("CAN bus fifo overrun occured!\n"); NL();
+            switchbuff(3);
+            SEND("CAN bus fifo overrun occured!\n");
+            newline(); sendbuf();
         }
         can_mesg = CAN_messagebuf_pop();
-        if(can_mesg){ // new data in buff
+        if(can_mesg && isgood(can_mesg->ID)){ // new data in buff
             len = can_mesg->length;
-            switchbuff(0);
+            switchbuff(3);
-            SEND("got message, len: "); usart_putchar('0' + len);
+            SEND("got message, ID=");
+            printuhex(can_mesg->ID);
+            SEND(", len=");
+            printu(len);
             SEND(", data: ");
             for(ctr = 0; ctr < len; ++ctr){
                 printuhex(can_mesg->data[ctr]);
-                usart_putchar(' ');
+                SEND(" ");
             }
-            NL();
+            newline(); sendbuf();
         }
         if(usartrx()){ // usart1 received data, store in in buffer
             usart_getline(&txt);

F0-nolib/usbcdc/proto.c

@@ -30,6 +30,8 @@
 
 extern volatile uint8_t canerror;
 
+uint16_t Ignore_IDs[IGN_SIZE];
+uint8_t IgnSz = 0;
 static char buff[UARTBUFSZ+1], *bptr = buff;
 static uint8_t blen = 0, USBcmd = 0;
 
@@ -38,7 +40,7 @@ void sendbuf(){
     if(blen == 0) return;
     *bptr = 0;
     if(USBcmd) USB_sendstr(buff);
-    else{
+    if(USBcmd != 1){
         usart_send(buff);
         transmit_tbuf();
     }
@@ -46,6 +48,7 @@ void sendbuf(){
     blen = 0;
 }
 
+// 1 - USB, 0 - USART, other number - both
 void switchbuff(uint8_t isUSB){
     USBcmd = isUSB;
 }
@@ -158,24 +161,107 @@ char *getnum(char *txt, uint32_t *N){
 
 
 // send command, format: ID (hex/bin/dec) data bytes (up to 8 bytes, space-delimeted)
-void sendCANcommand(char *txt){
+TRUE_INLINE void sendCANcommand(char *txt){
     SEND("CAN command with arguments:\n");
     uint32_t N;
+    uint16_t ID = 0xffff;
     char *n;
+    uint8_t data[8];
+    int ctr = -1;
     do{
         txt = omit_spaces(txt);
         n = getnum(txt, &N);
         if(txt == n) break;
+        txt = n;
+        if(ctr == -1){
+            if(N > 0x7ff){
+                SEND("ID should be 11-bit number!");
+                return;
+            }
+            ID = (uint16_t)(N&0x7ff);
+            SEND("ID="); printuhex(ID); newline();
+            ctr = 0;
+            continue;
+        }
+        if(ctr > 7){
+            SEND("ONLY 8 data bytes allowed!");
+            return;
+        }
+        if(N > 0xff){
+            SEND("Every data portion is a byte!");
+            return;
+        }
+        data[ctr++] = (uint8_t)(N&0xff);
         printu(N); SEND(", hex: ");
         printuhex(N); newline();
-        txt = n;
     }while(1);
     if(*n){
-        SEND("\nThe rest: ");
+        SEND("\nUnusefull data: ");
         SEND(n);
     }
-    newline();
+    if(ID == 0xffff){
+        SEND("NO ID given, send nothing!");
+        return;
+    }
     sendbuf();
+    N = 1000000;
+    while(CAN_BUSY == can_send(data, (uint8_t)ctr, ID)){
+        if(--N == 0) break;
+    }
+}
+
+TRUE_INLINE void CANini(char *txt){
+    txt = omit_spaces(txt);
+    uint32_t N;
+    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); SEND("kbps");
+}
+
+TRUE_INLINE void addIGN(char *txt){
+    if(IgnSz == IGN_SIZE){
+        MSG("Ignore buffer is full");
+        return;
+    }
+    txt = omit_spaces(txt);
+    uint32_t N;
+    char *n = getnum(txt, &N);
+    if(txt == n){
+        SEND("No ID given");
+        return;
+    }
+    if(N > 0x7ff){
+        SEND("ID should be 11-bit number!");
+        return;
+    }
+    Ignore_IDs[IgnSz++] = (uint16_t)(N & 0x7ff);
+    SEND("Added ID "); printu(N);
+    SEND("\nIgn buffer size: "); printu(IgnSz);
+}
+
+TRUE_INLINE void print_ign_buf(){
+    if(IgnSz == 0){
+        SEND("Ignore buffer is empty");
+        return;
+    }
+    for(int i = 0; i < IgnSz; ++i){
+        printu(i);
+        SEND(": ");
+        printuhex(Ignore_IDs[i]);
+        newline();
+    }
 }
 
 /**
@@ -190,9 +276,19 @@ void cmd_parser(char *txt, uint8_t isUSB){
     /*
      * parse long commands here
      */
-    if(_1st == 's' || _1st == 'S'){
+    switch(_1st){
+        case 's':
+        case 'S':
             sendCANcommand(txt + 1);
-        return;
+            goto eof;
+        break;
+        case 'b':
+            CANini(txt + 1);
+            goto eof;
+        break;
+        case 'a':
+            addIGN(txt + 1);
+            goto eof;
     }
     if(txt[1] != '\n') *txt = '?'; // help for wrong message length
     switch(_1st){
@@ -205,17 +301,23 @@ void cmd_parser(char *txt, uint8_t isUSB){
         case 'C':
             can_send_dummy();
         break;
+        case 'd':
+            IgnSz = 0;
+        break;
         case 'G':
             SEND("Can address: ");
             printuhex(getCANID());
             newline();
         break;
         case 'I':
-            CAN_reinit();
+            CAN_reinit(0);
             SEND("Can address: ");
             printuhex(getCANID());
             newline();
         break;
+        case 'p':
+            print_ign_buf();
+        break;
         case 'R':
             SEND("Soft reset\n");
             sendbuf();
@@ -238,11 +340,15 @@ void cmd_parser(char *txt, uint8_t isUSB){
         break;
         default: // help
             SEND(
+            "'a' - add ID to ignore list (max 10 IDs)\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"
             "'f' - flush UART buffer\n"
             "'G' - get CAN address\n"
             "'I' - reinit CAN (with new address)\n"
+            "'p' - print ignore buffer\n"
             "'R' - software reset\n"
             "'s/S' - send data over CAN: s ID byte0 .. byteN\n"
             "'T' - gen time from start (ms)\n"
@@ -251,6 +357,8 @@ void cmd_parser(char *txt, uint8_t isUSB){
             );
         break;
     }
+eof:
+    newline();
     sendbuf();
 }
 
@@ -273,8 +381,9 @@ void printu(uint32_t val){
 void printuhex(uint32_t val){
     addtobuf("0x");
     uint8_t *ptr = (uint8_t*)&val + 3;
-    int i, j;
+    int8_t i, j;
     for(i = 0; i < 4; ++i, --ptr){
+        if(*ptr == 0 && i != 3) continue; // omit leading zeros
         for(j = 1; j > -1; --j){
             uint8_t half = (*ptr >> (4*j)) & 0x0f;
             if(half < 10) bufputchar(half + '0');
@@ -282,3 +391,10 @@ void printuhex(uint32_t val){
         }
     }
 }
+
+// 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;
+}

F0-nolib/usbcdc/proto.h

@@ -40,6 +40,10 @@
 // newline with buffer sending over USART
 #define NL() do{bufputchar('\n'); switchbuff(0); sendbuf();}while(0)
 
+#define IGN_SIZE 10
+extern uint16_t Ignore_IDs[IGN_SIZE];
+extern uint8_t IgnSz;
+
 void cmd_parser(char *buf, uint8_t isUSB);
 void addtobuf(const char *txt);
 void bufputchar(char ch);
@@ -51,6 +55,8 @@ void switchbuff(uint8_t isUSB);
 char *omit_spaces(char *buf);
 char *getnum(char *buf, uint32_t *N);
 
+uint8_t isgood(uint16_t ID);
+
 //int strlen(const char *txt);
 //void memcpy(void *dest, const void *src, int len);
 #endif // __PROTO_H__

F0-nolib/usbcdc/usb_defs.h

@@ -33,7 +33,7 @@
  *                 Buffers size definition
  **/
 // !!! when working with CAN bus change USB_BTABLE_SIZE to 768 !!!
-#define USB_BTABLE_SIZE         1024
+#define USB_BTABLE_SIZE         768
 // for USB FS EP0 buffers are from 8 to 64 bytes long (64 for PL2303)
 #define USB_EP0_BUFSZ           64
 // USB transmit buffer size (64 for PL2303)

F0-nolib/usbcdc/usb_lib.c

@@ -357,7 +357,7 @@ int EP_Init(uint8_t number, uint8_t type, uint16_t txsz, uint16_t rxsz, void (*f
     if(lastaddr + txsz + rxsz >= USB_BTABLE_SIZE) return 2; // out of btable
     USB->EPnR[number] = (type << 9) | (number & USB_EPnR_EA);
     USB->EPnR[number] ^= USB_EPnR_STAT_RX | USB_EPnR_STAT_TX_1;
-    if(rxsz & 1 || rxsz > 992) return 3; // wrong rx buffer size
+    if(rxsz & 1 || rxsz > 512) return 3; // wrong rx buffer size
     uint16_t countrx = 0;
     if(rxsz < 64) countrx = rxsz / 2;
     else{