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Continue to write USB protocol documentation and fix bugs in code.

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This commit is contained in:
Edward Emelianov
2024-08-16 12:37:11 +03:00
parent 018f0d4b33
commit b10fb37c58
19 changed files with 321 additions and 65 deletions
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11
F3:F303/Multistepper/can.c
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@@ -37,6 +37,7 @@ 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 incrmessagectr = 0; // counter for incremental flooding
static uint32_t last_err_code = 0;
static CAN_status can_status = CAN_STOP;
@@ -130,7 +131,7 @@ so if TBS1=4 and TBS2=3, sum=8, bit sampling freq is 48/8 = 6MHz
void CAN_setup(uint16_t speed){
if(speed == 0) speed = oldspeed;
else if(speed < 50) speed = 50;
else if(speed > 3000) speed = 3000;
else if(speed > 1500) speed = 1500;
oldspeed = speed;
uint32_t tmout = 10000;
/* Enable the peripheral clock CAN */
@@ -240,7 +241,6 @@ void CAN_proc(){
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);
@@ -305,8 +305,11 @@ CAN_status CAN_send(uint8_t *msg, uint8_t len, uint16_t target_id){
}
void CAN_flood(CAN_message *msg, int incr){
if(incr){ incrflood = 1; return; }
incrflood = 0;
if(incr){
incrmessagectr = 0;
incrflood = 1;
return;
}else incrflood = 0;
if(!msg) flood_msg = NULL;
else{
memcpy(&loc_flood_msg, msg, sizeof(CAN_message));