mirror of
https://github.com/eddyem/stm32samples.git
synced 2026-02-28 20:04:30 +03:00
hide deprecated code; make USB snippet common for F0/F1/F3
This commit is contained in:
Edward Emelianov
347
F0:F030,F042,F072/deprecated/canbus/src/can.c
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347
F0:F030,F042,F072/deprecated/canbus/src/can.c
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/*
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* geany_encoding=koi8-r
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* can.c
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*
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* Copyright 2018 Edward V. Emelianov <eddy@sao.ru, edward.emelianoff@gmail.com>
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*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
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* MA 02110-1301, USA.
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*
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*/
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#include <string.h> // memcpy
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#include "can.h"
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#include "hardware.h"
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#include "usart.h"
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#define CMD_TOGGLE (0xDA)
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#define CAN_ID_MASK (0x7F8)
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#define CAN_ID_PREFIX (0xAAA)
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#define TARG_ID (CAN_ID_PREFIX & CAN_ID_MASK)
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#define CAN_FLAG_GOTDUMMY (1)
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// incoming message buffer size
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#define CAN_INMESSAGE_SIZE (6)
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extern volatile uint32_t Tms;
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// circular buffer for received messages
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static CAN_message messages[CAN_INMESSAGE_SIZE];
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static uint8_t first_free_idx = 0; // index of first empty cell
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static int8_t first_nonfree_idx = -1; // index of first data cell
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static uint16_t CANID = 0xFFFF;
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static uint8_t CAN_flags = 0;
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static uint32_t last_err_code = 0;
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static CAN_status can_status = CAN_STOP;
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static void can_process_fifo(uint8_t fifo_num);
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CAN_status CAN_get_status(){
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CAN_status st = can_status;
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// give overrun message only once
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if(st == CAN_FIFO_OVERRUN) can_status = CAN_READY;
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return st;
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}
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// push next message into buffer; return 1 if buffer overfull
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static int CAN_messagebuf_push(CAN_message *msg){
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MSG("Try to push\n");
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if(first_free_idx == first_nonfree_idx) return 1; // no free space
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memcpy(&messages[first_free_idx++], msg, sizeof(CAN_message));
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// need to roll?
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if(first_free_idx == CAN_INMESSAGE_SIZE) first_free_idx = 0;
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#ifdef EBUG
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MSG("1st free: "); usart_putchar('0' + first_free_idx); newline();
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#endif
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return 0;
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}
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// pop message from buffer
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CAN_message *CAN_messagebuf_pop(){
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if(first_nonfree_idx < 0) return NULL;
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#ifdef EBUG
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MSG("read from idx "); usart_putchar('0' + first_nonfree_idx); newline();
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#endif
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CAN_message *msg = &messages[first_nonfree_idx++];
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if(first_nonfree_idx == CAN_INMESSAGE_SIZE) first_nonfree_idx = 0;
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if(first_nonfree_idx == first_free_idx){ // buffer is empty - refresh it
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first_nonfree_idx = -1;
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first_free_idx = 0;
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MSG("refresh buffer\n");
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}
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return msg;
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}
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// get CAN address data from GPIO pins
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void readCANID(){
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uint8_t CAN_addr = READ_CAN_INV_ADDR();
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CAN_addr = ~CAN_addr & 0x7;
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CANID = (CAN_ID_PREFIX & CAN_ID_MASK) | CAN_addr;
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}
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uint16_t getCANID(){
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return CANID;
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}
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void CAN_reinit(){
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readCANID();
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CAN->TSR |= CAN_TSR_ABRQ0 | CAN_TSR_ABRQ1 | CAN_TSR_ABRQ2;
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RCC->APB1RSTR |= RCC_APB1RSTR_CANRST;
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RCC->APB1RSTR &= ~RCC_APB1RSTR_CANRST;
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CAN_setup();
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}
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void CAN_setup(){
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if(CANID == 0xFFFF) readCANID();
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// Configure GPIO: PB8 - CAN_Rx, PB9 - CAN_Tx
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/* (1) Select AF mode (10) on PB8 and PB9 */
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/* (2) AF4 for CAN signals */
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GPIOB->MODER = (GPIOB->MODER & ~(GPIO_MODER_MODER8 | GPIO_MODER_MODER9))
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| (GPIO_MODER_MODER8_AF | GPIO_MODER_MODER9_AF); /* (1) */
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GPIOB->AFR[1] = (GPIOB->AFR[1] &~ (GPIO_AFRH_AFRH0 | GPIO_AFRH_AFRH1))\
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| (4 << (0 * 4)) | (4 << (1 * 4)); /* (2) */
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/* Enable the peripheral clock CAN */
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RCC->APB1ENR |= RCC_APB1ENR_CANEN;
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/* Configure CAN */
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/* (1) Enter CAN init mode to write the configuration */
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/* (2) Wait the init mode entering */
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/* (3) Exit sleep mode */
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/* (4) Loopback mode, set timing to 100kb/s: BS1 = 4, BS2 = 3, prescaler = 60 */
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/* (5) Leave init mode */
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/* (6) Wait the init mode leaving */
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/* (7) Enter filter init mode, (16-bit + mask, filter 0 for FIFO 0) */
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/* (8) Acivate filter 0 */
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/* (9) Identifier list mode */
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/* (10) Set the Id list */
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/* (12) Leave filter init */
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/* (13) Set error interrupts enable */
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CAN->MCR |= CAN_MCR_INRQ; /* (1) */
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while((CAN->MSR & CAN_MSR_INAK)!=CAN_MSR_INAK) /* (2) */
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{
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/* add time out here for a robust application */
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}
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CAN->MCR &=~ CAN_MCR_SLEEP; /* (3) */
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CAN->MCR |= CAN_MCR_ABOM;
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CAN->BTR = 2 << 20 | 3 << 16 | 59 << 0; /* (4) */
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CAN->MCR &=~ CAN_MCR_INRQ; /* (5) */
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while((CAN->MSR & CAN_MSR_INAK)==CAN_MSR_INAK) /* (6) */
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{
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/* add time out here for a robust application */
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}
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CAN->FMR = CAN_FMR_FINIT; /* (7) */
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CAN->FA1R = CAN_FA1R_FACT0; /* (8) */
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CAN->FM1R = CAN_FM1R_FBM0; /* (9) */
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CAN->sFilterRegister[0].FR1 = CANID << 5; /* (10) */
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CAN->FMR &=~ CAN_FMR_FINIT; /* (12) */
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CAN->IER |= CAN_IER_ERRIE | CAN_IER_FOVIE0 | CAN_IER_FOVIE1; /* (13) */
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/* Configure IT */
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/* (14) Set priority for CAN_IRQn */
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/* (15) Enable CAN_IRQn */
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NVIC_SetPriority(CEC_CAN_IRQn, 0); /* (14) */
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NVIC_EnableIRQ(CEC_CAN_IRQn); /* (15) */
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can_status = CAN_READY;
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}
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void can_proc(){
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if(last_err_code){
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#ifdef EBUG
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MSG("Error, ESR=");
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printu(last_err_code);
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newline();
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#endif
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last_err_code = 0;
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}
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// check for messages in FIFO0 & FIFO1
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if(CAN->RF0R & CAN_RF0R_FMP0){
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can_process_fifo(0);
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}
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if(CAN->RF1R & CAN_RF1R_FMP1){
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can_process_fifo(1);
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}
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if(CAN->ESR & (CAN_ESR_BOFF | CAN_ESR_EPVF | CAN_ESR_EWGF)){ // much errors - restart CAN BUS
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MSG("bus-off, restarting\n");
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// request abort for all mailboxes
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CAN->TSR |= CAN_TSR_ABRQ0 | CAN_TSR_ABRQ1 | CAN_TSR_ABRQ2;
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// reset CAN bus
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RCC->APB1RSTR |= RCC_APB1RSTR_CANRST;
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RCC->APB1RSTR &= ~RCC_APB1RSTR_CANRST;
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CAN_setup();
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}
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if(CAN_flags){
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if(CAN_flags & CAN_FLAG_GOTDUMMY){
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SEND("Got dummy message\n");
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}
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CAN_flags = 0;
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}
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LED_off(LED1);
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#ifdef EBUG
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static uint32_t esr, msr, tsr;
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uint32_t msr_now = CAN->MSR & 0xf;
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if(esr != CAN->ESR || msr != msr_now || tsr != CAN->TSR){
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MSG("Timestamp: ");
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printu(Tms);
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newline();
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}
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if((CAN->ESR) != esr){
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usart_putchar(((CAN->ESR & CAN_ESR_BOFF) != 0) + '0');
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esr = CAN->ESR;
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MSG("CAN->ESR: ");
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printuhex(esr); newline();
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}
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if(msr_now != msr){
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msr = msr_now;
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MSG("CAN->MSR & 0xf: ");
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printuhex(msr); newline();
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}
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if(CAN->TSR != tsr){
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tsr = CAN->TSR;
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MSG("CAN->TSR: ");
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printuhex(tsr); newline();
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}
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#endif
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}
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CAN_status can_send(uint8_t *msg, uint8_t len, uint16_t target_id){
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uint8_t mailbox = 0;
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// check first free mailbox
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if(CAN->TSR & (CAN_TSR_TME)){
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mailbox = (CAN->TSR & CAN_TSR_CODE) >> 24;
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#ifdef EBUG
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MSG("select "); usart_putchar('0'+mailbox); SEND(" mailbox\n");
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#endif
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}else{ // no free mailboxes
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return CAN_BUSY;
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}
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CAN_TxMailBox_TypeDef *box = &CAN->sTxMailBox[mailbox];
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uint32_t lb = 0, hb = 0;
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switch(len){
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case 8:
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hb |= (uint32_t)msg[7] << 24;
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__attribute__((fallthrough));
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case 7:
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hb |= (uint32_t)msg[6] << 16;
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__attribute__((fallthrough));
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case 6:
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hb |= (uint32_t)msg[5] << 8;
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__attribute__((fallthrough));
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case 5:
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hb |= (uint32_t)msg[4];
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__attribute__((fallthrough));
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case 4:
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lb |= (uint32_t)msg[3] << 24;
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__attribute__((fallthrough));
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case 3:
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lb |= (uint32_t)msg[2] << 16;
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__attribute__((fallthrough));
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case 2:
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lb |= (uint32_t)msg[1] << 8;
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__attribute__((fallthrough));
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default:
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lb |= (uint32_t)msg[0];
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}
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box->TDLR = lb;
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box->TDHR = hb;
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box->TDTR = len;
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box->TIR = (target_id & 0x7FF) << 21 | CAN_TI0R_TXRQ;
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return CAN_OK;
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}
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void can_send_dummy(){
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uint8_t msg = CMD_TOGGLE;
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if(CAN_OK != can_send(&msg, 1, TARG_ID)) SEND("Bus busy!\n");
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MSG("CAN->MSR: ");
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printuhex(CAN->MSR); newline();
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MSG("CAN->TSR: ");
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printuhex(CAN->TSR); newline();
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MSG("CAN->ESR: ");
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printuhex(CAN->ESR); newline();
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}
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static void can_process_fifo(uint8_t fifo_num){
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if(fifo_num > 1) return;
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LED_on(LED1); // Toggle LED1
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CAN_FIFOMailBox_TypeDef *box = &CAN->sFIFOMailBox[fifo_num];
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volatile uint32_t *RFxR = (fifo_num) ? &CAN->RF1R : &CAN->RF0R;
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MSG("Receive, RDTR=");
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#ifdef EBUG
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printuhex(box->RDTR);
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newline();
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#endif
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// read all
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while(*RFxR & CAN_RF0R_FMP0){ // amount of messages pending
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// CAN_RDTxR: (16-31) - timestamp, (8-15) - filter match index, (0-3) - data length
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/* TODO: check filter match index if more than one ID can receive */
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CAN_message msg;
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uint8_t *dat = msg.data;
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uint8_t len = box->RDTR & 0x7;
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msg.length = len;
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if(len){ // message can be without data
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uint32_t hb = box->RDHR, lb = box->RDLR;
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switch(len){
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case 8:
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dat[7] = hb>>24;
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__attribute__((fallthrough));
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case 7:
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dat[6] = (hb>>16) & 0xff;
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__attribute__((fallthrough));
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case 6:
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dat[5] = (hb>>8) & 0xff;
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__attribute__((fallthrough));
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case 5:
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dat[4] = hb & 0xff;
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__attribute__((fallthrough));
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case 4:
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dat[3] = lb>>24;
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__attribute__((fallthrough));
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case 3:
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dat[2] = (lb>>16) & 0xff;
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__attribute__((fallthrough));
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case 2:
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dat[1] = (lb>>8) & 0xff;
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__attribute__((fallthrough));
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case 1:
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dat[0] = lb & 0xff;
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}
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}
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if(CAN_messagebuf_push(&msg)) return; // error: buffer is full, try later
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*RFxR |= CAN_RF0R_RFOM0; // release fifo for access to next message
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}
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if(*RFxR & CAN_RF0R_FULL0) *RFxR &= ~CAN_RF0R_FULL0;
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}
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void cec_can_isr(){
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if(CAN->RF0R & CAN_RF0R_FOVR0){ // FIFO overrun
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CAN->RF0R &= ~CAN_RF0R_FOVR0;
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can_status = CAN_FIFO_OVERRUN;
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}
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if(CAN->RF1R & CAN_RF1R_FOVR1){
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CAN->RF1R &= ~CAN_RF1R_FOVR1;
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can_status = CAN_FIFO_OVERRUN;
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}
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#ifdef EBUG
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if(can_status == CAN_FIFO_OVERRUN) MSG("fifo 0 overrun\n");
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#endif
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if(CAN->MSR & CAN_MSR_ERRI){ // Error
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CAN->MSR &= ~CAN_MSR_ERRI;
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// request abort for problem mailbox
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if(CAN->TSR & CAN_TSR_TERR0) CAN->TSR |= CAN_TSR_ABRQ0;
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if(CAN->TSR & CAN_TSR_TERR1) CAN->TSR |= CAN_TSR_ABRQ1;
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if(CAN->TSR & CAN_TSR_TERR2) CAN->TSR |= CAN_TSR_ABRQ2;
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last_err_code = CAN->ESR;
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}
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}
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