mirror of
https://github.com/eddyem/stm32samples.git
synced 2025-12-06 10:45:11 +03:00
FX3U: test CAN bus communications
This commit is contained in:
Edward Emelianov
parent
166ab97fe7
commit
f127a3ce1a
@ -67,6 +67,12 @@
|
||||
"visible_layers": "fffffff_ffffffff",
|
||||
"zone_display_mode": 0
|
||||
},
|
||||
"git": {
|
||||
"repo_password": "",
|
||||
"repo_type": "",
|
||||
"repo_username": "",
|
||||
"ssh_key": ""
|
||||
},
|
||||
"meta": {
|
||||
"filename": "stm32.kicad_prl",
|
||||
"version": 3
|
||||
|
||||
@ -187,6 +187,13 @@
|
||||
"zones_allow_external_fillets": false,
|
||||
"zones_use_no_outline": true
|
||||
},
|
||||
"ipc2581": {
|
||||
"dist": "",
|
||||
"distpn": "",
|
||||
"internal_id": "",
|
||||
"mfg": "",
|
||||
"mpn": ""
|
||||
},
|
||||
"layer_presets": [],
|
||||
"viewports": []
|
||||
},
|
||||
@ -588,14 +595,75 @@
|
||||
"gencad": "",
|
||||
"idf": "",
|
||||
"netlist": "stm32.net",
|
||||
"plot": "",
|
||||
"pos_files": "",
|
||||
"specctra_dsn": "",
|
||||
"step": "",
|
||||
"svg": "",
|
||||
"vrml": ""
|
||||
},
|
||||
"page_layout_descr_file": ""
|
||||
},
|
||||
"schematic": {
|
||||
"annotate_start_num": 0,
|
||||
"bom_fmt_presets": [],
|
||||
"bom_fmt_settings": {
|
||||
"field_delimiter": ",",
|
||||
"keep_line_breaks": false,
|
||||
"keep_tabs": false,
|
||||
"name": "CSV",
|
||||
"ref_delimiter": ",",
|
||||
"ref_range_delimiter": "",
|
||||
"string_delimiter": "\""
|
||||
},
|
||||
"bom_presets": [],
|
||||
"bom_settings": {
|
||||
"exclude_dnp": false,
|
||||
"fields_ordered": [
|
||||
{
|
||||
"group_by": false,
|
||||
"label": "Reference",
|
||||
"name": "Reference",
|
||||
"show": true
|
||||
},
|
||||
{
|
||||
"group_by": true,
|
||||
"label": "Value",
|
||||
"name": "Value",
|
||||
"show": true
|
||||
},
|
||||
{
|
||||
"group_by": false,
|
||||
"label": "Datasheet",
|
||||
"name": "Datasheet",
|
||||
"show": true
|
||||
},
|
||||
{
|
||||
"group_by": false,
|
||||
"label": "Footprint",
|
||||
"name": "Footprint",
|
||||
"show": true
|
||||
},
|
||||
{
|
||||
"group_by": false,
|
||||
"label": "Qty",
|
||||
"name": "${QUANTITY}",
|
||||
"show": true
|
||||
},
|
||||
{
|
||||
"group_by": true,
|
||||
"label": "DNP",
|
||||
"name": "${DNP}",
|
||||
"show": true
|
||||
}
|
||||
],
|
||||
"filter_string": "",
|
||||
"group_symbols": true,
|
||||
"name": "Grouped By Value",
|
||||
"sort_asc": true,
|
||||
"sort_field": "Обозначение"
|
||||
},
|
||||
"connection_grid_size": 50.0,
|
||||
"drawing": {
|
||||
"dashed_lines_dash_length_ratio": 12.0,
|
||||
"dashed_lines_gap_length_ratio": 3.0,
|
||||
@ -612,6 +680,11 @@
|
||||
"intersheets_ref_suffix": "",
|
||||
"junction_size_choice": 3,
|
||||
"label_size_ratio": 0.3,
|
||||
"operating_point_overlay_i_precision": 3,
|
||||
"operating_point_overlay_i_range": "~A",
|
||||
"operating_point_overlay_v_precision": 3,
|
||||
"operating_point_overlay_v_range": "~V",
|
||||
"overbar_offset_ratio": 1.23,
|
||||
"pin_symbol_size": 25.0,
|
||||
"text_offset_ratio": 0.3
|
||||
},
|
||||
@ -637,6 +710,7 @@
|
||||
"spice_external_command": "spice \"%I\"",
|
||||
"spice_model_current_sheet_as_root": true,
|
||||
"spice_save_all_currents": false,
|
||||
"spice_save_all_dissipations": false,
|
||||
"spice_save_all_voltages": false,
|
||||
"subpart_first_id": 65,
|
||||
"subpart_id_separator": 0
|
||||
|
||||
@ -18,7 +18,7 @@
|
||||
|
||||
#include "adc.h"
|
||||
|
||||
uint16_t ADC_array[NUMBER_OF_ADC_CHANNELS*9];
|
||||
uint16_t ADC_array[ADC_CHANNELS*9];
|
||||
|
||||
void adc_setup(){
|
||||
uint32_t ctr = 0;
|
||||
@ -29,7 +29,7 @@ void adc_setup(){
|
||||
// DMA configuration
|
||||
DMA1_Channel1->CPAR = (uint32_t) (&(ADC1->DR));
|
||||
DMA1_Channel1->CMAR = (uint32_t)(ADC_array);
|
||||
DMA1_Channel1->CNDTR = NUMBER_OF_ADC_CHANNELS * 9;
|
||||
DMA1_Channel1->CNDTR = ADC_CHANNELS * 9;
|
||||
DMA1_Channel1->CCR = DMA_CCR_MINC | DMA_CCR_MSIZE_0 | DMA_CCR_PSIZE_0
|
||||
| DMA_CCR_CIRC | DMA_CCR_PL | DMA_CCR_EN;
|
||||
RCC->CFGR = (RCC->CFGR & ~(RCC_CFGR_ADCPRE)) | RCC_CFGR_ADCPRE_DIV8; // ADC clock = RCC / 8
|
||||
@ -38,7 +38,7 @@ void adc_setup(){
|
||||
ADC1->SMPR1 = ADC_SMPR1_SMP16 | ADC_SMPR1_SMP17;
|
||||
// sequence order: 0 -> 16 -> 17
|
||||
ADC1->SQR3 = (0 << 0) | (16<<5) | (17 << 10);
|
||||
ADC1->SQR1 = (NUMBER_OF_ADC_CHANNELS - 1) << 20; // amount of conversions
|
||||
ADC1->SQR1 = (ADC_CHANNELS - 1) << 20; // amount of conversions
|
||||
ADC1->CR1 = ADC_CR1_SCAN; // scan mode
|
||||
// DMA, continuous mode; enable vref & Tsens; enable SWSTART as trigger
|
||||
ADC1->CR2 = ADC_CR2_DMA | ADC_CR2_TSVREFE | ADC_CR2_CONT | ADC_CR2_EXTSEL | ADC_CR2_EXTTRIG;
|
||||
@ -68,7 +68,7 @@ uint16_t getADCval(int nch){
|
||||
#define PIX_SORT(a,b) { if ((a)>(b)) PIX_SWAP((a),(b)); }
|
||||
#define PIX_SWAP(a,b) { register uint16_t temp=(a);(a)=(b);(b)=temp; }
|
||||
uint16_t p[9];
|
||||
for(i = 0; i < 9; ++i, addr += NUMBER_OF_ADC_CHANNELS){ // first we should prepare array for optmed
|
||||
for(i = 0; i < 9; ++i, addr += ADC_CHANNELS){ // first we should prepare array for optmed
|
||||
p[i] = ADC_array[addr];
|
||||
}
|
||||
PIX_SORT(p[1], p[2]) ; PIX_SORT(p[4], p[5]) ; PIX_SORT(p[7], p[8]) ;
|
||||
@ -95,7 +95,7 @@ uint32_t getADCvoltage(int nch){
|
||||
int32_t getMCUtemp(){
|
||||
// Temp = (V25 - Vsense)/Avg_Slope + 25
|
||||
// V_25 = 1.45V, Slope = 4.3e-3
|
||||
int32_t Vsense = getVdd() * getADCval(CHTSENS);
|
||||
int32_t Vsense = getVdd() * getADCval(ADC_CH_TSEN);
|
||||
int32_t temperature = 593920 - Vsense; // 593920 == 145*4096
|
||||
temperature /= 172; // == /(4096*10*4.3e-3), 10 - to convert from *100 to *10
|
||||
temperature += 250;
|
||||
@ -105,6 +105,6 @@ int32_t getMCUtemp(){
|
||||
// return Vdd * 100 (V)
|
||||
uint32_t getVdd(){
|
||||
uint32_t vdd = 120 * 4096; // 1.2V
|
||||
vdd /= getADCval(CHVDD);
|
||||
vdd /= getADCval(ADC_CH_VDD);
|
||||
return vdd;
|
||||
}
|
||||
|
||||
@ -20,19 +20,16 @@
|
||||
|
||||
#include <stm32f1.h>
|
||||
|
||||
#define NUMBER_OF_ADC_CHANNELS (3)
|
||||
|
||||
// Vsen voltage channel
|
||||
#define CHVSEN (0)
|
||||
// channels for Tsens and Vdd
|
||||
#define CHTSENS (1)
|
||||
#define CHVDD (2)
|
||||
// ADC channels in array
|
||||
enum{
|
||||
ADC_CH_VSEN = 0, // ADC_ch0
|
||||
ADC_CH_TSEN, // T sensor
|
||||
ADC_CH_VDD, // Vdd sensor
|
||||
ADC_CHANNELS
|
||||
};
|
||||
|
||||
/**
|
||||
* @brief ADC_array - array for ADC channels with median filtering:
|
||||
* 0 - Isensor voltage
|
||||
* 1 - internal Tsens
|
||||
* 2 - Vdd
|
||||
* @brief ADC_array - array for ADC channels with median filtering
|
||||
*/
|
||||
extern uint16_t ADC_array[];
|
||||
|
||||
|
||||
@ -17,19 +17,31 @@
|
||||
*/
|
||||
|
||||
#include "can.h"
|
||||
#include "canproto.h"
|
||||
#include "flash.h" // CANID
|
||||
#include "hardware.h"
|
||||
#include "proto.h"
|
||||
#include "strfunc.h"
|
||||
#include "usart.h"
|
||||
|
||||
// REMAPPED to PD0/PD1!!!
|
||||
|
||||
#include <string.h> // memcpy
|
||||
|
||||
// CAN bus oscillator frequency: 36MHz
|
||||
#define CAN_F_OSC (36000000UL)
|
||||
// timing values TBS1 and TBS2 (in BTR [TBS1-1] and [TBS2-1])
|
||||
// use 3 and 2 to get 6MHz
|
||||
#define CAN_TBS1 (3)
|
||||
#define CAN_TBS2 (2)
|
||||
// bitrate oscillator frequency
|
||||
#define CAN_BIT_OSC (CAN_F_OSC / (1+CAN_TBS1+CAN_TBS2))
|
||||
|
||||
// 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
|
||||
static uint32_t oldspeed = 100000; // speed of last init
|
||||
|
||||
static CAN_status can_status = CAN_STOP;
|
||||
|
||||
@ -44,9 +56,11 @@ 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");
|
||||
/*
|
||||
#ifdef EBUG
|
||||
usart_send("push\n");
|
||||
#endif
|
||||
*/
|
||||
if(first_free_idx == first_nonfree_idx){
|
||||
#ifdef EBUG
|
||||
usart_send("INBUF OVERFULL\n");
|
||||
@ -72,7 +86,7 @@ CAN_message *CAN_messagebuf_pop(){
|
||||
return msg;
|
||||
}
|
||||
|
||||
void CAN_reinit(uint16_t speed){
|
||||
void CAN_reinit(uint32_t speed){
|
||||
CAN1->TSR |= CAN_TSR_ABRQ0 | CAN_TSR_ABRQ1 | CAN_TSR_ABRQ2;
|
||||
RCC->APB1RSTR |= RCC_APB1RSTR_CAN1RST;
|
||||
RCC->APB1RSTR &= ~RCC_APB1RSTR_CAN1RST;
|
||||
@ -100,12 +114,11 @@ so if TBS1=4 and TBS2=3, sum=8, bit sampling freq is 48/8 = 6MHz
|
||||
1MBps - 6
|
||||
*/
|
||||
|
||||
// speed - in kbps
|
||||
void CAN_setup(uint16_t speed){
|
||||
// speed - in bps
|
||||
void CAN_setup(uint32_t speed){
|
||||
if(speed == 0) speed = oldspeed;
|
||||
else if(speed < 50) speed = 50;
|
||||
else if(speed > 3000) speed = 3000;
|
||||
oldspeed = speed;
|
||||
else if(speed < CAN_MIN_SPEED) speed = CAN_MIN_SPEED;
|
||||
else if(speed > CAN_MAX_SPEED) speed = CAN_MAX_SPEED;
|
||||
uint32_t tmout = 16000000;
|
||||
// Configure GPIO: PD0 - CAN_Rx, PD1 - CAN_Tx
|
||||
AFIO->MAPR |= AFIO_MAPR_CAN_REMAP_REMAP3;
|
||||
@ -122,7 +135,7 @@ void CAN_setup(uint16_t speed){
|
||||
/* (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 */
|
||||
/* (9) Identifier mode for bank#0, mask mode for #1 */
|
||||
/* (10) Set the Id list */
|
||||
/* (12) Leave filter init */
|
||||
/* (13) Set error interrupts enable (& bus off) */
|
||||
@ -131,19 +144,26 @@ void CAN_setup(uint16_t speed){
|
||||
if(--tmout == 0) break;
|
||||
CAN1->MCR &=~ CAN_MCR_SLEEP; /* (3) */
|
||||
CAN1->MCR |= CAN_MCR_ABOM; /* allow automatically bus-off */
|
||||
|
||||
CAN1->BTR = 2 << 20 | 3 << 16 | (4500/speed - 1); //| CAN_BTR_SILM | CAN_BTR_LBKM; /* (4) */
|
||||
CAN1->BTR = (CAN_TBS2-1) << 20 | (CAN_TBS1-1) << 16 | (CAN_BIT_OSC/speed - 1); //| CAN_BTR_SILM | CAN_BTR_LBKM; /* (4) */
|
||||
oldspeed = CAN_BIT_OSC/(uint32_t)((CAN1->BTR & CAN_BTR_BRP) + 1);
|
||||
#ifdef EBUG
|
||||
usart_send("canspeed->"); usart_send(u2str(oldspeed)); newline();
|
||||
#endif
|
||||
CAN1->MCR &= ~CAN_MCR_INRQ; /* (5) */
|
||||
tmout = 16000000;
|
||||
while((CAN1->MSR & CAN_MSR_INAK) == CAN_MSR_INAK) /* (6) */
|
||||
if(--tmout == 0) break;
|
||||
// accept ALL
|
||||
// accept depending of monitor flag
|
||||
CAN1->FMR = CAN_FMR_FINIT; /* (7) */
|
||||
CAN1->FA1R = CAN_FA1R_FACT0 | CAN_FA1R_FACT1; /* (8) */
|
||||
// set to 1 all needed bits of CAN1->FFA1R to switch given filters to FIFO1
|
||||
CAN1->sFilterRegister[0].FR1 = (1<<21)|(1<<5); // all odd IDs
|
||||
CAN1->FFA1R = 2; // filter 1 for FIFO1, filter 0 - for FIFO0
|
||||
CAN1->sFilterRegister[1].FR1 = (1<<21); // all even IDs
|
||||
CAN1->FA1R = CAN_FA1R_FACT0; /* (8) */
|
||||
CAN1->FM1R = CAN_FM1R_FBM0;
|
||||
// filter 0 for FIFO0
|
||||
CAN1->sFilterRegister[0].FR1 = the_conf.CANID << 5; // (10) CANID and 0
|
||||
if(flags.can_monitor){ /* (11) */
|
||||
CAN1->FA1R |= CAN_FA1R_FACT1; // activate filter1
|
||||
CAN1->sFilterRegister[1].FR1 = 0; // all packets
|
||||
CAN1->FFA1R = 2; // filter 1 for FIFO1
|
||||
}
|
||||
CAN1->FMR &= ~CAN_FMR_FINIT; /* (12) */
|
||||
CAN1->IER |= CAN_IER_ERRIE | CAN_IER_FOVIE0 | CAN_IER_FOVIE1 | CAN_IER_BOFIE; /* (13) */
|
||||
|
||||
@ -158,7 +178,45 @@ void CAN_setup(uint16_t speed){
|
||||
can_status = CAN_READY;
|
||||
}
|
||||
|
||||
void can_proc(){
|
||||
/**
|
||||
* @brief CAN_sniffer - reconfigure CAN in sniffer or normal mode
|
||||
* @param issniffer - ==0 for normal mode
|
||||
*/
|
||||
void CAN_sniffer(uint8_t issniffer){
|
||||
flags.can_monitor = issniffer;
|
||||
CAN_reinit(0);
|
||||
}
|
||||
|
||||
void CAN_printerr(){
|
||||
uint32_t last_err_code = CAN1->ESR;
|
||||
if(!last_err_code){
|
||||
usart_send("No errors\n");
|
||||
return;
|
||||
}
|
||||
usart_send("Receive error counter: ");
|
||||
usart_send(u2str((last_err_code & CAN_ESR_REC)>>24));
|
||||
usart_send("\nTransmit error counter: ");
|
||||
usart_send(u2str((last_err_code & CAN_ESR_TEC)>>16));
|
||||
usart_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;
|
||||
}
|
||||
usart_send(errmsg); usart_send(" error\n");
|
||||
if(last_err_code & CAN_ESR_BOFF) usart_send("Bus off ");
|
||||
if(last_err_code & CAN_ESR_EPVF) usart_send("Passive error limit ");
|
||||
if(last_err_code & CAN_ESR_EWGF) usart_send("Error counter limit");
|
||||
newline();
|
||||
}
|
||||
|
||||
void CAN_proc(){
|
||||
// check for messages in FIFO0 & FIFO1
|
||||
if(CAN1->RF0R & CAN_RF0R_FMP0){
|
||||
can_process_fifo(0);
|
||||
@ -168,22 +226,32 @@ void can_proc(){
|
||||
}
|
||||
IWDG->KR = IWDG_REFRESH;
|
||||
if(CAN1->ESR & (CAN_ESR_BOFF | CAN_ESR_EPVF | CAN_ESR_EWGF)){ // much errors - restart CAN BUS
|
||||
usart_send("\nToo much errors, restarting CAN!\n");
|
||||
// request abort for all mailboxes
|
||||
CAN1->TSR |= CAN_TSR_ABRQ0 | CAN_TSR_ABRQ1 | CAN_TSR_ABRQ2;
|
||||
// reset CAN bus
|
||||
RCC->APB1RSTR |= RCC_APB1RSTR_CAN1RST;
|
||||
RCC->APB1RSTR &= ~RCC_APB1RSTR_CAN1RST;
|
||||
CAN_setup(0);
|
||||
if(flags.can_printoff){
|
||||
usart_send("error=canerr\n");
|
||||
CAN_printerr();
|
||||
}
|
||||
CAN_reinit(0);
|
||||
}
|
||||
}
|
||||
|
||||
CAN_status can_send(uint8_t *msg, uint8_t len, uint16_t target_id){
|
||||
uint8_t mailbox = 0;
|
||||
// check first free mailbox
|
||||
CAN_status CAN_send(CAN_message *message){
|
||||
if(!message) return CAN_ERR;
|
||||
uint8_t *msg = message->data;
|
||||
uint8_t len = message->length;
|
||||
uint16_t target_id = message->ID;
|
||||
uint8_t mailbox = 0xff;
|
||||
uint32_t Tstart = Tms;
|
||||
while(Tms - Tstart < SEND_TIMEOUT_MS/10){
|
||||
IWDG->KR = IWDG_REFRESH;
|
||||
if(CAN1->TSR & (CAN_TSR_TME)){
|
||||
mailbox = (CAN1->TSR & CAN_TSR_CODE) >> 24;
|
||||
}else{ // no free mailboxes
|
||||
break;
|
||||
}
|
||||
}
|
||||
if(mailbox == 0xff){// no free mailboxes
|
||||
#ifdef EBUG
|
||||
usart_send("No free mailboxes\n");
|
||||
#endif
|
||||
return CAN_BUSY;
|
||||
}
|
||||
CAN_TxMailBox_TypeDef *box = &CAN1->sTxMailBox[mailbox];
|
||||
@ -220,6 +288,28 @@ CAN_status can_send(uint8_t *msg, uint8_t len, uint16_t target_id){
|
||||
return CAN_OK;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief parseCANcommand - parser
|
||||
* @param msg - incoming message @ my CANID
|
||||
* FORMAT:
|
||||
* 0 1 2 3 4 5 6 7
|
||||
* [CMD][PAR][errcode][VALUE]
|
||||
* CMD - uint16_t, PAR - uint8_t, errcode - one of CAN_errcodes, VALUE - int32_t
|
||||
* `errcode` of incoming message doesn't matter
|
||||
* incoming data may have variable length
|
||||
*/
|
||||
TRUE_INLINE void parseCANcommand(CAN_message *msg){
|
||||
msg->ID = the_conf.CANID; // set own ID for broadcast messages
|
||||
// check PING
|
||||
if(msg->length != 0) run_can_cmd(msg);
|
||||
uint32_t Tstart = Tms;
|
||||
while(Tms - Tstart < SEND_TIMEOUT_MS){
|
||||
if(CAN_OK == CAN_send(msg)) return;
|
||||
IWDG->KR = IWDG_REFRESH;
|
||||
}
|
||||
usart_send("error=canbusy\n");
|
||||
}
|
||||
|
||||
static void can_process_fifo(uint8_t fifo_num){
|
||||
if(fifo_num > 1) return;
|
||||
CAN_FIFOMailBox_TypeDef *box = &CAN1->sFIFOMailBox[fifo_num];
|
||||
@ -263,7 +353,9 @@ static void can_process_fifo(uint8_t fifo_num){
|
||||
dat[0] = lb & 0xff;
|
||||
}
|
||||
}
|
||||
if(CAN_messagebuf_push(&msg)) return; // error: buffer is full, try later
|
||||
// run command for my or broadcast ID
|
||||
if(msg.ID == the_conf.CANID || msg.ID == 0) parseCANcommand(&msg);
|
||||
if(flags.can_monitor && 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;
|
||||
|
||||
@ -20,10 +20,12 @@
|
||||
|
||||
#include <stdint.h>
|
||||
|
||||
// amount of filter banks in STM32F0
|
||||
#define STM32F0FBANKNO 28
|
||||
// flood period in milliseconds
|
||||
#define FLOOD_PERIOD_MS 5
|
||||
// min/max speeds in bps
|
||||
#define CAN_MAX_SPEED ((uint32_t)3000000UL)
|
||||
#define CAN_MIN_SPEED ((uint32_t)9600UL)
|
||||
|
||||
// wait to send not more tnah
|
||||
#define SEND_TIMEOUT_MS (100)
|
||||
|
||||
// incoming message buffer size
|
||||
#define CAN_INMESSAGE_SIZE (8)
|
||||
@ -46,11 +48,12 @@ typedef enum{
|
||||
|
||||
CAN_status CAN_get_status();
|
||||
|
||||
void CAN_reinit(uint16_t speed);
|
||||
void CAN_setup(uint16_t speed);
|
||||
void CAN_reinit(uint32_t speed);
|
||||
void CAN_setup(uint32_t speed);
|
||||
|
||||
CAN_status can_send(uint8_t *msg, uint8_t len, uint16_t target_id);
|
||||
void can_proc();
|
||||
void printCANerr();
|
||||
CAN_status CAN_send(CAN_message *message);
|
||||
void CAN_proc();
|
||||
void CAN_printerr();
|
||||
void CAN_sniffer(uint8_t issniffer);
|
||||
|
||||
CAN_message *CAN_messagebuf_pop();
|
||||
|
||||
248
F1:F103/FX3U/canproto.c
Normal file
248
F1:F103/FX3U/canproto.c
Normal file
@ -0,0 +1,248 @@
|
||||
/*
|
||||
* This file is part of the fx3u project.
|
||||
* Copyright 2024 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 "adc.h"
|
||||
#include "canproto.h"
|
||||
#include "flash.h"
|
||||
#include "hardware.h"
|
||||
#include "proto.h"
|
||||
#include "strfunc.h"
|
||||
#include "usart.h"
|
||||
|
||||
#define FIXDL(m) do{m->length = 8;}while(0)
|
||||
|
||||
/*********** START of all common functions list (for `funclist`) ***********/
|
||||
// reset MCU
|
||||
|
||||
static errcodes reset(CAN_message _U_ *msg){
|
||||
usart_send("Soft reset\n");
|
||||
usart_transmit();
|
||||
NVIC_SystemReset();
|
||||
return ERR_OK; // never reached
|
||||
}
|
||||
// get/set Tms
|
||||
static errcodes time_getset(CAN_message *msg){
|
||||
if(ISSETTER(msg->data)){
|
||||
Tms = *(uint32_t*)&msg->data[4];
|
||||
}else FIXDL(msg);
|
||||
*(uint32_t*)&msg->data[4] = Tms;
|
||||
return ERR_OK;
|
||||
}
|
||||
// get MCU T
|
||||
static errcodes mcut(CAN_message *msg){
|
||||
FIXDL(msg);
|
||||
*(int32_t*)&msg->data[4] = getMCUtemp();
|
||||
return ERR_OK;
|
||||
}
|
||||
// get ADC raw values
|
||||
static errcodes adcraw(CAN_message *msg){
|
||||
FIXDL(msg);
|
||||
uint8_t no = msg->data[2] & ~SETTER_FLAG;
|
||||
if(no >= ADC_CHANNELS) return ERR_BADPAR;
|
||||
*(uint32_t*)&msg->data[4] = getADCval(no);
|
||||
return ERR_OK;
|
||||
}
|
||||
// get ADC voltage
|
||||
static errcodes adcv(CAN_message *msg){
|
||||
FIXDL(msg);
|
||||
uint8_t no = msg->data[2] & ~SETTER_FLAG;
|
||||
if(no >= ADC_CH_TSEN) return ERR_BADPAR;
|
||||
float v = getADCvoltage(no) /** the_conf.adcmul[no] * 100.f*/;
|
||||
*(uint32_t*)&msg->data[4] = (uint32_t) v;
|
||||
return ERR_OK;
|
||||
}
|
||||
// get/set CAN ID
|
||||
static errcodes canid(CAN_message *msg){
|
||||
if(ISSETTER(msg->data)){
|
||||
the_conf.CANID = *(uint32_t*)&msg->data[4];
|
||||
CAN_reinit(0); // setup with new ID
|
||||
}else FIXDL(msg);
|
||||
*(uint32_t*)&msg->data[4] = the_conf.CANID;
|
||||
return ERR_OK;
|
||||
}
|
||||
/*
|
||||
// get/set ADC multiplier
|
||||
static errcodes adcmul(CAN_message *msg){
|
||||
uint8_t no = msg->data[2] & ~SETTER_FLAG;
|
||||
if(no >= ADC_TSENS) return ERR_BADPAR;
|
||||
if(ISSETTER(msg->data)){
|
||||
the_conf.adcmul[no] = ((float)*(uint32_t*)&msg->data[4])/1000.f;
|
||||
}else FIXDL(msg);
|
||||
*(uint32_t*)&msg->data[4] = (uint32_t)(1000.f * the_conf.adcmul[no]);
|
||||
return ERR_OK;
|
||||
}
|
||||
*/
|
||||
// save config
|
||||
static errcodes saveconf(CAN_message _U_ *msg){
|
||||
if(0 == store_userconf()) return ERR_OK;
|
||||
return ERR_CANTRUN;
|
||||
}
|
||||
// erase storage
|
||||
static errcodes erasestor(CAN_message _U_ *msg){
|
||||
if(0 == erase_storage(-1)) return ERR_OK;
|
||||
return ERR_CANTRUN;
|
||||
}
|
||||
/*
|
||||
// relay management
|
||||
static errcodes relay(CAN_message *msg){
|
||||
if(ISSETTER(msg->data)){
|
||||
if(msg->data[4] == 1) RELAY_ON();
|
||||
else RELAY_OFF();
|
||||
}else FIXDL(msg);
|
||||
*(uint32_t*)&msg->data[4] = RELAY_GET();
|
||||
return ERR_OK;
|
||||
}
|
||||
// blocking ESW get status
|
||||
static errcodes eswblk(CAN_message *msg){
|
||||
uint8_t no = msg->data[2] & ~SETTER_FLAG;
|
||||
if(no > 1) return ERR_BADPAR;
|
||||
FIXDL(msg);
|
||||
*(uint32_t*)&msg->data[4] = getSwitches(no);
|
||||
return ERR_OK;
|
||||
}
|
||||
// bounce-free ESW get status
|
||||
static errcodes esw(CAN_message *msg){
|
||||
uint8_t no = msg->data[2] & ~SETTER_FLAG;
|
||||
if(no > 1) return ERR_BADPAR;
|
||||
FIXDL(msg);
|
||||
*(uint32_t*)&msg->data[4] = getESW(no);
|
||||
return ERR_OK;
|
||||
}
|
||||
*/
|
||||
|
||||
// common uint32_t setter/getter
|
||||
static errcodes u32setget(CAN_message *msg){
|
||||
uint16_t idx = *(uint16_t*)msg->data;
|
||||
uint32_t *ptr = NULL;
|
||||
switch(idx){
|
||||
case CMD_CANSPEED: ptr = &the_conf.CANspeed; CAN_reinit(*(uint32_t*)&msg->data[4]); break;
|
||||
//case CMD_BOUNCE: ptr = &the_conf.bounce_ms; break;
|
||||
case CMD_USARTSPEED: ptr = &the_conf.usartspeed; break;
|
||||
default: break;
|
||||
}
|
||||
if(!ptr) return ERR_CANTRUN; // unknown error
|
||||
if(ISSETTER(msg->data)){
|
||||
*ptr = *(uint32_t*)&msg->data[4];
|
||||
}else FIXDL(msg);
|
||||
*(uint32_t*)&msg->data[4] = *ptr;
|
||||
return ERR_OK;
|
||||
}
|
||||
|
||||
/*
|
||||
// common bitflag setter/getter
|
||||
static errcodes flagsetget(CAN_message *msg){
|
||||
uint16_t idx = *(uint16_t*)msg->data;
|
||||
uint8_t bit = 32;
|
||||
switch(idx){
|
||||
case CMD_ENCISSSI: bit = FLAGBIT(ENC_IS_SSI); break;
|
||||
case CMD_EMULPEP: bit = FLAGBIT(EMULATE_PEP); break;
|
||||
default: break;
|
||||
}
|
||||
if(bit > 31) return ERR_CANTRUN; // unknown error
|
||||
if(ISSETTER(msg->data)){
|
||||
if(msg->data[4]) the_conf.flags |= 1<<bit;
|
||||
else the_conf.flags &= ~(1<<bit);
|
||||
}else FIXDL(msg);
|
||||
*(uint32_t*)&msg->data[4] = (the_conf.flags & (1<<bit)) ? 1 : 0;
|
||||
return ERR_OK;
|
||||
}
|
||||
************ END of all common functions list (for `funclist`) ************/
|
||||
|
||||
typedef struct{
|
||||
errcodes (*fn)(CAN_message *msg); // function to run with can packet `msg`
|
||||
int32_t minval; // minimal/maximal values of *(int32_t*)(&data[4]) - if minval != maxval
|
||||
int32_t maxval;
|
||||
uint8_t datalen; // minimal data length (full CAN packet, bytes)
|
||||
} commonfunction;
|
||||
|
||||
// list of common (CAN/RS-232) functions
|
||||
// !!!!!!!!! Getters should set message length to 8 !!!!!!!!!!!
|
||||
static const commonfunction funclist[CMD_AMOUNT] = {
|
||||
[CMD_RESET] = {reset, 0, 0, 0},
|
||||
[CMD_TIME] = {time_getset, 0, 0, 0},
|
||||
[CMD_MCUTEMP] = {mcut, 0, 0, 0},
|
||||
[CMD_ADCRAW] = {adcraw, 0, 0, 3}, // need parno: 0..4
|
||||
[CMD_ADCV] = {adcv, 0, 0, 3}, // need parno: 0..3
|
||||
[CMD_CANSPEED] = {u32setget, CAN_MIN_SPEED, CAN_MAX_SPEED, 0},
|
||||
[CMD_CANID] = {canid, 1, 0x7ff, 0},
|
||||
// [CMD_ADCMUL] = {adcmul, 0, 0, 3}, // at least parno
|
||||
[CMD_SAVECONF] = {saveconf, 0, 0, 0},
|
||||
[CMD_ERASESTOR] = {erasestor, 0, 0, 0},
|
||||
// [CMD_RELAY] = {relay, 0, 1, 0},
|
||||
// [CMD_GETESW_BLK] = {eswblk, 0, 0, 3},
|
||||
// [CMD_GETESW] = {esw, 0, 0, 3},
|
||||
// [CMD_BOUNCE] = {u32setget, 0, 300, 0},
|
||||
[CMD_USARTSPEED] = {u32setget, 1200, 3000000, 0},
|
||||
};
|
||||
|
||||
|
||||
/**
|
||||
* FORMAT:
|
||||
* 0 1 2 3 4 5 6 7
|
||||
* [CMD][PAR][errcode][VALUE]
|
||||
* CMD - uint16_t, PAR - uint8_t, errcode - one of `errcodes`, VALUE - int32_t
|
||||
*/
|
||||
|
||||
/**
|
||||
* @brief run_can_cmd - run common CAN/USB commands with limits checking
|
||||
* @param msg - incoming message
|
||||
*/
|
||||
void run_can_cmd(CAN_message *msg){
|
||||
uint8_t datalen = msg->length;
|
||||
uint8_t *data = msg->data;
|
||||
#ifdef EBUG
|
||||
DBG("Get data: ");
|
||||
for(int i = 0; i < msg->length; ++i){
|
||||
usart_send(uhex2str(msg->data[i])); usart_putchar(' ');
|
||||
}
|
||||
//for(int i = msg->length-1; i < 8; ++i) msg->data[i] = 0;
|
||||
newline();
|
||||
#endif
|
||||
if(datalen < 2){
|
||||
FORMERR(msg, ERR_WRONGLEN);
|
||||
return;
|
||||
}
|
||||
uint16_t idx = *(uint16_t*)data;
|
||||
if(idx >= CMD_AMOUNT || funclist[idx].fn == NULL){ // bad command index
|
||||
FORMERR(msg, ERR_BADCMD); return;
|
||||
}
|
||||
// check minimal length
|
||||
if(funclist[idx].datalen > datalen){
|
||||
FORMERR(msg, ERR_WRONGLEN); return;
|
||||
}
|
||||
if(datalen > 3 && (data[2] & SETTER_FLAG)){
|
||||
// check setter's length
|
||||
if(datalen != 8){ FORMERR(msg, ERR_WRONGLEN); return; }
|
||||
// check setter's values
|
||||
if(funclist[idx].maxval != funclist[idx].minval){
|
||||
int32_t newval = *(int32_t*)&data[4];
|
||||
if(newval < funclist[idx].minval || newval > funclist[idx].maxval){
|
||||
FORMERR(msg, ERR_BADVAL); return;
|
||||
}
|
||||
}
|
||||
}
|
||||
data[3] = funclist[idx].fn(msg); // set error field as result of function
|
||||
data[2] &= ~SETTER_FLAG; // and clear setter flag
|
||||
#ifdef EBUG
|
||||
DBG("Return data: ");
|
||||
for(int i = 0; i < msg->length; ++i){
|
||||
usart_send(uhex2str(msg->data[i])); usart_putchar(' ');
|
||||
}
|
||||
newline();
|
||||
#endif
|
||||
}
|
||||
75
F1:F103/FX3U/canproto.h
Normal file
75
F1:F103/FX3U/canproto.h
Normal file
@ -0,0 +1,75 @@
|
||||
/*
|
||||
* This file is part of the fx3u project.
|
||||
* Copyright 2024 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 <stm32f1.h>
|
||||
#include "can.h"
|
||||
|
||||
// command parameter flag means this is a setter
|
||||
#define SETTER_FLAG (0x80)
|
||||
#define ISSETTER(data) ((data[2] & SETTER_FLAG))
|
||||
// parameter number 127 means there no parameter number at all (don't need paremeter or get all)
|
||||
#define NO_PARNO (0x1f)
|
||||
// base value of parameter (even if it is a setter)
|
||||
#define PARBASE(x) (x & 0x7f)
|
||||
|
||||
// make error for CAN answer
|
||||
#define FORMERR(m, err) do{m->data[3] = err; if(m->length < 4) m->length = 4;}while(0)
|
||||
|
||||
// error codes for answer message
|
||||
typedef enum{
|
||||
ERR_OK, // 0 - all OK
|
||||
ERR_BADPAR, // 1 - parameter's value is wrong
|
||||
ERR_BADVAL, // 2 - wrong parameter's value
|
||||
ERR_WRONGLEN, // 3 - wrong message length
|
||||
ERR_BADCMD, // 4 - unknown command
|
||||
ERR_CANTRUN, // 5 - can't run given command due to bad parameters or other
|
||||
ERR_AMOUNT // amount of error codes
|
||||
} errcodes;
|
||||
|
||||
// CAN commands indexes
|
||||
enum{
|
||||
CMD_RESET, // 0 - reset MCU
|
||||
CMD_TIME, // 1 - get/set Tms
|
||||
CMD_MCUTEMP, // 2 - get MCU temperature (*10)
|
||||
CMD_ADCRAW, // 3 - get ADC raw values
|
||||
CMD_ADCV, // 4 - get ADC voltage (*100)
|
||||
CMD_CANSPEED, // 5 - get/set CAN speed (kbps)
|
||||
CMD_CANID, // 6 - get/set CAN ID
|
||||
CMD_ADCMUL, // 7 - get/set ADC multipliers 0..4
|
||||
CMD_SAVECONF, // 8 - save configuration
|
||||
CMD_ERASESTOR, // 9 - erase all flash storage
|
||||
CMD_RELAY, // 10 - switch relay ON/OFF
|
||||
CMD_GETESW_BLK, // 11 - blocking read of ESW
|
||||
CMD_GETESW, // 12 - current ESW state, bounce-free
|
||||
CMD_BOUNCE, // 13 - get/set bounce constant (ms)
|
||||
CMD_USARTSPEED, // 14 - get/set USART1 speed (if encoder on RS-422)
|
||||
CMD_ENCISSSI, // 15 - encoder is SSI (1) or RS-422 (0)
|
||||
CMD_SPIINIT, // 16 - init SPI2
|
||||
CMD_SPISEND, // 17 - send 1..4 bytes over SPI
|
||||
CMD_ENCGET, // 18 - get encoder value
|
||||
CMD_EMULPEP, // 19 - emulate (1) / not (0) PEP
|
||||
CMD_ENCREINIT, // 20 - reinit encoder
|
||||
CMD_TIMESTAMP, // 21 - 2mks 24-bit timestamp
|
||||
CMD_SPIDEINIT, // 22 - turn off SPI2
|
||||
// should be the last:
|
||||
CMD_AMOUNT // amount of CAN commands
|
||||
};
|
||||
|
||||
void run_can_cmd(CAN_message *msg);
|
||||
@ -24,21 +24,21 @@
|
||||
#include <string.h> // memcpy
|
||||
|
||||
extern const uint32_t __varsstart, _BLOCKSIZE;
|
||||
static const uint32_t FLASH_blocksize = (uint32_t)&_BLOCKSIZE;
|
||||
const uint32_t FLASH_blocksize = (uint32_t)&_BLOCKSIZE;
|
||||
static uint32_t maxCnum = 1024 / sizeof(user_conf); // can't use blocksize here
|
||||
|
||||
#define USERCONF_INITIALIZER { \
|
||||
.userconf_sz = sizeof(user_conf) \
|
||||
,.canspeed = 250 \
|
||||
,.canID = 0xAA \
|
||||
,.rs232speed = 115200 \
|
||||
,.CANspeed = 250000 \
|
||||
,.CANID = 1 \
|
||||
,.usartspeed = 115200 \
|
||||
}
|
||||
|
||||
static int write2flash(const void*, const void*, uint32_t);
|
||||
const user_conf *Flash_Data = (const user_conf *)(&__varsstart);
|
||||
user_conf the_conf = USERCONF_INITIALIZER;
|
||||
|
||||
static int currentconfidx = -1; // index of current configuration
|
||||
int currentconfidx = -1; // index of current configuration
|
||||
|
||||
/**
|
||||
* @brief binarySearch - binary search in flash for last non-empty cell
|
||||
@ -181,11 +181,3 @@ int erase_storage(int npage){
|
||||
return ret;
|
||||
}
|
||||
|
||||
void dump_userconf(){
|
||||
usart_send("userconf_sz="); printu(the_conf.userconf_sz);
|
||||
usart_send("\ncurrentconfidx="); usart_send(u2str(currentconfidx));
|
||||
usart_send("\nCAN_speed="); printu(the_conf.canspeed);
|
||||
usart_send("\nCAN_ID="); printu(the_conf.canID);
|
||||
usart_send("\nRS_232_speed="); printu(the_conf.rs232speed);
|
||||
usart_send("\n");
|
||||
}
|
||||
|
||||
@ -26,16 +26,18 @@
|
||||
/*
|
||||
* struct to save user configurations
|
||||
*/
|
||||
typedef struct __attribute__((packed, aligned(4))){
|
||||
typedef struct __attribute__((aligned(4))){
|
||||
uint16_t userconf_sz; // "magick number"
|
||||
uint16_t canspeed; // CAN bus speed
|
||||
uint16_t canID; // CAN bus device ID
|
||||
uint32_t rs232speed; // speed of RS-232
|
||||
uint16_t CANID; // CAN bus device ID
|
||||
uint32_t usartspeed; // RS-232 speed
|
||||
uint32_t CANspeed; // CAN bus speed
|
||||
} user_conf;
|
||||
|
||||
extern user_conf the_conf;
|
||||
extern const uint32_t FLASH_blocksize;
|
||||
extern const user_conf *Flash_Data;
|
||||
extern int currentconfidx;
|
||||
|
||||
void flashstorage_init();
|
||||
int store_userconf();
|
||||
int erase_storage(int npage);
|
||||
void dump_userconf();
|
||||
|
||||
Binary file not shown.
@ -1,6 +1,6 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<!DOCTYPE QtCreatorProject>
|
||||
<!-- Written by QtCreator 13.0.1, 2024-05-30T20:03:33. -->
|
||||
<!-- Written by QtCreator 13.0.1, 2024-05-31T21:22:50. -->
|
||||
<qtcreator>
|
||||
<data>
|
||||
<variable>EnvironmentId</variable>
|
||||
|
||||
@ -3,6 +3,8 @@ adc.h
|
||||
buttons.c
|
||||
can.c
|
||||
can.h
|
||||
canproto.c
|
||||
canproto.h
|
||||
flash.c
|
||||
flash.h
|
||||
hardware.c
|
||||
|
||||
@ -38,19 +38,20 @@ int main(void){
|
||||
flashstorage_init();
|
||||
gpio_setup(); // should be run before other peripherial setup
|
||||
adc_setup();
|
||||
usart_setup(the_conf.rs232speed);
|
||||
CAN_setup(the_conf.canspeed);
|
||||
usart_setup(the_conf.usartspeed);
|
||||
CAN_setup(the_conf.CANspeed);
|
||||
RCC->CSR |= RCC_CSR_RMVF; // remove reset flags
|
||||
#ifndef EBUG
|
||||
iwdg_setup();
|
||||
#endif
|
||||
usart_send("START\n");
|
||||
while (1){
|
||||
IWDG->KR = IWDG_REFRESH; // refresh watchdog
|
||||
if(Tms - lastT > 499){ // throw out short messages twice per second
|
||||
usart_transmit();
|
||||
lastT = Tms;
|
||||
}
|
||||
can_proc();
|
||||
CAN_proc();
|
||||
CAN_status st = CAN_get_status();
|
||||
if(st == CAN_FIFO_OVERRUN){
|
||||
usart_send("CAN bus fifo overrun occured!\n");
|
||||
@ -58,8 +59,8 @@ int main(void){
|
||||
usart_send("Some CAN error occured\n");
|
||||
}
|
||||
while((can_mesg = CAN_messagebuf_pop())){
|
||||
DBG("got CAN message\n");
|
||||
IWDG->KR = IWDG_REFRESH;
|
||||
// TODO: check ID and process messages
|
||||
if(flags.can_monitor){
|
||||
lastT = Tms;
|
||||
if(!lastT) lastT = 1;
|
||||
@ -77,10 +78,7 @@ int main(void){
|
||||
char *str;
|
||||
int g = usart_getline(&str);
|
||||
if(g < 0) usart_send("USART IN buffer overflow!\n");
|
||||
else if(g > 0){
|
||||
const char *ans = cmd_parser(str);
|
||||
if(ans) usart_send(ans);
|
||||
}
|
||||
else if(g > 0) cmd_parser(str);
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
|
||||
@ -18,6 +18,8 @@
|
||||
|
||||
#include "adc.h"
|
||||
#include "can.h"
|
||||
#include "canproto.h"
|
||||
#include "flash.h"
|
||||
#include "hardware.h"
|
||||
#include "proto.h"
|
||||
#include "strfunc.h"
|
||||
@ -25,62 +27,68 @@
|
||||
#include "version.inc"
|
||||
|
||||
flags_t flags = {
|
||||
.can_monitor = 0
|
||||
0
|
||||
};
|
||||
|
||||
/*
|
||||
static void printans(int res){
|
||||
if(res) usart_send("OK");
|
||||
else usart_send("FAIL");
|
||||
}
|
||||
|
||||
// setters of uint/int
|
||||
static void usetter(int(*fn)(uint32_t), char* str){
|
||||
uint32_t d = 0;
|
||||
if(str == getnum(str, &d)) printans(FALSE);
|
||||
else printans(fn(d));
|
||||
}
|
||||
static void isetter(int(*fn)(int32_t), char* str){
|
||||
int32_t d = 0;
|
||||
if(str == getint(str, &d)) printans(FALSE);
|
||||
else printans(fn(d));
|
||||
}
|
||||
*/
|
||||
|
||||
// parno - number of parameter (or -1); cargs - string with arguments (after '=') (==NULL for getter), iarg - integer argument
|
||||
static int goodstub(const char *cmd, int parno, const char *carg, int32_t iarg){
|
||||
usart_send("cmd="); usart_send(cmd);
|
||||
usart_send(", parno="); usart_send(i2str(parno));
|
||||
usart_send(", args="); usart_send(carg);
|
||||
usart_send(", intarg="); usart_send(i2str(iarg)); newline();
|
||||
return RET_GOOD;
|
||||
}
|
||||
// text-only commans indexes (0 is prohibited)
|
||||
typedef enum{
|
||||
TCMD_PROHIBITED, // prohibited
|
||||
TCMD_WDTEST, // test watchdog
|
||||
TCMD_DUMPCONF, // dump configuration
|
||||
TCMD_CANSEND, // send CAN message
|
||||
TCMD_CANSNIFFER, // sniff all CAN messages
|
||||
TCMD_CANBUSERRPRNT, // pring all errors of bus
|
||||
TCMD_AMOUNT
|
||||
} text_cmd;
|
||||
|
||||
typedef struct{
|
||||
int (*fn)(const char*, int, const char*, int32_t);
|
||||
const char *cmd;
|
||||
const char *help;
|
||||
} commands;
|
||||
const char *cmd; // command, if NULL - only display help message
|
||||
int idx; // index in CAN cmd or text cmd list (if negative)
|
||||
const char *help; // help message
|
||||
} funcdescr;
|
||||
|
||||
static commands cmdlist[] = {
|
||||
{goodstub, "stub", "simple stub"},
|
||||
{NULL, "Different commands", NULL},
|
||||
// {adcval, "ADC", "get ADCx value (without x - for all)"},
|
||||
// {adcvoltage, "ADCv", "get ADCx voltage (without x - for all)"},
|
||||
// {mcut, "mcut", "get MCU temperature"},
|
||||
{NULL, NULL, NULL}
|
||||
// list of all text functions; should be sorted and can be grouped (`help` is header when cmd == NULL)
|
||||
static const funcdescr funclist[] = {
|
||||
// {"adcmul", CMD_ADCMUL, "get/set ADC multipliers 0..3 (*1000)"},
|
||||
// {"adcraw", CMD_ADCRAW, "get raw ADC values of channel 0..4"},
|
||||
// {"adcv", CMD_ADCV, "get ADC voltage of channel 0..3 (*100V)"},
|
||||
// {"bounce", CMD_BOUNCE, "get/set bounce constant (ms)"},
|
||||
{"canbuserr", -TCMD_CANBUSERRPRNT, "print all CAN bus errors (a lot of if not connected)"},
|
||||
{"canid", CMD_CANID, "get/set CAN ID"},
|
||||
{"cansniff", -TCMD_CANSNIFFER, "switch CAN sniffer mode"},
|
||||
{"canspeed", CMD_CANSPEED, "get/set CAN speed (bps)"},
|
||||
{"dumpconf", -TCMD_DUMPCONF, "dump current configuration"},
|
||||
{"esw", CMD_GETESW, "anti-bounce read ESW of channel 0 or 1"},
|
||||
{"eraseflash", CMD_ERASESTOR, "erase all flash storage"},
|
||||
{"mcutemp", CMD_MCUTEMP, "get MCU temperature (*10degrC)"},
|
||||
{"relay", CMD_RELAY, "get/set relay state (0 - off, 1 - on)"},
|
||||
{"reset", CMD_RESET, "reset MCU"},
|
||||
{"s", -TCMD_CANSEND, "send CAN message: ID 0..8 data bytes"},
|
||||
{"saveconf", CMD_SAVECONF, "save configuration"},
|
||||
{"time", CMD_TIME, "get/set time (1ms, 32bit)"},
|
||||
{"usartspeed", CMD_USARTSPEED, "get/set USART1 speed"},
|
||||
{"wdtest", -TCMD_WDTEST, "test watchdog"},
|
||||
{NULL, 0, NULL} // last record
|
||||
};
|
||||
|
||||
static void printhelp(){
|
||||
commands *c = cmdlist;
|
||||
const funcdescr *c = funclist;
|
||||
usart_send("https://github.com/eddyem/stm32samples/tree/master/F1:F103/FX3U#" BUILD_NUMBER " @ " BUILD_DATE "\n");
|
||||
while(c->cmd){
|
||||
if(!c->fn){ // header
|
||||
usart_send("commands format: parameter[number][=setter]\n");
|
||||
usart_send("parameter [CAN idx] - help\n");
|
||||
usart_send("--------------------------\n");
|
||||
while(c->help){
|
||||
if(!c->cmd){ // header
|
||||
usart_send("\n ");
|
||||
usart_send(c->cmd);
|
||||
usart_send(c->help);
|
||||
usart_putchar(':');
|
||||
}else{
|
||||
usart_send(c->cmd);
|
||||
if(c->idx > -1){
|
||||
usart_send(" [");
|
||||
usart_send(u2str(c->idx));
|
||||
usart_putchar(']');
|
||||
}
|
||||
usart_send(" - ");
|
||||
usart_send(c->help);
|
||||
}
|
||||
@ -89,52 +97,224 @@ static void printhelp(){
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief parsecmd - parse text commands over RS-232
|
||||
* @param str - input string
|
||||
* @return answer code
|
||||
*/
|
||||
static int parsecmd(const char *str){
|
||||
char cmd[CMD_MAXLEN + 1];
|
||||
//USB_sendstr("cmd="); USB_sendstr(str); USB_sendstr("__\n");
|
||||
if(!str || !*str) return RET_CMDNOTFOUND;
|
||||
int i = 0;
|
||||
while(*str > '@' && i < CMD_MAXLEN){ cmd[i++] = *str++; }
|
||||
cmd[i] = 0;
|
||||
int parno = -1;
|
||||
int32_t iarg = __INT32_MAX__;
|
||||
if(*str){
|
||||
uint32_t N;
|
||||
const char *nxt = getnum(str, &N);
|
||||
if(nxt != str) parno = (int) N;
|
||||
str = strchr(str, '=');
|
||||
/*********** START of all common functions list (for `textfunctions`) ***********/
|
||||
|
||||
static errcodes cansnif(const char *str){
|
||||
uint32_t U;
|
||||
if(str){
|
||||
str = omit_spaces(++str);
|
||||
getint(str, &iarg);
|
||||
if(*str == '=') str = omit_spaces(str + 1);
|
||||
const char *nxt = getnum(str, &U);
|
||||
if(nxt != str){ // setter
|
||||
CAN_sniffer((uint8_t)U);
|
||||
}
|
||||
}else str = NULL;
|
||||
commands *c = cmdlist;
|
||||
while(c->cmd){
|
||||
if(strcmp(c->cmd, cmd) == 0){
|
||||
if(!c->fn) return RET_CMDNOTFOUND;
|
||||
return c->fn(cmd, parno, str, iarg);
|
||||
}
|
||||
++c;
|
||||
usart_send("cansniff="); usart_putchar('0' + flags.can_monitor); newline();
|
||||
return ERR_OK;
|
||||
}
|
||||
return RET_CMDNOTFOUND;
|
||||
|
||||
static errcodes canbuserr(const char *str){
|
||||
uint32_t U;
|
||||
if(str){
|
||||
if(*str == '=') str = omit_spaces(str + 1);
|
||||
const char *nxt = getnum(str, &U);
|
||||
if(nxt != str){ // setter
|
||||
flags.can_printoff = U;
|
||||
}
|
||||
}
|
||||
usart_send("canbuserr="); usart_putchar('0' + flags.can_printoff); newline();
|
||||
return ERR_OK;
|
||||
}
|
||||
|
||||
static errcodes wdtest(const char _U_ *str){
|
||||
usart_send("Wait for reboot\n");
|
||||
usart_transmit();
|
||||
while(1){nop();}
|
||||
return ERR_OK;
|
||||
}
|
||||
/*
|
||||
// names of bit flags (ordered from LSE of[0])
|
||||
static const char * const bitfields[] = {
|
||||
"encisSSI",
|
||||
"emulatePEP",
|
||||
NULL
|
||||
};*/
|
||||
|
||||
static errcodes dumpconf(const char _U_ *str){
|
||||
#ifdef EBUG
|
||||
uint32_t sz = FLASH_SIZE*1024;
|
||||
usart_send("flashsize="); printu(sz); usart_putchar('/');
|
||||
printu(FLASH_blocksize); usart_putchar('='); printu(sz/FLASH_blocksize);
|
||||
usart_send(" blocks\n");
|
||||
#endif
|
||||
usart_send("userconf_addr="); printuhex((uint32_t)Flash_Data);
|
||||
usart_send("\nuserconf_idx="); printi(currentconfidx);
|
||||
usart_send("\nuserconf_sz="); printu(the_conf.userconf_sz);
|
||||
usart_send("\ncanspeed="); printu(the_conf.CANspeed);
|
||||
usart_send("\ncanid="); printu(the_conf.CANID);
|
||||
/*for(int i = 0; i < ADC_TSENS; ++i){
|
||||
usart_send("\nadcmul"); usart_putchar('0'+i); usart_putchar('=');
|
||||
usart_send(float2str(the_conf.adcmul[i], 3));
|
||||
}*/
|
||||
usart_send("\nusartspeed="); printu(the_conf.usartspeed);
|
||||
/*
|
||||
const char * const *p = bitfields;
|
||||
int bit = 0;
|
||||
while(*p){
|
||||
newline();
|
||||
usart_send(*p); usart_putchar('='); usart_putchar((the_conf.flags & (1<<bit)) ? '1' : '0');
|
||||
if(++bit > 31) break;
|
||||
++p;
|
||||
}*/
|
||||
newline();
|
||||
return ERR_OK;
|
||||
}
|
||||
|
||||
static errcodes cansend(const char *txt){
|
||||
CAN_message canmsg;
|
||||
bzero(&canmsg, sizeof(canmsg));
|
||||
int ctr = -1;
|
||||
canmsg.ID = 0xffff;
|
||||
do{
|
||||
txt = omit_spaces(txt);
|
||||
uint32_t N;
|
||||
const char *n = getnum(txt, &N);
|
||||
if(txt == n) break;
|
||||
txt = n;
|
||||
if(ctr == -1){
|
||||
if(N > 0x7ff){
|
||||
return ERR_BADPAR;
|
||||
}
|
||||
canmsg.ID = (uint16_t)(N&0x7ff);
|
||||
ctr = 0;
|
||||
continue;
|
||||
}
|
||||
if(ctr > 7){
|
||||
return ERR_WRONGLEN;
|
||||
}
|
||||
if(N > 0xff){
|
||||
return ERR_BADVAL;
|
||||
}
|
||||
canmsg.data[ctr++] = (uint8_t) N;
|
||||
}while(1);
|
||||
if(canmsg.ID == 0xffff){
|
||||
return ERR_BADPAR;
|
||||
}
|
||||
canmsg.length = (uint8_t) ctr;
|
||||
uint32_t Tstart = Tms;
|
||||
while(Tms - Tstart < SEND_TIMEOUT_MS){
|
||||
if(CAN_OK == CAN_send(&canmsg)){
|
||||
return ERR_OK;
|
||||
}
|
||||
}
|
||||
return ERR_CANTRUN;
|
||||
}
|
||||
|
||||
/************ END of all common functions list (for `textfunctions`) ************/
|
||||
|
||||
// in `textfn` arg `str` is the rest of input string (spaces-omitted) after command
|
||||
typedef errcodes (*textfn)(const char *str);
|
||||
static textfn textfunctions[TCMD_AMOUNT] = {
|
||||
[TCMD_PROHIBITED] = NULL,
|
||||
[TCMD_WDTEST] = wdtest,
|
||||
[TCMD_DUMPCONF] = dumpconf,
|
||||
[TCMD_CANSEND] = cansend,
|
||||
[TCMD_CANSNIFFER] = cansnif,
|
||||
[TCMD_CANBUSERRPRNT] = canbuserr,
|
||||
};
|
||||
|
||||
static const char* const errors_txt[ERR_AMOUNT] = {
|
||||
[ERR_OK] = "OK"
|
||||
,[ERR_BADPAR] = "badpar"
|
||||
,[ERR_BADVAL] = "badval"
|
||||
,[ERR_WRONGLEN] = "wronglen"
|
||||
,[ERR_BADCMD] = "badcmd"
|
||||
,[ERR_CANTRUN] = "cantrun"
|
||||
};
|
||||
|
||||
static void errtext(errcodes e){
|
||||
usart_send("error=");
|
||||
usart_send(errors_txt[e]);
|
||||
newline();
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief cmd_parser - command parsing
|
||||
* @param txt - buffer with commands & data
|
||||
*/
|
||||
const char *cmd_parser(const char *txt){
|
||||
int ret = parsecmd(txt);
|
||||
switch(ret){
|
||||
case RET_WRONGPARNO: return "Wrong parameter number\n"; break;
|
||||
case RET_CMDNOTFOUND: printhelp(); return NULL; break;
|
||||
case RET_WRONGARG: return "Wrong command parameters\n"; break;
|
||||
case RET_GOOD: return NULL; break;
|
||||
default: return "FAIL\n"; break;
|
||||
void cmd_parser(const char *str){
|
||||
if(!str || !*str) goto ret;
|
||||
char cmd[MAXCMDLEN + 1];
|
||||
errcodes ecode = ERR_BADCMD;
|
||||
int idx = CMD_AMOUNT;
|
||||
const funcdescr *c = funclist;
|
||||
int l = 0;
|
||||
str = omit_spaces(str);
|
||||
const char *ptr = str;
|
||||
while(*ptr > '@' && l < MAXCMDLEN){ cmd[l++] = *ptr++;}
|
||||
if(l == 0) goto ret;
|
||||
cmd[l] = 0;
|
||||
while(c->help){
|
||||
if(!c->cmd) continue;
|
||||
if(0 == strcmp(c->cmd, cmd)){
|
||||
idx = c->idx;
|
||||
break;
|
||||
}
|
||||
++c;
|
||||
}
|
||||
if(idx == CMD_AMOUNT){ // didn't found
|
||||
// send help over USB
|
||||
printhelp();
|
||||
goto ret;
|
||||
}
|
||||
str = omit_spaces(ptr);
|
||||
if(idx < 0){ // text-only function
|
||||
ecode = textfunctions[-idx](str);
|
||||
goto ret;
|
||||
}
|
||||
// common CAN/text function: we need to form 8-byte data buffer
|
||||
CAN_message msg;
|
||||
bzero(&msg, sizeof(msg));
|
||||
uint8_t *data = msg.data;
|
||||
uint8_t datalen = 2; // only command for start
|
||||
*((uint16_t*)data) = (uint16_t)idx;
|
||||
data[2] = NO_PARNO; // no parameter number by default
|
||||
if(*str >= '0' && *str <= '9'){ // have parameter with number
|
||||
uint32_t N;
|
||||
ptr = getnum(str, &N);
|
||||
if(ptr != str){
|
||||
str = ptr;
|
||||
if(N <= 0x7F) data[2] = (uint8_t)N;
|
||||
else{ ecode = ERR_BADPAR; goto ret; }
|
||||
}
|
||||
datalen = 3;
|
||||
}
|
||||
str = omit_spaces(str);
|
||||
if(*str == '='){ // setter
|
||||
++str;
|
||||
ptr = getint(str, ((int32_t*)&data[4]));
|
||||
if(str == ptr){
|
||||
ecode = ERR_BADVAL;
|
||||
goto ret;
|
||||
}
|
||||
data[2] |= SETTER_FLAG;
|
||||
datalen = 8;
|
||||
}
|
||||
msg.length = datalen;
|
||||
run_can_cmd(&msg);
|
||||
// now check error code
|
||||
ecode = data[3];
|
||||
ret:
|
||||
if(ecode != ERR_OK) errtext(ecode);
|
||||
else if(idx > -1){ // parce all back for common functions
|
||||
if(msg.length != 8){
|
||||
usart_send("OK\n"); // non setters/getters will just print "OK" if all OK
|
||||
}else{
|
||||
usart_send(cmd);
|
||||
data[2] &= ~SETTER_FLAG;
|
||||
if(data[2] != NO_PARNO) usart_send(u2str(data[2]));
|
||||
usart_putchar('=');
|
||||
usart_send(i2str(*(int32_t*)&data[4]));
|
||||
newline();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@ -21,31 +21,15 @@
|
||||
#include <stm32f1.h>
|
||||
#include "hardware.h"
|
||||
|
||||
#ifndef _U_
|
||||
#define _U_ __attribute__((__unused__))
|
||||
#endif
|
||||
|
||||
#define CMD_MAXLEN (32)
|
||||
|
||||
enum{
|
||||
RET_WRONGPARNO = -3, // wrong parameter number
|
||||
RET_CMDNOTFOUND = -2, // command not found
|
||||
RET_WRONGARG = -1, // wrong argument
|
||||
RET_GOOD = 0, // all OK
|
||||
RET_BAD = 1 // something wrong
|
||||
};
|
||||
#define MAXCMDLEN (12)
|
||||
|
||||
// flags for some RS-232 comands
|
||||
typedef struct{
|
||||
uint32_t can_monitor : 1;
|
||||
uint32_t can_monitor : 1; // monitor any CAN bus connections
|
||||
uint32_t can_printoff : 1; // print errors to RS-232 if CAN bus is off or other bus errors
|
||||
} flags_t;
|
||||
|
||||
extern flags_t flags;
|
||||
|
||||
#ifdef EBUG
|
||||
#define DBG(str) do{usart_send(__FILE__ " (L" STR(__LINE__) "): " str); \
|
||||
usart_putchar('\n'); usart_transmit(); }while(0)
|
||||
#else
|
||||
#define DBG(str)
|
||||
#endif
|
||||
|
||||
const char *cmd_parser(const char *txt);
|
||||
void cmd_parser(const char *txt);
|
||||
|
||||
@ -23,6 +23,17 @@
|
||||
|
||||
#include "usart.h"
|
||||
|
||||
#ifndef _U_
|
||||
#define _U_ __attribute__((__unused__))
|
||||
#endif
|
||||
|
||||
#ifdef EBUG
|
||||
#define DBG(str) do{usart_send(__FILE__ " (L" STR(__LINE__) "): " str); \
|
||||
usart_putchar('\n'); usart_transmit(); }while(0)
|
||||
#else
|
||||
#define DBG(str)
|
||||
#endif
|
||||
|
||||
void hexdump(int (*sendfun)(const char *s), uint8_t *arr, uint16_t len);
|
||||
char *u2str(uint32_t val);
|
||||
char *i2str(int32_t i);
|
||||
|
||||
@ -1,2 +1,2 @@
|
||||
#define BUILD_NUMBER "20"
|
||||
#define BUILD_DATE "2024-05-30"
|
||||
#define BUILD_NUMBER "36"
|
||||
#define BUILD_DATE "2024-06-01"
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user