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change USB-CAN according to new USB doctrine: iInterface for each device

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This commit is contained in:
Edward Emelianov
2023-04-11 22:57:23 +03:00
parent dba4cdf515
commit fe8e444338
17 changed files with 594 additions and 217 deletions
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13
F0:F030,F042,F072/usbcan_ringbuffer/can.c
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@@ -25,7 +25,6 @@
static CAN_message messages[CAN_INMESSAGE_SIZE];
static uint8_t first_free_idx = 0; // index of first empty cell
static int8_t first_nonfree_idx = -1; // index of first data cell
static uint16_t oldspeed = 100; // speed of last init
uint32_t floodT = FLOOD_PERIOD_MS; // flood period in ms
static uint8_t incrflood = 0; // ==1 for incremental flooding
@@ -84,11 +83,11 @@ CAN_message *CAN_messagebuf_pop(){
return msg;
}
void CAN_reinit(uint16_t speed){
int CAN_reinit(uint16_t speed){
CAN->TSR |= CAN_TSR_ABRQ0 | CAN_TSR_ABRQ1 | CAN_TSR_ABRQ2;
RCC->APB1RSTR |= RCC_APB1RSTR_CANRST;
RCC->APB1RSTR &= ~RCC_APB1RSTR_CANRST;
CAN_setup(speed);
return CAN_setup(speed);
}
/*
@@ -112,8 +111,9 @@ 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 kbps. @return - current speed
int CAN_setup(uint16_t speed){
static uint16_t oldspeed = 100; // speed of last init
LED_off(LED1);
if(speed == 0) speed = oldspeed;
else if(speed < 50) speed = 50;
@@ -168,6 +168,7 @@ void CAN_setup(uint16_t speed){
NVIC_SetPriority(CEC_CAN_IRQn, 0); /* (14) */
NVIC_EnableIRQ(CEC_CAN_IRQn); /* (15) */
can_status = CAN_READY;
return speed;
}
void printCANerr(){
@@ -234,7 +235,7 @@ void can_proc(){
can_send(flood_msg->data, flood_msg->length, flood_msg->ID);
}else if(incrflood && (Tms - lastFloodTime) >= floodT){ // incremental flood message
lastFloodTime = Tms;
if(CAN_OK == can_send((uint8_t*)&incrmessagectr, 4, flood_msg->ID)) ++incrmessagectr;
if(CAN_OK == can_send((uint8_t*)&incrmessagectr, 4, loc_flood_msg.ID)) ++incrmessagectr;
}
}