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stm32samples/F3:F303/Multistepper/can.c

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/*
* This file is part of the multistepper project.
* Copyright 2023 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 "can.h"
#include "commonproto.h"
#include "flash.h"
#include "hardware.h"
#include "strfunc.h"
#include "usb_dev.h"
#include "proto.h"
// PD1 - Tx, PD0 - Rx !!!
#include <string.h> // memcpy
// 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
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;
static void can_process_fifo(uint8_t fifo_num);
static CAN_message loc_flood_msg;
static CAN_message *flood_msg = NULL; // == loc_flood_msg - to flood
CAN_status CAN_get_status(){
int st = can_status;
can_status = CAN_OK;
return st;
}
// 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
USB_sendstr("push: ");
for(int i = 0; i < msg->length; ++i){
printuhex(msg->data[i]); USB_putbyte(' ');
}
newline();
#endif
if(first_free_idx == first_nonfree_idx){
#ifdef EBUG
USB_sendstr("INBUF OVERFULL\n");
#endif
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;
return 0;
}
// pop message from buffer
CAN_message *CAN_messagebuf_pop(){
if(first_nonfree_idx < 0) return NULL;
#ifdef EBUG
//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;
}
#ifdef EBUG
USB_sendstr("pop: ");
for(int i = 0; i < msg->length; ++i){
printuhex(msg->data[i]); USB_putbyte(' ');
}
newline();
#endif
return msg;
}
void 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);
}
/*
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
// GPIO configured in hw_setup
void CAN_setup(uint16_t speed){
if(speed == 0) speed = oldspeed;
else if(speed < 50) speed = 50;
else if(speed > 1500) speed = 1500;
oldspeed = speed;
uint32_t tmout = 10000;
/* Enable the peripheral clock CAN */
RCC->APB1ENR |= RCC_APB1ENR_CANEN;
/* Configure CAN */
/* (1) Enter CAN init mode to write the configuration */
/* (2) Wait the init mode entering */
/* (3) Exit sleep mode */
/* (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, bank 0 for FIFO 0) */
/* (8) Acivate filter 0 for two IDs */
/* (9) Identifier list mode */
/* (10) Set the Id list */
/* (12) Leave filter init */
/* (13) Set error interrupts enable (& bus off) */
CAN->MCR |= CAN_MCR_INRQ; /* (1) */
while((CAN->MSR & CAN_MSR_INAK) != CAN_MSR_INAK) /* (2) */
if(--tmout == 0) break;
if(tmout==0){ DBG("timeout!\n");}
CAN->MCR &=~ CAN_MCR_SLEEP; /* (3) */
CAN->MCR |= CAN_MCR_ABOM; /* allow automatically bus-off */
CAN->BTR = 2 << 20 | 3 << 16 | (4500/speed - 1); //| CAN_BTR_SILM | CAN_BTR_LBKM; /* (4) */
CAN->MCR &= ~CAN_MCR_INRQ; /* (5) */
tmout = 10000;
while(CAN->MSR & CAN_MSR_INAK) /* (6) */
if(--tmout == 0) break;
if(tmout==0){ DBG("timeout!\n");}
// accept ALL
CAN->FMR = CAN_FMR_FINIT; /* (7) */
CAN->FA1R = CAN_FA1R_FACT0 | CAN_FA1R_FACT1; /* (8) */
// set to 1 all needed bits of CAN->FFA1R to switch given filters to FIFO1
CAN->sFilterRegister[0].FR1 = (1<<21)|(1<<5); // all odd IDs
CAN->FFA1R = 2; // filter 1 for FIFO1, filter 0 - for FIFO0
CAN->sFilterRegister[1].FR1 = (1<<21); // all even IDs
CAN->FMR &= ~CAN_FMR_FINIT; /* (12) */
CAN->IER |= CAN_IER_ERRIE | CAN_IER_FOVIE0 | CAN_IER_FOVIE1 | CAN_IER_BOFIE; /* (13) */
/* Configure IT */
NVIC_SetPriority(USB_LP_CAN_RX0_IRQn, 0); // RX FIFO0 IRQ
NVIC_SetPriority(CAN_RX1_IRQn, 0); // RX FIFO1 IRQ
NVIC_SetPriority(CAN_SCE_IRQn, 0); // RX status changed IRQ
NVIC_EnableIRQ(USB_LP_CAN_RX0_IRQn);
NVIC_EnableIRQ(CAN_RX1_IRQn);
NVIC_EnableIRQ(CAN_SCE_IRQn);
CAN->MSR = 0; // clear SLAKI, WKUI, ERRI
can_status = CAN_READY;
}
void CAN_printerr(){
if(!last_err_code) last_err_code = CAN->ESR;
if(!last_err_code){
USB_sendstr("No errors\n");
return;
}
USB_sendstr("Receive error counter: ");
USB_sendstr(u2str((last_err_code & CAN_ESR_REC)>>24));
USB_sendstr("\nTransmit error counter: ");
USB_sendstr(u2str((last_err_code & CAN_ESR_TEC)>>16));
USB_sendstr("\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;
}
USB_sendstr(errmsg); USB_sendstr(" error\n");
if(last_err_code & CAN_ESR_BOFF) USB_sendstr("Bus off ");
if(last_err_code & CAN_ESR_EPVF) USB_sendstr("Passive error limit ");
if(last_err_code & CAN_ESR_EWGF) USB_sendstr("Error counter limit");
last_err_code = 0;
USB_putbyte('\n');
}
void CAN_proc(){
#ifdef EBUG
if(last_err_code){
USB_sendstr("Error, ESR=");
USB_sendstr(u2str(last_err_code));
USB_putbyte('\n');
last_err_code = 0;
}
#endif
// check for messages in FIFO0 & FIFO1
if(CAN->RF0R & CAN_RF0R_FMP0){
can_process_fifo(0);
}
if(CAN->RF1R & CAN_RF1R_FMP1){
can_process_fifo(1);
}
IWDG->KR = IWDG_REFRESH;
if(CAN->ESR & (CAN_ESR_BOFF | CAN_ESR_EPVF | CAN_ESR_EWGF)){ // much errors - restart CAN BUS
USB_sendstr("\nToo much errors, restarting CAN!\n");
CAN_printerr();
// request abort for all mailboxes
CAN->TSR |= CAN_TSR_ABRQ0 | CAN_TSR_ABRQ1 | CAN_TSR_ABRQ2;
// reset CAN bus
RCC->APB1RSTR |= RCC_APB1RSTR_CANRST;
RCC->APB1RSTR &= ~RCC_APB1RSTR_CANRST;
CAN_setup(0);
}
static uint32_t lastFloodTime = 0;
if(flood_msg && (Tms - lastFloodTime) >= floodT){ // flood every ~5ms
lastFloodTime = Tms;
CAN_send(flood_msg->data, flood_msg->length, flood_msg->ID);
}else if(incrflood && (Tms - lastFloodTime) >= floodT){
lastFloodTime = Tms;
if(CAN_OK == CAN_send((uint8_t*)&incrmessagectr, 4, flood_msg->ID)) ++incrmessagectr;
}
}
CAN_status CAN_send(uint8_t *msg, uint8_t len, uint16_t target_id){
uint8_t mailbox = 0;
// check first free mailbox
if(CAN->TSR & (CAN_TSR_TME)){
mailbox = (CAN->TSR & CAN_TSR_CODE) >> 24;
}else{ // no free mailboxes
#ifdef EBUG
USB_sendstr("No free mailboxes\n");
#endif
return CAN_BUSY;
}
#ifdef EBUG
USB_sendstr("Send data. Len="); USB_sendstr(u2str(len));
USB_sendstr(", tagid="); USB_sendstr(u2str(target_id));
USB_sendstr(", data=");
for(int i = 0; i < len; ++i){
USB_sendstr(" "); USB_sendstr(uhex2str(msg[i]));
}
USB_putbyte('\n');
#endif
CAN_TxMailBox_TypeDef *box = &CAN->sTxMailBox[mailbox];
uint32_t lb = 0, hb = 0;
switch(len){
case 8:
hb |= (uint32_t)msg[7] << 24;
__attribute__((fallthrough));
case 7:
hb |= (uint32_t)msg[6] << 16;
__attribute__((fallthrough));
case 6:
hb |= (uint32_t)msg[5] << 8;
__attribute__((fallthrough));
case 5:
hb |= (uint32_t)msg[4];
__attribute__((fallthrough));
case 4:
lb |= (uint32_t)msg[3] << 24;
__attribute__((fallthrough));
case 3:
lb |= (uint32_t)msg[2] << 16;
__attribute__((fallthrough));
case 2:
lb |= (uint32_t)msg[1] << 8;
__attribute__((fallthrough));
default:
lb |= (uint32_t)msg[0];
}
box->TDLR = lb;
box->TDHR = hb;
box->TDTR = len;
box->TIR = (target_id & 0x7FF) << 21 | CAN_TI0R_TXRQ;
return CAN_OK;
}
// return: 1 - flood is ON, 0 - flood is OFF
int CAN_flood(CAN_message *msg, int incr){
if(incr){
incrmessagectr = 0;
incrflood = 1;
return 1;
}else incrflood = 0;
if(!msg){
flood_msg = NULL;
return 0;
}else{
memcpy(&loc_flood_msg, msg, sizeof(CAN_message));
flood_msg = &loc_flood_msg;
}
return 1;
}
uint32_t CAN_speed(){
return oldspeed;
}
TRUE_INLINE void formerr(CAN_message *msg, errcodes err){
msg->data[3] = (uint8_t)err;
}
/**
* @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
* all answers have 8 bytes length; incoming data may have variable length
*/
TRUE_INLINE void parseCANcommand(CAN_message *msg){
// we don't check msg here as it cannot be NULL
#ifdef EBUG
DBG("Get data: ");
for(int i = 0; i < msg->length; ++i){
USB_sendstr(uhex2str(msg->data[i])); USB_putbyte(' ');
}
for(int i = msg->length-1; i < 8; ++i) msg->data[i] = 0;
newline();
#endif
if(msg->length == 0) goto sendmessage; // PING
uint16_t Index = *(uint16_t*)msg->data;
#ifdef EBUG
USB_sendstr("Index = "); USB_sendstr(u2str(Index)); newline();
#endif
if(Index >= CCMD_AMOUNT || !cancmdlist[Index]){
formerr(msg, ERR_BADCMD);
goto sendmessage;
}
msg->data[3] = ERR_OK;
uint8_t par = msg->data[2];
if(par & 0x80){
formerr(msg, ERR_BADPAR);
goto sendmessage;
}
int32_t *val = (int32_t *)(&msg->data[4]);
if(msg->length == 8) par |= 0x80;
else if(msg->length == 2) par = CANMESG_NOPAR; // no parameter
else if(msg->length != 3){ // wrong length
formerr(msg, ERR_WRONGLEN);
goto sendmessage;
}
#ifdef EBUG
USB_sendstr("Run command\n");
#endif
errcodes ec = cancmdlist[Index](par, val);
if(ec != ERR_OK){
formerr(msg, ec);
}
sendmessage:
msg->length = 8;
int N = 1000;
while(CAN_BUSY == CAN_send(msg->data, msg->length, the_conf.CANID))
if(--N == 0) break;
}
static void can_process_fifo(uint8_t fifo_num){
if(fifo_num > 1) return;
CAN_FIFOMailBox_TypeDef *box = &CAN->sFIFOMailBox[fifo_num];
volatile uint32_t *RFxR = (fifo_num) ? &CAN->RF1R : &CAN->RF0R;
#ifdef EBUG
USB_sendstr(u2str(*RFxR & CAN_RF0R_FMP0)); USB_sendstr(" messages in FIFO #");
USB_sendstr(u2str(fifo_num)); newline();
#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
/* TODO: check filter match index if more than one ID can receive */
CAN_message msg;
uint8_t *dat = msg.data;
uint8_t len = box->RDTR & 0x0f;
msg.length = len;
msg.ID = box->RIR >> 21;
//msg.filterNo = (box->RDTR >> 8) & 0xff;
//msg.fifoNum = fifo_num;
if(len){ // message can be without data
uint32_t hb = box->RDHR, lb = box->RDLR;
switch(len){
case 8:
dat[7] = hb>>24;
__attribute__((fallthrough));
case 7:
dat[6] = (hb>>16) & 0xff;
__attribute__((fallthrough));
case 6:
dat[5] = (hb>>8) & 0xff;
__attribute__((fallthrough));
case 5:
dat[4] = hb & 0xff;
__attribute__((fallthrough));
case 4:
dat[3] = lb>>24;
__attribute__((fallthrough));
case 3:
dat[2] = (lb>>16) & 0xff;
__attribute__((fallthrough));
case 2:
dat[1] = (lb>>8) & 0xff;
__attribute__((fallthrough));
case 1:
dat[0] = lb & 0xff;
}
}
if(msg.ID == the_conf.CANID) parseCANcommand(&msg);
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;
*RFxR = 0; // clear FOVR & FULL
}
;
void usb_lp_can1_rx0_isr(){ // Rx FIFO0 (overrun)
if(CAN->RF0R & CAN_RF0R_FOVR0){ // FIFO overrun
CAN->RF0R = CAN_RF0R_FOVR0;
can_status = CAN_FIFO_OVERRUN;
}
}
void can1_rx1_isr(){ // Rx FIFO1 (overrun)
if(CAN->RF1R & CAN_RF1R_FOVR1){
CAN->RF1R = CAN_RF1R_FOVR1;
can_status = CAN_FIFO_OVERRUN;
}
}
void can1_sce_isr(){ // status changed
if(CAN->MSR & CAN_MSR_ERRI){ // Error
#ifdef EBUG
last_err_code = CAN->ESR;
#endif
CAN->MSR = CAN_MSR_ERRI; // clear flag
// request abort for problem mailbox
if(CAN->TSR & CAN_TSR_TERR0) CAN->TSR |= CAN_TSR_ABRQ0;
if(CAN->TSR & CAN_TSR_TERR1) CAN->TSR |= CAN_TSR_ABRQ1;
if(CAN->TSR & CAN_TSR_TERR2) CAN->TSR |= CAN_TSR_ABRQ2;
can_status = CAN_ERR;
}
}
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