mirror of
https://github.com/eddyem/stm32samples.git
synced 2025-12-06 18:55:13 +03:00
408 lines
12 KiB
C
408 lines
12 KiB
C
/*
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* This file is part of the multistepper project.
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* Copyright 2023 Edward V. Emelianov <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 3 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, see <http://www.gnu.org/licenses/>.
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*/
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#include <stm32f3.h>
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#include <string.h>
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#include "can.h"
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#include "hardware.h"
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#include "hdr.h"
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#include "proto.h"
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#include "version.inc"
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// software ignore buffer size
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#define IGN_SIZE 10
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extern volatile uint32_t Tms;
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uint8_t ShowMsgs = 1;
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// software ignore buffers
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static uint16_t Ignore_IDs[IGN_SIZE];
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static uint8_t IgnSz = 0;
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// parse `txt` to CAN_message
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static CAN_message *parseCANmsg(const char *txt){
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static CAN_message canmsg;
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uint32_t N;
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int ctr = -1;
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canmsg.ID = 0xffff;
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do{
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const char *n = getnum(txt, &N);
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if(txt == n) break;
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txt = n;
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if(ctr == -1){
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if(N > 0x7ff){
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USB_sendstr("ID should be 11-bit number!\n");
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return NULL;
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}
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canmsg.ID = (uint16_t)(N&0x7ff);
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ctr = 0;
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continue;
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}
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if(ctr > 7){
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USB_sendstr("ONLY 8 data bytes allowed!\n");
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return NULL;
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}
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if(N > 0xff){
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USB_sendstr("Every data portion is a byte!\n");
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return NULL;
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}
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canmsg.data[ctr++] = (uint8_t)(N&0xff);
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}while(1);
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if(canmsg.ID == 0xffff){
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USB_sendstr("NO ID given, send nothing!\n");
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return NULL;
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}
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USB_sendstr("Message parsed OK\n");
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canmsg.length = (uint8_t) ctr;
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return &canmsg;
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}
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// print ID/mask of CAN->sFilterRegister[x] half
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static void printID(uint16_t FRn){
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if(FRn & 0x1f) return; // trash
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printuhex(FRn >> 5);
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}
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const char *helpstring =
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"https://github.com/eddyem/stm32samples/tree/master/F3:F303/Multistepper build#" BUILD_NUMBER " @ " BUILD_DATE "\n"
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"Format: cmd [N] - getter, cmd [N] = val - setter; N - optional index\n"
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"* - command not supported yet, G - getter, S - setter\n\n"
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#include "hashgen/helpcmds.in"
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;
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int fn_canignore(_U_ uint32_t hash, char *args){
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if(!*args){
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if(IgnSz == 0){
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USND("Ignore buffer is empty");
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return RET_GOOD;
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}
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USND("Ignored IDs:");
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for(int i = 0; i < IgnSz; ++i){
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printu(i);
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USB_sendstr(": ");
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printuhex(Ignore_IDs[i]);
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USB_putbyte('\n');
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}
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return RET_GOOD;
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}
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if(IgnSz == IGN_SIZE){
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USND("Ignore buffer is full");
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return RET_GOOD;
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}
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int32_t N;
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const char *n = getint(args, &N);
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if(args == n){
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USND("No ID given");
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return RET_GOOD;
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}
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if(N < 0){
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IgnSz = 0;
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USND("Ignore list cleared");
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return RET_GOOD;
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}
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if(N > 0x7ff){
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USND("ID should be 11-bit number!");
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return RET_GOOD;
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}
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Ignore_IDs[IgnSz++] = (uint16_t)(N & 0x7ff);
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USB_sendstr("Added ID "); printu(N);
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USB_sendstr("\nIgn buffer size: "); printu(IgnSz);
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newline();
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return RET_GOOD;
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}
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int fn_canreinit(_U_ uint32_t hash, _U_ char *args){
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CAN_reinit(0);
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USND("OK");
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return RET_GOOD;
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}
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/*
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Can filtering: FSCx=0 (CAN->FS1R) -> 16-bit identifiers
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CAN->FMR = (sb)<<8 | FINIT - init filter in starting bank sb
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CAN->FFA1R FFAx = 1 -> FIFO1, 0 -> FIFO0
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CAN->FA1R FACTx=1 - filter active
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MASK: FBMx=0 (CAN->FM1R), two filters (n in FR1 and n+1 in FR2)
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ID: CAN->sFilterRegister[x].FRn[0..15]
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MASK: CAN->sFilterRegister[x].FRn[16..31]
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FR bits: STID[10:0] RTR IDE EXID[17:15]
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LIST: FBMx=1, four filters (n&n+1 in FR1, n+2&n+3 in FR2)
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IDn: CAN->sFilterRegister[x].FRn[0..15]
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IDn+1: CAN->sFilterRegister[x].FRn[16..31]
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*/
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TRUE_INLINE void list_filters(){
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uint32_t fa = CAN->FA1R, ctr = 0, mask = 1;
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while(fa){
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if(fa & 1){
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USB_sendstr("Filter "); printu(ctr); USB_sendstr(", FIFO");
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if(CAN->FFA1R & mask) USB_sendstr("1");
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else USB_sendstr("0");
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USB_sendstr(" in ");
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if(CAN->FM1R & mask){ // up to 4 filters in LIST mode
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USB_sendstr("LIST mode, IDs: ");
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printID(CAN->sFilterRegister[ctr].FR1 & 0xffff);
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USB_sendstr(" ");
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printID(CAN->sFilterRegister[ctr].FR1 >> 16);
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USB_sendstr(" ");
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printID(CAN->sFilterRegister[ctr].FR2 & 0xffff);
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USB_sendstr(" ");
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printID(CAN->sFilterRegister[ctr].FR2 >> 16);
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}else{ // up to 2 filters in MASK mode
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USB_sendstr("MASK mode: ");
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if(!(CAN->sFilterRegister[ctr].FR1&0x1f)){
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USB_sendstr("ID="); printID(CAN->sFilterRegister[ctr].FR1 & 0xffff);
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USB_sendstr(", MASK="); printID(CAN->sFilterRegister[ctr].FR1 >> 16);
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USB_sendstr(" ");
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}
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if(!(CAN->sFilterRegister[ctr].FR2&0x1f)){
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USB_sendstr("ID="); printID(CAN->sFilterRegister[ctr].FR2 & 0xffff);
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USB_sendstr(", MASK="); printID(CAN->sFilterRegister[ctr].FR2 >> 16);
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}
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}
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USB_putbyte('\n');
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}
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fa >>= 1;
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++ctr;
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mask <<= 1;
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}
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}
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/**
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* @brief add_filter - add/modify filter
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* @param str - string in format "bank# FIFO# mode num0 .. num3"
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* where bank# - 0..27
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* if there's nothing after bank# - delete filter
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* FIFO# - 0,1
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* mode - 'I' for ID, 'M' for mask
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* num0..num3 - IDs in ID mode, ID/MASK for mask mode
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*/
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static void add_filter(const char *str){
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uint32_t N;
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str = omit_spaces(str);
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const char *n = getnum(str, &N);
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if(n == str){
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USB_sendstr("No bank# given");
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return;
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}
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if(N > STM32F0FBANKNO-1){
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USB_sendstr("bank# > 27");
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return;
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}
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uint8_t bankno = (uint8_t)N;
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str = omit_spaces(n);
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if(!*str){ // deactivate filter
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USB_sendstr("Deactivate filters in bank ");
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printu(bankno);
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CAN->FMR = CAN_FMR_FINIT;
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CAN->FA1R &= ~(1<<bankno);
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CAN->FMR &=~ CAN_FMR_FINIT;
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return;
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}
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uint8_t fifono = 0;
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if(*str == '1') fifono = 1;
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else if(*str != '0'){
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USB_sendstr("FIFO# is 0 or 1");
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return;
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}
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str = omit_spaces(str + 1);
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const char c = *str;
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uint8_t mode = 0; // ID
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if(c == 'M' || c == 'm') mode = 1;
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else if(c != 'I' && c != 'i'){
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USB_sendstr("mode is 'M/m' for MASK and 'I/i' for IDLIST");
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return;
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}
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str = omit_spaces(str + 1);
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uint32_t filters[4];
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uint32_t nfilt;
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for(nfilt = 0; nfilt < 4; ++nfilt){
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n = getnum(str, &N);
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if(n == str) break;
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filters[nfilt] = N;
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str = omit_spaces(n);
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}
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if(nfilt == 0){
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USB_sendstr("You should add at least one filter!");
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return;
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}
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if(mode && (nfilt&1)){
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USB_sendstr("In MASK mode you should point pairs of ID/MASK");
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return;
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}
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CAN->FMR = CAN_FMR_FINIT;
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uint32_t mask = 1<<bankno;
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CAN->FA1R |= mask; // activate given filter
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if(fifono) CAN->FFA1R |= mask; // set FIFO number
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else CAN->FFA1R &= ~mask;
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if(mode) CAN->FM1R &= ~mask; // MASK
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else CAN->FM1R |= mask; // LIST
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uint32_t F1 = (0x8f<<16);
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uint32_t F2 = (0x8f<<16);
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// reset filter registers to wrong value
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CAN->sFilterRegister[bankno].FR1 = (0x8f<<16) | 0x8f;
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CAN->sFilterRegister[bankno].FR2 = (0x8f<<16) | 0x8f;
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switch(nfilt){
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case 4:
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F2 = filters[3] << 21;
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// fallthrough
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case 3:
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CAN->sFilterRegister[bankno].FR2 = (F2 & 0xffff0000) | (filters[2] << 5);
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// fallthrough
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case 2:
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F1 = filters[1] << 21;
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// fallthrough
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case 1:
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CAN->sFilterRegister[bankno].FR1 = (F1 & 0xffff0000) | (filters[0] << 5);
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}
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CAN->FMR &=~ CAN_FMR_FINIT;
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USB_sendstr("Added filter with ");
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printu(nfilt); USB_sendstr(" parameters");
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}
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int fn_canfilter(_U_ uint32_t hash, char *args){
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if(*args) add_filter(args);
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else list_filters();
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return RET_GOOD;
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}
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int fn_canflood(_U_ uint32_t hash, char *args){
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CAN_flood(parseCANmsg(args), 0);
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return RET_GOOD;
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}
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int fn_cansend(_U_ uint32_t hash, char *args){
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if(CAN->MSR & CAN_MSR_INAK){
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USB_sendstr("CAN bus is off, try to restart it\n");
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return RET_GOOD;
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}
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CAN_message *msg = parseCANmsg(args);
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if(!msg) return RET_WRONGCMD;
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uint32_t N = 5;
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while(CAN_BUSY == CAN_send(msg->data, msg->length, msg->ID)){
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if(--N == 0) break;
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}
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if(N == 0) return RET_BAD;
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return RET_GOOD;
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}
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int fn_canfloodt(_U_ uint32_t hash, char *args){
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uint32_t N;
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const char *n = getnum(args, &N);
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if(args == n){
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USB_sendstr("floodT="); printu(floodT); USB_putbyte('\n');
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return RET_GOOD;
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}
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floodT = N;
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return RET_GOOD;
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}
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int fn_canstat(_U_ uint32_t hash, _U_ char *args){
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USB_sendstr("CAN_MSR=");
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printuhex(CAN->MSR);
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USB_sendstr("\nCAN_TSR=");
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printuhex(CAN->TSR);
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USB_sendstr("\nCAN_RF0R=");
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printuhex(CAN->RF0R);
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USB_sendstr("\nCAN_RF1R=");
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printuhex(CAN->RF1R);
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newline();
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return RET_GOOD;
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}
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int fn_canerrcodes(_U_ uint32_t hash, _U_ char *args){
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CAN_printerr();
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return RET_GOOD;
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}
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int fn_canincrflood(_U_ uint32_t hash, _U_ char *args){
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CAN_flood(NULL, 1);
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USB_sendstr("Incremental flooding is ON ('F' to off)\n");
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return RET_GOOD;
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}
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int fn_canspeed(_U_ uint32_t hash, _U_ char *args){
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uint32_t N;
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const char *n = getnum(args, &N);
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if(args == n){
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USB_sendstr("No speed given");
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return RET_GOOD;
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}
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if(N < 50){
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USB_sendstr("canspeed=");
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USB_sendstr(u2str(CAN_speed()));
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newline();
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return RET_GOOD;
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}else if(N > 3000){
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USB_sendstr("Highest speed is 3000kbps");
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return RET_GOOD;
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}
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CAN_reinit((uint16_t)N);
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// theconf.canspeed = N;
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USB_sendstr("Reinit CAN bus with speed ");
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printu(N); USB_sendstr("kbps"); newline();
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return RET_GOOD;
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}
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int fn_canpause(_U_ uint32_t hash, _U_ char *args){
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ShowMsgs = TRUE;
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USND("Pause CAN messages");
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return RET_GOOD;
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}
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int fn_canresume(_U_ uint32_t hash, _U_ char *args){
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ShowMsgs = FALSE;
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USND("RESUME CAN messages");
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return RET_GOOD;
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}
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int fn_reset(_U_ uint32_t hash, _U_ char *args){
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USB_sendstr("Soft reset\n");
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USB_sendall(); // wait until everything will gone
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NVIC_SystemReset();
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return RET_GOOD;
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}
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int fn_time(_U_ uint32_t hash, _U_ char *args){
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USB_sendstr("Time (ms): ");
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printu(Tms);
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USB_putbyte('\n');
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return RET_GOOD;
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}
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/**
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* @brief cmd_parser - command parsing
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* @param txt - buffer with commands & data
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*/
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const char *cmd_parser(const char *txt){
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int ret = parsecmd(txt);
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switch(ret){
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case RET_CMDNOTFOUND: return helpstring; break;
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case RET_WRONGCMD: return "Wrong command parameters\n"; break;
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case RET_GOOD: return NULL; break;
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default: return "FAIL\n"; break;
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}
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}
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// check Ignore_IDs & return 1 if ID isn't in list
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uint8_t isgood(uint16_t ID){
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for(int i = 0; i < IgnSz; ++i)
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if(Ignore_IDs[i] == ID) return 0;
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return 1;
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}
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