mirror of
https://github.com/eddyem/stm32samples.git
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627 lines
16 KiB
C
627 lines
16 KiB
C
/*
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* This file is part of the canrelay project.
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* Copyright 2021 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 "adc.h"
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#include "buttons.h"
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#include "can.h"
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#include "hardware.h"
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#include "proto.h"
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#include "usb.h"
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#include <string.h> // strlen
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extern volatile uint8_t canerror;
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uint8_t ShowMsgs = 0;
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uint16_t Ignore_IDs[IGN_SIZE];
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uint8_t IgnSz = 0;
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static char buff[BUFSZ+1], *bptr = buff;
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static uint8_t blen = 0;
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void sendbuf(){
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IWDG->KR = IWDG_REFRESH;
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if(blen == 0) return;
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*bptr = 0;
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USB_sendstr(buff);
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bptr = buff;
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blen = 0;
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}
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void bufputchar(char ch){
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if(blen > BUFSZ-1){
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sendbuf();
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}
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*bptr++ = ch;
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++blen;
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}
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void addtobuf(const char *txt){
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IWDG->KR = IWDG_REFRESH;
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while(*txt) bufputchar(*txt++);
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}
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char *omit_spaces(const char *buf){
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while(*buf){
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if(*buf > ' ') break;
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++buf;
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}
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return (char*) buf;
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}
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// THERE'S NO OVERFLOW PROTECTION IN NUMBER READ PROCEDURES!
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// read decimal number
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static char *getdec(const char *buf, uint32_t *N){
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uint32_t num = 0;
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while(*buf){
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char c = *buf;
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if(c < '0' || c > '9'){
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break;
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}
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num *= 10;
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num += c - '0';
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++buf;
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}
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*N = num;
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return (char *)buf;
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}
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// read hexadecimal number (without 0x prefix!)
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static char *gethex(const char *buf, uint32_t *N){
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uint32_t num = 0;
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while(*buf){
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char c = *buf;
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uint8_t M = 0;
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if(c >= '0' && c <= '9'){
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M = '0';
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}else if(c >= 'A' && c <= 'F'){
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M = 'A' - 10;
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}else if(c >= 'a' && c <= 'f'){
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M = 'a' - 10;
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}
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if(M){
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num <<= 4;
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num += c - M;
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}else{
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break;
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}
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++buf;
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}
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*N = num;
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return (char *)buf;
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}
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// read binary number (without 0b prefix!)
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static char *getbin(const char *buf, uint32_t *N){
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uint32_t num = 0;
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while(*buf){
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char c = *buf;
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if(c < '0' || c > '1'){
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break;
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}
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num <<= 1;
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if(c == '1') num |= 1;
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++buf;
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}
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*N = num;
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return (char *)buf;
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}
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/**
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* @brief getnum - read uint32_t from string (dec, hex or bin: 127, 0x7f, 0b1111111)
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* @param buf - buffer with number and so on
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* @param N - the number read
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* @return pointer to first non-number symbol in buf (if it is == buf, there's no number)
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*/
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char *getnum(const char *txt, uint32_t *N){
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if(*txt == '0'){
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if(txt[1] == 'x' || txt[1] == 'X') return gethex(txt+2, N);
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if(txt[1] == 'b' || txt[1] == 'B') return getbin(txt+2, N);
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}
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return getdec(txt, N);
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}
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// parse `txt` to CAN_message
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static CAN_message *parseCANmsg(char *txt){
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static CAN_message canmsg;
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//SEND("CAN command with arguments:\n");
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uint32_t N;
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char *n;
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int ctr = -1;
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canmsg.ID = 0xffff;
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do{
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txt = omit_spaces(txt);
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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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SEND("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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//SEND("ID="); printuhex(canmsg.ID); newline();
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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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SEND("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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SEND("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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SEND("NO ID given, send nothing!\n");
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return NULL;
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}
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SEND("Message parsed OK\n");
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sendbuf();
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canmsg.length = (uint8_t) ctr;
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return &canmsg;
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}
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// send command, format: ID (hex/bin/dec) data bytes (up to 8 bytes, space-delimeted)
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TRUE_INLINE void sendCANcommand(char *txt){
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CAN_message *msg = parseCANmsg(txt);
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if(!msg) return;
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uint32_t N = 1000;
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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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}
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TRUE_INLINE void CANini(char *txt){
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txt = omit_spaces(txt);
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uint32_t N;
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char *n = getnum(txt, &N);
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if(txt == n){
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SEND("No speed given");
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return;
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}
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if(N < 50){
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SEND("Lowest speed is 50kbps");
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return;
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}else if(N > 3000){
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SEND("Highest speed is 3000kbps");
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return;
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}
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CAN_reinit((uint16_t)N);
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SEND("Reinit CAN bus with speed ");
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printu(N); SEND("kbps");
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}
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TRUE_INLINE void addIGN(char *txt){
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if(IgnSz == IGN_SIZE){
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MSG("Ignore buffer is full");
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return;
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}
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txt = omit_spaces(txt);
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uint32_t N;
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char *n = getnum(txt, &N);
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if(txt == n){
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SEND("No ID given");
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return;
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}
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if(N == CANID){
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SEND("You can't ignore self ID!");
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return;
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}
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if(N > 0x7ff){
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SEND("ID should be 11-bit number!");
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return;
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}
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Ignore_IDs[IgnSz++] = (uint16_t)(N & 0x7ff);
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SEND("Added ID "); printu(N);
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SEND("\nIgn buffer size: "); printu(IgnSz);
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}
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TRUE_INLINE void print_ign_buf(){
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if(IgnSz == 0){
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SEND("Ignore buffer is empty");
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return;
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}
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SEND("Ignored IDs:\n");
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for(int i = 0; i < IgnSz; ++i){
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printu(i);
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SEND(": ");
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printuhex(Ignore_IDs[i]);
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newline();
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}
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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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/*
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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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SEND("Filter "); printu(ctr); SEND(", FIFO");
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if(CAN->FFA1R & mask) SEND("1");
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else SEND("0");
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SEND(" in ");
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if(CAN->FM1R & mask){ // up to 4 filters in LIST mode
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SEND("LIST mode, IDs: ");
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printID(CAN->sFilterRegister[ctr].FR1 & 0xffff);
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SEND(" ");
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printID(CAN->sFilterRegister[ctr].FR1 >> 16);
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SEND(" ");
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printID(CAN->sFilterRegister[ctr].FR2 & 0xffff);
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SEND(" ");
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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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SEND("MASK mode: ");
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if(!(CAN->sFilterRegister[ctr].FR1&0x1f)){
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SEND("ID="); printID(CAN->sFilterRegister[ctr].FR1 & 0xffff);
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SEND(", MASK="); printID(CAN->sFilterRegister[ctr].FR1 >> 16);
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SEND(" ");
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}
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if(!(CAN->sFilterRegister[ctr].FR2&0x1f)){
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SEND("ID="); printID(CAN->sFilterRegister[ctr].FR2 & 0xffff);
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SEND(", MASK="); printID(CAN->sFilterRegister[ctr].FR2 >> 16);
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}
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}
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newline();
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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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sendbuf();
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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(char *str){
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uint32_t N;
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str = omit_spaces(str);
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char *n = getnum(str, &N);
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if(n == str){
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SEND("No bank# given");
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return;
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}
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if(N == 0 || N > STM32F0FBANKNO-1){
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SEND("0 (reserved for self) < bank# < 28 (max bank# is 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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SEND("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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SEND("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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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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SEND("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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SEND("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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SEND("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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SEND("Added filter with ");
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printu(nfilt); SEND(" parameters");
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}
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// print current buttons state
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TRUE_INLINE void getBtnState(){
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const char *states[] = {[EVT_NONE] = NULL, [EVT_PRESS] = "pressed", [EVT_HOLD] = "holded", [EVT_RELEASE] = "released"};
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for(int i = 0; i < BTNSNO; ++i){
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uint32_t T;
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keyevent e = keystate(i, &T);
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if(e != EVT_NONE){
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SEND("The key "); printu(i);
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SEND(" is "); addtobuf(states[e]); SEND(" at ");
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printu(T); NL();
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}
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}
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}
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TRUE_INLINE void getPWM(){
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volatile uint32_t *reg = &TIM1->CCR1;
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for(int n = 0; n < 3; ++n){
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SEND("PWM");
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bufputchar('0' + n);
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bufputchar('=');
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printu(*reg++);
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bufputchar('\n');
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}
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sendbuf();
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}
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TRUE_INLINE void changePWM(char *str){
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str = omit_spaces(str);
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uint32_t N, pwm;
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char *nxt = getnum(str, &N);
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if(nxt == str || N > 2){
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SEND("Nch = 0..2");
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return;
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}
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str = omit_spaces(nxt);
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nxt = getnum(str, &pwm);
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if(nxt == str || pwm > 255){
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SEND("PWM should be from 0 to 255");
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return;
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}
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volatile uint32_t *reg = &TIM1->CCR1;
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reg[N] = pwm;
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SEND("OK, changed");
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}
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TRUE_INLINE void printADC(){ // show all 4 channels ADC
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for(int i = 0; i < NUMBER_OF_ADC_CHANNELS; ++i){
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SEND("ADC"); bufputchar('0' + i); bufputchar('=');
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printu(getADCval(i)); bufputchar('\n');
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}
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sendbuf();
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}
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TRUE_INLINE void printVT(){ // show T and Vdd
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int32_t t = getMCUtemp();
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SEND("T=");
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if(t < 0){ bufputchar('-'); t = -t; }
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printu(t); SEND("/10degC\nVDD=");
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printu(getVdd()); SEND("/100V");
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}
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// set or check relay state
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TRUE_INLINE void relay(const char *txt){
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txt = omit_spaces(txt);
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uint32_t sr;
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char *b = getnum(txt, &sr);
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if(b && b != txt && sr < 2){
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if(sr) Relay_ON(); else Relay_OFF();
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}
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SEND("Relay"); bufputchar('=');
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bufputchar('0' + Relay_chk());
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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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* @param isUSB - == 1 if data got from USB
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*/
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void cmd_parser(char *txt){
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char _1st = txt[0];
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/*
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* parse long commands here
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*/
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switch(_1st){
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case '0':
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relay(txt + 1);
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goto eof;
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break;
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case 'a':
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addIGN(txt + 1);
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goto eof;
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break;
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case 'C':
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CANini(txt + 1);
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goto eof;
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break;
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case 'f':
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add_filter(txt + 1);
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goto eof;
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break;
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case 'F':
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set_flood(parseCANmsg(txt + 1));
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goto eof;
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break;
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case 's':
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case 'S':
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sendCANcommand(txt + 1);
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goto eof;
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break;
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case 'W':
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changePWM(txt + 1);
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goto eof;
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break;
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}
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if(txt[1] != '\n') *txt = '?'; // help for wrong message length
|
|
switch(_1st){
|
|
case 'A':
|
|
printADC();
|
|
return;
|
|
break;
|
|
case 'b':
|
|
getBtnState();
|
|
break;
|
|
case 'd':
|
|
IgnSz = 0;
|
|
break;
|
|
case 'D':
|
|
SEND("Go into DFU mode\n");
|
|
sendbuf();
|
|
Jump2Boot();
|
|
break;
|
|
case 'I':
|
|
SEND("CAN ID: "); printuhex(CANID);
|
|
break;
|
|
case 'l':
|
|
list_filters();
|
|
break;
|
|
case 'm':
|
|
printVT();
|
|
break;
|
|
case 'p':
|
|
print_ign_buf();
|
|
break;
|
|
case 'P':
|
|
ShowMsgs = !ShowMsgs;
|
|
if(ShowMsgs) SEND("Resume\n");
|
|
else SEND("Pause\n");
|
|
break;
|
|
case 'R':
|
|
SEND("Soft reset\n");
|
|
sendbuf();
|
|
pause_ms(5); // a little pause to transmit data
|
|
NVIC_SystemReset();
|
|
break;
|
|
case 'T':
|
|
SEND("Time (ms): ");
|
|
printu(Tms);
|
|
break;
|
|
case 'w':
|
|
getPWM();
|
|
return;
|
|
break;
|
|
default: // help
|
|
SEND(
|
|
"'0' - turn relay on(1) or off(0)\n"
|
|
"'a' - add ID to ignore list (max 10 IDs)\n"
|
|
"'A' - get ADC values @ all 4 channels\n"
|
|
"'b' - get buttons' state\n"
|
|
"'C' - reinit CAN with given baudrate\n"
|
|
"'d' - delete ignore list\n"
|
|
"'D' - activate DFU mode\n"
|
|
"'f' - add/delete filter, format: bank# FIFO# mode(M/I) num0 [num1 [num2 [num3]]]\n"
|
|
"'F' - send/clear flood message: F ID byte0 ... byteN\n"
|
|
"'I' - read CAN ID\n"
|
|
"'l' - list all active filters\n"
|
|
"'m' - get MCU temp & Vdd\n"
|
|
"'p' - print ignore buffer\n"
|
|
"'P' - pause/resume in packets displaying\n"
|
|
"'R' - software reset\n"
|
|
"'s/S' - send data over CAN: s ID byte0 .. byteN\n"
|
|
"'T' - get time from start (ms)\n"
|
|
"'w' - get PWM settings\n"
|
|
"'W' - set PWM @nth channel (ch: 0..2, PWM: 0..255)\n"
|
|
);
|
|
break;
|
|
}
|
|
eof:
|
|
newline();
|
|
sendbuf();
|
|
}
|
|
|
|
// print 32bit unsigned int
|
|
void printu(uint32_t val){
|
|
char buf[11], *bufptr = &buf[10];
|
|
*bufptr = 0;
|
|
if(!val){
|
|
*(--bufptr) = '0';
|
|
}else{
|
|
while(val){
|
|
*(--bufptr) = val % 10 + '0';
|
|
val /= 10;
|
|
}
|
|
}
|
|
addtobuf(bufptr);
|
|
}
|
|
|
|
// print 32bit unsigned int as hex
|
|
void printuhex(uint32_t val){
|
|
addtobuf("0x");
|
|
uint8_t *ptr = (uint8_t*)&val + 3;
|
|
int8_t i, j, z=1;
|
|
for(i = 0; i < 4; ++i, --ptr){
|
|
if(*ptr == 0){ // omit leading zeros
|
|
if(i == 3) z = 0;
|
|
if(z) continue;
|
|
}
|
|
else z = 0;
|
|
for(j = 1; j > -1; --j){
|
|
uint8_t half = (*ptr >> (4*j)) & 0x0f;
|
|
if(half < 10) bufputchar(half + '0');
|
|
else bufputchar(half - 10 + 'a');
|
|
}
|
|
}
|
|
}
|
|
|
|
// check Ignore_IDs & return 1 if ID isn't in list
|
|
uint8_t isgood(uint16_t ID){
|
|
for(int i = 0; i < IgnSz; ++i)
|
|
if(Ignore_IDs[i] == ID) return 0;
|
|
return 1;
|
|
}
|