mirror of
https://github.com/eddyem/stm32samples.git
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297 lines
10 KiB
C
297 lines
10 KiB
C
/*
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* geany_encoding=koi8-r
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* can.c
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*
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* Copyright 2018 Edward V. Emelianov <eddy@sao.ru, 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 2 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, write to the Free Software
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* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
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* MA 02110-1301, USA.
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*
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*/
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#include <string.h> // memcpy
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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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// incoming message buffer size
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#define CAN_INMESSAGE_SIZE (32)
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extern volatile uint32_t Tms;
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// circular buffer for received messages
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static CAN_message messages[CAN_INMESSAGE_SIZE];
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static uint8_t first_free_idx = 0; // index of first empty cell
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static int8_t first_nonfree_idx = -1; // index of first data cell
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int8_t cansniffer = 0; // ==1 to listen all CAN ID's
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uint16_t curcanspeed = CAN_SPEED_DEFAULT; // speed of last init
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uint16_t CANID = 0xFFFF;
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uint8_t Controller_address = 0;
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static CAN_status can_status = CAN_STOP;
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static void can_process_fifo(uint8_t fifo_num);
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CAN_status CAN_get_status(){
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CAN_status st = can_status;
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// give overrun message only once
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if(st == CAN_FIFO_OVERRUN) can_status = CAN_READY;
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return st;
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}
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// push next message into buffer; return 1 if buffer overfull
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static int CAN_messagebuf_push(CAN_message *msg){
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MSG("Try to push\n");
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if(first_free_idx == first_nonfree_idx) return 1; // no free space
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if(first_nonfree_idx < 0) first_nonfree_idx = 0; // first message in empty buffer
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memcpy(&messages[first_free_idx++], msg, sizeof(CAN_message));
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// need to roll?
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if(first_free_idx == CAN_INMESSAGE_SIZE) first_free_idx = 0;
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return 0;
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}
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// pop message from buffer
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CAN_message *CAN_messagebuf_pop(){
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if(first_nonfree_idx < 0) return NULL;
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CAN_message *msg = &messages[first_nonfree_idx++];
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if(first_nonfree_idx == CAN_INMESSAGE_SIZE) first_nonfree_idx = 0;
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if(first_nonfree_idx == first_free_idx){ // buffer is empty - refresh it
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first_nonfree_idx = -1;
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first_free_idx = 0;
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}
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return msg;
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}
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// get CAN address data from GPIO pins
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void readCANID(){
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uint8_t CAN_addr = READ_CAN_INV_ADDR();
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Controller_address = ~CAN_addr & 0x0f;
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CANID = (CAN_ID_PREFIX & CAN_ID_MASK) | Controller_address;
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}
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void CAN_setup(uint16_t speed){
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if(speed == 0) speed = curcanspeed;
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else if(speed < CAN_SPEED_MIN) speed = CAN_SPEED_MIN;
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else if(speed > CAN_SPEED_MAX) speed = CAN_SPEED_MAX;
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curcanspeed = speed;
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readCANID();
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CAN->TSR |= CAN_TSR_ABRQ0 | CAN_TSR_ABRQ1 | CAN_TSR_ABRQ2;
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RCC->APB1RSTR |= RCC_APB1RSTR_CANRST;
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RCC->APB1RSTR &= ~RCC_APB1RSTR_CANRST;
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// Configure GPIO: PB8 - CAN_Rx, PB9 - CAN_Tx
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/* (1) Select AF mode (10) on PB8 and PB9 */
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/* (2) AF4 for CAN signals */
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GPIOB->MODER = (GPIOB->MODER & ~(GPIO_MODER_MODER8 | GPIO_MODER_MODER9))
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| (GPIO_MODER_MODER8_AF | GPIO_MODER_MODER9_AF); /* (1) */
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GPIOB->AFR[1] = (GPIOB->AFR[1] &~ (GPIO_AFRH_AFRH0 | GPIO_AFRH_AFRH1))\
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| (4 << (0 * 4)) | (4 << (1 * 4)); /* (2) */
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/* Enable the peripheral clock CAN */
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RCC->APB1ENR |= RCC_APB1ENR_CANEN;
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/* Configure CAN */
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/* (1) Enter CAN init mode to write the configuration */
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/* (2) Wait the init mode entering */
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/* (3) Exit sleep mode */
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/* (4) Normal mode, set timing to 100kb/s: BS1 = 4, BS2 = 3, prescaler = 6000/speed */
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/* (5) Leave init mode */
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/* (6) Wait the init mode leaving */
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/* (7) Enter filter init mode, (16-bit + mask, filter 0 for FIFO 0) */
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/* (8) Acivate filter 0 (1,2) */
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/* (9) Identifier mode for bank#0, mask mode for #1 and #2 */
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/* (10) Set the Id list */
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/* (11) Set the mask list */
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/* (12) Leave filter init */
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/* (13) Set error interrupts enable */
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CAN->MCR |= CAN_MCR_INRQ; /* (1) */
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uint32_t tmout = 16000000;
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while((CAN->MSR & CAN_MSR_INAK)!=CAN_MSR_INAK){ /* (2) */
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if(--tmout == 0) break;
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}
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CAN->MCR &=~ CAN_MCR_SLEEP; /* (3) */
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CAN->MCR |= CAN_MCR_ABOM;
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CAN->BTR |= 2 << 20 | 3 << 16 | (6000/speed - 1); /* (4) */
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CAN->MCR &=~ CAN_MCR_INRQ; /* (5) */
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tmout = 16000000;
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while((CAN->MSR & CAN_MSR_INAK)==CAN_MSR_INAK){ /* (6) */
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if(--tmout == 0) break;
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}
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CAN->FMR = CAN_FMR_FINIT; /* (7) */
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CAN->FA1R = CAN_FA1R_FACT0; /* (8) */
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CAN->FM1R = CAN_FM1R_FBM0; /* (9) */
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CAN->sFilterRegister[0].FR1 = CANID << 5 | ((BCAST_ID << 5) << 16); /* (10) */
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if(cansniffer){ /* (11) */
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CAN->FA1R |= CAN_FA1R_FACT1 | CAN_FA1R_FACT2; // activate 1 & 2
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CAN->sFilterRegister[1].FR1 = (1<<21)|(1<<5); // all odd IDs
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CAN->sFilterRegister[2].FR1 = (1<<21); // all even IDs
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CAN->FFA1R = 2; // filter 1 for FIFO1, filters 0&2 - for FIFO0
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}
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CAN->FMR &=~ CAN_FMR_FINIT; /* (12) */
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CAN->IER |= CAN_IER_ERRIE | CAN_IER_FOVIE0 | CAN_IER_FOVIE1; /* (13) */
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/* Configure IT */
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/* (14) Set priority for CAN_IRQn */
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/* (15) Enable CAN_IRQn */
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NVIC_SetPriority(CEC_CAN_IRQn, 0); /* (14) */
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NVIC_EnableIRQ(CEC_CAN_IRQn); /* (15) */
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can_status = CAN_READY;
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}
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// add filters for ALL ID's
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void CAN_listenall(){
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cansniffer = 1;
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CAN_setup(0);
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}
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// listen only packets to self & broadcast - delete filters 1&2
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void CAN_listenone(){
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cansniffer = 0;
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CAN_setup(0);
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}
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void can_proc(){
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// check for messages in FIFO0 & FIFO1
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if(CAN->RF0R & CAN_RF0R_FMP0){
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can_process_fifo(0);
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}
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if(CAN->RF1R & CAN_RF1R_FMP1){
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can_process_fifo(1);
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}
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if(CAN->ESR & (CAN_ESR_BOFF | CAN_ESR_EPVF | CAN_ESR_EWGF)){ // much errors - restart CAN BUS
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mesg("too much CAN errors, restart CAN");
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MSG("bus-off, restarting\n");
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// request abort for all mailboxes
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CAN->TSR |= CAN_TSR_ABRQ0 | CAN_TSR_ABRQ1 | CAN_TSR_ABRQ2;
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// reset CAN bus
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RCC->APB1RSTR |= RCC_APB1RSTR_CANRST;
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RCC->APB1RSTR &= ~RCC_APB1RSTR_CANRST;
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can_status = CAN_ERROR;
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}
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}
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CAN_status can_send(uint8_t *msg, uint8_t len, uint16_t target_id){
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if(!noLED) LED_on(LED1); // turn ON LED1 at first data sent/receive
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uint8_t mailbox = 0;
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// check first free mailbox
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if(CAN->TSR & (CAN_TSR_TME)){
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mailbox = (CAN->TSR & CAN_TSR_CODE) >> 24;
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}else{ // no free mailboxes
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return CAN_BUSY;
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}
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CAN_TxMailBox_TypeDef *box = &CAN->sTxMailBox[mailbox];
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uint32_t lb = 0, hb = 0;
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switch(len){
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case 8:
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hb |= (uint32_t)msg[7] << 24;
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__attribute__((fallthrough));
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case 7:
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hb |= (uint32_t)msg[6] << 16;
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__attribute__((fallthrough));
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case 6:
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hb |= (uint32_t)msg[5] << 8;
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__attribute__((fallthrough));
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case 5:
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hb |= (uint32_t)msg[4];
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__attribute__((fallthrough));
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case 4:
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lb |= (uint32_t)msg[3] << 24;
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__attribute__((fallthrough));
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case 3:
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lb |= (uint32_t)msg[2] << 16;
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__attribute__((fallthrough));
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case 2:
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lb |= (uint32_t)msg[1] << 8;
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__attribute__((fallthrough));
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default:
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lb |= (uint32_t)msg[0];
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}
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box->TDLR = lb;
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box->TDHR = hb;
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box->TDTR = len;
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box->TIR = (target_id & 0x7FF) << 21 | CAN_TI0R_TXRQ;
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return CAN_OK;
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}
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static void can_process_fifo(uint8_t fifo_num){
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if(fifo_num > 1) return;
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CAN_FIFOMailBox_TypeDef *box = &CAN->sFIFOMailBox[fifo_num];
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volatile uint32_t *RFxR = (fifo_num) ? &CAN->RF1R : &CAN->RF0R;
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if(!noLED) LED_on(LED1); // turn ON LED1 at first data sent/receive
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// read all
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while(*RFxR & CAN_RF0R_FMP0){ // amount of messages pending
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// CAN_RDTxR: (16-31) - timestamp, (8-15) - filter match index, (0-3) - data length
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/* TODO: check filter match index if more than one ID can receive */
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CAN_message msg;
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uint8_t *dat = msg.data;
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{ // set all data to 0
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uint32_t *dptr = (uint32_t*)msg.data;
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dptr[0] = dptr[1] = 0;
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}
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uint8_t len = box->RDTR & 0x0f;
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msg.length = len;
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msg.ID = box->RIR >> 21;
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if(len){ // message can be without data
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uint32_t hb = box->RDHR, lb = box->RDLR;
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switch(len){
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case 8:
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dat[7] = hb>>24;
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__attribute__((fallthrough));
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case 7:
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dat[6] = (hb>>16) & 0xff;
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__attribute__((fallthrough));
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case 6:
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dat[5] = (hb>>8) & 0xff;
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__attribute__((fallthrough));
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case 5:
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dat[4] = hb & 0xff;
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__attribute__((fallthrough));
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case 4:
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dat[3] = lb>>24;
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__attribute__((fallthrough));
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case 3:
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dat[2] = (lb>>16) & 0xff;
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__attribute__((fallthrough));
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case 2:
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dat[1] = (lb>>8) & 0xff;
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__attribute__((fallthrough));
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case 1:
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dat[0] = lb & 0xff;
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}
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}
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if(CAN_messagebuf_push(&msg)) return; // error: buffer is full, try later
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*RFxR |= CAN_RF0R_RFOM0; // release fifo for access to next message
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}
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if(*RFxR & CAN_RF0R_FULL0) *RFxR &= ~CAN_RF0R_FULL0;
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}
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void cec_can_isr(){
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if(CAN->RF0R & CAN_RF0R_FOVR0){ // FIFO overrun
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CAN->RF0R &= ~CAN_RF0R_FOVR0;
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can_status = CAN_FIFO_OVERRUN;
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}
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if(CAN->RF1R & CAN_RF1R_FOVR1){
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CAN->RF1R &= ~CAN_RF1R_FOVR1;
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can_status = CAN_FIFO_OVERRUN;
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}
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if(CAN->MSR & CAN_MSR_ERRI){ // Error
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CAN->MSR &= ~CAN_MSR_ERRI;
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// request abort for problem mailbox
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if(CAN->TSR & CAN_TSR_TERR0) CAN->TSR |= CAN_TSR_ABRQ0;
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if(CAN->TSR & CAN_TSR_TERR1) CAN->TSR |= CAN_TSR_ABRQ1;
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if(CAN->TSR & CAN_TSR_TERR2) CAN->TSR |= CAN_TSR_ABRQ2;
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}
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}
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