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stm32samples/F1:F103/canUART/proto.c

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/*
* This file is part of the canuart project.
* Copyright 2022 Edward V. Emelianov <edward.emelianoff@gmail.com>.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "can.h"
#include "hardware.h"
#include "proto.h"
#include "usart.h"
#include "version.inc"
extern volatile uint8_t canerror;
uint8_t ShowMsgs = 07;
uint16_t Ignore_IDs[IGN_SIZE];
uint8_t IgnSz = 0;
char *omit_spaces(const char *buf){
while(*buf){
if(*buf > ' ') break;
++buf;
}
return (char*)buf;
}
// read hexadecimal number (without 0x prefix!)
static char *gethex(const char *buf, uint32_t *N){
char *start = (char*)buf;
uint32_t num = 0;
while(*buf){
char c = *buf;
uint8_t M = 0;
if(c >= '0' && c <= '9'){
M = '0';
}else if(c >= 'A' && c <= 'F'){
M = 'A' - 10;
}else if(c >= 'a' && c <= 'f'){
M = 'a' - 10;
}
if(M){
if(num & 0xf0000000){ // overflow
*N = 0xffffff;
return start;
}
num <<= 4;
num += c - M;
}else{
break;
}
++buf;
}
*N = num;
return (char*)buf;
}
// In case of overflow return `buf` and N==0xffffffff
// read decimal number & return pointer to next non-number symbol
static char *getdec(const char *buf, uint32_t *N){
char *start = (char*)buf;
uint32_t num = 0;
while(*buf){
char c = *buf;
if(c < '0' || c > '9'){
break;
}
if(num > 429496729 || (num == 429496729 && c > '5')){ // overflow
*N = 0xffffff;
return start;
}
num *= 10;
num += c - '0';
++buf;
}
*N = num;
return (char*)buf;
}
// read octal number (without 0 prefix!)
static char *getoct(const char *buf, uint32_t *N){
char *start = (char*)buf;
uint32_t num = 0;
while(*buf){
char c = *buf;
if(c < '0' || c > '7'){
break;
}
if(num & 0xe0000000){ // overflow
*N = 0xffffff;
return start;
}
num <<= 3;
num += c - '0';
++buf;
}
*N = num;
return (char*)buf;
}
// read binary number (without b prefix!)
static char *getbin(const char *buf, uint32_t *N){
char *start = (char*)buf;
uint32_t num = 0;
while(*buf){
char c = *buf;
if(c < '0' || c > '1'){
break;
}
if(num & 0x80000000){ // overflow
*N = 0xffffff;
return start;
}
num <<= 1;
if(c == '1') num |= 1;
++buf;
}
*N = num;
return (char*)buf;
}
/**
* @brief getnum - read uint32_t from string (dec, hex or bin: 127, 0x7f, 0b1111111)
* @param buf - buffer with number and so on
* @param N - the number read
* @return pointer to first non-number symbol in buf
* (if it is == buf, there's no number or if *N==0xffffffff there was overflow)
*/
char *getnum(const char *txt, uint32_t *N){
char *nxt = NULL;
char *s = omit_spaces(txt);
if(*s == '0'){ // hex, oct or 0
if(s[1] == 'x' || s[1] == 'X'){ // hex
nxt = gethex(s+2, N);
if(nxt == s+2) nxt = (char*)txt;
}else if(s[1] > '0'-1 && s[1] < '8'){ // oct
nxt = getoct(s+1, N);
if(nxt == s+1) nxt = (char*)txt;
}else{ // 0
nxt = s+1;
*N = 0;
}
}else if(*s == 'b' || *s == 'B'){
nxt = getbin(s+1, N);
if(nxt == s+1) nxt = (char*)txt;
}else{
nxt = getdec(s, N);
if(nxt == s) nxt = (char*)txt;
}
return nxt;
}
// parse `txt` to CAN_message
static CAN_message *parseCANmsg(char *txt){
static CAN_message canmsg;
uint32_t N;
char *n;
int ctr = -1;
canmsg.ID = 0xffff;
do{
txt = omit_spaces(txt);
n = getnum(txt, &N);
if(txt == n) break;
txt = n;
if(ctr == -1){
if(N > 0x7ff){
usart_send("ID should be 11-bit number!\n");
return NULL;
}
canmsg.ID = (uint16_t)(N&0x7ff);
ctr = 0;
continue;
}
if(ctr > 7){
usart_send("ONLY 8 data bytes allowed!\n");
return NULL;
}
if(N > 0xff){
usart_send("Every data portion is a byte!\n");
return NULL;
}
canmsg.data[ctr++] = (uint8_t)(N&0xff);
}while(1);
if(canmsg.ID == 0xffff){
usart_send("NO ID given, send nothing!\n");
return NULL;
}
usart_send("Message parsed OK\n");
canmsg.length = (uint8_t) ctr;
return &canmsg;
}
// usart_send command, format: ID (hex/bin/dec) data bytes (up to 8 bytes, space-delimeted)
TRUE_INLINE void usart_sendCANcommand(char *txt){
if(CAN1->MSR & CAN_MSR_INAK){
usart_send("CAN bus is off, try to restart it\n");
return;
}
CAN_message *msg = parseCANmsg(txt);
if(!msg) return;
uint32_t N = 3;
while(CAN_BUSY == can_send(msg->data, msg->length, msg->ID)){
if(--N == 0) break;
}
}
TRUE_INLINE void CANini(char *txt){
txt = omit_spaces(txt);
uint32_t N;
char *n = getnum(txt, &N);
if(txt == n){
usart_send("No speed given");
return;
}
if(N < 50){
usart_send("Lowest speed is 50kbps");
return;
}else if(N > 3000){
usart_send("Highest speed is 3000kbps");
return;
}
CAN_reinit((uint16_t)N);
usart_send("Reinit CAN bus with speed ");
printu(N); usart_send("kbps");
}
TRUE_INLINE void addIGN(char *txt){
if(IgnSz == IGN_SIZE){
usart_send("Ignore buffer is full");
return;
}
txt = omit_spaces(txt);
uint32_t N;
char *n = getnum(txt, &N);
if(txt == n){
usart_send("No ID given");
return;
}
if(N > 0x7ff){
usart_send("ID should be 11-bit number!");
return;
}
Ignore_IDs[IgnSz++] = (uint16_t)(N & 0x7ff);
usart_send("Added ID "); printu(N);
usart_send("\nIgn buffer size: "); printu(IgnSz);
}
TRUE_INLINE void print_ign_buf(){
if(IgnSz == 0){
usart_send("Ignore buffer is empty");
return;
}
usart_send("Ignored IDs:\n");
for(int i = 0; i < IgnSz; ++i){
printu(i);
usart_send(": ");
printuhex(Ignore_IDs[i]);
usart_putchar('\n');
}
}
// print ID/mask of CAN1->sFilterRegister[x] half
static void printID(uint16_t FRn){
if(FRn & 0x1f) return; // trash
printuhex(FRn >> 5);
}
/*
Can filtering: FSCx=0 (CAN1->FS1R) -> 16-bit identifiers
CAN1->FMR = (sb)<<8 | FINIT - init filter in starting bank sb
CAN1->FFA1R FFAx = 1 -> FIFO1, 0 -> FIFO0
CAN1->FA1R FACTx=1 - filter active
MASK: FBMx=0 (CAN1->FM1R), two filters (n in FR1 and n+1 in FR2)
ID: CAN1->sFilterRegister[x].FRn[0..15]
MASK: CAN1->sFilterRegister[x].FRn[16..31]
FR bits: STID[10:0] RTR IDE EXID[17:15]
LIST: FBMx=1, four filters (n&n+1 in FR1, n+2&n+3 in FR2)
IDn: CAN1->sFilterRegister[x].FRn[0..15]
IDn+1: CAN1->sFilterRegister[x].FRn[16..31]
*/
TRUE_INLINE void list_filters(){
uint32_t fa = CAN1->FA1R, ctr = 0, mask = 1;
while(fa){
if(fa & 1){
usart_send("Filter "); printu(ctr); usart_send(", FIFO");
if(CAN1->FFA1R & mask) usart_send("1");
else usart_send("0");
usart_send(" in ");
if(CAN1->FM1R & mask){ // up to 4 filters in LIST mode
usart_send("LIST mode, IDs: ");
printID(CAN1->sFilterRegister[ctr].FR1 & 0xffff);
usart_send(" ");
printID(CAN1->sFilterRegister[ctr].FR1 >> 16);
usart_send(" ");
printID(CAN1->sFilterRegister[ctr].FR2 & 0xffff);
usart_send(" ");
printID(CAN1->sFilterRegister[ctr].FR2 >> 16);
}else{ // up to 2 filters in MASK mode
usart_send("MASK mode: ");
if(!(CAN1->sFilterRegister[ctr].FR1&0x1f)){
usart_send("ID="); printID(CAN1->sFilterRegister[ctr].FR1 & 0xffff);
usart_send(", MASK="); printID(CAN1->sFilterRegister[ctr].FR1 >> 16);
usart_send(" ");
}
if(!(CAN1->sFilterRegister[ctr].FR2&0x1f)){
usart_send("ID="); printID(CAN1->sFilterRegister[ctr].FR2 & 0xffff);
usart_send(", MASK="); printID(CAN1->sFilterRegister[ctr].FR2 >> 16);
}
}
usart_putchar('\n');
}
fa >>= 1;
++ctr;
mask <<= 1;
}
}
/**
* @brief add_filter - add/modify filter
* @param str - string in format "bank# FIFO# mode num0 .. num3"
* where bank# - 0..27
* if there's nothing after bank# - delete filter
* FIFO# - 0,1
* mode - 'I' for ID, 'M' for mask
* num0..num3 - IDs in ID mode, ID/MASK for mask mode
*/
static void add_filter(char *str){
uint32_t N;
str = omit_spaces(str);
char *n = getnum(str, &N);
if(n == str){
usart_send("No bank# given");
return;
}
if(N > STM32F0FBANKNO-1){
usart_send("bank# > 27");
return;
}
uint8_t bankno = (uint8_t)N;
str = omit_spaces(n);
if(!*str){ // deactivate filter
usart_send("Deactivate filters in bank ");
printu(bankno);
CAN1->FMR = CAN_FMR_FINIT;
CAN1->FA1R &= ~(1<<bankno);
CAN1->FMR &=~ CAN_FMR_FINIT;
return;
}
uint8_t fifono = 0;
if(*str == '1') fifono = 1;
else if(*str != '0'){
usart_send("FIFO# is 0 or 1");
return;
}
str = omit_spaces(str + 1);
char c = *str;
uint8_t mode = 0; // ID
if(c == 'M' || c == 'm') mode = 1;
else if(c != 'I' && c != 'i'){
usart_send("mode is 'M/m' for MASK and 'I/i' for IDLIST");
return;
}
str = omit_spaces(str + 1);
uint32_t filters[4];
uint32_t nfilt;
for(nfilt = 0; nfilt < 4; ++nfilt){
n = getnum(str, &N);
if(n == str) break;
filters[nfilt] = N;
str = omit_spaces(n);
}
if(nfilt == 0){
usart_send("You should add at least one filter!");
return;
}
if(mode && (nfilt&1)){
usart_send("In MASK mode you should point pairs of ID/MASK");
return;
}
CAN1->FMR = CAN_FMR_FINIT;
uint32_t mask = 1<<bankno;
CAN1->FA1R |= mask; // activate given filter
if(fifono) CAN1->FFA1R |= mask; // set FIFO number
else CAN1->FFA1R &= ~mask;
if(mode) CAN1->FM1R &= ~mask; // MASK
else CAN1->FM1R |= mask; // LIST
uint32_t F1 = (0x8f<<16);
uint32_t F2 = (0x8f<<16);
// reset filter registers to wrong value
CAN1->sFilterRegister[bankno].FR1 = (0x8f<<16) | 0x8f;
CAN1->sFilterRegister[bankno].FR2 = (0x8f<<16) | 0x8f;
switch(nfilt){
case 4:
F2 = filters[3] << 21;
// fallthrough
case 3:
CAN1->sFilterRegister[bankno].FR2 = (F2 & 0xffff0000) | (filters[2] << 5);
// fallthrough
case 2:
F1 = filters[1] << 21;
// fallthrough
case 1:
CAN1->sFilterRegister[bankno].FR1 = (F1 & 0xffff0000) | (filters[0] << 5);
}
CAN1->FMR &=~ CAN_FMR_FINIT;
usart_send("Added filter with ");
printu(nfilt); usart_send(" parameters");
}
const char *helpmsg =
"https://github.com/eddyem/stm32samples/tree/master/F1:F103/canUART build#" BUILD_NUMBER " @ " BUILD_DATE "\n"
"'a' - add ID to ignore list (max 10 IDs)\n"
"'b' - reinit CAN with given baudrate\n"
"'c' - get CAN status\n"
"'d' - delete ignore list\n"
"'e' - get CAN errcodes\n"
"'f' - add/delete filter, format: bank# FIFO# mode(M/I) num0 [num1 [num2 [num3]]]\n"
"'F' - usart_send/clear flood message: F ID byte0 ... byteN\n"
"'I' - reinit CAN\n"
"'l' - list all active filters\n"
"'o' - turn LEDs OFF\n"
"'O' - turn LEDs ON\n"
"'p' - print ignore buffer\n"
"'P' - pause/resume in packets displaying\n"
"'R' - software reset\n"
"'s/S' - usart_send data over CAN: s ID byte0 .. byteN\n"
"'T' - get time from start (ms)\n"
;
TRUE_INLINE void getcanstat(){
usart_send("CAN_MSR=");
printuhex(CAN1->MSR);
usart_send("\nCAN_TSR=");
printuhex(CAN1->TSR);
usart_send("\nCAN_RF0R=");
printuhex(CAN1->RF0R);
usart_send("\nCAN_RF1R=");
printuhex(CAN1->RF1R);
}
/**
* @brief cmd_parser - command parsing
* @param txt - buffer with commands & data
*/
void cmd_parser(char *txt){
char _1st = txt[0];
/*
* parse long commands here
*/
switch(_1st){
case 'a':
addIGN(txt + 1);
goto eof;
break;
case 'b':
CANini(txt + 1);
goto eof;
break;
case 'f':
add_filter(txt + 1);
goto eof;
break;
case 'F':
set_flood(parseCANmsg(txt + 1));
goto eof;
break;
case 's':
case 'S':
usart_sendCANcommand(txt + 1);
goto eof;
break;
}
if(txt[1] != '\n') *txt = '?'; // help for wrong message length
switch(_1st){
case 'c':
getcanstat();
break;
case 'd':
IgnSz = 0;
break;
case 'e':
printCANerr();
break;
case 'I':
CAN_reinit(0);
break;
case 'l':
list_filters();
break;
case 'o':
ledsON = 0;
LED_off(LED0);
LED_off(LED1);
break;
case 'O':
ledsON = 1;
break;
case 'p':
print_ign_buf();
break;
case 'P':
ShowMsgs = !ShowMsgs;
if(ShowMsgs) usart_send("Resume\n");
else usart_send("Pause\n");
break;
case 'R':
usart_send("Soft reset\n");
usart_transmit();
// wait until DMA & USART done
while(!usart_txrdy);
while(!(USART1->SR & USART_SR_TXE));
USART1->CR1 = 0; // stop USART
NVIC_SystemReset();
break;
case 'T':
usart_send("Time (ms): ");
printu(Tms);
usart_putchar('\n');
break;
default: // help
usart_send(helpmsg);
break;
}
eof:
usart_putchar('\n');
}
// 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;
}
}
usart_send(bufptr);
}
// print 32bit unsigned int as hex
void printuhex(uint32_t val){
usart_send("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) usart_putchar(half + '0');
else usart_putchar(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;
}
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