mirror of https://github.com/Desuuuu/klipper.git
canbus: Move high-level CAN code to new src/generic/canbus.c
Separate out the high-level command processing logic from the low-level transmission code. Place the high-level code in src/generic/canbus.c . This also removes the CAN dependency on serial_irq.c . Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
parent
bee544eaca
commit
d9f6abdb56
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@ -0,0 +1,227 @@
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// Generic handling of serial over CAN support
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//
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// Copyright (C) 2019 Eug Krashtan <eug.krashtan@gmail.com>
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// Copyright (C) 2020 Pontus Borg <glpontus@gmail.com>
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// Copyright (C) 2021 Kevin O'Connor <kevin@koconnor.net>
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//
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// This file may be distributed under the terms of the GNU GPLv3 license.
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#include <string.h> // memcpy
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#include "canbus.h" // canbus_set_uuid
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#include "command.h" // DECL_CONSTANT
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#include "sched.h" // sched_wake_task
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static uint32_t canbus_assigned_id;
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static uint8_t canbus_uuid[CANBUS_UUID_LEN];
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/****************************************************************
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* Data transmission over CAN
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****************************************************************/
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static struct task_wake canbus_tx_wake;
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static uint8_t transmit_buf[96], transmit_pos, transmit_max;
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void
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canbus_notify_tx(void)
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{
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sched_wake_task(&canbus_tx_wake);
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}
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void
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canbus_tx_task(void)
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{
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if (!sched_check_wake(&canbus_tx_wake))
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return;
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uint32_t id = canbus_assigned_id;
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if (!id) {
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transmit_pos = transmit_max = 0;
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return;
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}
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uint32_t tpos = transmit_pos, tmax = transmit_max;
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for (;;) {
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int avail = tmax - tpos, now = avail > 8 ? 8 : avail;
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if (avail <= 0)
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break;
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int ret = canbus_send(id + 1, now, &transmit_buf[tpos]);
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if (ret <= 0)
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break;
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tpos += now;
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}
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transmit_pos = tpos;
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}
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DECL_TASK(canbus_tx_task);
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// Encode and transmit a "response" message
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void
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console_sendf(const struct command_encoder *ce, va_list args)
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{
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// Verify space for message
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uint32_t tpos = transmit_pos, tmax = transmit_max;
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if (tpos >= tmax)
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transmit_pos = transmit_max = tpos = tmax = 0;
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uint32_t max_size = ce->max_size;
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if (tmax + max_size > sizeof(transmit_buf)) {
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if (tmax + max_size - tpos > sizeof(transmit_buf))
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// Not enough space for message
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return;
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// Move buffer
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tmax -= tpos;
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memmove(&transmit_buf[0], &transmit_buf[tpos], tmax);
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transmit_pos = tpos = 0;
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transmit_max = tmax;
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}
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// Generate message
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uint32_t msglen = command_encode_and_frame(&transmit_buf[tmax], ce, args);
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// Start message transmit
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transmit_max = tmax + msglen;
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canbus_notify_tx();
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}
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/****************************************************************
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* CAN command handling
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****************************************************************/
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static uint8_t receive_buf[192], receive_pos;
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DECL_CONSTANT("RECEIVE_WINDOW", ARRAY_SIZE(receive_buf));
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static void
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can_process_data(uint32_t id, uint32_t len, uint8_t *data)
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{
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int rpos = receive_pos;
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if (len > sizeof(receive_buf) - rpos)
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len = sizeof(receive_buf) - rpos;
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memcpy(&receive_buf[rpos], data, len);
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receive_pos = rpos + len;
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}
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// Helper to retry sending until successful
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static void
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canbus_send_blocking(uint32_t id, uint32_t len, uint8_t *data)
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{
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for (;;) {
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int ret = canbus_send(id, len, data);
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if (ret >= 0)
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return;
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}
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}
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static void
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can_process_ping(uint32_t id, uint32_t len, uint8_t *data)
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{
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canbus_send_blocking(canbus_assigned_id + 1, 0, NULL);
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}
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static void
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can_process_reset(uint32_t id, uint32_t len, uint8_t *data)
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{
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uint32_t reset_id = data[0] | (data[1] << 8);
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if (reset_id == canbus_assigned_id)
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canbus_reboot();
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}
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static void
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can_process_uuid(uint32_t id, uint32_t len, uint8_t *data)
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{
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if (canbus_assigned_id)
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return;
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canbus_send_blocking(CANBUS_ID_UUID_RESP, sizeof(canbus_uuid), canbus_uuid);
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}
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static void
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can_process_set_id(uint32_t id, uint32_t len, uint8_t *data)
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{
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// compare my UUID with packet to check if this packet mine
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if (memcmp(&data[2], canbus_uuid, sizeof(canbus_uuid)) == 0) {
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canbus_assigned_id = data[0] | (data[1] << 8);
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canbus_set_dataport(canbus_assigned_id);
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}
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}
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static void
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can_process(uint32_t id, uint32_t len, uint8_t *data)
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{
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if (id == canbus_assigned_id) {
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if (len)
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can_process_data(id, len, data);
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else
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can_process_ping(id, len, data);
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} else if (id == CANBUS_ID_UUID) {
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if (len)
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can_process_reset(id, len, data);
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else
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can_process_uuid(id, len, data);
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} else if (id==CANBUS_ID_SET) {
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can_process_set_id(id, len, data);
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}
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}
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/****************************************************************
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* CAN packet reading
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****************************************************************/
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static struct task_wake canbus_rx_wake;
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void
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canbus_notify_rx(void)
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{
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sched_wake_task(&canbus_rx_wake);
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}
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void
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canbus_rx_task(void)
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{
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if (!sched_check_wake(&canbus_rx_wake))
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return;
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// Read any pending CAN packets
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for (;;) {
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uint8_t data[8];
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uint32_t id;
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int ret = canbus_read(&id, data);
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if (ret < 0)
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break;
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can_process(id, ret, data);
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}
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// Check for a complete message block and process it
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uint_fast8_t rpos = receive_pos, pop_count;
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int ret = command_find_and_dispatch(receive_buf, rpos, &pop_count);
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if (ret) {
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// Move buffer
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int needcopy = rpos - pop_count;
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if (needcopy) {
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memmove(receive_buf, &receive_buf[pop_count], needcopy);
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canbus_notify_rx();
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}
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rpos = needcopy;
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}
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receive_pos = rpos;
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}
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DECL_TASK(canbus_rx_task);
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/****************************************************************
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* Setup and shutdown
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****************************************************************/
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void
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canbus_set_uuid(void *uuid)
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{
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memcpy(canbus_uuid, uuid, sizeof(canbus_uuid));
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// Send initial message
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can_process_uuid(0, 0, NULL);
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}
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void
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canbus_shutdown(void)
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{
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canbus_notify_tx();
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canbus_notify_rx();
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}
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DECL_SHUTDOWN(canbus_shutdown);
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@ -0,0 +1,22 @@
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#ifndef __CANBUS_H__
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#define __CANBUS_H__
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#include <stdint.h> // uint32_t
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#define CANBUS_ID_UUID 0x321
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#define CANBUS_ID_SET 0x322
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#define CANBUS_ID_UUID_RESP 0x323
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#define CANBUS_UUID_LEN 6
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// callbacks provided by board specific code
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int canbus_read(uint32_t *id, uint8_t *data);
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int canbus_send(uint32_t id, uint32_t len, uint8_t *data);
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void canbus_set_dataport(uint32_t id);
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void canbus_reboot(void);
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// canbus.c
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void canbus_notify_tx(void);
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void canbus_notify_rx(void);
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void canbus_set_uuid(void *data);
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#endif // canbus.h
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@ -176,9 +176,9 @@ config CANSERIAL
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bool "Use CAN for communication (instead of serial)"
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depends on !USBSERIAL
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default n
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config SERIAL_BAUD
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config CANBUS_FREQUENCY
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int "CAN bus speed" if LOW_LEVEL_OPTIONS && CANSERIAL
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default 500000 if CANSERIAL
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default 500000
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choice
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depends on CANSERIAL
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prompt "CAN pins"
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@ -46,8 +46,8 @@ src-$(CONFIG_USBSERIAL) += $(usb-src-y) stm32/chipid.c generic/usb_cdc.c
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serial-src-y := stm32/serial.c
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serial-src-$(CONFIG_MACH_STM32F0) := stm32/stm32f0_serial.c
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src-$(CONFIG_SERIAL) += $(serial-src-y) generic/serial_irq.c
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can-src-$(CONFIG_CANSERIAL) += stm32/can.c ../lib/fast-hash/fasthash.c
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src-$(CONFIG_CANSERIAL) += $(can-src-y) generic/serial_irq.c
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src-$(CONFIG_CANSERIAL) += stm32/can.c ../lib/fast-hash/fasthash.c
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src-$(CONFIG_CANSERIAL) += generic/canbus.c
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dirs-$(CONFIG_CANSERIAL) += lib/fast-hash
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247
src/stm32/can.c
247
src/stm32/can.c
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@ -9,10 +9,10 @@
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#include <string.h> // memcpy
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#include "autoconf.h" // CONFIG_MACH_STM32F1
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#include "board/irq.h" // irq_disable
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#include "can.h" // SHORT_UUID_LEN
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#include "command.h" // DECL_CONSTANT_STR
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#include "fasthash.h" // fasthash64
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#include "generic/armcm_boot.h" // armcm_enable_irq
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#include "generic/canbus.h" // canbus_notify_tx
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#include "generic/serial_irq.h" // serial_rx_byte
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#include "internal.h" // enable_pclock
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#include "sched.h" // DECL_INIT
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@ -87,64 +87,76 @@
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#error No known CAN device for configured MCU
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#endif
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static uint16_t MyCanId = 0;
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static int
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can_find_empty_tx_mbox(void)
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// Read the next CAN packet
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int
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canbus_read(uint32_t *id, uint8_t *data)
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{
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uint32_t tsr = SOC_CAN->TSR;
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if (tsr & (CAN_TSR_TME0|CAN_TSR_TME1|CAN_TSR_TME2))
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return (tsr & CAN_TSR_CODE) >> CAN_TSR_CODE_Pos;
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return -1;
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if (!(SOC_CAN->RF0R & CAN_RF0R_FMP0)) {
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// All rx mboxes empty, enable wake on rx IRQ
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irq_disable();
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SOC_CAN->IER |= CAN_IER_FMPIE0;
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irq_enable();
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return -1;
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}
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// Read and ack packet
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CAN_FIFOMailBox_TypeDef *mb = &SOC_CAN->sFIFOMailBox[0];
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uint32_t rir_id = (mb->RIR >> CAN_RI0R_STID_Pos) & 0x7FF;
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uint32_t dlc = mb->RDTR & CAN_RDT0R_DLC;
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uint32_t rdlr = mb->RDLR, rdhr = mb->RDHR;
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SOC_CAN->RF0R = CAN_RF0R_RFOM0;
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// Return packet
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*id = rir_id;
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data[0] = (rdlr >> 0) & 0xff;
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data[1] = (rdlr >> 8) & 0xff;
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data[2] = (rdlr >> 16) & 0xff;
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data[3] = (rdlr >> 24) & 0xff;
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data[4] = (rdhr >> 0) & 0xff;
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data[5] = (rdhr >> 8) & 0xff;
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data[6] = (rdhr >> 16) & 0xff;
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data[7] = (rdhr >> 24) & 0xff;
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return dlc;
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}
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static void
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can_transmit_mbox(uint32_t id, int mbox, uint32_t dlc, uint8_t *pkt)
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// Transmit a packet
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int
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canbus_send(uint32_t id, uint32_t len, uint8_t *data)
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{
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uint32_t tsr = SOC_CAN->TSR;
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if (!(tsr & (CAN_TSR_TME0|CAN_TSR_TME1|CAN_TSR_TME2))) {
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// No space in transmit fifo - enable tx irq
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irq_disable();
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SOC_CAN->IER |= CAN_IER_TMEIE;
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irq_enable();
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return -1;
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}
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int mbox = (tsr & CAN_TSR_CODE) >> CAN_TSR_CODE_Pos;
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CAN_TxMailBox_TypeDef *mb = &SOC_CAN->sTxMailBox[mbox];
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/* Set up the DLC */
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mb->TDTR = (mb->TDTR & 0xFFFFFFF0) | (dlc & 0x0F);
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mb->TDTR = (mb->TDTR & 0xFFFFFFF0) | (len & 0x0F);
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/* Set up the data field */
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if (pkt) {
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mb->TDLR = (((uint32_t)pkt[3] << 24)
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| ((uint32_t)pkt[2] << 16)
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| ((uint32_t)pkt[1] << 8)
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| ((uint32_t)pkt[0] << 0));
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mb->TDHR = (((uint32_t)pkt[7] << 24)
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| ((uint32_t)pkt[6] << 16)
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| ((uint32_t)pkt[5] << 8)
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| ((uint32_t)pkt[4] << 0));
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if (len) {
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mb->TDLR = (((uint32_t)data[3] << 24)
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| ((uint32_t)data[2] << 16)
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| ((uint32_t)data[1] << 8)
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| ((uint32_t)data[0] << 0));
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mb->TDHR = (((uint32_t)data[7] << 24)
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| ((uint32_t)data[6] << 16)
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| ((uint32_t)data[5] << 8)
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| ((uint32_t)data[4] << 0));
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}
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/* Request transmission */
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mb->TIR = (id << CAN_TI0R_STID_Pos) | CAN_TI0R_TXRQ;
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}
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// Blocking transmit function
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static void
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can_transmit(uint32_t id, uint32_t dlc, uint8_t *pkt)
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{
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int mbox = -1;
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do {
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mbox = can_find_empty_tx_mbox();
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} while (mbox < 0);
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can_transmit_mbox(id, mbox, dlc, pkt);
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}
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// Convert Unique 96-bit value into 48 bit representation
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static void
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pack_uuid(uint8_t *u)
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{
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uint64_t hash = fasthash64((uint8_t*)UID_BASE, 12, 0xA16231A7);
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memcpy(u, &hash, SHORT_UUID_LEN);
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return len;
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}
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#define CAN_FILTER_NUMBER 0
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// Setup the receive packet filter
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static void
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can_set_filter(uint32_t id1, uint32_t id2)
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{
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@ -172,145 +184,33 @@ can_set_filter(uint32_t id1, uint32_t id2)
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SOC_CAN->FMR &= ~CAN_FMR_FINIT;
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}
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static void
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can_process_data(uint32_t id, uint32_t dlc, uint8_t *data)
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void
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canbus_set_dataport(uint32_t id)
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{
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int i;
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for (i=0; i < dlc; i++)
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serial_rx_byte(data[i]);
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can_set_filter(CANBUS_ID_UUID, id);
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}
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static void
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can_process_ping(uint32_t id, uint32_t dlc, uint8_t *data)
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{
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can_transmit(MyCanId+1, 0, NULL);
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}
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static void
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can_process_reset(uint32_t id, uint32_t dlc, uint8_t *data)
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{
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uint32_t reset_id = data[0] | (data[1] << 8);
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if (reset_id == MyCanId)
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NVIC_SystemReset();
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}
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static void
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can_process_uuid(uint32_t id, uint32_t dlc, uint8_t *data)
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{
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if (MyCanId)
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return;
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uint8_t short_uuid[SHORT_UUID_LEN];
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pack_uuid(short_uuid);
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can_transmit(PKT_ID_UUID_RESP, SHORT_UUID_LEN, short_uuid);
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}
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static void
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can_process_set_id(uint32_t id, uint32_t dlc, uint8_t *data)
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{
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uint8_t short_uuid[SHORT_UUID_LEN];
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pack_uuid(short_uuid);
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// compare my UUID with packet to check if this packet mine
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if (memcmp(&data[2], short_uuid, SHORT_UUID_LEN) == 0) {
|
||||
MyCanId = data[0] | (data[1] << 8);
|
||||
can_set_filter(MyCanId, PKT_ID_UUID);
|
||||
}
|
||||
}
|
||||
|
||||
static void
|
||||
can_process(uint32_t id, uint32_t dlc, uint8_t *data)
|
||||
{
|
||||
if (id == MyCanId) {
|
||||
if (dlc)
|
||||
can_process_data(id, dlc, data);
|
||||
else
|
||||
can_process_ping(id, dlc, data);
|
||||
} else if (id == PKT_ID_UUID) {
|
||||
if (dlc)
|
||||
can_process_reset(id, dlc, data);
|
||||
else
|
||||
can_process_uuid(id, dlc, data);
|
||||
} else if (id==PKT_ID_SET) {
|
||||
can_process_set_id(id, dlc, data);
|
||||
}
|
||||
}
|
||||
|
||||
static struct task_wake canbus_wake;
|
||||
|
||||
void
|
||||
can_dispatch_task(void)
|
||||
canbus_reboot(void)
|
||||
{
|
||||
if (!sched_check_wake(&canbus_wake))
|
||||
return;
|
||||
|
||||
// Check for rx
|
||||
for (;;) {
|
||||
if (!(SOC_CAN->RF0R & CAN_RF0R_FMP0)) {
|
||||
// All rx mboxes empty, enable wake on rx IRQ
|
||||
irq_disable();
|
||||
SOC_CAN->IER |= CAN_IER_FMPIE0;
|
||||
irq_enable();
|
||||
break;
|
||||
}
|
||||
|
||||
// Read and ack packet
|
||||
CAN_FIFOMailBox_TypeDef *mb = &SOC_CAN->sFIFOMailBox[0];
|
||||
uint32_t id = (mb->RIR >> CAN_RI0R_STID_Pos) & 0x7FF;
|
||||
uint32_t dlc = mb->RDTR & CAN_RDT0R_DLC;
|
||||
uint32_t rdlr = mb->RDLR, rdhr = mb->RDHR;
|
||||
SOC_CAN->RF0R = CAN_RF0R_RFOM0;
|
||||
|
||||
// Process packet
|
||||
uint8_t data[8];
|
||||
data[0] = (rdlr >> 0) & 0xff;
|
||||
data[1] = (rdlr >> 8) & 0xff;
|
||||
data[2] = (rdlr >> 16) & 0xff;
|
||||
data[3] = (rdlr >> 24) & 0xff;
|
||||
data[4] = (rdhr >> 0) & 0xff;
|
||||
data[5] = (rdhr >> 8) & 0xff;
|
||||
data[6] = (rdhr >> 16) & 0xff;
|
||||
data[7] = (rdhr >> 24) & 0xff;
|
||||
can_process(id, dlc, data);
|
||||
}
|
||||
|
||||
// Check for tx data
|
||||
for (;;) {
|
||||
int mbox = can_find_empty_tx_mbox();
|
||||
if (mbox < 0) {
|
||||
// All tx mboxes full, enable wake on tx IRQ
|
||||
irq_disable();
|
||||
SOC_CAN->IER |= CAN_IER_TMEIE;
|
||||
irq_enable();
|
||||
break;
|
||||
}
|
||||
int i;
|
||||
uint8_t databuf[8];
|
||||
for (i=0; i<8; i++) {
|
||||
if (serial_get_tx_byte(&(databuf[i])) == -1)
|
||||
break;
|
||||
}
|
||||
if (!i)
|
||||
break;
|
||||
can_transmit_mbox(MyCanId+1, mbox, i, databuf);
|
||||
}
|
||||
NVIC_SystemReset();
|
||||
}
|
||||
DECL_TASK(can_dispatch_task);
|
||||
|
||||
// This function handles CAN global interrupts
|
||||
void
|
||||
CAN_IRQHandler(void)
|
||||
{
|
||||
if (SOC_CAN->RF0R & CAN_RF0R_FMP0) {
|
||||
// Rx
|
||||
SOC_CAN->IER &= ~CAN_IER_FMPIE0;
|
||||
sched_wake_task(&canbus_wake);
|
||||
}
|
||||
uint32_t ier = SOC_CAN->IER;
|
||||
if (ier & CAN_IER_FMPIE0 && SOC_CAN->RF0R & CAN_RF0R_FMP0) {
|
||||
// Rx
|
||||
SOC_CAN->IER = ier = ier & ~CAN_IER_FMPIE0;
|
||||
canbus_notify_rx();
|
||||
}
|
||||
if (ier & CAN_IER_TMEIE
|
||||
&& SOC_CAN->TSR & (CAN_TSR_RQCP0|CAN_TSR_RQCP1|CAN_TSR_RQCP2)) {
|
||||
// Tx
|
||||
SOC_CAN->IER &= ~CAN_IER_TMEIE;
|
||||
sched_wake_task(&canbus_wake);
|
||||
SOC_CAN->IER = ier & ~CAN_IER_TMEIE;
|
||||
canbus_notify_tx();
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -372,7 +272,7 @@ can_init(void)
|
|||
|
||||
uint32_t pclock = get_pclock_frequency((uint32_t)SOC_CAN);
|
||||
|
||||
uint32_t btr = compute_btr(pclock, CONFIG_SERIAL_BAUD);
|
||||
uint32_t btr = compute_btr(pclock, CONFIG_CANBUS_FREQUENCY);
|
||||
|
||||
/*##-1- Configure the CAN #######################################*/
|
||||
|
||||
|
|
@ -392,7 +292,7 @@ can_init(void)
|
|||
;
|
||||
|
||||
/*##-2- Configure the CAN Filter #######################################*/
|
||||
can_set_filter(PKT_ID_UUID, PKT_ID_SET);
|
||||
can_set_filter(CANBUS_ID_UUID, CANBUS_ID_SET);
|
||||
|
||||
/*##-3- Configure Interrupts #################################*/
|
||||
|
||||
|
|
@ -404,13 +304,8 @@ can_init(void)
|
|||
if (CAN_RX0_IRQn != CAN_TX_IRQn)
|
||||
armcm_enable_irq(CAN_IRQHandler, CAN_TX_IRQn, 0);
|
||||
|
||||
/*##-4- Say Hello #################################*/
|
||||
can_process_uuid(0, 0, NULL);
|
||||
// Convert unique 96-bit chip id into 48 bit representation
|
||||
uint64_t hash = fasthash64((uint8_t*)UID_BASE, 12, 0xA16231A7);
|
||||
canbus_set_uuid(&hash);
|
||||
}
|
||||
DECL_INIT(can_init);
|
||||
|
||||
void
|
||||
serial_enable_tx_irq(void)
|
||||
{
|
||||
sched_wake_task(&canbus_wake);
|
||||
}
|
||||
|
|
|
|||
|
|
@ -1,13 +0,0 @@
|
|||
#ifndef __STM32_CAN_H__
|
||||
#define __STM32_CAN_H__
|
||||
|
||||
// Read UUID (6bytes)
|
||||
#define PKT_ID_UUID (0x321)
|
||||
// Set address (2bytes) to UUID (6b)
|
||||
#define PKT_ID_SET (0x322)
|
||||
// UUID response from slave (6bytes)
|
||||
#define PKT_ID_UUID_RESP (0x323)
|
||||
|
||||
#define SHORT_UUID_LEN (6)
|
||||
|
||||
#endif /* __STM32_CAN_H__*/
|
||||
Loading…
Reference in New Issue