diff --git a/include/can.h b/include/can.h index c236f31..a3ced9b 100644 --- a/include/can.h +++ b/include/can.h @@ -1,5 +1,6 @@ #pragma once +#include #include #include "stm32f0xx_hal.h" #include @@ -13,3 +14,6 @@ bool can_receive(CAN_HandleTypeDef *hcan, struct gs_host_frame *rx_frame); bool can_is_rx_pending(CAN_HandleTypeDef *hcan); bool can_send(CAN_HandleTypeDef *hcan, struct gs_host_frame *frame); + +uint32_t can_get_error_status(CAN_HandleTypeDef *hcan); +bool can_parse_error_status(uint32_t err, struct gs_host_frame *frame); diff --git a/include/gs_usb.h b/include/gs_usb.h index 175764a..62a4c5c 100644 --- a/include/gs_usb.h +++ b/include/gs_usb.h @@ -22,6 +22,82 @@ #define CAN_RTR_FLAG 0x40000000U /* remote transmission request */ #define CAN_ERR_FLAG 0x20000000U /* error message frame */ +#define CAN_ERR_DLC 8 /* dlc for error message frames */ + +/* error class (mask) in can_id */ +#define CAN_ERR_TX_TIMEOUT 0x00000001U /* TX timeout (by netdevice driver) */ +#define CAN_ERR_LOSTARB 0x00000002U /* lost arbitration / data[0] */ +#define CAN_ERR_CRTL 0x00000004U /* controller problems / data[1] */ +#define CAN_ERR_PROT 0x00000008U /* protocol violations / data[2..3] */ +#define CAN_ERR_TRX 0x00000010U /* transceiver status / data[4] */ +#define CAN_ERR_ACK 0x00000020U /* received no ACK on transmission */ +#define CAN_ERR_BUSOFF 0x00000040U /* bus off */ +#define CAN_ERR_BUSERROR 0x00000080U /* bus error (may flood!) */ +#define CAN_ERR_RESTARTED 0x00000100U /* controller restarted */ + +/* arbitration lost in bit ... / data[0] */ +#define CAN_ERR_LOSTARB_UNSPEC 0x00 /* unspecified */ + /* else bit number in bitstream */ + +/* error status of CAN-controller / data[1] */ +#define CAN_ERR_CRTL_UNSPEC 0x00 /* unspecified */ +#define CAN_ERR_CRTL_RX_OVERFLOW 0x01 /* RX buffer overflow */ +#define CAN_ERR_CRTL_TX_OVERFLOW 0x02 /* TX buffer overflow */ +#define CAN_ERR_CRTL_RX_WARNING 0x04 /* reached warning level for RX errors */ +#define CAN_ERR_CRTL_TX_WARNING 0x08 /* reached warning level for TX errors */ +#define CAN_ERR_CRTL_RX_PASSIVE 0x10 /* reached error passive status RX */ +#define CAN_ERR_CRTL_TX_PASSIVE 0x20 /* reached error passive status TX */ + /* (at least one error counter exceeds */ + /* the protocol-defined level of 127) */ +#define CAN_ERR_CRTL_ACTIVE 0x40 /* recovered to error active state */ + +/* error in CAN protocol (type) / data[2] */ +#define CAN_ERR_PROT_UNSPEC 0x00 /* unspecified */ +#define CAN_ERR_PROT_BIT 0x01 /* single bit error */ +#define CAN_ERR_PROT_FORM 0x02 /* frame format error */ +#define CAN_ERR_PROT_STUFF 0x04 /* bit stuffing error */ +#define CAN_ERR_PROT_BIT0 0x08 /* unable to send dominant bit */ +#define CAN_ERR_PROT_BIT1 0x10 /* unable to send recessive bit */ +#define CAN_ERR_PROT_OVERLOAD 0x20 /* bus overload */ +#define CAN_ERR_PROT_ACTIVE 0x40 /* active error announcement */ +#define CAN_ERR_PROT_TX 0x80 /* error occurred on transmission */ + +/* error in CAN protocol (location) / data[3] */ +#define CAN_ERR_PROT_LOC_UNSPEC 0x00 /* unspecified */ +#define CAN_ERR_PROT_LOC_SOF 0x03 /* start of frame */ +#define CAN_ERR_PROT_LOC_ID28_21 0x02 /* ID bits 28 - 21 (SFF: 10 - 3) */ +#define CAN_ERR_PROT_LOC_ID20_18 0x06 /* ID bits 20 - 18 (SFF: 2 - 0 )*/ +#define CAN_ERR_PROT_LOC_SRTR 0x04 /* substitute RTR (SFF: RTR) */ +#define CAN_ERR_PROT_LOC_IDE 0x05 /* identifier extension */ +#define CAN_ERR_PROT_LOC_ID17_13 0x07 /* ID bits 17-13 */ +#define CAN_ERR_PROT_LOC_ID12_05 0x0F /* ID bits 12-5 */ +#define CAN_ERR_PROT_LOC_ID04_00 0x0E /* ID bits 4-0 */ +#define CAN_ERR_PROT_LOC_RTR 0x0C /* RTR */ +#define CAN_ERR_PROT_LOC_RES1 0x0D /* reserved bit 1 */ +#define CAN_ERR_PROT_LOC_RES0 0x09 /* reserved bit 0 */ +#define CAN_ERR_PROT_LOC_DLC 0x0B /* data length code */ +#define CAN_ERR_PROT_LOC_DATA 0x0A /* data section */ +#define CAN_ERR_PROT_LOC_CRC_SEQ 0x08 /* CRC sequence */ +#define CAN_ERR_PROT_LOC_CRC_DEL 0x18 /* CRC delimiter */ +#define CAN_ERR_PROT_LOC_ACK 0x19 /* ACK slot */ +#define CAN_ERR_PROT_LOC_ACK_DEL 0x1B /* ACK delimiter */ +#define CAN_ERR_PROT_LOC_EOF 0x1A /* end of frame */ +#define CAN_ERR_PROT_LOC_INTERM 0x12 /* intermission */ + +/* error status of CAN-transceiver / data[4] */ +/* CANH CANL */ +#define CAN_ERR_TRX_UNSPEC 0x00 /* 0000 0000 */ +#define CAN_ERR_TRX_CANH_NO_WIRE 0x04 /* 0000 0100 */ +#define CAN_ERR_TRX_CANH_SHORT_TO_BAT 0x05 /* 0000 0101 */ +#define CAN_ERR_TRX_CANH_SHORT_TO_VCC 0x06 /* 0000 0110 */ +#define CAN_ERR_TRX_CANH_SHORT_TO_GND 0x07 /* 0000 0111 */ +#define CAN_ERR_TRX_CANL_NO_WIRE 0x40 /* 0100 0000 */ +#define CAN_ERR_TRX_CANL_SHORT_TO_BAT 0x50 /* 0101 0000 */ +#define CAN_ERR_TRX_CANL_SHORT_TO_VCC 0x60 /* 0110 0000 */ +#define CAN_ERR_TRX_CANL_SHORT_TO_GND 0x70 /* 0111 0000 */ +#define CAN_ERR_TRX_CANL_SHORT_TO_CANH 0x80 /* 1000 0000 */ + + enum gs_usb_breq { GS_USB_BREQ_HOST_FORMAT = 0, GS_USB_BREQ_BITTIMING, diff --git a/src/can.c b/src/can.c index 51c4d6e..86afb5e 100644 --- a/src/can.c +++ b/src/can.c @@ -173,3 +173,73 @@ bool can_send(CAN_HandleTypeDef *hcan, struct gs_host_frame *frame) return retval; } +uint32_t can_get_error_status(CAN_HandleTypeDef *hcan) +{ + return hcan->Instance->ESR; +} + +bool can_parse_error_status(uint32_t err, struct gs_host_frame *frame) +{ + frame->can_id = CAN_ERR_FLAG; + frame->can_dlc = CAN_ERR_DLC; + frame->data[1] = CAN_ERR_CRTL_UNSPEC; + frame->data[2] = CAN_ERR_PROT_UNSPEC; + frame->data[3] = CAN_ERR_PROT_LOC_UNSPEC; + + if ((err & 0x04) != 0) { /* bus off flag */ + frame->can_id |= CAN_ERR_BUSOFF; + } + + uint8_t tx_error_cnt = (err>>16) & 0xFF; + if (tx_error_cnt >= 96) { /* tx error warning level reached */ + frame->can_id |= CAN_ERR_CRTL; + frame->data[1] |= CAN_ERR_CRTL_TX_WARNING; + } + if (tx_error_cnt > 127) { /* tx error passive level reached */ + frame->can_id |= CAN_ERR_CRTL; + frame->data[1] |= CAN_ERR_CRTL_TX_PASSIVE; + } + + uint8_t rx_error_cnt = (err>>24) & 0xFF; + if (rx_error_cnt >= 96) { /* rx error warning level reached */ + frame->can_id |= CAN_ERR_CRTL; + frame->data[1] |= CAN_ERR_CRTL_RX_WARNING; + } + if (rx_error_cnt > 127) { /* rx error passive level reached */ + frame->can_id |= CAN_ERR_CRTL; + frame->data[1] |= CAN_ERR_CRTL_RX_PASSIVE; + } + + uint8_t lec = (err>>4) & 0x07; + if (lec!=0) { /* protocol error */ + switch (lec) { + case 0x01: /* stuff error */ + frame->can_id |= CAN_ERR_PROT; + frame->data[2] |= CAN_ERR_PROT_STUFF; + break; + case 0x02: /* form error */ + frame->can_id |= CAN_ERR_PROT; + frame->data[2] |= CAN_ERR_PROT_FORM; + break; + case 0x03: /* ack error */ + frame->can_id |= CAN_ERR_ACK; + break; + case 0x04: /* bit recessive error */ + frame->can_id |= CAN_ERR_PROT; + frame->data[2] |= CAN_ERR_PROT_BIT1; + break; + case 0x05: /* bit dominant error */ + frame->can_id |= CAN_ERR_PROT; + frame->data[2] |= CAN_ERR_PROT_BIT0; + break; + case 0x06: /* CRC error */ + frame->can_id |= CAN_ERR_PROT; + frame->data[3] |= CAN_ERR_PROT_LOC_CRC_SEQ; + break; + default: + break; + } + } + + return true; +} diff --git a/src/main.c b/src/main.c index a40c93c..b679b9d 100644 --- a/src/main.c +++ b/src/main.c @@ -36,6 +36,7 @@ bool send_to_host_or_enqueue(struct gs_host_frame *frame) int main(void) { + uint32_t last_can_error_status = 0; HAL_Init(); SystemClock_Config(); @@ -111,6 +112,20 @@ int main(void) } + uint32_t can_err = can_get_error_status(&hCAN); + if (can_err != last_can_error_status) { + struct gs_host_frame *frame = queue_pop_front(q_frame_pool); + if (frame != 0) { + if (can_parse_error_status(can_err, frame)) { + send_to_host_or_enqueue(frame); + last_can_error_status = can_err; + } else { + queue_push_back(q_frame_pool, frame); + } + + } + } + led_update(&hLED); }