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main: move per channel CAN handling code out of main loop into separate functions

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No functional change intended.
This commit is contained in:
Marc Kleine-Budde 2022-11-20 00:17:56 +01:00 committed by Marc Kleine-Budde
parent 844e6c31f4
commit 78bafcf07b
4 changed files with 171 additions and 82 deletions
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1
CMakeLists.txt
View File

@ -66,6 +66,7 @@ set(
src/usbd_conf.c
include/can.h src/can.c
include/can_common.h src/can_common.c
include/device.h
include/dfu.h src/dfu.c
include/gpio.h src/gpio.c

36
include/can_common.h Normal file
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@ -0,0 +1,36 @@
/*
The MIT License (MIT)
Copyright (c) 2016 Hubert Denkmair
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in
all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.
*/
#pragma once
#include <stdint.h>
#include "can.h"
#include "usbd_gs_can.h"
void CAN_SendFrame(USBD_GS_CAN_HandleTypeDef *hcan, can_data_t *channel);
void CAN_ReceiveFrame(USBD_GS_CAN_HandleTypeDef *hcan, can_data_t *channel);
void CAN_HandleError(USBD_GS_CAN_HandleTypeDef *hcan, can_data_t *channel);

129
src/can_common.c Normal file
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@ -0,0 +1,129 @@
/*
The MIT License (MIT)
Copyright (c) 2016 Hubert Denkmair
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in
all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.
*/
#include "can_common.h"
#include "led.h"
#include "timer.h"
#include "usbd_gs_can.h"
void CAN_SendFrame(USBD_GS_CAN_HandleTypeDef *hcan, can_data_t *channel)
{
struct gs_host_frame_object *frame_object;
bool was_irq_enabled = disable_irq();
frame_object = list_first_entry_or_null(&channel->list_from_host,
struct gs_host_frame_object,
list);
if (frame_object) { // send CAN message from host
struct gs_host_frame *frame = &frame_object->frame;
list_del(&frame_object->list);
restore_irq(was_irq_enabled);
if (can_send(channel, frame)) {
// Echo sent frame back to host
frame->flags = 0x0;
frame->reserved = 0x0;
frame->timestamp_us = timer_get();
list_add_tail_locked(&frame_object->list, &hcan->list_to_host);
led_indicate_trx(&channel->leds, led_tx);
} else {
list_add_locked(&frame_object->list, &channel->list_from_host);
}
} else {
restore_irq(was_irq_enabled);
}
}
void CAN_ReceiveFrame(USBD_GS_CAN_HandleTypeDef *hcan, can_data_t *channel)
{
struct gs_host_frame_object *frame_object;
if (can_is_rx_pending(channel)) {
bool was_irq_enabled = disable_irq();
frame_object = list_first_entry_or_null(&hcan->list_frame_pool,
struct gs_host_frame_object,
list);
if (frame_object) {
struct gs_host_frame *frame = &frame_object->frame;
list_del(&frame_object->list);
restore_irq(was_irq_enabled);
if (can_receive(channel, frame)) {
frame->timestamp_us = timer_get();
frame->echo_id = 0xFFFFFFFF; // not a echo frame
frame->channel = 0;
frame->flags = 0;
frame->reserved = 0;
list_add_tail_locked(&frame_object->list, &hcan->list_to_host);
led_indicate_trx(&channel->leds, led_rx);
} else {
list_add_tail_locked(&frame_object->list, &hcan->list_frame_pool);
}
} else {
restore_irq(was_irq_enabled);
}
}
}
// If there are frames to receive, don't report any error frames. The
// best we can localize the errors to is "after the last successfully
// received frame", so wait until we get there. LEC will hold some error
// to report even if multiple pass by.
void CAN_HandleError(USBD_GS_CAN_HandleTypeDef *hcan, can_data_t *channel)
{
struct gs_host_frame_object *frame_object;
if (!can_is_rx_pending(channel)) {
uint32_t can_err = can_get_error_status(channel);
bool was_irq_enabled = disable_irq();
frame_object = list_first_entry_or_null(&hcan->list_frame_pool,
struct gs_host_frame_object,
list);
if (frame_object) {
struct gs_host_frame *frame = &frame_object->frame;
list_del(&frame_object->list);
restore_irq(was_irq_enabled);
frame->timestamp_us = timer_get();
if (can_parse_error_status(channel, frame, can_err)) {
list_add_tail_locked(&frame_object->list, &hcan->list_to_host);
} else {
list_add_tail_locked(&frame_object->list, &hcan->list_frame_pool);
}
} else {
restore_irq(was_irq_enabled);
}
}
}

87
src/main.c
View File

@ -29,6 +29,7 @@ THE SOFTWARE.
#include <stdlib.h>
#include "can.h"
#include "can_common.h"
#include "config.h"
#include "device.h"
#include "dfu.h"
@ -98,99 +99,21 @@ int main(void)
while (1) {
can_data_t *channel = &hGS_CAN.channels[0];
struct gs_host_frame_object *frame_object;
bool was_irq_enabled = disable_irq();
frame_object = list_first_entry_or_null(&channel->list_from_host,
struct gs_host_frame_object,
list);
if (frame_object) { // send CAN message from host
struct gs_host_frame *frame = &frame_object->frame;
list_del(&frame_object->list);
restore_irq(was_irq_enabled);
if (can_send(channel, frame)) {
// Echo sent frame back to host
frame->flags = 0x0;
frame->reserved = 0x0;
frame->timestamp_us = timer_get();
list_add_tail_locked(&frame_object->list, &hGS_CAN.list_to_host);
led_indicate_trx(&channel->leds, led_tx);
} else {
list_add_locked(&frame_object->list, &channel->list_from_host);
}
} else {
restore_irq(was_irq_enabled);
}
CAN_SendFrame(&hGS_CAN, channel);
USBD_GS_CAN_ReceiveFromHost(&hUSB);
USBD_GS_CAN_SendToHost(&hUSB);
if (can_is_rx_pending(channel)) {
bool was_irq_enabled = disable_irq();
frame_object = list_first_entry_or_null(&hGS_CAN.list_frame_pool,
struct gs_host_frame_object,
list);
if (frame_object) {
struct gs_host_frame *frame = &frame_object->frame;
list_del(&frame_object->list);
restore_irq(was_irq_enabled);
if (can_receive(channel, frame)) {
frame->timestamp_us = timer_get();
frame->echo_id = 0xFFFFFFFF; // not a echo frame
frame->channel = 0;
frame->flags = 0;
frame->reserved = 0;
list_add_tail_locked(&frame_object->list, &hGS_CAN.list_to_host);
led_indicate_trx(&channel->leds, led_rx);
} else {
list_add_tail_locked(&frame_object->list, &hGS_CAN.list_frame_pool);
}
} else {
restore_irq(was_irq_enabled);
}
// If there are frames to receive, don't report any error frames. The
// best we can localize the errors to is "after the last successfully
// received frame", so wait until we get there. LEC will hold some error
// to report even if multiple pass by.
} else {
uint32_t can_err = can_get_error_status(channel);
bool was_irq_enabled = disable_irq();
frame_object = list_first_entry_or_null(&hGS_CAN.list_frame_pool,
struct gs_host_frame_object,
list);
if (frame_object) {
struct gs_host_frame *frame = &frame_object->frame;
list_del(&frame_object->list);
restore_irq(was_irq_enabled);
frame->timestamp_us = timer_get();
if (can_parse_error_status(channel, frame, can_err)) {
list_add_tail_locked(&frame_object->list, &hGS_CAN.list_to_host);
} else {
list_add_tail_locked(&frame_object->list, &hGS_CAN.list_frame_pool);
}
} else {
restore_irq(was_irq_enabled);
}
}
CAN_ReceiveFrame(&hGS_CAN, channel);
CAN_HandleError(&hGS_CAN, channel);
led_update(&channel->leds);
if (USBD_GS_CAN_DfuDetachRequested(&hUSB)) {
dfu_run_bootloader();
}
}
}