GitHub/candleLight_fw
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less copy, fewer bugs, maybe better performance

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This commit is contained in:
Hubert Denkmair 2016-04-12 22:32:37 +02:00
parent d78ca87052
commit acdb5735d2
3 changed files with 77 additions and 32 deletions
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4
include/can.h
View File

@ -2,12 +2,14 @@
#include <stdbool.h>
#include "stm32f0xx_hal.h"
#include <gs_usb.h>
void can_init(CAN_HandleTypeDef *hcan, CAN_TypeDef *instance);
void can_set_bittiming(CAN_HandleTypeDef *hcan, uint16_t brp, uint8_t phase_seg1, uint8_t phase_seg2, uint8_t sjw);
void can_enable(CAN_HandleTypeDef *hcan, bool loop_back, bool listen_only, bool one_shot);
void can_disable(CAN_HandleTypeDef *hcan);
bool can_send(CAN_HandleTypeDef *hcan, CanTxMsgTypeDef *tx_msg, uint32_t timeout);
bool can_receive(CAN_HandleTypeDef *hcan, CanRxMsgTypeDef *rx_msg, uint32_t timeout);
bool can_is_rx_pending(CAN_HandleTypeDef *hcan);
bool can_send(CAN_HandleTypeDef *hcan, struct gs_host_frame *frame);

71
src/can.c
View File

@ -65,12 +65,6 @@ void can_disable(CAN_HandleTypeDef *hcan)
HAL_CAN_DeInit(hcan);
}
bool can_send(CAN_HandleTypeDef *hcan, CanTxMsgTypeDef *tx_msg, uint32_t timeout)
{
hcan->pTxMsg = tx_msg;
return HAL_CAN_Transmit(hcan, timeout) == HAL_OK;
}
bool can_receive(CAN_HandleTypeDef *hcan, CanRxMsgTypeDef *rx_msg, uint32_t timeout)
{
hcan->pRxMsg = rx_msg;
@ -81,3 +75,68 @@ bool can_is_rx_pending(CAN_HandleTypeDef *hcan)
{
return (__HAL_CAN_MSG_PENDING(hcan, CAN_FIFO0) > 0);
}
static CAN_TxMailBox_TypeDef *can_find_free_mailbox(CAN_HandleTypeDef *hcan)
{
uint32_t tsr = hcan->Instance->TSR;
if ( tsr & CAN_TSR_TME0 ) {
return &hcan->Instance->sTxMailBox[0];
} else if ( tsr & CAN_TSR_TME1 ) {
return &hcan->Instance->sTxMailBox[1];
} else if ( tsr & CAN_TSR_TME2 ) {
return &hcan->Instance->sTxMailBox[2];
} else {
return 0;
}
}
bool can_send(CAN_HandleTypeDef *hcan, struct gs_host_frame *frame)
{
bool retval;
__HAL_LOCK(hcan);
CAN_TxMailBox_TypeDef *mb = can_find_free_mailbox(hcan);
if (mb != 0) {
/* first, clear transmission request */
mb->TIR &= CAN_TI0R_TXRQ;
if (frame->can_id & CAN_EFF_FLAG) { // extended id
mb->TIR = CAN_ID_EXT | (frame->can_id & 0x1FFFFFFF) << 3;
} else {
mb->TIR = (frame->can_id & 0x7FF) << 21;
}
if (frame->can_id & CAN_RTR_FLAG) {
mb->TIR |= CAN_RTR_REMOTE;
}
mb->TDTR &= 0xFFFFFFF0;
mb->TDTR |= frame->can_dlc & 0x0F;
mb->TDLR =
( frame->data[3] << 24 )
| ( frame->data[2] << 16 )
| ( frame->data[1] << 8 )
| ( frame->data[0] << 0 );
mb->TDHR =
( frame->data[7] << 24 )
| ( frame->data[6] << 16 )
| ( frame->data[5] << 8 )
| ( frame->data[4] << 0 );
/* request transmission */
mb->TIR |= CAN_TI0R_TXRQ;
retval = true;
} else {
retval = false;
}
__HAL_UNLOCK(hcan);
return retval;
}

34
src/main.c
View File

@ -7,7 +7,7 @@
#include <gs_usb.h>
#include <can.h>
#define CAN_QUEUE_SIZE 32
#define CAN_QUEUE_SIZE 64
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
@ -32,6 +32,7 @@ bool send_to_host_or_enqueue(struct gs_host_frame *frame)
return retval;
}
int main(void)
{
@ -65,32 +66,15 @@ int main(void)
while (1) {
if (queue_size(q_from_host)>0) { // send can message from host
CanTxMsgTypeDef tx_msg;
struct gs_host_frame *frame = queue_pop_front(q_from_host);
struct gs_host_frame *frame = queue_pop_front(q_from_host);
if (frame != 0) { // send can message from host
if (frame != 0) {
if ((frame->can_id & CAN_EFF_FLAG) != 0) {
tx_msg.IDE = CAN_ID_EXT;
tx_msg.ExtId = frame->can_id & 0x1FFFFFFF;
} else {
tx_msg.IDE = CAN_ID_STD;
tx_msg.StdId = frame->can_id & 0x7FF;
}
if ((frame->can_id & CAN_RTR_FLAG) != 0) {
tx_msg.RTR = CAN_RTR_REMOTE;
}
tx_msg.DLC = MIN(8,frame->can_dlc);
memcpy(tx_msg.Data, frame->data, tx_msg.DLC);
if (can_send(&hCAN, &tx_msg, 10)) {
send_to_host_or_enqueue(frame);
} else {
queue_push_front(q_from_host, frame); // retry later
}
if (can_send(&hCAN, frame)) {
send_to_host_or_enqueue(frame);
} else {
queue_push_front(q_from_host, frame); // retry later
}
}
if (USBD_GS_CAN_TxReady(&hUSB)) {