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use own can_receive to avoid unnessecary data copy

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This commit is contained in:
Hubert Denkmair 2016-04-13 19:50:33 +02:00
parent acdb5735d2
commit af487b2344
4 changed files with 56 additions and 38 deletions
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2
include/can.h
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@ -9,7 +9,7 @@ void can_set_bittiming(CAN_HandleTypeDef *hcan, uint16_t brp, uint8_t phase_seg1
void can_enable(CAN_HandleTypeDef *hcan, bool loop_back, bool listen_only, bool one_shot);
void can_disable(CAN_HandleTypeDef *hcan);
bool can_receive(CAN_HandleTypeDef *hcan, CanRxMsgTypeDef *rx_msg, uint32_t timeout);
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);

47
src/can.c
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@ -65,15 +65,48 @@ void can_disable(CAN_HandleTypeDef *hcan)
HAL_CAN_DeInit(hcan);
}
bool can_receive(CAN_HandleTypeDef *hcan, CanRxMsgTypeDef *rx_msg, uint32_t timeout)
{
hcan->pRxMsg = rx_msg;
return HAL_CAN_Receive(hcan, CAN_FIFO0, timeout) == HAL_OK;
}
bool can_is_rx_pending(CAN_HandleTypeDef *hcan)
{
return (__HAL_CAN_MSG_PENDING(hcan, CAN_FIFO0) > 0);
return ((hcan->Instance->RF0R & CAN_RF0R_FMP0)!=0);
}
bool can_receive(CAN_HandleTypeDef *hcan, struct gs_host_frame *rx_frame)
{
bool retval = false;
__HAL_LOCK(hcan);
if (can_is_rx_pending(hcan)) {
CAN_FIFOMailBox_TypeDef *fifo = &hcan->Instance->sFIFOMailBox[0];
if (fifo->RIR & CAN_RI0R_IDE) {
rx_frame->can_id = CAN_EFF_FLAG | ((fifo->RIR >> 3) & 0x1FFFFFFF);
} else {
rx_frame->can_id = (fifo->RIR >> 21) & 0x7FF;
}
if (fifo->RIR & CAN_RI0R_RTR) {
rx_frame->can_id |= CAN_RTR_FLAG;
}
rx_frame->can_dlc = fifo->RDTR & CAN_RDT0R_DLC;
rx_frame->data[0] = (fifo->RDLR >> 0) & 0xFF;
rx_frame->data[1] = (fifo->RDLR >> 8) & 0xFF;
rx_frame->data[2] = (fifo->RDLR >> 16) & 0xFF;
rx_frame->data[3] = (fifo->RDLR >> 24) & 0xFF;
rx_frame->data[4] = (fifo->RDHR >> 0) & 0xFF;
rx_frame->data[5] = (fifo->RDHR >> 8) & 0xFF;
rx_frame->data[6] = (fifo->RDHR >> 16) & 0xFF;
rx_frame->data[7] = (fifo->RDHR >> 24) & 0xFF;
hcan->Instance->RF0R |= CAN_RF0R_RFOM0; // release FIFO
retval = true;
}
__HAL_UNLOCK(hcan);
return retval;
}
static CAN_TxMailBox_TypeDef *can_find_free_mailbox(CAN_HandleTypeDef *hcan)

35
src/main.c
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@ -91,35 +91,18 @@ int main(void)
if (can_is_rx_pending(&hCAN)) {
struct gs_host_frame *frame = queue_pop_front(q_frame_pool);
if (frame) {
CanRxMsgTypeDef rx_msg;
if (can_receive(&hCAN, &rx_msg, 0)) {
if ((frame != 0) && can_receive(&hCAN, frame)) {
frame->echo_id = 0xFFFFFFFF; // not a echo frame
frame->echo_id = 0xFFFFFFFF; // not a echo frame
frame->channel = 0;
frame->flags = 0;
frame->reserved = 0;
send_to_host_or_enqueue(frame);
frame->can_dlc = MIN(8, rx_msg.DLC);
frame->channel = 0;
frame->flags = 0;
frame->reserved = 0;
if (rx_msg.IDE) {
frame->can_id = rx_msg.ExtId | CAN_EFF_FLAG;
} else {
frame->can_id = rx_msg.StdId;
}
if (rx_msg.RTR) {
frame->can_id |= CAN_RTR_FLAG;
}
memcpy(frame->data, rx_msg.Data, frame->can_dlc);
send_to_host_or_enqueue(frame);
} else {
queue_push_back(q_frame_pool, frame);
}
} else {
queue_push_back(q_frame_pool, frame);
}
}
if (HAL_GetTick() >= t_next_send) {

10
src/usbd_conf.c
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@ -274,10 +274,12 @@ USBD_StatusTypeDef USBD_LL_Init (USBD_HandleTypeDef *pdev)
HAL_PCDEx_PMAConfig((PCD_HandleTypeDef*)pdev->pData , 0x00 , PCD_SNG_BUF, 0x18);
HAL_PCDEx_PMAConfig((PCD_HandleTypeDef*)pdev->pData , 0x80 , PCD_SNG_BUF, 0x58);
HAL_PCDEx_PMAConfig((PCD_HandleTypeDef*)pdev->pData , 0x81 , PCD_SNG_BUF, 0xC0);
HAL_PCDEx_PMAConfig((PCD_HandleTypeDef*)pdev->pData , 0x01 , PCD_SNG_BUF, 0x110);
HAL_PCDEx_PMAConfig((PCD_HandleTypeDef*)pdev->pData , 0x82 , PCD_SNG_BUF, 0x100);
HAL_PCDEx_PMAConfig((PCD_HandleTypeDef*)pdev->pData , 0x02 , PCD_SNG_BUF, 0x200);
//HAL_PCDEx_PMAConfig((PCD_HandleTypeDef*)pdev->pData , 0x81 , PCD_DBL_BUF, 0x01000140);
//HAL_PCDEx_PMAConfig((PCD_HandleTypeDef*)pdev->pData , 0x02 , PCD_DBL_BUF, 0x018001C0);
HAL_PCDEx_PMAConfig((PCD_HandleTypeDef*)pdev->pData , 0x81 , PCD_SNG_BUF, 0x0100);
HAL_PCDEx_PMAConfig((PCD_HandleTypeDef*)pdev->pData , 0x02 , PCD_SNG_BUF, 0x0180);
return USBD_OK;
}