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canbus: Use single method for reading canbus messages

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Previously the code had canbus_read() which was called from task
context (for admin messages), and canbus_process_data() which was
called from irq context (used for data messages).  Change that to a
single canbus_process_data() function that is called from irq context
(used for all messages).  This simplifies the low-level hardware
specific canbus code and should make it easier to support other
hardware implementations.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2022-06-10 14:13:39 -04:00
parent da755c3c1b
commit 84d798f516
4 changed files with 125 additions and 198 deletions
Download Patch File Download Diff File Expand all files Collapse all files

82
src/stm32/can.c
View File

@@ -91,41 +91,9 @@
#error No known CAN device for configured MCU
#endif
// Read the next CAN packet
int
canbus_read(uint32_t *id, uint8_t *data)
{
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();
return -1;
}
// Read and ack packet
CAN_FIFOMailBox_TypeDef *mb = &SOC_CAN->sFIFOMailBox[0];
uint32_t rir_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;
// Return packet
*id = rir_id;
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;
return dlc;
}
// Transmit a packet
int
canbus_send(uint32_t id, uint32_t len, uint8_t *data)
canbus_send(struct canbus_msg *msg)
{
uint32_t tsr = SOC_CAN->TSR;
if (!(tsr & (CAN_TSR_TME0|CAN_TSR_TME1|CAN_TSR_TME2))) {
@@ -143,23 +111,15 @@ canbus_send(uint32_t id, uint32_t len, uint8_t *data)
CAN_TxMailBox_TypeDef *mb = &SOC_CAN->sTxMailBox[mbox];
/* Set up the DLC */
mb->TDTR = (mb->TDTR & 0xFFFFFFF0) | (len & 0x0F);
mb->TDTR = (mb->TDTR & 0xFFFFFFF0) | (msg->dlc & 0x0F);
/* Set up the data field */
if (len) {
mb->TDLR = (((uint32_t)data[3] << 24)
| ((uint32_t)data[2] << 16)
| ((uint32_t)data[1] << 8)
| ((uint32_t)data[0] << 0));
mb->TDHR = (((uint32_t)data[7] << 24)
| ((uint32_t)data[6] << 16)
| ((uint32_t)data[5] << 8)
| ((uint32_t)data[4] << 0));
}
mb->TDLR = msg->data32[0];
mb->TDHR = msg->data32[1];
/* Request transmission */
mb->TIR = (id << CAN_TI0R_STID_Pos) | CAN_TI0R_TXRQ;
return len;
mb->TIR = (msg->id << CAN_TI0R_STID_Pos) | CAN_TI0R_TXRQ;
return CANMSG_DATA_LEN(msg);
}
// Setup the receive packet filter
@@ -182,9 +142,6 @@ canbus_set_filter(uint32_t id)
/* 32-bit scale for the filter */
SOC_CAN->FS1R = (1<<0) | (1<<1) | (1<<2);
/* FIFO 1 assigned to 'id' */
SOC_CAN->FFA1R = (1<<2);
/* Filter activation */
SOC_CAN->FA1R = (1<<0) | (id ? (1<<1) | (1<<2) : 0);
/* Leave the initialisation mode for the filter */
@@ -195,27 +152,20 @@ canbus_set_filter(uint32_t id)
void
CAN_IRQHandler(void)
{
if (SOC_CAN->RF1R & CAN_RF1R_FMP1) {
if (SOC_CAN->RF0R & CAN_RF0R_FMP0) {
// Read and ack data packet
CAN_FIFOMailBox_TypeDef *mb = &SOC_CAN->sFIFOMailBox[1];
uint32_t rir_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->RF1R = CAN_RF1R_RFOM1;
CAN_FIFOMailBox_TypeDef *mb = &SOC_CAN->sFIFOMailBox[0];
struct canbus_msg msg;
msg.id = (mb->RIR >> CAN_RI0R_STID_Pos) & 0x7FF;
msg.dlc = mb->RDTR & CAN_RDT0R_DLC;
msg.data32[0] = mb->RDLR;
msg.data32[1] = mb->RDHR;
SOC_CAN->RF0R = CAN_RF0R_RFOM0;
// Process packet
union {
struct { uint32_t rdlr, rdhr; };
uint8_t data[8];
} rdata = { .rdlr = rdlr, .rdhr = rdhr };
canbus_process_data(rir_id, dlc, rdata.data);
canbus_process_data(&msg);
}
uint32_t ier = SOC_CAN->IER;
if (ier & CAN_IER_FMPIE0 && SOC_CAN->RF0R & CAN_RF0R_FMP0) {
// Admin 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
@@ -310,7 +260,7 @@ can_init(void)
armcm_enable_irq(CAN_IRQHandler, CAN_RX1_IRQn, 0);
if (CAN_RX0_IRQn != CAN_TX_IRQn)
armcm_enable_irq(CAN_IRQHandler, CAN_TX_IRQn, 0);
SOC_CAN->IER = CAN_IER_FMPIE1;
SOC_CAN->IER = CAN_IER_FMPIE0;
// Convert unique 96-bit chip id into 48 bit representation
uint64_t hash = fasthash64((uint8_t*)UID_BASE, 12, 0xA16231A7);