diff options
Diffstat (limited to 'source/can_task.c')
| -rw-r--r-- | source/can_task.c | 326 |
1 files changed, 117 insertions, 209 deletions
diff --git a/source/can_task.c b/source/can_task.c index 205e397..bab19ac 100644 --- a/source/can_task.c +++ b/source/can_task.c @@ -36,31 +36,22 @@ #define EFLG_TXBO 0x20 #define EFLG_RXOVR 0x40 -static flexcan_handle_t flexcanHandle[2]; -static volatile bool txComplete[2] = {false, false}; -static volatile bool rxComplete[2] = {false, false}; - -struct can_task { - uint8_t id; - flexcan_frame_t rx_frame; -}; - struct can_registers { + CAN_Type *base; + flexcan_handle_t handle; uint8_t can_status_reg; uint8_t can_err_reg; uint8_t can_mode; - uint8_t recived_frames_cnt; + uint8_t frames_in_buf; uint8_t rx_buf_top; uint8_t rx_buf_bottom; }; -static flexcan_frame_t tx_frame[2]; -static uint8_t data_buffer[2][APALIS_TK1_CAN_RX_BUF_SIZE][CAN_TRANSFER_BUF_LEN]; +static uint8_t data_buffer[2][CAN_RX_BUF_SIZE][CAN_TRANSFER_BUF_LEN]; static struct can_registers can_regs[2]; -uint8_t resume_can; -void generate_can_irq(uint8_t id) +static void generate_can_irq(uint8_t id) { if (id == 0) GPIO_TogglePinsOutput(GPIOB, 1u << 8u); @@ -85,7 +76,7 @@ void can_tx_notify_task(void *pvParameters) } } -static void flexcan_callback0(CAN_Type *base, flexcan_handle_t *handle, status_t status, uint32_t result, void *userData) +static void flexcan_callback(CAN_Type *base, flexcan_handle_t *handle, status_t status, uint32_t result, void *userData) { callback_message_t * cb = (callback_message_t*) userData; BaseType_t reschedule = pdFALSE; @@ -100,32 +91,16 @@ static void flexcan_callback0(CAN_Type *base, flexcan_handle_t *handle, status_t case kStatus_FLEXCAN_TxIdle: if (TX_MESSAGE_BUFFER_NUM0 == result) { - xTaskNotifyFromISR(can_tx_notify_task_handle, 0x01, eSetBits, &reschedule); - } - break; - - default: - break; - } - portYIELD_FROM_ISR(reschedule); -} - -static void flexcan_callback1(CAN_Type *base, flexcan_handle_t *handle, status_t status, uint32_t result, void *userData) -{ - callback_message_t * cb = (callback_message_t*) userData; - BaseType_t reschedule = pdFALSE; - - switch (status) - { - case kStatus_FLEXCAN_RxFifoIdle: - cb->async_status = pdTRUE; - xSemaphoreGiveFromISR(cb->sem, &reschedule); - break; + switch ((int)base) + { + case (int)CAN0: + xTaskNotifyFromISR(can_tx_notify_task_handle, 0x01, eSetBits, &reschedule); + break; + case (int)CAN1: + xTaskNotifyFromISR(can_tx_notify_task_handle, 0x02, eSetBits, &reschedule); + break; + } - case kStatus_FLEXCAN_TxIdle: - if (TX_MESSAGE_BUFFER_NUM0 == result) - { - xTaskNotifyFromISR(can_tx_notify_task_handle, 0x02, eSetBits, &reschedule); } break; @@ -135,7 +110,7 @@ static void flexcan_callback1(CAN_Type *base, flexcan_handle_t *handle, status_t portYIELD_FROM_ISR(reschedule); } -static void CAN0_Init() +static void CAN_Init(uint8_t id) { flexcan_config_t flexcanConfig; flexcan_rx_fifo_config_t fifoConfig; @@ -147,74 +122,36 @@ static void CAN0_Init() /* Init FlexCAN module. */ flexcanConfig.clkSrc = kFLEXCAN_ClkSrcPeri; - FLEXCAN_Init(CAN0, &flexcanConfig, CLOCK_GetFreq(kCLOCK_BusClk)); + FLEXCAN_Init(can_regs[id].base, &flexcanConfig, CLOCK_GetFreq(kCLOCK_BusClk)); /* Create FlexCAN handle structure and set call back function. */ - FLEXCAN_TransferCreateHandle(CAN0, &flexcanHandle[0], flexcan_callback0, flexcanHandle[0].userData); + FLEXCAN_TransferCreateHandle(can_regs[id].base, &can_regs[id].handle, flexcan_callback, + can_regs[id].handle.userData); /* Set Rx Mask to don't care on all bits. */ - FLEXCAN_SetRxMbGlobalMask(CAN0, FLEXCAN_RX_MB_EXT_MASK(0x00, 0, 0)); - FLEXCAN_SetRxFifoGlobalMask(CAN0, FLEXCAN_RX_MB_EXT_MASK(0x00, 0, 0)); + FLEXCAN_SetRxMbGlobalMask(can_regs[id].base, FLEXCAN_RX_MB_EXT_MASK(0x00, 0, 0)); + FLEXCAN_SetRxFifoGlobalMask(can_regs[id].base, FLEXCAN_RX_MB_EXT_MASK(0x00, 0, 0)); fifoConfig.idFilterNum = 0; fifoConfig.idFilterTable = &fifoFilter; fifoConfig.idFilterType = kFLEXCAN_RxFifoFilterTypeC; fifoConfig.priority = kFLEXCAN_RxFifoPrioHigh; - FLEXCAN_SetRxFifoConfig(CAN0, &fifoConfig, true); + FLEXCAN_SetRxFifoConfig(can_regs[id].base, &fifoConfig, true); /* errata #5641 */ - FLEXCAN_SetTxMbConfig(CAN0, TX_MESSAGE_BUFFER_NUM0 - 1, true); + FLEXCAN_SetTxMbConfig(can_regs[id].base, TX_MESSAGE_BUFFER_NUM0 - 1, true); /* Setup Tx Message Buffer. */ - FLEXCAN_SetTxMbConfig(CAN0, TX_MESSAGE_BUFFER_NUM0, true); - memset(&can_regs[0], 0x00u,sizeof(struct can_registers)); - - PRINTF("CAN0 init done \r\n"); + FLEXCAN_SetTxMbConfig(can_regs[id].base, TX_MESSAGE_BUFFER_NUM0, true); } -static void CAN1_Init() -{ - flexcan_config_t flexcanConfig; - flexcan_rx_fifo_config_t fifoConfig; - uint32_t fifoFilter = 0xFFFFFFFF; - - FLEXCAN_GetDefaultConfig(&flexcanConfig); - - flexcanConfig.baudRate = 1000000U; /* set default to 1Mbit/s */ - - /* Init FlexCAN module. */ - flexcanConfig.clkSrc = kFLEXCAN_ClkSrcPeri; - FLEXCAN_Init(CAN1, &flexcanConfig, CLOCK_GetFreq(kCLOCK_BusClk)); - - /* Create FlexCAN handle structure and set call back function. */ - FLEXCAN_TransferCreateHandle(CAN1, &flexcanHandle[1], flexcan_callback1, flexcanHandle[1].userData); - - /* Set Rx Mask to don't care on all bits. */ - FLEXCAN_SetRxMbGlobalMask(CAN1, FLEXCAN_RX_MB_EXT_MASK(0x00, 0, 0)); - FLEXCAN_SetRxFifoGlobalMask(CAN1, FLEXCAN_RX_MB_EXT_MASK(0x00, 0, 0)); - - fifoConfig.idFilterNum = 0; - fifoConfig.idFilterTable = &fifoFilter; - fifoConfig.idFilterType = kFLEXCAN_RxFifoFilterTypeC; - fifoConfig.priority = kFLEXCAN_RxFifoPrioHigh; - FLEXCAN_SetRxFifoConfig(CAN1, &fifoConfig, true); - - /* errata #5641 */ - FLEXCAN_SetTxMbConfig(CAN1, TX_MESSAGE_BUFFER_NUM0 - 1, true); - - /* Setup Tx Message Buffer. */ - FLEXCAN_SetTxMbConfig(CAN1, TX_MESSAGE_BUFFER_NUM0, true); - memset(&can_regs[0], 0x00u,sizeof(struct can_registers)); - - PRINTF("CAN1 init done \r\n"); -} uint8_t available_data[2]; -void can_calculate_available_data(uint8_t id) { +static void can_calculate_available_data(uint8_t id) { if ( can_regs[id].rx_buf_bottom <= can_regs[id].rx_buf_top) available_data[id] = can_regs[id].rx_buf_top - can_regs[id].rx_buf_bottom; else - available_data[id] = APALIS_TK1_CAN_RX_BUF_SIZE - can_regs[id].rx_buf_bottom; + available_data[id] = CAN_RX_BUF_SIZE - can_regs[id].rx_buf_bottom; available_data[id] = (available_data[id] > APALIS_TK1_MAX_CAN_DMA_XREF) ? APALIS_TK1_MAX_CAN_DMA_XREF:available_data[id]; registers[APALIS_TK1_K20_CAN_IN_BUF_CNT + APALIS_TK1_K20_CAN_DEV_OFFSET(id)] = available_data[id]; @@ -222,20 +159,29 @@ void can_calculate_available_data(uint8_t id) { registers[APALIS_TK1_K20_CANREG + APALIS_TK1_K20_CAN_DEV_OFFSET(id)] &= ~CANINTF_RX; } -void frame_to_buffer(flexcan_frame_t *frame, uint8_t id) { +void can_spi_read_complete(uint8_t id) +{ + +} + +static void frame_to_buffer(flexcan_frame_t *frame, uint8_t id) { uint8_t top_frame = can_regs[id].rx_buf_top; - if (frame->format == kFLEXCAN_FrameFormatExtend) { + switch (frame->format){ + case kFLEXCAN_FrameFormatExtend: data_buffer[id][top_frame][0] = frame->id & 0xFF; data_buffer[id][top_frame][1] = (frame->id >> 8 ) & 0xFF; data_buffer[id][top_frame][2] = (frame->id >> 16 ) & 0xFF; data_buffer[id][top_frame][3] = (frame->id >> 24 ) & 0x1F; data_buffer[id][top_frame][3] |= CAN_EFF_FLAG >> 24; - } else { + break; + case kFLEXCAN_FrameFormatStandard: data_buffer[id][top_frame][0] = (frame->id >> 18) & 0xFF; data_buffer[id][top_frame][1] = ((frame->id >> 18) >> 8 ) & 0x7F; data_buffer[id][top_frame][2] = 0x00; data_buffer[id][top_frame][3] = 0x00; + break; } + data_buffer[id][top_frame][3] |= frame->type ? (CAN_RTR_FLAG >> 24):0x00; data_buffer[id][top_frame][4] = frame->length; @@ -250,72 +196,68 @@ void frame_to_buffer(flexcan_frame_t *frame, uint8_t id) { case 1:data_buffer[id][top_frame][5] = frame->dataByte0; } can_regs[id].rx_buf_top++; - can_regs[id].rx_buf_top %= APALIS_TK1_CAN_RX_BUF_SIZE; + can_regs[id].rx_buf_top %= CAN_RX_BUF_SIZE; can_calculate_available_data(id); } +static void can_fifo_rx(uint8_t id, flexcan_fifo_transfer_t * rxXfer) +{ + callback_message_t *can_msg = (callback_message_t *) can_regs[id].handle.userData; + taskENTER_CRITICAL(); + FLEXCAN_TransferReceiveFifoNonBlocking(can_regs[id].base, &can_regs[id].handle, rxXfer); + taskEXIT_CRITICAL(); + xSemaphoreTake(can_msg->sem, portMAX_DELAY); + frame_to_buffer(rxXfer->frame, id); + can_regs[id].frames_in_buf++; + registers[APALIS_TK1_K20_CANREG + APALIS_TK1_K20_CAN_DEV_OFFSET(id)] |= CANINTF_RX; + generate_can_irq(id); + if (can_regs[id].frames_in_buf >= CAN_RX_BUF_SIZE) + vTaskSuspend(NULL); +} + void can0_task(void *pvParameters) { flexcan_frame_t rxFrame; flexcan_fifo_transfer_t rxXfer; - callback_message_t cb_msg; - cb_msg.sem = xSemaphoreCreateBinary(); - cb_msg.async_status = pdFALSE; - flexcanHandle[0].userData = (void *) &cb_msg; - CAN0_Init(); + callback_message_t can_msg; + + can_msg.sem = xSemaphoreCreateBinary(); + can_msg.async_status = pdFALSE; + memset(&can_regs[0], 0x00u, sizeof(struct can_registers)); + can_regs[0].handle.userData = (void *) &can_msg; + can_regs[0].base = CAN0; + + CAN_Init(0); + PRINTF("CAN0 init done \r\n"); + rxXfer.frame = &rxFrame; while(1) { - taskENTER_CRITICAL(); - FLEXCAN_TransferReceiveFifoNonBlocking(CAN0, &flexcanHandle[0], &rxXfer); - taskEXIT_CRITICAL(); - if (xSemaphoreTake(cb_msg.sem, portMAX_DELAY) == pdTRUE) { - if (cb_msg.async_status == pdTRUE) { - cb_msg.async_status = pdFALSE; - frame_to_buffer(&rxFrame, 0); - can_regs[0].recived_frames_cnt++; - registers[APALIS_TK1_K20_CANREG] |= CANINTF_RX; - generate_can_irq(0); - } - - if (can_regs[0].recived_frames_cnt >= APALIS_TK1_CAN_RX_BUF_SIZE) - vTaskSuspend(NULL); - } - + can_fifo_rx(0, &rxXfer); } - vSemaphoreDelete(cb_msg.sem); + vSemaphoreDelete(can_msg.sem); } void can1_task(void *pvParameters) { flexcan_frame_t rxFrame; flexcan_fifo_transfer_t rxXfer; - callback_message_t cb_msg; + callback_message_t can_msg; - cb_msg.sem = xSemaphoreCreateBinary(); - flexcanHandle[1].userData = (void *) &cb_msg; - CAN1_Init(); + can_msg.sem = xSemaphoreCreateBinary(); + can_msg.async_status = pdFALSE; + memset(&can_regs[1], 0x00u, sizeof(struct can_registers)); + can_regs[1].handle.userData = (void *) &can_msg; + can_regs[1].base = CAN1; + + CAN_Init(1); + PRINTF("CAN1 init done \r\n"); rxXfer.frame = &rxFrame; while(1) { - taskENTER_CRITICAL(); - FLEXCAN_TransferReceiveFifoNonBlocking(CAN1, &flexcanHandle[1], &rxXfer); - taskEXIT_CRITICAL(); - if (xSemaphoreTake(cb_msg.sem, portMAX_DELAY) == pdTRUE) { - if (cb_msg.async_status == pdTRUE) { - cb_msg.async_status = pdFALSE; - frame_to_buffer(&rxFrame, 1); - can_regs[1].recived_frames_cnt++; - registers[APALIS_TK1_K20_CANREG + APALIS_TK1_K20_CAN_OFFSET] |= CANINTF_RX; - generate_can_irq(1); - } - - if (can_regs[1].recived_frames_cnt >= APALIS_TK1_CAN_RX_BUF_SIZE) { - vTaskSuspend(NULL); - } - } + can_fifo_rx(1, &rxXfer); } - vSemaphoreDelete(cb_msg.sem); + vSemaphoreDelete(can_msg.sem); } @@ -335,105 +277,73 @@ static void can_change_mode(int id, uint8_t new_mode) } -uint8_t set_canreg (int id, uint8_t value) +static uint8_t set_canreg (int id, uint8_t value) { registers[APALIS_TK1_K20_CANREG + APALIS_TK1_K20_CAN_DEV_OFFSET(id)] = value; if ( can_regs[id].can_mode != (value & CANCTRL_MODMASK) ) can_change_mode(id, (value & CANCTRL_MODMASK)); - return 1; + return 0; } -uint8_t clr_canreg (int id, uint8_t mask) +static uint8_t clr_canreg (int id, uint8_t mask) { mask &= (CANINTF_TX | CANINTF_ERR); registers[APALIS_TK1_K20_CANREG + APALIS_TK1_K20_CAN_DEV_OFFSET(id)] &= ~mask; - return 1; + return 0; } -uint8_t set_canerr (int id, uint8_t value) +static uint8_t set_canerr (int id, uint8_t value) { - return 1; + return 0; } -uint8_t set_canbadreg (int id, uint8_t value) +static uint8_t set_canbadreg (int id, uint8_t value) { - FLEXCAN_SetBitRate(id ? CAN1:CAN0, CLOCK_GetFreq(kCLOCK_BusClk), value * APALIS_TK1_CAN_CLK_UNIT); - return 1; + FLEXCAN_SetBitRate(can_regs[id].base, CLOCK_GetFreq(kCLOCK_BusClk), value * APALIS_TK1_CAN_CLK_UNIT); + return 0; } -#if 0 -static flexcan_timing_config_t timingConfig; -#endif - -uint8_t set_canbittimig (int id, uint16_t value, int16_t mask) +static uint8_t set_canbittimig (int id, uint16_t value, int16_t mask) { -#if 0 - if(mask & 0xFF) { - timingConfig.phaseSeg1 = 0; - timingConfig.phaseSeg2 = 0; - timingConfig.rJumpwidth = 0; - } - if (mask & 0xFF00) { - timingConfig.propSeg = 0; - timingConfig.preDivider = 0; - - } -#endif - return 1; + /* According to NXP we should use default setting */ + return 0; } -uint8_t can0_transmit(){ +uint8_t can_sendframe(uint8_t id, uint8_t *data, uint8_t len) +{ flexcan_mb_transfer_t txXfer; + flexcan_frame_t tx_frame; - txXfer.frame = &tx_frame[0]; - txXfer.mbIdx = TX_MESSAGE_BUFFER_NUM0; + tx_frame.length = data[4]; + tx_frame.id = (data[3] << 24) + (data[2] << 16) + (data[1] << 8) + data[0]; - taskENTER_CRITICAL(); - FLEXCAN_TransferSendNonBlocking(CAN0, &flexcanHandle[0], &txXfer); - taskEXIT_CRITICAL(); - return 0; -} - -uint8_t can1_transmit(){ - flexcan_mb_transfer_t txXfer; + tx_frame.format = (data[3] << 24 & CAN_EFF_FLAG) ? + kFLEXCAN_FrameFormatExtend:kFLEXCAN_FrameFormatStandard; + tx_frame.type = (data[3] << 24 & CAN_RTR_FLAG) ? + kFLEXCAN_FrameTypeRemote:kFLEXCAN_FrameTypeData; - txXfer.frame = &tx_frame[1]; + if (tx_frame.format == kFLEXCAN_FrameFormatExtend) + tx_frame.id = FLEXCAN_ID_EXT(tx_frame.id); + else + tx_frame.id = FLEXCAN_ID_STD(tx_frame.id); + + tx_frame.dataByte0 = data[5]; + tx_frame.dataByte1 = data[5 + 1]; + tx_frame.dataByte2 = data[5 + 2]; + tx_frame.dataByte3 = data[5 + 3]; + tx_frame.dataByte4 = data[5 + 4]; + tx_frame.dataByte5 = data[5 + 5]; + tx_frame.dataByte6 = data[5 + 6]; + tx_frame.dataByte7 = data[5 + 7]; + + txXfer.frame = &tx_frame; txXfer.mbIdx = TX_MESSAGE_BUFFER_NUM0; taskENTER_CRITICAL(); - FLEXCAN_TransferSendNonBlocking(CAN1, &flexcanHandle[1], &txXfer); + FLEXCAN_TransferSendNonBlocking(can_regs[id].base , &can_regs[id].handle, &txXfer); taskEXIT_CRITICAL(); - return 0; -} - -uint8_t can_sendframe(uint8_t id, uint8_t *data, uint8_t len) -{ - tx_frame[id].length = data[4]; - tx_frame[id].id = (data[3] << 24) + (data[2] << 16) + (data[1] << 8) + data[0]; - - tx_frame[id].format = (data[3] << 24 & CAN_EFF_FLAG) ? - kFLEXCAN_FrameFormatExtend:kFLEXCAN_FrameFormatStandard; - tx_frame[id].type = (data[3] << 24 & CAN_RTR_FLAG) ? - kFLEXCAN_FrameTypeRemote:kFLEXCAN_FrameTypeData; - if (tx_frame[id].format == kFLEXCAN_FrameFormatExtend) - tx_frame[id].id = FLEXCAN_ID_EXT(tx_frame[id].id); - else - tx_frame[id].id = FLEXCAN_ID_STD(tx_frame[id].id); - - tx_frame[id].dataByte0 = data[5]; - tx_frame[id].dataByte1 = data[5 + 1]; - tx_frame[id].dataByte2 = data[5 + 2]; - tx_frame[id].dataByte3 = data[5 + 3]; - tx_frame[id].dataByte4 = data[5 + 4]; - tx_frame[id].dataByte5 = data[5 + 5]; - tx_frame[id].dataByte6 = data[5 + 6]; - tx_frame[id].dataByte7 = data[5 + 7]; - if (id == 0) - can0_transmit(); - else if (id == 1) - can1_transmit(); return 0; } @@ -445,11 +355,9 @@ uint16_t can_readframe(uint8_t id, dspi_transfer_t *spi_transfer) if (rx_size > available_data[id]) rx_size = available_data[id]; can_regs[id].rx_buf_bottom = can_regs[id].rx_buf_bottom + rx_size; - can_regs[id].rx_buf_bottom %= APALIS_TK1_CAN_RX_BUF_SIZE; - - resume_can = id + 1; + can_regs[id].rx_buf_bottom %= CAN_RX_BUF_SIZE; - can_regs[id].recived_frames_cnt -= rx_size; + can_regs[id].frames_in_buf -= rx_size; can_calculate_available_data(id); return rx_size * CAN_TRANSFER_BUF_LEN; |