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Diffstat (limited to 'source/can_task.c')
-rw-r--r--source/can_task.c472
1 files changed, 149 insertions, 323 deletions
diff --git a/source/can_task.c b/source/can_task.c
index e335d93..82b0dda 100644
--- a/source/can_task.c
+++ b/source/can_task.c
@@ -8,8 +8,7 @@
#define CAN_RTR_FLAG 0x40000000U /* remote transmission request */
#define CAN_ERR_FLAG 0x20000000U /* error message frame */
-#define RX_MESSAGE_BUFFER_NUM0 (0)
-#define TX_MESSAGE_BUFFER_NUM0 (1)
+#define TX_MESSAGE_BUFFER_NUM0 (9)
#define CAN_FRAME_MAX_LEN 8
#define CAN_HEADER_MAX_LEN 5
@@ -51,12 +50,22 @@ struct can_registers {
uint8_t can_err_reg;
uint8_t can_mode;
uint8_t recived_frames_cnt;
+ uint8_t rx_buf_top;
+ uint8_t rx_buf_bottom;
};
static flexcan_frame_t tx_frame[2];
-static flexcan_frame_t rx_buffer[2][APALIS_TK1_CAN_RX_BUF_SIZE];
+static uint8_t data_buffer[2][APALIS_TK1_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) {
+ if (id == 0)
+ GPIO_TogglePinsOutput(GPIOB, 1u << 8u);
+ else
+ GPIO_TogglePinsOutput(GPIOE, 1u << 26u);
+}
static void flexcan_callback0(CAN_Type *base, flexcan_handle_t *handle, status_t status, uint32_t result, void *userData)
{
@@ -65,22 +74,17 @@ static void flexcan_callback0(CAN_Type *base, flexcan_handle_t *handle, status_t
switch (status)
{
- case kStatus_FLEXCAN_RxIdle:
- if (RX_MESSAGE_BUFFER_NUM0 == result)
- {
- cb->async_status = pdTRUE;
- xSemaphoreGiveFromISR(cb->sem, &reschedule);
- }
+ case kStatus_FLEXCAN_RxFifoIdle:
+ cb->async_status = pdTRUE;
+ xSemaphoreGiveFromISR(cb->sem, &reschedule);
break;
case kStatus_FLEXCAN_TxIdle:
if (TX_MESSAGE_BUFFER_NUM0 == result)
{
/* write status and gen irq */
- can_regs[0].can_status_reg |= CANINTF_TX;
- generate_irq(APALIS_TK1_K20_CAN0_IRQ);
- cb->async_status = pdFALSE;
- xSemaphoreGiveFromISR(cb->sem, &reschedule);
+ registers[APALIS_TK1_K20_CANREG] |= CANINTF_TX;
+ generate_can_irq(0);
}
break;
@@ -97,22 +101,17 @@ static void flexcan_callback1(CAN_Type *base, flexcan_handle_t *handle, status_t
switch (status)
{
- case kStatus_FLEXCAN_RxIdle:
- if (RX_MESSAGE_BUFFER_NUM0 == result)
- {
- cb->async_status = pdTRUE;
- xSemaphoreGiveFromISR(cb->sem, &reschedule);
- }
+ case kStatus_FLEXCAN_RxFifoIdle:
+ cb->async_status = pdTRUE;
+ xSemaphoreGiveFromISR(cb->sem, &reschedule);
break;
case kStatus_FLEXCAN_TxIdle:
if (TX_MESSAGE_BUFFER_NUM0 == result)
{
/* write status and gen irq */
- can_regs[1].can_status_reg |= CANINTF_TX;
- generate_irq(APALIS_TK1_K20_CAN1_IRQ);
- cb->async_status = pdFALSE;
- xSemaphoreGiveFromISR(cb->sem, &reschedule);
+ registers[APALIS_TK1_K20_CANREG + APALIS_TK1_K20_CAN_OFFSET] |= CANINTF_TX;
+ generate_can_irq(1);
}
break;
@@ -125,12 +124,12 @@ static void flexcan_callback1(CAN_Type *base, flexcan_handle_t *handle, status_t
static void CAN0_Init()
{
flexcan_config_t flexcanConfig;
- flexcan_rx_mb_config_t mbConfig;
+ flexcan_rx_fifo_config_t fifoConfig;
+ uint32_t fifoFilter = 0xFFFFFFFF;
FLEXCAN_GetDefaultConfig(&flexcanConfig);
flexcanConfig.baudRate = 1000000U; /* set default to 1Mbit/s*/
- flexcanConfig.maxMbNum = 2; /* Use only 2 mailboxes, 1 RX 1TX */
/* Init FlexCAN module. */
flexcanConfig.clkSrc = kFLEXCAN_ClkSrcPeri;
@@ -141,27 +140,29 @@ static void CAN0_Init()
/* Set Rx Mask to don't care on all bits. */
FLEXCAN_SetRxMbGlobalMask(CAN0, FLEXCAN_RX_MB_EXT_MASK(0x00, 0, 0));
-
- /* Setup Rx Message Buffer. */
- mbConfig.format = kFLEXCAN_FrameFormatExtend;
- mbConfig.type = kFLEXCAN_FrameTypeData;
- mbConfig.id = FLEXCAN_ID_EXT(0x1FFFFFFF);
- FLEXCAN_SetRxMbConfig(CAN0, RX_MESSAGE_BUFFER_NUM0, &mbConfig, true);
+ FLEXCAN_SetRxFifoGlobalMask(CAN0, FLEXCAN_RX_MB_EXT_MASK(0x00, 0, 0));
/* Setup Tx Message Buffer. */
FLEXCAN_SetTxMbConfig(CAN0, TX_MESSAGE_BUFFER_NUM0, true);
+
+ fifoConfig.idFilterNum = 1;
+ fifoConfig.idFilterTable = &fifoFilter;
+ fifoConfig.idFilterType = kFLEXCAN_RxFifoFilterTypeC;
+ fifoConfig.priority = kFLEXCAN_RxFifoPrioHigh;
+ FLEXCAN_SetRxFifoConfig(CAN0, &fifoConfig, true);
+
PRINTF("CAN0 init done \r\n");
}
static void CAN1_Init()
{
flexcan_config_t flexcanConfig;
- flexcan_rx_mb_config_t mbConfig;
+ flexcan_rx_fifo_config_t fifoConfig;
+ uint32_t fifoFilter = 0xFFFFFFFF;
FLEXCAN_GetDefaultConfig(&flexcanConfig);
flexcanConfig.baudRate = 1000000U; /* set default to 1Mbit/s */
- flexcanConfig.maxMbNum = 2; /* Use only 2 mailboxes, 1 RX 1TX */
/* Init FlexCAN module. */
flexcanConfig.clkSrc = kFLEXCAN_ClkSrcPeri;
@@ -172,135 +173,124 @@ static void CAN1_Init()
/* Set Rx Mask to don't care on all bits. */
FLEXCAN_SetRxMbGlobalMask(CAN1, FLEXCAN_RX_MB_EXT_MASK(0x00, 0, 0));
-
- /* Setup Rx Message Buffer. */
- mbConfig.format = kFLEXCAN_FrameFormatExtend;
- mbConfig.type = kFLEXCAN_FrameTypeData;
- mbConfig.id = FLEXCAN_ID_EXT(0x1FFFFFFF);
- FLEXCAN_SetRxMbConfig(CAN1, RX_MESSAGE_BUFFER_NUM0, &mbConfig, true);
+ FLEXCAN_SetRxFifoGlobalMask(CAN1, FLEXCAN_RX_MB_EXT_MASK(0x00, 0, 0));
/* Setup Tx Message Buffer. */
FLEXCAN_SetTxMbConfig(CAN1, TX_MESSAGE_BUFFER_NUM0, true);
+
+ fifoConfig.idFilterNum = 1;
+ fifoConfig.idFilterTable = &fifoFilter;
+ fifoConfig.idFilterType = kFLEXCAN_RxFifoFilterTypeC;
+ fifoConfig.priority = kFLEXCAN_RxFifoPrioHigh;
+ FLEXCAN_SetRxFifoConfig(CAN1, &fifoConfig, true);
+
PRINTF("CAN1 init done \r\n");
}
+uint8_t available_data[2];
+
+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] = (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];
+ if (can_regs[id].rx_buf_bottom == can_regs[id].rx_buf_top)
+ 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) {
+ uint8_t top_frame = can_regs[id].rx_buf_top;
+ if (frame->format == 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 {
+ 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;
+ }
+ data_buffer[id][top_frame][3] |= frame->type ? (CAN_RTR_FLAG >> 24):0x00;
+ data_buffer[id][top_frame][4] = frame->length;
+
+ switch (frame->length) {
+ case 8:data_buffer[id][top_frame][5 + 7] = frame->dataByte7;
+ case 7:data_buffer[id][top_frame][5 + 6] = frame->dataByte6;
+ case 6:data_buffer[id][top_frame][5 + 5] = frame->dataByte5;
+ case 5:data_buffer[id][top_frame][5 + 4] = frame->dataByte4;
+ case 4:data_buffer[id][top_frame][5 + 3] = frame->dataByte3;
+ case 3:data_buffer[id][top_frame][5 + 2] = frame->dataByte2;
+ case 2:data_buffer[id][top_frame][5 + 1] = frame->dataByte1;
+ 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_calculate_available_data(id);
+}
void can0_task(void *pvParameters) {
flexcan_frame_t rxFrame;
- flexcan_mb_transfer_t rxXfer;
- flexcan_rx_mb_config_t mbConfig;
+ flexcan_fifo_transfer_t rxXfer;
callback_message_t cb_msg;
- status_t ret;
-
-
cb_msg.sem = xSemaphoreCreateBinary();
+ cb_msg.async_status = pdFALSE;
flexcanHandle[0].userData = (void *) &cb_msg;
CAN0_Init();
- mbConfig.format = kFLEXCAN_FrameFormatExtend;
- mbConfig.type = kFLEXCAN_FrameTypeData;
- mbConfig.id = FLEXCAN_ID_EXT(0x1FFFFFFF);
+ rxXfer.frame = &rxFrame;
while(1)
{
- rxXfer.frame = &rxFrame;
- rxXfer.mbIdx = RX_MESSAGE_BUFFER_NUM0;
-
- FLEXCAN_SetRxMbConfig(CAN0, RX_MESSAGE_BUFFER_NUM0, &mbConfig, true);
- ret = FLEXCAN_TransferReceiveNonBlocking(CAN0, &flexcanHandle[0], &rxXfer);
- if (ret == kStatus_Success){
- if (xSemaphoreTake(cb_msg.sem, portMAX_DELAY) == pdTRUE)
- {
- if (cb_msg.async_status == pdTRUE)
- {
- if (can_regs[0].recived_frames_cnt < APALIS_TK1_CAN_RX_BUF_SIZE){
-
- memcpy(&rx_buffer[0][can_regs[0].recived_frames_cnt],
- rxXfer.frame, sizeof(flexcan_frame_t));
- can_regs[0].recived_frames_cnt++;
- can_regs[0].can_status_reg |= CANINTF_RX;
- generate_irq(APALIS_TK1_K20_CAN0_IRQ);
- }
- if (can_regs[0].recived_frames_cnt >= APALIS_TK1_CAN_RX_BUF_SIZE)
- vTaskSuspend(NULL);
- }
+ FLEXCAN_TransferReceiveFifoNonBlocking(CAN0, &flexcanHandle[0], &rxXfer);
+ 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);
}
- }else {
- FLEXCAN_TransferAbortReceive(CAN0, &flexcanHandle[0], RX_MESSAGE_BUFFER_NUM0);
- FLEXCAN_TransferAbortSend(CAN0, &flexcanHandle[0], TX_MESSAGE_BUFFER_NUM0);
+
+ if (can_regs[0].recived_frames_cnt >= APALIS_TK1_CAN_RX_BUF_SIZE)
+ vTaskSuspend(NULL);
}
+
}
vSemaphoreDelete(cb_msg.sem);
-
}
void can1_task(void *pvParameters) {
flexcan_frame_t rxFrame;
- flexcan_mb_transfer_t rxXfer;
- flexcan_rx_mb_config_t mbConfig;
+ flexcan_fifo_transfer_t rxXfer;
callback_message_t cb_msg;
- status_t ret;
cb_msg.sem = xSemaphoreCreateBinary();
flexcanHandle[1].userData = (void *) &cb_msg;
CAN1_Init();
+ rxXfer.frame = &rxFrame;
while(1)
{
- rxXfer.frame = &rxFrame;
- rxXfer.mbIdx = RX_MESSAGE_BUFFER_NUM0;
+ FLEXCAN_TransferReceiveFifoNonBlocking(CAN1, &flexcanHandle[1], &rxXfer);
+ 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);
+ }
- FLEXCAN_SetRxMbConfig(CAN1, RX_MESSAGE_BUFFER_NUM0, &mbConfig, true);
- ret = FLEXCAN_TransferReceiveNonBlocking(CAN1, &flexcanHandle[1], &rxXfer);
- if (ret == kStatus_Success){
- if (xSemaphoreTake(cb_msg.sem, portMAX_DELAY) == pdTRUE)
- {
- if (cb_msg.async_status == pdTRUE)
- {
- if (can_regs[1].recived_frames_cnt < APALIS_TK1_CAN_RX_BUF_SIZE){
-
- memcpy(&rx_buffer[1][can_regs[1].recived_frames_cnt],
- rxXfer.frame, sizeof(flexcan_frame_t));
- can_regs[1].recived_frames_cnt++;
- can_regs[1].can_status_reg |= CANINTF_RX;
- generate_irq(APALIS_TK1_K20_CAN1_IRQ);
- }
- if (can_regs[1].recived_frames_cnt >= APALIS_TK1_CAN_RX_BUF_SIZE)
- vTaskSuspend(NULL);
+ if (can_regs[1].recived_frames_cnt >= APALIS_TK1_CAN_RX_BUF_SIZE) {
+ vTaskSuspend(NULL);
}
}
- }else {
- FLEXCAN_TransferAbortReceive(CAN1, &flexcanHandle[1], RX_MESSAGE_BUFFER_NUM0);
- FLEXCAN_TransferAbortSend(CAN1, &flexcanHandle[1], TX_MESSAGE_BUFFER_NUM0);
- }
}
vSemaphoreDelete(cb_msg.sem);
-}
-uint8_t get_canreg (int id)
-{
- return can_regs[id].can_status_reg;
-}
-
-uint8_t get_canerr (int id)
-{
- uint8_t temp;
- temp = can_regs[id].can_err_reg;
- can_regs[id].can_err_reg = 0;
- return temp;
-}
-
-uint8_t get_canbadreg (int id)
-{
- return 0;
-}
-
-uint16_t get_canbittimig (int id)
-{
- return 0;
-}
-
-uint8_t get_can_rxcnt(int id)
-{
- return can_regs[id].recived_frames_cnt;
}
static void can_change_mode(int id, uint8_t new_mode)
@@ -321,12 +311,19 @@ static void can_change_mode(int id, uint8_t new_mode)
uint8_t set_canreg (int id, uint8_t value)
{
- can_regs[id].can_status_reg = 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;
}
+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;
+}
+
uint8_t set_canerr (int id, uint8_t value)
{
return 1;
@@ -360,121 +357,34 @@ uint8_t set_canbittimig (int id, uint16_t value, int16_t mask)
return 1;
}
-static int can0_inframe;
-
uint8_t can0_transmit(){
flexcan_mb_transfer_t txXfer;
txXfer.frame = &tx_frame[0];
txXfer.mbIdx = TX_MESSAGE_BUFFER_NUM0;
- can0_inframe = 0;
- FLEXCAN_TransferAbortReceive(CAN0, &flexcanHandle[0], RX_MESSAGE_BUFFER_NUM0);
FLEXCAN_TransferSendNonBlocking(CAN0, &flexcanHandle[0], &txXfer);
return 0;
}
-uint8_t can0_sendframe_single_rw(uint8_t address, uint8_t data)
-{
-
- if (address == 0){
- tx_frame[0].length = data;
- can0_inframe = 1;
- }
-
- if ((address > 0) && (address < 5) && can0_inframe){
- tx_frame[0].id = data << (8 * (address - 1));
- }
-
- if ((address > 4) && can0_inframe){
- switch (address){
- case 5: tx_frame[0].dataByte0 = data;
- break;
- case 6: tx_frame[0].dataByte1 = data;
- break;
- case 7: tx_frame[0].dataByte2 = data;
- break;
- case 8: tx_frame[0].dataByte3 = data;
- break;
- case 9: tx_frame[0].dataByte4 = data;
- break;
- case 10: tx_frame[0].dataByte5 = data;
- break;
- case 11: tx_frame[0].dataByte6 = data;
- break;
- case 12: tx_frame[0].dataByte7 = data;
- break;
- }
- if ((address - 4) == tx_frame[0].length)
- return can0_transmit();
- }
- return 0;
-}
-
-uint8_t can1_sendframe(uint8_t *data, uint8_t len)
-{
- return 1;
-}
-
-static int can1_inframe;
-
uint8_t can1_transmit(){
flexcan_mb_transfer_t txXfer;
txXfer.frame = &tx_frame[1];
txXfer.mbIdx = TX_MESSAGE_BUFFER_NUM0;
- can1_inframe = 0;
- FLEXCAN_TransferAbortReceive(CAN1, &flexcanHandle[1], RX_MESSAGE_BUFFER_NUM0);
FLEXCAN_TransferSendNonBlocking(CAN1, &flexcanHandle[1], &txXfer);
return 0;
}
-uint8_t can1_sendframe_single_rw(uint8_t address, uint8_t data)
-{
-
- if (address == 0){
- tx_frame[1].length = data;
- can1_inframe = 1;
- }
-
- if ((address > 0) && (address < 5) && can1_inframe){
- tx_frame[1].id = data << (8 * (address - 1));
- }
-
- if ((address > 4) && can1_inframe){
- switch (address){
- case 5: tx_frame[1].dataByte0 = data;
- break;
- case 6: tx_frame[1].dataByte1 = data;
- break;
- case 7: tx_frame[1].dataByte2 = data;
- break;
- case 8: tx_frame[1].dataByte3 = data;
- break;
- case 9: tx_frame[1].dataByte4 = data;
- break;
- case 10: tx_frame[1].dataByte5 = data;
- break;
- case 11: tx_frame[1].dataByte6 = data;
- break;
- case 12: tx_frame[1].dataByte7 = data;
- break;
- }
- if ((address - 4) == tx_frame[1].length)
- return can1_transmit();
- }
- return 0;
-}
-
uint8_t can_sendframe(uint8_t id, uint8_t *data, uint8_t len)
{
- tx_frame[id].length = data[0];
- tx_frame[id].id = (data[4] << 24) + (data[3] << 16) + (data[2] << 8) + data[1];
+ 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[4] << 24 & CAN_EFF_FLAG) ?
+ tx_frame[id].format = (data[3] << 24 & CAN_EFF_FLAG) ?
kFLEXCAN_FrameFormatExtend:kFLEXCAN_FrameFormatStandard;
- tx_frame[id].type = (data[4] << 24 & CAN_RTR_FLAG) ?
+ tx_frame[id].type = (data[3] << 24 & CAN_RTR_FLAG) ?
kFLEXCAN_FrameTypeRemote:kFLEXCAN_FrameTypeData;
if (tx_frame[id].format == kFLEXCAN_FrameFormatExtend)
@@ -497,112 +407,34 @@ uint8_t can_sendframe(uint8_t id, uint8_t *data, uint8_t len)
return 0;
}
-uint8_t can_readframe(uint8_t id, uint8_t *data)
+uint16_t can_readframe(uint8_t id, dspi_transfer_t *spi_transfer)
{
- data[0] = rx_buffer[id][0].length ;
- if (rx_buffer[id][0].format == kFLEXCAN_FrameFormatExtend) {
- data[1] = rx_buffer[id][0].id & 0xFF;
- data[2] = (rx_buffer[id][0].id >> 8 ) & 0xFF;
- data[3] = (rx_buffer[id][0].id >> 16 ) & 0xFF;
- data[4] = (rx_buffer[id][0].id >> 24 ) & 0x1F;
- data[4] |= CAN_EFF_FLAG >> 24;
- } else {
- data[1] = (rx_buffer[id][0].id >> 18) & 0xFF;
- data[2] = ((rx_buffer[id][0].id >> 18) >> 8 ) & 0x7F;
- data[3] = 0x00;
- data[4] = 0x00;
- }
- data[4] |= rx_buffer[id][0].type ? (CAN_RTR_FLAG >> 24):0x00;
-
- data[5] = rx_buffer[id][0].dataByte0;
- data[5 + 1] = rx_buffer[id][0].dataByte1;
- data[5 + 2] = rx_buffer[id][0].dataByte2;
- data[5 + 3] = rx_buffer[id][0].dataByte3;
- data[5 + 4] = rx_buffer[id][0].dataByte4;
- data[5 + 5] = rx_buffer[id][0].dataByte5;
- data[5 + 6] = rx_buffer[id][0].dataByte6;
- data[5 + 7] = rx_buffer[id][0].dataByte7;
-
- can_regs[id].recived_frames_cnt = 0;
- can_regs[id].can_status_reg &= ~CANINTF_RX;
- if (id == 1)
- vTaskResume(can1_task_handle);
- else
- vTaskResume(can0_task_handle);
-
- return CAN_TRANSFER_BUF_LEN;
-}
+ uint8_t rx_size;
+ spi_transfer->txData = data_buffer[id][can_regs[id].rx_buf_bottom];
+ rx_size = spi_transfer->rxData[2] / CAN_TRANSFER_BUF_LEN; /* size in frames, not bytes */
+ 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;
-uint8_t can_readframe_single_rw(int id, uint8_t address)
-{
-
- if (address == 0){
- return rx_buffer[id][0].length;
- }
+ resume_can = id + 1;
- if ((address > 0) && (address < 5) && can1_inframe){
- return rx_buffer[id][0].id >> (8 * (address - 1));
- }
+ can_regs[id].recived_frames_cnt -= rx_size;
+ can_calculate_available_data(id);
- if ((address > 4) && can1_inframe){
- switch (address){
- case 5: return rx_buffer[id][0].dataByte0;
- case 6: return rx_buffer[id][0].dataByte1;
- case 7: return rx_buffer[id][0].dataByte2;
- case 8: return rx_buffer[id][0].dataByte3;
- case 9: return rx_buffer[id][0].dataByte4;
- case 10: return rx_buffer[id][0].dataByte5;
- case 11: return rx_buffer[id][0].dataByte6;
- case 12:
- vTaskResume(id ? can1_task:can0_task);
- can_regs[id].recived_frames_cnt = 0;
- return rx_buffer[id][0].dataByte7;
- }
- if ((address - 4) == tx_frame[1].length)
- return can1_transmit();
- }
- return 0;
+ return rx_size * CAN_TRANSFER_BUF_LEN;
}
int canx_registers(dspi_transfer_t *spi_transfer, int id)
{
uint8_t *rx_buf = spi_transfer->rxData;
- uint8_t *tx_buf = &spi_transfer->txData[1];
-
- if (rx_buf[0] == APALIS_TK1_K20_READ_INST) {
- rx_buf[2] -= APALIS_TK1_K20_CAN_DEV_OFFSET(id);
- switch (rx_buf[2]) {
- case APALIS_TK1_K20_CANREG:
- tx_buf[0] = get_canreg(id);
- break;
- case APALIS_TK1_K20_CANERR:
- tx_buf[0] = get_canerr(id);
- break;
- case APALIS_TK1_K20_CAN_BAUD_REG:
- tx_buf[0] = get_canbadreg(id);
- break;
- case APALIS_TK1_K20_CAN_BIT_1:
- tx_buf[0] = get_canbittimig(id) && 0xFF;
- break;
- case APALIS_TK1_K20_CAN_BIT_2:
- tx_buf[0] = (get_canbittimig(id) >> 8) && 0xFF;
- break;
- case APALIS_TK1_K20_CAN_IN_BUF_CNT:
- tx_buf[0] = get_can_rxcnt(id);
- break;
- default:
- if((rx_buf[1] >=APALIS_TK1_K20_CAN_IN_BUF) &&
- (rx_buf[1] <= APALIS_TK1_K20_CAN_IN_BUF_END)) {
- tx_buf[0] = can_readframe_single_rw(id, rx_buf[2]);
- } else
- return -EIO;
- }
- return 1;
- } else if (rx_buf[0] == APALIS_TK1_K20_WRITE_INST) {
+ if (rx_buf[0] == APALIS_TK1_K20_WRITE_INST) {
rx_buf[1] -= APALIS_TK1_K20_CAN_DEV_OFFSET(id);
switch (rx_buf[1]) {
case APALIS_TK1_K20_CANREG:
return set_canreg(id, rx_buf[2]);
+ case APALIS_TK1_K20_CANREG_CLR:
+ return clr_canreg(id, rx_buf[2]);
case APALIS_TK1_K20_CANERR:
return set_canerr(id, rx_buf[2]);
case APALIS_TK1_K20_CAN_BAUD_REG:
@@ -612,29 +444,23 @@ int canx_registers(dspi_transfer_t *spi_transfer, int id)
case APALIS_TK1_K20_CAN_BIT_2:
return set_canbittimig(id, (rx_buf[2] << 8), 0xFF00);
default:
- if((rx_buf[1] >=APALIS_TK1_K20_CAN_OUT_BUF) &&
- (rx_buf[1] <= APALIS_TK1_K20_CAN_OUT_BUF_END) &&
- (id == 0)) {
- return can0_sendframe_single_rw(rx_buf[1] - APALIS_TK1_K20_CAN_OUT_BUF, rx_buf[2]);
- } else
- return -EIO;
+ return -EIO;
}
} else if (rx_buf[0] == APALIS_TK1_K20_BULK_READ_INST) {
- rx_buf[2] -= APALIS_TK1_K20_CAN_DEV_OFFSET(id);
- switch (rx_buf[2]) {
+ rx_buf[1] -= APALIS_TK1_K20_CAN_DEV_OFFSET(id);
+ switch (rx_buf[1]) {
case APALIS_TK1_K20_CAN_IN_BUF:
- return can_readframe(id, tx_buf);
+ return can_readframe(id, spi_transfer);
default:
return -EIO;
}
} else if (rx_buf[0] == APALIS_TK1_K20_BULK_WRITE_INST) {
- rx_buf[2] -= APALIS_TK1_K20_CAN_DEV_OFFSET(id);
- switch (rx_buf[2]) {
+ rx_buf[1] -= APALIS_TK1_K20_CAN_DEV_OFFSET(id);
+ switch (rx_buf[1]) {
case APALIS_TK1_K20_CAN_OUT_BUF:
- can_sendframe(id, &rx_buf[3], rx_buf[1]);
+ can_sendframe(id, &rx_buf[3], rx_buf[2]);
break;
- case APALIS_TK1_K20_CAN_BIT_1:
default:
return -EIO;
}
generated by cgit v1.2.3 (git 2.0.4) at 2024-05-04 03:13:45 +0000