diff options
Diffstat (limited to 'source/can_task.c')
| -rw-r--r-- | source/can_task.c | 60 |
1 files changed, 45 insertions, 15 deletions
diff --git a/source/can_task.c b/source/can_task.c index 82b0dda..205e397 100644 --- a/source/can_task.c +++ b/source/can_task.c @@ -60,13 +60,31 @@ 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) { +void generate_can_irq(uint8_t id) +{ if (id == 0) GPIO_TogglePinsOutput(GPIOB, 1u << 8u); else GPIO_TogglePinsOutput(GPIOE, 1u << 26u); } +void can_tx_notify_task(void *pvParameters) +{ + uint32_t ulInterruptStatus; + + while(1){ + xTaskNotifyWait( 0x00, 0xFFFFFFFF, &ulInterruptStatus, portMAX_DELAY); + if (ulInterruptStatus & 0x01) { + registers[APALIS_TK1_K20_CANREG + APALIS_TK1_K20_CAN_DEV_OFFSET(0)] |= CANINTF_TX; + generate_can_irq(0); + } + if (ulInterruptStatus & 0x02) { + registers[APALIS_TK1_K20_CANREG + APALIS_TK1_K20_CAN_DEV_OFFSET(1)] |= CANINTF_TX; + generate_can_irq(1); + } + } +} + static void flexcan_callback0(CAN_Type *base, flexcan_handle_t *handle, status_t status, uint32_t result, void *userData) { callback_message_t * cb = (callback_message_t*) userData; @@ -82,9 +100,7 @@ static void flexcan_callback0(CAN_Type *base, flexcan_handle_t *handle, status_t case kStatus_FLEXCAN_TxIdle: if (TX_MESSAGE_BUFFER_NUM0 == result) { - /* write status and gen irq */ - registers[APALIS_TK1_K20_CANREG] |= CANINTF_TX; - generate_can_irq(0); + xTaskNotifyFromISR(can_tx_notify_task_handle, 0x01, eSetBits, &reschedule); } break; @@ -109,9 +125,7 @@ static void flexcan_callback1(CAN_Type *base, flexcan_handle_t *handle, status_t case kStatus_FLEXCAN_TxIdle: if (TX_MESSAGE_BUFFER_NUM0 == result) { - /* write status and gen irq */ - registers[APALIS_TK1_K20_CANREG + APALIS_TK1_K20_CAN_OFFSET] |= CANINTF_TX; - generate_can_irq(1); + xTaskNotifyFromISR(can_tx_notify_task_handle, 0x02, eSetBits, &reschedule); } break; @@ -142,15 +156,19 @@ static void CAN0_Init() FLEXCAN_SetRxMbGlobalMask(CAN0, FLEXCAN_RX_MB_EXT_MASK(0x00, 0, 0)); 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.idFilterNum = 0; fifoConfig.idFilterTable = &fifoFilter; fifoConfig.idFilterType = kFLEXCAN_RxFifoFilterTypeC; fifoConfig.priority = kFLEXCAN_RxFifoPrioHigh; FLEXCAN_SetRxFifoConfig(CAN0, &fifoConfig, true); + /* errata #5641 */ + FLEXCAN_SetTxMbConfig(CAN0, 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"); } @@ -175,15 +193,19 @@ static void CAN1_Init() FLEXCAN_SetRxMbGlobalMask(CAN1, FLEXCAN_RX_MB_EXT_MASK(0x00, 0, 0)); 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.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]; @@ -244,7 +266,9 @@ void can0_task(void *pvParameters) { 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; @@ -274,7 +298,9 @@ void can1_task(void *pvParameters) { 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; @@ -363,7 +389,9 @@ uint8_t can0_transmit(){ txXfer.frame = &tx_frame[0]; txXfer.mbIdx = TX_MESSAGE_BUFFER_NUM0; + taskENTER_CRITICAL(); FLEXCAN_TransferSendNonBlocking(CAN0, &flexcanHandle[0], &txXfer); + taskEXIT_CRITICAL(); return 0; } @@ -373,7 +401,9 @@ uint8_t can1_transmit(){ txXfer.frame = &tx_frame[1]; txXfer.mbIdx = TX_MESSAGE_BUFFER_NUM0; + taskENTER_CRITICAL(); FLEXCAN_TransferSendNonBlocking(CAN1, &flexcanHandle[1], &txXfer); + taskEXIT_CRITICAL(); return 0; } |