301 lines
8.2 KiB
C
301 lines
8.2 KiB
C
/**
|
|
* @section License
|
|
*
|
|
* The MIT License (MIT)
|
|
*
|
|
* Copyright (c) 2017, Thomas Barth, barth-dev.de
|
|
* 2017, Jaime Breva, jbreva@nayarsystems.com
|
|
* 2018, Michael Wagner, mw@iot-make.de
|
|
*
|
|
* Permission is hereby granted, free of charge, to any person
|
|
* obtaining a copy of this software and associated documentation
|
|
* files (the "Software"), to deal in the Software without
|
|
* restriction, including without limitation the rights to use, copy,
|
|
* modify, merge, publish, distribute, sublicense, and/or sell copies
|
|
* of the Software, and to permit persons to whom the Software is
|
|
* furnished to do so, subject to the following conditions:
|
|
*
|
|
* The above copyright notice and this permission notice shall be
|
|
* included in all copies or substantial portions of the Software.
|
|
*
|
|
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
|
|
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
|
|
* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
|
|
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS
|
|
* BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN
|
|
* ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
|
|
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
|
|
* SOFTWARE.
|
|
*
|
|
*/
|
|
|
|
#include "CAN.h"
|
|
|
|
#include "freertos/FreeRTOS.h"
|
|
#include "freertos/queue.h"
|
|
|
|
// #include "esp_intr.h"
|
|
#include "esp_intr_alloc.h"
|
|
#include "soc/dport_reg.h"
|
|
#include <math.h>
|
|
|
|
#include "driver/gpio.h"
|
|
|
|
#include "can_regdef.h"
|
|
#include "CAN_config.h"
|
|
|
|
// CAN Filter - no acceptance filter
|
|
static CAN_filter_t __filter = { Dual_Mode, 0, 0, 0, 0, 0Xff, 0Xff, 0Xff, 0Xff };
|
|
|
|
static void CAN_read_frame_phy();
|
|
static void CAN_isr(void *arg_p);
|
|
static int CAN_write_frame_phy(const CAN_frame_t *p_frame);
|
|
static SemaphoreHandle_t sem_tx_complete;
|
|
|
|
static void CAN_isr(void *arg_p) {
|
|
|
|
// Interrupt flag buffer
|
|
__CAN_IRQ_t interrupt;
|
|
BaseType_t higherPriorityTaskWoken = pdFALSE;
|
|
|
|
// Read interrupt status and clear flags
|
|
interrupt = MODULE_CAN->IR.U;
|
|
|
|
// Handle RX frame available interrupt
|
|
if ((interrupt & __CAN_IRQ_RX) != 0)
|
|
CAN_read_frame_phy(&higherPriorityTaskWoken);
|
|
|
|
// Handle TX complete interrupt
|
|
// Handle error interrupts.
|
|
if ((interrupt & (__CAN_IRQ_TX | __CAN_IRQ_ERR //0x4
|
|
| __CAN_IRQ_DATA_OVERRUN // 0x8
|
|
| __CAN_IRQ_WAKEUP // 0x10
|
|
| __CAN_IRQ_ERR_PASSIVE // 0x20
|
|
| __CAN_IRQ_ARB_LOST // 0x40
|
|
| __CAN_IRQ_BUS_ERR // 0x80
|
|
)) != 0) {
|
|
xSemaphoreGiveFromISR(sem_tx_complete, &higherPriorityTaskWoken);
|
|
}
|
|
|
|
// check if any higher priority task has been woken by any handler
|
|
if (higherPriorityTaskWoken)
|
|
portYIELD_FROM_ISR();
|
|
}
|
|
|
|
static void CAN_read_frame_phy(BaseType_t *higherPriorityTaskWoken) {
|
|
|
|
// byte iterator
|
|
uint8_t __byte_i;
|
|
|
|
// frame read buffer
|
|
CAN_frame_t __frame;
|
|
|
|
// check if we have a queue. If not, operation is aborted.
|
|
if (CAN_cfg.rx_queue == NULL) {
|
|
// Let the hardware know the frame has been read.
|
|
MODULE_CAN->CMR.B.RRB = 1;
|
|
return;
|
|
}
|
|
|
|
// get FIR
|
|
__frame.FIR.U = MODULE_CAN->MBX_CTRL.FCTRL.FIR.U;
|
|
|
|
// check if this is a standard or extended CAN frame
|
|
// standard frame
|
|
if (__frame.FIR.B.FF == CAN_frame_std) {
|
|
|
|
// Get Message ID
|
|
__frame.MsgID = _CAN_GET_STD_ID;
|
|
|
|
// deep copy data bytes
|
|
for (__byte_i = 0; __byte_i < __frame.FIR.B.DLC; __byte_i++)
|
|
__frame.data.u8[__byte_i] = MODULE_CAN->MBX_CTRL.FCTRL.TX_RX.STD.data[__byte_i];
|
|
}
|
|
// extended frame
|
|
else {
|
|
|
|
// Get Message ID
|
|
__frame.MsgID = _CAN_GET_EXT_ID;
|
|
|
|
// deep copy data bytes
|
|
for (__byte_i = 0; __byte_i < __frame.FIR.B.DLC; __byte_i++)
|
|
__frame.data.u8[__byte_i] = MODULE_CAN->MBX_CTRL.FCTRL.TX_RX.EXT.data[__byte_i];
|
|
}
|
|
|
|
// send frame to input queue
|
|
xQueueSendToBackFromISR(CAN_cfg.rx_queue, &__frame, higherPriorityTaskWoken);
|
|
|
|
// Let the hardware know the frame has been read.
|
|
MODULE_CAN->CMR.B.RRB = 1;
|
|
}
|
|
|
|
static int CAN_write_frame_phy(const CAN_frame_t *p_frame) {
|
|
|
|
// byte iterator
|
|
uint8_t __byte_i;
|
|
|
|
// copy frame information record
|
|
MODULE_CAN->MBX_CTRL.FCTRL.FIR.U = p_frame->FIR.U;
|
|
|
|
// standard frame
|
|
if (p_frame->FIR.B.FF == CAN_frame_std) {
|
|
|
|
// Write message ID
|
|
_CAN_SET_STD_ID(p_frame->MsgID);
|
|
|
|
// Copy the frame data to the hardware
|
|
for (__byte_i = 0; __byte_i < p_frame->FIR.B.DLC; __byte_i++)
|
|
MODULE_CAN->MBX_CTRL.FCTRL.TX_RX.STD.data[__byte_i] = p_frame->data.u8[__byte_i];
|
|
|
|
}
|
|
// extended frame
|
|
else {
|
|
|
|
// Write message ID
|
|
_CAN_SET_EXT_ID(p_frame->MsgID);
|
|
|
|
// Copy the frame data to the hardware
|
|
for (__byte_i = 0; __byte_i < p_frame->FIR.B.DLC; __byte_i++)
|
|
MODULE_CAN->MBX_CTRL.FCTRL.TX_RX.EXT.data[__byte_i] = p_frame->data.u8[__byte_i];
|
|
}
|
|
|
|
// Transmit frame
|
|
MODULE_CAN->CMR.B.TR = 1;
|
|
|
|
return 0;
|
|
}
|
|
|
|
int CAN_init() {
|
|
|
|
// Time quantum
|
|
double __tq;
|
|
|
|
// enable module
|
|
DPORT_SET_PERI_REG_MASK(DPORT_PERIP_CLK_EN_REG, DPORT_CAN_CLK_EN);
|
|
DPORT_SET_PERI_REG_MASK(DPORT_PERIP_RST_EN_REG, DPORT_CAN_RST);
|
|
DPORT_CLEAR_PERI_REG_MASK(DPORT_PERIP_RST_EN_REG, DPORT_CAN_RST);
|
|
|
|
// configure TX pin
|
|
gpio_set_level(CAN_cfg.tx_pin_id, 1);
|
|
gpio_set_direction(CAN_cfg.tx_pin_id, GPIO_MODE_OUTPUT);
|
|
gpio_matrix_out(CAN_cfg.tx_pin_id, CAN_TX_IDX, 0, 0);
|
|
gpio_pad_select_gpio(CAN_cfg.tx_pin_id);
|
|
|
|
// configure RX pin
|
|
gpio_set_direction(CAN_cfg.rx_pin_id, GPIO_MODE_INPUT);
|
|
gpio_matrix_in(CAN_cfg.rx_pin_id, CAN_RX_IDX, 0);
|
|
gpio_pad_select_gpio(CAN_cfg.rx_pin_id);
|
|
|
|
// set to PELICAN mode
|
|
MODULE_CAN->CDR.B.CAN_M = 0x1;
|
|
|
|
// synchronization jump width is the same for all baud rates
|
|
MODULE_CAN->BTR0.B.SJW = 0x1;
|
|
|
|
// TSEG2 is the same for all baud rates
|
|
MODULE_CAN->BTR1.B.TSEG2 = 0x1;
|
|
|
|
// select time quantum and set TSEG1
|
|
switch (CAN_cfg.speed) {
|
|
case CAN_SPEED_1000KBPS:
|
|
MODULE_CAN->BTR1.B.TSEG1 = 0x4;
|
|
__tq = 0.125;
|
|
break;
|
|
|
|
case CAN_SPEED_800KBPS:
|
|
MODULE_CAN->BTR1.B.TSEG1 = 0x6;
|
|
__tq = 0.125;
|
|
break;
|
|
|
|
case CAN_SPEED_200KBPS:
|
|
MODULE_CAN->BTR1.B.TSEG1 = 0xc;
|
|
MODULE_CAN->BTR1.B.TSEG2 = 0x5;
|
|
__tq = 0.25;
|
|
break;
|
|
|
|
default:
|
|
MODULE_CAN->BTR1.B.TSEG1 = 0xc;
|
|
__tq = ((float) 1000 / CAN_cfg.speed) / 16;
|
|
}
|
|
|
|
// set baud rate prescaler
|
|
MODULE_CAN->BTR0.B.BRP = (uint8_t) round((((APB_CLK_FREQ * __tq) / 2) - 1) / 1000000) - 1;
|
|
|
|
/* Set sampling
|
|
* 1 -> triple; the bus is sampled three times; recommended for low/medium speed buses (class A and B) where
|
|
* filtering spikes on the bus line is beneficial 0 -> single; the bus is sampled once; recommended for high speed
|
|
* buses (SAE class C)*/
|
|
MODULE_CAN->BTR1.B.SAM = 0x1;
|
|
|
|
// enable all interrupts
|
|
MODULE_CAN->IER.U = 0xef;
|
|
|
|
// Set acceptance filter
|
|
MODULE_CAN->MOD.B.AFM = __filter.FM;
|
|
MODULE_CAN->MBX_CTRL.ACC.CODE[0] = __filter.ACR0;
|
|
MODULE_CAN->MBX_CTRL.ACC.CODE[1] = __filter.ACR1;
|
|
MODULE_CAN->MBX_CTRL.ACC.CODE[2] = __filter.ACR2;
|
|
MODULE_CAN->MBX_CTRL.ACC.CODE[3] = __filter.ACR3;
|
|
MODULE_CAN->MBX_CTRL.ACC.MASK[0] = __filter.AMR0;
|
|
MODULE_CAN->MBX_CTRL.ACC.MASK[1] = __filter.AMR1;
|
|
MODULE_CAN->MBX_CTRL.ACC.MASK[2] = __filter.AMR2;
|
|
MODULE_CAN->MBX_CTRL.ACC.MASK[3] = __filter.AMR3;
|
|
|
|
// set to normal mode
|
|
MODULE_CAN->OCR.B.OCMODE = __CAN_OC_NOM;
|
|
|
|
// clear error counters
|
|
MODULE_CAN->TXERR.U = 0;
|
|
MODULE_CAN->RXERR.U = 0;
|
|
(void) MODULE_CAN->ECC;
|
|
|
|
// clear interrupt flags
|
|
(void) MODULE_CAN->IR.U;
|
|
|
|
// install CAN ISR
|
|
esp_intr_alloc(ETS_CAN_INTR_SOURCE, 0, CAN_isr, NULL, NULL);
|
|
|
|
// allocate the tx complete semaphore
|
|
sem_tx_complete = xSemaphoreCreateBinary();
|
|
|
|
// Showtime. Release Reset Mode.
|
|
MODULE_CAN->MOD.B.RM = 0;
|
|
|
|
return 0;
|
|
}
|
|
|
|
int CAN_write_frame(const CAN_frame_t *p_frame) {
|
|
if (sem_tx_complete == NULL) {
|
|
return -1;
|
|
}
|
|
|
|
// Write the frame to the controller
|
|
CAN_write_frame_phy(p_frame);
|
|
|
|
// wait for the frame tx to complete
|
|
xSemaphoreTake(sem_tx_complete, portMAX_DELAY);
|
|
|
|
return 0;
|
|
}
|
|
|
|
int CAN_stop() {
|
|
// enter reset mode
|
|
MODULE_CAN->MOD.B.RM = 1;
|
|
|
|
return 0;
|
|
}
|
|
|
|
int CAN_config_filter(const CAN_filter_t* p_filter) {
|
|
|
|
__filter.FM = p_filter->FM;
|
|
__filter.ACR0 = p_filter->ACR0;
|
|
__filter.ACR1 = p_filter->ACR1;
|
|
__filter.ACR2 = p_filter->ACR2;
|
|
__filter.ACR3 = p_filter->ACR3;
|
|
__filter.AMR0 = p_filter->AMR0;
|
|
__filter.AMR1 = p_filter->AMR1;
|
|
__filter.AMR2 = p_filter->AMR2;
|
|
__filter.AMR3 = p_filter->AMR3;
|
|
|
|
return 0;
|
|
}
|