lib: Update to latest can2040 code
Simplify tx state tracking. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
parent
2f9fe49cb8
commit
75c4b1238e
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@ -131,4 +131,4 @@ used to upload firmware to devices flashed with the CanBoot bootloader.
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The can2040 directory contains code from:
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https://github.com/KevinOConnor/can2040
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revision c981fa7666ee9ce1650904e38f7287cb861df18c.
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revision 9ca095c939a48391de60dd353f0cd91999bb9257.
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@ -613,87 +613,6 @@ bs_finalize(struct bitstuffer_s *bs)
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}
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/****************************************************************
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* Notification callbacks
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****************************************************************/
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// Report state flags (stored in cd->report_state)
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enum {
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RS_IDLE = 0, RS_IS_TX = 1, RS_IN_MSG = 2, RS_AWAIT_EOF = 4,
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};
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// Report error to calling code (via callback interface)
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static void
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report_error(struct can2040 *cd, uint32_t error_code)
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{
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struct can2040_msg msg = {};
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cd->rx_cb(cd, CAN2040_NOTIFY_ERROR | error_code, &msg);
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}
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// Report a received message to calling code (via callback interface)
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static void
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report_rx_msg(struct can2040 *cd)
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{
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cd->rx_cb(cd, CAN2040_NOTIFY_RX, &cd->parse_msg);
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}
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// Report a message that was successfully transmited (via callback interface)
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static void
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report_tx_msg(struct can2040 *cd)
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{
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cd->tx_pull_pos++;
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cd->rx_cb(cd, CAN2040_NOTIFY_TX, &cd->parse_msg);
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}
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// A new message is awaiting crc verification
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static void
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report_note_crc_start(struct can2040 *cd, int is_tx)
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{
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cd->report_state = RS_IN_MSG | (is_tx ? RS_IS_TX : 0);
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}
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// Ack phase succeeded
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static void
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report_note_ack_success(struct can2040 *cd)
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{
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if (cd->report_state & RS_IN_MSG)
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cd->report_state |= RS_AWAIT_EOF;
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}
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// EOF phase complete - report message (rx or tx) to calling code
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static void
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report_note_eof(struct can2040 *cd)
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{
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if (cd->report_state == RS_IDLE)
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return;
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if (cd->report_state & RS_AWAIT_EOF) {
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if (cd->report_state & RS_IS_TX)
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report_tx_msg(cd);
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else
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report_rx_msg(cd);
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}
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cd->report_state = RS_IDLE;
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pio_match_clear(cd);
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}
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// Parser found unexpected data on input
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static void
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report_note_parse_error(struct can2040 *cd)
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{
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if (cd->report_state == RS_IDLE)
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return;
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cd->report_state = RS_IDLE;
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pio_match_clear(cd);
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}
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// Check if in an rx ack is pending
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static int
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report_is_acking_rx(struct can2040 *cd)
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{
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return cd->report_state == (RS_IN_MSG | RS_AWAIT_EOF);
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}
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/****************************************************************
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* Transmit state tracking
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****************************************************************/
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@ -714,11 +633,9 @@ tx_qpos(struct can2040 *cd, uint32_t pos)
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static void
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tx_schedule_transmit(struct can2040 *cd)
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{
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if (cd->tx_state == TS_QUEUED) {
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if (!pio_tx_did_conflict(cd))
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// Already queued or actively transmitting
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return;
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}
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if (cd->tx_state == TS_QUEUED && !pio_tx_did_conflict(cd))
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// Already queued or actively transmitting
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return;
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if (cd->tx_push_pos == cd->tx_pull_pos) {
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// No new messages to transmit
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cd->tx_state = TS_IDLE;
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@ -729,103 +646,200 @@ tx_schedule_transmit(struct can2040 *cd)
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pio_tx_send(cd, qt->stuffed_data, qt->stuffed_words);
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}
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// Setup PIO state for ack injection
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static int
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tx_inject_ack(struct can2040 *cd, uint32_t match_key)
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{
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if (cd->tx_state == TS_QUEUED && !pio_tx_did_conflict(cd)
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&& pio_rx_fifo_level(cd) > 1)
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// Rx state is behind - acking wont succeed and may halt active tx
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return -1;
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cd->tx_state = TS_ACKING_RX;
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pio_tx_inject_ack(cd, match_key);
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return 0;
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}
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// Check if the current parsed message is feedback from current transmit
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static int
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tx_check_local_message(struct can2040 *cd)
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{
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if (cd->tx_state != TS_QUEUED)
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return 0;
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struct can2040_transmit *qt = &cd->tx_queue[tx_qpos(cd, cd->tx_pull_pos)];
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struct can2040_msg *pm = &cd->parse_msg, *tm = &qt->msg;
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if (qt->crc == cd->parse_crc && tm->id == pm->id && tm->dlc == pm->dlc
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&& tm->data32[0] == pm->data32[0] && tm->data32[1] == pm->data32[1]) {
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// This is a self transmit
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cd->tx_state = TS_CONFIRM_TX;
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return 1;
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}
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return 0;
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}
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/****************************************************************
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* Notification callbacks
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****************************************************************/
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// Report state flags (stored in cd->report_state)
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enum {
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RS_IDLE = 0, RS_IS_TX = 1, RS_IN_MSG = 2, RS_AWAIT_EOF = 4,
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};
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// Report error to calling code (via callback interface)
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static void
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report_callback_error(struct can2040 *cd, uint32_t error_code)
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{
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struct can2040_msg msg = {};
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cd->rx_cb(cd, CAN2040_NOTIFY_ERROR | error_code, &msg);
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}
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// Report a received message to calling code (via callback interface)
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static void
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report_callback_rx_msg(struct can2040 *cd)
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{
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cd->rx_cb(cd, CAN2040_NOTIFY_RX, &cd->parse_msg);
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}
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// Report a message that was successfully transmited (via callback interface)
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static void
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report_callback_tx_msg(struct can2040 *cd)
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{
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cd->tx_pull_pos++;
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cd->rx_cb(cd, CAN2040_NOTIFY_TX, &cd->parse_msg);
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}
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// EOF phase complete - report message (rx or tx) to calling code
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static void
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report_handle_eof(struct can2040 *cd)
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{
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if (cd->report_state == RS_IDLE)
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// Message already reported or an unexpected EOF
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return;
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if (cd->report_state & RS_AWAIT_EOF) {
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// Successfully processed a new message - report to calling code
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pio_sync_normal_start_signal(cd);
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if (cd->report_state & RS_IS_TX)
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report_callback_tx_msg(cd);
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else
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report_callback_rx_msg(cd);
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}
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cd->report_state = RS_IDLE;
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pio_match_clear(cd);
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}
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// Check if in an rx ack is pending
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static int
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report_is_acking_rx(struct can2040 *cd)
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{
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return cd->report_state == (RS_IN_MSG | RS_AWAIT_EOF);
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}
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// Parser found a new message start
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static void
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tx_note_message_start(struct can2040 *cd)
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report_note_message_start(struct can2040 *cd)
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{
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pio_irq_set_maytx(cd);
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}
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// Setup for ack injection (if receiving) or ack confirmation (if transmit)
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static void
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tx_note_crc_start(struct can2040 *cd, uint32_t parse_crc)
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report_note_crc_start(struct can2040 *cd)
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{
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uint32_t cs = cd->unstuf.count_stuff;
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uint32_t crcstart_bitpos = cd->raw_bit_count - cs - 1;
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uint32_t last = ((cd->unstuf.stuffed_bits >> cs) << 15) | parse_crc;
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uint32_t last = ((cd->unstuf.stuffed_bits >> cs) << 15) | cd->parse_crc;
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uint32_t crc_bitcount = bitstuff(&last, 15 + 1) - 1;
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uint32_t crcend_bitpos = crcstart_bitpos + crc_bitcount;
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struct can2040_transmit *qt = &cd->tx_queue[tx_qpos(cd, cd->tx_pull_pos)];
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struct can2040_msg *pm = &cd->parse_msg, *tm = &qt->msg;
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if (cd->tx_state == TS_QUEUED) {
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if (qt->crc == parse_crc && tm->id == pm->id && tm->dlc == pm->dlc
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&& tm->data32[0] == pm->data32[0]
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&& tm->data32[1] == pm->data32[1]) {
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// This is a self transmit - setup confirmation signal
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report_note_crc_start(cd, 1);
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cd->tx_state = TS_CONFIRM_TX;
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last = (last << 10) | 0x02ff;
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pio_match_check(cd, pio_match_calc_key(last, crcend_bitpos + 10));
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return;
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}
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if (!pio_tx_did_conflict(cd) && pio_rx_fifo_level(cd) > 1) {
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// Rx state is behind - acking wont succeed and may halt active tx
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report_note_crc_start(cd, 0);
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return;
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}
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int ret = tx_check_local_message(cd);
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if (ret) {
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// This is a self transmit - setup tx eof "matched" signal
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cd->report_state = RS_IN_MSG | RS_IS_TX;
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last = (last << 10) | 0x02ff;
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pio_match_check(cd, pio_match_calc_key(last, crcend_bitpos + 10));
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return;
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}
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// Inject ack
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report_note_crc_start(cd, 0);
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cd->tx_state = TS_ACKING_RX;
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cd->report_state = RS_IN_MSG;
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last = (last << 1) | 0x01;
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pio_tx_inject_ack(cd, pio_match_calc_key(last, crcend_bitpos + 1));
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ret = tx_inject_ack(cd, pio_match_calc_key(last, crcend_bitpos + 1));
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if (ret)
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// Ack couldn't be scheduled (due to lagged parsing state)
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return;
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pio_irq_set_maytx_ackdone(cd);
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// Setup for future rx eof "matched" signal
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last = (last << 8) | 0x7f;
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cd->tx_eof_key = pio_match_calc_key(last, crcend_bitpos + 9);
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cd->report_eof_key = pio_match_calc_key(last, crcend_bitpos + 9);
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}
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// Ack phase succeeded
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// Parser found successful ack
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static void
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tx_note_ack_success(struct can2040 *cd)
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report_note_ack_success(struct can2040 *cd)
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{
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report_note_ack_success(cd);
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if (cd->tx_state == TS_CONFIRM_TX)
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if (!(cd->report_state & RS_IN_MSG))
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// Got rx "ackdone" and "matched" signals already
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return;
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cd->report_state |= RS_AWAIT_EOF;
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if (cd->report_state & RS_IS_TX)
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// Enable "matched" irq for fast back-to-back transmit scheduling
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pio_irq_set_maytx_matched(cd);
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}
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// EOF phase succeeded - report message (rx or tx) to calling code
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// Parser found successful EOF
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static void
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tx_note_eof_success(struct can2040 *cd)
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report_note_eof_success(struct can2040 *cd)
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{
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report_note_eof(cd);
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pio_sync_normal_start_signal(cd);
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report_handle_eof(cd);
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}
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// Parser found unexpected data on input
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static void
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tx_note_parse_error(struct can2040 *cd)
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report_note_parse_error(struct can2040 *cd)
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{
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report_note_parse_error(cd);
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if (cd->report_state != RS_IDLE) {
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cd->report_state = RS_IDLE;
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pio_match_clear(cd);
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}
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pio_sync_slow_start_signal(cd);
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pio_irq_set_maytx(cd);
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}
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// Received PIO rx "ackdone" irq
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static void
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tx_line_ackdone(struct can2040 *cd)
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report_line_ackdone(struct can2040 *cd)
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{
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report_note_ack_success(cd);
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pio_match_check(cd, cd->tx_eof_key);
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if (!(cd->report_state & RS_IN_MSG)) {
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// Parser already processed ack and eof bits
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pio_irq_set_maytx(cd);
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return;
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}
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// Setup "matched" irq for fast rx callbacks
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cd->report_state = RS_IN_MSG | RS_AWAIT_EOF;
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pio_match_check(cd, cd->report_eof_key);
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pio_irq_set_maytx_matched(cd);
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// Schedule next transmit (so it is ready for next frame line arbitration)
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tx_schedule_transmit(cd);
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}
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// Received PIO "matched" irq
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static void
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tx_line_matched(struct can2040 *cd)
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report_line_matched(struct can2040 *cd)
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{
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tx_note_eof_success(cd);
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// Implement fast rx callback and/or fast back-to-back tx scheduling
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report_handle_eof(cd);
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pio_irq_set_none(cd);
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tx_schedule_transmit(cd);
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}
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// Received 10+ passive bits on the line (between 10 and 17 bits)
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static void
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tx_line_maytx(struct can2040 *cd)
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report_line_maytx(struct can2040 *cd)
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{
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report_note_eof(cd);
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// Line is idle - may be unexpected EOF, missed ack injection,
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// missed "matched" signal, or can2040_transmit() kick.
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report_handle_eof(cd);
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pio_irq_set_none(cd);
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tx_schedule_transmit(cd);
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}
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@ -853,13 +867,13 @@ data_state_go_next(struct can2040 *cd, uint32_t state, uint32_t bits)
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static void
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data_state_go_discard(struct can2040 *cd)
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{
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tx_note_parse_error(cd);
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report_note_parse_error(cd);
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if (pio_rx_check_stall(cd)) {
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// CPU couldn't keep up for some read data - must reset pio state
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cd->raw_bit_count = cd->unstuf.count_stuff = 0;
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pio_sm_setup(cd);
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report_error(cd, 0);
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report_callback_error(cd, 0);
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}
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data_state_go_next(cd, MS_DISCARD, 32);
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@ -905,7 +919,7 @@ static void
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data_state_go_crc(struct can2040 *cd)
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{
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cd->parse_crc &= 0x7fff;
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tx_note_crc_start(cd, cd->parse_crc);
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report_note_crc_start(cd);
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data_state_go_next(cd, MS_CRC, 16);
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}
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@ -937,7 +951,7 @@ static void
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data_state_update_start(struct can2040 *cd, uint32_t data)
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{
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cd->parse_msg.id = data;
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tx_note_message_start(cd);
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report_note_message_start(cd);
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data_state_go_next(cd, MS_HEADER, 17);
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}
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@ -1012,7 +1026,7 @@ data_state_update_ack(struct can2040 *cd, uint32_t data)
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data_state_go_discard(cd);
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return;
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}
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tx_note_ack_success(cd);
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report_note_ack_success(cd);
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data_state_go_next(cd, MS_EOF0, 4);
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}
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@ -1034,7 +1048,7 @@ data_state_update_eof1(struct can2040 *cd, uint32_t data)
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{
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if (data >= 0x0e || (data >= 0x0c && report_is_acking_rx(cd)))
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// Message is considered fully transmitted
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tx_note_eof_success(cd);
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report_note_eof_success(cd);
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if (data == 0x0f)
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data_state_go_next(cd, MS_START, 1);
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@ -1115,13 +1129,13 @@ can2040_pio_irq_handler(struct can2040 *cd)
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if (ints & PIO_IRQ0_INTE_SM3_BITS)
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// Ack of received message completed successfully
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tx_line_ackdone(cd);
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report_line_ackdone(cd);
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else if (ints & PIO_IRQ0_INTE_SM2_BITS)
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// Transmit message completed successfully
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tx_line_matched(cd);
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report_line_matched(cd);
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else if (ints & PIO_IRQ0_INTE_SM0_BITS)
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// Bus is idle, but not all bits may have been flushed yet
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tx_line_maytx(cd);
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report_line_maytx(cd);
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}
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@ -68,10 +68,10 @@ struct can2040 {
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// Reporting
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uint32_t report_state;
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uint32_t report_eof_key;
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// Transmits
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uint32_t tx_state;
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uint32_t tx_eof_key;
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uint32_t tx_pull_pos, tx_push_pos;
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struct can2040_transmit tx_queue[4];
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};
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