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