lib: Update to latest can2040 code
Add support for can2040_stop() Add data_state_go_error() helper Add new can2040_get_statistics() API function Call report_note_discarding() after setting MS_DISCARD state Convert report_is_rx_eof_pending() to report_is_not_in_tx() Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
parent
7bd32994d4
commit
aa726cb7cb
|
|
@ -167,7 +167,7 @@ used to upload firmware to devices flashed with the CanBoot bootloader.
|
|||
|
||||
The can2040 directory contains code from:
|
||||
https://github.com/KevinOConnor/can2040
|
||||
revision d1190afcaa6245c20da28199d06e453d2e743099.
|
||||
version v1.6.0 (af3d21e5d61b8408c63fbdfb0aceb21d69d91693)
|
||||
|
||||
The Huada HC32F460 directory contains code from:
|
||||
https://www.hdsc.com.cn/Category83-1490
|
||||
|
|
|
|||
|
|
@ -1,6 +1,6 @@
|
|||
// Software CANbus implementation for rp2040
|
||||
//
|
||||
// Copyright (C) 2022 Kevin O'Connor <kevin@koconnor.net>
|
||||
// Copyright (C) 2022,2023 Kevin O'Connor <kevin@koconnor.net>
|
||||
//
|
||||
// This file may be distributed under the terms of the GNU GPLv3 license.
|
||||
|
||||
|
|
@ -318,6 +318,14 @@ pio_irq_set(struct can2040 *cd, uint32_t sm_irqs)
|
|||
pio_hw->inte0 = sm_irqs | SI_RX_DATA;
|
||||
}
|
||||
|
||||
// Completely disable host irqs
|
||||
static void
|
||||
pio_irq_disable(struct can2040 *cd)
|
||||
{
|
||||
pio_hw_t *pio_hw = cd->pio_hw;
|
||||
pio_hw->inte0 = 0;
|
||||
}
|
||||
|
||||
// Return current host irq mask
|
||||
static uint32_t
|
||||
pio_irq_get(struct can2040 *cd)
|
||||
|
|
@ -662,6 +670,7 @@ tx_schedule_transmit(struct can2040 *cd)
|
|||
pio_signal_set_txpending(cd);
|
||||
}
|
||||
cd->tx_state = TS_QUEUED;
|
||||
cd->stats.tx_attempt++;
|
||||
struct can2040_transmit *qt = &cd->tx_queue[tx_qpos(cd, tx_pull_pos)];
|
||||
pio_tx_send(cd, qt->stuffed_data, qt->stuffed_words);
|
||||
return 0;
|
||||
|
|
@ -721,6 +730,7 @@ report_callback_error(struct can2040 *cd, uint32_t error_code)
|
|||
static void
|
||||
report_callback_rx_msg(struct can2040 *cd)
|
||||
{
|
||||
cd->stats.rx_total++;
|
||||
cd->rx_cb(cd, CAN2040_NOTIFY_RX, &cd->parse_msg);
|
||||
}
|
||||
|
||||
|
|
@ -729,6 +739,7 @@ static void
|
|||
report_callback_tx_msg(struct can2040 *cd)
|
||||
{
|
||||
writel(&cd->tx_pull_pos, cd->tx_pull_pos + 1);
|
||||
cd->stats.tx_total++;
|
||||
cd->rx_cb(cd, CAN2040_NOTIFY_TX, &cd->parse_msg);
|
||||
}
|
||||
|
||||
|
|
@ -748,11 +759,11 @@ report_handle_eof(struct can2040 *cd)
|
|||
pio_match_clear(cd);
|
||||
}
|
||||
|
||||
// Check if in an rx message is being processed
|
||||
// Check if message being processed is an rx message (not self feedback from tx)
|
||||
static int
|
||||
report_is_rx_eof_pending(struct can2040 *cd)
|
||||
report_is_not_in_tx(struct can2040 *cd)
|
||||
{
|
||||
return cd->report_state == RS_NEED_RX_EOF;
|
||||
return !(cd->report_state & RS_NEED_TX_ACK);
|
||||
}
|
||||
|
||||
// Parser found a new message start
|
||||
|
|
@ -817,7 +828,7 @@ report_note_eof_success(struct can2040 *cd)
|
|||
|
||||
// Parser found unexpected data on input
|
||||
static void
|
||||
report_note_parse_error(struct can2040 *cd)
|
||||
report_note_discarding(struct can2040 *cd)
|
||||
{
|
||||
if (cd->report_state != RS_IDLE) {
|
||||
cd->report_state = RS_IDLE;
|
||||
|
|
@ -880,7 +891,7 @@ report_line_txpending(struct can2040 *cd)
|
|||
return;
|
||||
}
|
||||
// Tx request from can2040_transmit(), report_note_eof_success(),
|
||||
// or report_note_parse_error().
|
||||
// or report_note_discarding().
|
||||
uint32_t check_txpending = tx_schedule_transmit(cd);
|
||||
pio_irq_set(cd, (pio_irqs & ~SI_TXPENDING) | check_txpending);
|
||||
}
|
||||
|
|
@ -896,6 +907,13 @@ enum {
|
|||
MS_CRC, MS_ACK, MS_EOF0, MS_EOF1, MS_DISCARD
|
||||
};
|
||||
|
||||
// Reset any bits in the incoming parsing state
|
||||
static void
|
||||
data_state_clear_bits(struct can2040 *cd)
|
||||
{
|
||||
cd->raw_bit_count = cd->unstuf.stuffed_bits = cd->unstuf.count_stuff = 0;
|
||||
}
|
||||
|
||||
// Transition to the next parsing state
|
||||
static void
|
||||
data_state_go_next(struct can2040 *cd, uint32_t state, uint32_t num_bits)
|
||||
|
|
@ -908,23 +926,35 @@ data_state_go_next(struct can2040 *cd, uint32_t state, uint32_t num_bits)
|
|||
static void
|
||||
data_state_go_discard(struct can2040 *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;
|
||||
data_state_clear_bits(cd);
|
||||
pio_sm_setup(cd);
|
||||
report_callback_error(cd, 0);
|
||||
}
|
||||
|
||||
data_state_go_next(cd, MS_DISCARD, 32);
|
||||
|
||||
// Clear report state and update hw irqs after transition to MS_DISCARD
|
||||
report_note_discarding(cd);
|
||||
}
|
||||
|
||||
// Note a data parse error and transition to discard state
|
||||
static void
|
||||
data_state_go_error(struct can2040 *cd)
|
||||
{
|
||||
cd->stats.parse_error++;
|
||||
data_state_go_discard(cd);
|
||||
}
|
||||
|
||||
// Received six dominant bits on the line
|
||||
static void
|
||||
data_state_line_error(struct can2040 *cd)
|
||||
{
|
||||
data_state_go_discard(cd);
|
||||
if (cd->parse_state == MS_DISCARD)
|
||||
data_state_go_discard(cd);
|
||||
else
|
||||
data_state_go_error(cd);
|
||||
}
|
||||
|
||||
// Received six unexpected passive bits on the line
|
||||
|
|
@ -933,7 +963,7 @@ data_state_line_passive(struct can2040 *cd)
|
|||
{
|
||||
if (cd->parse_state != MS_DISCARD && cd->parse_state != MS_START) {
|
||||
// Bitstuff error
|
||||
data_state_go_discard(cd);
|
||||
data_state_go_error(cd);
|
||||
return;
|
||||
}
|
||||
|
||||
|
|
@ -941,8 +971,7 @@ data_state_line_passive(struct can2040 *cd)
|
|||
uint32_t dom_bits = ~stuffed_bits;
|
||||
if (!dom_bits) {
|
||||
// Counter overflow in "sync" state machine - reset it
|
||||
cd->unstuf.stuffed_bits = 0;
|
||||
cd->raw_bit_count = cd->unstuf.count_stuff = 0;
|
||||
data_state_clear_bits(cd);
|
||||
pio_sm_setup(cd);
|
||||
data_state_go_discard(cd);
|
||||
return;
|
||||
|
|
@ -972,7 +1001,7 @@ data_state_go_crc(struct can2040 *cd)
|
|||
|
||||
int ret = report_note_crc_start(cd);
|
||||
if (ret) {
|
||||
data_state_go_discard(cd);
|
||||
data_state_go_error(cd);
|
||||
return;
|
||||
}
|
||||
data_state_go_next(cd, MS_CRC, 16);
|
||||
|
|
@ -1065,7 +1094,7 @@ static void
|
|||
data_state_update_crc(struct can2040 *cd, uint32_t data)
|
||||
{
|
||||
if (((cd->parse_crc << 1) | 1) != data) {
|
||||
data_state_go_discard(cd);
|
||||
data_state_go_error(cd);
|
||||
return;
|
||||
}
|
||||
|
||||
|
|
@ -1083,7 +1112,7 @@ data_state_update_ack(struct can2040 *cd, uint32_t data)
|
|||
// data_state_line_passive()
|
||||
unstuf_restore_state(&cd->unstuf, (cd->parse_crc_bits << 2) | data);
|
||||
|
||||
data_state_go_discard(cd);
|
||||
data_state_go_error(cd);
|
||||
return;
|
||||
}
|
||||
report_note_ack_success(cd);
|
||||
|
|
@ -1095,7 +1124,7 @@ static void
|
|||
data_state_update_eof0(struct can2040 *cd, uint32_t data)
|
||||
{
|
||||
if (data != 0x0f || pio_rx_check_stall(cd)) {
|
||||
data_state_go_discard(cd);
|
||||
data_state_go_error(cd);
|
||||
return;
|
||||
}
|
||||
unstuf_clear_state(&cd->unstuf);
|
||||
|
|
@ -1106,14 +1135,17 @@ data_state_update_eof0(struct can2040 *cd, uint32_t data)
|
|||
static void
|
||||
data_state_update_eof1(struct can2040 *cd, uint32_t data)
|
||||
{
|
||||
if (data >= 0x1c || (data >= 0x18 && report_is_rx_eof_pending(cd)))
|
||||
// Message is considered fully transmitted
|
||||
if (data == 0x1f) {
|
||||
// Success
|
||||
report_note_eof_success(cd);
|
||||
|
||||
if (data == 0x1f)
|
||||
data_state_go_next(cd, MS_START, 1);
|
||||
else
|
||||
} else if (data >= 0x1c || (data >= 0x18 && report_is_not_in_tx(cd))) {
|
||||
// Message fully transmitted - followed by "overload frame"
|
||||
report_note_eof_success(cd);
|
||||
data_state_go_discard(cd);
|
||||
} else {
|
||||
data_state_go_error(cd);
|
||||
}
|
||||
}
|
||||
|
||||
// Handle data received while in MS_DISCARD state
|
||||
|
|
@ -1310,13 +1342,28 @@ can2040_start(struct can2040 *cd, uint32_t sys_clock, uint32_t bitrate
|
|||
{
|
||||
cd->gpio_rx = gpio_rx;
|
||||
cd->gpio_tx = gpio_tx;
|
||||
data_state_clear_bits(cd);
|
||||
pio_setup(cd, sys_clock, bitrate);
|
||||
data_state_go_discard(cd);
|
||||
}
|
||||
|
||||
// API function to stop and uninitialize can2040 code
|
||||
// API function to stop can2040 code
|
||||
void
|
||||
can2040_shutdown(struct can2040 *cd)
|
||||
can2040_stop(struct can2040 *cd)
|
||||
{
|
||||
// XXX
|
||||
pio_irq_disable(cd);
|
||||
pio_sm_setup(cd);
|
||||
}
|
||||
|
||||
// API function to access can2040 statistics
|
||||
void
|
||||
can2040_get_statistics(struct can2040 *cd, struct can2040_stats *stats)
|
||||
{
|
||||
for (;;) {
|
||||
memcpy(stats, &cd->stats, sizeof(*stats));
|
||||
if (memcmp(stats, &cd->stats, sizeof(*stats)) == 0)
|
||||
// Successfully copied data
|
||||
return;
|
||||
// Raced with irq handler update - retry copy
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -26,11 +26,18 @@ struct can2040;
|
|||
typedef void (*can2040_rx_cb)(struct can2040 *cd, uint32_t notify
|
||||
, struct can2040_msg *msg);
|
||||
|
||||
struct can2040_stats {
|
||||
uint32_t rx_total, tx_total;
|
||||
uint32_t tx_attempt;
|
||||
uint32_t parse_error;
|
||||
};
|
||||
|
||||
void can2040_setup(struct can2040 *cd, uint32_t pio_num);
|
||||
void can2040_callback_config(struct can2040 *cd, can2040_rx_cb rx_cb);
|
||||
void can2040_start(struct can2040 *cd, uint32_t sys_clock, uint32_t bitrate
|
||||
, uint32_t gpio_rx, uint32_t gpio_tx);
|
||||
void can2040_shutdown(struct can2040 *cd);
|
||||
void can2040_stop(struct can2040 *cd);
|
||||
void can2040_get_statistics(struct can2040 *cd, struct can2040_stats *stats);
|
||||
void can2040_pio_irq_handler(struct can2040 *cd);
|
||||
int can2040_check_transmit(struct can2040 *cd);
|
||||
int can2040_transmit(struct can2040 *cd, struct can2040_msg *msg);
|
||||
|
|
@ -56,6 +63,7 @@ struct can2040 {
|
|||
void *pio_hw;
|
||||
uint32_t gpio_rx, gpio_tx;
|
||||
can2040_rx_cb rx_cb;
|
||||
struct can2040_stats stats;
|
||||
|
||||
// Bit unstuffing
|
||||
struct can2040_bitunstuffer unstuf;
|
||||
|
|
|
|||
Loading…
Reference in New Issue