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lib: Update to latest can2040 code 

Avoid some gcc warnings by using uint32_t for iterators
Better document the fallthough case statement in crc_bytes()
Fix txpending race from report_line_ackdone()
Make can2040_transmit() multi-cpu atomic

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2023-04-11 11:20:57 -04:00
parent 83308a1051
commit aa8a6f4cf1
2 changed files with 21 additions and 13 deletions
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2
lib/README
View File

@ -155,7 +155,7 @@ used to upload firmware to devices flashed with the CanBoot bootloader.
The can2040 directory contains code from: The can2040 directory contains code from:
https://github.com/KevinOConnor/can2040 https://github.com/KevinOConnor/can2040
revision 177b0073fe6f19281ee7f7fdbe9599e32d1b4b8b. revision d1190afcaa6245c20da28199d06e453d2e743099.
The Huada HC32F460 directory contains code from: The Huada HC32F460 directory contains code from:
https://www.hdsc.com.cn/Category83-1490 https://www.hdsc.com.cn/Category83-1490

32
lib/can2040/can2040.c
View File

@ -267,7 +267,7 @@ pio_tx_send(struct can2040 *cd, uint32_t *data, uint32_t count)
pio_hw_t *pio_hw = cd->pio_hw; pio_hw_t *pio_hw = cd->pio_hw;
pio_tx_reset(cd); pio_tx_reset(cd);
pio_hw->instr_mem[can2040_offset_tx_got_recessive] = 0xa242; // nop [2] pio_hw->instr_mem[can2040_offset_tx_got_recessive] = 0xa242; // nop [2]
int i; uint32_t i;
for (i=0; i<count; i++) for (i=0; i<count; i++)
pio_hw->txf[3] = data[i]; pio_hw->txf[3] = data[i];
struct pio_sm_hw *sm = &pio_hw->sm[3]; struct pio_sm_hw *sm = &pio_hw->sm[3];
@ -351,7 +351,7 @@ pio_sm_setup(struct can2040 *cd)
pio_signal_set_txpending(cd); pio_signal_set_txpending(cd);
// Load pio program // Load pio program
int i; uint32_t i;
for (i=0; i<ARRAY_SIZE(can2040_program_instructions); i++) for (i=0; i<ARRAY_SIZE(can2040_program_instructions); i++)
pio_hw->instr_mem[i] = can2040_program_instructions[i]; pio_hw->instr_mem[i] = can2040_program_instructions[i];
@ -436,9 +436,9 @@ static inline uint32_t
crc_bytes(uint32_t crc, uint32_t data, uint32_t num) crc_bytes(uint32_t crc, uint32_t data, uint32_t num)
{ {
switch (num) { switch (num) {
default: crc = crc_byte(crc, data >> 24); default: crc = crc_byte(crc, data >> 24); /* FALLTHRU */
case 3: crc = crc_byte(crc, data >> 16); case 3: crc = crc_byte(crc, data >> 16); /* FALLTHRU */
case 2: crc = crc_byte(crc, data >> 8); case 2: crc = crc_byte(crc, data >> 8); /* FALLTHRU */
case 1: crc = crc_byte(crc, data); case 1: crc = crc_byte(crc, data);
} }
return crc; return crc;
@ -647,14 +647,19 @@ tx_schedule_transmit(struct can2040 *cd)
if (cd->tx_state == TS_QUEUED && !pio_tx_did_fail(cd)) if (cd->tx_state == TS_QUEUED && !pio_tx_did_fail(cd))
// Already queued or actively transmitting // Already queued or actively transmitting
return 0; return 0;
if (cd->tx_push_pos == cd->tx_pull_pos) { uint32_t tx_pull_pos = cd->tx_pull_pos;
if (readl(&cd->tx_push_pos) == tx_pull_pos) {
// No new messages to transmit // No new messages to transmit
cd->tx_state = TS_IDLE; cd->tx_state = TS_IDLE;
pio_signal_clear_txpending(cd); pio_signal_clear_txpending(cd);
return SI_TXPENDING; __DMB();
if (likely(readl(&cd->tx_push_pos) == tx_pull_pos))
return SI_TXPENDING;
// Raced with can2040_transmit() - msg is now available for transmit
pio_signal_set_txpending(cd);
} }
cd->tx_state = TS_QUEUED; cd->tx_state = TS_QUEUED;
struct can2040_transmit *qt = &cd->tx_queue[tx_qpos(cd, cd->tx_pull_pos)]; struct can2040_transmit *qt = &cd->tx_queue[tx_qpos(cd, tx_pull_pos)];
pio_tx_send(cd, qt->stuffed_data, qt->stuffed_words); pio_tx_send(cd, qt->stuffed_data, qt->stuffed_words);
return 0; return 0;
} }
@ -717,7 +722,7 @@ report_callback_rx_msg(struct can2040 *cd)
static void static void
report_callback_tx_msg(struct can2040 *cd) report_callback_tx_msg(struct can2040 *cd)
{ {
cd->tx_pull_pos++; writel(&cd->tx_pull_pos, cd->tx_pull_pos + 1);
cd->rx_cb(cd, CAN2040_NOTIFY_TX, &cd->parse_msg); cd->rx_cb(cd, CAN2040_NOTIFY_TX, &cd->parse_msg);
} }
@ -856,7 +861,9 @@ report_line_maytx(struct can2040 *cd)
static void static void
report_line_txpending(struct can2040 *cd) report_line_txpending(struct can2040 *cd)
{ {
if (cd->report_state == RS_NEED_RX_ACK) { uint32_t pio_irqs = pio_irq_get(cd);
if (pio_irqs == (SI_MAYTX | SI_TXPENDING | SI_RX_DATA)
&& cd->report_state == RS_NEED_RX_ACK) {
// Ack inject request from report_note_crc_start() // Ack inject request from report_note_crc_start()
uint32_t mk = pio_match_calc_key(cd->parse_crc_bits, cd->parse_crc_pos); uint32_t mk = pio_match_calc_key(cd->parse_crc_bits, cd->parse_crc_pos);
tx_inject_ack(cd, mk); tx_inject_ack(cd, mk);
@ -866,7 +873,7 @@ report_line_txpending(struct can2040 *cd)
// Tx request from can2040_transmit(), report_note_eof_success(), // Tx request from can2040_transmit(), report_note_eof_success(),
// or report_note_parse_error(). // or report_note_parse_error().
uint32_t check_txpending = tx_schedule_transmit(cd); uint32_t check_txpending = tx_schedule_transmit(cd);
pio_irq_set(cd, (pio_irq_get(cd) & ~SI_TXPENDING) | check_txpending); pio_irq_set(cd, (pio_irqs & ~SI_TXPENDING) | check_txpending);
} }
@ -1241,7 +1248,7 @@ can2040_transmit(struct can2040 *cd, struct can2040_msg *msg)
crc = crc_bytes(crc, hdr, 3); crc = crc_bytes(crc, hdr, 3);
bs_push(&bs, hdr, 19); bs_push(&bs, hdr, 19);
} }
int i; uint32_t i;
for (i=0; i<data_len; i++) { for (i=0; i<data_len; i++) {
uint32_t v = qt->msg.data[i]; uint32_t v = qt->msg.data[i];
crc = crc_byte(crc, v); crc = crc_byte(crc, v);
@ -1256,6 +1263,7 @@ can2040_transmit(struct can2040 *cd, struct can2040_msg *msg)
writel(&cd->tx_push_pos, tx_push_pos + 1); writel(&cd->tx_push_pos, tx_push_pos + 1);
// Wakeup if in TS_IDLE state // Wakeup if in TS_IDLE state
__DMB();
pio_signal_set_txpending(cd); pio_signal_set_txpending(cd);
return 0; return 0;