stm32: Simplify can.c irq handler

Don't perform any heavy tasks in the CAN interrupt handler - just
notify a background task to handle anything pending.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2021-01-28 00:54:45 -05:00
parent 95adff7431
commit bee544eaca
1 changed files with 132 additions and 129 deletions

View File

@ -2,11 +2,13 @@
// //
// Copyright (C) 2019 Eug Krashtan <eug.krashtan@gmail.com> // Copyright (C) 2019 Eug Krashtan <eug.krashtan@gmail.com>
// Copyright (C) 2020 Pontus Borg <glpontus@gmail.com> // Copyright (C) 2020 Pontus Borg <glpontus@gmail.com>
// Copyright (C) 2021 Kevin O'Connor <kevin@koconnor.net>
// //
// This file may be distributed under the terms of the GNU GPLv3 license. // This file may be distributed under the terms of the GNU GPLv3 license.
#include <string.h> // memcpy #include <string.h> // memcpy
#include "autoconf.h" // CONFIG_MACH_STM32F1 #include "autoconf.h" // CONFIG_MACH_STM32F1
#include "board/irq.h" // irq_disable
#include "can.h" // SHORT_UUID_LEN #include "can.h" // SHORT_UUID_LEN
#include "command.h" // DECL_CONSTANT_STR #include "command.h" // DECL_CONSTANT_STR
#include "fasthash.h" // fasthash64 #include "fasthash.h" // fasthash64
@ -120,8 +122,7 @@ can_transmit_mbox(uint32_t id, int mbox, uint32_t dlc, uint8_t *pkt)
mb->TIR = (id << CAN_TI0R_STID_Pos) | CAN_TI0R_TXRQ; mb->TIR = (id << CAN_TI0R_STID_Pos) | CAN_TI0R_TXRQ;
} }
// Blocking transmit function, it can race with the IRQ driven TX handler. // Blocking transmit function
// This should(tm) not happen
static void static void
can_transmit(uint32_t id, uint32_t dlc, uint8_t *pkt) can_transmit(uint32_t id, uint32_t dlc, uint8_t *pkt)
{ {
@ -142,58 +143,6 @@ pack_uuid(uint8_t *u)
memcpy(u, &hash, SHORT_UUID_LEN); memcpy(u, &hash, SHORT_UUID_LEN);
} }
static void
can_uuid_resp(void)
{
uint8_t short_uuid[SHORT_UUID_LEN];
pack_uuid(short_uuid);
can_transmit(PKT_ID_UUID_RESP, SHORT_UUID_LEN, short_uuid);
}
static void
get_rx_data(uint8_t *buf, unsigned int mbox)
{
uint32_t rdlr = SOC_CAN->sFIFOMailBox[mbox].RDLR;
buf[0] = (rdlr >> 0) & 0xff;
buf[1] = (rdlr >> 8) & 0xff;
buf[2] = (rdlr >> 16) & 0xff;
buf[3] = (rdlr >> 24) & 0xff;
uint32_t rdhr = SOC_CAN->sFIFOMailBox[mbox].RDHR;
buf[4] = (rdhr >> 0) & 0xff;
buf[5] = (rdhr >> 8) & 0xff;
buf[6] = (rdhr >> 16) & 0xff;
buf[7] = (rdhr >> 24) & 0xff;
}
// Return true if more data is available to send or mailboxes are full
static int
CAN_TxIrq(void)
{
int txdata = 1;
// TODO: We need some kind of error handling?
while (txdata) {
int mbox = can_find_empty_tx_mbox();
if (mbox < 0) {
// All mboxes full, wait for next IRQ
return 1;
}
int i;
uint8_t databuf[8];
for (i=0; i<8; i++) {
if (serial_get_tx_byte(&(databuf[i])) == -1) {
txdata = 0;
break;
}
}
if (i > 0) {
can_transmit_mbox(MyCanId+1, mbox, i, databuf);
}
}
return txdata;
}
#define CAN_FILTER_NUMBER 0 #define CAN_FILTER_NUMBER 0
static void static void
@ -224,85 +173,144 @@ can_set_filter(uint32_t id1, uint32_t id2)
} }
static void static void
CAN_RxCpltCallback(unsigned int mbox) can_process_data(uint32_t id, uint32_t dlc, uint8_t *data)
{ {
CAN_FIFOMailBox_TypeDef *mb = &SOC_CAN->sFIFOMailBox[mbox]; int i;
uint32_t id = (mb->RIR >> CAN_RI0R_STID_Pos) & 0x7FF; for (i=0; i < dlc; i++)
uint8_t dlc = mb->RDTR & CAN_RDT0R_DLC; serial_rx_byte(data[i]);
uint8_t databuf[8]; }
if (!MyCanId) { // If serial not assigned yet static void
if (id==PKT_ID_UUID && dlc == 0) { can_process_ping(uint32_t id, uint32_t dlc, uint8_t *data)
// Just inform host about my UUID {
can_uuid_resp(); can_transmit(MyCanId+1, 0, NULL);
} else if (id == PKT_ID_SET) { }
uint8_t short_uuid[SHORT_UUID_LEN];
pack_uuid(short_uuid);
// compare my UUID with packet to check if this packet mine static void
get_rx_data(databuf, mbox); can_process_reset(uint32_t id, uint32_t dlc, uint8_t *data)
if (memcmp(&(databuf[2]), short_uuid, SHORT_UUID_LEN) == 0) { {
MyCanId = databuf[0] | (databuf[1] << 8); uint32_t reset_id = data[0] | (data[1] << 8);
can_set_filter(MyCanId, PKT_ID_UUID); if (reset_id == MyCanId)
} NVIC_SystemReset();
} }
} else {
if (id == MyCanId) { static void
// compare my UUID with packet to check if this packet mine can_process_uuid(uint32_t id, uint32_t dlc, uint8_t *data)
if (dlc == 0) { {
// empty packet == ping request if (MyCanId)
can_transmit(MyCanId+1, 0, NULL); return;
} else { uint8_t short_uuid[SHORT_UUID_LEN];
get_rx_data(databuf, mbox); pack_uuid(short_uuid);
for (int i=0; i < dlc; i++) { can_transmit(PKT_ID_UUID_RESP, SHORT_UUID_LEN, short_uuid);
serial_rx_byte(databuf[i]); }
}
} static void
} else if (id == PKT_ID_UUID && dlc > 0) { can_process_set_id(uint32_t id, uint32_t dlc, uint8_t *data)
get_rx_data(databuf, mbox); {
if (memcmp(databuf, &MyCanId, 2) == 0) { uint8_t short_uuid[SHORT_UUID_LEN];
// Reset from host pack_uuid(short_uuid);
NVIC_SystemReset();
} // compare my UUID with packet to check if this packet mine
} if (memcmp(&data[2], short_uuid, SHORT_UUID_LEN) == 0) {
MyCanId = data[0] | (data[1] << 8);
can_set_filter(MyCanId, PKT_ID_UUID);
} }
} }
static void
can_process(uint32_t id, uint32_t dlc, uint8_t *data)
{
if (id == MyCanId) {
if (dlc)
can_process_data(id, dlc, data);
else
can_process_ping(id, dlc, data);
} else if (id == PKT_ID_UUID) {
if (dlc)
can_process_reset(id, dlc, data);
else
can_process_uuid(id, dlc, data);
} else if (id==PKT_ID_SET) {
can_process_set_id(id, dlc, data);
}
}
static struct task_wake canbus_wake;
void
can_dispatch_task(void)
{
if (!sched_check_wake(&canbus_wake))
return;
// Check for rx
for (;;) {
if (!(SOC_CAN->RF0R & CAN_RF0R_FMP0)) {
// All rx mboxes empty, enable wake on rx IRQ
irq_disable();
SOC_CAN->IER |= CAN_IER_FMPIE0;
irq_enable();
break;
}
// Read and ack packet
CAN_FIFOMailBox_TypeDef *mb = &SOC_CAN->sFIFOMailBox[0];
uint32_t id = (mb->RIR >> CAN_RI0R_STID_Pos) & 0x7FF;
uint32_t dlc = mb->RDTR & CAN_RDT0R_DLC;
uint32_t rdlr = mb->RDLR, rdhr = mb->RDHR;
SOC_CAN->RF0R = CAN_RF0R_RFOM0;
// Process packet
uint8_t data[8];
data[0] = (rdlr >> 0) & 0xff;
data[1] = (rdlr >> 8) & 0xff;
data[2] = (rdlr >> 16) & 0xff;
data[3] = (rdlr >> 24) & 0xff;
data[4] = (rdhr >> 0) & 0xff;
data[5] = (rdhr >> 8) & 0xff;
data[6] = (rdhr >> 16) & 0xff;
data[7] = (rdhr >> 24) & 0xff;
can_process(id, dlc, data);
}
// Check for tx data
for (;;) {
int mbox = can_find_empty_tx_mbox();
if (mbox < 0) {
// All tx mboxes full, enable wake on tx IRQ
irq_disable();
SOC_CAN->IER |= CAN_IER_TMEIE;
irq_enable();
break;
}
int i;
uint8_t databuf[8];
for (i=0; i<8; i++) {
if (serial_get_tx_byte(&(databuf[i])) == -1)
break;
}
if (!i)
break;
can_transmit_mbox(MyCanId+1, mbox, i, databuf);
}
}
DECL_TASK(can_dispatch_task);
// This function handles CAN global interrupts // This function handles CAN global interrupts
void void
CAN_IRQHandler(void) CAN_IRQHandler(void)
{ {
// RX
if (SOC_CAN->RF0R & CAN_RF0R_FMP0) { if (SOC_CAN->RF0R & CAN_RF0R_FMP0) {
// Mailbox 0 // Rx
while (SOC_CAN->RF0R & CAN_RF0R_FMP0) { SOC_CAN->IER &= ~CAN_IER_FMPIE0;
CAN_RxCpltCallback(0); sched_wake_task(&canbus_wake);
SOC_CAN->RF0R = CAN_RF0R_RFOM0;
}
} }
if (SOC_CAN->RF1R & CAN_RF1R_FMP1) { uint32_t ier = SOC_CAN->IER;
// Mailbox 1 if (ier & CAN_IER_TMEIE
while (SOC_CAN->RF1R & CAN_RF1R_FMP1) { && SOC_CAN->TSR & (CAN_TSR_RQCP0|CAN_TSR_RQCP1|CAN_TSR_RQCP2)) {
CAN_RxCpltCallback(1); // Tx
SOC_CAN->RF1R = CAN_RF1R_RFOM1; SOC_CAN->IER &= ~CAN_IER_TMEIE;
} sched_wake_task(&canbus_wake);
}
/* Check Overrun flag for FIFO0 */
if (SOC_CAN->RF0R & CAN_RF0R_FOVR0) {
/* Clear FIFO0 Overrun Flag */
SOC_CAN->RF0R = CAN_RF0R_FOVR0;
}
/* Check Overrun flag for FIFO1 */
if (SOC_CAN->RF1R & CAN_RF1R_FOVR1) {
/* Clear FIFO1 Overrun Flag */
SOC_CAN->RF1R = CAN_RF1R_FOVR1;
}
// TX
if (SOC_CAN->IER & CAN_IER_TMEIE) { // TX IRQ enabled
if (!CAN_TxIrq())
SOC_CAN->IER = CAN_IER_FMPIE0 | CAN_IER_FMPIE1; // Disable TXIRQ
} }
} }
@ -388,26 +396,21 @@ can_init(void)
/*##-3- Configure Interrupts #################################*/ /*##-3- Configure Interrupts #################################*/
SOC_CAN->IER = CAN_IER_FMPIE0 | CAN_IER_FMPIE1; // RX mailbox IRQ SOC_CAN->IER = CAN_IER_FMPIE0; // RX mailbox IRQ
armcm_enable_irq(CAN_IRQHandler, CAN_RX0_IRQn, 0); armcm_enable_irq(CAN_IRQHandler, CAN_RX0_IRQn, 0);
if (CAN_RX0_IRQn != CAN_RX1_IRQn) if (CAN_RX0_IRQn != CAN_RX1_IRQn)
armcm_enable_irq(CAN_IRQHandler, CAN_RX1_IRQn, 0); armcm_enable_irq(CAN_IRQHandler, CAN_RX1_IRQn, 0);
if (CAN_RX0_IRQn != CAN_TX_IRQn) if (CAN_RX0_IRQn != CAN_TX_IRQn)
armcm_enable_irq(CAN_IRQHandler, CAN_TX_IRQn, 0); armcm_enable_irq(CAN_IRQHandler, CAN_TX_IRQn, 0);
// TODO: CAN_SCE_IRQ?n
/*##-4- Say Hello #################################*/ /*##-4- Say Hello #################################*/
can_uuid_resp(); can_process_uuid(0, 0, NULL);
} }
DECL_INIT(can_init); DECL_INIT(can_init);
void void
serial_enable_tx_irq(void) serial_enable_tx_irq(void)
{ {
if (MyCanId == 0) sched_wake_task(&canbus_wake);
// Serial port not initialized
return;
SOC_CAN->IER = CAN_IER_FMPIE0 | CAN_IER_FMPIE1 | CAN_IER_TMEIE;
} }