canbus: Move global variables into a struct
Create a single CanData global variable to track the canbus state. ARM micro-controllers generally produce better code when global variables are in a struct. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
parent
b9e195f098
commit
da755c3c1b
|
|
@ -15,44 +15,56 @@
|
|||
#include "command.h" // DECL_CONSTANT
|
||||
#include "sched.h" // sched_wake_task
|
||||
|
||||
static uint32_t canbus_assigned_id;
|
||||
static uint8_t canbus_uuid[CANBUS_UUID_LEN];
|
||||
// Global storage
|
||||
static struct canbus_data {
|
||||
uint32_t assigned_id;
|
||||
uint8_t uuid[CANBUS_UUID_LEN];
|
||||
|
||||
// Tx data
|
||||
struct task_wake tx_wake;
|
||||
uint8_t transmit_pos, transmit_max;
|
||||
|
||||
// Rx data
|
||||
struct task_wake rx_wake;
|
||||
uint8_t receive_pos;
|
||||
|
||||
// Transfer buffers
|
||||
uint8_t transmit_buf[96];
|
||||
uint8_t receive_buf[192];
|
||||
} CanData;
|
||||
|
||||
|
||||
/****************************************************************
|
||||
* Data transmission over CAN
|
||||
****************************************************************/
|
||||
|
||||
static struct task_wake canbus_tx_wake;
|
||||
static uint8_t transmit_buf[96], transmit_pos, transmit_max;
|
||||
|
||||
void
|
||||
canbus_notify_tx(void)
|
||||
{
|
||||
sched_wake_task(&canbus_tx_wake);
|
||||
sched_wake_task(&CanData.tx_wake);
|
||||
}
|
||||
|
||||
void
|
||||
canbus_tx_task(void)
|
||||
{
|
||||
if (!sched_check_wake(&canbus_tx_wake))
|
||||
if (!sched_check_wake(&CanData.tx_wake))
|
||||
return;
|
||||
uint32_t id = canbus_assigned_id;
|
||||
uint32_t id = CanData.assigned_id;
|
||||
if (!id) {
|
||||
transmit_pos = transmit_max = 0;
|
||||
CanData.transmit_pos = CanData.transmit_max = 0;
|
||||
return;
|
||||
}
|
||||
uint32_t tpos = transmit_pos, tmax = transmit_max;
|
||||
uint32_t tpos = CanData.transmit_pos, tmax = CanData.transmit_max;
|
||||
for (;;) {
|
||||
int avail = tmax - tpos, now = avail > 8 ? 8 : avail;
|
||||
if (avail <= 0)
|
||||
break;
|
||||
int ret = canbus_send(id + 1, now, &transmit_buf[tpos]);
|
||||
int ret = canbus_send(id + 1, now, &CanData.transmit_buf[tpos]);
|
||||
if (ret <= 0)
|
||||
break;
|
||||
tpos += now;
|
||||
}
|
||||
transmit_pos = tpos;
|
||||
CanData.transmit_pos = tpos;
|
||||
}
|
||||
DECL_TASK(canbus_tx_task);
|
||||
|
||||
|
|
@ -61,26 +73,27 @@ void
|
|||
console_sendf(const struct command_encoder *ce, va_list args)
|
||||
{
|
||||
// Verify space for message
|
||||
uint32_t tpos = transmit_pos, tmax = transmit_max;
|
||||
uint32_t tpos = CanData.transmit_pos, tmax = CanData.transmit_max;
|
||||
if (tpos >= tmax)
|
||||
transmit_pos = transmit_max = tpos = tmax = 0;
|
||||
CanData.transmit_pos = CanData.transmit_max = tpos = tmax = 0;
|
||||
uint32_t max_size = ce->max_size;
|
||||
if (tmax + max_size > sizeof(transmit_buf)) {
|
||||
if (tmax + max_size - tpos > sizeof(transmit_buf))
|
||||
if (tmax + max_size > sizeof(CanData.transmit_buf)) {
|
||||
if (tmax + max_size - tpos > sizeof(CanData.transmit_buf))
|
||||
// Not enough space for message
|
||||
return;
|
||||
// Move buffer
|
||||
tmax -= tpos;
|
||||
memmove(&transmit_buf[0], &transmit_buf[tpos], tmax);
|
||||
transmit_pos = tpos = 0;
|
||||
transmit_max = tmax;
|
||||
memmove(&CanData.transmit_buf[0], &CanData.transmit_buf[tpos], tmax);
|
||||
CanData.transmit_pos = tpos = 0;
|
||||
CanData.transmit_max = tmax;
|
||||
}
|
||||
|
||||
// Generate message
|
||||
uint32_t msglen = command_encode_and_frame(&transmit_buf[tmax], ce, args);
|
||||
uint32_t msglen = command_encode_and_frame(&CanData.transmit_buf[tmax]
|
||||
, ce, args);
|
||||
|
||||
// Start message transmit
|
||||
transmit_max = tmax + msglen;
|
||||
CanData.transmit_max = tmax + msglen;
|
||||
canbus_notify_tx();
|
||||
}
|
||||
|
||||
|
|
@ -99,16 +112,16 @@ console_sendf(const struct command_encoder *ce, va_list args)
|
|||
static int
|
||||
can_check_uuid(uint32_t id, uint32_t len, uint8_t *data)
|
||||
{
|
||||
return len >= 7 && memcmp(&data[1], canbus_uuid, sizeof(canbus_uuid)) == 0;
|
||||
return len >= 7 && memcmp(&data[1], CanData.uuid, sizeof(CanData.uuid))==0;
|
||||
}
|
||||
|
||||
// Helpers to encode/decode a CAN identifier to a 1-byte "nodeid"
|
||||
static int
|
||||
can_get_nodeid(void)
|
||||
{
|
||||
if (!canbus_assigned_id)
|
||||
if (!CanData.assigned_id)
|
||||
return 0;
|
||||
return (canbus_assigned_id - 0x100) >> 1;
|
||||
return (CanData.assigned_id - 0x100) >> 1;
|
||||
}
|
||||
static uint32_t
|
||||
can_decode_nodeid(int nodeid)
|
||||
|
|
@ -119,11 +132,11 @@ can_decode_nodeid(int nodeid)
|
|||
static void
|
||||
can_process_query_unassigned(uint32_t id, uint32_t len, uint8_t *data)
|
||||
{
|
||||
if (canbus_assigned_id)
|
||||
if (CanData.assigned_id)
|
||||
return;
|
||||
uint8_t send[8];
|
||||
send[0] = CANBUS_RESP_NEED_NODEID;
|
||||
memcpy(&send[1], canbus_uuid, sizeof(canbus_uuid));
|
||||
memcpy(&send[1], CanData.uuid, sizeof(CanData.uuid));
|
||||
send[7] = CANBUS_CMD_SET_KLIPPER_NODEID;
|
||||
// Send with retry
|
||||
for (;;) {
|
||||
|
|
@ -136,8 +149,8 @@ can_process_query_unassigned(uint32_t id, uint32_t len, uint8_t *data)
|
|||
static void
|
||||
can_id_conflict(void)
|
||||
{
|
||||
canbus_assigned_id = 0;
|
||||
canbus_set_filter(canbus_assigned_id);
|
||||
CanData.assigned_id = 0;
|
||||
canbus_set_filter(CanData.assigned_id);
|
||||
shutdown("Another CAN node assigned this ID");
|
||||
}
|
||||
|
||||
|
|
@ -148,11 +161,11 @@ can_process_set_klipper_nodeid(uint32_t id, uint32_t len, uint8_t *data)
|
|||
return;
|
||||
uint32_t newid = can_decode_nodeid(data[7]);
|
||||
if (can_check_uuid(id, len, data)) {
|
||||
if (newid != canbus_assigned_id) {
|
||||
canbus_assigned_id = newid;
|
||||
canbus_set_filter(canbus_assigned_id);
|
||||
if (newid != CanData.assigned_id) {
|
||||
CanData.assigned_id = newid;
|
||||
canbus_set_filter(CanData.assigned_id);
|
||||
}
|
||||
} else if (newid == canbus_assigned_id) {
|
||||
} else if (newid == CanData.assigned_id) {
|
||||
can_id_conflict();
|
||||
}
|
||||
}
|
||||
|
|
@ -189,28 +202,25 @@ can_process(uint32_t id, uint32_t len, uint8_t *data)
|
|||
* CAN packet reading
|
||||
****************************************************************/
|
||||
|
||||
static struct task_wake canbus_rx_wake;
|
||||
|
||||
void
|
||||
canbus_notify_rx(void)
|
||||
{
|
||||
sched_wake_task(&canbus_rx_wake);
|
||||
sched_wake_task(&CanData.rx_wake);
|
||||
}
|
||||
|
||||
static uint8_t receive_buf[192], receive_pos;
|
||||
DECL_CONSTANT("RECEIVE_WINDOW", ARRAY_SIZE(receive_buf));
|
||||
DECL_CONSTANT("RECEIVE_WINDOW", ARRAY_SIZE(CanData.receive_buf));
|
||||
|
||||
// Handle incoming data (called from IRQ handler)
|
||||
void
|
||||
canbus_process_data(uint32_t id, uint32_t len, uint8_t *data)
|
||||
{
|
||||
if (!id || id != canbus_assigned_id)
|
||||
if (!id || id != CanData.assigned_id)
|
||||
return;
|
||||
int rpos = receive_pos;
|
||||
if (len > sizeof(receive_buf) - rpos)
|
||||
len = sizeof(receive_buf) - rpos;
|
||||
memcpy(&receive_buf[rpos], data, len);
|
||||
receive_pos = rpos + len;
|
||||
int rpos = CanData.receive_pos;
|
||||
if (len > sizeof(CanData.receive_buf) - rpos)
|
||||
len = sizeof(CanData.receive_buf) - rpos;
|
||||
memcpy(&CanData.receive_buf[rpos], data, len);
|
||||
CanData.receive_pos = rpos + len;
|
||||
canbus_notify_rx();
|
||||
}
|
||||
|
||||
|
|
@ -220,21 +230,21 @@ console_pop_input(int len)
|
|||
{
|
||||
int copied = 0;
|
||||
for (;;) {
|
||||
int rpos = readb(&receive_pos);
|
||||
int rpos = readb(&CanData.receive_pos);
|
||||
int needcopy = rpos - len;
|
||||
if (needcopy) {
|
||||
memmove(&receive_buf[copied], &receive_buf[copied + len]
|
||||
, needcopy - copied);
|
||||
memmove(&CanData.receive_buf[copied]
|
||||
, &CanData.receive_buf[copied + len], needcopy - copied);
|
||||
copied = needcopy;
|
||||
canbus_notify_rx();
|
||||
}
|
||||
irqstatus_t flag = irq_save();
|
||||
if (rpos != readb(&receive_pos)) {
|
||||
if (rpos != readb(&CanData.receive_pos)) {
|
||||
// Raced with irq handler - retry
|
||||
irq_restore(flag);
|
||||
continue;
|
||||
}
|
||||
receive_pos = needcopy;
|
||||
CanData.receive_pos = needcopy;
|
||||
irq_restore(flag);
|
||||
break;
|
||||
}
|
||||
|
|
@ -244,7 +254,7 @@ console_pop_input(int len)
|
|||
void
|
||||
canbus_rx_task(void)
|
||||
{
|
||||
if (!sched_check_wake(&canbus_rx_wake))
|
||||
if (!sched_check_wake(&CanData.rx_wake))
|
||||
return;
|
||||
|
||||
// Read any pending CAN packets
|
||||
|
|
@ -254,17 +264,17 @@ canbus_rx_task(void)
|
|||
int ret = canbus_read(&id, data);
|
||||
if (ret < 0)
|
||||
break;
|
||||
if (id && id == canbus_assigned_id + 1)
|
||||
if (id && id == CanData.assigned_id + 1)
|
||||
can_id_conflict();
|
||||
else if (id == CANBUS_ID_ADMIN)
|
||||
can_process(id, ret, data);
|
||||
}
|
||||
|
||||
// Check for a complete message block and process it
|
||||
uint_fast8_t rpos = readb(&receive_pos), pop_count;
|
||||
int ret = command_find_block(receive_buf, rpos, &pop_count);
|
||||
uint_fast8_t rpos = readb(&CanData.receive_pos), pop_count;
|
||||
int ret = command_find_block(CanData.receive_buf, rpos, &pop_count);
|
||||
if (ret > 0)
|
||||
command_dispatch(receive_buf, pop_count);
|
||||
command_dispatch(CanData.receive_buf, pop_count);
|
||||
if (ret) {
|
||||
console_pop_input(pop_count);
|
||||
if (ret > 0)
|
||||
|
|
@ -282,14 +292,14 @@ void
|
|||
command_get_canbus_id(uint32_t *args)
|
||||
{
|
||||
sendf("canbus_id canbus_uuid=%.*s canbus_nodeid=%u"
|
||||
, sizeof(canbus_uuid), canbus_uuid, can_get_nodeid());
|
||||
, sizeof(CanData.uuid), CanData.uuid, can_get_nodeid());
|
||||
}
|
||||
DECL_COMMAND_FLAGS(command_get_canbus_id, HF_IN_SHUTDOWN, "get_canbus_id");
|
||||
|
||||
void
|
||||
canbus_set_uuid(void *uuid)
|
||||
{
|
||||
memcpy(canbus_uuid, uuid, sizeof(canbus_uuid));
|
||||
memcpy(CanData.uuid, uuid, sizeof(CanData.uuid));
|
||||
canbus_notify_rx();
|
||||
}
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue