470 lines
16 KiB
C
470 lines
16 KiB
C
//
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// Created by cfif on 16.03.2024.
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//
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#include <SystemDelayInterface.h>
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#include "CanSerialPortFrame.h"
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#include "memory.h"
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#define CAN_USED_NUM 2U // Количество CAN
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#define CAN_RECEIVE_MB_NUM 32 //
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static FLEXCAN_RxMsgType s_aaRxDataBuf[CAN_USED_NUM][CAN_RECEIVE_MB_NUM];
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#define CAN_GET_BUFFER(index) s_aaRxDataBuf[index/2]
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static const PCC_ClkSrcType s_ePccCanTable[] =
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{
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PCC_CLK_FLEXCAN0,
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PCC_CLK_FLEXCAN1,
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PCC_CLK_FLEXCAN2,
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PCC_CLK_FLEXCAN3
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};
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static void BSP_CAN_INIT_CFG(FLEXCAN_InitType *pCfg) {
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pCfg->bListenOnly = 0U;
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pCfg->bEnBrs = 0;
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pCfg->bEnDma = 0;
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pCfg->bEnFd = 0;
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pCfg->bEnRxFifo = 0;
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pCfg->eBaudrate = FLEXCAN_BAUD_100K;
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pCfg->eClkSrcHz = FLEXCAN_BAUDCLK_HZ_8M;
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pCfg->eClkSrcSel = FLEXCAN_CLOCK_FUNCTION;
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pCfg->eDataBaud = FLEXCAN_BAUD_100K;
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pCfg->eMbDataWidth = FLEXCAN_DATAWIDTH_8;
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pCfg->u8EnhancedFifoDmaWM = 0;
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pCfg->eDirect = FLEXCAN_DIR_DISABLE;
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}
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static void BSP_CAN_INIT_MBConfig(FLEXCAN_MBConfigType *pMbCfg) {
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pMbCfg->pRxFilterFifoList = NULL;
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pMbCfg->u8RxFilterFifoCnt = 0;
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pMbCfg->pRxFilterMBList = NULL;
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pMbCfg->u8RxFilterMBCnt = 0;
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pMbCfg->u8TxMsgCnt = 0;
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pMbCfg->pRxBuf = NULL;
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}
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void CanSerialPortFrameSetId(tCanSerialPortFrameFlagchip *env, uint32_t id) {
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env->id = id;
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}
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void CanSerialPortFrameSetType(tCanSerialPortFrameFlagchip *env, FLEXCAN_IdType canTypeFrame) {
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env->canTypeFrame = canTypeFrame;
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}
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static void
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vCanSerialPortFrameInitStructure(tCanSerialPortFrameFlagchip *env, uint16_t rxDataLength, uint16_t rxSnifferLength) {
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for (uint8_t i = 0; i < COUNT_QUEUE; ++i) {
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env->rxDataQueue[i] = osMessageQueueNew(rxDataLength, sizeof(can_rx_message_type), NULL);
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if (rxSnifferLength) {
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env->rxDataSnifferQueue[i] = osMessageQueueNew(rxSnifferLength, sizeof(can_rx_message_type), NULL);
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} else {
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env->rxDataSnifferQueue[i] = NULL;
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}
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}
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}
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void vCanSerialPortFrameDMAInit(
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tCanSerialPortFrameFlagchip *env,
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FLEXCAN_Type *CANx, // FLEXCAN0
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uint8 CAN_INDEX, // CAN0 = 0 ... CAN3 = 3
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IRQn_Type IRQ_CAN, // FlexCAN0_IRQn ... FlexCAN3_IRQn
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uint8 CAN_PRIORITY,
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DMA_ChannelType DMA_CHANNEL_RX,
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DMA_RequestSourceType DMA_CHANNEL_REQ_RX, // DMA_REQ_FLEXCAN0
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const uint8_t *DMA_BUF_RX,
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uint8_t DMA_BUF_LEN_RX,
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const FilterTo_FLEXCAN_RxMbFilterType *IdSoftFilter_RX,
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uint8_t CountSoftFilter_RX,
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const FLEXCAN_RxMbFilterType *IdFilterFifo_RX,
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uint8_t CountFilterFifo_RX,
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IRQn_Type IRQ_DMA_RX,
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uint8_t IRQ_DMA_PRIORITY_RX,
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uint8_t IRQ_DMA_CHANNEL_PRIORITY_RX,
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FLEXCAN_BaudType canBaudRate,
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FLEXCAN_IdType canTypeFrame,
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uint32_t canId,
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FLEXCAN_ErrorInterruptCallBackType CAN_ErrorInterrupt_CallBack,
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FLEXCAN_RxInterruptCallBackType CAN_RxInterrupt_CallBack,
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FLEXCAN_RxInterruptCallBackType CAN_RxFifoInterrupt_CallBack,
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FLEXCAN_TxInterruptCallBackType CAN_TxInterrupt_CallBack,
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DMA_TransferCompleteCallbackType DMA_TransferCompleteCallback,
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DMA_TransferErrorCallbackType DMA_ErrorCallback
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) {
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env->g_u32RxDataIndex = 0;
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env->can = CANx;
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env->CAN_INDEX = CAN_INDEX;
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env->DMA_BUF_LEN_RX = DMA_BUF_LEN_RX;
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env->IdSoftFilter_RX = (FilterTo_FLEXCAN_RxMbFilterType *) IdSoftFilter_RX;
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env->CountSoftFilter_RX = CountSoftFilter_RX;
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//начало-----------------------------------DMA-RX-------------------------------------------------------------------
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//начало-----------------------------------DMA-RX-------------------------------------------------------------------
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//начало-----------------------------------DMA-RX-------------------------------------------------------------------
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uint32_t u32TargetAddr = (uint32_t) (DMA_BUF_RX);
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env->chnCfg_RX.pSrcBuffer = &(CANx->RAM[0]);
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env->chnCfg_RX.pDestBuffer = (void *) (u32TargetAddr);
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env->chnCfg_RX.u32BlockSize = DMA_BUF_LEN_RX;
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env->chnCfg_RX.u16BlockCount = 1U;
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env->chnCfg_RX.u8ChannelPriority = IRQ_DMA_CHANNEL_PRIORITY_RX;
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env->chnCfg_RX.eSrcDataSize = DMA_TRANSFER_SIZE_4B;
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env->chnCfg_RX.eDestDataSize = DMA_TRANSFER_SIZE_4B;
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env->chnCfg_RX.eSrcIncMode = DMA_INCREMENT_DATA_SIZE;
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env->chnCfg_RX.eDestIncMode = DMA_INCREMENT_DATA_SIZE;
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env->chnCfg_RX.bSrcBlockOffsetEn = 0U;
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env->chnCfg_RX.bDestBlockOffsetEn = 0U;
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env->chnCfg_RX.s32BlockOffset = 0;
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env->chnCfg_RX.bSrcAddrLoopbackEn = 1U;
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env->chnCfg_RX.bDestAddrLoopbackEn = false;
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env->chnCfg_RX.bAutoStop = 0U;
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env->chnCfg_RX.bSrcCircularBufferEn = false;
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env->chnCfg_RX.u32SrcCircBufferSize = DMA_CIRCULAR_BUFFER_SIZE_1B;
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env->chnCfg_RX.bDestCircularBufferEn = true;
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env->chnCfg_RX.u32DestCircBufferSize = 256U;
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env->chnCfg_RX.eTriggerSrc = DMA_CHANNEL_REQ_RX;
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DMA_InitChannel(DMA_INSTANCE_0, (DMA_ChannelType) DMA_CHANNEL_RX, &env->chnCfg_RX);
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env->interruptCfg_RX.bTransferCompleteIntEn = 1;
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env->interruptCfg_RX.pTransferCompleteNotify = DMA_TransferCompleteCallback;
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env->interruptCfg_RX.bTransferErrorIntEn = 1;
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env->interruptCfg_RX.pTransferErrorNotify = DMA_ErrorCallback;
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DMA_InitChannelInterrupt(DMA_INSTANCE_0, (DMA_ChannelType) DMA_CHANNEL_RX, &env->interruptCfg_RX);
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NVIC_SetPriority(DMA_Error_IRQn, IRQ_DMA_PRIORITY_RX);
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NVIC_SetPriority(IRQ_DMA_RX, IRQ_DMA_PRIORITY_RX);
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NVIC_EnableIRQ(IRQ_DMA_RX);
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DMA_StartChannel(DMA_INSTANCE_0, (DMA_ChannelType) DMA_CHANNEL_RX);
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//конец-----------------------------------DMA-RX--------------------------------------------------------------------
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//конец-----------------------------------DMA-RX--------------------------------------------------------------------
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//конец-----------------------------------DMA-RX--------------------------------------------------------------------
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//начало------------------------------------CAN---------------------------------------------------------------------
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//начало------------------------------------CAN---------------------------------------------------------------------
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//начало------------------------------------CAN---------------------------------------------------------------------
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FLEXCAN_ErrorType tRetVal;
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uint32_t u32FuncClk;
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tRetVal = FLEXCAN_DeInit(CAN_INDEX);
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BSP_CAN_INIT_CFG(&env->tInitCfg);
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BSP_CAN_INIT_MBConfig(&env->tMbCfg);
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env->tInitCfg.eBaudrate = canBaudRate;
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env->tInitCfg.eDataBaud = canBaudRate;
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env->tInitCfg.bEnRxFifo = TRUE;
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env->tInitCfg.bEnDma = TRUE;
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env->tInitCfg.bEnFd = FALSE;
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env->tInitCfg.bEnBrs = FALSE;
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env->tInitCfg.eMbDataWidth = FLEXCAN_DATAWIDTH_8;
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u32FuncClk = PCC_GetPccFunctionClock(s_ePccCanTable[CAN_INDEX]);
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env->tInitCfg.eClkSrcSel = FLEXCAN_CLOCK_FUNCTION; // functional clock
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env->tInitCfg.eClkSrcHz = (FLEXCAN_BaudClkType) u32FuncClk; // function clock frequency
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env->tInitCfg.eDirect = FLEXCAN_DIR_ENABLE_WITHOUT_TRIG;
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tRetVal = FLEXCAN_Init(CAN_INDEX, &env->tInitCfg);
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if (tRetVal == FLEXCAN_ERROR_OK) {
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env->tMbCfg.pRxFilterMBList = NULL;
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env->tMbCfg.u8RxFilterMBCnt = 0;
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for (uint8_t i = 0; i < CountFilterFifo_RX; ++i) {
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env->pRxFilterFifoList[i].eRxFrameType = IdFilterFifo_RX[i].eRxFrameType;
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env->pRxFilterFifoList[i].u32RxCanId = IdFilterFifo_RX[i].u32RxCanId;
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env->pRxFilterFifoList[i].u32RxCanIdMask = IdFilterFifo_RX[i].u32RxCanIdMask;
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}
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env->tMbCfg.pRxFilterFifoList = env->pRxFilterFifoList;
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env->tMbCfg.u8RxFilterFifoCnt = CountFilterFifo_RX;
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env->tMbCfg.pRxBuf = CAN_GET_BUFFER(CAN_INDEX);
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// tx config
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env->tMbCfg.u8TxMsgCnt = 3U; // tx occupy 3 mb
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tRetVal = FLEXCAN_RxFilterConfig(CAN_INDEX, &env->tMbCfg);
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if (CAN_ErrorInterrupt_CallBack == NULL) {
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env->tIntCfg.bEnErrorInterrupt = 0U;
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env->tIntCfg.pErrorNotify = NULL;
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env->tIntCfg.bEnTxMBInterrupt = 0U;
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env->tIntCfg.pRxMBNotify = NULL;
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env->tIntCfg.bEnRxMBInterrupt = 0U;
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env->tIntCfg.pRxFifoNotify = NULL;
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env->tIntCfg.bEnRxFifoInterrupt = 0U;
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env->tIntCfg.pTxMBNotify = NULL;
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} else {
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env->tIntCfg.bEnErrorInterrupt = 1U;
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env->tIntCfg.pErrorNotify = CAN_ErrorInterrupt_CallBack;
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env->tIntCfg.bEnTxMBInterrupt = 1U;
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env->tIntCfg.pRxMBNotify = CAN_RxInterrupt_CallBack;
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env->tIntCfg.bEnRxMBInterrupt = 1U;
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env->tIntCfg.pRxFifoNotify = CAN_RxFifoInterrupt_CallBack;
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env->tIntCfg.bEnRxFifoInterrupt = 1U;
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env->tIntCfg.pTxMBNotify = CAN_TxInterrupt_CallBack;
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}
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if ((env->tIntCfg.bEnErrorInterrupt) ||
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(env->tIntCfg.bEnTxMBInterrupt) ||
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(env->tIntCfg.bEnRxMBInterrupt) ||
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(env->tIntCfg.bEnRxFifoInterrupt)) {
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NVIC_SetPriority(IRQ_CAN, CAN_PRIORITY);
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NVIC_EnableIRQ(IRQ_CAN);
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FLEXCAN_SetInterrupt(CAN_INDEX, &env->tIntCfg);
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}
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FLEXCAN_Start(CAN_INDEX); // Start CAN
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}
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if (!env->reInit) {
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env->reInit = true;
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vCanSerialPortFrameInitStructure(env, 10, 0);
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CanSerialPortFrameSetType(env, canTypeFrame);
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CanSerialPortFrameSetId(env, canId);
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env->canBaudRate = canBaudRate;
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}
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//конец------------------------------------CAN----------------------------------------------------------------------
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//конец------------------------------------CAN----------------------------------------------------------------------
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//конец------------------------------------CAN----------------------------------------------------------------------
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}
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static void CanSerialPortFrameAddDataQueue(tCanSerialPortFrameFlagchip *env, can_rx_message_type *rx_message_struct,
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uint8_t filter) {
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osMessageQueuePut(env->rxDataQueue[filter], rx_message_struct, 0x0, 0U);
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if (env->rxDataSnifferQueue[filter]) {
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osMessageQueuePut(env->rxDataSnifferQueue[filter], rx_message_struct, 0x0, 0U);
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}
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}
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void CanSerialPortFrameIrqRxProcessing(tCanSerialPortFrameFlagchip *env, uint32_t *pBuf) {
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// message buffer 1th word
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uint32_t u32TempAddr = (uint32_t) FLEXCAN_MB_WORDN_ADDR(&pBuf[env->pBufCounter << 2], 0U, 8U, 0U);
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uint32_t dlc = FLEXCAN_MB_DLC_GET(u32TempAddr);
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env->rx_message_struct.dlc = FLEXCAN_DlcToDataLen(dlc);
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env->rx_message_struct.id_type = FLEXCAN_MB_IDE_GET(u32TempAddr);
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// message buffer 2th word
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u32TempAddr = (uint32_t) FLEXCAN_MB_WORDN_ADDR(&pBuf[env->pBufCounter << 2], 0U, 8U, 4U);
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if (env->rx_message_struct.id_type == FLEXCAN_ID_STD) {
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env->rx_message_struct.standard_id = FLEXCAN_MB_STDID_GET(u32TempAddr);
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} else {
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env->rx_message_struct.extended_id = FLEXCAN_MB_EXTID_GET(u32TempAddr);
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}
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uint8_t index = 0xFF;
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for (uint8_t i = 0; i < env->CountSoftFilter_RX; ++i) {
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if ((env->rx_message_struct.id_type == FLEXCAN_ID_STD) && (env->IdSoftFilter_RX[i].eRxFrameType == FLEXCAN_ID_STD)) {
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if (env->rx_message_struct.standard_id == env->IdSoftFilter_RX[i].u32RxCanId) {
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env->rx_message_struct.filter_index = env->IdSoftFilter_RX[i].filter;
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index = i;
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break;
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}
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} else {
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if (env->rx_message_struct.extended_id == env->IdSoftFilter_RX[i].u32RxCanId) {
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if (env->rx_message_struct.extended_id == env->IdSoftFilter_RX[i].u32RxCanId) {
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env->rx_message_struct.filter_index = env->IdSoftFilter_RX[i].filter;
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index = i;
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break;
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}
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}
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}
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}
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if (index != 0xFF) {
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// message buffer 3th word
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uint32_t *pSrc = (uint32_t *) FLEXCAN_MB_WORDN_ADDR(&pBuf[env->pBufCounter << 2], 0U, 8U, 8U);
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uint32_t *pDest = (uint32_t *) &env->rx_message_struct.data[0];
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uint32_t u32WordLen = env->rx_message_struct.dlc / 4U + (env->rx_message_struct.dlc % 4U > 0U ? 1U : 0U);
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for (uint32_t u8Index = 0U; u8Index < u32WordLen; ++u8Index) {
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REV_BYTES_32(pSrc[u8Index], pDest[u8Index]);
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}
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CanSerialPortFrameAddDataQueue(env, &env->rx_message_struct, env->IdSoftFilter_RX[index].filter);
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}
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++env->pBufCounter;
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if (env->pBufCounter >= env->DMA_BUF_LEN_RX) {
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env->pBufCounter = 0;
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}
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}
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static uint16_t vSerialPortFrameReceiveQueue(
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tCanSerialPortFrameFlagchip *env, uint8_t *data, uint16_t size, uint32_t timeout, osMessageQueueId_t queueId
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) {
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uint16_t received = 0;
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if (timeout) {
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uint32_t endMs = SystemGetMs() + timeout;
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uint32_t leftMs;
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while (size && ((timeout == SystemWaitForever) || (endMs > SystemGetMs()))) {
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leftMs = endMs - SystemGetMs();
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if (osMessageQueueGet(queueId, data, NULL, leftMs) == osOK) {
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--size;
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++received;
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++data;
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}
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}
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} else {
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while (size) {
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if (osMessageQueueGet(queueId, data, NULL, 0) == osOK) {
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--size;
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++received;
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++data;
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} else {
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return received;
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}
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}
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}
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return received;
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}
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static uint16_t
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vCanSerialPortFrameReceive(tCanSerialPortFrameFlagchip *env, uint8_t idFilter, uint8_t *data, uint16_t size,
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uint32_t timeout) {
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return vSerialPortFrameReceiveQueue(env, data, size, timeout, env->rxDataQueue[idFilter]);
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}
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static uint16_t
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vCanSerialPortFrameReceiveSniffer(tCanSerialPortFrameFlagchip *env, uint8_t idFilter, uint8_t *data, uint16_t size,
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uint32_t timeout) {
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return env->rxDataSnifferQueue
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? vSerialPortFrameReceiveQueue(env, data, size, timeout, env->rxDataSnifferQueue[idFilter])
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: 0;
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}
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uint16_t vCanSerialPortFrameTransmit(tCanSerialPortFrameFlagchip *env, uint8_t *data, uint16_t size, uint32_t timeout) {
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uint16_t fullSize = size / 8;
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uint8_t tailSize = size % 8;
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uint16_t sent = 0;
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FLEXCAN_TxMsgType tTxMsg = {0};
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FLEXCAN_ErrorType tRetval;
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tTxMsg.u32CanId = env->id;
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tTxMsg.u8TxHandler = 0U;
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tTxMsg.bEnFd = FALSE;
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tTxMsg.bEnBrs = FALSE;
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tTxMsg.u32DataLen = 8;
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tTxMsg.eDataType = FLEXCAN_FRAME_DATA;
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tTxMsg.eFrameType = (FLEXCAN_IdType) env->canTypeFrame;
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tTxMsg.bWaitTxCompleted = 1U;
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tTxMsg.u16WaitTxTimeout = 10000U;
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uint16_t len = 0;
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for (uint16_t i = 0; i < fullSize; ++i) {
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FCFUNC_FcOwnMemcpy(tTxMsg.aData, &data[len], 8, NULL);
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len += 8;
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tRetval = FLEXCAN_TransmitData(env->CAN_INDEX, &tTxMsg);
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if (tRetval != FLEXCAN_ERROR_OK) {
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FLEXCAN_TransmitAbort(env->CAN_INDEX, tTxMsg.u8TxHandler);
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} else {
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FLEXCAN_TransmitProcess(env->CAN_INDEX, tTxMsg.u8TxHandler);
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}
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sent += 8;
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size -= 8;
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}
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if (tailSize) {
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tTxMsg.u32DataLen = tailSize;
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FCFUNC_FcOwnMemcpy(tTxMsg.aData, &data[len], tailSize, NULL);
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tRetval = FLEXCAN_TransmitData(env->CAN_INDEX, &tTxMsg);
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if (tRetval != FLEXCAN_ERROR_OK) {
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FLEXCAN_TransmitAbort(env->CAN_INDEX, tTxMsg.u8TxHandler);
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} else {
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FLEXCAN_TransmitProcess(env->CAN_INDEX, tTxMsg.u8TxHandler);
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}
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sent += tailSize;
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size -= tailSize;
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}
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return sent;
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}
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tSerialPortFrameIO CanPortFrame_GetIo(tCanSerialPortFrameFlagchip *env) {
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tSerialPortFrameIO io = {
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.env = env,
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.receive = (SerialPortFrameReceivedTransaction) vCanSerialPortFrameReceive,
|
|
.transmit = (SerialPortFrameTransmitTransaction) vCanSerialPortFrameTransmit
|
|
};
|
|
return io;
|
|
}
|
|
|
|
tSerialPortFrameIO CanPort_GetSnifferIo(tCanSerialPortFrameFlagchip *env) {
|
|
tSerialPortFrameIO io = {
|
|
.env = env,
|
|
.receive = (SerialPortFrameReceivedTransaction) vCanSerialPortFrameReceive,
|
|
.transmit = (SerialPortFrameTransmitTransaction) vCanSerialPortFrameTransmit
|
|
};
|
|
return io;
|
|
} |