378 lines
12 KiB
C
378 lines
12 KiB
C
//
|
|
// Created by cfif on 03.06.2024.
|
|
//
|
|
#include "CanPorts.h"
|
|
#include "string.h"
|
|
#include "fc7xxx_driver_port.h"
|
|
#include "fc7xxx_driver_gpio.h"
|
|
#include "candb.h"
|
|
#include "candb_dbg.h"
|
|
|
|
#define LOG_SIGN "INIT"
|
|
#define LOGGER logger
|
|
|
|
tCanPorts CAN_PORTS;
|
|
|
|
#if (CAN_DMA_EN == 1)
|
|
|
|
typedef struct {
|
|
uint32_t u32CanRAM[4];
|
|
} Can_RamType;
|
|
|
|
#define size_aRxDataBuf 16
|
|
ALIGN(256) Can_RamType g_aRxDataBufCan0[size_aRxDataBuf]; // dma ring buffer size is 256
|
|
ALIGN(256) Can_RamType g_aRxDataBufCan1[size_aRxDataBuf]; // dma ring buffer size is 256
|
|
|
|
static void DMA_TransferCompleteCallbackCan0(void) {
|
|
CanSerialPortFrameIrqRxProcessing(CAN_PORTS.Can0_IO.env, (uint32_t *) &g_aRxDataBufCan0[0]);
|
|
}
|
|
|
|
static void DMA_TransferCompleteCallbackCan1(void) {
|
|
CanSerialPortFrameIrqRxProcessing(CAN_PORTS.Can1_IO.env, (uint32_t *) &g_aRxDataBufCan1[0]);
|
|
}
|
|
#else
|
|
|
|
static void CAN0_ErrorInterrupt_CallBack(uint8_t u8CanIndex, FLEXCAN_ErrorInfoType *pErrorInfo) {
|
|
FLEXCAN_ClrErrorInfo(u8CanIndex, pErrorInfo);
|
|
PROCESS_UNUSED_VAR(u8CanIndex);
|
|
PROCESS_UNUSED_VAR(pErrorInfo);
|
|
}
|
|
|
|
static void CAN0_RxInterrupt_CallBack(uint8_t u8CanIndex, FLEXCAN_RxMsgType *pRxCfg) {
|
|
CanSerialPortFrameIrqRxProcessingNO_DMA(CAN_PORTS.Can0_IO.env, pRxCfg);
|
|
}
|
|
|
|
static void CAN0_RxFifoInterrupt_CallBack(uint8_t u8CanIndex, FLEXCAN_RxMsgType *pRxCfg) {
|
|
CanSerialPortFrameIrqRxProcessingNO_DMA(CAN_PORTS.Can0_IO.env, pRxCfg);
|
|
}
|
|
|
|
|
|
static void CAN1_ErrorInterrupt_CallBack(uint8_t u8CanIndex, FLEXCAN_ErrorInfoType *pErrorInfo) {
|
|
FLEXCAN_ClrErrorInfo(u8CanIndex, pErrorInfo);
|
|
PROCESS_UNUSED_VAR(u8CanIndex);
|
|
PROCESS_UNUSED_VAR(pErrorInfo);
|
|
}
|
|
|
|
static void CAN1_RxInterrupt_CallBack(uint8_t u8CanIndex, FLEXCAN_RxMsgType *pRxCfg) {
|
|
CanSerialPortFrameIrqRxProcessingNO_DMA(CAN_PORTS.Can1_IO.env, pRxCfg);
|
|
}
|
|
|
|
static void CAN1_RxFifoInterrupt_CallBack(uint8_t u8CanIndex, FLEXCAN_RxMsgType *pRxCfg) {
|
|
CanSerialPortFrameIrqRxProcessingNO_DMA(CAN_PORTS.Can1_IO.env, pRxCfg);
|
|
}
|
|
|
|
#endif
|
|
|
|
|
|
//static void DMA_ErrorCallback(void) {
|
|
// while (1) {
|
|
// __asm("nop");
|
|
// }
|
|
//}
|
|
|
|
static void vCanPort_InitCAN0RxTxPin() {
|
|
PORT_InitType tInitStruct = {0U};
|
|
GPIO_InitType tGpioInitStruct = {0};
|
|
|
|
// CAN0_STB
|
|
// PortC 30: MUX = GPIO output
|
|
tInitStruct.u32PortPins = PORT_PIN_30;
|
|
tInitStruct.uPortPinMux.u32PortPinMode = PORT_GPIO_MODE;
|
|
PORT_InitPins(PORT_C, &tInitStruct);
|
|
tGpioInitStruct.u32GpioPins = PORT_PIN_30;
|
|
tGpioInitStruct.ePinDirection = GPIO_OUT;
|
|
tGpioInitStruct.ePinLevel = GPIO_LOW;
|
|
GPIO_InitPins(GPIO_C, &tGpioInitStruct);
|
|
|
|
// Port C2: MUX = ALT3, CAN0_RX
|
|
tInitStruct.u32PortPins = PORT_PIN_2;
|
|
tInitStruct.uPortPinMux.u32PortPinMode = PORTC_2_FLEXCAN0_RX;
|
|
tInitStruct.bPullEn = FALSE;
|
|
tInitStruct.ePullSel = PORT_PULL_UP;
|
|
PORT_InitPins(PORT_C, &tInitStruct);
|
|
tGpioInitStruct.u32GpioPins = PORT_PIN_2;
|
|
tGpioInitStruct.ePinDirection = GPIO_IN;
|
|
GPIO_InitPins((GPIO_InstanceType) PORT_C, &tGpioInitStruct);
|
|
|
|
// Port C3: MUX = ALT3, CAN0_TX
|
|
tInitStruct.u32PortPins = PORT_PIN_3;
|
|
tInitStruct.uPortPinMux.u32PortPinMode = PORTC_3_FLEXCAN0_TX;
|
|
PORT_InitPins(PORT_C, &tInitStruct);
|
|
tGpioInitStruct.u32GpioPins = PORT_PIN_3;
|
|
tGpioInitStruct.ePinDirection = GPIO_OUT;
|
|
tGpioInitStruct.ePinLevel = GPIO_HIGH;
|
|
GPIO_InitPins(GPIO_C, &tGpioInitStruct);
|
|
}
|
|
|
|
#define countIdCanHardSoftFilterCan0 31
|
|
const FilterTo_FLEXCAN_RxMbFilterType IdCanHardSoftFilterCan0[countIdCanHardSoftFilterCan0] = {
|
|
{FLEXCAN_ID_STD, Diag_To_CCU_CANID, 0x7FF, PROTOCOL_CAN_UDS},
|
|
{FLEXCAN_ID_STD, Diag_Functional_CANID, 0x7FF, PROTOCOL_CAN_UDS},
|
|
{FLEXCAN_ID_STD, EMS_Veh_CANID, 0x7FF, PROTOCOL_CAN_RAW},
|
|
{FLEXCAN_ID_STD, BCM_Powertrain_CANID, 0x7FF, PROTOCOL_CAN_RAW},
|
|
{FLEXCAN_ID_STD, EMS_Veh_02_CANID, 0x7FF, PROTOCOL_CAN_RAW},
|
|
{FLEXCAN_ID_STD, BCM_EEM_CANID, 0x7FF, PROTOCOL_CAN_RAW},
|
|
{FLEXCAN_ID_STD, DMFR_Msg1_CANID, 0x7FF, PROTOCOL_CAN_RAW},
|
|
{FLEXCAN_ID_STD, DMFL_Msg1_CANID, 0x7FF, PROTOCOL_CAN_RAW},
|
|
{FLEXCAN_ID_STD, TM_Stat_CANID, 0x7FF, PROTOCOL_CAN_RAW},
|
|
{FLEXCAN_ID_STD, TM_CP_CANID, 0x7FF, PROTOCOL_CAN_RAW},
|
|
{FLEXCAN_ID_STD, HVC_CCU_Status_Msg_CANID, 0x7FF, PROTOCOL_CAN_RAW},
|
|
{FLEXCAN_ID_STD, BCM_VEH_STATE_CANID, 0x7FF, PROTOCOL_CAN_RAW},
|
|
{FLEXCAN_ID_STD, EMS_HVC_Req_Msg_CANID, 0x7FF, PROTOCOL_CAN_RAW},
|
|
{FLEXCAN_ID_STD, HVC_Err_Status_Msg_CANID, 0x7FF, PROTOCOL_CAN_RAW},
|
|
{FLEXCAN_ID_STD, BCM_CLIMATIC_DATA_CANID, 0x7FF, PROTOCOL_CAN_RAW},
|
|
{FLEXCAN_ID_STD, VCU_CCU_Req_CANID, 0x7FF, PROTOCOL_CAN_RAW},
|
|
{FLEXCAN_ID_STD, ESC_08_CANID, 0x7FF, PROTOCOL_CAN_RAW},
|
|
{FLEXCAN_ID_STD, SMFL_status_CANID, 0x7FF, PROTOCOL_CAN_RAW},
|
|
{FLEXCAN_ID_STD, SMFR_status_CANID, 0x7FF, PROTOCOL_CAN_RAW},
|
|
{FLEXCAN_ID_STD, SMRL_status_CANID, 0x7FF, PROTOCOL_CAN_RAW},
|
|
{FLEXCAN_ID_STD, SMRR_status_CANID, 0x7FF, PROTOCOL_CAN_RAW},
|
|
{FLEXCAN_ID_STD, SDM_Cmd_CANID, 0x7FF, PROTOCOL_CAN_RAW},
|
|
{FLEXCAN_ID_STD, VEH_VIN_CANID, 0x7FF, PROTOCOL_CAN_RAW},
|
|
{FLEXCAN_ID_STD, OCUFL_MSG_CANID, 0x7FF, PROTOCOL_CAN_RAW},
|
|
{FLEXCAN_ID_STD, OCUFR_MSG_CANID, 0x7FF, PROTOCOL_CAN_RAW},
|
|
{FLEXCAN_ID_STD, OCURL_MSG_CANID, 0x7FF, PROTOCOL_CAN_RAW},
|
|
{FLEXCAN_ID_STD, OCURR_MSG_CANID, 0x7FF, PROTOCOL_CAN_RAW},
|
|
{FLEXCAN_ID_STD, DW_STATE_CANID, 0x7FF, PROTOCOL_CAN_RAW},
|
|
{FLEXCAN_ID_STD, FIU_CCU1_CANID, 0x7FF, PROTOCOL_CAN_RAW},
|
|
{FLEXCAN_ID_STD, FIU_CCU2_CANID, 0x7FF, PROTOCOL_CAN_RAW},
|
|
{FLEXCAN_ID_STD, FIU_CCU3_CANID, 0x7FF, PROTOCOL_CAN_RAW}
|
|
};
|
|
|
|
#if (CAN_DMA_EN == 1)
|
|
#define countIdCanFilterFifoCan0 7
|
|
const FLEXCAN_RxMbFilterType IdCanFilterFifoCan0[countIdCanFilterFifoCan0] = {
|
|
{FLEXCAN_ID_STD, 0x100, 0x7FF},
|
|
{FLEXCAN_ID_STD, 0x200, 0x7FF},
|
|
{FLEXCAN_ID_STD, 0x300, 0x7FF},
|
|
{FLEXCAN_ID_STD, 0x400, 0x7FF},
|
|
{FLEXCAN_ID_STD, 0x500, 0x7FF},
|
|
{FLEXCAN_ID_STD, Diag_To_CCU_CANID, 0x7FF},
|
|
{FLEXCAN_ID_STD, Diag_Functional_CANID, 0x7FF}
|
|
};
|
|
#endif
|
|
|
|
|
|
#define countIdCanHardSoftFilterCan1 2
|
|
const FilterTo_FLEXCAN_RxMbFilterType IdCanHardSoftFilterCan1[countIdCanHardSoftFilterCan1] = {
|
|
{FLEXCAN_ID_STD, XCP_CCU_RX_CANID, 0x7FF, PROTOCOL_CAN_XCP},
|
|
{FLEXCAN_ID_STD, dbg_Cmd_Act_Information_CANID, 0x7FF, PROTOCOL_CAN_RAW}
|
|
};
|
|
|
|
|
|
#if (CAN_DMA_EN == 1)
|
|
#define countIdCanFilterFifoCan1 1
|
|
const FLEXCAN_RxMbFilterType IdCanFilterFifoCan1[countIdCanFilterFifoCan1] = {
|
|
{FLEXCAN_ID_STD, 0, 0}
|
|
};
|
|
#endif
|
|
|
|
static bool vCanPort_InitCan0() {
|
|
vCanPort_InitCAN0RxTxPin();
|
|
|
|
#if (CAN_DMA_EN == 1)
|
|
bool result = vCanSerialPortFrameDMAInit(
|
|
&CAN_PORTS.Can0,
|
|
|
|
FLEXCAN0,
|
|
0, // CAN0 = 0 ... CAN3 = 3
|
|
FlexCAN0_IRQn, // // FlexCAN0_IRQn ... FlexCAN3_IRQn
|
|
|
|
0xFF,
|
|
DMA_CHANNEL_0,
|
|
|
|
DMA_REQ_FLEXCAN0,
|
|
|
|
(uint8_t *) &g_aRxDataBufCan0[0],
|
|
size_aRxDataBuf,
|
|
|
|
IdCanHardSoftFilterCan0,
|
|
countIdCanHardSoftFilterCan0,
|
|
|
|
IdCanFilterFifoCan0,
|
|
countIdCanFilterFifoCan0,
|
|
|
|
DMA0_IRQn,
|
|
0xFF,
|
|
DMA0_IRQn,
|
|
|
|
FLEXCAN_BAUD_500K,
|
|
FLEXCAN_ID_STD,
|
|
0x55,
|
|
NULL,
|
|
NULL,
|
|
NULL,
|
|
NULL,
|
|
|
|
DMA_TransferCompleteCallbackCan0,
|
|
NULL
|
|
);
|
|
#else
|
|
|
|
bool result = vCanSerialPortFrameMbInit(
|
|
&CAN_PORTS.Can0,
|
|
|
|
FLEXCAN0,
|
|
0, // CAN0 = 0 ... CAN3 = 3
|
|
FlexCAN0_IRQn, // // FlexCAN0_IRQn ... FlexCAN3_IRQn
|
|
|
|
0xFF,
|
|
IdCanHardSoftFilterCan0,
|
|
countIdCanHardSoftFilterCan0,
|
|
|
|
|
|
FLEXCAN_BAUD_500K,
|
|
FLEXCAN_ID_STD,
|
|
0x55,
|
|
CAN0_ErrorInterrupt_CallBack,
|
|
CAN0_RxInterrupt_CallBack,
|
|
CAN0_RxFifoInterrupt_CallBack,
|
|
NULL
|
|
);
|
|
|
|
#endif
|
|
|
|
|
|
return result;
|
|
}
|
|
|
|
|
|
static void vCanPort_InitCAN1RxTxPin() {
|
|
PORT_InitType tInitStruct = {0U};
|
|
GPIO_InitType tGpioInitStruct = {0};
|
|
|
|
// CAN1_STB
|
|
// PortD 28: MUX = GPIO output
|
|
tInitStruct.u32PortPins = PORT_PIN_28;
|
|
tInitStruct.uPortPinMux.u32PortPinMode = PORT_GPIO_MODE;
|
|
PORT_InitPins(PORT_D, &tInitStruct);
|
|
tGpioInitStruct.u32GpioPins = PORT_PIN_28;
|
|
tGpioInitStruct.ePinDirection = GPIO_OUT;
|
|
tGpioInitStruct.ePinLevel = GPIO_LOW;
|
|
GPIO_InitPins(GPIO_D, &tGpioInitStruct);
|
|
|
|
// PortA 12: MUX = ALT3, CAN1_RX
|
|
tInitStruct.u32PortPins = PORT_PIN_12;
|
|
tInitStruct.uPortPinMux.u32PortPinMode = PORTA_12_FLEXCAN1_RX;
|
|
tInitStruct.bPullEn = FALSE;
|
|
tInitStruct.ePullSel = PORT_PULL_UP;
|
|
PORT_InitPins(PORT_A, &tInitStruct);
|
|
tGpioInitStruct.u32GpioPins = PORT_PIN_12;
|
|
tGpioInitStruct.ePinDirection = GPIO_IN;
|
|
GPIO_InitPins((GPIO_InstanceType) PORT_A, &tGpioInitStruct);
|
|
|
|
// PortA 13: MUX = ALT4, CAN1_TX
|
|
tInitStruct.u32PortPins = PORT_PIN_13;
|
|
tInitStruct.uPortPinMux.u32PortPinMode = PORTA_13_FLEXCAN1_TX;
|
|
PORT_InitPins(PORT_A, &tInitStruct);
|
|
tGpioInitStruct.u32GpioPins = PORT_PIN_13;
|
|
tGpioInitStruct.ePinDirection = GPIO_OUT;
|
|
tGpioInitStruct.ePinLevel = GPIO_HIGH;
|
|
GPIO_InitPins(GPIO_A, &tGpioInitStruct);
|
|
}
|
|
|
|
static bool vCanPort_InitCan1() {
|
|
|
|
vCanPort_InitCAN1RxTxPin();
|
|
|
|
#if (CAN_DMA_EN == 1)
|
|
bool result = vCanSerialPortFrameDMAInit(
|
|
&CAN_PORTS.Can1,
|
|
|
|
FLEXCAN1,
|
|
0, // CAN0 = 0 ... CAN3 = 3
|
|
FlexCAN1_IRQn, // // FlexCAN0_IRQn ... FlexCAN3_IRQn
|
|
|
|
0xFF,
|
|
DMA_CHANNEL_1,
|
|
|
|
DMA_REQ_FLEXCAN1,
|
|
|
|
(uint8_t *) &g_aRxDataBufCan1[0],
|
|
size_aRxDataBuf,
|
|
|
|
IdCanHardSoftFilterCan1,
|
|
countIdCanHardSoftFilterCan1,
|
|
|
|
IdCanFilterFifoCan1,
|
|
countIdCanFilterFifoCan1,
|
|
|
|
DMA1_IRQn,
|
|
0xFF,
|
|
DMA1_IRQn,
|
|
|
|
FLEXCAN_BAUD_500K,
|
|
FLEXCAN_ID_STD,
|
|
0x55,
|
|
NULL,
|
|
NULL,
|
|
NULL,
|
|
NULL,
|
|
|
|
DMA_TransferCompleteCallbackCan1,
|
|
NULL
|
|
);
|
|
#else
|
|
bool result = vCanSerialPortFrameMbInit(
|
|
&CAN_PORTS.Can1,
|
|
|
|
FLEXCAN1,
|
|
1, // CAN0 = 0 ... CAN3 = 3
|
|
FlexCAN1_IRQn, // // FlexCAN0_IRQn ... FlexCAN3_IRQn
|
|
|
|
0xFF,
|
|
IdCanHardSoftFilterCan1,
|
|
countIdCanHardSoftFilterCan1,
|
|
|
|
|
|
FLEXCAN_BAUD_500K,
|
|
FLEXCAN_ID_STD,
|
|
0x55,
|
|
CAN1_ErrorInterrupt_CallBack,
|
|
CAN1_RxInterrupt_CallBack,
|
|
CAN1_RxFifoInterrupt_CallBack,
|
|
NULL
|
|
);
|
|
|
|
#endif
|
|
return result;
|
|
}
|
|
|
|
|
|
void CanPorts_Init(tLoggerInterface *logger) {
|
|
CAN_PORTS.Can0.reInit = false;
|
|
bool result = vCanPort_InitCan0();
|
|
if (result) {
|
|
LoggerInfoStatic(LOGGER, LOG_SIGN, "Initialization CAN0 - OK")
|
|
} else {
|
|
LoggerInfoStatic(LOGGER, LOG_SIGN, "Initialization CAN0 - ERROR")
|
|
}
|
|
CAN_PORTS.Can0_IO = CanPortFrame_GetIo(&CAN_PORTS.Can0);
|
|
|
|
CAN_PORTS.Can1.reInit = false;
|
|
|
|
result = vCanPort_InitCan1();
|
|
if (result) {
|
|
LoggerInfoStatic(LOGGER, LOG_SIGN, "Initialization CAN1 - OK")
|
|
} else {
|
|
LoggerInfoStatic(LOGGER, LOG_SIGN, "Initialization CAN1 - ERROR")
|
|
}
|
|
CAN_PORTS.Can1_IO = CanPortFrame_GetIo(&CAN_PORTS.Can1);
|
|
|
|
}
|
|
|
|
void CAN0_IRQHandler(void) {
|
|
FLEXCAN_IRQHandler(0U);
|
|
}
|
|
|
|
void CAN1_IRQHandler(void) {
|
|
FLEXCAN_IRQHandler(1U);
|
|
}
|
|
|
|
void CAN2_IRQHandler(void) {
|
|
FLEXCAN_IRQHandler(2U);
|
|
}
|
|
|
|
void CAN3_IRQHandler(void) {
|
|
FLEXCAN_IRQHandler(3U);
|
|
} |