PS100/Source/drv_can.c

#include "common.h"
#include "drv_can.h"
#include "drv_io.h"

extern uint8_t work_normal;
//********************************************************CAN-START**********************************************************
static uint8_t can_rx_ctr_self_buf[CAN_RX_BUF_MAX];
static uint8_t can_rx_ctr_bro_buf[CAN_RX_CTR_BRO_BUF_MAX];
static uint8_t can_rx_test_bro_buf[CAN_RX_TEST_BRO_BUF_MAX];

can_parameter_struct can_parameter;
can_filter_parameter_struct can_filter;

#define CAN_BAUDRATE  250
uint32_t filter_ctr_self_id = (CTR_ID << 10)|(SELF_ID << 3)|CAN_FF_EXTENDED|CAN_FT_DATA;
uint32_t filter_ctr_bro_id = (CTR_ID << 10)|(BROCAST_ID << 3)|CAN_FF_EXTENDED|CAN_FT_DATA;

#ifdef CONFIG_CAN_IAP
uint32_t filter_test_bro_id = (PRINTF_TER_ID << 10)|(SELF_ID << 3)|CAN_FF_EXTENDED|CAN_FT_DATA;
#else
uint32_t filter_test_bro_id = (PRINTF_TER_ID << 10)|(BROCAST_ID << 3)|CAN_FF_EXTENDED|CAN_FT_DATA;
#endif

CAN_FRAME can_ctr_self;
CAN_FRAME can_ctr_bro;
CAN_FRAME can_test_bro;

static shark_can_frame_t shark_can_tx_queue[200];
static shark_u8 shark_can_tx_head;
static shark_u8 shark_can_tx_tail;
static shark_u16 shark_can_tx_err;

static shark_bool shark_can_tx_frame(shark_can_frame_t *frame)
{
	u8 mailbox;

	if (CAN_TSTAT_TME0 == (CAN_TSTAT(CAN0) & CAN_TSTAT_TME0)) {
		mailbox = CAN_MAILBOX0;
	} else if (CAN_TSTAT_TME1 == (CAN_TSTAT(CAN0) & CAN_TSTAT_TME1)) {
		mailbox = CAN_MAILBOX1;
	} else if (CAN_TSTAT_TME2 == (CAN_TSTAT(CAN0) & CAN_TSTAT_TME2)) {
		mailbox = CAN_MAILBOX2;
	} else {
		if (work_normal == 0) {
			return shark_true;
		}

		if (shark_can_tx_err < 20000) {
			shark_can_tx_err++;
		} else {
			shark_can_tx_err = 0;
			can_deinit(CAN0);
			CAN_Config_HW();
		}

		return shark_false;
	}

	shark_can_tx_err = 0;

	CAN_TMDATA0(CAN0, mailbox) = frame->values[0];
	CAN_TMDATA1(CAN0, mailbox) = frame->values[1];

	CAN_TMP(CAN0, mailbox) &= ~CAN_TMP_DLENC;
	CAN_TMP(CAN0, mailbox) |= frame->efid.length + 1;
	CAN_TMI(CAN0, mailbox) = frame->efid.value << 3 | CAN_FF_EXTENDED | CAN_FT_DATA | CAN_TMI_TEN;

	return shark_true;
}

void shark_can_tx_flush(void)
{
	while (shark_can_tx_head != shark_can_tx_tail && shark_can_tx_frame(shark_can_tx_queue + shark_can_tx_head)) {
		shark_can_tx_head = (shark_can_tx_head + 1) % NELEM(shark_can_tx_queue);
	}
}

shark_bool shark_can_send_frame(shark_can_efid_t efid, const void *buff, u8 length)
{
	u8 tail = (shark_can_tx_tail + 1) % NELEM(shark_can_tx_queue);
	shark_can_frame_t *frame;

	shark_can_tx_flush();

	if (tail == shark_can_tx_head || work_normal == 0) {
		return shark_false;
	}

	frame = shark_can_tx_queue + shark_can_tx_tail;
	memcpy(frame->data, buff, length);
	frame->efid.value = efid.value;

	if (shark_can_tx_tail == shark_can_tx_head && shark_can_tx_frame(frame)) {
		return shark_true;
	}

	shark_can_tx_tail = tail;

	return shark_true;
}

shark_bool shark_can_send(u8 dest, u8 src, u8 type, const u8 *buff, u16 length)
{
	shark_can_efid_t efid;
	u8 index = 1;

	efid.dest = dest;
	efid.src = src;
	efid.type = type;
	efid.priority = 6;
	efid.total = (length + 7) / 8;

	while (length > 0) {
		u8 wrlen = length < 8 ? length : 8;

		efid.index = index;
		efid.length = wrlen - 1;

		if (shark_can_send_frame(efid, buff, wrlen)) {
			length -= wrlen;
			buff += wrlen;
			index++;
		} else {
			return shark_false;
		}
	}

	return shark_true;
}

void Can_Stop_Send(void)
{
	shark_can_tx_head = shark_can_tx_tail = 0;
}

int8_t Send_Data_Can(CAN_FRAME*app_can_frame,uint8_t from)
{
	return shark_can_send(app_can_frame->head.dest, app_can_frame->head.sour, app_can_frame->head.rsp, app_can_frame->data, app_can_frame->len);
}

void Check_Can_Poll(void)
{
	if(work_normal)
	{
		if(can_error_get(CAN0) != CAN_ERROR_NONE)
		{
			Can_Power_Enable(0);
			can_deinit(CAN0);
			CAN_Config_HW();
			Can_Power_Enable(1);
		}
	}
}
static void Reset_Can_Rx_Buffer(CAN_FRAME*can_frame)
{
	if(can_frame == NULL)
        return;
    memset(&can_frame->head,0x00,sizeof(can_frame->head));
	can_frame->len = 0;
}

uint16_t Get_Data_Can(CAN_FRAME*app_can_frame)
{
	CAN_FRAME* cf_temp = NULL;
	
    if(app_can_frame == NULL)
        return 0;

	if(get_index_total_value(can_ctr_self.head.index) != 0 && can_ctr_self.head.index == can_ctr_self.head.total&&can_ctr_self.len)
		cf_temp = &can_ctr_self;
	else if(get_index_total_value(can_ctr_bro.head.index) != 0 && can_ctr_bro.head.index == can_ctr_bro.head.total&&can_ctr_bro.len)
		cf_temp = &can_ctr_bro;
	else if(get_index_total_value(can_test_bro.head.index) != 0 && can_test_bro.head.index == can_test_bro.head.total&&can_test_bro.len)
		cf_temp = &can_test_bro;

	if(cf_temp == NULL)
		return 0;
	
    memcpy(&app_can_frame->head,&cf_temp->head,sizeof(cf_temp->head));
	memcpy(app_can_frame->data,cf_temp->data,cf_temp->len);
	app_can_frame->len = cf_temp->len;

    Reset_Can_Rx_Buffer(cf_temp);

    return app_can_frame->len;
    
}

static void Can_NVIC_Config(void)
{
	// nvic_irq_enable(USBD_HP_CAN0_TX_IRQn,3,0);
	
	nvic_irq_enable(USBD_LP_CAN0_RX0_IRQn,3,0);
}




/**
  * @brief  Configures the CAN.
  * @param  None
  * @retval None
  */
void CAN_Config_HW(void)
{
	/* enable CAN clock */
    rcu_periph_clock_enable(RCU_CAN0);
    rcu_periph_clock_enable(RCU_GPIOB);
    rcu_periph_clock_enable(RCU_AF);
    
    /* configure CAN0 GPIO */
    gpio_init(GPIOB,GPIO_MODE_IPU,GPIO_OSPEED_50MHZ,GPIO_PIN_8);
    gpio_init(GPIOB,GPIO_MODE_AF_PP,GPIO_OSPEED_50MHZ,GPIO_PIN_9);
    gpio_pin_remap_config(GPIO_CAN_PARTIAL_REMAP,ENABLE);

	rcu_periph_clock_enable(RCU_GPIOA);
	gpio_init(GPIOA,GPIO_MODE_OUT_PP,GPIO_OSPEED_50MHZ,GPIO_PIN_7);
	Silent_Enable(0);


    can_struct_para_init(CAN_INIT_STRUCT, &can_parameter);
    can_struct_para_init(CAN_INIT_STRUCT, &can_filter);
    /* initialize CAN register */
    can_deinit(CAN0);

    /* initialize CAN parameters */
    can_parameter.time_triggered = DISABLE;
    can_parameter.auto_bus_off_recovery = DISABLE;
    can_parameter.auto_wake_up = DISABLE;
    can_parameter.auto_retrans = DISABLE;
    can_parameter.rec_fifo_overwrite = DISABLE;
    can_parameter.trans_fifo_order = ENABLE;
    can_parameter.working_mode = CAN_NORMAL_MODE;
    can_parameter.resync_jump_width = CAN_BT_SJW_1TQ;
    can_parameter.time_segment_1 = CAN_BT_BS1_5TQ;
    can_parameter.time_segment_2 = CAN_BT_BS2_3TQ;
    
    /* 1MBps */
#if CAN_BAUDRATE == 1000
    can_parameter.prescaler = 6;
    /* 500KBps */
#elif CAN_BAUDRATE == 500
    can_parameter.prescaler = 12;
    /* 250KBps */
#elif CAN_BAUDRATE == 250
    can_parameter.prescaler = 24;
    /* 125KBps */
#elif CAN_BAUDRATE == 125
    can_parameter.prescaler = 48;
    /* 100KBps */
#elif  CAN_BAUDRATE == 100
    can_parameter.prescaler = 60;
    /* 50KBps */
#elif  CAN_BAUDRATE == 50
    can_parameter.prescaler = 120;
    /* 20KBps */
#elif  CAN_BAUDRATE == 20
    can_parameter.prescaler = 300;
#else
    #error "please select list can baudrate in private defines in drv_can.c "
#endif  
    /* initialize CAN */
    can_init(CAN0, &can_parameter);

    
    /* initialize filter */ 
    can_filter.filter_number=0;
    can_filter.filter_mode = CAN_FILTERMODE_MASK;
    can_filter.filter_bits = CAN_FILTERBITS_32BIT;
#if 1	
    can_filter.filter_list_high = (uint16_t)(filter_ctr_self_id >> 16);
    can_filter.filter_list_low = (uint16_t)(filter_ctr_self_id >> 0);
    can_filter.filter_mask_high = 0x0001;
    can_filter.filter_mask_low = 0xFFFF;
#else
	can_filter.filter_list_high = 0x0000;
    can_filter.filter_list_low = 0x0000;
    can_filter.filter_mask_high = 0x0000;
    can_filter.filter_mask_low = 0x0000;
#endif
    can_filter.filter_fifo_number = CAN_FIFO0;
    can_filter.filter_enable = ENABLE;
    can_filter_init(&can_filter);
    
    /* CAN1 filter number */
#if 1
    can_filter.filter_number = 1;
	can_filter.filter_list_high = (uint16_t)(filter_ctr_bro_id >> 16);
    can_filter.filter_list_low = (uint16_t)(filter_ctr_bro_id >> 0);
    can_filter_init(&can_filter);

	can_filter.filter_number = 2;
	can_filter.filter_list_high = (uint16_t)(filter_test_bro_id >> 16);
    can_filter.filter_list_low = (uint16_t)(filter_test_bro_id >> 0);
    can_filter_init(&can_filter);
#endif

    Can_NVIC_Config();

   	can_interrupt_enable(CAN0, CAN_INT_RFNE0);
    
    
}

/**
  * @brief  Configures the CAN.
  * @param  None
  * @retval None
  */
void CAN_Config(void)
{   

	memcpy(&can_ctr_self.head,&filter_ctr_self_id,sizeof(filter_ctr_self_id));
	memcpy(&can_ctr_bro.head,&filter_ctr_bro_id,sizeof(filter_ctr_bro_id));
	memcpy(&can_test_bro.head,&filter_test_bro_id,sizeof(filter_test_bro_id));
	can_ctr_self.data = can_rx_ctr_self_buf;
	can_ctr_bro.data = can_rx_ctr_bro_buf;
	can_test_bro.data = can_rx_test_bro_buf;
	
	
	/* enable CAN clock */
    rcu_periph_clock_enable(RCU_CAN0);
    rcu_periph_clock_enable(RCU_GPIOB);
    rcu_periph_clock_enable(RCU_AF);
    
    /* configure CAN0 GPIO */
    gpio_init(GPIOB,GPIO_MODE_IPU,GPIO_OSPEED_50MHZ,GPIO_PIN_8);
    gpio_init(GPIOB,GPIO_MODE_AF_PP,GPIO_OSPEED_50MHZ,GPIO_PIN_9);
    gpio_pin_remap_config(GPIO_CAN_PARTIAL_REMAP,ENABLE);

	rcu_periph_clock_enable(RCU_GPIOA);
	gpio_init(GPIOA,GPIO_MODE_OUT_PP,GPIO_OSPEED_50MHZ,GPIO_PIN_7);
	//Silent_Enable(1);
	Silent_Enable(0);

    can_struct_para_init(CAN_INIT_STRUCT, &can_parameter);
    can_struct_para_init(CAN_INIT_STRUCT, &can_filter);
    /* initialize CAN register */
    can_deinit(CAN0);

    /* initialize CAN parameters */
    can_parameter.time_triggered = DISABLE;
    can_parameter.auto_bus_off_recovery = DISABLE;
    can_parameter.auto_wake_up = DISABLE;
    can_parameter.auto_retrans = DISABLE;
    can_parameter.rec_fifo_overwrite = DISABLE;
    can_parameter.trans_fifo_order = ENABLE;
    can_parameter.working_mode = CAN_NORMAL_MODE;
    can_parameter.resync_jump_width = CAN_BT_SJW_1TQ;
    can_parameter.time_segment_1 = CAN_BT_BS1_5TQ;
    can_parameter.time_segment_2 = CAN_BT_BS2_3TQ;
    
    /* 1MBps */
#if CAN_BAUDRATE == 1000
    can_parameter.prescaler = 6;
    /* 500KBps */
#elif CAN_BAUDRATE == 500
    can_parameter.prescaler = 12;
    /* 250KBps */
#elif CAN_BAUDRATE == 250
    can_parameter.prescaler = 24;
    /* 125KBps */
#elif CAN_BAUDRATE == 125
    can_parameter.prescaler = 48;
    /* 100KBps */
#elif  CAN_BAUDRATE == 100
    can_parameter.prescaler = 60;
    /* 50KBps */
#elif  CAN_BAUDRATE == 50
    can_parameter.prescaler = 120;
    /* 20KBps */
#elif  CAN_BAUDRATE == 20
    can_parameter.prescaler = 300;
#else
    #error "please select list can baudrate in private defines in drv_can.c "
#endif  
    /* initialize CAN */
    can_init(CAN0, &can_parameter);

    
    /* initialize filter */ 
    can_filter.filter_number=0;
    can_filter.filter_mode = CAN_FILTERMODE_MASK;
    can_filter.filter_bits = CAN_FILTERBITS_32BIT;
#if 1	
    can_filter.filter_list_high = (uint16_t)(filter_ctr_self_id >> 16);
    can_filter.filter_list_low = (uint16_t)(filter_ctr_self_id >> 0);
    can_filter.filter_mask_high = 0x0001;
    can_filter.filter_mask_low = 0xFFFF;
#else
	can_filter.filter_list_high = 0x0000;
    can_filter.filter_list_low = 0x0000;
    can_filter.filter_mask_high = 0x0000;
    can_filter.filter_mask_low = 0x0000;
#endif
    can_filter.filter_fifo_number = CAN_FIFO0;
    can_filter.filter_enable = ENABLE;
    can_filter_init(&can_filter);
    
    /* CAN1 filter number */
#if 1
    can_filter.filter_number = 1;
	can_filter.filter_list_high = (uint16_t)(filter_ctr_bro_id >> 16);
    can_filter.filter_list_low = (uint16_t)(filter_ctr_bro_id >> 0);
    can_filter_init(&can_filter);

	can_filter.filter_number = 2;
	can_filter.filter_list_high = (uint16_t)(filter_test_bro_id >> 16);
    can_filter.filter_list_low = (uint16_t)(filter_test_bro_id >> 0);
    can_filter_init(&can_filter);
#endif

    Can_NVIC_Config();

   	can_interrupt_enable(CAN0, CAN_INT_RFNE0);
    
    
}

void USBD_LP_CAN0_RX0_IRQHandler(void)
{
	can_receive_message_struct Rxmessage;
	CAN_FRAME* cf_temp;
	uint32_t head,buf_max;
	
	can_message_receive(CAN0, CAN_FIFO0, &Rxmessage);

	switch(Rxmessage.rx_fi)
	{
		case 0:
			cf_temp = &can_ctr_self;
			buf_max = sizeof(can_rx_ctr_self_buf);
			break;
		case 1:
			cf_temp = &can_ctr_bro;
			buf_max = sizeof(can_rx_ctr_bro_buf);
			break;
		case 2:
			cf_temp = &can_test_bro;
			buf_max = sizeof(can_rx_test_bro_buf);	
			break;
		default:return;
	}
	head = (Rxmessage.rx_efid << 3)|(Rxmessage.rx_ff)|(Rxmessage.rx_ft);
	memcpy(&cf_temp->head,&head,sizeof(head));


	if(get_index_total_value(cf_temp->head.index) > get_index_total_value(cf_temp->head.total))
		return;
	
	head = get_index_total_value(cf_temp->head.total)*8UL;
	if(head > buf_max)
		return;

	head = get_index_total_value(cf_temp->head.index) - 1;

	memcpy(&cf_temp->data[head<<3],Rxmessage.rx_data,Rxmessage.rx_dlen);
	if(get_index_total_value(cf_temp->head.index) == get_index_total_value(cf_temp->head.total))
	{
		cf_temp->len = (head << 3) + Rxmessage.rx_dlen;
		//g_event |= EVENT_CAN_RECEIVE_FINISH;
	}

	
}

static u8 shark_can_log_buff[8];
static u8 shark_can_log_length;

// 
//ÓÃÓÚϵͳµ÷ÓÃprintf
//
int fputc(int ch, FILE *f)
{
	if (ch == '\n') {
		if (shark_can_log_length > 0) {
			shark_can_send(0x72, 0x42, 3, shark_can_log_buff, shark_can_log_length);
			shark_can_log_length = 0;
		}
	} else if (shark_can_log_length < sizeof(shark_can_log_buff)) {
		shark_can_log_buff[shark_can_log_length] = ch;
		shark_can_log_length++;
	} else {
		shark_can_send(0x70, 0x42, 3, shark_can_log_buff, shark_can_log_length);
		shark_can_log_buff[0] = ch;
		shark_can_log_length = 1;
	}

	return ch;
}
//********************************************************CAN-END**********************************************************