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ardupilot/libraries/AP_HAL_ChibiOS/CANFDIface.cpp
Andrew Tridgell 555f56a8af HAL_ChibiOS: removed wait on CAN peripheral in H7 
these wait busy loops can take a very long time, and end up causing
interrupts to be lost elsewhere in the system, causing lost bytes on
UARTs

We should not have while loops waiting on peripharals like this. If we
do need to wait for a flag to clear then it needs to be done in a low
priority thread, or we need to check for completion in a timer

CAN still seems to work with this change, but needs flight testing
2019-10-03 15:26:47 +10:00

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/*
* The MIT License (MIT)
*
* Copyright (c) 2014 Pavel Kirienko
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of
* this software and associated documentation files (the "Software"), to deal in
* the Software without restriction, including without limitation the rights to
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
* the Software, and to permit persons to whom the Software is furnished to do so,
* subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/
/*
* This file is free software: you can redistribute it and/or modify it
* under the terms of the GNU General Public License as published by the
* Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This file is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program. If not, see <http://www.gnu.org/licenses/>.
*
* Code by Siddharth Bharat Purohit
*/
#include "AP_HAL_ChibiOS.h"
#if HAL_WITH_UAVCAN
#include <cassert>
#include <cstring>
#include "CANClock.h"
#include "CANInternal.h"
#include "CANSerialRouter.h"
#include <AP_UAVCAN/AP_UAVCAN_SLCAN.h>
#include <AP_Math/AP_Math.h>
# include <hal.h>
# if defined(STM32H7XX)
#include "CANFDIface.h"
#define FDCAN1_IT0_IRQHandler STM32_FDCAN1_IT0_HANDLER
#define FDCAN1_IT1_IRQHandler STM32_FDCAN1_IT1_HANDLER
#define FDCAN2_IT0_IRQHandler STM32_FDCAN2_IT0_HANDLER
#define FDCAN2_IT1_IRQHandler STM32_FDCAN2_IT1_HANDLER
#define FDCAN_FRAME_BUFFER_SIZE 4 // Buffer size for 8 bytes data field
//Message RAM Allocations in Word lengths
#define MAX_FILTER_LIST_SIZE 80U //80 element Standard Filter List elements or 40 element Extended Filter List
#define FDCAN_NUM_RXFIFO0_SIZE 104U //26 Frames
#define FDCAN_TX_FIFO_BUFFER_SIZE 128U //32 Frames
#define MESSAGE_RAM_END_ADDR 0x4000B5FC
extern const AP_HAL::HAL& hal;
namespace ChibiOS_CAN
{
namespace
{
CanIface* ifaces[UAVCAN_STM32_NUM_IFACES] = {
UAVCAN_NULLPTR
#if UAVCAN_STM32_NUM_IFACES > 1
, UAVCAN_NULLPTR
#endif
};
inline void handleInterrupt(uavcan::uint8_t iface_index, uavcan::uint8_t line_index)
{
UAVCAN_ASSERT(iface_index < UAVCAN_STM32_NUM_IFACES);
if (ifaces[iface_index] == UAVCAN_NULLPTR) {
//Just reset all the interrupts and return
ifaces[iface_index]->can_reg()->IR = FDCAN_IR_RF0N;
ifaces[iface_index]->can_reg()->IR = FDCAN_IR_RF1N;
ifaces[iface_index]->can_reg()->IR = FDCAN_IR_TEFN;
UAVCAN_ASSERT(0);
return;
}
if (line_index == 0) {
if ((ifaces[iface_index]->can_reg()->IR & FDCAN_IR_RF0N) ||
(ifaces[iface_index]->can_reg()->IR & FDCAN_IR_RF0F)) {
ifaces[iface_index]->can_reg()->IR = FDCAN_IR_RF0N | FDCAN_IR_RF0F;
ifaces[iface_index]->handleRxInterrupt(0);
}
if ((ifaces[iface_index]->can_reg()->IR & FDCAN_IR_RF1N) ||
(ifaces[iface_index]->can_reg()->IR & FDCAN_IR_RF1F)) {
ifaces[iface_index]->can_reg()->IR = FDCAN_IR_RF1N | FDCAN_IR_RF1F;
ifaces[iface_index]->handleRxInterrupt(1);
}
} else {
if (ifaces[iface_index]->can_reg()->IR & FDCAN_IR_TC) {
ifaces[iface_index]->can_reg()->IR = FDCAN_IR_TC;
uavcan::uint64_t utc_usec = clock::getUtcUSecFromCanInterrupt();
if (utc_usec > 0) {
utc_usec--;
}
ifaces[iface_index]->handleTxCompleteInterrupt(utc_usec);
}
}
ifaces[iface_index]->pollErrorFlagsFromISR();
}
} // namespace
uint32_t CanIface::FDCANMessageRAMOffset_ = 0;
#if !HAL_MINIMIZE_FEATURES
SLCANRouter CanIface::_slcan_router;
#endif
CanIface::CanIface(fdcan::CanType* can, BusEvent& update_event, uavcan::uint8_t self_index,
CanRxItem* rx_queue_buffer, uavcan::uint8_t rx_queue_capacity)
: rx_queue_(rx_queue_buffer, rx_queue_capacity)
, can_(can)
, error_cnt_(0)
, served_aborts_cnt_(0)
, update_event_(update_event)
, peak_tx_mailbox_index_(0)
, self_index_(self_index)
, had_activity_(false)
{
UAVCAN_ASSERT(self_index_ < UAVCAN_STM32_NUM_IFACES);
}
/*
* CanIface::RxQueue
*/
void CanIface::RxQueue::registerOverflow()
{
if (overflow_cnt_ < 0xFFFFFFFF) {
overflow_cnt_++;
}
}
void CanIface::RxQueue::push(const uavcan::CanFrame& frame, const uint64_t& utc_usec, uavcan::CanIOFlags flags)
{
buf_[in_].frame = frame;
buf_[in_].utc_usec = utc_usec;
buf_[in_].flags = flags;
in_++;
if (in_ >= capacity_) {
in_ = 0;
}
len_++;
if (len_ > capacity_) {
len_ = capacity_;
registerOverflow();
out_++;
if (out_ >= capacity_) {
out_ = 0;
}
}
}
void CanIface::RxQueue::pop(uavcan::CanFrame& out_frame, uavcan::uint64_t& out_utc_usec, uavcan::CanIOFlags& out_flags)
{
if (len_ > 0) {
out_frame = buf_[out_].frame;
out_utc_usec = buf_[out_].utc_usec;
out_flags = buf_[out_].flags;
out_++;
if (out_ >= capacity_) {
out_ = 0;
}
len_--;
} else {
UAVCAN_ASSERT(0);
}
}
void CanIface::RxQueue::reset()
{
in_ = 0;
out_ = 0;
len_ = 0;
overflow_cnt_ = 0;
}
int CanIface::computeTimings(const uavcan::uint32_t target_bitrate, Timings& out_timings)
{
if (target_bitrate < 1) {
return -ErrInvalidBitRate;
}
/*
* Hardware configuration
*/
const uavcan::uint32_t pclk = STM32_PLL1_Q_CK;
static const int MaxBS1 = 16;
static const int MaxBS2 = 8;
/*
* Ref. "Automatic Baudrate Detection in CANopen Networks", U. Koppe, MicroControl GmbH & Co. KG
* CAN in Automation, 2003
*
* According to the source, optimal quanta per bit are:
* Bitrate Optimal Maximum
* 1000 kbps 8 10
* 500 kbps 16 17
* 250 kbps 16 17
* 125 kbps 16 17
*/
const int max_quanta_per_bit = (target_bitrate >= 1000000) ? 10 : 17;
UAVCAN_ASSERT(max_quanta_per_bit <= (MaxBS1 + MaxBS2));
static const int MaxSamplePointLocation = 900;
/*
* Computing (prescaler * BS):
* BITRATE = 1 / (PRESCALER * (1 / PCLK) * (1 + BS1 + BS2)) -- See the Reference Manual
* BITRATE = PCLK / (PRESCALER * (1 + BS1 + BS2)) -- Simplified
* let:
* BS = 1 + BS1 + BS2 -- Number of time quanta per bit
* PRESCALER_BS = PRESCALER * BS
* ==>
* PRESCALER_BS = PCLK / BITRATE
*/
const uavcan::uint32_t prescaler_bs = pclk / target_bitrate;
/*
* Searching for such prescaler value so that the number of quanta per bit is highest.
*/
uavcan::uint8_t bs1_bs2_sum = uavcan::uint8_t(max_quanta_per_bit - 1);
while ((prescaler_bs % (1 + bs1_bs2_sum)) != 0) {
if (bs1_bs2_sum <= 2) {
return -ErrInvalidBitRate; // No solution
}
bs1_bs2_sum--;
}
const uavcan::uint32_t prescaler = prescaler_bs / (1 + bs1_bs2_sum);
if ((prescaler < 1U) || (prescaler > 1024U)) {
return -ErrInvalidBitRate; // No solution
}
/*
* Now we have a constraint: (BS1 + BS2) == bs1_bs2_sum.
* We need to find the values so that the sample point is as close as possible to the optimal value.
*
* Solve[(1 + bs1)/(1 + bs1 + bs2) == 7/8, bs2] (* Where 7/8 is 0.875, the recommended sample point location *)
* {{bs2 -> (1 + bs1)/7}}
*
* Hence:
* bs2 = (1 + bs1) / 7
* bs1 = (7 * bs1_bs2_sum - 1) / 8
*
* Sample point location can be computed as follows:
* Sample point location = (1 + bs1) / (1 + bs1 + bs2)
*
* Since the optimal solution is so close to the maximum, we prepare two solutions, and then pick the best one:
* - With rounding to nearest
* - With rounding to zero
*/
struct BsPair {
uavcan::uint8_t bs1;
uavcan::uint8_t bs2;
uavcan::uint16_t sample_point_permill;
BsPair() :
bs1(0),
bs2(0),
sample_point_permill(0)
{ }
BsPair(uavcan::uint8_t bs1_bs2_sum, uavcan::uint8_t arg_bs1) :
bs1(arg_bs1),
bs2(uavcan::uint8_t(bs1_bs2_sum - bs1)),
sample_point_permill(uavcan::uint16_t(1000 * (1 + bs1) / (1 + bs1 + bs2)))
{
UAVCAN_ASSERT(bs1_bs2_sum > arg_bs1);
}
bool isValid() const
{
return (bs1 >= 1) && (bs1 <= MaxBS1) && (bs2 >= 1) && (bs2 <= MaxBS2);
}
};
// First attempt with rounding to nearest
BsPair solution(bs1_bs2_sum, uavcan::uint8_t(((7 * bs1_bs2_sum - 1) + 4) / 8));
if (solution.sample_point_permill > MaxSamplePointLocation) {
// Second attempt with rounding to zero
solution = BsPair(bs1_bs2_sum, uavcan::uint8_t((7 * bs1_bs2_sum - 1) / 8));
}
/*
* Final validation
* Helpful Python:
* def sample_point_from_btr(x):
* assert 0b0011110010000000111111000000000 & x == 0
* ts2,ts1,brp = (x>>20)&7, (x>>16)&15, x&511
* return (1+ts1+1)/(1+ts1+1+ts2+1)
*
*/
if ((target_bitrate != (pclk / (prescaler * (1 + solution.bs1 + solution.bs2)))) || !solution.isValid()) {
UAVCAN_ASSERT(0);
return -ErrLogic;
}
UAVCAN_STM32_LOG("Timings: quanta/bit: %d, sample point location: %.1f%%",
int(1 + solution.bs1 + solution.bs2), float(solution.sample_point_permill) / 10.F);
out_timings.prescaler = uavcan::uint16_t(prescaler - 1U);
out_timings.sjw = 0; // Which means one
out_timings.bs1 = uavcan::uint8_t(solution.bs1 - 1);
out_timings.bs2 = uavcan::uint8_t(solution.bs2 - 1);
return 0;
}
uavcan::int16_t CanIface::send(const uavcan::CanFrame& frame, uavcan::MonotonicTime tx_deadline,
uavcan::CanIOFlags flags)
{
if (frame.isErrorFrame() || frame.dlc > 8) {
return -ErrUnsupportedFrame;
}
/*
* Normally we should perform the same check as in @ref canAcceptNewTxFrame(), because
* it is possible that the highest-priority frame between select() and send() could have been
* replaced with a lower priority one due to TX timeout. But we don't do this check because:
*
* - It is a highly unlikely scenario.
*
* - Frames do not timeout on a properly functioning bus. Since frames do not timeout, the new
* frame can only have higher priority, which doesn't break the logic.
*
* - If high-priority frames are timing out in the TX queue, there's probably a lot of other
* issues to take care of before this one becomes relevant.
*
* - It takes CPU time. Not just CPU time, but critical section time, which is expensive.
*/
CriticalSectionLocker lock;
/*
* Seeking for an empty slot
*/
uavcan::uint8_t index;
if ((can_->TXFQS & FDCAN_TXFQS_TFQF) != 0) {
return false; //we don't have free space
}
index = ((can_->TXFQS & FDCAN_TXFQS_TFQPI) >> FDCAN_TXFQS_TFQPI_Pos);
// Copy Frame to RAM
// Calculate Tx element address
uint32_t* buffer = (uint32_t *)(MessageRam_.TxFIFOQSA + (index * FDCAN_FRAME_BUFFER_SIZE * 4));
//Setup Frame ID
if (frame.isExtended()) {
buffer[0] = (fdcan::IDE | frame.id);
} else {
buffer[0] = (frame.id << 18);
}
if (frame.isRemoteTransmissionRequest()) {
buffer[0] |= fdcan::RTR;
}
//Write Data Length Code, and Message Marker
buffer[1] = frame.dlc << 16 | index << 24;
// Write Frame to the message RAM
buffer[2] = (uavcan::uint32_t(frame.data[3]) << 24) |
(uavcan::uint32_t(frame.data[2]) << 16) |
(uavcan::uint32_t(frame.data[1]) << 8) |
(uavcan::uint32_t(frame.data[0]) << 0);
buffer[3] = (uavcan::uint32_t(frame.data[7]) << 24) |
(uavcan::uint32_t(frame.data[6]) << 16) |
(uavcan::uint32_t(frame.data[5]) << 8) |
(uavcan::uint32_t(frame.data[4]) << 0);
//Set Add Request
can_->TXBAR = (1 << index);
//Registering the pending transmission so we can track its deadline and loopback it as needed
pending_tx_[index].deadline = tx_deadline;
pending_tx_[index].frame = frame;
pending_tx_[index].loopback = (flags & uavcan::CanIOFlagLoopback) != 0;
pending_tx_[index].abort_on_error = (flags & uavcan::CanIOFlagAbortOnError) != 0;
pending_tx_[index].index = index;
return 1;
}
uavcan::int16_t CanIface::receive(uavcan::CanFrame& out_frame, uavcan::MonotonicTime& out_ts_monotonic,
uavcan::UtcTime& out_ts_utc, uavcan::CanIOFlags& out_flags)
{
out_ts_monotonic = clock::getMonotonic(); // High precision is not required for monotonic timestamps
uavcan::uint64_t utc_usec = 0;
{
CriticalSectionLocker lock;
if (rx_queue_.getLength() == 0) {
return 0;
}
rx_queue_.pop(out_frame, utc_usec, out_flags);
}
out_ts_utc = uavcan::UtcTime::fromUSec(utc_usec);
return 1;
}
uavcan::int16_t CanIface::configureFilters(const uavcan::CanFilterConfig* filter_configs,
uavcan::uint16_t num_configs)
{
uint32_t num_extid = 0, num_stdid = 0;
uint32_t total_available_list_size = MAX_FILTER_LIST_SIZE;
uint32_t* filter_ptr;
//count number of frames of each type
for (uint8_t i = 0; i < num_configs; i++) {
const uavcan::CanFilterConfig* const cfg = filter_configs + i;
if ((cfg->id & uavcan::CanFrame::FlagEFF) || !(cfg->mask & uavcan::CanFrame::FlagEFF)) {
num_extid++;
} else {
num_stdid++;
}
}
CriticalSectionLocker lock;
can_->CCCR |= FDCAN_CCCR_INIT; // Request init
while ((can_->CCCR & FDCAN_CCCR_INIT) == 0) {}
can_->CCCR |= FDCAN_CCCR_CCE; //Enable Config change
//Allocate Message RAM for Standard ID Filter List
if (num_stdid == 0) { //No Frame with Standard ID is to be accepted
can_->GFC |= 0x2; //Reject All Standard ID Frames
} else if ((num_stdid < total_available_list_size) && (num_stdid <= 128)) {
can_->SIDFC = (FDCANMessageRAMOffset_ << 2) | (num_stdid << 16);
MessageRam_.StandardFilterSA = SRAMCAN_BASE + (FDCANMessageRAMOffset_ * 4U);
FDCANMessageRAMOffset_ += num_stdid;
total_available_list_size -= num_stdid;
can_->GFC |= (0x3U << 4); //Reject non matching Standard frames
} else { //The List is too big, return fail
can_->CCCR &= ~FDCAN_CCCR_INIT; // Leave init mode
return -ErrFilterNumConfigs;
}
if (num_stdid) {
num_stdid = 0; //reset list count
filter_ptr = (uint32_t*)MessageRam_.StandardFilterSA;
//Run through the filter list and setup standard id filter list
for (uint8_t i = 0; i < num_configs; i++) {
uint32_t id = 0;
uint32_t mask = 0;
const uavcan::CanFilterConfig* const cfg = filter_configs + i;
if (!((cfg->id & uavcan::CanFrame::FlagEFF) || !(cfg->mask & uavcan::CanFrame::FlagEFF))) {
id = (cfg->id & uavcan::CanFrame::MaskStdID); // Regular std frames, nothing fancy.
mask = (cfg->mask & 0x7F);
filter_ptr[num_stdid] = 0x2U << 30 | //Classic CAN Filter
0x1U << 27 | //Store in Rx FIFO0 if filter matches
id << 16 |
mask;
num_stdid++;
}
}
}
//Allocate Message RAM for Extended ID Filter List
if (num_extid == 0) { //No Frame with Extended ID is to be accepted
can_->GFC |= 0x1; //Reject All Extended ID Frames
} else if ((num_extid < (total_available_list_size/2)) && (num_extid <= 64)) {
can_->XIDFC = (FDCANMessageRAMOffset_ << 2) | (num_extid << 16);
MessageRam_.ExtendedFilterSA = SRAMCAN_BASE + (FDCANMessageRAMOffset_ * 4U);
FDCANMessageRAMOffset_ += num_extid*2;
can_->GFC = (0x3U << 2); // Reject non matching Extended frames
} else { //The List is too big, return fail
can_->CCCR &= ~FDCAN_CCCR_INIT; // Leave init mode
return -ErrFilterNumConfigs;
}
if (num_extid) {
num_extid = 0;
filter_ptr = (uint32_t*)MessageRam_.ExtendedFilterSA;
//Run through the filter list and setup extended id filter list
for (uint8_t i = 0; i < num_configs; i++) {
uint32_t id = 0;
uint32_t mask = 0;
const uavcan::CanFilterConfig* const cfg = filter_configs + i;
if ((cfg->id & uavcan::CanFrame::FlagEFF) || !(cfg->mask & uavcan::CanFrame::FlagEFF)) {
id = (cfg->id & uavcan::CanFrame::MaskExtID);
mask = (cfg->mask & uavcan::CanFrame::MaskExtID);
filter_ptr[num_extid*2] = 0x1U << 29 | id; // Classic CAN Filter
filter_ptr[num_extid*2 + 1] = 0x2U << 30 | mask; //Store in Rx FIFO0 if filter matches
num_extid++;
}
}
}
MessageRam_.EndAddress = SRAMCAN_BASE + (FDCANMessageRAMOffset_ * 4U);
if (MessageRam_.EndAddress > MESSAGE_RAM_END_ADDR) {
//We are overflowing the limit of Allocated Message RAM
AP_HAL::panic("CANFDIface: Message RAM Overflow!");
}
can_->CCCR &= ~FDCAN_CCCR_INIT; // Leave init mode
return 0;
}
uavcan::uint16_t CanIface::getNumFilters() const
{
return MAX_FILTER_LIST_SIZE;
}
int CanIface::init(const uavcan::uint32_t bitrate, const OperatingMode mode)
{
// Setup FDCAN for configuration mode and disable all interrupts
{
CriticalSectionLocker lock;
can_->CCCR &= ~FDCAN_CCCR_CSR; // Exit sleep mode
while ((can_->CCCR & FDCAN_CCCR_CSA) == FDCAN_CCCR_CSA) {} //Wait for wake up ack
can_->CCCR |= FDCAN_CCCR_INIT; // Request init
while ((can_->CCCR & FDCAN_CCCR_INIT) == 0) {}
can_->CCCR |= FDCAN_CCCR_CCE; //Enable Config change
can_->IE = 0; // Disable interrupts while initialization is in progress
}
/*
* Object state - interrupts are disabled, so it's safe to modify it now
*/
rx_queue_.reset();
error_cnt_ = 0;
served_aborts_cnt_ = 0;
uavcan::fill_n(pending_tx_, NumTxMailboxes, TxItem());
peak_tx_mailbox_index_ = 0;
had_activity_ = false;
/*
* CAN timings for this bitrate
*/
Timings timings;
const int timings_res = computeTimings(bitrate, timings);
if (timings_res < 0) {
can_->CCCR &= ~FDCAN_CCCR_INIT;
return timings_res;
}
UAVCAN_STM32_LOG("Timings: presc=%u sjw=%u bs1=%u bs2=%u",
unsigned(timings.prescaler), unsigned(timings.sjw), unsigned(timings.bs1), unsigned(timings.bs2));
//setup timing register
//TODO: Do timing calculations for FDCAN
can_->NBTP = ((timings.sjw << FDCAN_NBTP_NSJW_Pos) |
(timings.bs1 << FDCAN_NBTP_NTSEG1_Pos) |
(timings.bs2 << FDCAN_NBTP_TSEG2_Pos) |
(timings.prescaler << FDCAN_NBTP_NBRP_Pos));
//RX Config
can_->RXESC = 0; //Set for 8Byte Frames
//Setup Message RAM
setupMessageRam();
//Clear all Interrupts
can_->IR = 0x3FFFFFFF;
//Enable Interrupts
can_->IE = FDCAN_IE_TCE | // Transmit Complete interrupt enable
FDCAN_IE_RF0NE | // RX FIFO 0 new message
FDCAN_IE_RF0FE | // Rx FIFO 1 FIFO Full
FDCAN_IE_RF1NE | // RX FIFO 1 new message
FDCAN_IE_RF1FE; // Rx FIFO 1 FIFO Full
can_->ILS = FDCAN_ILS_TCL; //Set Line 1 for Transmit Complete Event Interrupt
can_->TXBTIE = 0xFFFFFFFF;
can_->ILE = 0x3;
//Leave Init
can_->CCCR &= ~FDCAN_CCCR_INIT; // Leave init mode
return 0;
}
void CanIface::setupMessageRam()
{
uint32_t num_elements = 0;
// Rx FIFO 0 start address and element count
num_elements = MIN((FDCAN_NUM_RXFIFO0_SIZE/FDCAN_FRAME_BUFFER_SIZE), 64U);
if (num_elements) {
can_->RXF0C = (FDCANMessageRAMOffset_ << 2) | (num_elements << 16);
MessageRam_.RxFIFO0SA = SRAMCAN_BASE + (FDCANMessageRAMOffset_ * 4U);
FDCANMessageRAMOffset_ += num_elements*FDCAN_FRAME_BUFFER_SIZE;
}
// Tx FIFO/queue start address and element count
num_elements = MIN((FDCAN_TX_FIFO_BUFFER_SIZE/FDCAN_FRAME_BUFFER_SIZE), 32U);
if (num_elements) {
can_->TXBC = (FDCANMessageRAMOffset_ << 2) | (num_elements << 24);
can_->TXBC |= 1U << 30; //Set Queue mode
MessageRam_.TxFIFOQSA = SRAMCAN_BASE + (FDCANMessageRAMOffset_ * 4U);
FDCANMessageRAMOffset_ += num_elements*FDCAN_FRAME_BUFFER_SIZE;
}
MessageRam_.EndAddress = SRAMCAN_BASE + (FDCANMessageRAMOffset_ * 4U);
if (MessageRam_.EndAddress > MESSAGE_RAM_END_ADDR) {
//We are overflowing the limit of Allocated Message RAM
AP_HAL::panic("CANFDIface: Message RAM Overflow!");
return;
}
}
void CanIface::handleTxCompleteInterrupt(const uavcan::uint64_t utc_usec)
{
for (uint8_t i = 0; i < NumTxMailboxes; i++) {
if ((can_->TXBTO & (1UL << i))) {
if (pending_tx_[i].loopback && had_activity_) {
rx_queue_.push(pending_tx_[i].frame, utc_usec, uavcan::CanIOFlagLoopback);
}
}
}
}
bool CanIface::readRxFIFO(uavcan::uint8_t fifo_index)
{
UAVCAN_ASSERT(fifo_index < 2);
uint32_t *frame_ptr;
uint32_t index;
uavcan::uint64_t utc_usec = clock::getUtcUSecFromCanInterrupt();
if (fifo_index == 0) {
//Check if RAM allocated to RX FIFO
if ((can_->RXF0C & FDCAN_RXF0C_F0S) == 0) {
UAVCAN_ASSERT(0);
return false;
}
//Register Message Lost as a hardware error
if ((can_->RXF0S & FDCAN_RXF0S_RF0L) != 0) {
error_cnt_++;
}
if ((can_->RXF0S & FDCAN_RXF0S_F0FL) == 0) {
return false; //No More messages in FIFO
} else {
index = ((can_->RXF0S & FDCAN_RXF0S_F0GI) >> 8);
frame_ptr = (uint32_t *)(MessageRam_.RxFIFO0SA + (index * FDCAN_FRAME_BUFFER_SIZE * 4));
}
} else if (fifo_index == 1) {
//Check if RAM allocated to RX FIFO
if ((can_->RXF1C & FDCAN_RXF1C_F1S) == 0) {
UAVCAN_ASSERT(0);
return false;
}
//Register Message Lost as a hardware error
if ((can_->RXF1S & FDCAN_RXF1S_RF1L) != 0) {
error_cnt_++;
}
if ((can_->RXF1S & FDCAN_RXF1S_F1FL) == 0) {
return false;
} else {
index = ((can_->RXF1S & FDCAN_RXF1S_F1GI) >> 8);
frame_ptr = (uint32_t *)(MessageRam_.RxFIFO1SA + (index * FDCAN_FRAME_BUFFER_SIZE * 4));
}
} else {
return false;
}
// Read the frame contents
uavcan::CanFrame frame;
uint32_t id = frame_ptr[0];
if ((id & fdcan::IDE) == 0) {
//Standard ID
frame.id = ((id & fdcan::STID_MASK) >> 18) & uavcan::CanFrame::MaskStdID;
} else {
//Extended ID
frame.id = (id & fdcan::EXID_MASK) & uavcan::CanFrame::MaskExtID;
frame.id |= uavcan::CanFrame::FlagEFF;
}
if ((id & fdcan::RTR) != 0) {
frame.id |= uavcan::CanFrame::FlagRTR;
}
frame.dlc = (frame_ptr[1] & fdcan::DLC_MASK) >> 16;
uint8_t *data = (uint8_t*)&frame_ptr[2];
//We only handle Data Length of 8 Bytes for now
for (uint8_t i = 0; i < 8; i++) {
frame.data[i] = data[i];
}
//Acknowledge the FIFO entry we just read
if (fifo_index == 0) {
can_->RXF0A = index;
} else if (fifo_index == 1) {
can_->RXF1A = index;
}
/*
* Store with timeout into the FIFO buffer and signal update event
*/
rx_queue_.push(frame, utc_usec, 0);
#if !HAL_MINIMIZE_FEATURES
_slcan_router.route_frame_to_slcan(this, frame, utc_usec);
#endif
return true;
}
void CanIface::handleRxInterrupt(uavcan::uint8_t fifo_index)
{
while (readRxFIFO(fifo_index)) {
had_activity_ = true;
}
update_event_.signalFromInterrupt();
}
void CanIface::pollErrorFlagsFromISR()
{
const uavcan::uint8_t cel = can_->ECR >> 16;
if (cel != 0) {
for (int i = 0; i < NumTxMailboxes; i++) {
if (!pending_tx_[i].abort_on_error) {
continue;
}
if (((1 << pending_tx_[i].index) & can_->TXBRP)) {
can_->TXBCR = 1 << pending_tx_[i].index; // Goodnight sweet transmission
error_cnt_++;
served_aborts_cnt_++;
}
}
}
}
void CanIface::discardTimedOutTxMailboxes(uavcan::MonotonicTime current_time)
{
CriticalSectionLocker lock;
for (int i = 0; i < NumTxMailboxes; i++) {
if (((1 << pending_tx_[i].index) & can_->TXBRP) && pending_tx_[i].deadline < current_time) {
can_->TXBCR = 1 << pending_tx_[i].index; // Goodnight sweet transmission
error_cnt_++;
}
}
}
bool CanIface::canAcceptNewTxFrame(const uavcan::CanFrame& frame) const
{
//Check if Tx FIFO is allocated
if ((can_->TXBC & FDCAN_TXBC_TFQS) == 0) {
return false;
}
if ((can_->TXFQS & FDCAN_TXFQS_TFQF) != 0) {
return false; //we don't have free space
}
return true;
}
bool CanIface::isRxBufferEmpty() const
{
CriticalSectionLocker lock;
return rx_queue_.getLength() == 0;
}
uavcan::uint64_t CanIface::getErrorCount() const
{
CriticalSectionLocker lock;
return error_cnt_ + rx_queue_.getOverflowCount();
}
unsigned CanIface::getRxQueueLength() const
{
CriticalSectionLocker lock;
return rx_queue_.getLength();
}
bool CanIface::hadActivity()
{
CriticalSectionLocker lock;
const bool ret = had_activity_;
had_activity_ = false;
return ret;
}
/*
* CanDriver
*/
uavcan::CanSelectMasks CanDriver::makeSelectMasks(const uavcan::CanFrame* (& pending_tx)[uavcan::MaxCanIfaces]) const
{
uavcan::CanSelectMasks msk;
for (uavcan::uint8_t i = 0; i < num_ifaces_; i++) {
CanIface* iface = ifaces[if_int_to_gl_index_[i]];
msk.read |= (iface->isRxBufferEmpty() ? 0 : 1) << i;
if (pending_tx[i] != UAVCAN_NULLPTR) {
msk.write |= (iface->canAcceptNewTxFrame(*pending_tx[i]) ? 1 : 0) << i;
}
}
return msk;
}
bool CanDriver::hasReadableInterfaces() const
{
for (uavcan::uint8_t i = 0; i < num_ifaces_; i++) {
if (!ifaces[if_int_to_gl_index_[i]]->isRxBufferEmpty()) {
return true;
}
}
return false;
}
uavcan::int16_t CanDriver::select(uavcan::CanSelectMasks& inout_masks,
const uavcan::CanFrame* (& pending_tx)[uavcan::MaxCanIfaces],
const uavcan::MonotonicTime blocking_deadline)
{
const uavcan::CanSelectMasks in_masks = inout_masks;
const uavcan::MonotonicTime time = clock::getMonotonic();
for (uavcan::uint8_t i = 0; i < num_ifaces_; i++) {
CanIface* iface = ifaces[if_int_to_gl_index_[i]];
iface->discardTimedOutTxMailboxes(time); // Check TX timeouts - this may release some TX slots
{
CriticalSectionLocker cs_locker;
iface->pollErrorFlagsFromISR();
}
}
inout_masks = makeSelectMasks(pending_tx); // Check if we already have some of the requested events
if ((inout_masks.read & in_masks.read) != 0 ||
(inout_masks.write & in_masks.write) != 0) {
return 1;
}
(void)update_event_.wait(blocking_deadline - time); // Block until timeout expires or any iface updates
inout_masks = makeSelectMasks(pending_tx); // Return what we got even if none of the requested events are set
return 1; // Return value doesn't matter as long as it is non-negative
}
void CanDriver::initOnce()
{
{
CriticalSectionLocker lock;
RCC->APB1HRSTR |= RCC_APB1HRSTR_FDCANRST;
RCC->APB1HRSTR &= ~RCC_APB1HRSTR_FDCANRST;
RCC->APB1HENR |= RCC_APB1HENR_FDCANEN;
}
/*
* IRQ
*/
{
CriticalSectionLocker lock;
nvicEnableVector(FDCAN1_IT0_IRQn, UAVCAN_STM32_IRQ_PRIORITY_MASK);
nvicEnableVector(FDCAN1_IT1_IRQn, UAVCAN_STM32_IRQ_PRIORITY_MASK);
# if UAVCAN_STM32_NUM_IFACES > 1
nvicEnableVector(FDCAN2_IT0_IRQn, UAVCAN_STM32_IRQ_PRIORITY_MASK);
nvicEnableVector(FDCAN2_IT1_IRQn, UAVCAN_STM32_IRQ_PRIORITY_MASK);
# endif
}
}
int CanDriver::init(const uavcan::uint32_t bitrate, const CanIface::OperatingMode mode)
{
int res = 0;
UAVCAN_STM32_LOG("Bitrate %lu mode %d", static_cast<unsigned long>(bitrate), static_cast<int>(mode));
static bool initialized_once = false;
if (!initialized_once) {
initialized_once = true;
UAVCAN_STM32_LOG("First initialization");
initOnce();
}
/*
* CAN1
*/
UAVCAN_STM32_LOG("Initing iface 0...");
ifaces[0] = &if0_; // This link must be initialized first,
res = if0_.init(bitrate, mode); // otherwise an IRQ may fire while the interface is not linked yet;
if (res < 0) { // a typical race condition.
UAVCAN_STM32_LOG("Iface 0 init failed %i", res);
ifaces[0] = UAVCAN_NULLPTR;
goto fail;
}
/*
* CAN2
*/
#if UAVCAN_STM32_NUM_IFACES > 1
UAVCAN_STM32_LOG("Initing iface 1...");
ifaces[1] = &if1_; // Same thing here.
res = if1_.init(bitrate, mode);
if (res < 0) {
UAVCAN_STM32_LOG("Iface 1 init failed %i", res);
ifaces[1] = UAVCAN_NULLPTR;
goto fail;
}
#endif
UAVCAN_STM32_LOG("CAN drv init OK");
UAVCAN_ASSERT(res >= 0);
return res;
fail:
UAVCAN_STM32_LOG("CAN drv init failed %i", res);
UAVCAN_ASSERT(res < 0);
return res;
}
bool CanDriver::clock_init_ = false;
void CanDriver::initOnce(uavcan::uint8_t can_number, bool enable_irqs)
{
//Only do it once
//Doing it second time will reset the previously initialised bus
if (!clock_init_) {
CriticalSectionLocker lock;
RCC->APB1HENR |= RCC_APB1HENR_FDCANEN;
RCC->APB1HRSTR |= RCC_APB1HRSTR_FDCANRST;
RCC->APB1HRSTR &= ~RCC_APB1HRSTR_FDCANRST;
clock_init_ = true;
}
if (!enable_irqs) {
return;
}
/*
* IRQ
*/
{
CriticalSectionLocker lock;
if (can_number == 0) {
nvicEnableVector(FDCAN1_IT0_IRQn, UAVCAN_STM32_IRQ_PRIORITY_MASK);
nvicEnableVector(FDCAN1_IT1_IRQn, UAVCAN_STM32_IRQ_PRIORITY_MASK);
}
# if UAVCAN_STM32_NUM_IFACES > 1
else if (can_number == 1) {
nvicEnableVector(FDCAN2_IT0_IRQn, UAVCAN_STM32_IRQ_PRIORITY_MASK);
nvicEnableVector(FDCAN2_IT1_IRQn, UAVCAN_STM32_IRQ_PRIORITY_MASK);
}
# endif
}
}
int CanDriver::init(const uavcan::uint32_t bitrate, const CanIface::OperatingMode mode, uavcan::uint8_t can_number)
{
int res = 0;
UAVCAN_STM32_LOG("Bitrate %lu mode %d", static_cast<unsigned long>(bitrate), static_cast<int>(mode));
if (can_number > UAVCAN_STM32_NUM_IFACES) {
res = -1;
goto fail;
}
static bool initialized_once[UAVCAN_STM32_NUM_IFACES] = {false};
if (!initialized_once[can_number]) {
initialized_once[can_number] = true;
initialized_by_me_[can_number] = true;
if (can_number == 1 && !initialized_once[0]) {
UAVCAN_STM32_LOG("Iface 0 is not initialized yet but we need it for Iface 1, trying to init it");
UAVCAN_STM32_LOG("Enabling CAN iface 0");
initOnce(0, false);
UAVCAN_STM32_LOG("Initing iface 0...");
res = if0_.init(bitrate, mode);
if (res < 0) {
UAVCAN_STM32_LOG("Iface 0 init failed %i", res);
goto fail;
}
}
UAVCAN_STM32_LOG("Enabling CAN iface %d", can_number);
initOnce(can_number, true);
} else if (!initialized_by_me_[can_number]) {
UAVCAN_STM32_LOG("CAN iface %d initialized in another CANDriver!", can_number);
res = -2;
goto fail;
}
if (can_number == 0) {
/*
* CAN1
*/
UAVCAN_STM32_LOG("Initing iface 0...");
ifaces[0] = &if0_; // This link must be initialized first,
res = if0_.init(bitrate, mode); // otherwise an IRQ may fire while the interface is not linked yet;
if (res < 0) { // a typical race condition.
UAVCAN_STM32_LOG("Iface 0 init failed %i", res);
ifaces[0] = UAVCAN_NULLPTR;
goto fail;
}
} else if (can_number == 1) {
/*
* CAN2
*/
#if UAVCAN_STM32_NUM_IFACES > 1
UAVCAN_STM32_LOG("Initing iface 1...");
ifaces[1] = &if1_; // Same thing here.
res = if1_.init(bitrate, mode);
if (res < 0) {
UAVCAN_STM32_LOG("Iface 1 init failed %i", res);
ifaces[1] = UAVCAN_NULLPTR;
goto fail;
}
#endif
}
if_int_to_gl_index_[num_ifaces_++] = can_number;
UAVCAN_STM32_LOG("CAN drv init OK");
UAVCAN_ASSERT(res >= 0);
return res;
fail:
UAVCAN_STM32_LOG("CAN drv init failed %i", res);
UAVCAN_ASSERT(res < 0);
return res;
}
CanIface* CanDriver::getIface(uavcan::uint8_t iface_index)
{
if (iface_index < num_ifaces_) {
return ifaces[if_int_to_gl_index_[iface_index]];
}
return UAVCAN_NULLPTR;
}
bool CanDriver::hadActivity()
{
for (uavcan::uint8_t i = 0; i < num_ifaces_; i++) {
if (ifaces[if_int_to_gl_index_[i]]->hadActivity()) {
return true;
}
}
return false;
}
} // namespace uavcan_stm32
/*
* Interrupt handlers
*/
extern "C"
{
UAVCAN_STM32_IRQ_HANDLER(FDCAN1_IT0_IRQHandler);
UAVCAN_STM32_IRQ_HANDLER(FDCAN1_IT0_IRQHandler)
{
UAVCAN_STM32_IRQ_PROLOGUE();
ChibiOS_CAN::handleInterrupt(0, 0);
UAVCAN_STM32_IRQ_EPILOGUE();
}
UAVCAN_STM32_IRQ_HANDLER(FDCAN1_IT1_IRQHandler);
UAVCAN_STM32_IRQ_HANDLER(FDCAN1_IT1_IRQHandler)
{
UAVCAN_STM32_IRQ_PROLOGUE();
ChibiOS_CAN::handleInterrupt(0, 1);
UAVCAN_STM32_IRQ_EPILOGUE();
}
# if UAVCAN_STM32_NUM_IFACES > 1
UAVCAN_STM32_IRQ_HANDLER(FDCAN2_IT0_IRQHandler);
UAVCAN_STM32_IRQ_HANDLER(FDCAN2_IT0_IRQHandler)
{
UAVCAN_STM32_IRQ_PROLOGUE();
ChibiOS_CAN::handleInterrupt(1, 0);
UAVCAN_STM32_IRQ_EPILOGUE();
}
UAVCAN_STM32_IRQ_HANDLER(FDCAN2_IT1_IRQHandler);
UAVCAN_STM32_IRQ_HANDLER(FDCAN2_IT1_IRQHandler)
{
UAVCAN_STM32_IRQ_PROLOGUE();
ChibiOS_CAN::handleInterrupt(1, 1);
UAVCAN_STM32_IRQ_EPILOGUE();
}
# endif
} // extern "C"
#endif //defined(STM32H7XX)
#endif //HAL_WITH_UAVCAN
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