ardupilot/libraries/AP_HAL_ChibiOS/CANIface.h

256 lines
8.1 KiB
C++

/*
* 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
*/
#pragma once
#include "AP_HAL_ChibiOS.h"
# if defined(STM32H7XX) || defined(STM32G4)
#include "CANFDIface.h"
# else
#if HAL_NUM_CAN_IFACES
#include "bxcan.hpp"
#include "EventSource.h"
#ifndef HAL_CAN_RX_QUEUE_SIZE
#define HAL_CAN_RX_QUEUE_SIZE 128
#endif
static_assert(HAL_CAN_RX_QUEUE_SIZE <= 254, "Invalid CAN Rx queue size");
/**
* Single CAN iface.
* The application shall not use this directly.
*/
class ChibiOS::CANIface : public AP_HAL::CANIface
{
static constexpr unsigned long IDE = (0x40000000U); // Identifier Extension
static constexpr unsigned long STID_MASK = (0x1FFC0000U); // Standard Identifier Mask
static constexpr unsigned long EXID_MASK = (0x1FFFFFFFU); // Extended Identifier Mask
static constexpr unsigned long RTR = (0x20000000U); // Remote Transmission Request
static constexpr unsigned long DLC_MASK = (0x000F0000U); // Data Length Code
struct CriticalSectionLocker {
CriticalSectionLocker()
{
chSysLock();
}
~CriticalSectionLocker()
{
chSysUnlock();
}
};
struct Timings {
uint16_t prescaler;
uint8_t sjw;
uint8_t bs1;
uint8_t bs2;
Timings()
: prescaler(0)
, sjw(0)
, bs1(0)
, bs2(0)
{ }
};
enum { NumTxMailboxes = 3 };
enum { NumFilters = 14 };
static const uint32_t TSR_ABRQx[NumTxMailboxes];
ChibiOS::bxcan::CanType* can_;
// state for ISR RX handler. We put this in the class to avoid
// having to expand the stack size for all threads
AP_HAL::CANFrame isr_rx_frame;
CanRxItem isr_rx_item;
CanRxItem rx_buffer[HAL_CAN_RX_QUEUE_SIZE];
ByteBuffer rx_bytebuffer_;
ObjectBuffer<CanRxItem> rx_queue_;
CanTxItem pending_tx_[NumTxMailboxes];
bool irq_init_:1;
bool initialised_:1;
bool had_activity_:1;
#if CH_CFG_USE_EVENTS == TRUE
AP_HAL::EventHandle* event_handle_;
static ChibiOS::EventSource evt_src_;
#endif
const uint8_t self_index_;
bool computeTimings(uint32_t target_bitrate, Timings& out_timings);
void setupMessageRam(void);
bool readRxFIFO(uint8_t fifo_index);
void discardTimedOutTxMailboxes(uint64_t current_time);
bool canAcceptNewTxFrame(const AP_HAL::CANFrame& frame) const;
bool isRxBufferEmpty() const;
bool recover_from_busoff();
void pollErrorFlags();
void checkAvailable(bool& read, bool& write,
const AP_HAL::CANFrame* pending_tx) const;
bool waitMsrINakBitStateChange(bool target_state);
void handleTxMailboxInterrupt(uint8_t mailbox_index, bool txok, const uint64_t timestamp_us);
void initOnce(bool enable_irq);
#if !defined(HAL_BOOTLOADER_BUILD)
/*
additional statistics
*/
struct bus_stats : public AP_HAL::CANIface::bus_stats_t {
uint32_t num_events;
uint32_t esr;
} stats;
#endif
public:
/******************************************
* Common CAN methods *
* ****************************************/
CANIface(uint8_t index);
CANIface();
static uint8_t next_interface;
// Initialise CAN Peripheral
bool init(const uint32_t bitrate, const OperatingMode mode) override;
// Put frame into Tx FIFO returns negative on error, 0 on buffer full,
// 1 on successfully pushing a frame into FIFO
int16_t send(const AP_HAL::CANFrame& frame, uint64_t tx_deadline,
CanIOFlags flags) override;
// Receive frame from Rx Buffer, returns negative on error, 0 on nothing available,
// 1 on successfully poping a frame
int16_t receive(AP_HAL::CANFrame& out_frame, uint64_t& out_timestamp_us,
CanIOFlags& out_flags) override;
#if !defined(HAL_BOOTLOADER_BUILD)
// Set Filters to ignore frames not to be handled by us
bool configureFilters(const CanFilterConfig* filter_configs,
uint16_t num_configs) override;
#endif
// In BxCAN the Busoff error is cleared automatically,
// so always return false
bool is_busoff() const override
{
return false;
}
void clear_rx() override;
// Get number of Filter configurations
uint16_t getNumFilters() const override
{
return NumFilters;
}
// Get total number of Errors discovered
#if !defined(HAL_BUILD_AP_PERIPH) && !defined(HAL_BOOTLOADER_BUILD)
uint32_t getErrorCount() const override;
#endif
// returns true if init was successfully called
bool is_initialized() const override
{
return initialised_;
}
/******************************************
* Select Method *
* ****************************************/
// wait until selected event is available, false when timed out waiting else true
bool select(bool &read, bool &write,
const AP_HAL::CANFrame* const pending_tx,
uint64_t blocking_deadline) override;
#if CH_CFG_USE_EVENTS == TRUE
// setup event handle for waiting on events
bool set_event_handle(AP_HAL::EventHandle* handle) override;
#endif
#if !defined(HAL_BUILD_AP_PERIPH) && !defined(HAL_BOOTLOADER_BUILD)
// fetch stats text and return the size of the same,
// results available via @SYS/can0_stats.txt or @SYS/can1_stats.txt
void get_stats(ExpandingString &str) override;
#endif
#if !defined(HAL_BOOTLOADER_BUILD)
/*
return statistics structure
*/
const bus_stats_t *get_statistics(void) const override {
return &stats;
}
#endif
/************************************
* Methods used inside interrupt *
************************************/
void handleTxInterrupt(uint64_t timestamp_us);
void handleRxInterrupt(uint8_t fifo_index, uint64_t timestamp_us);
// handle if any error occured, and do the needful such as,
// droping the frame, and counting errors
void pollErrorFlagsFromISR(void);
// CAN Peripheral register structure
static constexpr bxcan::CanType* const Can[HAL_NUM_CAN_IFACES] = { HAL_CAN_BASE_LIST };
protected:
bool add_to_rx_queue(const CanRxItem &rx_item) override {
return rx_queue_.push(rx_item);
}
int8_t get_iface_num(void) const override {
return self_index_;
}
};
#endif //HAL_NUM_CAN_IFACES
#endif //# if defined(STM32H7XX) || defined(STM32G4)