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canable-fw-normaldotcom
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Merge branch 'normaldotcom-master'

This commit is contained in:
Eric Evenchick 2016-02-29 10:54:59 -08:00
parent 683746700f 71482f52dd
commit fdfd6d1848
9 changed files with 119 additions and 36 deletions
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3
Inc/can.h
View File

@ -22,6 +22,9 @@ void can_init(void);
void can_enable(void);
void can_disable(void);
void can_set_bitrate(enum can_bitrate bitrate);
void can_set_silent(uint8_t silent);
uint32_t can_tx(CanTxMsgTypeDef *tx_msg, uint32_t timeout);
uint32_t can_rx(CanRxMsgTypeDef *rx_msg, uint32_t timeout);
uint8_t is_can_msg_pending(uint8_t fifo);
#endif // _CAN_H

10
Inc/led.h Normal file
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@ -0,0 +1,10 @@
#ifndef _LED_H
#define _LED_H
#define LED_DURATION 50
void led_on(void);
void led_process(void);
#endif

4
Inc/slcan.h
View File

@ -1,8 +1,8 @@
#ifndef _SLCAN_H
#define _SLCAN_H
int8_t slcan_parse_frame(char *buf, CanRxMsgTypeDef *frame);
int8_t slcan_parse_str(char *buf, uint8_t len);
int8_t slcan_parse_frame(uint8_t *buf, CanRxMsgTypeDef *frame);
int8_t slcan_parse_str(uint8_t *buf, uint8_t len);
/* maximum rx buffer len: extended CAN frame with timestamp */
#define SLCAN_MTU 30// (sizeof("T1111222281122334455667788EA5F\r")+1)

3
Makefile
View File

@ -11,7 +11,7 @@
BUILD_NUMBER ?= 0
# SOURCES: list of sources in the user application
SOURCES = main.c usbd_conf.c usbd_cdc_if.c usb_device.c usbd_desc.c stm32f0xx_hal_msp.c stm32f0xx_it.c system_stm32f0xx.c can.c slcan.c
SOURCES = main.c usbd_conf.c usbd_cdc_if.c usb_device.c usbd_desc.c stm32f0xx_hal_msp.c stm32f0xx_it.c system_stm32f0xx.c can.c slcan.c led.c
# TARGET: name of the user application
TARGET = CANtact-b$(BUILD_NUMBER)
@ -176,5 +176,6 @@ clean:
-rm $(BUILD_DIR)/*.elf
-rm $(BUILD_DIR)/*.hex
-rm $(BUILD_DIR)/*.map
-rm $(BUILD_DIR)/*.bin
.PHONY: clean all cubelib

13
Src/can.c
View File

@ -1,5 +1,6 @@
#include "stm32f0xx_hal.h"
#include "can.h"
#include "led.h"
CAN_HandleTypeDef hcan;
CAN_FilterConfTypeDef filter;
@ -7,8 +8,6 @@ uint32_t prescaler;
enum can_bus_state bus_state;
void can_init(void) {
uint32_t status;
filter.FilterIdHigh = 0;
filter.FilterIdLow = 0;
filter.FilterMaskIdHigh = 0;
@ -27,7 +26,6 @@ void can_init(void) {
}
void can_enable(void) {
uint32_t status;
if (bus_state == OFF_BUS) {
hcan.Init.Prescaler = prescaler;
hcan.Init.Mode = CAN_MODE_NORMAL;
@ -41,14 +39,13 @@ void can_enable(void) {
hcan.Init.RFLM = DISABLE;
hcan.Init.TXFP = DISABLE;
hcan.pTxMsg = NULL;
status = HAL_CAN_Init(&hcan);
status = HAL_CAN_ConfigFilter(&hcan, &filter);
HAL_CAN_Init(&hcan);
HAL_CAN_ConfigFilter(&hcan, &filter);
bus_state = ON_BUS;
}
}
void can_disable(void) {
uint32_t status;
if (bus_state == ON_BUS) {
// do a bxCAN reset (set RESET bit to 1)
hcan.Instance->MCR |= CAN_MCR_RESET;
@ -113,7 +110,7 @@ uint32_t can_tx(CanTxMsgTypeDef *tx_msg, uint32_t timeout) {
hcan.pTxMsg = tx_msg;
status = HAL_CAN_Transmit(&hcan, timeout);
HAL_GPIO_TogglePin(GPIOB, GPIO_PIN_1);
led_on();
return status;
}
@ -124,7 +121,7 @@ uint32_t can_rx(CanRxMsgTypeDef *rx_msg, uint32_t timeout) {
status = HAL_CAN_Receive(&hcan, CAN_FIFO0, timeout);
HAL_GPIO_TogglePin(GPIOB, GPIO_PIN_1);
led_on();
return status;
}

35
Src/led.c Normal file
View File

@ -0,0 +1,35 @@
//
// LED: Handles blinking of status light
//
#include "stm32f0xx_hal.h"
#include "led.h"
static uint32_t led_laston = 0;
static uint32_t led_lastoff = 0;
// Attempt to turn on status LED
void led_on(void)
{
// Make sure the LED has been off for at least LED_DURATION before turning on again
// This prevents a solid status LED on a busy canbus
if(led_laston == 0 && HAL_GetTick() - led_lastoff > LED_DURATION)
{
HAL_GPIO_WritePin(GPIOB, GPIO_PIN_1, 1);
led_laston = HAL_GetTick();
}
}
// Process time-based LED events
void led_process(void)
{
// If LED has been on for long enough, turn it off
if(led_laston > 0 && HAL_GetTick() - led_laston > LED_DURATION)
{
HAL_GPIO_WritePin(GPIOB, GPIO_PIN_1, 0);
led_laston = 0;
led_lastoff = HAL_GetTick();
}
}

61
Src/main.c
View File

@ -40,6 +40,10 @@
#include "usbd_cdc_if.h"
#include "can.h"
#include "slcan.h"
#include "led.h"
//#define INTERNAL_OSCILLATOR
#define EXTERNAL_OSCILLATOR
/* USER CODE END Includes */
@ -62,6 +66,7 @@ static void led_init(void);
/* USER CODE END 0 */
volatile int i=0;
int main(void)
{
@ -93,9 +98,12 @@ int main(void)
HAL_GPIO_WritePin(GPIOB, GPIO_PIN_0, GPIO_PIN_SET);
// blink red LED for test
uint32_t count;
HAL_GPIO_WritePin(GPIOB, GPIO_PIN_1, GPIO_PIN_SET);
for (count=0; count < 200000; count++) { __asm("nop");}
HAL_Delay(100);
HAL_GPIO_WritePin(GPIOB, GPIO_PIN_1, GPIO_PIN_RESET);
HAL_Delay(100);
HAL_GPIO_WritePin(GPIOB, GPIO_PIN_1, GPIO_PIN_SET);
HAL_Delay(100);
HAL_GPIO_WritePin(GPIOB, GPIO_PIN_1, GPIO_PIN_RESET);
// loop forever
@ -103,13 +111,16 @@ int main(void)
uint32_t status;
uint8_t msg_buf[SLCAN_MTU];
for (;;) {
while (!is_can_msg_pending());
status = can_rx(&rx_msg, 3);
if (status == HAL_OK) {
status = slcan_parse_frame(&msg_buf, &rx_msg);
CDC_Transmit_FS(msg_buf, status);
}
while (!is_can_msg_pending(CAN_FIFO0))
led_process();
status = can_rx(&rx_msg, 3);
if (status == HAL_OK) {
status = slcan_parse_frame((uint8_t *)&msg_buf, &rx_msg);
CDC_Transmit_FS(msg_buf, status);
}
led_process();
}
/* USER CODE END 3 */
@ -125,6 +136,26 @@ void SystemClock_Config(void)
RCC_ClkInitTypeDef RCC_ClkInitStruct;
RCC_PeriphCLKInitTypeDef PeriphClkInit;
#ifdef INTERNAL_OSCILLATOR
// set up the oscillators
// use internal HSI48 (48 MHz), no PLL
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI48;
RCC_OscInitStruct.HSI48State = RCC_HSI48_ON;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_NONE;
// set sysclk, hclk, and pclk1 source to HSI48 (48 MHz)
RCC_ClkInitStruct.ClockType = (RCC_CLOCKTYPE_SYSCLK |
RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_PCLK1);
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_HSI48;
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
// set USB clock source to HSI48 (48 MHz)
PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_USB;
PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_HSI48;
#elif defined EXTERNAL_OSCILLATOR
// set up the oscillators
// use external oscillator (16 MHz), enable 3x PLL (48 MHz)
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
@ -133,7 +164,6 @@ void SystemClock_Config(void)
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL3;
RCC_OscInitStruct.PLL.PREDIV = RCC_PREDIV_DIV1;
HAL_RCC_OscConfig(&RCC_OscInitStruct);
// set sysclk, hclk, and pclk1 source to PLL (48 MHz)
RCC_ClkInitStruct.ClockType = (RCC_CLOCKTYPE_SYSCLK |
@ -141,15 +171,24 @@ void SystemClock_Config(void)
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_0);
// set USB clock source to PLL (48 MHz)
PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_USB;
PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_PLLCLK;
HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit);
#else
#error "Please define whether to use an internal or external oscillator"
#endif
HAL_RCC_OscConfig(&RCC_OscInitStruct);
HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_0);
HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit);
__SYSCFG_CLK_ENABLE();
HAL_SYSTICK_Config(HAL_RCC_GetHCLKFreq()/1000);
HAL_SYSTICK_CLKSourceConfig(SYSTICK_CLKSOURCE_HCLK);
HAL_NVIC_SetPriority(SysTick_IRQn, 0, 0);
}
/** Configure pins as

18
Src/slcan.c
View File

@ -2,7 +2,7 @@
#include "can.h"
#include "slcan.h"
int8_t slcan_parse_frame(char *buf, CanRxMsgTypeDef *frame) {
int8_t slcan_parse_frame(uint8_t *buf, CanRxMsgTypeDef *frame) {
uint8_t i = 0;
uint8_t id_len, j;
uint32_t tmp;
@ -63,17 +63,21 @@ int8_t slcan_parse_frame(char *buf, CanRxMsgTypeDef *frame) {
return i;
}
int8_t slcan_parse_str(char *buf, uint8_t len) {
int8_t slcan_parse_str(uint8_t *buf, uint8_t len) {
CanTxMsgTypeDef frame;
uint8_t i;
// convert from ASCII (2nd character to end)
for (i = 1; i < len; i++) {
if (buf[i] < 'A') {
buf[i] -= 0x30;
} else {
buf[i] -= 0x37;
}
// lowercase letters
if(buf[i] >= 'a')
buf[i] = buf[i] - 'a' + 10;
// uppercase letters
else if(buf[i] >= 'A')
buf[i] = buf[i] - 'A' + 10;
// numbers
else
buf[i] = buf[i] - '0';
}
if (buf[0] == 'O') {

8
Src/usbd_cdc_if.c
View File

@ -250,17 +250,11 @@ uint8_t slcan_str_index = 0;
static int8_t CDC_Receive_FS (uint8_t* Buf, uint32_t *Len)
{
/* USER CODE BEGIN 7 */
uint32_t status;
CanTxMsgTypeDef TxMsg;
/*uint8_t test_str[] = "t71181122334455667788";
slcan_parse_str(&TxMsg, test_str, sizeof(test_str));*/
uint8_t n = *Len;
uint8_t i;
for (i = 0; i < n; i++) {
if (Buf[i] == '\r') {
status = slcan_parse_str(slcan_str, slcan_str_index);
slcan_parse_str(slcan_str, slcan_str_index);
slcan_str_index = 0;
} else {
slcan_str[slcan_str_index++] = Buf[i];