Untested transition to interrupt-based CAN communication

inc/can.h

@@ -23,8 +23,8 @@ 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_tx(CanTxMsgTypeDef *tx_msg);
-uint32_t can_rx(CanRxMsgTypeDef *rx_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

inc/led.h

@@ -6,11 +6,19 @@
 #define LED_BLUE_Port GPIOB
 #define LED_BLUE LED_BLUE_Port , LED_BLUE_Pin
 
+#define LED_GREEN_Pin GPIO_PIN_1
+#define LED_GREEN_Port GPIOB
+#define LED_GREEN LED_GREEN_Port , LED_GREEN_Pin
+
+
 
 #define LED_DURATION 50
 
 void led_init();
-void led_on(void);
+void led_blue_blink(uint8_t numblinks);
+void led_green_on(void);
+void led_green_of(void);
+void led_blue_on(void);
 void led_process(void);
 
 #endif

inc/usb_device.h

@@ -46,7 +46,7 @@
 extern USBD_HandleTypeDef hUsbDeviceFS;
 
 /* USB_Device init function */	
-void MX_USB_DEVICE_Init(void);
+void usb_init(void);
 
 #ifdef __cplusplus
 }

src/can.c

@@ -3,13 +3,15 @@
 //
 
 #include "stm32f0xx_hal.h"
+#include "slcan.h"
+#include "usbd_cdc_if.h"
 #include "can.h"
 #include "led.h"
 
 
-CAN_HandleTypeDef hcan;
+static CAN_HandleTypeDef can_handle;
-CAN_FilterConfTypeDef filter;
+static CAN_FilterConfTypeDef filter;
-uint32_t prescaler;
+static uint32_t prescaler;
 enum can_bus_state bus_state;
 
 
@@ -45,7 +47,7 @@ void can_init(void)
 
     // default to 125 kbit/s
     prescaler = 48;
-    hcan.Instance = CAN;
+    can_handle.Instance = CAN;
     bus_state = OFF_BUS;
 }
 
@@ -55,21 +57,26 @@ void can_enable(void)
 {
     if (bus_state == OFF_BUS)
     {
-        hcan.Init.Prescaler = prescaler;
+    	can_handle.Init.Prescaler = prescaler;
-        hcan.Init.Mode = CAN_MODE_NORMAL;
+    	can_handle.Init.Mode = CAN_MODE_NORMAL;
-        hcan.Init.SJW = CAN_SJW_1TQ;
+    	can_handle.Init.SJW = CAN_SJW_1TQ;
-        hcan.Init.BS1 = CAN_BS1_4TQ;
+    	can_handle.Init.BS1 = CAN_BS1_4TQ;
-        hcan.Init.BS2 = CAN_BS2_3TQ;
+    	can_handle.Init.BS2 = CAN_BS2_3TQ;
-        hcan.Init.TTCM = DISABLE;
+    	can_handle.Init.TTCM = DISABLE;
-        hcan.Init.ABOM = DISABLE;
+    	can_handle.Init.ABOM = DISABLE;
-        hcan.Init.AWUM = DISABLE;
+    	can_handle.Init.AWUM = DISABLE;
-        hcan.Init.NART = DISABLE;
+    	can_handle.Init.NART = DISABLE;
-        hcan.Init.RFLM = DISABLE;
+    	can_handle.Init.RFLM = DISABLE;
-        hcan.Init.TXFP = DISABLE;
+    	can_handle.Init.TXFP = DISABLE;
-        hcan.pTxMsg = NULL;
+    	can_handle.pTxMsg = NULL;
-        HAL_CAN_Init(&hcan);
+        HAL_CAN_Init(&can_handle);
-        HAL_CAN_ConfigFilter(&hcan, &filter);
+        HAL_CAN_ConfigFilter(&can_handle, &filter);
         bus_state = ON_BUS;
+
+    	HAL_NVIC_SetPriority(CEC_CAN_IRQn, 1, 0);
+    	HAL_NVIC_EnableIRQ(CEC_CAN_IRQn);
+    	HAL_CAN_Receive_IT(&can_handle, CAN_FIFO0);
+
     }
 }
 
@@ -80,8 +87,12 @@ void can_disable(void)
     if (bus_state == ON_BUS)
     {
         // do a bxCAN reset (set RESET bit to 1)
-        hcan.Instance->MCR |= CAN_MCR_RESET;
+    	can_handle.Instance->MCR |= CAN_MCR_RESET;
         bus_state = OFF_BUS;
+
+    	HAL_NVIC_DisableIRQ(CEC_CAN_IRQn);
+    	HAL_CAN_DeInit(&can_handle);
+
     }
     HAL_GPIO_WritePin(LED_BLUE, GPIO_PIN_RESET);
 }
@@ -139,38 +150,48 @@ void can_set_silent(uint8_t silent)
     }
     if (silent)
     {
-        hcan.Init.Mode = CAN_MODE_SILENT;
+    	can_handle.Init.Mode = CAN_MODE_SILENT;
     } else {
-        hcan.Init.Mode = CAN_MODE_NORMAL;
+    	can_handle.Init.Mode = CAN_MODE_NORMAL;
     }
 }
 
 
 // Send a message on the CAN bus (blocking)
-uint32_t can_tx(CanTxMsgTypeDef *tx_msg, uint32_t timeout)
+uint32_t can_tx(CanTxMsgTypeDef *tx_msg)
 {
     uint32_t status;
 
     // transmit can frame
-    hcan.pTxMsg = tx_msg;
+    can_handle.pTxMsg = tx_msg;
-    status = HAL_CAN_Transmit(&hcan, timeout);
+    status = HAL_CAN_Transmit_IT(&can_handle);
 
-	led_on();
+	led_blue_on();
     return status;
 }
 
-
+// CAN rxcomplete callback TODO: Move to interrupts?
-// Receive a message from the CAN bus (blocking)
+void HAL_CAN_RxCpltCallback(CAN_HandleTypeDef *hcan)
-uint32_t can_rx(CanRxMsgTypeDef *rx_msg, uint32_t timeout)
 {
-    uint32_t status;
+	led_blue_on();
 
-    hcan.pRxMsg = rx_msg;
+	// TODO: Store this message in a buffer and defer CDC send to main loop
+	CanRxMsgTypeDef* rxmsg = hcan->pRxMsg;
+    uint8_t msg_buf[SLCAN_MTU];
+	uint32_t numbytes = slcan_parse_frame(msg_buf, rxmsg);
+	CDC_Transmit_FS(msg_buf, numbytes);
 
-    status = HAL_CAN_Receive(&hcan, CAN_FIFO0, timeout);
+    HAL_CAN_Receive_IT(&can_handle, CAN_FIFO0);
+}
 
-	led_on();
+void HAL_CAN_TxCpltCallback(CAN_HandleTypeDef *hcan)
-    return status;
+{
+
+}
+
+void HAL_CAN_ErrorCallback(CAN_HandleTypeDef *hcan)
+{
+    //error_assert(ERR_CANBUS);
 }
 
 
@@ -181,5 +202,12 @@ uint8_t is_can_msg_pending(uint8_t fifo)
     {
         return 0;
     }
-    return (__HAL_CAN_MSG_PENDING(&hcan, fifo) > 0);
+    return (__HAL_CAN_MSG_PENDING(&can_handle, fifo) > 0);
+}
+
+
+// Return reference to CAN handle
+CAN_HandleTypeDef* can_gethandle(void)
+{
+	return &can_handle;
 }

src/interrupts.c

@@ -23,3 +23,9 @@ void SysTick_Handler(void)
   HAL_SYSTICK_IRQHandler();
 }
 
+
+// Handle CAN interrupts
+void CEC_CAN_IRQHandler(void)
+{
+  HAL_CAN_IRQHandler(can_gethandle());
+}

src/led.c

@@ -23,8 +23,35 @@ void led_init()
 }
 
 
+// Turn green LED on
+void led_green_on(void)
+{
+	HAL_GPIO_WritePin(LED_GREEN, 1);
+}
+
+
+// Turn green LED on
+void led_green_off(void)
+{
+	HAL_GPIO_WritePin(LED_GREEN, 0);
+}
+
+
+// Blink blue LED (blocking)
+void led_blue_blink(uint8_t numblinks)
+{
+	uint8_t i;
+	for(i=0; i<numblinks; i++)
+	{
+		HAL_GPIO_WritePin(LED_BLUE, 1);
+		HAL_Delay(100);
+		HAL_GPIO_WritePin(LED_BLUE, 0);
+		HAL_Delay(100);
+	}
+}
+
 // Attempt to turn on status LED
-void led_on(void)
+void led_blue_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

src/main.c

@@ -5,7 +5,6 @@
 
 #include "stm32f0xx_hal.h"
 #include "usb_device.h"
-#include "usbd_cdc_if.h"
 #include "can.h"
 #include "slcan.h"
 #include "system.h"
@@ -15,34 +14,17 @@
 int main(void)
 {
     HAL_Init();
+
     system_init();
     can_init();
     led_init();
-    MX_USB_DEVICE_Init();
+    usb_init();
 
-    // turn on green LED
+    led_green_on();
-    HAL_GPIO_WritePin(GPIOB, GPIO_PIN_0, GPIO_PIN_SET);
+    led_blue_blink(3);
-
-    // blink red LED for test
-    HAL_GPIO_WritePin(GPIOB, GPIO_PIN_1, GPIO_PIN_SET);
-	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);
-
-    CanRxMsgTypeDef rx_msg;
-    uint8_t msg_buf[SLCAN_MTU];
 
     while(1)
     {
-		if(is_can_msg_pending(CAN_FIFO0) && can_rx(&rx_msg, 2) == HAL_OK)
-		{
-			uint32_t numbytes = slcan_parse_frame(msg_buf, &rx_msg);
-			CDC_Transmit_FS(msg_buf, numbytes);
-		}
-
 		led_process();
     }
 }

src/usb_device.c

@@ -45,7 +45,7 @@
 USBD_HandleTypeDef hUsbDeviceFS;
 
 /* init function */				        
-void MX_USB_DEVICE_Init(void)
+void usb_init(void)
 {
   /* Init Device Library,Add Supported Class and Start the library*/
   USBD_Init(&hUsbDeviceFS, &FS_Desc, DEVICE_FS);