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Alex Brickwedde 2022-01-15 15:04:08 +01:00
parent 26bedc6359
commit 41d0e86699
17 changed files with 554 additions and 196 deletions
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1
.gitignore vendored
View File

@ -1 +1,2 @@
build/*
/Default/

33
.project Normal file
View File

@ -0,0 +1,33 @@
<?xml version="1.0" encoding="UTF-8"?>
<projectDescription>
<name>cantact-fw-orig</name>
<comment></comment>
<projects>
</projects>
<buildSpec>
<buildCommand>
<name>org.eclipse.wst.common.project.facet.core.builder</name>
<arguments>
</arguments>
</buildCommand>
<buildCommand>
<name>org.eclipse.cdt.managedbuilder.core.genmakebuilder</name>
<triggers>clean,full,incremental,</triggers>
<arguments>
</arguments>
</buildCommand>
<buildCommand>
<name>org.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder</name>
<triggers>full,incremental,</triggers>
<arguments>
</arguments>
</buildCommand>
</buildSpec>
<natures>
<nature>org.eclipse.cdt.core.cnature</nature>
<nature>org.eclipse.cdt.core.ccnature</nature>
<nature>org.eclipse.cdt.managedbuilder.core.managedBuildNature</nature>
<nature>org.eclipse.cdt.managedbuilder.core.ScannerConfigNature</nature>
<nature>org.eclipse.wst.common.project.facet.core.nature</nature>
</natures>
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3
.settings/ilg.gnumcueclipse.debug.gdbjtag.openocd.prefs Normal file
View File

@ -0,0 +1,3 @@
eclipse.preferences.version=1
executable.name=bin/openocd.exe
install.folder=C\:\\opt\\dev-tools\\stm32\\openocd

2
.settings/ilg.gnumcueclipse.managedbuild.cross.arm.prefs Normal file
View File

@ -0,0 +1,2 @@
eclipse.preferences.version=1
toolchain.path.435435382=C\:\\opt\\dev-tools\\stm32\\arm-none-eabi-gcc\\bin

2
.settings/ilg.gnumcueclipse.managedbuild.cross.prefs Normal file
View File

@ -0,0 +1,2 @@
buildTools.path=C\:\\opt\\dev-tools\\stm32\\build-tools\\bin
eclipse.preferences.version=1

15
.settings/language.settings.xml Normal file
View File

@ -0,0 +1,15 @@
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
<project>
<configuration id="ilg.gnuarmeclipse.managedbuild.cross.toolchain.base.2045002058" name="Default">
<extension point="org.eclipse.cdt.core.LanguageSettingsProvider">
<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
<provider copy-of="extension" id="org.eclipse.cdt.managedbuilder.core.GCCBuildCommandParser"/>
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<language-scope id="org.eclipse.cdt.core.gcc"/>
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6
.settings/org.eclipse.cdt.core.prefs Normal file
View File

@ -0,0 +1,6 @@
doxygen/doxygen_new_line_after_brief=true
doxygen/doxygen_use_brief_tag=false
doxygen/doxygen_use_javadoc_tags=true
doxygen/doxygen_use_pre_tag=false
doxygen/doxygen_use_structural_commands=false
eclipse.preferences.version=1

13
.settings/org.eclipse.cdt.managedbuilder.core.prefs Normal file
View File

@ -0,0 +1,13 @@
eclipse.preferences.version=1
environment/buildEnvironmentInclude/ilg.gnuarmeclipse.managedbuild.cross.toolchain.base.2045002058/CPATH/delimiter=;
environment/buildEnvironmentInclude/ilg.gnuarmeclipse.managedbuild.cross.toolchain.base.2045002058/CPATH/operation=remove
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environment/buildEnvironmentInclude/ilg.gnuarmeclipse.managedbuild.cross.toolchain.base.2045002058/append=true
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environment/buildEnvironmentLibrary/ilg.gnuarmeclipse.managedbuild.cross.toolchain.base.2045002058/appendContributed=true

3
Inc/led.h
View File

@ -4,7 +4,8 @@
#define LED_DURATION 50
void led_on(void);
void led_on1(void);
void led_on2(void);
void led_process(void);
#endif

7
Inc/slcan.h
View File

@ -1,13 +1,20 @@
#ifndef _SLCAN_H
#define _SLCAN_H
void slcan_processbuffer();
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)
#define serialbuffersize 100
#define SLCAN_STD_ID_LEN 3
#define SLCAN_EXT_ID_LEN 8
extern uint8_t serialbuffer[];
extern volatile uint8_t serialbufferstart;
extern volatile uint8_t serialbufferend;
#endif // _SLCAN_H

28
Src/can.c
View File

@ -11,6 +11,13 @@ void can_init(void) {
// default to 125 kbit/s
prescaler = 48;
hcan.Instance = CAN;
hcan.Init.Mode = CAN_MODE_NORMAL;
hcan.Init.TTCM = DISABLE;
hcan.Init.ABOM = DISABLE;
hcan.Init.AWUM = DISABLE;
hcan.Init.NART = ENABLE;
hcan.Init.RFLM = DISABLE;
hcan.Init.TXFP = DISABLE;
bus_state = OFF_BUS;
}
@ -43,23 +50,16 @@ void can_set_filter(uint32_t id, uint32_t mask) {
}
void can_enable(void) {
if (bus_state == OFF_BUS) {
if (bus_state == OFF_BUS) {
hcan.Init.Prescaler = prescaler;
hcan.Init.Mode = CAN_MODE_NORMAL;
hcan.Init.SJW = CAN_SJW_1TQ;
hcan.Init.BS1 = CAN_BS1_4TQ;
hcan.Init.BS2 = CAN_BS2_3TQ;
hcan.Init.TTCM = DISABLE;
hcan.Init.ABOM = DISABLE;
hcan.Init.AWUM = DISABLE;
hcan.Init.NART = DISABLE;
hcan.Init.RFLM = DISABLE;
hcan.Init.TXFP = DISABLE;
hcan.pTxMsg = NULL;
HAL_CAN_Init(&hcan);
bus_state = ON_BUS;
hcan.pTxMsg = NULL;
HAL_CAN_Init(&hcan);
bus_state = ON_BUS;
can_set_filter(0, 0);
}
}
}
void can_disable(void) {
@ -127,7 +127,7 @@ uint32_t can_tx(CanTxMsgTypeDef *tx_msg, uint32_t timeout) {
hcan.pTxMsg = tx_msg;
status = HAL_CAN_Transmit(&hcan, timeout);
led_on();
led_on1();
return status;
}
@ -138,7 +138,7 @@ uint32_t can_rx(CanRxMsgTypeDef *rx_msg, uint32_t timeout) {
status = HAL_CAN_Receive(&hcan, CAN_FIFO0, timeout);
led_on();
led_on2();
return status;
}

35
Src/led.c
View File

@ -5,18 +5,31 @@
#include "stm32f0xx_hal.h"
#include "led.h"
static uint32_t led_laston = 0;
static uint32_t led_lastoff = 0;
static uint32_t led1_laston = 0;
static uint32_t led1_lastoff = 0;
static uint32_t led2_laston = 0;
static uint32_t led2_lastoff = 0;
// Attempt to turn on status LED
void led_on(void)
void led_on1(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)
if(led1_laston == 0 && HAL_GetTick() - led1_lastoff > LED_DURATION)
{
HAL_GPIO_WritePin(GPIOB, GPIO_PIN_0, 0);
led1_laston = HAL_GetTick();
}
}
void led_on2(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(led2_laston == 0 && HAL_GetTick() - led2_lastoff > LED_DURATION)
{
HAL_GPIO_WritePin(GPIOB, GPIO_PIN_1, 1);
led_laston = HAL_GetTick();
led2_laston = HAL_GetTick();
}
}
@ -25,11 +38,17 @@ void led_on(void)
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)
if(led1_laston > 0 && HAL_GetTick() - led1_laston > LED_DURATION)
{
HAL_GPIO_WritePin(GPIOB, GPIO_PIN_0, 1);
led1_laston = 0;
led1_lastoff = HAL_GetTick();
}
if(led2_laston > 0 && HAL_GetTick() - led2_laston > LED_DURATION)
{
HAL_GPIO_WritePin(GPIOB, GPIO_PIN_1, 0);
led_laston = 0;
led_lastoff = HAL_GetTick();
led2_laston = 0;
led2_lastoff = HAL_GetTick();
}
}

15
Src/main.c
View File

@ -113,13 +113,16 @@ int main(void)
for (;;) {
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);
if (is_can_msg_pending(CAN_FIFO0)) {
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);
}
}
slcan_processbuffer();
led_process();
}

358
Src/slcan.c
View File

@ -1,220 +1,264 @@
#include <string.h>
#include "stm32f0xx_hal.h"
#include "can.h"
#include "slcan.h"
#include "usbd_cdc_if.h"
static uint32_t current_filter_id = 0;
static uint32_t current_filter_mask = 0;
uint8_t serialbuffer[serialbuffersize];
volatile uint8_t serialbufferstart = 0;
volatile uint8_t serialbufferend = 0;
CAN_FilterConfTypeDef sFilterConfig;
int8_t slcan_parse_frame(uint8_t *buf, CanRxMsgTypeDef *frame) {
uint8_t i = 0;
uint8_t id_len, j;
uint32_t tmp;
uint8_t i = 0;
uint8_t id_len, j;
uint32_t tmp;
for (j=0; j < SLCAN_MTU; j++) {
buf[j] = '\0';
}
for (j = 0; j < SLCAN_MTU; j++) {
buf[j] = '\0';
}
// add character for frame type
if (frame->RTR == CAN_RTR_DATA) {
buf[i] = 't';
} else if (frame->RTR == CAN_RTR_REMOTE) {
buf[i] = 'r';
}
// add character for frame type
if (frame->RTR == CAN_RTR_DATA) {
buf[i] = 't';
} else if (frame->RTR == CAN_RTR_REMOTE) {
buf[i] = 'r';
}
// assume standard identifier
id_len = SLCAN_STD_ID_LEN;
tmp = frame->StdId;
// check if extended
if (frame->IDE == CAN_ID_EXT) {
// convert first char to upper case for extended frame
buf[i] -= 32;
id_len = SLCAN_EXT_ID_LEN;
tmp = frame->ExtId;
}
// assume standard identifier
id_len = SLCAN_STD_ID_LEN;
tmp = frame->StdId;
// check if extended
if (frame->IDE == CAN_ID_EXT) {
// convert first char to upper case for extended frame
buf[i] -= 32;
id_len = SLCAN_EXT_ID_LEN;
tmp = frame->ExtId;
}
i++;
// add identifier to buffer
for (j = id_len; j > 0; j--) {
// add nybble to buffer
buf[j] = (tmp & 0xF);
tmp = tmp >> 4;
i++;
}
// add identifier to buffer
for(j=id_len; j > 0; j--) {
// add nybble to buffer
buf[j] = (tmp & 0xF);
tmp = tmp >> 4;
i++;
}
// add DLC to buffer
buf[i++] = frame->DLC;
// add DLC to buffer
buf[i++] = frame->DLC;
// add data bytes
for (j = 0; j < frame->DLC; j++) {
// add data bytes
for (j = 0; j < frame->DLC; j++) {
buf[i++] = (frame->Data[j] >> 4);
buf[i++] = (frame->Data[j] & 0x0F);
}
// convert to ASCII (2nd character to end)
for (j = 1; j < i; j++) {
if (buf[j] < 0xA) {
buf[j] += 0x30;
} else {
buf[j] += 0x37;
}
}
// convert to ASCII (2nd character to end)
for (j = 1; j < i; j++) {
if (buf[j] < 0xA) {
buf[j] += 0x30;
} else {
buf[j] += 0x37;
}
// add carrage return (slcan EOL)
buf[i++] = '\r';
// return number of bytes in string
return i;
}
void slcan_processbuffer() {
uint8_t buf[serialbuffersize];
uint8_t bufindex = 0;
uint8_t uiProcess = 0;
__disable_irq();
for (uint8_t i = serialbufferstart; i != serialbufferend;
i = (i + 1 == serialbuffersize) ? 0 : i + 1) {
if (bufindex == 0 && (serialbuffer[i] == '\r' || serialbuffer[i] == '\n')) {
continue;
}
if(bufindex >= serialbuffersize) {
serialbufferstart = 0;
serialbufferend = 0;
break;
}
buf[bufindex] = serialbuffer[i];
bufindex++;
if (serialbuffer[i] == '\r' || serialbuffer[i] == '\n') {
serialbufferstart = i;
uiProcess = 1;
break;
}
}
// add carrage return (slcan EOL)
buf[i++] = '\r';
// return number of bytes in string
return i;
__enable_irq();
if (uiProcess) {
slcan_parse_str(buf, bufindex);
bufindex = 0;
}
}
int8_t slcan_parse_str(uint8_t *buf, uint8_t len) {
CanTxMsgTypeDef frame;
uint8_t i;
uint8_t i;
// convert from ASCII (2nd character to end)
for (i = 1; i < len; i++) {
// 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';
}
// convert from ASCII (2nd character to end)
for (i = 1; i < len; i++) {
// 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') {
// open channel command
if (buf[0] == 'O') {
// open channel command
can_enable();
return 0;
return 0;
} else if (buf[0] == 'C') {
// close channel command
} else if (buf[0] == 'V') {
char *msg = "1.0\r\n";
CDC_Transmit_FS((unsigned char*)msg, strlen(msg));
} else if (buf[0] == 'C') {
// close channel command
can_disable();
return 0;
return 0;
} else if (buf[0] == 'S') {
// set bitrate command
switch(buf[1]) {
case 0:
} else if (buf[0] == 'S') {
// set bitrate command
switch (buf[1]) {
case 0:
can_set_bitrate(CAN_BITRATE_10K);
break;
case 1:
break;
case 1:
can_set_bitrate(CAN_BITRATE_20K);
break;
case 2:
break;
case 2:
can_set_bitrate(CAN_BITRATE_50K);
break;
case 3:
break;
case 3:
can_set_bitrate(CAN_BITRATE_100K);
break;
case 4:
break;
case 4:
can_set_bitrate(CAN_BITRATE_125K);
break;
case 5:
break;
case 5:
can_set_bitrate(CAN_BITRATE_250K);
break;
case 6:
break;
case 6:
can_set_bitrate(CAN_BITRATE_500K);
break;
case 7:
break;
case 7:
can_set_bitrate(CAN_BITRATE_750K);
break;
case 8:
break;
case 8:
can_set_bitrate(CAN_BITRATE_1000K);
break;
default:
// invalid setting
return -1;
}
return 0;
break;
default:
// invalid setting
return -1;
}
return 0;
} else if (buf[0] == 'm' || buf[0] == 'M') {
// set mode command
if (buf[1] == 1) {
// mode 1: silent
} else if (buf[0] == 'm' || buf[0] == 'M') {
// set mode command
if (buf[1] == 1) {
// mode 1: silent
can_set_silent(1);
} else {
} else {
// default to normal mode
can_set_silent(0);
}
return 0;
}
return 0;
} else if (buf[0] == 'F') {
// set filter command
uint32_t id = 0;
for (i = 1; i < len; i++) {
id *= 16;
id += buf[i];
}
current_filter_id = id;
} else if (buf[0] == 'F') {
// set filter command
uint32_t id = 0;
for (i = 1; i < len; i++) {
id *= 16;
id += buf[i];
}
current_filter_id = id;
can_set_filter(current_filter_id, current_filter_mask);
} else if (buf[0] == 'K') {
// set mask command
uint32_t mask = 0;
for (i = 1; i < len; i++) {
mask *= 16;
mask += buf[i];
}
current_filter_mask = mask;
} else if (buf[0] == 'K') {
// set mask command
uint32_t mask = 0;
for (i = 1; i < len; i++) {
mask *= 16;
mask += buf[i];
}
current_filter_mask = mask;
can_set_filter(current_filter_id, current_filter_mask);
} else if (buf[0] == 't' || buf[0] == 'T') {
// transmit data frame command
frame.RTR = CAN_RTR_DATA;
} else if (buf[0] == 't' || buf[0] == 'T') {
// transmit data frame command
frame.RTR = CAN_RTR_DATA;
} else if (buf[0] == 'r' || buf[0] == 'R') {
// transmit remote frame command
frame.RTR = CAN_RTR_REMOTE;
} else if (buf[0] == 'r' || buf[0] == 'R') {
// transmit remote frame command
frame.RTR = CAN_RTR_REMOTE;
} else {
// error, unknown command
return -1;
}
} else {
// error, unknown command
return -1;
}
if (buf[0] == 't' || buf[0] == 'r') {
frame.IDE = CAN_ID_STD;
} else if (buf[0] == 'T' || buf[0] == 'R') {
frame.IDE = CAN_ID_EXT;
} else {
// error
return -1;
}
if (buf[0] == 't' || buf[0] == 'r') {
frame.IDE = CAN_ID_STD;
} else if (buf[0] == 'T' || buf[0] == 'R') {
frame.IDE = CAN_ID_EXT;
} else {
// error
return -1;
}
frame.StdId = 0;
frame.ExtId = 0;
if (frame.IDE == CAN_ID_EXT) {
uint8_t id_len = SLCAN_EXT_ID_LEN;
i = 1;
while (i <= id_len) {
frame.ExtId *= 16;
frame.ExtId += buf[i++];
}
frame.StdId = 0;
frame.ExtId = 0;
if (frame.IDE == CAN_ID_EXT) {
uint8_t id_len = SLCAN_EXT_ID_LEN;
i = 1;
while (i <= id_len) {
frame.ExtId *= 16;
frame.ExtId += buf[i++];
}
}
else {
uint8_t id_len = SLCAN_STD_ID_LEN;
i = 1;
while (i <= id_len) {
frame.StdId *= 16;
frame.StdId += buf[i++];
}
}
uint8_t id_len = SLCAN_STD_ID_LEN;
i = 1;
while (i <= id_len) {
frame.StdId *= 16;
frame.StdId += buf[i++];
}
}
frame.DLC = buf[i++];
if (frame.DLC < 0 || frame.DLC > 8) {
return -1;
}
frame.DLC = buf[i++];
if (frame.DLC < 0 || frame.DLC > 8) {
return -1;
}
uint8_t j;
for (j = 0; j < frame.DLC; j++) {
uint8_t j;
for (j = 0; j < frame.DLC; j++) {
frame.Data[j] = (buf[i] << 4) + buf[i+1];
i += 2;
}
i += 2;
}
// send the message
can_tx(&frame, 10);
return 0;
return 0;
}

0
Src/startup_stm32f042x6.s → Src/startup_stm32f042x6.S
View File

25
Src/usbd_cdc_if.c
View File

@ -250,16 +250,21 @@ uint8_t slcan_str_index = 0;
static int8_t CDC_Receive_FS (uint8_t* Buf, uint32_t *Len)
{
/* USER CODE BEGIN 7 */
uint8_t n = *Len;
uint8_t i;
for (i = 0; i < n; i++) {
if (Buf[i] == '\r') {
slcan_parse_str(slcan_str, slcan_str_index);
slcan_str_index = 0;
} else {
slcan_str[slcan_str_index++] = Buf[i];
}
}
uint8_t n = *Len;
uint8_t i;
for (i = 0; i < n; i++) {
serialbuffer[serialbufferend] = Buf[i];
serialbufferend++;
if (serialbufferend >= serialbuffersize) {
serialbufferend = 0;
}
if (serialbufferend == serialbufferstart) {
serialbufferstart++;
if (serialbufferstart >= serialbuffersize) {
serialbufferstart = 0;
}
}
}
// prepare for next read
//USBD_CDC_SetRxBuffer(hUsbDevice_0, UserRxBufferFS);