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Moved CAN and USART code out of main.c and into more appropriate files.

master
Jessy Diamond Exum 2017-07-06 01:58:40 -07:00
parent a0616a2bc2
commit daad2dc062
5 changed files with 275 additions and 312 deletions
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166
board/can.c
View File

@ -7,18 +7,28 @@
#include "libc.h"
#include "rev.h"
int can_live = 0, pending_can_live = 0;
// assign CAN numbering
#ifdef PANDA
// panda: CAN1 = 0 CAN2 = 1 CAN3 = 2
// ********************* instantiate can queues *********************
can_buffer(rx_q, 0x1000)
can_buffer(tx1_q, 0x100)
can_buffer(tx2_q, 0x100)
can_buffer(tx3_q, 0x100)
// panda: CAN1 = 0 CAN2 = 1 CAN3 = 2
can_port_desc can_ports[] = {
{CAN_PORT_DESC_INITIALIZER,
.CAN = CAN1,
.msg_buff = &can_tx1_q,
.can_pins = {{GPIOB, 8, GPIO_AF8_CAN1}, {GPIOB, 9, GPIO_AF8_CAN1}},
.enable_pin = {GPIOC, 1, 0},
.gmlan_support = false,
},
{CAN_PORT_DESC_INITIALIZER,
.CAN = CAN2,
.msg_buff = &can_tx2_q,
.can_pins = {{GPIOB, 5, GPIO_AF9_CAN2}, {GPIOB, 6, GPIO_AF9_CAN2}},
.enable_pin = {GPIOC, 13, 0},
.gmlan_support = true,
@ -27,6 +37,7 @@
//TODO Make gmlan support correct for REV B
{CAN_PORT_DESC_INITIALIZER,
.CAN = CAN3,
.msg_buff = &can_tx3_q,
.can_pins = {{GPIOA, 8, GPIO_AF11_CAN3}, {GPIOA, 15, GPIO_AF11_CAN3}},
.enable_pin = {GPIOA, 0, 0},
.gmlan_support = true,
@ -34,16 +45,22 @@
}
};
#else
// old: CAN1 = 1 CAN2 = 0
// ********************* instantiate can queues *********************
can_buffer(rx_q, 0x1000)
can_buffer(tx1_q, 0x100)
can_buffer(tx2_q, 0x100)
// old: CAN1 = 1 CAN2 = 0
can_port_desc can_ports[] = {
{CAN_PORT_DESC_INITIALIZER,
.CAN = CAN2,
.msg_buff = &can_tx1_q,
.can_pins = {{GPIOB, 5, GPIO_AF9_CAN2}, {GPIOB, 6, GPIO_AF9_CAN2}},
.enable_pin = {GPIOB, 4, 1},
.gmlan_support = false,
},
{CAN_PORT_DESC_INITIALIZER,
.CAN = CAN1,
.msg_buff = &can_tx2_q,
.can_pins = {{GPIOB, 8, GPIO_AF9_CAN1}, {GPIOB, 9, GPIO_AF9_CAN1}},
.enable_pin = {GPIOB, 3, 1},
.gmlan_support = false,
@ -263,12 +280,13 @@ void set_can_mode(int canid, int use_gmlan) {
}
// CAN error
void can_sce(CAN_TypeDef *CAN) {
void can_sce(uint8_t canid) {
CAN_TypeDef *CAN = can_ports[canid].CAN;
#ifdef DEBUG
if (CAN==CAN1) puts("CAN1: ");
if (CAN==CAN2) puts("CAN2: ");
if (canid==0) puts("CAN1: ");
if (canid==1) puts("CAN2: ");
#ifdef CAN3
if (CAN==CAN3) puts("CAN3: ");
if (canid==2) puts("CAN3: ");
#endif
puts("MSR:");
puth(CAN->MSR);
@ -291,6 +309,75 @@ void can_sce(CAN_TypeDef *CAN) {
CAN->MSR = CAN->MSR;
}
void CAN1_SCE_IRQHandler() {
can_sce(0);
}
void CAN2_SCE_IRQHandler() {
can_sce(1);
}
void CAN3_SCE_IRQHandler() {
can_sce(2);
}
//This function doens't have a good home yet. Suppress warning.
void safety_rx_hook(CAN_FIFOMailBox_TypeDef *to_push);
// CAN receive handlers
// blink blue when we are receiving CAN messages
void can_rx(int can_index) {
CAN_TypeDef *CAN = can_ports[can_index].CAN;
while (CAN->RF0R & CAN_RF0R_FMP0) {
// can is live
pending_can_live = 1;
// add to my fifo
CAN_FIFOMailBox_TypeDef to_push;
to_push.RIR = CAN->sFIFOMailBox[0].RIR;
to_push.RDTR = CAN->sFIFOMailBox[0].RDTR;
to_push.RDLR = CAN->sFIFOMailBox[0].RDLR;
to_push.RDHR = CAN->sFIFOMailBox[0].RDHR;
// forwarding (panda only)
#ifdef PANDA
if (can_ports[can_index].forwarding != -1) {
CAN_FIFOMailBox_TypeDef to_send;
to_send.RIR = to_push.RIR | 1; // TXRQ
to_send.RDTR = to_push.RDTR;
to_send.RDLR = to_push.RDLR;
to_send.RDHR = to_push.RDHR;
send_can(&to_send, can_ports[can_index].forwarding);
}
#endif
// modify RDTR for our API
to_push.RDTR = (to_push.RDTR & 0xFFFF000F) | (can_index << 4);
safety_rx_hook(&to_push);
#ifdef PANDA
set_led(LED_GREEN, 1);
#endif
push(&can_rx_q, &to_push);
// next
CAN->RF0R |= CAN_RF0R_RFOM0;
}
}
void CAN1_RX0_IRQHandler() {
can_rx(0);
}
void CAN2_RX0_IRQHandler() {
can_rx(1);
}
void CAN3_RX0_IRQHandler() {
can_rx(2);
}
int can_cksum(uint8_t *dat, int len, int addr, int idx) {
int i;
int s = 0;
@ -305,3 +392,70 @@ int can_cksum(uint8_t *dat, int len, int addr, int idx) {
s = 8-s;
return s&0xF;
}
void process_can(uint8_t canid) {
CAN_TypeDef *CAN;
#ifdef DEBUG
puts("process CAN TX\n");
#endif
if (canid >= CAN_MAX) return;
CAN = can_ports[canid].CAN;
// add successfully transmitted message to my fifo
if ((CAN->TSR & CAN_TSR_TXOK0) == CAN_TSR_TXOK0) {
CAN_FIFOMailBox_TypeDef to_push;
to_push.RIR = CAN->sTxMailBox[0].TIR;
to_push.RDTR = (CAN->sTxMailBox[0].TDTR & 0xFFFF000F) |
((PANDA_CANB_RETURN_FLAG | (canid & 0x7F)) << 4);
puts("RDTR: ");
puth(to_push.RDTR);
puts("\n");
to_push.RDLR = CAN->sTxMailBox[0].TDLR;
to_push.RDHR = CAN->sTxMailBox[0].TDHR;
push(&can_rx_q, &to_push);
}
// check for empty mailbox
CAN_FIFOMailBox_TypeDef to_send;
if ((CAN->TSR & CAN_TSR_TME0) == CAN_TSR_TME0) {
if (pop(can_ports[canid].msg_buff, &to_send)) {
// only send if we have received a packet
CAN->sTxMailBox[0].TDLR = to_send.RDLR;
CAN->sTxMailBox[0].TDHR = to_send.RDHR;
CAN->sTxMailBox[0].TDTR = to_send.RDTR;
CAN->sTxMailBox[0].TIR = to_send.RIR;
}
}
// clear interrupt
CAN->TSR |= CAN_TSR_RQCP0;
}
// send more, possible for these to not trigger?
void CAN1_TX_IRQHandler() {
process_can(0);
}
void CAN2_TX_IRQHandler() {
process_can(1);
}
void CAN3_TX_IRQHandler() {
process_can(2);
}
void send_can(CAN_FIFOMailBox_TypeDef *to_push, int canid) {
if (canid >= CAN_MAX) return;
// add CAN packet to send queue
// bus number isn't passed through
to_push->RDTR &= 0xF;
push(can_ports[canid].msg_buff, to_push);
// canid = can_number
process_can(canid);
}

38
board/can.h
View File

@ -3,6 +3,26 @@
#include <stdbool.h>
#define CAN_TIMEOUT 1000000
#define PANDA_CANB_RETURN_FLAG 0x80
extern int can_live, pending_can_live;
// ********************* queues types *********************
typedef struct {
uint32_t w_ptr;
uint32_t r_ptr;
uint32_t fifo_size;
CAN_FIFOMailBox_TypeDef *elems;
} can_ring;
#define can_buffer(x, size) \
CAN_FIFOMailBox_TypeDef elems_##x[size]; \
can_ring can_##x = { .w_ptr = 0, .r_ptr = 0, .fifo_size = size, .elems = (CAN_FIFOMailBox_TypeDef *)&elems_##x };
extern can_ring can_rx_q;
// ********************* port description types *********************
#define CAN_PORT_DESC_INITIALIZER \
.forwarding=-1, \
@ -35,6 +55,7 @@ typedef struct {
gpio_pin enable_pin;
gpio_alt_setting can_pins[2];
gpio_alt_setting gmlan_pins[2];
can_ring *msg_buff;
} can_port_desc;
extern can_port_desc can_ports[];
@ -45,19 +66,6 @@ extern can_port_desc can_ports[];
#define CAN_MAX 2
#endif
// ********************* queues types *********************
typedef struct {
uint32_t w_ptr;
uint32_t r_ptr;
uint32_t fifo_size;
CAN_FIFOMailBox_TypeDef *elems;
} can_ring;
#define can_buffer(x, size) \
CAN_FIFOMailBox_TypeDef elems_##x[size]; \
can_ring can_##x = { .w_ptr = 0, .r_ptr = 0, .fifo_size = size, .elems = (CAN_FIFOMailBox_TypeDef *)&elems_##x };
// ********************* interrupt safe queue *********************
int pop(can_ring *q, CAN_FIFOMailBox_TypeDef *elem);
@ -70,8 +78,10 @@ void can_init(uint8_t canid);
void set_can_mode(int can, int use_gmlan);
void send_can(CAN_FIFOMailBox_TypeDef *to_push, int flags);
// CAN error
void can_sce(CAN_TypeDef *CAN);
//void can_sce(uint8_t canid);
int can_cksum(uint8_t *dat, int len, int addr, int idx);

307
board/main.c
View File

@ -3,10 +3,25 @@
#include "obj/gitversion.h"
#include "uart.h"
#include "can.h"
#include "libc.h"
#include "gpio.h"
#include "adc.h"
#include "timer.h"
#include "usb.h"
#include "spi.h"
void safety_rx_hook(CAN_FIFOMailBox_TypeDef *to_push);
int safety_tx_hook(CAN_FIFOMailBox_TypeDef *to_send, int hardwired);
int safety_tx_lin_hook(int lin_num, uint8_t *data, int len, int hardwired);
#ifdef PANDA_SAFETY
#include "panda_safety.h"
#else
#include "honda_safety.h"
#endif
// debug safety check: is controls allowed?
int started = 0;
int can_live = 0, pending_can_live = 0;
// optional features
int gas_interceptor_detected = 0;
@ -16,46 +31,6 @@ int started_signal_detected = 0;
// TODO: check for UART high
int did_usb_enumerate = 0;
// ********************* instantiate can queues *********************
can_buffer(rx_q, 0x1000)
can_buffer(tx1_q, 0x100)
can_buffer(tx2_q, 0x100)
can_buffer(tx3_q, 0x100)
// ***************************** serial port queues *****************************
// esp = USART1
uart_ring esp_ring = { .w_ptr_tx = 0, .r_ptr_tx = 0,
.w_ptr_rx = 0, .r_ptr_rx = 0,
.uart = USART1 };
// lin1, K-LINE = UART5
// lin2, L-LINE = USART3
uart_ring lin1_ring = { .w_ptr_tx = 0, .r_ptr_tx = 0,
.w_ptr_rx = 0, .r_ptr_rx = 0,
.uart = UART5 };
uart_ring lin2_ring = { .w_ptr_tx = 0, .r_ptr_tx = 0,
.w_ptr_rx = 0, .r_ptr_rx = 0,
.uart = USART3 };
// debug = USART2
uart_ring *get_ring_by_number(int a) {
switch(a) {
case 0:
return &debug_ring;
case 1:
return &esp_ring;
case 2:
return &lin1_ring;
case 3:
return &lin2_ring;
default:
return NULL;
}
}
void accord_framing_callback(uart_ring *q) {
uint8_t r_ptr_rx_tmp = q->r_ptr_rx;
int sof1 = -1;
@ -117,207 +92,6 @@ void accord_framing_callback(uart_ring *q) {
}
}
void debug_ring_callback(uart_ring *ring) {
char rcv;
while (getc(ring, &rcv)) {
putc(ring, rcv);
// jump to DFU flash
if (rcv == 'z') {
enter_bootloader_mode = ENTER_BOOTLOADER_MAGIC;
NVIC_SystemReset();
}
if (rcv == 'x') {
// normal reset
NVIC_SystemReset();
}
}
}
// interrupt boilerplate
void USART1_IRQHandler(void) {
NVIC_DisableIRQ(USART1_IRQn);
uart_ring_process(&esp_ring);
NVIC_EnableIRQ(USART1_IRQn);
}
void USART2_IRQHandler(void) {
NVIC_DisableIRQ(USART2_IRQn);
uart_ring_process(&debug_ring);
NVIC_EnableIRQ(USART2_IRQn);
}
void USART3_IRQHandler(void) {
NVIC_DisableIRQ(USART3_IRQn);
uart_ring_process(&lin2_ring);
NVIC_EnableIRQ(USART3_IRQn);
}
void UART5_IRQHandler(void) {
NVIC_DisableIRQ(UART5_IRQn);
uart_ring_process(&lin1_ring);
NVIC_EnableIRQ(UART5_IRQn);
}
// ********************* includes *********************
#include "libc.h"
#include "gpio.h"
#include "adc.h"
#include "timer.h"
#include "usb.h"
#include "spi.h"
void safety_rx_hook(CAN_FIFOMailBox_TypeDef *to_push);
int safety_tx_hook(CAN_FIFOMailBox_TypeDef *to_send, int hardwired);
int safety_tx_lin_hook(int lin_num, uint8_t *data, int len, int hardwired);
#ifdef PANDA_SAFETY
#include "panda_safety.h"
#else
#include "honda_safety.h"
#endif
#define PANDA_CANB_RETURN_FLAG 0x80
// ***************************** CAN *****************************
void process_can(uint8_t canid, can_ring *can_q) {
#ifdef DEBUG
puts("process CAN TX\n");
#endif
CAN_TypeDef *CAN = can_ports[canid].CAN;
// add successfully transmitted message to my fifo
if ((CAN->TSR & CAN_TSR_TXOK0) == CAN_TSR_TXOK0) {
CAN_FIFOMailBox_TypeDef to_push;
to_push.RIR = CAN->sTxMailBox[0].TIR;
to_push.RDTR = (CAN->sTxMailBox[0].TDTR & 0xFFFF000F) |
((PANDA_CANB_RETURN_FLAG | (canid & 0x7F)) << 4);
puts("RDTR: ");
puth(to_push.RDTR);
puts("\n");
to_push.RDLR = CAN->sTxMailBox[0].TDLR;
to_push.RDHR = CAN->sTxMailBox[0].TDHR;
push(&can_rx_q, &to_push);
}
// check for empty mailbox
CAN_FIFOMailBox_TypeDef to_send;
if ((CAN->TSR & CAN_TSR_TME0) == CAN_TSR_TME0) {
if (pop(can_q, &to_send)) {
// only send if we have received a packet
CAN->sTxMailBox[0].TDLR = to_send.RDLR;
CAN->sTxMailBox[0].TDHR = to_send.RDHR;
CAN->sTxMailBox[0].TDTR = to_send.RDTR;
CAN->sTxMailBox[0].TIR = to_send.RIR;
}
}
// clear interrupt
CAN->TSR |= CAN_TSR_RQCP0;
}
// send more, possible for these to not trigger?
void CAN1_TX_IRQHandler() {
process_can(0, &can_tx1_q);
}
void CAN2_TX_IRQHandler() {
process_can(1, &can_tx2_q);
}
#ifdef PANDA
void CAN3_TX_IRQHandler() {
process_can(2, &can_tx3_q);
}
#endif
void send_can(CAN_FIFOMailBox_TypeDef *to_push, int flags);
// CAN receive handlers
// blink blue when we are receiving CAN messages
void can_rx(CAN_TypeDef *CAN, int can_index) {
//int can_number = can_ports[can_index].CAN;
while (CAN->RF0R & CAN_RF0R_FMP0) {
// can is live
pending_can_live = 1;
// add to my fifo
CAN_FIFOMailBox_TypeDef to_push;
to_push.RIR = CAN->sFIFOMailBox[0].RIR;
to_push.RDTR = CAN->sFIFOMailBox[0].RDTR;
to_push.RDLR = CAN->sFIFOMailBox[0].RDLR;
to_push.RDHR = CAN->sFIFOMailBox[0].RDHR;
// forwarding (panda only)
#ifdef PANDA
if (can_ports[can_index].forwarding != -1) {
CAN_FIFOMailBox_TypeDef to_send;
to_send.RIR = to_push.RIR | 1; // TXRQ
to_send.RDTR = to_push.RDTR;
to_send.RDLR = to_push.RDLR;
to_send.RDHR = to_push.RDHR;
send_can(&to_send, can_ports[can_index].forwarding);
}
#endif
// modify RDTR for our API
to_push.RDTR = (to_push.RDTR & 0xFFFF000F) | (can_index << 4);
safety_rx_hook(&to_push);
#ifdef PANDA
set_led(LED_GREEN, 1);
#endif
push(&can_rx_q, &to_push);
// next
CAN->RF0R |= CAN_RF0R_RFOM0;
}
}
void CAN1_RX0_IRQHandler() {
//puts("CANRX1");
//delay(10000);
can_rx(CAN1, 0);
}
void CAN2_RX0_IRQHandler() {
//puts("CANRX0");
//delay(10000);
can_rx(CAN2, 1);
}
#ifdef CAN3
void CAN3_RX0_IRQHandler() {
//puts("CANRX0");
//delay(10000);
can_rx(CAN3, 2);
}
#endif
void CAN1_SCE_IRQHandler() {
//puts("CAN1_SCE\n");
can_sce(CAN1);
}
void CAN2_SCE_IRQHandler() {
//puts("CAN2_SCE\n");
can_sce(CAN2);
}
#ifdef CAN3
void CAN3_SCE_IRQHandler() {
//puts("CAN3_SCE\n");
can_sce(CAN3);
}
#endif
// ***************************** USB port *****************************
int get_health_pkt(void *dat) {
@ -389,37 +163,6 @@ void usb_cb_ep2_out(uint8_t *usbdata, int len, int hardwired) {
}
}
void send_can(CAN_FIFOMailBox_TypeDef *to_push, int canid) {
can_ring *can_q;
if (canid >= CAN_MAX) return;
switch(canid) {
case 0:
can_q = &can_tx1_q;
break;
case 1:
can_q = &can_tx2_q;
break;
#ifdef CAN3
case 2:
can_q = &can_tx3_q;
break;
#endif
default:
// no crash
return;
}
// add CAN packet to send queue
// bus number isn't passed through
to_push->RDTR &= 0xF;
push(can_q, to_push);
// canid = can_number
process_can(canid, can_q);
}
// send on CAN
void usb_cb_ep3_out(uint8_t *usbdata, int len, int hardwired) {
puts("usb_cb_ep3_out called\n");
@ -675,7 +418,6 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, int hardwired) {
return resp_len;
}
void OTG_FS_IRQHandler(void) {
NVIC_DisableIRQ(OTG_FS_IRQn);
//__disable_irq();
@ -872,16 +614,6 @@ int main() {
// reset this every 16th pass
if ((cnt&0xF) == 0) pending_can_live = 0;
/*#ifdef DEBUG
puts("** blink ");
puth(can_rx_q.r_ptr); puts(" "); puth(can_rx_q.w_ptr); puts(" ");
puth(can_tx1_q.r_ptr); puts(" "); puth(can_tx1_q.w_ptr); puts(" ");
puth(can_tx2_q.r_ptr); puts(" "); puth(can_tx2_q.w_ptr); puts("\n");
#endif*/
/*puts("voltage: "); puth(adc_get(ADCCHAN_VOLTAGE)); puts(" ");
puts("current: "); puth(adc_get(ADCCHAN_CURRENT)); puts("\n");*/
// set LED to be controls allowed, blue on panda, green on legacy
#ifdef PANDA
set_led(LED_BLUE, controls_allowed);
@ -900,13 +632,6 @@ int main() {
set_led(LED_GREEN, 0);
#endif
#ifdef ENABLE_SPI
/*if (spi_buf_count > 0) {
hexdump(spi_buf, spi_buf_count);
spi_buf_count = 0;
}*/
#endif
// started logic
#ifdef PANDA
int started_signal = (GPIOB->IDR & (1 << 12)) == 0;

74
board/uart.c
View File

@ -3,11 +3,59 @@
#include "uart.h"
#include "early.h"
void debug_ring_callback(uart_ring *ring) {
char rcv;
while (getc(ring, &rcv)) {
putc(ring, rcv);
// jump to DFU flash
if (rcv == 'z') {
enter_bootloader_mode = ENTER_BOOTLOADER_MAGIC;
NVIC_SystemReset();
}
if (rcv == 'x') {
// normal reset
NVIC_SystemReset();
}
}
}
// ***************************** serial port queues *****************************
// debug = USART2
uart_ring debug_ring = { .w_ptr_tx = 0, .r_ptr_tx = 0,
.w_ptr_rx = 0, .r_ptr_rx = 0,
.uart = USART2,
.callback = debug_ring_callback};
// esp = USART1
uart_ring esp_ring = { .w_ptr_tx = 0, .r_ptr_tx = 0,
.w_ptr_rx = 0, .r_ptr_rx = 0,
.uart = USART1 };
// lin1, K-LINE = UART5
// lin2, L-LINE = USART3
uart_ring lin1_ring = { .w_ptr_tx = 0, .r_ptr_tx = 0,
.w_ptr_rx = 0, .r_ptr_rx = 0,
.uart = UART5 };
uart_ring lin2_ring = { .w_ptr_tx = 0, .r_ptr_tx = 0,
.w_ptr_rx = 0, .r_ptr_rx = 0,
.uart = USART3 };
uart_ring *get_ring_by_number(int a) {
switch(a) {
case 0:
return &debug_ring;
case 1:
return &esp_ring;
case 2:
return &lin1_ring;
case 3:
return &lin2_ring;
default:
return NULL;
}
}
void uart_set_baud(USART_TypeDef *u, int baud) {
if (u == USART1) {
@ -133,3 +181,29 @@ void uart_ring_process(uart_ring *q) {
}
}
}
// interrupt boilerplate
void USART1_IRQHandler(void) {
NVIC_DisableIRQ(USART1_IRQn);
uart_ring_process(&esp_ring);
NVIC_EnableIRQ(USART1_IRQn);
}
void USART2_IRQHandler(void) {
NVIC_DisableIRQ(USART2_IRQn);
uart_ring_process(&debug_ring);
NVIC_EnableIRQ(USART2_IRQn);
}
void USART3_IRQHandler(void) {
NVIC_DisableIRQ(USART3_IRQn);
uart_ring_process(&lin2_ring);
NVIC_EnableIRQ(USART3_IRQn);
}
void UART5_IRQHandler(void) {
NVIC_DisableIRQ(UART5_IRQn);
uart_ring_process(&lin1_ring);
NVIC_EnableIRQ(UART5_IRQn);
}

2
board/uart.h
View File

@ -21,7 +21,7 @@ extern int has_external_debug_serial;
extern uart_ring debug_ring;
void debug_ring_callback(uart_ring *ring);
uart_ring *get_ring_by_number(int a);
void uart_set_baud(USART_TypeDef *u, int baud);