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CANBus api first revision #3

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CANBus api first revision #3

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10ce207
Manual GPIO and CAN peripheral initialization
roeyb1 Nov 9, 2022
cd90ad1
CAN message transmission
roeyb1 Nov 12, 2022
0f3cba8
Setup filters and enable message reception
roeyb1 Nov 12, 2022
c6e1827
Allowed for secondary GPIO configuration
roeyb1 Nov 19, 2022
3bb3c19
Added better error detection in CAN Api
roeyb1 Nov 19, 2022
b59f761
Fixed missing return value
roeyb1 Nov 19, 2022
3426d85
Implemented customizable filters and improved error handling
roeyb1 Nov 19, 2022
0bd54c1
Added a sample program in CANBus/readme.md
roeyb1 Nov 19, 2022
26314f9
Removed 32 bit filters since we don't support (or need) extended ids.
roeyb1 Nov 19, 2022
7bacbad
Fixed a filter init bug
roeyb1 Nov 19, 2022
11c57ca
Removed dead code
roeyb1 Nov 19, 2022
7eb2f16
Removed finished todo
roeyb1 Nov 19, 2022
5f6ba69
Fixed data length size so that it actually uses the size parameter
roeyb1 Nov 26, 2022
129fe1a
Removed outdated comment about fixed can message size
roeyb1 Nov 26, 2022
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44 changes: 19 additions & 25 deletions lib/CAN/Can.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -241,7 +241,7 @@ uint32_t CANBus::getAvailableForWrite()
return free_mailboxes;
}

Status CANBus::write(uint16_t message_id, const uint8_t data[], uint32_t size)
Status CANBus::write(const Message& message)
{
if (state != CANBus::State::Ready)
{
Expand All @@ -254,20 +254,20 @@ Status CANBus::write(uint16_t message_id, const uint8_t data[], uint32_t size)
// mask for the first open transmission mailbox
const uint32_t transmit_mailbox = (hcan->TSR & (0b11ul << CAN_TSR_CODE)) >> 24;

hcan->sTxMailBox[transmit_mailbox].TIR = (message_id << CAN_TI0R_STID) | CAN_RTR_DATA;
hcan->sTxMailBox[transmit_mailbox].TDTR = 8; // always only transmit 8 bytes for simplicity
hcan->sTxMailBox[transmit_mailbox].TIR = (message.id << CAN_TI0R_STID) | CAN_RTR_DATA;
hcan->sTxMailBox[transmit_mailbox].TDTR = message.size; // always only transmit 8 bytes for simplicity
roeyb1 marked this conversation as resolved.
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// #todo: set TDTR time bit?

hcan->sTxMailBox[transmit_mailbox].TDHR =
(uint32_t)((uint32_t)data[7] << CAN_TDH0R_DATA7_Pos) |
(uint32_t)((uint32_t)data[6] << CAN_TDH0R_DATA6_Pos) |
(uint32_t)((uint32_t)data[5] << CAN_TDH0R_DATA5_Pos) |
(uint32_t)((uint32_t)data[4] << CAN_TDH0R_DATA4_Pos);
(uint32_t)((uint32_t)message.data_8[7] << CAN_TDH0R_DATA7_Pos) |
(uint32_t)((uint32_t)message.data_8[6] << CAN_TDH0R_DATA6_Pos) |
(uint32_t)((uint32_t)message.data_8[5] << CAN_TDH0R_DATA5_Pos) |
(uint32_t)((uint32_t)message.data_8[4] << CAN_TDH0R_DATA4_Pos);
hcan->sTxMailBox[transmit_mailbox].TDLR =
(uint32_t)((uint32_t)data[3] << CAN_TDL0R_DATA3_Pos) |
(uint32_t)((uint32_t)data[2] << CAN_TDL0R_DATA2_Pos) |
(uint32_t)((uint32_t)data[1] << CAN_TDL0R_DATA1_Pos) |
(uint32_t)((uint32_t)data[0] << CAN_TDL0R_DATA0_Pos);
(uint32_t)((uint32_t)message.data_8[3] << CAN_TDL0R_DATA3_Pos) |
(uint32_t)((uint32_t)message.data_8[2] << CAN_TDL0R_DATA2_Pos) |
(uint32_t)((uint32_t)message.data_8[1] << CAN_TDL0R_DATA1_Pos) |
(uint32_t)((uint32_t)message.data_8[0] << CAN_TDL0R_DATA0_Pos);

SET_BIT(hcan->sTxMailBox[transmit_mailbox].TIR, CAN_TI0R_TXRQ);
return Status::Error;
Expand All @@ -281,12 +281,6 @@ Status CANBus::write(uint16_t message_id, const uint8_t data[], uint32_t size)
okay();
}

Status CANBus::write(const Message& message)
{
return write(message.id, message.data, message.size);
}


uint32_t CANBus::getAvailableForRead(uint32_t rx_fifo)
{
if (state != CANBus::State::Ready)
Expand Down Expand Up @@ -332,14 +326,14 @@ Status CANBus::read(Message& message_out, uint32_t rx_fifo)
warn("No mailboxes with available messages");
}

message_out.data[0] = (uint8_t)((CAN_RDL0R_DATA0 & hcan->sFIFOMailBox[rx_fifo].RDLR) >> CAN_RDL0R_DATA0_Pos);
message_out.data[1] = (uint8_t)((CAN_RDL0R_DATA1 & hcan->sFIFOMailBox[rx_fifo].RDLR) >> CAN_RDL0R_DATA1_Pos);
message_out.data[2] = (uint8_t)((CAN_RDL0R_DATA2 & hcan->sFIFOMailBox[rx_fifo].RDLR) >> CAN_RDL0R_DATA2_Pos);
message_out.data[3] = (uint8_t)((CAN_RDL0R_DATA3 & hcan->sFIFOMailBox[rx_fifo].RDLR) >> CAN_RDL0R_DATA3_Pos);
message_out.data[4] = (uint8_t)((CAN_RDH0R_DATA4 & hcan->sFIFOMailBox[rx_fifo].RDHR) >> CAN_RDH0R_DATA4_Pos);
message_out.data[5] = (uint8_t)((CAN_RDH0R_DATA5 & hcan->sFIFOMailBox[rx_fifo].RDHR) >> CAN_RDH0R_DATA5_Pos);
message_out.data[6] = (uint8_t)((CAN_RDH0R_DATA6 & hcan->sFIFOMailBox[rx_fifo].RDHR) >> CAN_RDH0R_DATA6_Pos);
message_out.data[7] = (uint8_t)((CAN_RDH0R_DATA7 & hcan->sFIFOMailBox[rx_fifo].RDHR) >> CAN_RDH0R_DATA7_Pos);
message_out.data_8[0] = (uint8_t)((CAN_RDL0R_DATA0 & hcan->sFIFOMailBox[rx_fifo].RDLR) >> CAN_RDL0R_DATA0_Pos);
message_out.data_8[1] = (uint8_t)((CAN_RDL0R_DATA1 & hcan->sFIFOMailBox[rx_fifo].RDLR) >> CAN_RDL0R_DATA1_Pos);
message_out.data_8[2] = (uint8_t)((CAN_RDL0R_DATA2 & hcan->sFIFOMailBox[rx_fifo].RDLR) >> CAN_RDL0R_DATA2_Pos);
message_out.data_8[3] = (uint8_t)((CAN_RDL0R_DATA3 & hcan->sFIFOMailBox[rx_fifo].RDLR) >> CAN_RDL0R_DATA3_Pos);
message_out.data_8[4] = (uint8_t)((CAN_RDH0R_DATA4 & hcan->sFIFOMailBox[rx_fifo].RDHR) >> CAN_RDH0R_DATA4_Pos);
message_out.data_8[5] = (uint8_t)((CAN_RDH0R_DATA5 & hcan->sFIFOMailBox[rx_fifo].RDHR) >> CAN_RDH0R_DATA5_Pos);
message_out.data_8[6] = (uint8_t)((CAN_RDH0R_DATA6 & hcan->sFIFOMailBox[rx_fifo].RDHR) >> CAN_RDH0R_DATA6_Pos);
message_out.data_8[7] = (uint8_t)((CAN_RDH0R_DATA7 & hcan->sFIFOMailBox[rx_fifo].RDHR) >> CAN_RDH0R_DATA7_Pos);

message_out.id = CAN_RI0R_STID & hcan->sFIFOMailBox[rx_fifo].RIR >> CAN_RI0R_STID_Pos;

Expand Down
11 changes: 9 additions & 2 deletions lib/CAN/Can.h
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Original file line number Diff line number Diff line change
Expand Up @@ -66,7 +66,14 @@ class CANBus
public:
uint32_t id = 0;
uint32_t size = 0;
uint8_t data[8] = {0};

union
{
uint64_t data_64;
uint32_t data_32[2];
uint16_t data_16[4];
uint8_t data_8[8];
};
};

/**
Expand All @@ -75,7 +82,6 @@ class CANBus
* @param size number of bytes to write.
* @returns Okay if the message was successfully posted to a mailbox. If Error, must retry when `getAvailableForWrite()` returns > 0
*/
static Status write(uint16_t message_id, const uint8_t data[], uint32_t size);
static Status write(const Message& message);

/**
Expand All @@ -94,6 +100,7 @@ class CANBus

static void register_msg_received_callback(MessageReceivedCallbackType callback);
private:

enum State
{
None,
Expand Down
7 changes: 7 additions & 0 deletions lib/CAN/README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -39,6 +39,13 @@ void loop(){
// do something with the message...
// ...
}

// checks if there are spaces available to transmit
if (CANBus::getAvailableForWrite() > 0)
{
CANBus::write({.id = 0xde, .size = 8, .data_32 = {1, 2}});
}


delay(100);
}
Expand Down