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main: move per channel CAN handling code out of main loop into separa…
…te functions No functional change intended.
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,36 @@ | ||
| /* | ||
| The MIT License (MIT) | ||
| Copyright (c) 2016 Hubert Denkmair | ||
| Permission is hereby granted, free of charge, to any person obtaining a copy | ||
| of this software and associated documentation files (the "Software"), to deal | ||
| in the Software without restriction, including without limitation the rights | ||
| to use, copy, modify, merge, publish, distribute, sublicense, and/or sell | ||
| copies of the Software, and to permit persons to whom the Software is | ||
| furnished to do so, subject to the following conditions: | ||
| The above copyright notice and this permission notice shall be included in | ||
| all copies or substantial portions of the Software. | ||
| THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR | ||
| IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, | ||
| FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE | ||
| AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER | ||
| LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, | ||
| OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN | ||
| THE SOFTWARE. | ||
| */ | ||
|
|
||
| #pragma once | ||
|
|
||
| #include <stdint.h> | ||
|
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| #include "can.h" | ||
| #include "usbd_gs_can.h" | ||
|
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| void CAN_SendFrame(USBD_GS_CAN_HandleTypeDef *hcan, can_data_t *channel); | ||
| void CAN_ReceiveFrame(USBD_GS_CAN_HandleTypeDef *hcan, can_data_t *channel); | ||
| void CAN_HandleError(USBD_GS_CAN_HandleTypeDef *hcan, can_data_t *channel); |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,129 @@ | ||
| /* | ||
| The MIT License (MIT) | ||
| Copyright (c) 2016 Hubert Denkmair | ||
| Permission is hereby granted, free of charge, to any person obtaining a copy | ||
| of this software and associated documentation files (the "Software"), to deal | ||
| in the Software without restriction, including without limitation the rights | ||
| to use, copy, modify, merge, publish, distribute, sublicense, and/or sell | ||
| copies of the Software, and to permit persons to whom the Software is | ||
| furnished to do so, subject to the following conditions: | ||
| The above copyright notice and this permission notice shall be included in | ||
| all copies or substantial portions of the Software. | ||
| THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR | ||
| IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, | ||
| FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE | ||
| AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER | ||
| LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, | ||
| OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN | ||
| THE SOFTWARE. | ||
| */ | ||
|
|
||
| #include "can_common.h" | ||
| #include "led.h" | ||
| #include "timer.h" | ||
| #include "usbd_gs_can.h" | ||
|
|
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| void CAN_SendFrame(USBD_GS_CAN_HandleTypeDef *hcan, can_data_t *channel) | ||
| { | ||
| struct gs_host_frame_object *frame_object; | ||
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| bool was_irq_enabled = disable_irq(); | ||
| frame_object = list_first_entry_or_null(&channel->list_from_host, | ||
| struct gs_host_frame_object, | ||
| list); | ||
| if (frame_object) { // send CAN message from host | ||
| struct gs_host_frame *frame = &frame_object->frame; | ||
|
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| list_del(&frame_object->list); | ||
| restore_irq(was_irq_enabled); | ||
|
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| if (can_send(channel, frame)) { | ||
| // Echo sent frame back to host | ||
| frame->flags = 0x0; | ||
| frame->reserved = 0x0; | ||
| frame->timestamp_us = timer_get(); | ||
|
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| list_add_tail_locked(&frame_object->list, &hcan->list_to_host); | ||
|
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| led_indicate_trx(&channel->leds, led_tx); | ||
| } else { | ||
| list_add_locked(&frame_object->list, &channel->list_from_host); | ||
| } | ||
| } else { | ||
| restore_irq(was_irq_enabled); | ||
| } | ||
| } | ||
|
|
||
| void CAN_ReceiveFrame(USBD_GS_CAN_HandleTypeDef *hcan, can_data_t *channel) | ||
| { | ||
| struct gs_host_frame_object *frame_object; | ||
|
|
||
| if (can_is_rx_pending(channel)) { | ||
| bool was_irq_enabled = disable_irq(); | ||
| frame_object = list_first_entry_or_null(&hcan->list_frame_pool, | ||
| struct gs_host_frame_object, | ||
| list); | ||
| if (frame_object) { | ||
| struct gs_host_frame *frame = &frame_object->frame; | ||
|
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| list_del(&frame_object->list); | ||
| restore_irq(was_irq_enabled); | ||
|
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| if (can_receive(channel, frame)) { | ||
|
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| frame->timestamp_us = timer_get(); | ||
| frame->echo_id = 0xFFFFFFFF; // not a echo frame | ||
| frame->channel = 0; | ||
| frame->flags = 0; | ||
| frame->reserved = 0; | ||
|
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| list_add_tail_locked(&frame_object->list, &hcan->list_to_host); | ||
|
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| led_indicate_trx(&channel->leds, led_rx); | ||
| } else { | ||
| list_add_tail_locked(&frame_object->list, &hcan->list_frame_pool); | ||
| } | ||
| } else { | ||
| restore_irq(was_irq_enabled); | ||
| } | ||
| } | ||
| } | ||
|
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| // If there are frames to receive, don't report any error frames. The | ||
| // best we can localize the errors to is "after the last successfully | ||
| // received frame", so wait until we get there. LEC will hold some error | ||
| // to report even if multiple pass by. | ||
| void CAN_HandleError(USBD_GS_CAN_HandleTypeDef *hcan, can_data_t *channel) | ||
| { | ||
| struct gs_host_frame_object *frame_object; | ||
|
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| if (!can_is_rx_pending(channel)) { | ||
| uint32_t can_err = can_get_error_status(channel); | ||
|
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| bool was_irq_enabled = disable_irq(); | ||
| frame_object = list_first_entry_or_null(&hcan->list_frame_pool, | ||
| struct gs_host_frame_object, | ||
| list); | ||
| if (frame_object) { | ||
| struct gs_host_frame *frame = &frame_object->frame; | ||
|
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| list_del(&frame_object->list); | ||
| restore_irq(was_irq_enabled); | ||
|
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| frame->timestamp_us = timer_get(); | ||
| if (can_parse_error_status(channel, frame, can_err)) { | ||
| list_add_tail_locked(&frame_object->list, &hcan->list_to_host); | ||
| } else { | ||
| list_add_tail_locked(&frame_object->list, &hcan->list_frame_pool); | ||
| } | ||
| } else { | ||
| restore_irq(was_irq_enabled); | ||
| } | ||
| } | ||
| } |
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