The following commit refactors the CAN driver such that it is split into HAL and Lowlevel layers. The following changes have also been made: - Added bit field members to can_message_t as alternative to message flags. Updated examples and docs accordingly - Register field names and fields of can_dev_t updated
696 lines
25 KiB
C
696 lines
25 KiB
C
// Copyright 2015-2018 Espressif Systems (Shanghai) PTE LTD
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include "soc/soc_caps.h"
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#ifdef SOC_CAN_SUPPORTED
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#include "sdkconfig.h"
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#include "freertos/FreeRTOS.h"
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#include "freertos/portmacro.h"
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#include "freertos/task.h"
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#include "freertos/queue.h"
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#include "freertos/semphr.h"
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#include "esp_types.h"
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#include "esp_log.h"
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#include "esp_intr_alloc.h"
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#include "esp_pm.h"
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#include "driver/gpio.h"
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#include "driver/periph_ctrl.h"
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#include "driver/can.h"
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#include "soc/can_periph.h"
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#include "hal/can_hal.h"
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/* ---------------------------- Definitions --------------------------------- */
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//Internal Macros
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#define CAN_CHECK(cond, ret_val) ({ \
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if (!(cond)) { \
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return (ret_val); \
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} \
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})
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#define CAN_CHECK_FROM_CRIT(cond, ret_val) ({ \
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if (!(cond)) { \
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CAN_EXIT_CRITICAL(); \
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return ret_val; \
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} \
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})
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#define CAN_SET_FLAG(var, mask) ((var) |= (mask))
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#define CAN_RESET_FLAG(var, mask) ((var) &= ~(mask))
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#define CAN_TAG "CAN"
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#define DRIVER_DEFAULT_INTERRUPTS 0xE7 //Exclude data overrun (bit[3]) and brp_div (bit[4])
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//Control flags
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#define CTRL_FLAG_STOPPED 0x001 //CAN peripheral in stopped state
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#define CTRL_FLAG_RECOVERING 0x002 //Bus is undergoing bus recovery
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#define CTRL_FLAG_ERR_WARN 0x004 //TEC or REC is >= error warning limit
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#define CTRL_FLAG_ERR_PASSIVE 0x008 //TEC or REC is >= 128
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#define CTRL_FLAG_BUS_OFF 0x010 //Bus-off due to TEC >= 256
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#define CTRL_FLAG_TX_BUFF_OCCUPIED 0x020 //Transmit buffer is occupied
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#define ALERT_LOG_LEVEL_WARNING CAN_ALERT_ARB_LOST //Alerts above and including this level use ESP_LOGW
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#define ALERT_LOG_LEVEL_ERROR CAN_ALERT_TX_FAILED //Alerts above and including this level use ESP_LOGE
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/* ------------------ Typedefs, structures, and variables ------------------- */
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//Control structure for CAN driver
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typedef struct {
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//Control and status members
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uint32_t control_flags;
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can_mode_t mode;
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uint32_t rx_missed_count;
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uint32_t tx_failed_count;
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uint32_t arb_lost_count;
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uint32_t bus_error_count;
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intr_handle_t isr_handle;
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//TX and RX
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QueueHandle_t tx_queue;
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QueueHandle_t rx_queue;
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int tx_msg_count;
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int rx_msg_count;
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//Alerts
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SemaphoreHandle_t alert_semphr;
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uint32_t alerts_enabled;
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uint32_t alerts_triggered;
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#ifdef CONFIG_PM_ENABLE
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//Power Management
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esp_pm_lock_handle_t pm_lock;
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#endif
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} can_obj_t;
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static can_obj_t *p_can_obj = NULL;
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static portMUX_TYPE can_spinlock = portMUX_INITIALIZER_UNLOCKED;
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#define CAN_ENTER_CRITICAL_ISR() portENTER_CRITICAL_ISR(&can_spinlock)
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#define CAN_EXIT_CRITICAL_ISR() portEXIT_CRITICAL_ISR(&can_spinlock)
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#define CAN_ENTER_CRITICAL() portENTER_CRITICAL(&can_spinlock)
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#define CAN_EXIT_CRITICAL() portEXIT_CRITICAL(&can_spinlock)
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static can_hal_context_t can_context;
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/* -------------------- Interrupt and Alert Handlers ------------------------ */
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static void can_alert_handler(uint32_t alert_code, int *alert_req)
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{
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if (p_can_obj->alerts_enabled & alert_code) {
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//Signify alert has occurred
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CAN_SET_FLAG(p_can_obj->alerts_triggered, alert_code);
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*alert_req = 1;
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if (p_can_obj->alerts_enabled & CAN_ALERT_AND_LOG) {
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if (alert_code >= ALERT_LOG_LEVEL_ERROR) {
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ESP_EARLY_LOGE(CAN_TAG, "Alert %d", alert_code);
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} else if (alert_code >= ALERT_LOG_LEVEL_WARNING) {
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ESP_EARLY_LOGW(CAN_TAG, "Alert %d", alert_code);
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} else {
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ESP_EARLY_LOGI(CAN_TAG, "Alert %d", alert_code);
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}
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}
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}
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}
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static inline void can_handle_bus_off(int *alert_req)
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{
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//Bus-Off condition. TEC should set and held at 127, REC should be 0, reset mode entered
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CAN_SET_FLAG(p_can_obj->control_flags, CTRL_FLAG_BUS_OFF);
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/* Note: REC is still allowed to increase during bus-off. REC > err_warn
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can prevent "bus recovery complete" interrupt from occurring. Set to
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listen only mode to freeze REC. */
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can_hal_handle_bus_off(&can_context);
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can_alert_handler(CAN_ALERT_BUS_OFF, alert_req);
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}
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static inline void can_handle_recovery_complete(int *alert_req)
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{
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//Bus recovery complete.
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assert(can_hal_handle_bus_recov_cplt(&can_context));
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//Reset and set flags to the equivalent of the stopped state
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CAN_RESET_FLAG(p_can_obj->control_flags, CTRL_FLAG_RECOVERING | CTRL_FLAG_ERR_WARN |
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CTRL_FLAG_ERR_PASSIVE | CTRL_FLAG_BUS_OFF |
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CTRL_FLAG_TX_BUFF_OCCUPIED);
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CAN_SET_FLAG(p_can_obj->control_flags, CTRL_FLAG_STOPPED);
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can_alert_handler(CAN_ALERT_BUS_RECOVERED, alert_req);
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}
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static inline void can_handle_recovery_in_progress(int * alert_req)
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{
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//Bus-recovery in progress. TEC has dropped below error warning limit
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can_alert_handler(CAN_ALERT_RECOVERY_IN_PROGRESS, alert_req);
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}
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static inline void can_handle_above_ewl(int *alert_req)
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{
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//TEC or REC surpassed error warning limit
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CAN_SET_FLAG(p_can_obj->control_flags, CTRL_FLAG_ERR_WARN);
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can_alert_handler(CAN_ALERT_ABOVE_ERR_WARN, alert_req);
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}
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static inline void can_handle_below_ewl(int *alert_req)
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{
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//TEC and REC are both below error warning
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CAN_RESET_FLAG(p_can_obj->control_flags, CTRL_FLAG_ERR_WARN);
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can_alert_handler(CAN_ALERT_BELOW_ERR_WARN, alert_req);
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}
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static inline void can_handle_error_passive(int *alert_req)
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{
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//Entered error passive
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CAN_SET_FLAG(p_can_obj->control_flags, CTRL_FLAG_ERR_PASSIVE);
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can_alert_handler(CAN_ALERT_ERR_PASS, alert_req);
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}
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static inline void can_handle_error_active(int *alert_req)
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{
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//Returned to error active
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CAN_RESET_FLAG(p_can_obj->control_flags, CTRL_FLAG_ERR_PASSIVE);
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can_alert_handler(CAN_ALERT_ERR_ACTIVE, alert_req);
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}
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static inline void can_handle_bus_error(int *alert_req)
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{
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// ECC register is read to re-arm bus error interrupt. ECC is not used
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can_hal_handle_bus_error(&can_context);
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p_can_obj->bus_error_count++;
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can_alert_handler(CAN_ALERT_BUS_ERROR, alert_req);
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}
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static inline void can_handle_arb_lost(int *alert_req)
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{
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//ALC register is read to re-arm arb lost interrupt. ALC is not used
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can_hal_handle_arb_lost(&can_context);
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p_can_obj->arb_lost_count++;
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can_alert_handler(CAN_ALERT_ARB_LOST, alert_req);
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}
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static inline void can_handle_rx_buffer_frames(BaseType_t *task_woken, int *alert_req)
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{
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uint32_t msg_count = can_hal_get_rx_msg_count(&can_context);
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for (int i = 0; i < msg_count; i++) {
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can_hal_frame_t frame;
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can_hal_read_rx_buffer_and_clear(&can_context, &frame);
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//Copy frame into RX Queue
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if (xQueueSendFromISR(p_can_obj->rx_queue, &frame, task_woken) == pdTRUE) {
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p_can_obj->rx_msg_count++;
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} else {
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p_can_obj->rx_missed_count++;
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can_alert_handler(CAN_ALERT_RX_QUEUE_FULL, alert_req);
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}
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}
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//Todo: Add Software Filters
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//Todo: Check for data overrun of RX FIFO, then trigger alert
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}
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static inline void can_handle_tx_buffer_frame(BaseType_t *task_woken, int *alert_req)
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{
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//Handle previously transmitted frame
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if (can_hal_check_last_tx_successful(&can_context)) {
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can_alert_handler(CAN_ALERT_TX_SUCCESS, alert_req);
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} else {
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p_can_obj->tx_failed_count++;
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can_alert_handler(CAN_ALERT_TX_FAILED, alert_req);
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}
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//Update TX message count
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p_can_obj->tx_msg_count--;
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assert(p_can_obj->tx_msg_count >= 0); //Sanity check
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//Check if there are more frames to transmit
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if (p_can_obj->tx_msg_count > 0 && p_can_obj->tx_queue != NULL) {
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can_hal_frame_t frame;
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int res = xQueueReceiveFromISR(p_can_obj->tx_queue, &frame, task_woken);
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if (res == pdTRUE) {
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can_hal_set_tx_buffer_and_transmit(&can_context, &frame);
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} else {
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assert(false && "failed to get a frame from TX queue");
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}
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} else {
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//No more frames to transmit
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CAN_RESET_FLAG(p_can_obj->control_flags, CTRL_FLAG_TX_BUFF_OCCUPIED);
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can_alert_handler(CAN_ALERT_TX_IDLE, alert_req);
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}
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}
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static void can_intr_handler_main(void *arg)
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{
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BaseType_t task_woken = pdFALSE;
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int alert_req = 0;
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uint32_t event;
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CAN_ENTER_CRITICAL_ISR();
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if (p_can_obj == NULL) { //Incase intr occurs whilst driver is being uninstalled
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CAN_EXIT_CRITICAL_ISR();
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return;
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}
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event = can_hal_decode_interrupt_events(&can_context, p_can_obj->control_flags & CTRL_FLAG_RECOVERING);
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if (event & CAN_HAL_EVENT_BUS_OFF) {
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can_handle_bus_off(&alert_req);
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}
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if (event & CAN_HAL_EVENT_BUS_RECOV_CPLT) {
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can_handle_recovery_complete(&alert_req);
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}
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if (event & CAN_HAL_EVENT_BUS_RECOV_PROGRESS) {
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can_handle_recovery_in_progress(&alert_req);
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}
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if (event & CAN_HAL_EVENT_ABOVE_EWL) {
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can_handle_above_ewl(&alert_req);
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}
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if (event & CAN_HAL_EVENT_BELOW_EWL) {
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can_handle_below_ewl(&alert_req);
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}
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if (event & CAN_HAL_EVENT_ERROR_PASSIVE) {
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can_handle_error_passive(&alert_req);
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}
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if (event & CAN_HAL_EVENT_ERROR_ACTIVE) {
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can_handle_error_active(&alert_req);
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}
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if (event & CAN_HAL_EVENT_BUS_ERR) {
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can_handle_bus_error(&alert_req);
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}
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if (event & CAN_HAL_EVENT_ARB_LOST) {
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can_handle_arb_lost(&alert_req);
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}
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if (event & CAN_HAL_EVENT_RX_BUFF_FRAME) {
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can_handle_rx_buffer_frames(&task_woken, &alert_req);
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}
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//TX command related handlers should be called last, so that other commands
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//do not overwrite the TX command related bits in the command register.
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if (event & CAN_HAL_EVENT_TX_BUFF_FREE) {
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can_handle_tx_buffer_frame(&task_woken, &alert_req);
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}
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CAN_EXIT_CRITICAL_ISR();
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if (p_can_obj->alert_semphr != NULL && alert_req) {
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//Give semaphore if alerts were triggered
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xSemaphoreGiveFromISR(p_can_obj->alert_semphr, &task_woken);
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}
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if (task_woken == pdTRUE) {
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portYIELD_FROM_ISR();
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}
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}
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/* --------------------------- GPIO functions ------------------------------ */
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static void can_configure_gpio(gpio_num_t tx, gpio_num_t rx, gpio_num_t clkout, gpio_num_t bus_status)
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{
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//Set TX pin
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gpio_set_pull_mode(tx, GPIO_FLOATING);
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gpio_matrix_out(tx, CAN_TX_IDX, false, false);
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gpio_pad_select_gpio(tx);
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//Set RX pin
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gpio_set_pull_mode(rx, GPIO_FLOATING);
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gpio_matrix_in(rx, CAN_RX_IDX, false);
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gpio_pad_select_gpio(rx);
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gpio_set_direction(rx, GPIO_MODE_INPUT);
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//Configure output clock pin (Optional)
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if (clkout >= 0 && clkout < GPIO_NUM_MAX) {
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gpio_set_pull_mode(clkout, GPIO_FLOATING);
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gpio_matrix_out(clkout, CAN_CLKOUT_IDX, false, false);
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gpio_pad_select_gpio(clkout);
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}
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//Configure bus status pin (Optional)
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if (bus_status >= 0 && bus_status < GPIO_NUM_MAX) {
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gpio_set_pull_mode(bus_status, GPIO_FLOATING);
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gpio_matrix_out(bus_status, CAN_BUS_OFF_ON_IDX, false, false);
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gpio_pad_select_gpio(bus_status);
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}
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}
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/* ---------------------------- Public Functions ---------------------------- */
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esp_err_t can_driver_install(const can_general_config_t *g_config, const can_timing_config_t *t_config, const can_filter_config_t *f_config)
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{
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//Check arguments
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CAN_CHECK(g_config != NULL, ESP_ERR_INVALID_ARG);
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CAN_CHECK(t_config != NULL, ESP_ERR_INVALID_ARG);
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CAN_CHECK(f_config != NULL, ESP_ERR_INVALID_ARG);
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CAN_CHECK(g_config->rx_queue_len > 0, ESP_ERR_INVALID_ARG);
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CAN_CHECK(g_config->tx_io >= 0 && g_config->tx_io < GPIO_NUM_MAX, ESP_ERR_INVALID_ARG);
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CAN_CHECK(g_config->rx_io >= 0 && g_config->rx_io < GPIO_NUM_MAX, ESP_ERR_INVALID_ARG);
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CAN_CHECK(CAN_BRP_IS_VALID(t_config->brp), ESP_ERR_INVALID_ARG);
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esp_err_t ret;
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can_obj_t *p_can_obj_dummy;
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//Create a CAN object
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p_can_obj_dummy = calloc(1, sizeof(can_obj_t));
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CAN_CHECK(p_can_obj_dummy != NULL, ESP_ERR_NO_MEM);
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//Initialize queues, semaphores, and power management locks
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p_can_obj_dummy->tx_queue = (g_config->tx_queue_len > 0) ? xQueueCreate(g_config->tx_queue_len, sizeof(can_hal_frame_t)) : NULL;
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p_can_obj_dummy->rx_queue = xQueueCreate(g_config->rx_queue_len, sizeof(can_hal_frame_t));
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p_can_obj_dummy->alert_semphr = xSemaphoreCreateBinary();
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if ((g_config->tx_queue_len > 0 && p_can_obj_dummy->tx_queue == NULL) ||
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p_can_obj_dummy->rx_queue == NULL || p_can_obj_dummy->alert_semphr == NULL) {
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ret = ESP_ERR_NO_MEM;
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goto err;
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}
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#ifdef CONFIG_PM_ENABLE
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esp_err_t pm_err = esp_pm_lock_create(ESP_PM_APB_FREQ_MAX, 0, "can", &(p_can_obj_dummy->pm_lock));
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if (pm_err != ESP_OK ) {
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ret = pm_err;
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goto err;
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}
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#endif
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//Initialize flags and variables. All other members are 0 initialized by calloc()
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p_can_obj_dummy->control_flags = CTRL_FLAG_STOPPED;
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p_can_obj_dummy->mode = g_config->mode;
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p_can_obj_dummy->alerts_enabled = g_config->alerts_enabled;
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//Initialize CAN peripheral registers, and allocate interrupt
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CAN_ENTER_CRITICAL();
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if (p_can_obj == NULL) {
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p_can_obj = p_can_obj_dummy;
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} else {
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//Check if driver is already installed
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CAN_EXIT_CRITICAL();
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ret = ESP_ERR_INVALID_STATE;
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goto err;
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}
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periph_module_reset(PERIPH_CAN_MODULE);
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periph_module_enable(PERIPH_CAN_MODULE); //Enable APB CLK to CAN peripheral
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assert(can_hal_init(&can_context));
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can_hal_configure(&can_context, t_config, f_config, DRIVER_DEFAULT_INTERRUPTS, g_config->clkout_divider);
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//Todo: Allow interrupt to be registered to specified CPU
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CAN_EXIT_CRITICAL();
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//Allocate GPIO and Interrupts
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can_configure_gpio(g_config->tx_io, g_config->rx_io, g_config->clkout_io, g_config->bus_off_io);
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ESP_ERROR_CHECK(esp_intr_alloc(ETS_CAN_INTR_SOURCE, 0, can_intr_handler_main, NULL, &p_can_obj->isr_handle));
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#ifdef CONFIG_PM_ENABLE
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ESP_ERROR_CHECK(esp_pm_lock_acquire(p_can_obj->pm_lock)); //Acquire pm_lock to keep APB clock at 80MHz
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#endif
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return ESP_OK; //CAN module is still in reset mode, users need to call can_start() afterwards
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err:
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//Cleanup CAN object and return error
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if (p_can_obj_dummy != NULL) {
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if (p_can_obj_dummy->tx_queue != NULL) {
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vQueueDelete(p_can_obj_dummy->tx_queue);
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p_can_obj_dummy->tx_queue = NULL;
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}
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if (p_can_obj_dummy->rx_queue != NULL) {
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vQueueDelete(p_can_obj_dummy->rx_queue);
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p_can_obj_dummy->rx_queue = NULL;
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}
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if (p_can_obj_dummy->alert_semphr != NULL) {
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vSemaphoreDelete(p_can_obj_dummy->alert_semphr);
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p_can_obj_dummy->alert_semphr = NULL;
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}
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#ifdef CONFIG_PM_ENABLE
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if (p_can_obj_dummy->pm_lock != NULL) {
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ESP_ERROR_CHECK(esp_pm_lock_delete(p_can_obj_dummy->pm_lock));
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}
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#endif
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free(p_can_obj_dummy);
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}
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return ret;
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}
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esp_err_t can_driver_uninstall(void)
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{
|
|
can_obj_t *p_can_obj_dummy;
|
|
|
|
CAN_ENTER_CRITICAL();
|
|
//Check state
|
|
CAN_CHECK_FROM_CRIT(p_can_obj != NULL, ESP_ERR_INVALID_STATE);
|
|
CAN_CHECK_FROM_CRIT(p_can_obj->control_flags & (CTRL_FLAG_STOPPED | CTRL_FLAG_BUS_OFF), ESP_ERR_INVALID_STATE);
|
|
//Todo: Add check to see if in reset mode. //Enter reset mode to stop any CAN bus activity
|
|
//Clear registers by reading
|
|
can_hal_deinit(&can_context);
|
|
periph_module_disable(PERIPH_CAN_MODULE); //Disable CAN peripheral
|
|
p_can_obj_dummy = p_can_obj; //Use dummy to shorten critical section
|
|
p_can_obj = NULL;
|
|
CAN_EXIT_CRITICAL();
|
|
|
|
ESP_ERROR_CHECK(esp_intr_free(p_can_obj_dummy->isr_handle)); //Free interrupt
|
|
|
|
//Delete queues, semaphores, and power management locks
|
|
if (p_can_obj_dummy->tx_queue != NULL) {
|
|
vQueueDelete(p_can_obj_dummy->tx_queue);
|
|
}
|
|
vQueueDelete(p_can_obj_dummy->rx_queue);
|
|
vSemaphoreDelete(p_can_obj_dummy->alert_semphr);
|
|
#ifdef CONFIG_PM_ENABLE
|
|
//Release and delete power management lock
|
|
ESP_ERROR_CHECK(esp_pm_lock_release(p_can_obj_dummy->pm_lock));
|
|
ESP_ERROR_CHECK(esp_pm_lock_delete(p_can_obj_dummy->pm_lock));
|
|
#endif
|
|
free(p_can_obj_dummy); //Free can driver object
|
|
|
|
return ESP_OK;
|
|
}
|
|
|
|
esp_err_t can_start(void)
|
|
{
|
|
//Check state
|
|
CAN_ENTER_CRITICAL();
|
|
CAN_CHECK_FROM_CRIT(p_can_obj != NULL, ESP_ERR_INVALID_STATE);
|
|
CAN_CHECK_FROM_CRIT(p_can_obj->control_flags & CTRL_FLAG_STOPPED, ESP_ERR_INVALID_STATE);
|
|
|
|
//Reset RX queue, and RX message count
|
|
xQueueReset(p_can_obj->rx_queue);
|
|
p_can_obj->rx_msg_count = 0;
|
|
//Todo: Add assert to see if in reset mode. //Should already be in bus-off mode, set again to make sure
|
|
|
|
//Currently in listen only mode, need to set to mode specified by configuration
|
|
assert(can_hal_start(&can_context, p_can_obj->mode));
|
|
|
|
CAN_RESET_FLAG(p_can_obj->control_flags, CTRL_FLAG_STOPPED);
|
|
CAN_EXIT_CRITICAL();
|
|
return ESP_OK;
|
|
}
|
|
|
|
esp_err_t can_stop(void)
|
|
{
|
|
//Check state
|
|
CAN_ENTER_CRITICAL();
|
|
CAN_CHECK_FROM_CRIT(p_can_obj != NULL, ESP_ERR_INVALID_STATE);
|
|
CAN_CHECK_FROM_CRIT(!(p_can_obj->control_flags & (CTRL_FLAG_STOPPED | CTRL_FLAG_BUS_OFF)), ESP_ERR_INVALID_STATE);
|
|
|
|
assert(can_hal_stop(&can_context));
|
|
|
|
CAN_RESET_FLAG(p_can_obj->control_flags, CTRL_FLAG_TX_BUFF_OCCUPIED);
|
|
CAN_SET_FLAG(p_can_obj->control_flags, CTRL_FLAG_STOPPED);
|
|
|
|
//Reset TX Queue and message count
|
|
if (p_can_obj->tx_queue != NULL) {
|
|
xQueueReset(p_can_obj->tx_queue);
|
|
}
|
|
p_can_obj->tx_msg_count = 0;
|
|
|
|
CAN_EXIT_CRITICAL();
|
|
|
|
return ESP_OK;
|
|
}
|
|
|
|
esp_err_t can_transmit(const can_message_t *message, TickType_t ticks_to_wait)
|
|
{
|
|
//Check arguments
|
|
CAN_CHECK(p_can_obj != NULL, ESP_ERR_INVALID_STATE);
|
|
CAN_CHECK(message != NULL, ESP_ERR_INVALID_ARG);
|
|
CAN_CHECK((message->data_length_code <= CAN_FRAME_MAX_DLC) || message->dlc_non_comp, ESP_ERR_INVALID_ARG);
|
|
|
|
CAN_ENTER_CRITICAL();
|
|
//Check State
|
|
CAN_CHECK_FROM_CRIT(!(p_can_obj->mode == CAN_MODE_LISTEN_ONLY), ESP_ERR_NOT_SUPPORTED);
|
|
CAN_CHECK_FROM_CRIT(!(p_can_obj->control_flags & (CTRL_FLAG_STOPPED | CTRL_FLAG_BUS_OFF)), ESP_ERR_INVALID_STATE);
|
|
//Format frame
|
|
esp_err_t ret = ESP_FAIL;
|
|
can_hal_frame_t tx_frame;
|
|
can_hal_format_frame(message, &tx_frame);
|
|
|
|
//Check if frame can be sent immediately
|
|
if ((p_can_obj->tx_msg_count == 0) && !(p_can_obj->control_flags & CTRL_FLAG_TX_BUFF_OCCUPIED)) {
|
|
//No other frames waiting to transmit. Bypass queue and transmit immediately
|
|
can_hal_set_tx_buffer_and_transmit(&can_context, &tx_frame);
|
|
p_can_obj->tx_msg_count++;
|
|
CAN_SET_FLAG(p_can_obj->control_flags, CTRL_FLAG_TX_BUFF_OCCUPIED);
|
|
ret = ESP_OK;
|
|
}
|
|
CAN_EXIT_CRITICAL();
|
|
|
|
if (ret != ESP_OK) {
|
|
if (p_can_obj->tx_queue == NULL) {
|
|
//TX Queue is disabled and TX buffer is occupied, message was not sent
|
|
ret = ESP_FAIL;
|
|
} else if (xQueueSend(p_can_obj->tx_queue, &tx_frame, ticks_to_wait) == pdTRUE) {
|
|
//Copied to TX Queue
|
|
CAN_ENTER_CRITICAL();
|
|
if (p_can_obj->control_flags & (CTRL_FLAG_STOPPED | CTRL_FLAG_BUS_OFF)) {
|
|
//TX queue was reset (due to stop/bus_off), remove copied frame from queue to prevent transmission
|
|
int res = xQueueReceive(p_can_obj->tx_queue, &tx_frame, 0);
|
|
assert(res == pdTRUE);
|
|
ret = ESP_ERR_INVALID_STATE;
|
|
} else if ((p_can_obj->tx_msg_count == 0) && !(p_can_obj->control_flags & CTRL_FLAG_TX_BUFF_OCCUPIED)) {
|
|
//TX buffer was freed during copy, manually trigger transmission
|
|
int res = xQueueReceive(p_can_obj->tx_queue, &tx_frame, 0);
|
|
assert(res == pdTRUE);
|
|
can_hal_set_tx_buffer_and_transmit(&can_context, &tx_frame);
|
|
p_can_obj->tx_msg_count++;
|
|
CAN_SET_FLAG(p_can_obj->control_flags, CTRL_FLAG_TX_BUFF_OCCUPIED);
|
|
ret = ESP_OK;
|
|
} else {
|
|
//Frame was copied to queue, waiting to be transmitted
|
|
p_can_obj->tx_msg_count++;
|
|
ret = ESP_OK;
|
|
}
|
|
CAN_EXIT_CRITICAL();
|
|
} else {
|
|
//Timed out waiting for free space on TX queue
|
|
ret = ESP_ERR_TIMEOUT;
|
|
}
|
|
}
|
|
return ret;
|
|
}
|
|
|
|
esp_err_t can_receive(can_message_t *message, TickType_t ticks_to_wait)
|
|
{
|
|
//Check arguments and state
|
|
CAN_CHECK(p_can_obj != NULL, ESP_ERR_INVALID_STATE);
|
|
CAN_CHECK(message != NULL, ESP_ERR_INVALID_ARG);
|
|
|
|
//Get frame from RX Queue or RX Buffer
|
|
can_hal_frame_t rx_frame;
|
|
if (xQueueReceive(p_can_obj->rx_queue, &rx_frame, ticks_to_wait) != pdTRUE) {
|
|
return ESP_ERR_TIMEOUT;
|
|
}
|
|
|
|
CAN_ENTER_CRITICAL();
|
|
p_can_obj->rx_msg_count--;
|
|
CAN_EXIT_CRITICAL();
|
|
|
|
//Decode frame
|
|
can_hal_parse_frame(&rx_frame, message);
|
|
return ESP_OK;
|
|
}
|
|
|
|
esp_err_t can_read_alerts(uint32_t *alerts, TickType_t ticks_to_wait)
|
|
{
|
|
//Check arguments and state
|
|
CAN_CHECK(p_can_obj != NULL, ESP_ERR_INVALID_STATE);
|
|
CAN_CHECK(alerts != NULL, ESP_ERR_INVALID_ARG);
|
|
|
|
//Wait for an alert to occur
|
|
if (xSemaphoreTake(p_can_obj->alert_semphr, ticks_to_wait) == pdTRUE) {
|
|
CAN_ENTER_CRITICAL();
|
|
*alerts = p_can_obj->alerts_triggered;
|
|
p_can_obj->alerts_triggered = 0; //Clear triggered alerts
|
|
CAN_EXIT_CRITICAL();
|
|
return ESP_OK;
|
|
} else {
|
|
*alerts = 0;
|
|
return ESP_ERR_TIMEOUT;
|
|
}
|
|
}
|
|
|
|
esp_err_t can_reconfigure_alerts(uint32_t alerts_enabled, uint32_t *current_alerts)
|
|
{
|
|
CAN_CHECK(p_can_obj != NULL, ESP_ERR_INVALID_STATE);
|
|
|
|
CAN_ENTER_CRITICAL();
|
|
//Clear any unhandled alerts
|
|
if (current_alerts != NULL) {
|
|
*current_alerts = p_can_obj->alerts_triggered;;
|
|
}
|
|
p_can_obj->alerts_triggered = 0;
|
|
p_can_obj->alerts_enabled = alerts_enabled; //Update enabled alerts
|
|
CAN_EXIT_CRITICAL();
|
|
|
|
return ESP_OK;
|
|
}
|
|
|
|
esp_err_t can_initiate_recovery(void)
|
|
{
|
|
CAN_ENTER_CRITICAL();
|
|
//Check state
|
|
CAN_CHECK_FROM_CRIT(p_can_obj != NULL, ESP_ERR_INVALID_STATE);
|
|
CAN_CHECK_FROM_CRIT(p_can_obj->control_flags & CTRL_FLAG_BUS_OFF, ESP_ERR_INVALID_STATE);
|
|
CAN_CHECK_FROM_CRIT(!(p_can_obj->control_flags & CTRL_FLAG_RECOVERING), ESP_ERR_INVALID_STATE);
|
|
|
|
//Reset TX Queue/Counters
|
|
if (p_can_obj->tx_queue != NULL) {
|
|
xQueueReset(p_can_obj->tx_queue);
|
|
}
|
|
p_can_obj->tx_msg_count = 0;
|
|
CAN_RESET_FLAG(p_can_obj->control_flags, CTRL_FLAG_TX_BUFF_OCCUPIED);
|
|
CAN_SET_FLAG(p_can_obj->control_flags, CTRL_FLAG_RECOVERING);
|
|
|
|
//Trigger start of recovery process
|
|
assert(can_hal_start_bus_recovery(&can_context));
|
|
CAN_EXIT_CRITICAL();
|
|
|
|
return ESP_OK;
|
|
}
|
|
|
|
esp_err_t can_get_status_info(can_status_info_t *status_info)
|
|
{
|
|
//Check parameters and state
|
|
CAN_CHECK(p_can_obj != NULL, ESP_ERR_INVALID_STATE);
|
|
CAN_CHECK(status_info != NULL, ESP_ERR_INVALID_ARG);
|
|
|
|
CAN_ENTER_CRITICAL();
|
|
status_info->tx_error_counter = can_hal_get_tec(&can_context);
|
|
status_info->rx_error_counter = can_hal_get_rec(&can_context);
|
|
status_info->msgs_to_tx = p_can_obj->tx_msg_count;
|
|
status_info->msgs_to_rx = p_can_obj->rx_msg_count;
|
|
status_info->tx_failed_count = p_can_obj->tx_failed_count;
|
|
status_info->rx_missed_count = p_can_obj->rx_missed_count;
|
|
status_info->arb_lost_count = p_can_obj->arb_lost_count;
|
|
status_info->bus_error_count = p_can_obj->bus_error_count;
|
|
if (p_can_obj->control_flags & CTRL_FLAG_RECOVERING) {
|
|
status_info->state = CAN_STATE_RECOVERING;
|
|
} else if (p_can_obj->control_flags & CTRL_FLAG_BUS_OFF) {
|
|
status_info->state = CAN_STATE_BUS_OFF;
|
|
} else if (p_can_obj->control_flags & CTRL_FLAG_STOPPED) {
|
|
status_info->state = CAN_STATE_STOPPED;
|
|
} else {
|
|
status_info->state = CAN_STATE_RUNNING;
|
|
}
|
|
CAN_EXIT_CRITICAL();
|
|
|
|
return ESP_OK;
|
|
}
|
|
|
|
esp_err_t can_clear_transmit_queue(void)
|
|
{
|
|
//Check State
|
|
CAN_CHECK(p_can_obj != NULL, ESP_ERR_INVALID_STATE);
|
|
CAN_CHECK(p_can_obj->tx_queue != NULL, ESP_ERR_NOT_SUPPORTED);
|
|
|
|
CAN_ENTER_CRITICAL();
|
|
//If a message is currently undergoing transmission, the tx interrupt handler will decrement tx_msg_count
|
|
p_can_obj->tx_msg_count = (p_can_obj->control_flags & CTRL_FLAG_TX_BUFF_OCCUPIED) ? 1 : 0;
|
|
xQueueReset(p_can_obj->tx_queue);
|
|
CAN_EXIT_CRITICAL();
|
|
|
|
return ESP_OK;
|
|
}
|
|
|
|
esp_err_t can_clear_receive_queue(void)
|
|
{
|
|
//Check State
|
|
CAN_CHECK(p_can_obj != NULL, ESP_ERR_INVALID_STATE);
|
|
|
|
CAN_ENTER_CRITICAL();
|
|
p_can_obj->rx_msg_count = 0;
|
|
xQueueReset(p_can_obj->rx_queue);
|
|
CAN_EXIT_CRITICAL();
|
|
|
|
return ESP_OK;
|
|
}
|
|
#endif
|