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Fix: correctly pass-through received frames with both standard and extended CAN id #13

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merged 6 commits into from
Oct 3, 2023
Merged

Fix: correctly pass-through received frames with both standard and extended CAN id #13

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a23eeb3
Fix: previous code only supported 0-8 bits, everything longer was a bug.
aentinger Oct 3, 2023
c7e30a0
Define x8h7_can_message and encode CAN packet accordingly - this time…
aentinger Oct 3, 2023
facb009
Directly use x8h7_can_message type to receive CAN frames from the RX …
aentinger Oct 3, 2023
fe1cd9a
Fix: always make sure that we have enough memory allocated to receive…
aentinger Oct 3, 2023
d205390
Rebane "CAN_FRAME_MAX_DATA_LEN" to "X8H7_CAN_FRAME_MAX_DATA_LEN".
aentinger Oct 3, 2023
5033444
Fully eliminate mbed based CAN_Message - now both the x8h7_can driver…
aentinger Oct 3, 2023
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35 changes: 26 additions & 9 deletions include/can_api.h
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Original file line number Diff line number Diff line change
Expand Up @@ -24,10 +24,25 @@
extern "C" {
#endif

/**************************************************************************************
* INCLUDE
**************************************************************************************/

#include <inttypes.h>

#include "can_util.h"

/**************************************************************************************
* DEFINE
**************************************************************************************/

#define X8H7_CAN_HEADER_SIZE 5
#define X8H7_CAN_FRAME_MAX_DATA_LEN 8

/**************************************************************************************
* TYPEDEF
**************************************************************************************/

typedef enum
{
CANStandard = 0,
Expand All @@ -41,14 +56,16 @@ typedef enum
CANRemote = 1
} CANType;

typedef struct __attribute__((packed, aligned(4)))
union x8h7_can_message
{
unsigned int id; // 29 bit identifier
unsigned char len; // Length of data field in bytes
unsigned char data[8]; // Data field
CANFormat format; // Format ::CANFormat
CANType type; // Type ::CANType
} CAN_Message;
struct __attribute__((packed))
{
uint32_t id; // 29 bit identifier
uint8_t len; // Length of data field in bytes
uint8_t data[X8H7_CAN_FRAME_MAX_DATA_LEN]; // Data field
} field;
uint8_t buf[X8H7_CAN_HEADER_SIZE + X8H7_CAN_FRAME_MAX_DATA_LEN];
};

typedef enum {
MODE_RESET,
Expand Down Expand Up @@ -77,8 +94,8 @@ void can_handle_data();
void can_init(can_t *obj, CANName peripheral, CanNominalBitTimingResult const can_bit_timing);
int can_frequency(can_t *obj, uint32_t const can_bitrate);

int can_write(can_t *obj, CAN_Message);
int can_read(can_t *obj, CAN_Message *msg);
int can_write(can_t *obj, union x8h7_can_message const * msg);
int can_read(can_t *obj, union x8h7_can_message *msg);
int can_mode(can_t *obj, CanMode mode);
int can_filter(can_t *obj, uint32_t id, uint32_t mask, CANFormat format, int32_t handle);
void can_reset(can_t *obj);
Expand Down
124 changes: 57 additions & 67 deletions src/can.c
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Original file line number Diff line number Diff line change
Expand Up @@ -227,27 +227,15 @@ void fdcan1_handler(uint8_t opcode, uint8_t *data, uint16_t size) {
}
else if (opcode == CAN_TX_FRAME)
{
CAN_Message msg;
union x8h7_can_message msg;
memcpy(&msg, data, size);

msg.type = CANData;

if (msg.id & CAN_EFF_FLAG) {
msg.id &= CAN_EFF_MASK;
msg.format = CANExtended;
}
else {
msg.id &= CAN_SFF_MASK;
msg.format = CANStandard;
}

dbg_printf("fdcan1_handler: sending CAN message to %x, size %d, content[0]=0x%02X\n", msg.id, msg.len, msg.data[0]);

if (!can_write(&fdcan_1, msg))
{
can_reset(&fdcan_1);
}
} else {
if (!can_write(&fdcan_1, &msg))
can_reset(&fdcan_1);
}
else {
dbg_printf("fdcan1_handler: error invalid opcode (:%d)\n", opcode);
}
}
Expand Down Expand Up @@ -275,27 +263,15 @@ void fdcan2_handler(uint8_t opcode, uint8_t *data, uint16_t size) {
}
else if (opcode == CAN_TX_FRAME)
{
CAN_Message msg;
union x8h7_can_message msg;
memcpy(&msg, data, size);

msg.type = CANData;

if (msg.id & CAN_EFF_FLAG) {
msg.id &= CAN_EFF_MASK;
msg.format = CANExtended;
}
else {
msg.id &= CAN_SFF_MASK;
msg.format = CANStandard;
}

dbg_printf("fdcan2_handler: sending CAN message to %x, size %d, content[0]=0x%02X\n", msg.id, msg.len, msg.data[0]);

if (!can_write(&fdcan_2, msg))
{
can_reset(&fdcan_2);
}
} else {
if (!can_write(&fdcan_2, &msg))
can_reset(&fdcan_2);
}
else {
dbg_printf("fdcan2_handler: error invalid opcode (:%d)\n", opcode);
}
}
Expand Down Expand Up @@ -326,15 +302,17 @@ void canInit()
register_peripheral_callback(PERIPH_FDCAN2, &fdcan2_handler);
}

void can_handle_data() {
CAN_Message msg;
if (can_read(&fdcan_1, &msg)) {
enqueue_packet(PERIPH_FDCAN1, DATA, sizeof(msg), &msg);
}
void can_handle_data()
{
union x8h7_can_message msg;

if (can_read(&fdcan_2, &msg)) {
enqueue_packet(PERIPH_FDCAN2, DATA, sizeof(msg), &msg);
}
if (can_read(&fdcan_1, &msg)) {
enqueue_packet(PERIPH_FDCAN1, DATA, sizeof(msg.buf), msg.buf);
}

if (can_read(&fdcan_2, &msg)) {
enqueue_packet(PERIPH_FDCAN2, DATA, sizeof(msg.buf), msg.buf);
}
}

/** Call all the init functions
Expand Down Expand Up @@ -512,20 +490,23 @@ int can_filter(can_t *obj, uint32_t id, uint32_t mask, CANFormat format, int32_t
}


int can_write(can_t *obj, CAN_Message msg)
int can_write(can_t *obj, union x8h7_can_message const * msg)
{
FDCAN_TxHeaderTypeDef TxHeader = {0};

// Configure Tx buffer message
TxHeader.Identifier = msg.id;
if (msg.format == CANStandard) {
TxHeader.IdType = FDCAN_STANDARD_ID;
} else {
TxHeader.IdType = FDCAN_EXTENDED_ID;
}
if (msg->field.id & CAN_EFF_FLAG)
{
TxHeader.IdType = FDCAN_EXTENDED_ID;
TxHeader.Identifier = msg->field.id & CAN_EFF_MASK;
}
else
{
TxHeader.IdType = FDCAN_STANDARD_ID;
TxHeader.Identifier = msg->field.id & CAN_SFF_MASK;
}

TxHeader.TxFrameType = FDCAN_DATA_FRAME;
switch (msg.len)
switch (msg->field.len)
{
default:
case 0: TxHeader.DataLength = FDCAN_DLC_BYTES_0; break;
Expand All @@ -551,7 +532,7 @@ int can_write(can_t *obj, CAN_Message msg)
TxHeader.TxEventFifoControl = FDCAN_STORE_TX_EVENTS;
TxHeader.MessageMarker = 0;

if (HAL_FDCAN_AddMessageToTxFifoQ(&obj->CanHandle, &TxHeader, msg.data) != HAL_OK)
if (HAL_FDCAN_AddMessageToTxFifoQ(&obj->CanHandle, &TxHeader, (uint8_t *)msg->field.data) != HAL_OK)
{
uint32_t const err_code = HAL_FDCAN_GetError(&obj->CanHandle);
printf("error: %ld\n", err_code);
Expand All @@ -570,28 +551,37 @@ int can_write(can_t *obj, CAN_Message msg)
}
}

int can_read(can_t *obj, CAN_Message *msg)
int can_read(can_t *obj, union x8h7_can_message *msg)
{
static const uint8_t DLCtoBytes[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 12, 16, 20, 24, 32, 48, 64};

if (HAL_FDCAN_GetRxFifoFillLevel(&obj->CanHandle, FDCAN_RX_FIFO0) == 0) {
return 0; // No message arrived
}

FDCAN_RxHeaderTypeDef RxHeader = {0};
if (HAL_FDCAN_GetRxMessage(&obj->CanHandle, FDCAN_RX_FIFO0, &RxHeader, msg->data) != HAL_OK) {
error("HAL_FDCAN_GetRxMessage error\n"); // Should not occur as previous HAL_FDCAN_GetRxFifoFillLevel call reported some data
return 0;
}
FDCAN_RxHeaderTypeDef RxHeader = {0};
uint8_t RxData[64] = {0};
if (HAL_FDCAN_GetRxMessage(&obj->CanHandle, FDCAN_RX_FIFO0, &RxHeader, RxData) != HAL_OK)
{
error("HAL_FDCAN_GetRxMessage error\n"); // Should not occur as previous HAL_FDCAN_GetRxFifoFillLevel call reported some data
return 0;
}

if (RxHeader.IdType == FDCAN_STANDARD_ID) {
msg->format = CANStandard;
} else {
msg->format = CANExtended;
}
msg->id = RxHeader.Identifier;
msg->type = (RxHeader.RxFrameType == FDCAN_DATA_FRAME) ? CANData : CANRemote;
msg->len = RxHeader.DataLength >> 16; // see FDCAN_data_length_code value
if (RxHeader.IdType == FDCAN_EXTENDED_ID)
msg->field.id = CAN_EFF_FLAG | (RxHeader.Identifier & CAN_EFF_MASK);
else
msg->field.id = (RxHeader.Identifier & CAN_SFF_MASK);

return 1;
if (RxHeader.RxFrameType == FDCAN_REMOTE_FRAME)
msg->field.id |= CAN_RTR_FLAG;

msg->field.len = DLCtoBytes[RxHeader.DataLength >> 16];
if (msg->field.len > sizeof(msg->field.data))
msg->field.len = sizeof(msg->field.data);

memcpy(msg->field.data, RxData, msg->field.len);

return 1;
}

unsigned char can_rderror(can_t *obj)
Expand Down