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No more infinite while loops in CAN init (commaai#499)
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@robbederks
robbederks authored Apr 14, 2020
1 parent 6c442b4 commit ccf13b7
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Showing 4 changed files with 113 additions and 73 deletions.
34 changes: 18 additions & 16 deletions board/drivers/can.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -26,7 +26,7 @@ extern uint32_t can_speed[4];

void can_set_forwarding(int from, int to);

void can_init(uint8_t can_number);
bool can_init(uint8_t can_number);
void can_init_all(void);
bool can_tx_check_min_slots_free(uint32_t min);
void can_send(CAN_FIFOMailBox_TypeDef *to_push, uint8_t bus_number, bool skip_tx_hook);
Expand Down Expand Up @@ -148,27 +148,26 @@ uint32_t can_speed[] = {5000, 5000, 5000, 333};

#define CANIF_FROM_CAN_NUM(num) (cans[num])
#define CAN_NUM_FROM_CANIF(CAN) ((CAN)==CAN1 ? 0 : ((CAN) == CAN2 ? 1 : 2))
#define CAN_NAME_FROM_CANIF(CAN) ((CAN)==CAN1 ? "CAN1" : ((CAN) == CAN2 ? "CAN2" : "CAN3"))
#define BUS_NUM_FROM_CAN_NUM(num) (bus_lookup[num])
#define CAN_NUM_FROM_BUS_NUM(num) (can_num_lookup[num])

void process_can(uint8_t can_number);

void can_set_speed(uint8_t can_number) {
bool can_set_speed(uint8_t can_number) {
bool ret = true;
CAN_TypeDef *CAN = CANIF_FROM_CAN_NUM(can_number);
uint8_t bus_number = BUS_NUM_FROM_CAN_NUM(can_number);

if (!llcan_set_speed(CAN, can_speed[bus_number], can_loopback, (unsigned int)(can_silent) & (1U << can_number))) {
puts("CAN init FAILED!!!!!\n");
puth(can_number); puts(" ");
puth(BUS_NUM_FROM_CAN_NUM(can_number)); puts("\n");
}
ret &= llcan_set_speed(CAN, can_speed[bus_number], can_loopback, (unsigned int)(can_silent) & (1U << can_number));
return ret;
}

void can_init_all(void) {
bool ret = true;
for (uint8_t i=0U; i < CAN_MAX; i++) {
can_init(i);
ret &= can_init(i);
}
UNUSED(ret);
}

void can_flip_buses(uint8_t bus1, uint8_t bus2){
Expand All @@ -194,7 +193,8 @@ void can_set_gmlan(uint8_t bus) {
bus_lookup[prev_bus] = prev_bus;
can_num_lookup[prev_bus] = prev_bus;
can_num_lookup[3] = -1;
can_init(prev_bus);
bool ret = can_init(prev_bus);
UNUSED(ret);
break;
default:
// GMLAN was not set on either BUS 1 or 2
Expand All @@ -213,7 +213,8 @@ void can_set_gmlan(uint8_t bus) {
bus_lookup[bus] = 3;
can_num_lookup[bus] = -1;
can_num_lookup[3] = bus;
can_init(bus);
bool ret = can_init(bus);
UNUSED(ret);
break;
case 0xFF: //-1 unsigned
break;
Expand Down Expand Up @@ -447,7 +448,9 @@ void can_set_forwarding(int from, int to) {
can_forwarding[from] = to;
}

void can_init(uint8_t can_number) {
bool can_init(uint8_t can_number) {
bool ret = false;

REGISTER_INTERRUPT(CAN1_TX_IRQn, CAN1_TX_IRQ_Handler, CAN_INTERRUPT_RATE, FAULT_INTERRUPT_RATE_CAN_1)
REGISTER_INTERRUPT(CAN1_RX0_IRQn, CAN1_RX0_IRQ_Handler, CAN_INTERRUPT_RATE, FAULT_INTERRUPT_RATE_CAN_1)
REGISTER_INTERRUPT(CAN1_SCE_IRQn, CAN1_SCE_IRQ_Handler, CAN_INTERRUPT_RATE, FAULT_INTERRUPT_RATE_CAN_1)
Expand All @@ -460,12 +463,11 @@ void can_init(uint8_t can_number) {

if (can_number != 0xffU) {
CAN_TypeDef *CAN = CANIF_FROM_CAN_NUM(can_number);
can_set_speed(can_number);

llcan_init(CAN);

ret &= can_set_speed(can_number);
ret &= llcan_init(CAN);
// in case there are queued up messages
process_can(can_number);
}
return ret;
}

146 changes: 91 additions & 55 deletions board/drivers/llcan.h
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Original file line number Diff line number Diff line change
Expand Up @@ -15,78 +15,114 @@
#define GET_BYTES_04(msg) ((msg)->RDLR)
#define GET_BYTES_48(msg) ((msg)->RDHR)

#define CAN_INIT_TIMEOUT_MS 500U
#define CAN_NAME_FROM_CANIF(CAN_DEV) (((CAN_DEV)==CAN1) ? "CAN1" : (((CAN_DEV) == CAN2) ? "CAN2" : "CAN3"))

void puts(const char *a);

bool llcan_set_speed(CAN_TypeDef *CAN_obj, uint32_t speed, bool loopback, bool silent) {
bool ret = true;

// initialization mode
register_set(&(CAN_obj->MCR), CAN_MCR_TTCM | CAN_MCR_INRQ, 0x180FFU);
while((CAN_obj->MSR & CAN_MSR_INAK) != CAN_MSR_INAK);

// set time quanta from defines
register_set(&(CAN_obj->BTR), ((CAN_BTR_TS1_0 * (CAN_SEQ1-1)) |
(CAN_BTR_TS2_0 * (CAN_SEQ2-1)) |
(can_speed_to_prescaler(speed) - 1U)), 0xC37F03FFU);

// silent loopback mode for debugging
if (loopback) {
register_set_bits(&(CAN_obj->BTR), CAN_BTR_SILM | CAN_BTR_LBKM);
}
if (silent) {
register_set_bits(&(CAN_obj->BTR), CAN_BTR_SILM);
uint32_t timeout_counter = 0U;
while((CAN_obj->MSR & CAN_MSR_INAK) != CAN_MSR_INAK){
// Delay for about 1ms
delay(10000);
timeout_counter++;

if(timeout_counter >= CAN_INIT_TIMEOUT_MS){
puts(CAN_NAME_FROM_CANIF(CAN_obj)); puts(" set_speed timed out (1)!\n");
ret = false;
}
}

// reset
register_set(&(CAN_obj->MCR), CAN_MCR_TTCM | CAN_MCR_ABOM, 0x180FFU);

#define CAN_TIMEOUT 1000000
int tmp = 0;
bool ret = false;
while(((CAN_obj->MSR & CAN_MSR_INAK) == CAN_MSR_INAK) && (tmp < CAN_TIMEOUT)) tmp++;
if (tmp < CAN_TIMEOUT) {
ret = true;
if(ret){
// set time quanta from defines
register_set(&(CAN_obj->BTR), ((CAN_BTR_TS1_0 * (CAN_SEQ1-1)) |
(CAN_BTR_TS2_0 * (CAN_SEQ2-1)) |
(can_speed_to_prescaler(speed) - 1U)), 0xC37F03FFU);

// silent loopback mode for debugging
if (loopback) {
register_set_bits(&(CAN_obj->BTR), CAN_BTR_SILM | CAN_BTR_LBKM);
}
if (silent) {
register_set_bits(&(CAN_obj->BTR), CAN_BTR_SILM);
}

// reset
register_set(&(CAN_obj->MCR), CAN_MCR_TTCM | CAN_MCR_ABOM, 0x180FFU);

timeout_counter = 0U;
while(((CAN_obj->MSR & CAN_MSR_INAK) == CAN_MSR_INAK)) {
// Delay for about 1ms
delay(10000);
timeout_counter++;

if(timeout_counter >= CAN_INIT_TIMEOUT_MS){
puts(CAN_NAME_FROM_CANIF(CAN_obj)); puts(" set_speed timed out (2)!\n");
ret = false;
}
}
}

return ret;
}

void llcan_init(CAN_TypeDef *CAN_obj) {
bool llcan_init(CAN_TypeDef *CAN_obj) {
bool ret = true;

// Enter init mode
register_set_bits(&(CAN_obj->FMR), CAN_FMR_FINIT);

// Wait for INAK bit to be set
while(((CAN_obj->MSR & CAN_MSR_INAK) == CAN_MSR_INAK)) {}

// no mask
// For some weird reason some of these registers do not want to set properly on CAN2 and CAN3. Probably something to do with the single/dual mode and their different filters.
CAN_obj->sFilterRegister[0].FR1 = 0U;
CAN_obj->sFilterRegister[0].FR2 = 0U;
CAN_obj->sFilterRegister[14].FR1 = 0U;
CAN_obj->sFilterRegister[14].FR2 = 0U;
CAN_obj->FA1R |= 1U | (1U << 14);

// Exit init mode, do not wait
register_clear_bits(&(CAN_obj->FMR), CAN_FMR_FINIT);

// enable certain CAN interrupts
register_set_bits(&(CAN_obj->IER), CAN_IER_TMEIE | CAN_IER_FMPIE0 | CAN_IER_WKUIE);

if (CAN_obj == CAN1) {
NVIC_EnableIRQ(CAN1_TX_IRQn);
NVIC_EnableIRQ(CAN1_RX0_IRQn);
NVIC_EnableIRQ(CAN1_SCE_IRQn);
} else if (CAN_obj == CAN2) {
NVIC_EnableIRQ(CAN2_TX_IRQn);
NVIC_EnableIRQ(CAN2_RX0_IRQn);
NVIC_EnableIRQ(CAN2_SCE_IRQn);
#ifdef CAN3
} else if (CAN_obj == CAN3) {
NVIC_EnableIRQ(CAN3_TX_IRQn);
NVIC_EnableIRQ(CAN3_RX0_IRQn);
NVIC_EnableIRQ(CAN3_SCE_IRQn);
#endif
} else {
puts("Invalid CAN: initialization failed\n");
uint32_t timeout_counter = 0U;
while(((CAN_obj->MSR & CAN_MSR_INAK) == CAN_MSR_INAK)) {
// Delay for about 1ms
delay(10000);
timeout_counter++;

if(timeout_counter >= CAN_INIT_TIMEOUT_MS){
puts(CAN_NAME_FROM_CANIF(CAN_obj)); puts(" initialization timed out!\n");
ret = false;
}
}

if(ret){
// no mask
// For some weird reason some of these registers do not want to set properly on CAN2 and CAN3. Probably something to do with the single/dual mode and their different filters.
CAN_obj->sFilterRegister[0].FR1 = 0U;
CAN_obj->sFilterRegister[0].FR2 = 0U;
CAN_obj->sFilterRegister[14].FR1 = 0U;
CAN_obj->sFilterRegister[14].FR2 = 0U;
CAN_obj->FA1R |= 1U | (1U << 14);

// Exit init mode, do not wait
register_clear_bits(&(CAN_obj->FMR), CAN_FMR_FINIT);

// enable certain CAN interrupts
register_set_bits(&(CAN_obj->IER), CAN_IER_TMEIE | CAN_IER_FMPIE0 | CAN_IER_WKUIE);

if (CAN_obj == CAN1) {
NVIC_EnableIRQ(CAN1_TX_IRQn);
NVIC_EnableIRQ(CAN1_RX0_IRQn);
NVIC_EnableIRQ(CAN1_SCE_IRQn);
} else if (CAN_obj == CAN2) {
NVIC_EnableIRQ(CAN2_TX_IRQn);
NVIC_EnableIRQ(CAN2_RX0_IRQn);
NVIC_EnableIRQ(CAN2_SCE_IRQn);
#ifdef CAN3
} else if (CAN_obj == CAN3) {
NVIC_EnableIRQ(CAN3_TX_IRQn);
NVIC_EnableIRQ(CAN3_RX0_IRQn);
NVIC_EnableIRQ(CAN3_SCE_IRQn);
#endif
} else {
puts("Invalid CAN: initialization failed\n");
}
}
return ret;
}

void llcan_clear_send(CAN_TypeDef *CAN_obj) {
Expand Down
3 changes: 2 additions & 1 deletion board/main.c
View file
Original file line number Diff line number Diff line change
Expand Up @@ -472,7 +472,8 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
case 0xde:
if (setup->b.wValue.w < BUS_MAX) {
can_speed[setup->b.wValue.w] = setup->b.wIndex.w;
can_init(CAN_NUM_FROM_BUS_NUM(setup->b.wValue.w));
bool ret = can_init(CAN_NUM_FROM_BUS_NUM(setup->b.wValue.w));
UNUSED(ret);
}
break;
// **** 0xdf: set unsafe mode
Expand Down
3 changes: 2 additions & 1 deletion board/pedal/main.c
View file
Original file line number Diff line number Diff line change
Expand Up @@ -316,7 +316,8 @@ int main(void) {
puts("Failed to set llcan speed");
}

llcan_init(CAN1);
bool ret = llcan_init(CAN1);
UNUSED(ret);

// 48mhz / 65536 ~= 732
timer_init(TIM3, 15);
Expand Down

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