diff --git a/f1/can/include/can.h b/f1/can/include/can.h
index 0d65b11d627dc2c0a2e72762879d16a62ed3123e..b1cbd78e66c295111989fa13753c6d5fbfe3ec07 100644
--- a/f1/can/include/can.h
+++ b/f1/can/include/can.h
@@ -4,16 +4,100 @@
#include "stm32f1xx_hal.h"
#include "comm.h"
+typedef struct
+{
+ unsigned char irq_priority;
+ unsigned char irq_subpriority;
+}TCAN_IRQ_Priorities;
+
+typedef enum
+{
+ CAN_10KBPS,
+ CAN_20KBPS,
+ CAN_50KBPS,
+ CAN_83K3BPS,
+ CAN_100KBPS,
+ CAN_125KBPS,
+ CAN_250KBPS,
+ CAN_500KBPS,
+ CAN_1000KBPS
+} CAN_SPEED;
+
+typedef enum
+{
+ VERSION_1,
+ VERSION_2,
+ VERSION_NULL
+} DynamixelVersion;
+
+typedef struct TDynamixelMessage
+{
+ unsigned char received_bytes;
+/**
+ * \brief
+ *
+ */
+ unsigned char rx_buffer[MAX_DYN_SLAVE_RX_BUFFER_LEN];
+/**
+ * \brief
+ *
+ */
+ unsigned char Len_L;
+/**
+ * \brief
+ *
+ */
+ unsigned char Len_H;
+/**
+ * \brief
+ *
+ */
+ unsigned int length;
+/**
+ * \brief
+ *
+ */
+ DynamixelVersion version;
+/**
+ * \brief
+ *
+ */
+ unsigned char packet_init;
+/**
+ * \brief
+ *
+ */
+ unsigned char packet_incomplete;
+/**
+ * \brief
+ *
+ */
+ unsigned char send_packet;
+/**
+ * \brief
+ *
+ */
+ unsigned char iterations;
+/**
+ * \brief
+ *
+ */
+}TDynamixelMessage;
+
/* public functions */
void can_init(TComm *comm_dev,CAN_InitTypeDef *conf,TCAN_IRQ_Priorities *priorities);
void can_config(TComm *comm_dev,CAN_InitTypeDef *conf);
void can_set_priorities(TComm *comm_dev,TCAN_IRQ_Priorities *priorities);
-void can_set_bitrate(TComm *comm_dev,unsigned int bitrate);
-void can_set_filter(TComm *comm_dev,CAN_FilterTypeDef *filter)
+void can_set_bitrate(TComm *comm_dev,CAN_SPEED bitrate);
+void can_set_filter(TComm *comm_dev,CAN_FilterConfTypeDef *filter);
/* IRQ functions */
unsigned char can_send_irq(unsigned char first_byte);
unsigned char can_enable_tx_irq(void);
unsigned char can_receive_irq(void);
unsigned char can_cancel_receive_irq(void);
+/* DMA functions */
+unsigned char can_send_dma(unsigned char *data,unsigned short int length);
+unsigned char can_receive_dma(unsigned char *data,unsigned short int length);
+unsigned char can_cancel_receive_dma(void);
#endif
diff --git a/f1/can/src/can.c b/f1/can/src/can.c
index 0f2894d96e314d65e9a850e5b99685e38366b8fa..c78107c986cde75bdc8a2c966a20bc2fe46d48e8 100644
--- a/f1/can/src/can.c
+++ b/f1/can/src/can.c
@@ -16,13 +16,24 @@
// private variables
CAN_HandleTypeDef CANHandle;
+CAN_FilterConfTypeDef CANFilterConfig;
CanTxMsgTypeDef CAN_txMessage;
CanRxMsgTypeDef CAN_rxMessage;
+
TComm *can_comm_dev;
+unsigned char can_dma_phase;
+unsigned char *can_dma_phase_data;
+unsigned short int can_dma_phase_length;
+unsigned short int can_dma_phase_write_ptr;
+TDynamixelMessage message;
+// 1
void can_init(TComm *comm_dev,CAN_InitTypeDef *conf,TCAN_IRQ_Priorities *priorities)
{
+ CANHandle.Instance = CAN1;
+ can_config(comm_dev,conf);
+
GPIO_InitTypeDef GPIO_InitStructure;
/* Enable GPIO clock */
@@ -37,7 +48,7 @@ void can_init(TComm *comm_dev,CAN_InitTypeDef *conf,TCAN_IRQ_Priorities *priorit
*/
/* Configure CAN Tx and Rx as alternate function push-pull */
GPIO_InitStructure.Pin = CAN_RX_PIN;
- GPIO_InitStructure.Pull = GPIO_PULLDOWN;
+ GPIO_InitStructure.Pull = GPIO_MODE_INPUT;
GPIO_InitStructure.Mode = GPIO_MODE_INPUT;
HAL_GPIO_Init(CAN_RX_GPIO_PORT, &GPIO_InitStructure);
@@ -46,27 +57,65 @@ void can_init(TComm *comm_dev,CAN_InitTypeDef *conf,TCAN_IRQ_Priorities *priorit
GPIO_InitStructure.Speed = GPIO_SPEED_FREQ_HIGH;
HAL_GPIO_Init(CAN_TX_GPIO_PORT, &GPIO_InitStructure);
- _HAL_AFIO_REMAP_CAN1_2();
-
-
- CANHandle.Instance = CAN;
- can_config(comm_dev,conf);
+ __HAL_AFIO_REMAP_CAN1_2();
can_set_priorities(comm_dev,priorities);
+ HAL_CAN_Init(&CANHandle);
+
/* Initialize the comm structure */
comm_dev->send_irq=can_send_irq;
comm_dev->enable_tx_irq=can_enable_tx_irq;
comm_dev->receive_irq=can_receive_irq;
comm_dev->cancel_receive_irq=can_cancel_receive_irq;
+ if(comm_dev->use_dma)
+ {
+ comm_dev->send_dma=can_send_dma;
+ comm_dev->receive_dma=can_receive_dma;
+ comm_dev->cancel_receive_dma=can_cancel_receive_dma;
+ }
comm_dev->irq_send_cb=0x00000000;
comm_dev->irq_receive_cb=0x00000000;
comm_dev->dma_send_cb=0x00000000;
comm_dev->dma_receive_cb=0x00000000;
- /* initialize internal variables */
+ // /* initialize internal variables */
can_comm_dev=comm_dev;
- HAL_CAN_Start(CANHandle);
+
+ can_dma_phase=0x00;
+ can_dma_phase_data=0x00;
+ can_dma_phase_length=0;
+ can_dma_phase_write_ptr=0;
+
+ message.packet_init = 0x00;
+ message.packet_incomplete = 0x00;
+ message.send_packet = 0x00;
+ message.iterations = 0;
+ ///////////////////////////////////////////////////////////////////////////
+ CANFilterConfig.FilterNumber = 0;
+ CANFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
+ CANFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
+ CANFilterConfig.FilterIdHigh = 0x0000;
+ CANFilterConfig.FilterIdLow = 0x0000;
+ CANFilterConfig.FilterMaskIdHigh = 0x0000;
+ CANFilterConfig.FilterMaskIdLow = 0x0000;
+ CANFilterConfig.FilterFIFOAssignment = 0;
+ CANFilterConfig.FilterActivation = ENABLE;
+ CANFilterConfig.BankNumber = 0;
+
+ HAL_CAN_ConfigFilter(&CANHandle, &CANFilterConfig);
+
+
+ CANHandle.pRxMsg = &CAN_rxMessage;
+ CANHandle.pTxMsg = &CAN_txMessage;
+
+ CANHandle.pTxMsg->StdId = 0x321;
+ CANHandle.pTxMsg->ExtId = 0x01;
+ CANHandle.pTxMsg->RTR = CAN_RTR_DATA;
+ CANHandle.pTxMsg->IDE = CAN_ID_STD;
+
+ HAL_CAN_Receive_IT(&CANHandle,CAN_FIFO0);
+
}
void can_config(TComm *comm_dev,CAN_InitTypeDef *conf)
@@ -82,7 +131,6 @@ void can_config(TComm *comm_dev,CAN_InitTypeDef *conf)
CANHandle.Init.NART = conf->NART;
CANHandle.Init.RFLM = conf->RFLM;
CANHandle.Init.TXFP = conf->TXFP;
- HAL_CAN_Init(&CANHandle);
}
void can_set_priorities(TComm *comm_dev,TCAN_IRQ_Priorities *priorities)
@@ -95,77 +143,268 @@ void can_set_priorities(TComm *comm_dev,TCAN_IRQ_Priorities *priorities)
void can_set_bitrate(TComm *comm_dev,CAN_SPEED bitrate)
{
- switch (CAN_SPEED) {
+ switch (bitrate) {
case CAN_10KBPS:
CANHandle.Init.Prescaler = 225;
- CANHandle.Init.TimeSeg1 = 13;
- CANHandle.Init.TimeSeg2 = 2;
- CANHandle.Init.SyncJumpWidth = 1;
+ CANHandle.Init.BS1 = CAN_BS1_13TQ;
+ CANHandle.Init.BS2 = CAN_BS2_2TQ;
+ CANHandle.Init.SJW = CAN_SJW_1TQ;
break;
case CAN_20KBPS:
CANHandle.Init.Prescaler = 100;
- CANHandle.Init.TimeSeg1 = 15;
- CANHandle.Init.TimeSeg2 = 2;
- CANHandle.Init.SyncJumpWidth = 1;
+ CANHandle.Init.BS1 = CAN_BS1_15TQ;
+ CANHandle.Init.BS2 = CAN_BS2_2TQ;
+ CANHandle.Init.SJW = CAN_SJW_1TQ;
break;
case CAN_50KBPS:
CANHandle.Init.Prescaler = 45;
- CANHandle.Init.TimeSeg1 = 13;
- CANHandle.Init.TimeSeg2 = 2;
- CANHandle.Init.SyncJumpWidth = 1;
+ CANHandle.Init.BS1 = CAN_BS1_13TQ;
+ CANHandle.Init.BS2 = CAN_BS2_2TQ;
+ CANHandle.Init.SJW = CAN_SJW_1TQ;
break;
case CAN_83K3BPS:
CANHandle.Init.Prescaler = 27;
- CANHandle.Init.TimeSeg1 = 13;
- CANHandle.Init.TimeSeg2 = 2;
- CANHandle.Init.SyncJumpWidth = 1;
+ CANHandle.Init.BS1 = CAN_BS1_13TQ;
+ CANHandle.Init.BS2 = CAN_BS2_2TQ;
+ CANHandle.Init.SJW = CAN_SJW_1TQ;
break;
case CAN_100KBPS:
CANHandle.Init.Prescaler = 20;
- CANHandle.Init.TimeSeg1 = 15;
- CANHandle.Init.TimeSeg2 = 2;
- CANHandle.Init.SyncJumpWidth = 1;
+ CANHandle.Init.BS1 = CAN_BS1_15TQ;
+ CANHandle.Init.BS2 = CAN_BS2_2TQ;
+ CANHandle.Init.SJW = CAN_SJW_1TQ;
break;
case CAN_125KBPS:
CANHandle.Init.Prescaler = 18;
- CANHandle.Init.TimeSeg1 = 13;
- CANHandle.Init.TimeSeg2 = 2;
- CANHandle.Init.SyncJumpWidth = 1;
+ CANHandle.Init.BS1 = CAN_BS1_13TQ;
+ CANHandle.Init.BS2 = CAN_BS2_2TQ;
+ CANHandle.Init.SJW = CAN_SJW_1TQ;
break;
case CAN_250KBPS:
CANHandle.Init.Prescaler = 9;
- CANHandle.Init.TimeSeg1 = 13;
- CANHandle.Init.TimeSeg2 = 2;
- CANHandle.Init.SyncJumpWidth = 1;
+ CANHandle.Init.BS1 = CAN_BS1_13TQ;
+ CANHandle.Init.BS2 = CAN_BS2_2TQ;
+ CANHandle.Init.SJW = CAN_SJW_1TQ;
break;
case CAN_500KBPS:
CANHandle.Init.Prescaler = 4;
- CANHandle.Init.TimeSeg1 = 15;
- CANHandle.Init.TimeSeg2 = 2;
- CANHandle.Init.SyncJumpWidth = 1;
+ CANHandle.Init.BS1 = CAN_BS1_15TQ;
+ CANHandle.Init.BS2 = CAN_BS2_2TQ;
+ CANHandle.Init.SJW = CAN_SJW_1TQ;
break;
case CAN_1000KBPS:
CANHandle.Init.Prescaler = 2;
- CANHandle.Init.TimeSeg1 = 15;
- CANHandle.Init.TimeSeg2 = 2;
- CANHandle.Init.SyncJumpWidth = 1;
+ CANHandle.Init.BS1 = CAN_BS1_15TQ;
+ CANHandle.Init.BS2 = CAN_BS2_2TQ;
+ CANHandle.Init.SJW = CAN_SJW_1TQ;
break;
}
}
-void can_set_filter(TComm *comm_dev,CAN_FilterTypeDef *filter)
+void can_set_filter(TComm *comm_dev,CAN_FilterConfTypeDef *filter)
{
- HAL_CAN_ConfigFilter(&CANHandle, &filter);
+ HAL_CAN_ConfigFilter(&CANHandle, filter);
HAL_CAN_Receive_IT(&CANHandle,CAN_FIFO0);
}
+void HAL_CAN_ErrorCallback(CAN_HandleTypeDef *CANHandle)
+{
+ HAL_CAN_Receive_IT(CANHandle,CAN_FIFO0);
+ // HAL_GPIO_TogglePin(GPIOA, GPIO_PIN_4);
+}
+
+void HAL_CAN_TxCpltCallback(CAN_HandleTypeDef* CANHandle)
+{
+ // HAL_GPIO_TogglePin(GPIOA, GPIO_PIN_4);
+}
+
+void HAL_CAN_RxCpltCallback(CAN_HandleTypeDef* CANHandle)
+{
+ // for (int i = 0; i<10; i++){
+ // HAL_GPIO_TogglePin(GPIOA, GPIO_PIN_4);
+ // for (int i = 0; i<100000; i++){;}
+ // }
+
+ for(uint8_t i=0;i<CAN_rxMessage.DLC;i++)
+ {
+ if(!can_dma_phase)
+ comm_do_irq_receive(can_comm_dev,CAN_rxMessage.Data[i]);
+ else
+ {
+ can_dma_phase_data[can_dma_phase_write_ptr]=CAN_rxMessage.Data[i];
+ can_dma_phase_length--;
+ can_dma_phase_write_ptr++;
+ if(can_dma_phase_length==0)
+ comm_do_dma_receive(can_comm_dev);
+ }
+ }
+ HAL_CAN_Receive_IT(CANHandle,CAN_FIFO0);
+ // message.received_bytes = 0;
+ // if(!message.packet_init)
+ // {
+ // if (CAN_rxMessage.DLC<6)
+ // {
+ // message.Len_L = 0x00;
+ // message.Len_H = 0x00;
+ // message.length = 0x00;
+ // message.packet_init = 0x00;
+ // message.packet_incomplete = 0x00;
+ // message.send_packet = 0x00;
+ // message.version = VERSION_NULL;
+ // }
+ // else
+ // {
+ // for(uint8_t i=0;i<CAN_rxMessage.DLC;i++)
+ // {
+ // uint8_t byte = CAN_rxMessage.Data[i];
+ //
+ // switch(message.received_bytes)
+ // {
+ // case 0: if(byte==0xFF)
+ // {
+ // message.rx_buffer[message.received_bytes]=byte;
+ // message.received_bytes++;
+ // }
+ // break;
+ // case 1: if(byte==0xFF)
+ // {
+ // message.rx_buffer[message.received_bytes]=byte;
+ // message.received_bytes++;
+ // }
+ // else
+ // message.received_bytes--;
+ // break;
+ // case 2: message.rx_buffer[message.received_bytes]=byte; //ID vs 0xFD
+ // message.received_bytes++;
+ // break;
+ // case 3: if(byte!=0x00) //Length vs 0x00
+ // {
+ // message.version = VERSION_1;
+ // message.Len_L = byte;
+ // message.length = byte+4;
+ // message.packet_init = 0x01;
+ // message.rx_buffer[message.received_bytes] = byte;
+ // }
+ // else
+ // {
+ // message.version = VERSION_2;
+ // }
+ // message.received_bytes++;
+ // break;
+ // case 4: if (message.version == VERSION_2) //Instruction vs ID
+ // {
+ // message.rx_buffer[message.received_bytes] = byte;
+ // }
+ // message.received_bytes++;
+ // break;
+ // case 5: if (message.version == VERSION_2) //Pn vs Len_L
+ // {
+ // message.rx_buffer[message.received_bytes] = byte;
+ // message.Len_L = byte;
+ // }
+ // message.received_bytes++;
+ // break;
+ // case 6: if (message.version == VERSION_2) //Pn vs Len_L
+ // {
+ // message.rx_buffer[message.received_bytes] = byte;
+ // message.Len_H = byte;
+ // message.length = (message.Len_H << 8) + message.Len_L;
+ // message.packet_init = 0x01;
+ // }
+ // message.received_bytes++;
+ // break;
+ // default: break;
+ // }
+ // }
+ // }
+ // }
+ //
+ // if(message.packet_init)
+ // {
+ // if (message.version == VERSION_1)
+ // {
+ // if (!message.packet_incomplete)
+ // {
+ // if (message.Len_L<=4)
+ // {
+ // for(uint8_t i=4;i<(message.Len_L+4);i++)
+ // {
+ // message.rx_buffer[i]=CAN_rxMessage.Data[i];
+ // }
+ // message.send_packet = 0x01;
+ // message.packet_incomplete = 0x00;
+ // }
+ // else
+ // {
+ // for(uint8_t i=4;i<8;i++)
+ // {
+ // message.rx_buffer[i]=CAN_rxMessage.Data[i];
+ // }
+ // message.Len_L = message.Len_L-4;
+ // message.packet_incomplete = 0x01;
+ // }
+ // }
+ // else
+ // {
+ // if (message.Len_L<8)
+ // {
+ // for(uint8_t i=0;i<message.Len_L;i++)
+ // {
+ // message.rx_buffer[i+(message.iterations*8)]=CAN_rxMessage.Data[i];
+ // }
+ // message.send_packet = 0x01;
+ // }
+ // else
+ // {
+ // for(uint8_t i=0;i<8;i++)
+ // {
+ // message.rx_buffer[i+(message.iterations*8)]=CAN_rxMessage.Data[i];
+ // }
+ // message.Len_L = message.Len_L-8;
+ // }
+ // message.iterations++;
+ // }
+ // }
+ // else if (message.version == VERSION_2)
+ // {
+ //
+ // }
+ // }
+ //
+ // if (message.send_packet)
+ // {
+ // for(unsigned int i=0;i<message.length;i++)
+ // {
+ // if(!can_dma_phase)
+ // comm_do_irq_receive(can_comm_dev,message.rx_buffer[i]);
+ // else /* do DMA phase */
+ // {
+ // can_dma_phase_data[can_dma_phase_write_ptr]=message.rx_buffer[i];
+ // can_dma_phase_length--;
+ // can_dma_phase_write_ptr++;
+ // if(can_dma_phase_length==0)
+ // {
+ // comm_do_dma_receive(can_comm_dev);
+ // }
+ // }
+ // }
+ //
+ // message.Len_L = 0x00;
+ // message.Len_H = 0x00;
+ // message.length = 0x00;
+ // message.packet_init = 0x00;
+ // message.packet_incomplete = 0x00;
+ // message.send_packet = 0x00;
+ // }
+}
+
// interrupt handlers
void USB_LP_CAN1_RX0_IRQHandler(void)
{
/* USER CODE BEGIN USB_LP_CAN1_RX0_IRQn 0 */
/* USER CODE END USB_LP_CAN1_RX0_IRQn 0 */
- HAL_PCD_IRQHandler(&PCDHandle);
+ HAL_CAN_IRQHandler(&CANHandle);
/* USER CODE BEGIN USB_LP_CAN1_RX0_IRQn 1 */
/* USER CODE END USB_LP_CAN1_RX0_IRQn 1 */
@@ -176,18 +415,97 @@ void USB_HP_CAN1_TX_IRQHandler(void)
/* USER CODE BEGIN USB_HP_CAN1_TX_IRQn 0 */
/* USER CODE END USB_HP_CAN1_TX_IRQn 0 */
- HAL_CAN_IRQHandler(&hcan);
+ HAL_CAN_IRQHandler(&CANHandle);
/* USER CODE BEGIN USB_HP_CAN1_TX_IRQn 1 */
/* USER CODE END USB_HP_CAN1_TX_IRQn 1 */
}
-void usb_disconnect(void)
+unsigned char can_send_irq(unsigned char first_byte)
{
- HAL_PCD_DevDisconnect(&PCDHandle);
+ return 0x00;
}
-void usb_connect(void)
+unsigned char can_enable_tx_irq(void)
{
- HAL_PCD_DevConnect(&PCDHandle);
+ return 0x00;
+}
+
+unsigned char can_receive_irq(void)
+{
+ can_dma_phase=0x00;
+ return 0x00;
+}
+
+unsigned char can_cancel_receive_irq(void)
+{
+ return 0x00;
+}
+
+/* DMA functions */
+unsigned char can_send_dma(unsigned char *data,unsigned short int length)
+{
+ if (length <= 8)
+ {
+ CANHandle.pTxMsg->DLC = length;
+ for (uint8_t i=0;i<length;i++)
+ {
+ CANHandle.pTxMsg->Data[i] = data[i];
+ }
+ //HAL_CAN_Transmit(&CANHandle, 10);
+ HAL_CAN_Transmit_IT(&CANHandle);
+ }
+ else
+ {
+ // unsigned char completed = 0x00;
+ // unsigned char iterations = 0x00;
+ // while (!completed) {
+ // if (length>8)
+ // {
+ // CANHandle.pTxMsg->DLC = 8;
+ // for (uint8_t i=0;i<8;i++)
+ // {
+ // CANHandle.pTxMsg->Data[i] = data[i+iterations];
+ // }
+ // iterations = iterations+8;
+ // HAL_CAN_Transmit(&CANHandle, 10);
+ // length = length-8;
+ // }
+ // else
+ // {
+ // CANHandle.pTxMsg->DLC = length;
+ // for (uint8_t i=0;i<length;i++)
+ // {
+ // CANHandle.pTxMsg->Data[i] = data[i+iterations];
+ // }
+ // HAL_CAN_Transmit(&CANHandle, 10);
+ // completed = 0x01;
+ // }
+ // }
+ }
+ uint8_t byte;
+ comm_do_dma_send(can_comm_dev);
+ comm_do_irq_send(can_comm_dev,&byte);
+
+ return 0x00;
+}
+
+unsigned char can_receive_dma(unsigned char *data,unsigned short int length)
+{
+ can_dma_phase=0x01;
+ can_dma_phase_data=data;
+ can_dma_phase_length=length;
+ can_dma_phase_write_ptr=0;
+
+ return 0x00;
+}
+
+unsigned char can_cancel_receive_dma(void)
+{
+ can_dma_phase=0x00;
+ can_dma_phase_data=0x00;
+ can_dma_phase_length=0;
+ can_dma_phase_write_ptr=0;
+
+ return 0x00;
}