From 1a5978631e1577d726e45ab3f710a4fa7738c378 Mon Sep 17 00:00:00 2001
From: smartinezs <smartinezs@upc.iri.edu>
Date: Fri, 10 Sep 2021 13:56:12 +0200
Subject: [PATCH] solving bug on tx higher than 8 bits
---
f4/can/src/can.c | 104 ++++++++++++++++++++---------------------------
1 file changed, 45 insertions(+), 59 deletions(-)
diff --git a/f4/can/src/can.c b/f4/can/src/can.c
index d8eb653..b951a56 100644
--- a/f4/can/src/can.c
+++ b/f4/can/src/can.c
@@ -17,7 +17,7 @@
CAN_HandleTypeDef CANHandle;
CAN_FilterTypeDef CANFilterConfig;
CAN_TxHeaderTypeDef CAN_txHeader;
-uint8_t *CAN_txMessage;
+uint8_t CAN_txMessage[8];
uint32_t TxMailbox;
CAN_RxHeaderTypeDef CAN_rxHeader;
uint8_t CAN_rxMessage[8];
@@ -123,6 +123,7 @@ void can_init(TComm *comm_dev,CAN_InitTypeDef *conf,TCAN_IRQ_Priorities *priorit
HAL_CAN_Start(&CANHandle);
//Activate default interrupt when message in FIFO0
HAL_CAN_ActivateNotification(&CANHandle, CAN_IT_RX_FIFO0_MSG_PENDING);
+ HAL_CAN_ActivateNotification(&CANHandle, CAN_IT_TX_MAILBOX_EMPTY);
}
void can_config(TComm *comm_dev,CAN_InitTypeDef *conf)
@@ -217,7 +218,6 @@ void can_set_filter(TComm *comm_dev,CAN_FilterTypeDef *filter)
void can_set_can_id(TComm *comm_dev,unsigned int id)
{
CAN_txHeader.StdId = id;
- //CANHandle.pTxMsg->StdId = id;
}
/**
@@ -231,43 +231,6 @@ void HAL_CAN_ErrorCallback(CAN_HandleTypeDef* CANHandle)
//HAL_GPIO_WritePin(GPIOA, GPIO_PIN_4,GPIO_PIN_SET);
}
-
-void HAL_CAN_TxMailbox0CompleteCallback(CAN_HandleTypeDef* CANHandle)
-{
- if (can_send_lenght != 0)
- {
- if (can_send_lenght > 8)
- {
- CAN_txHeader.DLC = 8;
- for (uint8_t i=0;i<8;i++)
- {
- CAN_txMessage[i] = can_send_data[i+(8*can_send_iterations)];
- //CANHandle->pTxMsg->Data[i] = can_send_data[i+(8*can_send_iterations)];
- }
- can_send_lenght = can_send_lenght - 8;
- can_send_iterations++;
- //HAL_CAN_Transmit_IT(CANHandle);
- HAL_CAN_AddTxMessage(CANHandle, &CAN_txHeader, CAN_txMessage, &TxMailbox);
- }
- else
- {
- //CANHandle->pTxMsg->DLC = can_send_lenght;
- for (uint8_t i=0;i<can_send_lenght;i++)
- {
- CAN_txMessage[i] = can_send_data[i+(8*can_send_iterations)];
- //CANHandle->pTxMsg->Data[i] = can_send_data[i+(8*can_send_iterations)];
- }
- can_send_lenght = 0;
- can_send_iterations = 0;
- //HAL_CAN_Transmit_IT(CANHandle);
- HAL_CAN_AddTxMessage(CANHandle, &CAN_txHeader, CAN_txMessage, &TxMailbox);
- uint8_t byte;
- comm_do_dma_send(can_comm_dev);
- comm_do_irq_send(can_comm_dev,&byte);
- }
- }
-}
-
void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef* CANHandle)
{
HAL_CAN_GetRxMessage(CANHandle, CAN_RX_FIFO0, &CAN_rxHeader, CAN_rxMessage);
@@ -300,6 +263,8 @@ void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef* CANHandle)
else
{
if(can_missing_bytes_length<=8){
+ comm_cancel_irq_receive(can_comm_dev);
+ comm_cancel_dma_receive(can_comm_dev);
for(uint8_t i=0;i<CAN_rxHeader.DLC;i++)
{
can_missing_bytes_write_ptr++;
@@ -312,14 +277,14 @@ void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef* CANHandle)
comm_do_irq_receive(can_comm_dev,can_missing_bytes_data[i]);
else
{
- can_dma_phase_data[can_dma_phase_write_ptr]=can_missing_bytes_data[i];
- can_dma_phase_length--;
- can_dma_phase_write_ptr++;
- if(can_dma_phase_length==0){
- comm_do_dma_receive(can_comm_dev);
- can_missing_bytes_length = 0;
- can_missing_bytes_write_ptr = 0;
- }
+ can_dma_phase_data[can_dma_phase_write_ptr]=can_missing_bytes_data[i];
+ can_dma_phase_length--;
+ can_dma_phase_write_ptr++;
+ if(can_dma_phase_length==0){
+ comm_do_dma_receive(can_comm_dev);
+ can_missing_bytes_length = 0;
+ can_missing_bytes_write_ptr = 0;
+ }
}
}
}
@@ -372,8 +337,7 @@ unsigned char can_receive_irq(void)
{
can_dma_phase=0x00;
can_dma_phase_write_ptr=0x00;
- //HAL_CAN_Receive_IT(&CANHandle,CAN_FIFO0);
- HAL_CAN_GetRxMessage(&CANHandle, CAN_RX_FIFO0, &CAN_rxHeader, CAN_rxMessage);
+ //HAL_CAN_GetRxMessage(&CANHandle, CAN_RX_FIFO0, &CAN_rxHeader, CAN_rxMessage);
return 0x00;
}
@@ -395,22 +359,12 @@ unsigned char can_send_dma(unsigned char *data,unsigned short int length)
}
can_send_lenght = length - 8;
can_send_iterations = 1;
- // for (uint8_t i=0;i<8;i++)
- // {
- // CANHandle.pTxMsg->Data[i] = data[i];
- // }
- //HAL_CAN_Transmit_IT(&CANHandle);
HAL_CAN_AddTxMessage(&CANHandle, &CAN_txHeader, data, &TxMailbox);
}
else{
CAN_txHeader.DLC = length;
- // for (uint8_t i=0;i<length;i++)
- // {
- // CANHandle.pTxMsg->Data[i] = data[i];
- // }
can_send_lenght = 0;
can_send_iterations = 0;
- //HAL_CAN_Transmit_IT(&CANHandle);
HAL_CAN_AddTxMessage(&CANHandle, &CAN_txHeader, data, &TxMailbox);
uint8_t byte;
comm_do_dma_send(can_comm_dev);
@@ -419,6 +373,38 @@ unsigned char can_send_dma(unsigned char *data,unsigned short int length)
return 0x00;
}
+void HAL_CAN_TxMailbox0CompleteCallback(CAN_HandleTypeDef* CANHandle)
+{
+ if (can_send_lenght != 0)
+ {
+ if (can_send_lenght > 8)
+ {
+ CAN_txHeader.DLC = 8;
+ for (uint8_t i=0;i<8;i++)
+ {
+ CAN_txMessage[i] = can_send_data[i+(8*can_send_iterations)];
+ }
+ can_send_lenght = can_send_lenght - 8;
+ can_send_iterations++;
+ HAL_CAN_AddTxMessage(CANHandle, &CAN_txHeader, CAN_txMessage, &TxMailbox);
+ }
+ else
+ {
+ CAN_txHeader.DLC = can_send_lenght;
+ for (uint8_t i=0;i<can_send_lenght;i++)
+ {
+ CAN_txMessage[i] = can_send_data[i+(8*can_send_iterations)];
+ }
+ can_send_lenght = 0;
+ can_send_iterations = 0;
+ HAL_CAN_AddTxMessage(CANHandle, &CAN_txHeader, CAN_txMessage, &TxMailbox);
+ uint8_t byte;
+ comm_do_dma_send(can_comm_dev);
+ comm_do_irq_send(can_comm_dev,&byte);
+ }
+ }
+}
+
unsigned char can_receive_dma(unsigned char *data,unsigned short int length)
{
can_dma_phase=0x01;
--
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