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STM32: auto bit rate in silent mode

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This commit is contained in:
Pavel Kirienko 2015-07-25 00:52:09 +03:00
parent 14913b4cb2
commit 0a5edf314c
2 changed files with 39 additions and 13 deletions
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22
libuavcan_drivers/stm32/driver/include/uavcan_stm32/can.hpp
View File

@ -56,6 +56,8 @@ class CanIface : public uavcan::ICanIface, uavcan::Noncopyable
void push(const uavcan::CanFrame& frame, const uint64_t& utc_usec, uavcan::CanIOFlags flags);
void pop(uavcan::CanFrame& out_frame, uavcan::uint64_t& out_utc_usec, uavcan::CanIOFlags& out_flags);
void reset();
unsigned getLength() const { return len_; }
uavcan::uint32_t getOverflowCount() const { return overflow_cnt_; }
@ -127,6 +129,12 @@ class CanIface : public uavcan::ICanIface, uavcan::Noncopyable
public:
enum { MaxRxQueueCapacity = 254 };
enum OperatingMode
{
NormalMode,
SilentMode
};
CanIface(bxcan::CanType* can, BusEvent& update_event, uavcan::uint8_t self_index,
CanRxItem* rx_queue_buffer, uavcan::uint8_t rx_queue_capacity)
: rx_queue_(rx_queue_buffer, rx_queue_capacity)
@ -149,7 +157,7 @@ public:
* - Iface has been resetted via RCC
* - Caller will configure NVIC by itself
*/
int init(uavcan::uint32_t bitrate);
int init(const uavcan::uint32_t bitrate, const OperatingMode mode);
void handleTxInterrupt(uavcan::uint64_t utc_usec);
void handleRxInterrupt(uavcan::uint8_t fifo_index, uavcan::uint64_t utc_usec);
@ -241,7 +249,7 @@ public:
* Returns zero if OK.
* Returns negative value if failed (e.g. invalid bitrate).
*/
int init(uavcan::uint32_t bitrate);
int init(const uavcan::uint32_t bitrate, const CanIface::OperatingMode mode);
virtual CanIface* getIface(uavcan::uint8_t iface_index);
@ -277,8 +285,6 @@ public:
* This function can either initialize the driver at a fixed bit rate, or it can perform
* automatic bit rate detection. For theory please refer to the CiA application note #801.
*
* TODO FIXME: During bit rate detection, the CAN controller must be initialized in listen-only mode.
*
* @param delay_callable A callable entity that suspends execution for strictly more than one second.
* The callable entity will be invoked without arguments.
* @ref getRecommendedListeningDelay().
@ -294,7 +300,7 @@ public:
{
if (inout_bitrate > 0)
{
return driver.init(inout_bitrate);
return driver.init(inout_bitrate, CanIface::NormalMode);
}
else
{
@ -310,8 +316,7 @@ public:
{
inout_bitrate = StandardBitRates[br];
// TODO: listen-only mode
const int res = driver.init(inout_bitrate);
const int res = driver.init(inout_bitrate, CanIface::SilentMode);
delay_callable();
@ -321,7 +326,8 @@ public:
{
if (!driver.getIface(iface)->isRxBufferEmpty())
{
return res;
// Re-initializing in normal mode
return driver.init(inout_bitrate, CanIface::NormalMode);
}
}
}

30
libuavcan_drivers/stm32/driver/src/uc_stm32_can.cpp
View File

@ -160,6 +160,14 @@ void CanIface::RxQueue::pop(uavcan::CanFrame& out_frame, uavcan::uint64_t& out_u
else { UAVCAN_ASSERT(0); }
}
void CanIface::RxQueue::reset()
{
in_ = 0;
out_ = 0;
len_ = 0;
overflow_cnt_ = 0;
}
/*
* CanIface
*/
@ -446,10 +454,21 @@ bool CanIface::waitMsrINakBitStateChange(bool target_state)
return false;
}
int CanIface::init(uavcan::uint32_t bitrate)
int CanIface::init(const uavcan::uint32_t bitrate, const OperatingMode mode)
{
int res = 0;
/*
* Object state
*/
rx_queue_.reset();
error_cnt_ = 0;
served_aborts_cnt_ = 0;
uavcan::fill_n(pending_tx_, NumTxMailboxes, TxItem());
last_hw_error_code_ = 0;
peak_tx_mailbox_index_ = 0;
had_activity_ = false;
/*
* CAN timings for this bitrate
*/
@ -480,7 +499,8 @@ int CanIface::init(uavcan::uint32_t bitrate)
can_->BTR = ((timings.sjw & 3U) << 24) |
((timings.bs1 & 15U) << 16) |
((timings.bs2 & 7U) << 20) |
(timings.prescaler & 1023U);
(timings.prescaler & 1023U) |
((mode == SilentMode) ? bxcan::BTR_SILM : 0);
can_->IER = bxcan::IER_TMEIE | // TX mailbox empty
bxcan::IER_FMPIE0 | // RX FIFO 0 is not empty
@ -812,7 +832,7 @@ uavcan::int16_t CanDriver::select(uavcan::CanSelectMasks& inout_masks,
return 1; // Return value doesn't matter as long as it is non-negative
}
int CanDriver::init(uavcan::uint32_t bitrate)
int CanDriver::init(const uavcan::uint32_t bitrate, const CanIface::OperatingMode mode)
{
int res = 0;
@ -835,7 +855,7 @@ int CanDriver::init(uavcan::uint32_t bitrate)
}
UAVCAN_STM32_LOG("Initing iface 0...");
res = if0_.init(bitrate);
res = if0_.init(bitrate, mode);
if (res < 0)
{
UAVCAN_STM32_LOG("Iface 0 init failed %i", res);
@ -861,7 +881,7 @@ int CanDriver::init(uavcan::uint32_t bitrate)
}
UAVCAN_STM32_LOG("Initing iface 1...");
res = if1_.init(bitrate);
res = if1_.init(bitrate, mode);
if (res < 0)
{
UAVCAN_STM32_LOG("Iface 1 init failed %i", res);