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LPC11C24 automatic bus-off recovery

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This commit is contained in:
Pavel Kirienko 2015-10-12 23:06:55 +03:00
parent 0e97d7a9ba
commit 8a88ea35cc
2 changed files with 26 additions and 8 deletions
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7
libuavcan_drivers/lpc11c24/driver/include/uavcan_lpc11c24/can.hpp
View File

@ -58,6 +58,13 @@ public:
*/
uavcan::uint32_t getRxQueueOverflowCount() const;
/**
* Whether the controller is currently in bus off state.
* Note that the driver recovers the CAN controller from the bus off state automatically!
* Therefore, this method serves only monitoring purposes and is not necessary to use.
*/
bool isInBusOffState() const;
uavcan::int16_t send(const uavcan::CanFrame& frame,
uavcan::MonotonicTime tx_deadline,
uavcan::CanIOFlags flags) override;

27
libuavcan_drivers/lpc11c24/driver/src/can.cpp
View File

@ -271,9 +271,6 @@ uavcan::uint32_t CanDriver::detectBitRate(void (*idle_callback)())
int CanDriver::init(uavcan::uint32_t bitrate)
{
/*
* TODO FIXME Reinitialize the CAN controller after entering the BUS-OFF state
*/
CriticalSectionLocker locker;
error_cnt = 0;
@ -356,6 +353,11 @@ uavcan::uint32_t CanDriver::getRxQueueOverflowCount() const
return rx_queue.getOverflowCount();
}
bool CanDriver::isInBusOffState() const
{
return (c_can::CAN.STAT & c_can::STAT_BOFF) != 0;
}
uavcan::int16_t CanDriver::send(const uavcan::CanFrame& frame, uavcan::MonotonicTime tx_deadline,
uavcan::CanIOFlags flags)
{
@ -421,6 +423,16 @@ uavcan::int16_t CanDriver::select(uavcan::CanSelectMasks& inout_masks,
const uavcan::CanFrame* (&)[uavcan::MaxCanIfaces],
uavcan::MonotonicTime blocking_deadline)
{
const bool bus_off = isInBusOffState();
if (bus_off) // Recover automatically on bus-off
{
CriticalSectionLocker locker;
if ((c_can::CAN.CNTL & c_can::CNTL_INIT) != 0)
{
c_can::CAN.CNTL &= ~c_can::CNTL_INIT;
}
}
const bool noblock = ((inout_masks.read == 1) && hasReadyRx()) ||
((inout_masks.write == 1) && hasEmptyTx());
@ -448,8 +460,10 @@ uavcan::int16_t CanDriver::select(uavcan::CanSelectMasks& inout_masks,
}
inout_masks.read = hasReadyRx() ? 1 : 0;
inout_masks.write = hasEmptyTx() ? 1 : 0;
return 0; // Return value doesn't matter as long as it is non-negative
inout_masks.write = (hasEmptyTx() && !bus_off) ? 1 : 0; // Disable write while in bus-off
return 0; // Return value doesn't matter as long as it is non-negative
}
uavcan::int16_t CanDriver::configureFilters(const uavcan::CanFilterConfig* filter_configs,
@ -536,9 +550,6 @@ void canTxCallback(std::uint8_t msg_obj_num)
void canErrorCallback(std::uint32_t error_info)
{
/*
* TODO FIXME Reinitialize the CAN controller after entering the BUS-OFF state
*/
using namespace uavcan_lpc11c24;
// Updating the error counter