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jyoung/panda/board/drivers/can.h

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// IRQs: CAN1_TX, CAN1_RX0, CAN1_SCE, CAN2_TX, CAN2_RX0, CAN2_SCE, CAN3_TX, CAN3_RX0, CAN3_SCE
#define ALL_CAN_SILENT 0xFF
#define ALL_CAN_BUT_MAIN_SILENT 0xFE
#define ALL_CAN_LIVE 0
int can_live = 0, pending_can_live = 0, can_loopback = 0, can_silent = ALL_CAN_SILENT;
// ********************* instantiate queues *********************
#define can_buffer(x, size) \
CAN_FIFOMailBox_TypeDef elems_##x[size]; \
can_ring can_##x = { .w_ptr = 0, .r_ptr = 0, .fifo_size = size, .elems = (CAN_FIFOMailBox_TypeDef *)&elems_##x };
can_buffer(rx_q, 0x1000)
can_buffer(tx1_q, 0x100)
can_buffer(tx2_q, 0x100)
#ifdef PANDA
can_buffer(tx3_q, 0x100)
can_buffer(txgmlan_q, 0x100)
can_ring *can_queues[] = {&can_tx1_q, &can_tx2_q, &can_tx3_q, &can_txgmlan_q};
#else
can_ring *can_queues[] = {&can_tx1_q, &can_tx2_q};
#endif
// ********************* interrupt safe queue *********************
int can_pop(can_ring *q, CAN_FIFOMailBox_TypeDef *elem) {
int ret = 0;
enter_critical_section();
if (q->w_ptr != q->r_ptr) {
*elem = q->elems[q->r_ptr];
if ((q->r_ptr + 1) == q->fifo_size) q->r_ptr = 0;
else q->r_ptr += 1;
ret = 1;
}
exit_critical_section();
return ret;
}
int can_push(can_ring *q, CAN_FIFOMailBox_TypeDef *elem) {
int ret = 0;
uint32_t next_w_ptr;
enter_critical_section();
if ((q->w_ptr + 1) == q->fifo_size) next_w_ptr = 0;
else next_w_ptr = q->w_ptr + 1;
if (next_w_ptr != q->r_ptr) {
q->elems[q->w_ptr] = *elem;
q->w_ptr = next_w_ptr;
ret = 1;
}
exit_critical_section();
if (ret == 0) puts("can_push failed!\n");
return ret;
}
void can_clear(can_ring *q) {
enter_critical_section();
q->w_ptr = 0;
q->r_ptr = 0;
exit_critical_section();
}
// assign CAN numbering
// bus num: Can bus number on ODB connector. Sent to/from USB
// Min: 0; Max: 127; Bit 7 marks message as receipt (bus 129 is receipt for but 1)
// cans: Look up MCU can interface from bus number
// can number: numeric lookup for MCU CAN interfaces (0 = CAN1, 1 = CAN2, etc);
// bus_lookup: Translates from 'can number' to 'bus number'.
// can_num_lookup: Translates from 'bus number' to 'can number'.
// can_forwarding: Given a bus num, lookup bus num to forward to. -1 means no forward.
int can_rx_cnt = 0;
int can_tx_cnt = 0;
int can_txd_cnt = 0;
int can_err_cnt = 0;
// NEO: Bus 1=CAN1 Bus 2=CAN2
// Panda: Bus 0=CAN1 Bus 1=CAN2 Bus 2=CAN3
#ifdef PANDA
CAN_TypeDef *cans[] = {CAN1, CAN2, CAN3};
uint8_t bus_lookup[] = {0,1,2};
uint8_t can_num_lookup[] = {0,1,2,-1};
int8_t can_forwarding[] = {-1,-1,-1,-1};
uint32_t can_speed[] = {5000, 5000, 5000, 333};
bool can_autobaud_enabled[] = {false, false, false, false};
#define CAN_MAX 3
#else
CAN_TypeDef *cans[] = {CAN1, CAN2};
uint8_t bus_lookup[] = {1,0};
uint8_t can_num_lookup[] = {1,0};
int8_t can_forwarding[] = {-1,-1};
uint32_t can_speed[] = {5000, 5000};
bool can_autobaud_enabled[] = {false, false};
#define CAN_MAX 2
#endif
uint32_t can_autobaud_speeds[] = {5000, 2500, 1250, 1000, 10000};
#define AUTOBAUD_SPEEDS_LEN (sizeof(can_autobaud_speeds) / sizeof(can_autobaud_speeds[0]))
#define CANIF_FROM_CAN_NUM(num) (cans[num])
#ifdef PANDA
#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"))
#else
#define CAN_NUM_FROM_CANIF(CAN) (CAN==CAN1 ? 0 : 1)
#define CAN_NAME_FROM_CANIF(CAN) (CAN==CAN1 ? "CAN1" : "CAN2")
#endif
#define BUS_NUM_FROM_CAN_NUM(num) (bus_lookup[num])
#define CAN_NUM_FROM_BUS_NUM(num) (can_num_lookup[num])
// other option
/*#define CAN_QUANTA 16
#define CAN_SEQ1 13
#define CAN_SEQ2 2*/
// this is needed for 1 mbps support
#define CAN_QUANTA 8
#define CAN_SEQ1 6 // roundf(quanta * 0.875f) - 1;
#define CAN_SEQ2 1 // roundf(quanta * 0.125f);
#define CAN_PCLK 24000
// 333 = 33.3 kbps
// 5000 = 500 kbps
#define can_speed_to_prescaler(x) (CAN_PCLK / CAN_QUANTA * 10 / (x))
void can_autobaud_speed_increment(uint8_t can_number) {
uint32_t autobaud_speed = can_autobaud_speeds[0];
uint8_t bus_number = BUS_NUM_FROM_CAN_NUM(can_number);
for (int i = 0; i < AUTOBAUD_SPEEDS_LEN; i++) {
if (can_speed[bus_number] == can_autobaud_speeds[i]) {
if (i+1 < AUTOBAUD_SPEEDS_LEN) {
autobaud_speed = can_autobaud_speeds[i+1];
}
break;
}
}
can_speed[bus_number] = autobaud_speed;
#ifdef DEBUG
CAN_TypeDef* CAN = CANIF_FROM_CAN_NUM(can_number);
puts(CAN_NAME_FROM_CANIF(CAN));
puts(" auto-baud test ");
putui(can_speed[bus_number]);
puts(" cbps\n");
#endif
}
void process_can(uint8_t can_number);
void can_set_speed(uint8_t can_number) {
CAN_TypeDef *CAN = CANIF_FROM_CAN_NUM(can_number);
uint8_t bus_number = BUS_NUM_FROM_CAN_NUM(can_number);
while (true) {
// initialization mode
CAN->MCR = CAN_MCR_TTCM | CAN_MCR_INRQ;
while((CAN->MSR & CAN_MSR_INAK) != CAN_MSR_INAK);
// set time quanta from defines
CAN->BTR = (CAN_BTR_TS1_0 * (CAN_SEQ1-1)) |
(CAN_BTR_TS2_0 * (CAN_SEQ2-1)) |
(can_speed_to_prescaler(can_speed[bus_number]) - 1);
// silent loopback mode for debugging
if (can_loopback) {
CAN->BTR |= CAN_BTR_SILM | CAN_BTR_LBKM;
}
if (can_silent & (1 << can_number)) {
CAN->BTR |= CAN_BTR_SILM;
}
// reset
CAN->MCR = CAN_MCR_TTCM | CAN_MCR_ABOM;
#define CAN_TIMEOUT 1000000
int tmp = 0;
while((CAN->MSR & CAN_MSR_INAK) == CAN_MSR_INAK && tmp < CAN_TIMEOUT) tmp++;
if (tmp < CAN_TIMEOUT) {
return;
}
if (can_autobaud_enabled[bus_number]) {
can_autobaud_speed_increment(can_number);
} else {
puts("CAN init FAILED!!!!!\n");
puth(can_number); puts(" ");
puth(BUS_NUM_FROM_CAN_NUM(can_number)); puts("\n");
return;
}
}
}
void can_init(uint8_t can_number) {
if (can_number == 0xff) return;
CAN_TypeDef *CAN = CANIF_FROM_CAN_NUM(can_number);
set_can_enable(CAN, 1);
can_set_speed(can_number);
// accept all filter
CAN->FMR |= CAN_FMR_FINIT;
// no mask
CAN->sFilterRegister[0].FR1 = 0;
CAN->sFilterRegister[0].FR2 = 0;
CAN->sFilterRegister[14].FR1 = 0;
CAN->sFilterRegister[14].FR2 = 0;
CAN->FA1R |= 1 | (1 << 14);
CAN->FMR &= ~(CAN_FMR_FINIT);
// enable certain CAN interrupts
CAN->IER |= CAN_IER_TMEIE | CAN_IER_FMPIE0;
switch (can_number) {
case 0:
NVIC_EnableIRQ(CAN1_TX_IRQn);
NVIC_EnableIRQ(CAN1_RX0_IRQn);
NVIC_EnableIRQ(CAN1_SCE_IRQn);
break;
case 1:
NVIC_EnableIRQ(CAN2_TX_IRQn);
NVIC_EnableIRQ(CAN2_RX0_IRQn);
NVIC_EnableIRQ(CAN2_SCE_IRQn);
break;
#ifdef CAN3
case 2:
NVIC_EnableIRQ(CAN3_TX_IRQn);
NVIC_EnableIRQ(CAN3_RX0_IRQn);
NVIC_EnableIRQ(CAN3_SCE_IRQn);
break;
#endif
}
// in case there are queued up messages
process_can(can_number);
}
void can_init_all() {
for (int i=0; i < CAN_MAX; i++) {
can_init(i);
}
}
void can_set_gmlan(int bus) {
#ifdef PANDA
if (bus == -1 || bus != can_num_lookup[3]) {
// GMLAN OFF
switch (can_num_lookup[3]) {
case 1:
puts("disable GMLAN on CAN2\n");
set_can_mode(1, 0);
bus_lookup[1] = 1;
can_num_lookup[1] = 1;
can_num_lookup[3] = -1;
can_init(1);
break;
case 2:
puts("disable GMLAN on CAN3\n");
set_can_mode(2, 0);
bus_lookup[2] = 2;
can_num_lookup[2] = 2;
can_num_lookup[3] = -1;
can_init(2);
break;
}
}
if (bus == 1) {
puts("GMLAN on CAN2\n");
// GMLAN on CAN2
set_can_mode(1, 1);
bus_lookup[1] = 3;
can_num_lookup[1] = -1;
can_num_lookup[3] = 1;
can_init(1);
} else if (bus == 2 && revision == PANDA_REV_C) {
puts("GMLAN on CAN3\n");
// GMLAN on CAN3
set_can_mode(2, 1);
bus_lookup[2] = 3;
can_num_lookup[2] = -1;
can_num_lookup[3] = 2;
can_init(2);
}
#endif
}
// CAN error
void can_sce(CAN_TypeDef *CAN) {
enter_critical_section();
can_err_cnt += 1;
#ifdef DEBUG
if (CAN==CAN1) puts("CAN1: ");
if (CAN==CAN2) puts("CAN2: ");
#ifdef CAN3
if (CAN==CAN3) puts("CAN3: ");
#endif
puts("MSR:");
puth(CAN->MSR);
puts(" TSR:");
puth(CAN->TSR);
puts(" RF0R:");
puth(CAN->RF0R);
puts(" RF1R:");
puth(CAN->RF1R);
puts(" ESR:");
puth(CAN->ESR);
puts("\n");
#endif
uint8_t can_number = CAN_NUM_FROM_CANIF(CAN);
uint8_t bus_number = BUS_NUM_FROM_CAN_NUM(can_number);
if (can_autobaud_enabled[bus_number] && (CAN->ESR & CAN_ESR_LEC)) {
can_autobaud_speed_increment(can_number);
can_set_speed(can_number);
}
// clear current send
CAN->TSR |= CAN_TSR_ABRQ0;
CAN->MSR &= ~(CAN_MSR_ERRI);
CAN->MSR = CAN->MSR;
exit_critical_section();
}
// ***************************** CAN *****************************
void process_can(uint8_t can_number) {
if (can_number == 0xff) return;
enter_critical_section();
CAN_TypeDef *CAN = CANIF_FROM_CAN_NUM(can_number);
uint8_t bus_number = BUS_NUM_FROM_CAN_NUM(can_number);
#ifdef DEBUG
puts("process CAN TX\n");
#endif
// check for empty mailbox
CAN_FIFOMailBox_TypeDef to_send;
if ((CAN->TSR & CAN_TSR_TME0) == CAN_TSR_TME0) {
// add successfully transmitted message to my fifo
if ((CAN->TSR & CAN_TSR_RQCP0) == CAN_TSR_RQCP0) {
can_txd_cnt += 1;
if ((CAN->TSR & CAN_TSR_TXOK0) == CAN_TSR_TXOK0) {
CAN_FIFOMailBox_TypeDef to_push;
to_push.RIR = CAN->sTxMailBox[0].TIR;
to_push.RDTR = (CAN->sTxMailBox[0].TDTR & 0xFFFF000F) | ((CAN_BUS_RET_FLAG | bus_number) << 4);
to_push.RDLR = CAN->sTxMailBox[0].TDLR;
to_push.RDHR = CAN->sTxMailBox[0].TDHR;
can_push(&can_rx_q, &to_push);
}
if ((CAN->TSR & CAN_TSR_TERR0) == CAN_TSR_TERR0) {
#ifdef DEBUG
puts("CAN TX ERROR!\n");
#endif
}
if ((CAN->TSR & CAN_TSR_ALST0) == CAN_TSR_ALST0) {
#ifdef DEBUG
puts("CAN TX ARBITRATION LOST!\n");
#endif
}
// clear interrupt
// careful, this can also be cleared by requesting a transmission
CAN->TSR |= CAN_TSR_RQCP0;
}
if (can_pop(can_queues[bus_number], &to_send)) {
can_tx_cnt += 1;
// only send if we have received a packet
CAN->sTxMailBox[0].TDLR = to_send.RDLR;
CAN->sTxMailBox[0].TDHR = to_send.RDHR;
CAN->sTxMailBox[0].TDTR = to_send.RDTR;
CAN->sTxMailBox[0].TIR = to_send.RIR;
}
}
exit_critical_section();
}
// CAN receive handlers
// blink blue when we are receiving CAN messages
void can_rx(uint8_t can_number) {
CAN_TypeDef *CAN = CANIF_FROM_CAN_NUM(can_number);
uint8_t bus_number = BUS_NUM_FROM_CAN_NUM(can_number);
while (CAN->RF0R & CAN_RF0R_FMP0) {
if (can_autobaud_enabled[bus_number]) {
can_autobaud_enabled[bus_number] = false;
puts(CAN_NAME_FROM_CANIF(CAN));
#ifdef DEBUG
puts(" auto-baud ");
putui(can_speed[bus_number]);
puts(" cbps\n");
#endif
}
can_rx_cnt += 1;
// can is live
pending_can_live = 1;
// add to my fifo
CAN_FIFOMailBox_TypeDef to_push;
to_push.RIR = CAN->sFIFOMailBox[0].RIR;
to_push.RDTR = CAN->sFIFOMailBox[0].RDTR;
to_push.RDLR = CAN->sFIFOMailBox[0].RDLR;
to_push.RDHR = CAN->sFIFOMailBox[0].RDHR;
// modify RDTR for our API
to_push.RDTR = (to_push.RDTR & 0xFFFF000F) | (bus_number << 4);
// forwarding (panda only)
#ifdef PANDA
int bus_fwd_num = can_forwarding[bus_number] != -1 ? can_forwarding[bus_number] : safety_fwd_hook(bus_number, &to_push);
if (bus_fwd_num != -1) {
CAN_FIFOMailBox_TypeDef to_send;
to_send.RIR = to_push.RIR | 1; // TXRQ
to_send.RDTR = to_push.RDTR;
to_send.RDLR = to_push.RDLR;
to_send.RDHR = to_push.RDHR;
can_send(&to_send, bus_fwd_num);
}
#endif
safety_rx_hook(&to_push);
#ifdef PANDA
set_led(LED_BLUE, 1);
#endif
can_push(&can_rx_q, &to_push);
// next
CAN->RF0R |= CAN_RF0R_RFOM0;
}
}
#ifndef CUSTOM_CAN_INTERRUPTS
void CAN1_TX_IRQHandler() { process_can(0); }
void CAN1_RX0_IRQHandler() { can_rx(0); }
void CAN1_SCE_IRQHandler() { can_sce(CAN1); }
void CAN2_TX_IRQHandler() { process_can(1); }
void CAN2_RX0_IRQHandler() { can_rx(1); }
void CAN2_SCE_IRQHandler() { can_sce(CAN2); }
#ifdef CAN3
void CAN3_TX_IRQHandler() { process_can(2); }
void CAN3_RX0_IRQHandler() { can_rx(2); }
void CAN3_SCE_IRQHandler() { can_sce(CAN3); }
#endif
#endif
void can_send(CAN_FIFOMailBox_TypeDef *to_push, uint8_t bus_number) {
if (safety_tx_hook(to_push) && !can_autobaud_enabled[bus_number]) {
if (bus_number < BUS_MAX) {
// add CAN packet to send queue
// bus number isn't passed through
to_push->RDTR &= 0xF;
if (bus_number == 3 && can_num_lookup[3] == 0xFF) {
// TODO: why uint8 bro? only int8?
bitbang_gmlan(to_push);
} else {
can_push(can_queues[bus_number], to_push);
process_can(CAN_NUM_FROM_BUS_NUM(bus_number));
}
}
}
}
void can_set_forwarding(int from, int to) {
can_forwarding[from] = to;
}