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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,6 +1,6 @@ | ||
| // Software CANbus implementation for rp2040 | ||
| // | ||
| // Copyright (C) 2022 Kevin O'Connor <[email protected]> | ||
| // Copyright (C) 2022,2023 Kevin O'Connor <[email protected]> | ||
| // | ||
| // This file may be distributed under the terms of the GNU GPLv3 license. | ||
|
|
||
|
|
@@ -318,6 +318,14 @@ pio_irq_set(struct can2040 *cd, uint32_t sm_irqs) | |
| pio_hw->inte0 = sm_irqs | SI_RX_DATA; | ||
| } | ||
|
|
||
| // Completely disable host irqs | ||
| static void | ||
| pio_irq_disable(struct can2040 *cd) | ||
| { | ||
| pio_hw_t *pio_hw = cd->pio_hw; | ||
| pio_hw->inte0 = 0; | ||
| } | ||
|
|
||
| // Return current host irq mask | ||
| static uint32_t | ||
| pio_irq_get(struct can2040 *cd) | ||
|
|
@@ -662,6 +670,7 @@ tx_schedule_transmit(struct can2040 *cd) | |
| pio_signal_set_txpending(cd); | ||
| } | ||
| cd->tx_state = TS_QUEUED; | ||
| cd->stats.tx_attempt++; | ||
| struct can2040_transmit *qt = &cd->tx_queue[tx_qpos(cd, tx_pull_pos)]; | ||
| pio_tx_send(cd, qt->stuffed_data, qt->stuffed_words); | ||
| return 0; | ||
|
|
@@ -721,6 +730,7 @@ report_callback_error(struct can2040 *cd, uint32_t error_code) | |
| static void | ||
| report_callback_rx_msg(struct can2040 *cd) | ||
| { | ||
| cd->stats.rx_total++; | ||
| cd->rx_cb(cd, CAN2040_NOTIFY_RX, &cd->parse_msg); | ||
| } | ||
|
|
||
|
|
@@ -729,6 +739,7 @@ static void | |
| report_callback_tx_msg(struct can2040 *cd) | ||
| { | ||
| writel(&cd->tx_pull_pos, cd->tx_pull_pos + 1); | ||
| cd->stats.tx_total++; | ||
| cd->rx_cb(cd, CAN2040_NOTIFY_TX, &cd->parse_msg); | ||
| } | ||
|
|
||
|
|
@@ -748,11 +759,11 @@ report_handle_eof(struct can2040 *cd) | |
| pio_match_clear(cd); | ||
| } | ||
|
|
||
| // Check if in an rx message is being processed | ||
| // Check if message being processed is an rx message (not self feedback from tx) | ||
| static int | ||
| report_is_rx_eof_pending(struct can2040 *cd) | ||
| report_is_not_in_tx(struct can2040 *cd) | ||
| { | ||
| return cd->report_state == RS_NEED_RX_EOF; | ||
| return !(cd->report_state & RS_NEED_TX_ACK); | ||
| } | ||
|
|
||
| // Parser found a new message start | ||
|
|
@@ -817,7 +828,7 @@ report_note_eof_success(struct can2040 *cd) | |
|
|
||
| // Parser found unexpected data on input | ||
| static void | ||
| report_note_parse_error(struct can2040 *cd) | ||
| report_note_discarding(struct can2040 *cd) | ||
| { | ||
| if (cd->report_state != RS_IDLE) { | ||
| cd->report_state = RS_IDLE; | ||
|
|
@@ -880,7 +891,7 @@ report_line_txpending(struct can2040 *cd) | |
| return; | ||
| } | ||
| // Tx request from can2040_transmit(), report_note_eof_success(), | ||
| // or report_note_parse_error(). | ||
| // or report_note_discarding(). | ||
| uint32_t check_txpending = tx_schedule_transmit(cd); | ||
| pio_irq_set(cd, (pio_irqs & ~SI_TXPENDING) | check_txpending); | ||
| } | ||
|
|
@@ -896,6 +907,13 @@ enum { | |
| MS_CRC, MS_ACK, MS_EOF0, MS_EOF1, MS_DISCARD | ||
| }; | ||
|
|
||
| // Reset any bits in the incoming parsing state | ||
| static void | ||
| data_state_clear_bits(struct can2040 *cd) | ||
| { | ||
| cd->raw_bit_count = cd->unstuf.stuffed_bits = cd->unstuf.count_stuff = 0; | ||
| } | ||
|
|
||
| // Transition to the next parsing state | ||
| static void | ||
| data_state_go_next(struct can2040 *cd, uint32_t state, uint32_t num_bits) | ||
|
|
@@ -908,23 +926,35 @@ data_state_go_next(struct can2040 *cd, uint32_t state, uint32_t num_bits) | |
| static void | ||
| data_state_go_discard(struct can2040 *cd) | ||
| { | ||
| report_note_parse_error(cd); | ||
|
|
||
| if (pio_rx_check_stall(cd)) { | ||
| // CPU couldn't keep up for some read data - must reset pio state | ||
| cd->raw_bit_count = cd->unstuf.count_stuff = 0; | ||
| data_state_clear_bits(cd); | ||
| pio_sm_setup(cd); | ||
| report_callback_error(cd, 0); | ||
| } | ||
|
|
||
| data_state_go_next(cd, MS_DISCARD, 32); | ||
|
|
||
| // Clear report state and update hw irqs after transition to MS_DISCARD | ||
| report_note_discarding(cd); | ||
| } | ||
|
|
||
| // Note a data parse error and transition to discard state | ||
| static void | ||
| data_state_go_error(struct can2040 *cd) | ||
| { | ||
| cd->stats.parse_error++; | ||
| data_state_go_discard(cd); | ||
| } | ||
|
|
||
| // Received six dominant bits on the line | ||
| static void | ||
| data_state_line_error(struct can2040 *cd) | ||
| { | ||
| data_state_go_discard(cd); | ||
| if (cd->parse_state == MS_DISCARD) | ||
| data_state_go_discard(cd); | ||
| else | ||
| data_state_go_error(cd); | ||
| } | ||
|
|
||
| // Received six unexpected passive bits on the line | ||
|
|
@@ -933,16 +963,15 @@ data_state_line_passive(struct can2040 *cd) | |
| { | ||
| if (cd->parse_state != MS_DISCARD && cd->parse_state != MS_START) { | ||
| // Bitstuff error | ||
| data_state_go_discard(cd); | ||
| data_state_go_error(cd); | ||
| return; | ||
| } | ||
|
|
||
| uint32_t stuffed_bits = unstuf_get_raw(&cd->unstuf); | ||
| uint32_t dom_bits = ~stuffed_bits; | ||
| if (!dom_bits) { | ||
| // Counter overflow in "sync" state machine - reset it | ||
| cd->unstuf.stuffed_bits = 0; | ||
| cd->raw_bit_count = cd->unstuf.count_stuff = 0; | ||
| data_state_clear_bits(cd); | ||
| pio_sm_setup(cd); | ||
| data_state_go_discard(cd); | ||
| return; | ||
|
|
@@ -972,7 +1001,7 @@ data_state_go_crc(struct can2040 *cd) | |
|
|
||
| int ret = report_note_crc_start(cd); | ||
| if (ret) { | ||
| data_state_go_discard(cd); | ||
| data_state_go_error(cd); | ||
| return; | ||
| } | ||
| data_state_go_next(cd, MS_CRC, 16); | ||
|
|
@@ -1065,7 +1094,7 @@ static void | |
| data_state_update_crc(struct can2040 *cd, uint32_t data) | ||
| { | ||
| if (((cd->parse_crc << 1) | 1) != data) { | ||
| data_state_go_discard(cd); | ||
| data_state_go_error(cd); | ||
| return; | ||
| } | ||
|
|
||
|
|
@@ -1083,7 +1112,7 @@ data_state_update_ack(struct can2040 *cd, uint32_t data) | |
| // data_state_line_passive() | ||
| unstuf_restore_state(&cd->unstuf, (cd->parse_crc_bits << 2) | data); | ||
|
|
||
| data_state_go_discard(cd); | ||
| data_state_go_error(cd); | ||
| return; | ||
| } | ||
| report_note_ack_success(cd); | ||
|
|
@@ -1095,7 +1124,7 @@ static void | |
| data_state_update_eof0(struct can2040 *cd, uint32_t data) | ||
| { | ||
| if (data != 0x0f || pio_rx_check_stall(cd)) { | ||
| data_state_go_discard(cd); | ||
| data_state_go_error(cd); | ||
| return; | ||
| } | ||
| unstuf_clear_state(&cd->unstuf); | ||
|
|
@@ -1106,14 +1135,17 @@ data_state_update_eof0(struct can2040 *cd, uint32_t data) | |
| static void | ||
| data_state_update_eof1(struct can2040 *cd, uint32_t data) | ||
| { | ||
| if (data >= 0x1c || (data >= 0x18 && report_is_rx_eof_pending(cd))) | ||
| // Message is considered fully transmitted | ||
| if (data == 0x1f) { | ||
| // Success | ||
| report_note_eof_success(cd); | ||
|
|
||
| if (data == 0x1f) | ||
| data_state_go_next(cd, MS_START, 1); | ||
| else | ||
| } else if (data >= 0x1c || (data >= 0x18 && report_is_not_in_tx(cd))) { | ||
| // Message fully transmitted - followed by "overload frame" | ||
| report_note_eof_success(cd); | ||
| data_state_go_discard(cd); | ||
| } else { | ||
| data_state_go_error(cd); | ||
| } | ||
| } | ||
|
|
||
| // Handle data received while in MS_DISCARD state | ||
|
|
@@ -1310,13 +1342,28 @@ can2040_start(struct can2040 *cd, uint32_t sys_clock, uint32_t bitrate | |
| { | ||
| cd->gpio_rx = gpio_rx; | ||
| cd->gpio_tx = gpio_tx; | ||
| data_state_clear_bits(cd); | ||
| pio_setup(cd, sys_clock, bitrate); | ||
| data_state_go_discard(cd); | ||
| } | ||
|
|
||
| // API function to stop and uninitialize can2040 code | ||
| // API function to stop can2040 code | ||
| void | ||
| can2040_shutdown(struct can2040 *cd) | ||
| can2040_stop(struct can2040 *cd) | ||
| { | ||
| // XXX | ||
| pio_irq_disable(cd); | ||
| pio_sm_setup(cd); | ||
| } | ||
|
|
||
| // API function to access can2040 statistics | ||
| void | ||
| can2040_get_statistics(struct can2040 *cd, struct can2040_stats *stats) | ||
| { | ||
| for (;;) { | ||
| memcpy(stats, &cd->stats, sizeof(*stats)); | ||
| if (memcmp(stats, &cd->stats, sizeof(*stats)) == 0) | ||
| // Successfully copied data | ||
| return; | ||
| // Raced with irq handler update - retry copy | ||
| } | ||
| } | ||
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