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CAN via IRQ

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This commit is contained in:
CarlWachter 2024-04-30 13:37:31 +02:00
parent 8637be5bc9
commit 683b680f00
2 changed files with 67 additions and 42 deletions
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13
include/sta/tacos/can_bus.hpp
View File

@ -75,6 +75,7 @@ namespace sta
* @return True if message was retrieved successfully
*/
bool getCanBusMsg(CanDataMsg * msg, uint32_t timeout);
/**
* @brief Retrieve system message from CAN driver TX queue.
*
@ -84,6 +85,13 @@ namespace sta
*/
bool getCanBusMsg(CanSysMsg * msg, uint32_t timeout);
/**
* @brief Buffers incoming message and sets event to notify the system.
*
* @param fifo FIFO number of the received message.
*/
void canCallback(uint32_t fifo);
void init() override;
void func() override;
@ -105,8 +113,9 @@ namespace sta
sta::STM32CanController * canBusController_;
CanDataMsg canBusDataQueueBuffer_[STA_RTOS_CAN_BUS_QUEUE_LENGTH];
CanSysMsg canBusSysQueueBuffer_[STA_RTOS_CAN_BUS_QUEUE_LENGTH];
//CanDataMsg canBusDataQueueBuffer_[STA_RTOS_CAN_BUS_QUEUE_LENGTH];
CanSysMsg* canBusSysQueueBuffer_[STA_RTOS_CAN_BUS_QUEUE_LENGTH];
uint8_t bufferIndex;
RtosQueue<CanSysMsg> canBusSysQueue_;
RtosQueue<CanDataMsg> canBusDataQueue_;

96
src/can_bus.cpp
View File

@ -18,17 +18,27 @@ namespace sta
canBusDataQueue_(STA_RTOS_CAN_BUS_QUEUE_LENGTH),
canBus_{canBusController_, HAL_GetTick, sta::tacos::handleSysMessage, sta::tacos::handleDataMessage}
{
bufferIndex = 0;
for(int i = 0; i < STA_RTOS_CAN_BUS_QUEUE_LENGTH; i++){
canBusSysQueueBuffer_[i] = nullptr;
}
}
void CanBus::init()
{
canBusController_->start();
if (HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO0_MSG_PENDING) != HAL_OK ||
HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO1_MSG_PENDING))
{
Error_Handler();
}
}
void CanBus::func()
{
messageEvent.clear(STA_RTOS_CAN_ANY);
uint32_t flags = messageEvent.wait(STA_RTOS_CAN_ANY, 500);
uint32_t flags = messageEvent.wait(STA_RTOS_CAN_ANY, osWaitForever);
if (flags != static_cast<uint32_t>(osErrorTimeout))
{
@ -46,8 +56,22 @@ namespace sta
if (flags & STA_RTOS_CAN_FLAG_MSG_AVAIL)
{
STA_DEBUG_PRINTLN("[event] CAN INT");
CanSysMsg sysMsg;
// Iterate through buffer and set back to nullptr after use
for(int i = 0; i < STA_RTOS_CAN_BUS_QUEUE_LENGTH; i++){
if(canBusSysQueueBuffer_[i] != nullptr){
sysMsg = *canBusSysQueueBuffer_[i];
canBusSysQueueBuffer_[i] = nullptr;
// Append to the correct thread's queue
for (std::shared_ptr<TacosThread> thread : Manager::instance()->getActiveThreads()){
if (thread->getCanID() == sysMsg.header.sid){
thread->CAN_queue_.put(sysMsg);
break;
}
}
}
}
//canBus_.processRx();
}
@ -57,43 +81,6 @@ namespace sta
}
}
CanRxHeader rxHeader; //CAN Bus Receive Header
uint8_t canRX[8] = {0,0,0,0,0,0,0,0}; //CAN Bus Receive Buffer
bool received_ = canBusController_->receiveFrame(CAN_RX_FIFO0, &rxHeader, canRX);
if (received_){
// Create a CANSysMsg from the received data
CanSysMsg sysMsg;
sysMsg.header.sid = rxHeader.id.sid;
sysMsg.header.payloadLength = rxHeader.payloadLength;
std::memcpy(sysMsg.payload, canRX, rxHeader.payloadLength);
// Append to the correct thread's queue
for (std::shared_ptr<TacosThread> thread : Manager::instance()->getActiveThreads()){
if (thread->getCanID() == rxHeader.id.sid){
thread->CAN_queue_.put(sysMsg);
break;
}
}
}
received_ = canBusController_->receiveFrame(CAN_RX_FIFO1, &rxHeader, canRX);
if (received_){
// Create a CANSysMsg from the received data
CanSysMsg sysMsg;
sysMsg.header.sid = rxHeader.id.sid;
sysMsg.header.payloadLength = rxHeader.payloadLength;
sysMsg.header.format = 0;
std::memcpy(sysMsg.payload, canRX, rxHeader.payloadLength);
// Append to the correct thread's queue
for (std::shared_ptr<TacosThread> thread : Manager::instance()->getActiveThreads()){
if (thread->getCanID() == rxHeader.id.sid){
thread->CAN_queue_.put(sysMsg);
break;
}
}
}
}
bool CanBus::queueCanBusMsg(const CanDataMsg& msg, uint32_t timeout)
@ -116,7 +103,7 @@ namespace sta
bool CanBus::queueCanBusMsg(const CanSysMsg& msg, uint32_t timeout)
{
// This technicall should check if we are using a system message, but we just pretending that everything is one of those rn
// This technically should check if we are using a system message, but we just pretending that everything is one of those rn
//STA_ASSERT((msg.header.sid & ~STA_CAN_SID_SYS_BITS) == 0);
if (canBusSysQueue_.put(msg, timeout))
@ -132,6 +119,29 @@ namespace sta
}
}
void CanBus::canCallback(uint32_t fifo){
if(messageEvent.get() != STA_RTOS_CAN_FLAG_MSG_AVAIL){
// get here does not work since FreeRTOS is a buggy mess
messageEvent.set(STA_RTOS_CAN_FLAG_MSG_AVAIL);
CanRxHeader rxHeader; //CAN Bus Receive Header
uint8_t canRX[8] = {0,0,0,0,0,0,0,0}; //CAN Bus Receive Buffer
bool received_ = canBusController_->receiveFrame(fifo, &rxHeader, canRX);
if(received_){
CanSysMsg sysMsg;
sysMsg.header.sid = rxHeader.id.sid;
sysMsg.header.payloadLength = rxHeader.payloadLength;
std::memcpy(sysMsg.payload, canRX, rxHeader.payloadLength);
canBusSysQueueBuffer_[bufferIndex] = &sysMsg;
bufferIndex++;
if (bufferIndex >= STA_RTOS_CAN_BUS_QUEUE_LENGTH) bufferIndex = 0;
}
}
}
bool CanBus::getCanBusMsg(CanDataMsg * msg, uint32_t timeout)
{
@ -150,7 +160,13 @@ namespace sta
} /* namespace tacos */
} /* namespace sta */
namespace sta {
void CanBus_RxPendingCallback(uint32_t fifo){
sta::tacos::CanBus::instance()->canCallback(fifo);
}
namespace tacos
{
void handleSysMessage(const sta::CanRxHeader & header, const uint8_t * payload)