Critical bugfix in dsPIC33, PIC24, CAN receive.
FIFO buffer did not work properly. https://github.com/CANopenNode/CANopenNode/pull/3
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Janez
parent
df0d0353f0
commit
f7184e7197
2 changed files with 135 additions and 72 deletions
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@ -3,7 +3,9 @@
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*
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* @file CO_driver.c
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* @author Janez Paternoster
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* @copyright 2004 - 2013 Janez Paternoster
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* @author Peter Rozsahegyi (EDS)
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* @author Jens Nielsen (CAN receive)
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* @copyright 2004 - 2015 Janez Paternoster
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*
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* This file is part of CANopenNode, an opensource CANopen Stack.
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* Project home page is <http://canopennode.sourceforge.net>.
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@ -147,7 +149,6 @@ CO_ReturnError_t CO_CANmodule_init(
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/* Configure object variables */
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CANmodule->CANbaseAddress = CANbaseAddress;
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CANmodule->CANmsgBuff = CANmsgBuff;
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CANmodule->CANmsgBuffSize = CANmsgBuffSize;
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CANmodule->rxArray = rxArray;
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CANmodule->rxSize = rxSize;
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CANmodule->txArray = txArray;
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@ -248,15 +249,31 @@ CO_ReturnError_t CO_CANmodule_init(
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/* Configure DMA controller */
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/* set size of buffer in DMA RAM (FIFO Area Starts with Tx/Rx buffer TRB1 - FSA = 1) */
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if (CANmsgBuffSize >= 32) CAN_REG(CANbaseAddress, C_FCTRL) = 0xC001;
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else if(CANmsgBuffSize >= 24) CAN_REG(CANbaseAddress, C_FCTRL) = 0xA001;
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else if(CANmsgBuffSize >= 16) CAN_REG(CANbaseAddress, C_FCTRL) = 0x8001;
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else if(CANmsgBuffSize >= 12) CAN_REG(CANbaseAddress, C_FCTRL) = 0x6001;
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else if(CANmsgBuffSize >= 8) CAN_REG(CANbaseAddress, C_FCTRL) = 0x4001;
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else if(CANmsgBuffSize >= 6) CAN_REG(CANbaseAddress, C_FCTRL) = 0x2001;
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else if(CANmsgBuffSize >= 4) CAN_REG(CANbaseAddress, C_FCTRL) = 0x0001;
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else return CO_ERROR_ILLEGAL_ARGUMENT;
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/* Set size of buffer in DMA RAM (FIFO Area Starts with Tx/Rx buffer TRB1 (FSA = 1)) */
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/* Use maximum 16 buffers, because we have 16-bit system. */
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if (CANmsgBuffSize >= 16) {
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CAN_REG(CANbaseAddress, C_FCTRL) = 0x8001;
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CANmodule->CANmsgBuffSize = 16;
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}
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else if(CANmsgBuffSize >= 12) {
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CAN_REG(CANbaseAddress, C_FCTRL) = 0x6001;
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CANmodule->CANmsgBuffSize = 12;
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}
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else if(CANmsgBuffSize >= 8) {
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CAN_REG(CANbaseAddress, C_FCTRL) = 0x4001;
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CANmodule->CANmsgBuffSize = 8;
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}
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else if(CANmsgBuffSize >= 6) {
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CAN_REG(CANbaseAddress, C_FCTRL) = 0x2001;
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CANmodule->CANmsgBuffSize = 6;
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}
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else if(CANmsgBuffSize >= 4) {
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CAN_REG(CANbaseAddress, C_FCTRL) = 0x0001;
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CANmodule->CANmsgBuffSize = 4;
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}
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else {
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return CO_ERROR_ILLEGAL_ARGUMENT;
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}
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/* DMA chanel initialization for ECAN reception */
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DMA_REG(DMArxBaseAddress, DMA_CON) = 0x0020;
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@ -560,7 +577,7 @@ void CO_CANclearPendingSyncPDOs(CO_CANmodule_t *CANmodule){
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/******************************************************************************/
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void CO_CANverifyErrors(CO_CANmodule_t *CANmodule){
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uint8_t err;
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uint16_t err;
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CO_EM_t* em = (CO_EM_t*)CANmodule->em;
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err = CAN_REG(CANmodule->CANbaseAddress, C_INTF) >> 8;
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@ -617,72 +634,117 @@ void CO_CANverifyErrors(CO_CANmodule_t *CANmodule){
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/******************************************************************************/
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void CO_CANinterrupt(CO_CANmodule_t *CANmodule){
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uint16_t ICODE;
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ICODE = CAN_REG(CANmodule->CANbaseAddress, C_VEC) & 0x1F;
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void CO_CANinterrupt(CO_CANmodule_t *CANmodule) {
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/* receive interrupt (New CAN messagge is available in RX FIFO buffer) */
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if(ICODE > 0){
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EDS_PTR CO_CANrxMsg_t *rcvMsg;/* pointer to received message in CAN module */
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uint16_t index; /* index of received message */
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uint16_t rcvMsgIdent; /* identifier of the received message */
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CO_CANrx_t *buffer = NULL; /* receive message buffer from CO_CANmodule_t object. */
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bool_t msgMatched = false;
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volatile uint16_t C_CTRL1old;
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/* receive interrupt (New CAN message is available in RX FIFO buffer) */
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if(CAN_REG(CANmodule->CANbaseAddress, C_INTF) & 0x02) {
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uint16_t C_CTRL1old;
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uint16_t C_RXFUL1copy;
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uint16_t C_FIFOcopy;
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uint8_t FNRB, FBP;
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rcvMsg = &CANmodule->CANmsgBuff[ICODE];
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rcvMsgIdent = rcvMsg->ident;
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if(CANmodule->useCANrxFilters){
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/* CAN module filters are used. Message with known 11-bit identifier has */
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/* been received */
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index = rcvMsg->FILHIT;
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if(index < CANmodule->rxSize){
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buffer = &CANmodule->rxArray[index];
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/* verify also RTR */
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if(((rcvMsgIdent ^ buffer->ident) & buffer->mask) == 0U){
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msgMatched = true;
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}
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}
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}
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else{
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/* CAN module filters are not used, message with any standard 11-bit identifier */
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/* has been received. Search rxArray form CANmodule for the same CAN-ID. */
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buffer = &CANmodule->rxArray[0];
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for(index = CANmodule->rxSize; index > 0U; index--){
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if(((rcvMsgIdent ^ buffer->ident) & buffer->mask) == 0U){
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msgMatched = true;
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break;
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}
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buffer++;
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}
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}
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/* Call specific function, which will process the message */
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if(msgMatched && (buffer != NULL) && (buffer->pFunct != NULL)){
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#ifdef __HAS_EDS__
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CO_CANrxMsg_t _rcvMsg = *rcvMsg;
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buffer->pFunct(buffer->object, &_rcvMsg);
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#else
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buffer->pFunct(buffer->object, rcvMsg);
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#endif
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}
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/* Clear RXFUL flag */
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CO_DISABLE_INTERRUPTS(); //TODO
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CO_DISABLE_INTERRUPTS();
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C_CTRL1old = CAN_REG(CANmodule->CANbaseAddress, C_CTRL1);
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CAN_REG(CANmodule->CANbaseAddress, C_CTRL1) = C_CTRL1old & 0xFFFE; /* WIN = 0 - use buffer registers */
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if(ICODE < 16) CAN_REG(CANmodule->CANbaseAddress, C_RXFUL1) ^= 1 << ICODE;
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else CAN_REG(CANmodule->CANbaseAddress, C_RXFUL2) ^= 1 << (ICODE & 0xF);
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C_RXFUL1copy = CAN_REG(CANmodule->CANbaseAddress, C_RXFUL1);
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CAN_REG(CANmodule->CANbaseAddress, C_CTRL1) = C_CTRL1old;
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/* We will service the buffers indicated by RXFUL copy, clear interrupt
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* flag now and let interrupt hit again if more messages are received */
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CAN_REG(CANmodule->CANbaseAddress, C_INTF) &= 0xFFFD;
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C_FIFOcopy = CAN_REG(CANmodule->CANbaseAddress, C_FIFO);
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CO_ENABLE_INTERRUPTS();
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/* Clear interrupt flag */
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CAN_REG(CANmodule->CANbaseAddress, C_INTF) &= 0xFFFD;
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/* FNRB tells us which buffer to read in FIFO */
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FNRB = C_FIFOcopy & 0x3F;
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/* FBP tells us the next FIFO entry that will be written */
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FBP = C_FIFOcopy >> 8;
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while(C_RXFUL1copy != 0) {
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EDS_PTR CO_CANrxMsg_t *rcvMsg;/* pointer to received message in CAN module */
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uint16_t index; /* index of received message */
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uint16_t rcvMsgIdent; /* identifier of the received message */
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CO_CANrx_t *buffer = NULL; /* receive message buffer from CO_CANmodule_t object. */
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bool_t msgMatched = false;
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uint16_t mask;
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mask = 1 << FNRB;
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if((C_RXFUL1copy & mask) == 0) {
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/* This should not happen. However, if it does happen
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* (in case of debugging), get FNRB from loop. */
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for(FNRB=1; FNRB<CANmodule->CANmsgBuffSize; FNRB++) {
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mask = 1 << FNRB;
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if((C_RXFUL1copy & mask)) {
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break;
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}
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}
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}
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/* RXFUL is set for this buffer, service it */
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rcvMsg = &CANmodule->CANmsgBuff[FNRB];
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rcvMsgIdent = rcvMsg->ident;
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if(CANmodule->useCANrxFilters) {
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/* CAN module filters are used. Message with known 11-bit identifier has */
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/* been received */
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index = rcvMsg->FILHIT;
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if(index < CANmodule->rxSize) {
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buffer = &CANmodule->rxArray[index];
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/* verify also RTR */
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if(((rcvMsgIdent ^ buffer->ident) & buffer->mask) == 0U) {
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msgMatched = true;
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}
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}
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}
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else {
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/* CAN module filters are not used, message with any standard 11-bit identifier */
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/* has been received. Search rxArray form CANmodule for the same CAN-ID. */
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buffer = &CANmodule->rxArray[0];
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for(index = CANmodule->rxSize; index > 0U; index--) {
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if(((rcvMsgIdent ^ buffer->ident) & buffer->mask) == 0U) {
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msgMatched = true;
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break;
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}
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buffer++;
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}
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}
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/* Call specific function, which will process the message */
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if(msgMatched && (buffer != NULL) && (buffer->pFunct != NULL)) {
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#ifdef __HAS_EDS__
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CO_CANrxMsg_t _rcvMsg = *rcvMsg;
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buffer->pFunct(buffer->object, &_rcvMsg);
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#else
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buffer->pFunct(buffer->object, rcvMsg);
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#endif
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}
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/* Clear RXFUL flag */
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CO_DISABLE_INTERRUPTS();
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C_CTRL1old = CAN_REG(CANmodule->CANbaseAddress, C_CTRL1);
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CAN_REG(CANmodule->CANbaseAddress, C_CTRL1) = C_CTRL1old & 0xFFFE; /* WIN = 0 - use buffer registers */
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CAN_REG(CANmodule->CANbaseAddress, C_RXFUL1) &= ~(mask);
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CAN_REG(CANmodule->CANbaseAddress, C_CTRL1) = C_CTRL1old;
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CO_ENABLE_INTERRUPTS();
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/* Now update FNRB, it will point to a new buffer after RXFUL was cleared */
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FNRB = (CAN_REG(CANmodule->CANbaseAddress, C_FIFO) & 0x3F);
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/* Don't read past write buffer even if there are messages there, this is necessary
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* to be able to recover from an overflow.
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* This check must be after we've processed at least one message, since FNRB and FBP is
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* equal also when buffer is full */
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if (FNRB == FBP) {
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break;
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}
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C_RXFUL1copy &= ~(mask);
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}
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}
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/* transmit interrupt (TX buffer is free) */
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else{
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if(CAN_REG(CANmodule->CANbaseAddress, C_INTF) & 0x01) {
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/* Clear interrupt flag */
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CAN_REG(CANmodule->CANbaseAddress, C_INTF) &= 0xFFFE;
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/* First CAN message (bootup) was sent successfully */
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@ -3,8 +3,9 @@
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*
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* @file CO_driver.h
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* @author Janez Paternoster
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* @author Peter Rozsahegyi
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* @copyright 2004 - 2013 Janez Paternoster
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* @author Peter Rozsahegyi (EDS)
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* @author Jens Nielsen (CAN receive)
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* @copyright 2004 - 2015 Janez Paternoster
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*
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* This file is part of CANopenNode, an opensource CANopen Stack.
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* Project home page is <http://canopennode.sourceforge.net>.
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@ -353,7 +354,7 @@ typedef struct{
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volatile bool_t bufferInhibitFlag;
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volatile bool_t firstCANtxMessage;
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volatile uint16_t CANtxCount;
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uint32_t errOld;
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uint16_t errOld;
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void *em;
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}CO_CANmodule_t;
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@ -374,7 +375,7 @@ void CO_CANsetNormalMode(uint16_t CANbaseAddress);
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* @param DMAtxBaseAddress dsPIC33F specific: Base address for registers for
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* DMA transmission. See Peripheral addresses.
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* @param CANmsgBuff dsPIC33F specific: Pointer to CAN message buffer defined in DMA RAM.
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* @param CANmsgBuffSize dsPIC33F specific: Size of above buffer.
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* @param CANmsgBuffSize dsPIC33F specific: Size of the above buffer (4..16).
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* @param CANmsgBuffDMAoffset dsPIC33F specific: DMA offset of the above buffer.
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*/
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CO_ReturnError_t CO_CANmodule_init(
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