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Add changes in init functions

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Replace #define to enum for safety reasons

Now config function takes as an arguments not only baudrate, but
flags for most significant bit and self teset mode initialization.
All parameters have a default value now

Add protection against access to MBOX with number > 31 in every
possible functions

Remove some old code
feature/baseCAN
Oleg 8 months ago
parent de707c052a
commit 0efa3cb375
4 changed files with 64 additions and 75 deletions
Show Stats Download Patch File Download Diff File

40
Protocol/CAN.cpp
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@ -1,4 +1,3 @@
#include "CAN.h"
#include "DSP2833x_Device.h"
#include <cstddef>
@ -37,10 +36,12 @@ void CAN::updateTXMessage(Uint16 boxNumber, const CANMessage& message){ // TODO
// bit, the CAN module fails to transmit the new data and transmits the old data instead. To avoid this,
// reset transmission in that mailbox using the TRRn bit and set the TRSn bit again. The new data is
// then transmitted.
if (boxNumber > 31) return;
volatile MBOX* p_MailBox(NULL);
p_MailBox = &(p_CanMBoxes_->MBOX0) + boxNumber;
// Set change data request
// Set change data request (CDR bit + MBOX number)
p_CanRegs_->CANMC.all |= (128 + boxNumber);
p_MailBox->MDL.all = message.mdl.all;
@ -53,6 +54,8 @@ void CAN::updateTXMessage(Uint16 boxNumber, const CANMessage& message){ // TODO
void CAN::sendRemoteRequest(Uint16 boxNumber){
if (boxNumber > 31) return;
volatile MBOX* p_MailBox(NULL);
p_MailBox = &(p_CanMBoxes_->MBOX0) + boxNumber;
@ -79,6 +82,8 @@ void CAN::sendRemoteRequest(Uint16 boxNumber){
bool CAN::receiveMsg(Uint16 boxNumber, CANMessage& rxMessage){ // TODO faults just return -1
if (boxNumber > 31) { return -1; }
Uint32 mboxControl(0);
mboxControl = 1ul << boxNumber;
@ -115,6 +120,8 @@ bool CAN::isNewMessage(){
bool CAN::isNewMessage(Uint16 boxNumber){
if (boxNumber > 31) { return 0; }
Uint32 mboxControl(0);
mboxControl = 1ul << boxNumber;
@ -123,33 +130,4 @@ bool CAN::isNewMessage(Uint16 boxNumber){
}
/* CANMessage CAN::receiveMsg(Uint16 boxNumber){
Uint32 mboxControl(0);
mboxControl = 1ul << boxNumber;
volatile MBOX* p_MailBox(NULL);
p_MailBox = &(p_CanMBoxes_->MBOX0) + boxNumber;
CANMessage rxMessage;
p_CanRegs_->CANRMP.all &= mboxControl;
rxMessage.MSGCTRL.all = p_MailBox->MSGCTRL.all;
rxMessage.MDL.all = p_MailBox->MDL.all;
rxMessage.MDH.all = p_MailBox->MDH.all;
bool newMessage;
bool lostMessage;
newMessage = p_CanRegs_->CANRMP.all & mboxControl;
lostMessage = p_CanRegs_->CANRML.all & mboxControl;
if(newMessage || lostMessage) {
counter_fault_rx++; // TODO delete after debug
// set_fault();
}
return rxMessage;
} */
} // canSpace

43
Protocol/CAN.h
Unescape Escape View File

@ -10,6 +10,28 @@ enum CAN_VARIANT{
CANB
};
enum configFlags{
NONE = 0,
MSB_ENABLE = 1u << 0,
STM_ENABLE = 1u << 1
};
enum configSystemIsrFlags{
I0EN_ENABLE = 1ul,
I1EN_ENABLE = 1ul << 1,
GIL_ENABLE = 1ul << 2,
WLIM_ENABLE = 1ul << 8,
EPIM_ENABLE = 1ul << 9,
BOIM_ENABLE = 1ul << 10,
RMLIM_ENABLE = 1ul << 11,
WUIM_ENABLE = 1ul << 12,
WDIM_ENABLE = 1ul << 13,
AAIM_ENABLE = 1ul << 14,
TCOM_ENABLE = 1ul << 16,
MTOM_ENABLE = 1ul << 17
};
// eCAN Message Control Register (MSGCTRL) bit definitions
struct MsgCtrlBits { // bits description
@ -81,7 +103,7 @@ public:
CAN(CAN_VARIANT canVariant);
void initGpio();
void config(Uint16 baudrate);
void config(Uint16 baudrate = 1000, Uint16 flags = 0);
void configTxMBox(Uint16 boxNumber, const MsgID& configID, const MsgCtrlReg& configCtrlReg);
void configRxMBox(Uint16 boxNumber, const MsgID& configID, const MsgCtrlReg& configCtrlReg);
void configSystemIsr(Uint32 flags);
@ -104,22 +126,3 @@ private:
} // canSpace
#define I0EN_ENABLE 1ul
#define I1EN_ENABLE 1ul << 1
#define GIL_ENABLE 1ul << 2
#define WLIM_ENABLE 1ul << 8
#define EPIM_ENABLE 1ul << 9
#define BOIM_ENABLE 1ul << 10
#define RMLIM_ENABLE 1ul << 11
#define WUIM_ENABLE 1ul << 12
#define WDIM_ENABLE 1ul << 13
#define AAIM_ENABLE 1ul << 14
#define TCOM_ENABLE 1ul << 16
#define MTOM_ENABLE 1ul << 17
#define SYSTEM_INTERRUPTS (\
I0EN_ENABLE |\
AAIM_ENABLE \
)

54
Protocol/CANConfig.cpp
Unescape Escape View File

@ -1,4 +1,3 @@
#include "CAN.h"
#include "DSP2833x_Device.h"
#include "DSP2833x_ECan.h"
#include <cstddef>
@ -9,12 +8,13 @@ CAN::CAN(CAN_VARIANT canVariant) :
canPort(canVariant)
{}
void CAN::initGpio(){
if(canPort == CANA) InitECanaGpio();
else if (canPort == CANB) InitECanbGpio();
}
void CAN::config(Uint16 baudrate){ // TODO add isr disable here
void CAN::config(Uint16 baudrate, Uint16 flags){
if (canPort == CANA){
EALLOW;
SysCtrlRegs.PCLKCR0.bit.ECANAENCLK = 1;
@ -31,16 +31,13 @@ void CAN::config(Uint16 baudrate){ // TODO add isr disable here
}
else { return; }
//
// Create a shadow register structure for the CAN control registers. This
// Create a shadow register structure for the CAN control registers. This // TODO add this into description
// is needed, since only 32-bit access is allowed to these registers.
// 16-bit access to these registers could potentially corrupt the register
// contents or return false data. This is especially true while writing
// to/reading from a bit (or group of bits) among bits 16 - 31
//
// struct ECAN_REGS ECanShadow;
EALLOW; // EALLOW enables access to protected bits
EALLOW;
// Configure eCAN RX and TX pins for CAN operation using eCAN regs
CanShadow_.CANTIOC.all = p_CanRegs_->CANTIOC.all;
@ -98,31 +95,33 @@ void CAN::config(Uint16 baudrate){ // TODO add isr disable here
// TAn, RMPn, GIFn bits are all zero upon reset and are cleared again
// as a matter of precaution.
p_CanRegs_->CANTA.all = 0xFFFFFFFF; // Clear all TAn bits
p_CanRegs_->CANRMP.all = 0xFFFFFFFF; // Clear all RMPn bits
p_CanRegs_->CANGIF0.all = 0xFFFFFFFF; // Clear all interrupt flag bits
p_CanRegs_->CANTA.all = 0xFFFFFFFF;
p_CanRegs_->CANRMP.all = 0xFFFFFFFF;
p_CanRegs_->CANGIF0.all = 0xFFFFFFFF;
p_CanRegs_->CANGIF1.all = 0xFFFFFFFF;
// Configure bit timing parameters for eCANA
CanShadow_.CANMC.all = p_CanRegs_->CANMC.all;
CanShadow_.CANMC.bit.CCR = 1 ; // Set CCR = 1
CanShadow_.CANMC.bit.CCR = 1 ;
p_CanRegs_->CANMC.all = CanShadow_.CANMC.all;
do { CanShadow_.CANES.all = p_CanRegs_->CANES.all; }
while(CanShadow_.CANES.bit.CCE != 1 ); // Wait for CCE bit to be set
while(CanShadow_.CANES.bit.CCE != 1 );
// CanShadow_.CANMC.all = p_CanRegs_->CANMC.all; //TODO delete
// CanShadow_.CANMC.bit.DBO = 1 ; // Set DBO = 1
// p_CanRegs_->CANMC.all = CanShadow_.CANMC.all;
// LSB - 0; MSB - 1
CanShadow_.CANMC.all = p_CanRegs_->CANMC.all;
if (flags & MSB_ENABLE){
CanShadow_.CANMC.bit.DBO = 1;
}
else
{ CanShadow_.CANMC.bit.DBO = 0; }
p_CanRegs_->CANMC.all = CanShadow_.CANMC.all;
CanShadow_.CANBTC.all = 0;
// The following block for all 150 MHz SYSCLKOUT
// (75 MHz CAN clock) - default. Bit rate = 1 Mbps / 500 kbps / 250 kbps / 100 kbps
switch (baudrate) {
case 1000:
CanShadow_.CANBTC.bit.BRPREG = 4;
@ -162,21 +161,29 @@ void CAN::config(Uint16 baudrate){ // TODO add isr disable here
while(CanShadow_.CANES.bit.CCE != 0 ); // Wait for CCE bit to be cleared
// Disable all Mailboxes
p_CanRegs_->CANME.all = 0; // Required before writing the MSGIDs
p_CanRegs_->CANME.all = 0;
// Disable all interrupts
p_CanRegs_->CANGIM.all = 0;
p_CanRegs_->CANMIM.all = 0;
//
// Debug feature
// Configure the eCAN for self test mode.
//
// CanShadow_.CANMC.all = p_CanRegs_->CANMC.all;
// CanShadow_.CANMC.bit.STM = 1; // Configure CAN for self-test mode
// p_CanRegs_->CANMC.all = CanShadow_.CANMC.all;
CanShadow_.CANMC.all = p_CanRegs_->CANMC.all;
if (flags & STM_ENABLE){
CanShadow_.CANMC.bit.STM = 1;
}
else
{ CanShadow_.CANMC.bit.STM = 0; }
p_CanRegs_->CANMC.all = CanShadow_.CANMC.all;
EDIS;
}
void CAN::configTxMBox(Uint16 boxNumber, const MsgID& configID, const MsgCtrlReg& configCtrlReg){
if (boxNumber > 31) return;
volatile MBOX* p_MailBox(NULL);
p_MailBox = &(p_CanMBoxes_->MBOX0) + boxNumber;
@ -220,6 +227,7 @@ void CAN::configTxMBox(Uint16 boxNumber, const MsgID& configID, const MsgCtrlReg
void CAN::configRxMBox(Uint16 boxNumber, const MsgID& configID, const MsgCtrlReg& configCtrlReg){
if (boxNumber > 31) return;
volatile MBOX* p_MailBox(NULL);
p_MailBox = &(p_CanMBoxes_->MBOX0) + boxNumber;

2
main.cpp
Unescape Escape View File

@ -66,7 +66,7 @@ void main()
canTest.configRxMBox(2, canSpace::MsgID(0x111), canSpace::MsgCtrlReg(0x13));
// canTest.configTxMBox(30, canSpace::MsgID(0x111, false, true), canSpace::MsgCtrlReg(0x3)); // for remote answer
canTest.configSystemIsr(I0EN_ENABLE | EPIM_ENABLE | WLIM_ENABLE | AAIM_ENABLE);
canTest.configSystemIsr(canSpace::I0EN_ENABLE | canSpace::EPIM_ENABLE | canSpace::WLIM_ENABLE | canSpace::AAIM_ENABLE);
//
// Enable global Interrupts and higher priority real-time debug events:

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