#include "stdcan.h"
#ifdef MCP_CAN_BITRATE_KBPS
#ifndef CAN_BAUDRATE
#define CAN_BAUDRATE MCP_CAN_BITRATE_KBPS
#endif
#endif
#if defined(_AVRLIB_BIOS_)
#include <bios.h>
#define Can_Send BIOS_CanSend
#else
#if (CAN_CONTROLLER == MCP2515)
#include <drivers/can/mcp2515/mcp2515.h>
#elif (CAN_CONTROLLER == CAN_AVR_INTERNAL)
#include <drivers/can/avr_internal/avr_internal.h>
#endif
#endif
#include <avr/interrupt.h>
#include <util/atomic.h>
#if (STDCAN_TX_QUEUE_SIZE > 1)
#error StdCan: Tx queue size longer than one msg not yet implemented.
#endif
/**
* The receive queue.
*/
StdCan_Msg_t RxQ[STDCAN_RX_QUEUE_SIZE + 1];
unsigned char RxQ_Rd_idx; /**< Receive queue read index. */
unsigned char RxQ_Wr_idx; /**< Receive queue write index. */
#if (STDCAN_TX_QUEUE_SIZE > 1)
/**
* The transmit queue.
*/
StdCan_Msg_t TxQ[STDCAN_TX_QUEUE_SIZE];
unsigned char TxQ_Rd_idx; /**< Transmit queue read index. */
unsigned char TxQ_Wr_idx; /**< Transmit queue write index. */
#endif
#if (STDCAN_FILTER)
/**
* The message acceptance filters.
*/
typedef struct {
char Active; /**< True if this filter should be used. */
unsigned long Id; /**< Match if id matches the message id in all bit locations that are not masked. */
unsigned long Mask; /**< Each bit specifies if the corresponding id bit must match (mask[n] = 1) or is Don't Care (mask[n] = 0). */
} StdCan_Filter_t;
StdCan_Filter_t RxFilters[STDCAN_NUM_FILTERS];
#endif
/**
* CAN message callback.
* Callback for when a message is received from the lower
* layer (BIOS or CAN driver).
*/
void Can_Process(Can_Message_t* msg)
{
/* What will the next write index be if the push goes well? */
unsigned char Wr_next = RxQ_Wr_idx + 1;
if (Wr_next >= STDCAN_RX_QUEUE_SIZE + 1) Wr_next = 0;
/* Check if there is room on the queue. */
if (Wr_next != RxQ_Rd_idx) {
unsigned char n;
#if (STDCAN_FILTER)
/* Try to match each filter in turn. */
for (n = 0; n < STDCAN_NUM_FILTERS; n++) {
if (RxFilters[n].Active && !((msg->Id ^ RxFilters[n].Id) & RxFilters[n].Mask)) {
RxQ[RxQ_Wr_idx].Match = n;
break;
}
}
if (n == STDCAN_NUM_FILTERS) return; // No match found, discard message.
#endif
/* Copy the message from lower layer into the queue. */
RxQ[RxQ_Wr_idx].Id = msg->Id;
RxQ[RxQ_Wr_idx].Length = msg->DataLength;
//TODO: This should be guarded against invalid DataLength.
for (n = 0; n < RxQ[RxQ_Wr_idx].Length; n++) {
RxQ[RxQ_Wr_idx].Data[n] = msg->Data.bytes[n];
}
/* Update write index. */
RxQ_Wr_idx = Wr_next;
} else {
/* Overflow, just drop the new message. In the future, some
* form of priority scheme could be used to drop another
* message in the queue.
*/
}
}
#ifdef MODULE_APPLICATION
StdCan_Ret_t StdCan_Init(void)
{
#else
StdCan_Ret_t StdCan_Init(Node_Desc_t* node_desc)
{
#endif
StdCan_Ret_t retval;
/* Reset all queue variables. */
RxQ_Rd_idx = 0;
RxQ_Wr_idx = 0;
#if (STDCAN_TX_QUEUE_SIZE > 1)
TxQ_Rd_idx = 0;
TxQ_Wr_idx = 0;
#endif
#if defined(_AVRLIB_BIOS_)
/* Initialize BIOS' interface for CAN. */
BIOS_CanCallback = Can_Process;
retval = StdCan_Ret_OK;
#else
/* Initialize CAN driver. */
if (Can_Init() == CAN_OK)
retval = StdCan_Ret_OK;
else
retval = StdCan_Ret_Fail;
#endif
//TODO: Do something with the Node Descriptor.
//(why have constants passed as parameters? they are defined at compiletime /arune)
#if defined(_AVRLIB_BIOS_)
/* TODO: When a Tx queue is implemented, the startup message should
* be sent via StdCan_Put instead of directly to lower layer.
*/
Can_Message_t Startup;
/* Set up Startup message format. */
Startup.ExtendedFlag = 1;
Startup.RemoteFlag = 0;
Startup.DataLength = 4;
#ifdef MODULE_APPLICATION
Startup.Id = (CAN_NMT << CAN_SHIFT_CLASS) | (CAN_NMT_APP_START << CAN_SHIFT_NMT_TYPE);
Startup.Data.bytes[0] = BIOS_GetHwId()&0xff;
Startup.Data.bytes[1] = (BIOS_GetHwId()>>8)&0xff;
Startup.Data.bytes[2] = (BIOS_GetHwId()>>16)&0xff;
Startup.Data.bytes[3] = (BIOS_GetHwId()>>24)&0xff;
#else
Startup.Id = (CAN_NMT_APP_START << CAN_SHIFT_NMT_TYPE) | (NODE_ID << CAN_SHIFT_NMT_SID);
Startup.Data.bytes[1] = APP_TYPE&0xff;
Startup.Data.bytes[0] = (APP_TYPE>>8)&0xff;
Startup.Data.bytes[3] = APP_VERSION&0xff;
Startup.Data.bytes[2] = (APP_VERSION>>8)&0xff;
#endif
/* Try to send it. */
Can_Send(&Startup);
#endif
return retval;
}
StdCan_Ret_t StdCan_Get(StdCan_Msg_t* msg)
{
unsigned char Wr_idx;
unsigned char Rd_idx;
/* Read indices atomically into local copies. */
ATOMIC_BLOCK(ATOMIC_RESTORESTATE) {
Wr_idx = *(volatile unsigned char*)&RxQ_Wr_idx;
Rd_idx = *(volatile unsigned char*)&RxQ_Rd_idx;
}
/* Check if there's a message waiting. */
if (Rd_idx != Wr_idx) {
unsigned char n;
/* Copy message to user buffer. */
msg->Id = RxQ[Rd_idx].Id;
msg->Length = RxQ[Rd_idx].Length;
//TODO: Consider a mempcy() of the entire message.
for (n = 0; n < RxQ[Rd_idx].Length; n++) {
msg->Data[n] = RxQ[Rd_idx].Data[n];
}
/* Update read index and store back atomically. */
if (++Rd_idx >= STDCAN_RX_QUEUE_SIZE + 1) Rd_idx = 0;
ATOMIC_BLOCK(ATOMIC_RESTORESTATE) {
*(volatile unsigned char*)&RxQ_Rd_idx = Rd_idx;
}
return StdCan_Ret_OK;
} else {
/* Queue is empty. */
return StdCan_Ret_Empty;
}
}
StdCan_Ret_t StdCan_Put(StdCan_Msg_t* msg)
{
Can_Message_t Can_Msg;
unsigned char n;
/* Validate message. */
if ((unsigned)msg->Length > 8) return StdCan_Ret_DataErr;
/* Copy message directly to lower layer until a proper
* queue has been implemented.
* TODO: Implement a proper queue. This requires TX interrupt
* support in the driver and BIOS.
*/
Can_Msg.ExtendedFlag = 1;
Can_Msg.RemoteFlag = 0;
Can_Msg.Id = msg->Id;
Can_Msg.DataLength = msg->Length;
for (n = 0; n < msg->Length; n++) {
Can_Msg.Data.bytes[n] = msg->Data[n];
}
if (Can_Send(&Can_Msg) == CAN_OK) {
#ifdef MODULE_APPLICATION
Can_Process(&Can_Msg);
#endif
return StdCan_Ret_OK;
}
else
return StdCan_Ret_Full;
}
void StdCan_SendHeartbeat(uint8_t n)
{
/* TODO: When a Tx queue is implemented, the heartbeat should
* be sent via StdCan_Put instead of directly to lower layer.
*/
Can_Message_t Heartbeat;
/* Set up Heartbeat message format. */
Heartbeat.ExtendedFlag = 1;
Heartbeat.RemoteFlag = 0;
#ifdef MODULE_APPLICATION
Heartbeat.DataLength = 5;
Heartbeat.Id = (CAN_NMT << CAN_SHIFT_CLASS) | (CAN_NMT_HEARTBEAT << CAN_SHIFT_NMT_TYPE);
uint32_t HwId=BIOS_GetHwId();
Heartbeat.Data.bytes[0] = HwId&0xff;
Heartbeat.Data.bytes[1] = (HwId>>8)&0xff;
Heartbeat.Data.bytes[2] = (HwId>>16)&0xff;
Heartbeat.Data.bytes[3] = (HwId>>24)&0xff;
Heartbeat.Data.bytes[4] = NUMBER_OF_MODULES;
#else
Heartbeat.DataLength = 0;
Heartbeat.Id = (CAN_NMT << CAN_SHIFT_CLASS)
| (CAN_NMT_HEARTBEAT << CAN_SHIFT_NMT_TYPE)
| (NODE_ID << CAN_SHIFT_NMT_SID);
#endif
/* Try to send it. */
Can_Send(&Heartbeat);
}
#if (STDCAN_FILTER)
StdCan_Ret_t StdCan_EnableFilter(unsigned char filter, unsigned long id, unsigned long mask)
{
if (filter < STDCAN_NUM_FILTERS) {
RxFilters[filter].Id = id;
RxFilters[filter].Mask = mask;
RxFilters[filter].Active = 1;
return StdCan_Ret_OK;
} else {
return StdCan_Ret_DataErr;
}
}
StdCan_Ret_t StdCan_DisableFilter(unsigned char filter)
{
if (filter < STDCAN_NUM_FILTERS) {
RxFilters[filter].Active = 0;
return StdCan_Ret_OK;
} else {
return StdCan_Ret_DataErr;
}
}
#endif