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feat: Add mode 3 and mode 4 for runtime CAN filter application with mask-based filtering

stable
@rakshita4 2024-11-13 03:53:59 +05:30
parent 718fc19753
commit d722738591
4 changed files with 613 additions and 51 deletions
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@ -238,6 +238,493 @@
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1
.gitignore vendored
View File

@ -3,3 +3,4 @@
/dvt/ /dvt/
/.jxbrowser.userdata /.jxbrowser.userdata
/AAR/ /AAR/
/Test__GNU

60
Core/Source/ivec_mcal_mcan.c
View File

@ -25,7 +25,7 @@ volatile uint32_t l_canTransmitTimeout;
volatile uint8_t u8CallBack_buff[8]={0}; volatile uint8_t u8CallBack_buff[8]={0};
volatile IVEC_McalStatus_e l_statusFlag = IVEC_MCAL_STATUS_SUCCESS; volatile IVEC_McalStatus_e l_statusFlag = IVEC_MCAL_STATUS_SUCCESS;
extern volatile uint8_t u8CANDataAct; extern volatile uint8_t u8CANDataAct;
#define MCAN_FILTER_SIZE 2u #define MCAN_FILTER_SIZE 0u
/*REQUIRED MCAN CONFIGS*/ /*REQUIRED MCAN CONFIGS*/
@ -72,10 +72,10 @@ static DL_MCAN_ConfigParams gMCAN0ConfigParams={
.timeoutCntEnable = false, .timeoutCntEnable = false,
.filterConfig.rrfs = false, .filterConfig.rrfs = false,
.filterConfig.rrfe = false, .filterConfig.rrfe = false,
// .filterConfig.anfe = 0, .filterConfig.anfe = 0,
// .filterConfig.anfs = 0, .filterConfig.anfs = 0,
.filterConfig.anfe = 3, // .filterConfig.anfe = 3,
.filterConfig.anfs = 3, // .filterConfig.anfs = 3,
}; };
@ -137,7 +137,7 @@ static DL_MCAN_MsgRAMConfigParams gMCAN0MsgRAMConfigParams ={
/* Extended ID Filter List Start Address. */ /* Extended ID Filter List Start Address. */
.flesa = 48 , .flesa = 48 ,
/* List Size: Extended ID. */ /* List Size: Extended ID. */
.lse = 2 , .lse = 0,
/* Tx Buffers Start Address. */ /* Tx Buffers Start Address. */
.txStartAddr = 10 , .txStartAddr = 10 ,
/* Number of Dedicated Transmit Buffers. */ /* Number of Dedicated Transmit Buffers. */
@ -219,8 +219,8 @@ static DL_MCAN_BitTimingParams gMCAN0BitTimes_250 = {
static const DL_MCAN_StdMsgIDFilterElement gMCAN0StdFiltelem1 = { static const DL_MCAN_StdMsgIDFilterElement gMCAN0StdFiltelem1 = {
.sfec = 001, .sfec = 001,
.sft = 0x00, .sft = 0x00,
.sfid1 = 0, .sfid1 = 0x1,
.sfid2 = 100, .sfid2 = 0x539,
}; };
//static const DL_MCAN_StdMsgIDFilterElement gMCAN0StdFiltelem1 = { //static const DL_MCAN_StdMsgIDFilterElement gMCAN0StdFiltelem1 = {
@ -233,8 +233,8 @@ static const DL_MCAN_StdMsgIDFilterElement gMCAN0StdFiltelem1 = {
static const DL_MCAN_StdMsgIDFilterElement gMCAN0StdFiltelem2 = { static const DL_MCAN_StdMsgIDFilterElement gMCAN0StdFiltelem2 = {
.sfec = 0x1, .sfec = 0x1,
.sft = 0x00, .sft = 0x00,
.sfid1 = 200, .sfid1 = 0x541,
.sfid2 = 300, .sfid2 = 0x2046,
}; };
static const DL_MCAN_StdMsgIDFilterElement gMCAN0StdFiltelem3 = { static const DL_MCAN_StdMsgIDFilterElement gMCAN0StdFiltelem3 = {
@ -261,8 +261,8 @@ static const DL_MCAN_StdMsgIDFilterElement gMCAN0StdFiltelem5 = {
static const DL_MCAN_ExtMsgIDFilterElement gMCAN0ExtFiltelem1 = { static const DL_MCAN_ExtMsgIDFilterElement gMCAN0ExtFiltelem1 = {
.efec = 0x1, .efec = 0x1,
.eft = 0x0, .eft = 0x0,
.efid1 = 3000, .efid1 = 2047,
.efid2 = 3500, .efid2 = 0x1FFFFFFF,
}; };
static const DL_MCAN_ExtMsgIDFilterElement gMCAN0ExtFiltelem2 = { static const DL_MCAN_ExtMsgIDFilterElement gMCAN0ExtFiltelem2 = {
@ -467,9 +467,9 @@ IVEC_McalStatus_e xMCAL_MCANInit(MCAN_Regs* MCAN, xCAN_baud_t BAUD)
DL_MCAN_msgRAMConfig(MCAN, (DL_MCAN_MsgRAMConfigParams*) &gMCAN0MsgRAMConfigParams); DL_MCAN_msgRAMConfig(MCAN, (DL_MCAN_MsgRAMConfigParams*) &gMCAN0MsgRAMConfigParams);
/* Configure Standard ID filter element */ /* Configure Standard ID filter element */
DL_MCAN_addStdMsgIDFilter(MCAN, 0U, (DL_MCAN_StdMsgIDFilterElement *) &gMCAN0StdFiltelem1); // DL_MCAN_addStdMsgIDFilter(MCAN, 0U, (DL_MCAN_StdMsgIDFilterElement *) &gMCAN0StdFiltelem1);
// //
DL_MCAN_addStdMsgIDFilter(MCAN, 1U, (DL_MCAN_StdMsgIDFilterElement *) &gMCAN0StdFiltelem2); ///DL_MCAN_addStdMsgIDFilter(MCAN, 1U, (DL_MCAN_StdMsgIDFilterElement *) &gMCAN0StdFiltelem2);
// //
// DL_MCAN_addStdMsgIDFilter(MCAN, 2U, (DL_MCAN_StdMsgIDFilterElement *) &gMCAN0StdFiltelem3); // DL_MCAN_addStdMsgIDFilter(MCAN, 2U, (DL_MCAN_StdMsgIDFilterElement *) &gMCAN0StdFiltelem3);
// //
@ -477,9 +477,9 @@ IVEC_McalStatus_e xMCAL_MCANInit(MCAN_Regs* MCAN, xCAN_baud_t BAUD)
// //
// DL_MCAN_addStdMsgIDFilter(MCAN, 4U, (DL_MCAN_StdMsgIDFilterElement *) &gMCAN0StdFiltelem5); // DL_MCAN_addStdMsgIDFilter(MCAN, 4U, (DL_MCAN_StdMsgIDFilterElement *) &gMCAN0StdFiltelem5);
// //
DL_MCAN_addExtMsgIDFilter(MCAN, 0U,(DL_MCAN_ExtMsgIDFilterElement *)&gMCAN0ExtFiltelem1); // DL_MCAN_addExtMsgIDFilter(MCAN, 0U,(DL_MCAN_ExtMsgIDFilterElement *)&gMCAN0ExtFiltelem1);
// //
DL_MCAN_addExtMsgIDFilter(MCAN, 1U,(DL_MCAN_ExtMsgIDFilterElement *)&gMCAN0ExtFiltelem2); // DL_MCAN_addExtMsgIDFilter(MCAN, 1U,(DL_MCAN_ExtMsgIDFilterElement *)&gMCAN0ExtFiltelem2);
// //
// DL_MCAN_addExtMsgIDFilter(MCAN, 2U,(DL_MCAN_ExtMsgIDFilterElement *)&gMCAN0ExtFiltelem3); // DL_MCAN_addExtMsgIDFilter(MCAN, 2U,(DL_MCAN_ExtMsgIDFilterElement *)&gMCAN0ExtFiltelem3);
@ -533,17 +533,39 @@ IVEC_McalStatus_e xMCAL_MCANInit(MCAN_Regs* MCAN, xCAN_baud_t BAUD)
* @param MCAN Pointer to the register overlay for the peripheral * @param MCAN Pointer to the register overlay for the peripheral
* @retval IVEC MCAL status * @retval IVEC MCAL status
*/ */
//IVEC_McalStatus_e xMCAL_MCANDeInit(MCAN_Regs* MCAN)
//{
// assert(MCAN == CANFD0);
// assert(b_MCAN_InitFlag != 0);
//
// NVIC_DisableIRQ(CANFD0_INT_IRQn);
// DL_MCAN_disablePower(MCAN);
// b_MCAN_InitFlag = 0;
//
// return IVEC_MCAL_STATUS_SUCCESS;
//
//}
IVEC_McalStatus_e xMCAL_MCANDeInit(MCAN_Regs* MCAN) IVEC_McalStatus_e xMCAL_MCANDeInit(MCAN_Regs* MCAN)
{ {
assert(MCAN == CANFD0); assert(MCAN == CANFD0);
assert(b_MCAN_InitFlag != 0); assert(b_MCAN_InitFlag != 0); // Ensure the module was initialized before deinitializing.
/* Disable MSPM0 MCAN interrupt */
NVIC_DisableIRQ(CANFD0_INT_IRQn); NVIC_DisableIRQ(CANFD0_INT_IRQn);
DL_MCAN_disablePower(MCAN); DL_MCAN_disableInterrupt(MCAN, DL_MCAN_MSP_INTERRUPT_LINE1);
DL_MCAN_setOpMode(MCAN, DL_MCAN_OPERATION_MODE_SW_INIT);
/* Wait till MCAN is in SW initialization mode */
while (DL_MCAN_OPERATION_MODE_SW_INIT != DL_MCAN_getOpMode(MCAN));
/* Disable the MCAN clock */
DL_MCAN_disableModuleClock(MCAN);
/* Clear initialization flag */
b_MCAN_InitFlag = 0; b_MCAN_InitFlag = 0;
return IVEC_MCAL_STATUS_SUCCESS; return IVEC_MCAL_STATUS_SUCCESS;
} }
/** /**

116
ivec_RTE/src/ivec_rte.c
View File

@ -16,7 +16,7 @@
McalUartHandle_s g_xUartHandle; McalUartHandle_s g_xUartHandle;
uint32_t g_u32UartSpeed = 0; uint32_t g_u32UartSpeed = 0;
uint16_t g_u16CanSpeed = 0; xCAN_baud_t g_u16CanSpeed = 0;
#define MAX_FILTERS 10 #define MAX_FILTERS 10
uint32_t maskValues[MAX_FILTERS]; uint32_t maskValues[MAX_FILTERS];
@ -26,12 +26,17 @@ bool isExtendedID[MAX_FILTERS];
uint32_t maskCount = 0; uint32_t maskCount = 0;
// Buffers to store parsed data // Buffers to store parsed data
uint32_t filterCount = 0; uint32_t filterCount = 0;
uint16_t extendedFilter = 0;
uint16_t standardFilter = 0;
static uint8_t __gprv_u8Idx = 0; static uint8_t __gprv_u8Idx = 0;
extern ExtU_socTouchDisplay_T socTouchDisplay_U; extern ExtU_socTouchDisplay_T socTouchDisplay_U;
extern ExtY_socTouchDisplay_T socTouchDisplay_Y; extern ExtY_socTouchDisplay_T socTouchDisplay_Y;
extern volatile bool b_MCAN_InitFlag; /*!< CAN initialization flag */
//DL_MCAN_StdMsgIDFilterElement stdFilterElement;
#define MCAN_FILTER_SIZE 0u
// New configuration instance to override filter settings dynamically // New configuration instance to override filter settings dynamically
static DL_MCAN_ConfigParams gMCAN0ConfigParamsFiltered = { static DL_MCAN_ConfigParams gMCAN0ConfigParamsFiltered = {
@ -50,30 +55,53 @@ static DL_MCAN_ConfigParams gMCAN0ConfigParamsFiltered = {
}; };
// Adjust MsgRAMConfigParams as necessary for filter list sizes // Adjust MsgRAMConfigParams as necessary for filter list sizes
static DL_MCAN_MsgRAMConfigParams gMCAN0MsgRAMConfigParamsFiltered = {
static DL_MCAN_MsgRAMConfigParams gMCAN0MsgRAMConfigParamsFiltered ={
/* Standard ID Filter List Start Address. */
.flssa = 1, .flssa = 1,
.lss = 0, // Adjust according to actual standard filter count /* List Size: Standard ID. */
.flesa = 48, .lss = MCAN_FILTER_SIZE,
.lse = 0, // Adjust according to actual extended filter count /* Extended ID Filter List Start Address. */
.txStartAddr = 10, .flesa = 48 ,
.txBufNum = 10, /* List Size: Extended ID. */
.lse = 0,
/* Tx Buffers Start Address. */
.txStartAddr = 10 ,
/* Number of Dedicated Transmit Buffers. */
.txBufNum = 10 ,
.txFIFOSize = 10, .txFIFOSize = 10,
/* Tx Buffer Element Size. */
.txBufMode = 0, .txBufMode = 0,
.txBufElemSize = DL_MCAN_ELEM_SIZE_8BYTES, .txBufElemSize = DL_MCAN_ELEM_SIZE_8BYTES,
.txEventFIFOStartAddr = 640, /* Tx Event FIFO Start Address. */
.txEventFIFOSize = 10, .txEventFIFOStartAddr = 640 ,
/* Event FIFO Size. */
.txEventFIFOSize = 10 ,
/* Level for Tx Event FIFO watermark interrupt. */
.txEventFIFOWaterMark = 0, .txEventFIFOWaterMark = 0,
.rxFIFO0startAddr = 170, /* Rx FIFO0 Start Address. */
.rxFIFO0size = 10, .rxFIFO0startAddr = 170 ,
/* Number of Rx FIFO elements. */
.rxFIFO0size = 10 ,
/* Rx FIFO0 Watermark. */
.rxFIFO0waterMark = 0, .rxFIFO0waterMark = 0,
.rxFIFO0OpMode = 0, .rxFIFO0OpMode = 0,
.rxFIFO1startAddr = 190, /* Rx FIFO1 Start Address. */
.rxFIFO1size = 10, .rxFIFO1startAddr = 190 ,
/* Number of Rx FIFO elements. */
.rxFIFO1size = 10 ,
/* Level for Rx FIFO 1 watermark interrupt. */
.rxFIFO1waterMark = 10, .rxFIFO1waterMark = 10,
/* FIFO blocking mode. */
.rxFIFO1OpMode = 0, .rxFIFO1OpMode = 0,
.rxBufStartAddr = 208, /* Rx Buffer Start Address. */
.rxBufStartAddr = 208 ,
/* Rx Buffer Element Size. */
.rxBufElemSize = DL_MCAN_ELEM_SIZE_8BYTES, .rxBufElemSize = DL_MCAN_ELEM_SIZE_8BYTES,
/* Rx FIFO0 Element Size. */
.rxFIFO0ElemSize = DL_MCAN_ELEM_SIZE_8BYTES, .rxFIFO0ElemSize = DL_MCAN_ELEM_SIZE_8BYTES,
/* Rx FIFO1 Element Size. */
.rxFIFO1ElemSize = DL_MCAN_ELEM_SIZE_8BYTES, .rxFIFO1ElemSize = DL_MCAN_ELEM_SIZE_8BYTES,
}; };
@ -193,8 +221,17 @@ void vCanFilterMaskSaveVal(uint8_t ucIdx, uint32_t mask, bool isExtended)
maskCount = ucIdx; maskCount = ucIdx;
maskValues[maskCount] = mask; maskValues[maskCount] = mask;
isExtendedID[maskCount++] = isExtended; isExtendedID[maskCount++] = isExtended;
if(isExtended)
{
extendedFilter++;
}
else
{
standardFilter++;
}
} }
void vCanFilterSaveVal(uint8_t ucIdx, uint32_t Filter, bool isExtended) void vCanFilterSaveVal(uint8_t ucIdx, uint32_t Filter, bool isExtended)
{ {
filterCount = ucIdx; filterCount = ucIdx;
@ -232,14 +269,22 @@ void vCanFilterReset() {
} }
// Function to configure CAN filters // Function to configure CAN filters
static void vCanConfigFilter() { void vCanConfigFilter() {
// Disable CAN before configuring filters xECU_CanReInit(CANFD0,g_u16CanSpeed);
xECU_CANDeInit(CANFD0); DL_MCAN_setOpMode(CANFD0, DL_MCAN_OPERATION_MODE_SW_INIT);
uint16_t extendedFilter = 0;
uint16_t standardFilter = 0;
gMCAN0MsgRAMConfigParamsFiltered.lse = extendedFilter; //0; // Set dynamically based on actual filters
gMCAN0MsgRAMConfigParamsFiltered.lss = standardFilter; //1; // Set dynamically based on actual filters
DL_MCAN_config(CANFD0, (DL_MCAN_ConfigParams*) &gMCAN0ConfigParamsFiltered);
DL_MCAN_msgRAMConfig(CANFD0, (DL_MCAN_MsgRAMConfigParams*) &gMCAN0MsgRAMConfigParamsFiltered);
// maskCount = 1;
// isExtendedID[0] = 0;
// filterValues[0] = 0xc8;
// maskValues[0] = 0X7FE;
for (int i = 0; i < maskCount; i++) { for (int i = 0; i < maskCount; i++) {
if (isExtendedID[i]) { if (isExtendedID[i]) {
// Extended ID filter // Extended ID filter
DL_MCAN_ExtMsgIDFilterElement extFilterElement; DL_MCAN_ExtMsgIDFilterElement extFilterElement;
@ -247,34 +292,39 @@ static void vCanConfigFilter() {
extFilterElement.efid2 = maskValues[i]; extFilterElement.efid2 = maskValues[i];
extFilterElement.efec = 001; extFilterElement.efec = 001;
extFilterElement.eft = 10; extFilterElement.eft = 10;
DL_MCAN_addExtMsgIDFilter(CANFD0, i, &extFilterElement); DL_MCAN_addExtMsgIDFilter(CANFD0, i, (DL_MCAN_StdMsgIDFilterElement *) &extFilterElement);
extendedFilter++;
} }
else { else {
// Standard ID filter // Standard ID filter
DL_MCAN_StdMsgIDFilterElement stdFilterElement; DL_MCAN_StdMsgIDFilterElement stdFilterElement;
stdFilterElement.sfid1 = filterValues[i]; stdFilterElement.sfid1 = filterValues[i];
stdFilterElement.sfid2 = maskValues[i]; stdFilterElement.sfid2 = maskValues[i];
// stdFilterElement.sfid1 = 0xc8;
// stdFilterElement.sfid2 = 0x7fe;
stdFilterElement.sfec = 001; stdFilterElement.sfec = 001;
stdFilterElement.sft = 10; stdFilterElement.sft = 10;
DL_MCAN_addStdMsgIDFilter(CANFD0, i, &stdFilterElement); DL_MCAN_addStdMsgIDFilter(CANFD0, i,(DL_MCAN_StdMsgIDFilterElement *) &stdFilterElement);
standardFilter++;
} }
} }
/* Set Extended ID Mask. */
DL_MCAN_setExtIDAndMask(CANFD0, (0x1FFFFFFFU));
/* Take MCAN out of the SW initialization mode */
DL_MCAN_setOpMode(CANFD0, DL_MCAN_OPERATION_MODE_NORMAL);
// gMCAN0MsgRAMConfigParamsFiltered.lse = standardFilter; // Set dynamically based on actual filters
gMCAN0MsgRAMConfigParamsFiltered.lse = standardFilter; // Set dynamically based on actual filters // gMCAN0MsgRAMConfigParamsFiltered.lss = extendedFilter; // Set dynamically based on actual filters
gMCAN0MsgRAMConfigParamsFiltered.lss = extendedFilter; // Set dynamically based on actual filters // DL_MCAN_config(CANFD0, (DL_MCAN_ConfigParams*) &gMCAN0ConfigParamsFiltered);
DL_MCAN_config(CANFD0, (DL_MCAN_ConfigParams*) &gMCAN0ConfigParamsFiltered); // DL_MCAN_msgRAMConfig(CANFD0, &gMCAN0MsgRAMConfigParamsFiltered);
DL_MCAN_msgRAMConfig(CANFD0, &gMCAN0MsgRAMConfigParamsFiltered);
// Reset counters after applying filters // Reset counters after applying filters
maskCount = 0; maskCount = 0;
filterCount = 0; filterCount = 0;
// Re-enable CAN after filters // // Re-enable CAN after filters
xECU_CANInit(CANFD0,g_u16CanSpeed); //CANInitF(CANFD0,g_u16CanSpeed);
} }
@ -309,7 +359,8 @@ void vRTE_UARTDataProcess(void)
if( pucBuf[PKT_HEADER+1] != 0 ){//22(20+2) rx filter available send each id in a frame if( pucBuf[PKT_HEADER+1] != 0 ){//22(20+2) rx filter available send each id in a frame
uint32_t filterId = 0; uint32_t filterId = 0;
memcpy(&filterId, &pucBuf[PKT_HEADER+3], sizeof(uint32_t)); memcpy(&filterId, &pucBuf[PKT_HEADER+3], sizeof(uint32_t));
bool isExtended = (filterId > 0x7FF); // Standard IDs are <= 0x7FF bool isExtended = 0;
isExtended = (filterId > 0x7FF); // Standard IDs are <= 0x7FF
vCanFilterSaveVal((pucBuf[PKT_HEADER+1] - 1), filterId, isExtended); vCanFilterSaveVal((pucBuf[PKT_HEADER+1] - 1), filterId, isExtended);
if( pucBuf[PKT_HEADER+2] )//All filter received. Trigger Filter Settings if( pucBuf[PKT_HEADER+2] )//All filter received. Trigger Filter Settings
{ {
@ -329,7 +380,8 @@ void vRTE_UARTDataProcess(void)
return; return;
uint32_t maskId = 0; uint32_t maskId = 0;
memcpy(&maskId, &pucBuf[PKT_HEADER+3], sizeof(uint32_t)); memcpy(&maskId, &pucBuf[PKT_HEADER+3], sizeof(uint32_t));
bool isExtended = (maskId > 0x7FF); // Standard IDs are <= 0x7FF bool isExtended = 0;
isExtended = (maskId > 0x7FF); // Standard IDs are <= 0x7FF
vCanFilterMaskSaveVal((pucBuf[PKT_HEADER+1] - 1), maskId, isExtended); vCanFilterMaskSaveVal((pucBuf[PKT_HEADER+1] - 1), maskId, isExtended);
} }
vMCAL_DelayTicks(100); vMCAL_DelayTicks(100);