579 lines
18 KiB
C
579 lines
18 KiB
C
/**
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******************************************************************************
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* @file ivec_mcal_mcan.c
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* @brief This file provides APIs for MCAN peripheral.
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* @date 15-feb-2024
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* @Author Vecmocon Technology
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******************************************************************************
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*/
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#include <..\Core\Include\ivec_mcal_mcan.h>
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#include "string.h"
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static volatile bool b_MCAN_InitFlag = 0; /*!< CAN initialization flag */
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static volatile bool b_ServiceInt=true;
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static volatile uint32_t u32InterruptLine1Status;
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static char u8ErrorInterruptStatus[50];
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static volatile DL_MCAN_RxFIFOStatus rxFS;
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static DL_MCAN_RxBufElement TempRxMsg;
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static uint32_t id;
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extern uint16_t idx;
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uint32_t IntrStatus;
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static volatile uint8_t u8_MCAN_StatusFlag = IVEC_MCAL_STATUS_ERROR;
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uint8_t g_CanData[8];
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volatile DL_MCAN_ProtocolStatus HeaderStat;
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/*REQUIRED MCAN CONFIGS*/
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/*=======================================================================================PRIVATE_MEMBERS======================================================================================*/
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static const DL_MCAN_ClockConfig gMCAN0ClockConf = {
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.clockSel = DL_MCAN_FCLK_SYSPLLCLK1,////DL_MCAN_FCLK_SYSPLLCLK1,DL_MCAN_FCLK_HFCLK,
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.divider = DL_MCAN_FCLK_DIV_1,
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};
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static const DL_MCAN_InitParams gMCAN0InitParams= {
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/* Initialize MCAN Init parameters. */
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.fdMode = false,
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.brsEnable = false,
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.txpEnable = false,
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.efbi = false,
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.pxhddisable = false,
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.darEnable = false,
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.wkupReqEnable = false,
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.autoWkupEnable = false,
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.emulationEnable = true,
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.tdcEnable = true,
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.wdcPreload = 255,
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/* Transmitter Delay Compensation parameters. */
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.tdcConfig.tdcf = 10,
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.tdcConfig.tdco = 6,
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};
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static const DL_MCAN_ConfigParams gMCAN0ConfigParams={
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/* Initialize MCAN Config parameters. */
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.monEnable = false,
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.asmEnable = false,
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.tsPrescalar = 15,
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.tsSelect = 0,
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.timeoutSelect = DL_MCAN_TIMEOUT_SELECT_CONT,
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.timeoutPreload = 65535,
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.timeoutCntEnable = false,
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.filterConfig.rrfs = true,
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.filterConfig.rrfe = true,
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.filterConfig.anfe = 1,
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.filterConfig.anfs = 1,
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};
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static const DL_MCAN_MsgRAMConfigParams gMCAN0MsgRAMConfigParams ={
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/* Standard ID Filter List Start Address. */
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.flssa = 0 ,
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/* List Size: Standard ID. */
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.lss = 1 ,
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/* Extended ID Filter List Start Address. */
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.flesa = 48 ,
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/* List Size: Extended ID. */
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.lse = 1 ,
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/* Tx Buffers Start Address. */
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.txStartAddr = 10 ,
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/* Number of Dedicated Transmit Buffers. */
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.txBufNum = 10 ,
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.txFIFOSize = 10,
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/* Tx Buffer Element Size. */
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.txBufMode = 0,
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.txBufElemSize = DL_MCAN_ELEM_SIZE_8BYTES,
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/* Tx Event FIFO Start Address. */
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.txEventFIFOStartAddr = 640 ,
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/* Event FIFO Size. */
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.txEventFIFOSize = 10 ,
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/* Level for Tx Event FIFO watermark interrupt. */
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.txEventFIFOWaterMark = 0,
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/* Rx FIFO0 Start Address. */
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.rxFIFO0startAddr = 170 ,
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/* Number of Rx FIFO elements. */
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.rxFIFO0size = 10 ,
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/* Rx FIFO0 Watermark. */
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.rxFIFO0waterMark = 0,
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.rxFIFO0OpMode = 0,
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/* Rx FIFO1 Start Address. */
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.rxFIFO1startAddr = 190 ,
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/* Number of Rx FIFO elements. */
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.rxFIFO1size = 10 ,
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/* Level for Rx FIFO 1 watermark interrupt. */
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.rxFIFO1waterMark = 10,
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/* FIFO blocking mode. */
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.rxFIFO1OpMode = 0,
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/* Rx Buffer Start Address. */
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.rxBufStartAddr = 208 ,
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/* Rx Buffer Element Size. */
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.rxBufElemSize = DL_MCAN_ELEM_SIZE_8BYTES,
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/* Rx FIFO0 Element Size. */
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.rxFIFO0ElemSize = DL_MCAN_ELEM_SIZE_8BYTES,
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/* Rx FIFO1 Element Size. */
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.rxFIFO1ElemSize = DL_MCAN_ELEM_SIZE_8BYTES,
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};
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static const DL_MCAN_StdMsgIDFilterElement gMCAN0StdFiltelem = {
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.sfec = 0x1,
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.sft = 0x0,
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.sfid1 = 0,
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.sfid2 = 2047,
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};
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static const DL_MCAN_BitTimingParams gMCAN0BitTimes_500 = {
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/* Arbitration Baud Rate Pre-scaler. */
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.nomRatePrescalar = 0,
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/* Arbitration Time segment before sample point. */
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.nomTimeSeg1 = 62,
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/* Arbitration Time segment after sample point. */
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.nomTimeSeg2 = 15,
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/* Arbitration (Re)Synchronization Jump Width Range. */
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.nomSynchJumpWidth = 15,
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/* Data Baud Rate Pre-scaler. */
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.dataRatePrescalar = 0,
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/* Data Time segment before sample point. */
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.dataTimeSeg1 = 0,
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/* Data Time segment after sample point. */
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.dataTimeSeg2 = 0,
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/* Data (Re)Synchronization Jump Width. */
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.dataSynchJumpWidth = 0,
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};
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static const DL_MCAN_BitTimingParams gMCAN0BitTimes_250 = {
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/* Arbitration Baud Rate Pre-scaler. */
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.nomRatePrescalar = 0,
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/* Arbitration Time segment before sample point. */
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.nomTimeSeg1 = 138,
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/* Arbitration Time segment after sample point. */
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.nomTimeSeg2 = 19,
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/* Arbitration (Re)Synchronization Jump Width Range. */
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.nomSynchJumpWidth = 19,
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/* Data Baud Rate Pre-scaler. */
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.dataRatePrescalar = 0,
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/* Data Time segment before sample point. */
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.dataTimeSeg1 = 0,
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/* Data Time segment after sample point. */
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.dataTimeSeg2 = 0,
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/* Data (Re)Synchronization Jump Width. */
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.dataSynchJumpWidth = 0,
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};
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/*____________________________________________________________________________________________________________________________________________________________________________________________*/
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/*=============================================================================================================================================================================================
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PRIVATE_DECLARATIONS
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==============================================================================================================================================================================================*/
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/**
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* @brief Static Function to store RX data in a static buffer
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* @retval void
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*/
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//static void _prv_vGetRxMsg(DL_MCAN_RxBufElement *rxMsg,uint8_t *RxData,int DLC)
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//{
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// for (int i =0 ; i < DLC ; i++)
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// {
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// RxData[i] = rxMsg->data[i];
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// }
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//
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//}
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static void _prv_vGetRxMsg(DL_MCAN_RxBufElement *rxMsg,uint8_t *RxData,int DLC)
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{
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id = ((rxMsg->id & (uint32_t) 0x1FFC0000) >> (uint32_t) 18);
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switch (id) {
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case 0x5:
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*RxData = rxMsg->data[0];
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idx = (rxMsg->data[0] + 1) % 256;
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break;
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default:
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/* Don't do anything */
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break;
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}
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}
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/**
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* @brief Private Function working as an Error Handler in IRQ
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* @retval void
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*/
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static void ErrorHandler()
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{
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switch(DL_MCAN_getIntrStatus(CANFD0))
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{
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case MCAN_IR_PED_MASK:
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strcpy(u8ErrorInterruptStatus, "Protocol Error in Data Phase!");
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__asm("nop");
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break;
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case MCAN_IR_PEA_MASK:
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strcpy(u8ErrorInterruptStatus, "Protocol Error in Arbitration Phase!");
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__asm("nop");
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break;
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case MCAN_IR_BO_MASK:
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strcpy(u8ErrorInterruptStatus, "CAN BUS OFF!");
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DL_MCAN_reset(CANFD0);
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__asm("nop");
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break;
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case MCAN_IR_EW_MASK:
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strcpy(u8ErrorInterruptStatus, "Warning Status Interrupt generated!");
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__asm("nop");
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break;
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case MCAN_IR_EP_MASK:
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strcpy(u8ErrorInterruptStatus, "Error Passive Interrupt generated!");
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__asm("nop");
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break;
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case MCAN_IR_ELO_MASK:
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strcpy(u8ErrorInterruptStatus, "Error Logging Overflow!");
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__asm("nop");
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break;
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case MCAN_IR_BEU_MASK:
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strcpy(u8ErrorInterruptStatus, "Bit Error Uncorrected!");
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__asm("nop");
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break;
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case MCAN_IR_TOO_MASK:
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strcpy(u8ErrorInterruptStatus, "Timeout Occured!");
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__asm("nop");
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break;
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default:
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break;
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}
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}
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/**
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* @brief Default Interrupt Handler for MCAN
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*
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*/
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//void CANFD0_IRQHandler(void)
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//{
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// ErrorHandler();
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//
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// switch (DL_MCAN_getPendingInterrupt(CANFD0)) {
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// case DL_MCAN_IIDX_LINE1:
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// /* Check MCAN interrupts fired during TX/RX of CAN package */
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// u32InterruptLine1Status |= DL_MCAN_getIntrStatus(CANFD0);
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// DL_MCAN_clearIntrStatus(CANFD0, u32InterruptLine1Status,DL_MCAN_INTR_SRC_MCAN_LINE_1);
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// b_ServiceInt = true;
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// break;
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// default:
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// break;
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// }
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//}
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void CANFD0_IRQHandler(void)
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{
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IntrStatus = DL_MCAN_getIntrStatus(CANFD0);
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DL_MCAN_getProtocolStatus(CANFD0, &HeaderStat);
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if(HeaderStat.busOffStatus==1)
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{
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DL_MCAN_setOpMode(CANFD0, DL_MCAN_OPERATION_MODE_NORMAL);
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}
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else if (HeaderStat.lastErrCode == 4) {
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// Initiate bus-off recovery
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int status = -1;
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printf("Attempting recovery...\n");
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xECU_CanReInit(CANFD0 ,BAUD_500);
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if(status == 0)
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{
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printf("done\n");
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}
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}
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if (IntrStatus & DL_MCAN_INTERRUPT_TC){
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__asm("nop");
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DL_MCAN_clearIntrStatus(CANFD0, IntrStatus,DL_MCAN_INTR_SRC_MCAN_LINE_1);
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b_ServiceInt = true;
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u8_MCAN_StatusFlag = IVEC_MCAL_STATUS_SUCCESS;
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__asm("nop");
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}
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else if(IntrStatus & DL_MCAN_INTERRUPT_RF0N)
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{
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b_ServiceInt = false;
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rxFS.fillLvl = 0;
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rxFS.num = DL_MCAN_RX_FIFO_NUM_0;
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while ((rxFS.fillLvl) == 0)
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{
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DL_MCAN_getRxFIFOStatus(CANFD0, &rxFS);
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}
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DL_MCAN_readMsgRam(CANFD0, DL_MCAN_MEM_TYPE_FIFO, 0, rxFS.num, &TempRxMsg);
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DL_MCAN_writeRxFIFOAck(CANFD0, rxFS.num, rxFS.getIdx);
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xCanIdType_t idType = ERROR;
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if (TempRxMsg.id >= 0 && TempRxMsg.id <= 0x7FF)
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{
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idType = STD_ID;
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} else if (TempRxMsg.id <= 0x1FFFFFFF)
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{
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idType = EXT_ID;
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}
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uint32_t idx = ((TempRxMsg.id & (uint32_t) 0x1FFC0000) >> (uint32_t) 18);
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if(idx)
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{
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for(uint8_t inx = 0; inx <= 7; inx++)
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{
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g_CanData[inx] = TempRxMsg.data[inx];
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}
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printf("trigger id %d\n",idx);
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mcu_FDCAN_RxFifo_Callback(idx, &g_CanData[0], TempRxMsg.dlc);
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}
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b_ServiceInt = true;
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DL_MCAN_clearIntrStatus(CANFD0, IntrStatus,DL_MCAN_INTR_SRC_MCAN_LINE_1);
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}
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else{
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DL_MCAN_getIntrStatus(CANFD0);
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DL_MCAN_clearIntrStatus(CANFD0, IntrStatus,DL_MCAN_INTR_SRC_MCAN_LINE_1);
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}
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//ErrorHandler();
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}
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/*=============================================================================================================================================================================================
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API
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==============================================================================================================================================================================================*/
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/**
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* @brief Function to initialize MCAN Peripheral
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* @note Interrupts are enabled in this function itself
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* @param MCAN Pointer to the register overlay for the peripheral
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* @param BAUD Param to set Baud rate of MCAN
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* @retval IVEC_McalStatus_e
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*/
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IVEC_McalStatus_e xMCAL_MCANInit(MCAN_Regs* MCAN, xCAN_baud_t BAUD)
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{
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assert(MCAN == CANFD0);
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assert(BAUD == BAUD_500 || BAUD == BAUD_250);
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assert(b_MCAN_InitFlag == 0);
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DL_MCAN_RevisionId revid_MCAN0;
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DL_MCAN_enableModuleClock(MCAN);
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DL_MCAN_setClockConfig(MCAN, (DL_MCAN_ClockConfig *) &gMCAN0ClockConf);
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/* Get MCANSS Revision ID. */
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DL_MCAN_getRevisionId(MCAN, &revid_MCAN0);
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/* Wait for Memory initialization to be completed. */
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while(false == DL_MCAN_isMemInitDone(MCAN));
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/* Put MCAN in SW initialization mode. */
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DL_MCAN_setOpMode(MCAN, DL_MCAN_OPERATION_MODE_SW_INIT);
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/* Wait till MCAN is not initialized. */
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while (DL_MCAN_OPERATION_MODE_SW_INIT != DL_MCAN_getOpMode(MCAN));
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/* Initialize MCAN module. */
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DL_MCAN_init(MCAN, (DL_MCAN_InitParams *) &gMCAN0InitParams);
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/* Configure MCAN module. */
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DL_MCAN_config(MCAN, (DL_MCAN_ConfigParams*) &gMCAN0ConfigParams);
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/* Configure Bit timings. */
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if(BAUD==BAUD_500)
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{
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DL_MCAN_setBitTime(MCAN, (DL_MCAN_BitTimingParams*) &gMCAN0BitTimes_500);
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}
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else if(BAUD==BAUD_250)
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{
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DL_MCAN_setBitTime(MCAN, (DL_MCAN_BitTimingParams*) &gMCAN0BitTimes_250);
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}
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/* Configure Message RAM Sections */
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DL_MCAN_msgRAMConfig(MCAN, (DL_MCAN_MsgRAMConfigParams*) &gMCAN0MsgRAMConfigParams);
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/* Configure Standard ID filter element */
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DL_MCAN_addStdMsgIDFilter(MCAN, 0U, (DL_MCAN_StdMsgIDFilterElement *) &gMCAN0StdFiltelem);
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/* Set Extended ID Mask. */
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DL_MCAN_setExtIDAndMask(MCAN, (0x1FFFFFFFU) );
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/* Take MCAN out of the SW initialization mode */
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DL_MCAN_setOpMode(MCAN, DL_MCAN_OPERATION_MODE_NORMAL);
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while (DL_MCAN_OPERATION_MODE_NORMAL != DL_MCAN_getOpMode(MCAN));
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/* Enable MCAN mopdule Interrupts */
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DL_MCAN_enableIntr(MCAN, (DL_MCAN_INTERRUPT_BEU | \
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DL_MCAN_INTERRUPT_BO | \
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DL_MCAN_INTERRUPT_ELO | \
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DL_MCAN_INTERRUPT_EP | \
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DL_MCAN_INTERRUPT_EW | \
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DL_MCAN_INTERRUPT_PEA | \
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DL_MCAN_INTERRUPT_PED | \
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DL_MCAN_INTERRUPT_RF0N | \
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DL_MCAN_INTERRUPT_TC | \
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DL_MCAN_INTERRUPT_TOO), 1U);
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DL_MCAN_selectIntrLine(MCAN, DL_MCAN_INTR_MASK_ALL, DL_MCAN_INTR_LINE_NUM_1);
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DL_MCAN_enableIntrLine(MCAN, DL_MCAN_INTR_LINE_NUM_1, 1U);
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/* Enable MSPM0 MCAN interrupt */
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DL_MCAN_clearInterruptStatus(MCAN,(DL_MCAN_MSP_INTERRUPT_LINE1));
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DL_MCAN_enableInterrupt(MCAN,(DL_MCAN_MSP_INTERRUPT_LINE1));
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NVIC_EnableIRQ(CANFD0_INT_IRQn);
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b_MCAN_InitFlag = 1;
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return IVEC_MCAL_STATUS_SUCCESS;
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}
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/**
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* @brief Function to De-Initialize MCAN peripheral
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* @param MCAN Pointer to the register overlay for the peripheral
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* @retval IVEC MCAL status
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*/
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IVEC_McalStatus_e xMCAL_MCANDeInit(MCAN_Regs* MCAN)
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{
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assert(MCAN == CANFD0);
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assert(b_MCAN_InitFlag != 0);
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DL_MCAN_disableInterrupt(MCAN, (DL_MCAN_MSP_INTERRUPT_LINE1));
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NVIC_DisableIRQ(CANFD0_INT_IRQn);
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DL_MCAN_disablePower(MCAN);
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b_MCAN_InitFlag = 0;
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return IVEC_MCAL_STATUS_SUCCESS;
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}
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/**
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* @brief Function to Transmit CAN message
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* @param MCAN Pointer to the register overlay for the peripheral
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* @param TxMsg Message Object.
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* @param TxData Array of Data to be transmitted
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* @param BufNum Tx Buffer Number
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* @param Bytes Number of bytes to be transmitted
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* @retval IVEC_McalStatus_e
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*/
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IVEC_McalStatus_e xMCAL_MCANTx(MCAN_Regs *MCAN, DL_MCAN_TxBufElement *TxMsg ,uint16_t *TxData, uint32_t BufNum, int Bytes)
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{
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assert(MCAN == CANFD0);
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assert(b_MCAN_InitFlag != 0);
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int result = -1;
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for(int i=0;i<Bytes;i++)
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{
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TxMsg->data[i] = TxData[i];
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}
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// uint32_t txPendingStatus;
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//
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// //Check if the Tx Buffer is available (no pending request)
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// txPendingStatus = DL_MCAN_getTxBufReqPend(MCAN);
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//
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// //Check if the specified buffer (BufNum) is available
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// if ((txPendingStatus & (1 << BufNum)) == 0)
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// {
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DL_MCAN_writeMsgRam(MCAN, DL_MCAN_MEM_TYPE_BUF, BufNum , TxMsg);
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result = DL_MCAN_TXBufAddReq(MCAN, BufNum);
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if(result == 0)
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{
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printf("pass\n");
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}
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else
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{
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printf("result %d\n",result);
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printf("fail\n");
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|
}
|
|
|
|
// }
|
|
// else
|
|
// {
|
|
// return IVEC_MCAL_STATUS_BUSY;
|
|
//
|
|
// }
|
|
|
|
return IVEC_MCAL_STATUS_SUCCESS;
|
|
}
|
|
|
|
/**
|
|
* @brief Function to Receive CAN message
|
|
* @param MCAN Pointer to the register overlay for the peripheral
|
|
* @param RxMsg Message Object.
|
|
* @param FifoNum Fifo Number to be used
|
|
* @param RxData Array where received data is to be stored
|
|
* @param DLC length of received data
|
|
* @retval IVEC_McalStatus_e
|
|
*/
|
|
IVEC_McalStatus_e xMCAL_MCANRx(MCAN_Regs *MCAN, DL_MCAN_RxBufElement *RxMsg ,uint32_t FifoNum,uint8_t *RxData,int DLC)
|
|
{
|
|
assert(MCAN == CANFD0);
|
|
assert(b_MCAN_InitFlag != 0);
|
|
|
|
while (false == b_ServiceInt)
|
|
{
|
|
__WFE();//__asm("nop");
|
|
}
|
|
|
|
b_ServiceInt = false;
|
|
rxFS.fillLvl = 0;
|
|
|
|
if ((u32InterruptLine1Status & MCAN_IR_RF0N_MASK) == MCAN_IR_RF0N_MASK)
|
|
{
|
|
rxFS.num = DL_MCAN_RX_FIFO_NUM_0;
|
|
while ((rxFS.fillLvl) == 0)
|
|
{
|
|
DL_MCAN_getRxFIFOStatus(MCAN, &rxFS);
|
|
}
|
|
DL_MCAN_readMsgRam(MCAN, DL_MCAN_MEM_TYPE_FIFO, FifoNum, rxFS.num, RxMsg);
|
|
DL_MCAN_writeRxFIFOAck(MCAN, rxFS.num, rxFS.getIdx);
|
|
_prv_vGetRxMsg(RxMsg,RxData,DLC);
|
|
u32InterruptLine1Status &= ~(MCAN_IR_RF0N_MASK);
|
|
}
|
|
|
|
|
|
return IVEC_MCAL_STATUS_SUCCESS;
|
|
}
|
|
|
|
/**
|
|
* @brief Function to check current Error Status of MCAN peripheral
|
|
* @param ErrorStatus Pointer to array where current status will be stored
|
|
* @retval IVEC_McalStatus_e
|
|
*/
|
|
IVEC_McalStatus_e xMCAL_getMCAN_ErrorStatus(char *ErrorStatus)
|
|
{
|
|
assert(b_MCAN_InitFlag != 0);
|
|
|
|
strcpy(ErrorStatus,u8ErrorInterruptStatus);
|
|
|
|
return IVEC_MCAL_STATUS_SUCCESS;
|
|
}
|
|
|
|
/**
|
|
* @brief Function to check Interrupt Line1 Status of MCAN peripheral
|
|
* @param Interrupt_Status Pointer to variable where current status will be stored
|
|
* @retval IVEC_McalStatus_e
|
|
*/
|
|
IVEC_McalStatus_e xMCAL_getMCAN_InterruptLine1Status(uint32_t *Interrupt_Status)
|
|
{
|
|
assert(b_MCAN_InitFlag != 0);
|
|
|
|
*Interrupt_Status=u32InterruptLine1Status;
|
|
|
|
return IVEC_MCAL_STATUS_SUCCESS;
|
|
}
|
|
|
|
/*____________________________________________________________________________________________________________________________________________________________________________________________*/
|