LibrePilot/flight/pios/stm32f30x/pios_can.c

/**
 ******************************************************************************
 * @addtogroup PIOS PIOS Core hardware abstraction layer
 * @{
 * @addtogroup PIOS_CAN PiOS CAN interface layer
 * @brief CAN interface for PiOS
 * @{
 *
 * @file       pios_can.c
 * @author     Tau Labs, http://taulabs.org, Copyright (C) 2013-2014
 * @author     dRonin, http://dronin.org, Copyright (C) 2016
 * @brief      PiOS CAN interface header
 * @see        The GNU Public License (GPL) Version 3
 *
 *****************************************************************************/
/*
 * This program is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
 * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
 * for more details.
 *
 * You should have received a copy of the GNU General Public License along
 * with this program; if not, write to the Free Software Foundation, Inc.,
 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
 */


#include "pios.h"

#if defined(PIOS_INCLUDE_CAN)

#include "pios_can_priv.h"

/* Provide a COM driver */
static void PIOS_CAN_RegisterRxCallback(uintptr_t can_id, pios_com_callback rx_in_cb, uintptr_t context);
static void PIOS_CAN_RegisterTxCallback(uintptr_t can_id, pios_com_callback tx_out_cb, uintptr_t context);
static void PIOS_CAN_TxStart(uintptr_t can_id, uint16_t tx_bytes_avail);
static void PIOS_CAN_RxStart(uintptr_t can_id, uint16_t rx_bytes_avail);

const struct pios_com_driver pios_can_com_driver = {
    .tx_start   = PIOS_CAN_TxStart,
    .rx_start   = PIOS_CAN_RxStart,
    .bind_tx_cb = PIOS_CAN_RegisterTxCallback,
    .bind_rx_cb = PIOS_CAN_RegisterRxCallback,
};

enum pios_can_dev_magic {
    PIOS_CAN_DEV_MAGIC = 0x41fa834A,
};

// ! Structure for an initialized CAN handle
struct pios_can_dev {
    enum pios_can_dev_magic   magic;
    const struct pios_can_cfg *cfg;
    pios_com_callback rx_in_cb;
    uintptr_t rx_in_context;
    pios_com_callback tx_out_cb;
    uintptr_t tx_out_context;
};

// Local constants
#define CAN_COM_ID   0x11
#define MAX_SEND_LEN 8

void USB_HP_CAN1_TX_IRQHandler(void);

static bool PIOS_CAN_validate(struct pios_can_dev *can_dev)
{
    return can_dev->magic == PIOS_CAN_DEV_MAGIC;
}

static struct pios_can_dev *PIOS_CAN_alloc(void)
{
    struct pios_can_dev *can_dev;

    can_dev = (struct pios_can_dev *)PIOS_malloc(sizeof(*can_dev));
    if (!can_dev) {
        return NULL;
    }

    memset(can_dev, 0, sizeof(*can_dev));
    can_dev->magic = PIOS_CAN_DEV_MAGIC;

    return can_dev;
}

// ! The local handle for the CAN device
static struct pios_can_dev *can_dev;

/**
 * Initialize the CAN driver and return an opaque id
 * @param[out]   id the CAN interface handle
 * @param[in]    cfg the configuration structure
 * @return 0 if successful, negative otherwise
 */
int32_t PIOS_CAN_Init(uintptr_t *can_id, const struct pios_can_cfg *cfg)
{
    PIOS_DEBUG_Assert(can_id);
    PIOS_DEBUG_Assert(cfg);

    can_dev = (struct pios_can_dev *)PIOS_CAN_alloc();
    if (!can_dev) {
        goto out_fail;
    }

    /* Bind the configuration to the device instance */
    can_dev->cfg = cfg;

    /* Configure the CAN device */
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);

    /* Map pins to CAN function */
    if (can_dev->cfg->remap) {
        if (can_dev->cfg->rx.gpio != 0) {
            GPIO_PinAFConfig(can_dev->cfg->rx.gpio,
                             can_dev->cfg->rx.pin_source,
                             can_dev->cfg->remap);
        }
        if (can_dev->cfg->tx.gpio != 0) {
            GPIO_PinAFConfig(can_dev->cfg->tx.gpio,
                             can_dev->cfg->tx.pin_source,
                             can_dev->cfg->remap);
        }
    }

    /* Initialize the CAN Rx and Tx pins */
    if (can_dev->cfg->rx.gpio != 0) {
        GPIO_Init(can_dev->cfg->rx.gpio, (GPIO_InitTypeDef *)&can_dev->cfg->rx.init);
    }
    if (can_dev->cfg->tx.gpio != 0) {
        GPIO_Init(can_dev->cfg->tx.gpio, (GPIO_InitTypeDef *)&can_dev->cfg->tx.init);
    }

    *can_id = (uintptr_t)can_dev;

    CAN_DeInit(can_dev->cfg->regs);
    CAN_Init(can_dev->cfg->regs, (CAN_InitTypeDef *)&can_dev->cfg->init);

    /* CAN filter init */
    CAN_FilterInitTypeDef CAN_FilterInitStructure;
    CAN_FilterInitStructure.CAN_FilterNumber         = 0;
    CAN_FilterInitStructure.CAN_FilterMode           = CAN_FilterMode_IdMask;
    CAN_FilterInitStructure.CAN_FilterScale          = CAN_FilterScale_32bit;
    CAN_FilterInitStructure.CAN_FilterIdHigh         = 0x0000;
    CAN_FilterInitStructure.CAN_FilterIdLow          = 0x0000;
    CAN_FilterInitStructure.CAN_FilterMaskIdHigh     = 0x0000;
    CAN_FilterInitStructure.CAN_FilterMaskIdLow      = 0x0000;
    CAN_FilterInitStructure.CAN_FilterFIFOAssignment = 1;

    CAN_FilterInitStructure.CAN_FilterActivation     = ENABLE;
    CAN_FilterInit(&CAN_FilterInitStructure);

    // Enable the receiver IRQ
    NVIC_Init((NVIC_InitTypeDef *)&can_dev->cfg->rx_irq.init);
    NVIC_Init((NVIC_InitTypeDef *)&can_dev->cfg->tx_irq.init);

    return 0;

out_fail:
    return -1;
}

static void PIOS_CAN_RxStart(uintptr_t can_id, uint16_t rx_bytes_avail)
{
    struct pios_can_dev *can_dev = (struct pios_can_dev *)can_id;

    bool valid = PIOS_CAN_validate(can_dev);

    PIOS_Assert(valid);

    CAN_ITConfig(can_dev->cfg->regs, CAN_IT_FMP1, ENABLE);
}

static void PIOS_CAN_TxStart(uintptr_t can_id, uint16_t tx_bytes_avail)
{
    struct pios_can_dev *can_dev = (struct pios_can_dev *)can_id;

    bool valid = PIOS_CAN_validate(can_dev);

    PIOS_Assert(valid);

    CAN_ITConfig(can_dev->cfg->regs, CAN_IT_TME, ENABLE);

    USB_HP_CAN1_TX_IRQHandler();
}

static void PIOS_CAN_RegisterRxCallback(uintptr_t can_id, pios_com_callback rx_in_cb, uintptr_t context)
{
    struct pios_can_dev *can_dev = (struct pios_can_dev *)can_id;

    bool valid = PIOS_CAN_validate(can_dev);

    PIOS_Assert(valid);

    /*
     * Order is important in these assignments since ISR uses _cb
     * field to determine if it's ok to dereference _cb and _context
     */
    can_dev->rx_in_context = context;
    can_dev->rx_in_cb = rx_in_cb;
}

static void PIOS_CAN_RegisterTxCallback(uintptr_t can_id, pios_com_callback tx_out_cb, uintptr_t context)
{
    struct pios_can_dev *can_dev = (struct pios_can_dev *)can_id;

    bool valid = PIOS_CAN_validate(can_dev);

    PIOS_Assert(valid);

    /*
     * Order is important in these assignments since ISR uses _cb
     * field to determine if it's ok to dereference _cb and _context
     */
    can_dev->tx_out_context = context;
    can_dev->tx_out_cb = tx_out_cb;
}

// ! The mapping of message types to CAN BUS StdID
static uint32_t pios_can_message_stdid[PIOS_CAN_LAST] = {
    [PIOS_CAN_GIMBAL] = 0x130,
};

// ! The mapping of message types to CAN BUS StdID
static struct pios_queue *pios_can_queues[PIOS_CAN_LAST];

/**
 * Process received CAN messages and push them out any corresponding
 * queues. Called from ISR.
 */
static bool process_received_message(CanRxMsg message)
{
    // Look for a known message that matches this CAN StdId
    uint32_t msg_id;

    for (msg_id = 0; msg_id < PIOS_CAN_LAST && pios_can_message_stdid[msg_id] != message.StdId; msg_id++) {
        ;
    }

    // If StdId is not one of the known messages, bail out
    if (msg_id == PIOS_CAN_LAST) {
        return false;
    }

    // Get the queue for this message and send the data
    struct pios_queue *queue = pios_can_queues[msg_id];
    if (queue == NULL) {
        return false;
    }

    bool woken = false;
    PIOS_Queue_Send_FromISR(queue, message.Data, &woken);

    return woken;
}

/**
 * Create a queue to receive messages for a particular message
 * and return it
 * @param[in] id the CAN device ID
 * @param[in] msg_id The message ID (std ID < 0x7FF)
 */
struct pios_queue *PIOS_CAN_RegisterMessageQueue(uintptr_t id, enum pios_can_messages msg_id)
{
    // Fetch the size of this message type or error if unknown
    uint32_t bytes;

    switch (msg_id) {
    case PIOS_CAN_GIMBAL:
        bytes = sizeof(struct pios_can_gimbal_message);
        break;
    default:
        return NULL;
    }

    // Return existing queue if created
    if (pios_can_queues[msg_id] != NULL) {
        return pios_can_queues[msg_id];
    }

    // Create a queue that can manage the data message size
    struct pios_queue *queue;
    queue = PIOS_Queue_Create(2, bytes);
    if (queue == NULL) {
        return NULL;
    }

    // Store the queue handle for the driver
    pios_can_queues[msg_id] = queue;

    return queue;
}

// Map the specific IRQ handlers to the device handle

static void PIOS_CAN_RxGeneric(void);
static void PIOS_CAN_TxGeneric(void);

void CAN1_RX1_IRQHandler(void)
{
#if defined(PIOS_INCLUDE_CHIBIOS)
    CH_IRQ_PROLOGUE();
#endif /* defined(PIOS_INCLUDE_CHIBIOS) */

    PIOS_CAN_RxGeneric();

#if defined(PIOS_INCLUDE_CHIBIOS)
    CH_IRQ_EPILOGUE();
#endif /* defined(PIOS_INCLUDE_CHIBIOS) */
}

void USB_HP_CAN1_TX_IRQHandler(void)
{
#if defined(PIOS_INCLUDE_CHIBIOS)
    CH_IRQ_PROLOGUE();
#endif /* defined(PIOS_INCLUDE_CHIBIOS) */

    PIOS_CAN_TxGeneric();

#if defined(PIOS_INCLUDE_CHIBIOS)
    CH_IRQ_EPILOGUE();
#endif /* defined(PIOS_INCLUDE_CHIBIOS) */
}

/**
 * @brief  This function handles CAN1 RX1 request.
 * @note   We are using RX1 instead of RX0 to avoid conflicts with the
 *         USB IRQ handler.
 */
static void PIOS_CAN_RxGeneric(void)
{
    CAN_ClearITPendingBit(can_dev->cfg->regs, CAN_IT_FMP1);

    bool valid = PIOS_CAN_validate(can_dev);
    PIOS_Assert(valid);

    CanRxMsg RxMessage;
    CAN_Receive(CAN1, CAN_FIFO1, &RxMessage);

    bool rx_need_yield = false;
    if (RxMessage.StdId == CAN_COM_ID) {
        if (can_dev->rx_in_cb) {
            (void)(can_dev->rx_in_cb)(can_dev->rx_in_context, RxMessage.Data, RxMessage.DLC, NULL, &rx_need_yield);
        }
    } else {
        rx_need_yield = process_received_message(RxMessage);
    }
}

/**
 * @brief  This function handles CAN1 TX irq and sends more data if available
 */
static void PIOS_CAN_TxGeneric(void)
{
    CAN_ClearITPendingBit(can_dev->cfg->regs, CAN_IT_TME);

    bool valid = PIOS_CAN_validate(can_dev);
    PIOS_Assert(valid);

    bool tx_need_yield = false;

    if (can_dev->tx_out_cb) {
        // Prepare CAN message structure
        CanTxMsg msg;
        msg.StdId = CAN_COM_ID;
        msg.ExtId = 0;
        msg.IDE   = CAN_ID_STD;
        msg.RTR   = CAN_RTR_DATA;
        msg.DLC   = (can_dev->tx_out_cb)(can_dev->tx_out_context, msg.Data, MAX_SEND_LEN, NULL, &tx_need_yield);

        // Send message and get mailbox number
        if (msg.DLC > 0) {
            CAN_Transmit(can_dev->cfg->regs, &msg);
        } else {
            CAN_ITConfig(can_dev->cfg->regs, CAN_IT_TME, DISABLE);
        }

        // TODO: deal with failure to send and keep the message to retransmit
    }
}


/**
 * PIOS_CAN_TxData transmits a data message with a specified ID
 * @param[in] id the CAN device ID
 * @param[in] msg_id The message ID (std ID < 0x7FF)
 * @param[in] data Pointer to data message
 * @returns number of bytes sent if successful, -1 if not
 */
int32_t PIOS_CAN_TxData(uintptr_t id, enum pios_can_messages msg_id, uint8_t *data)
{
    // Fetch the size of this message type or error if unknown
    uint32_t bytes;

    switch (msg_id) {
    case PIOS_CAN_GIMBAL:
        bytes = sizeof(struct pios_can_gimbal_message);
        break;
    default:
        return -1;
    }

    // Look up the CAN BUS Standard ID for this message type
    uint32_t std_id = pios_can_message_stdid[msg_id];

    // Format and send the message
    CanTxMsg msg;
    msg.StdId = std_id & 0x7FF;
    msg.ExtId = 0;
    msg.IDE   = CAN_ID_STD;
    msg.RTR   = CAN_RTR_DATA;
    msg.DLC   = (bytes > 8) ? 8 : bytes;
    memcpy(msg.Data, data, msg.DLC);
    CAN_Transmit(can_dev->cfg->regs, &msg);

    return msg.DLC;
}


#endif /* PIOS_INCLUDE_CAN */
/**
 * @}
 * @}
 */