402 lines
14 KiB
C
402 lines
14 KiB
C
/*
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* This file is part of the MicroPython project, http://micropython.org/
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*
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* The MIT License (MIT)
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*
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* Copyright (c) 2020 Jeff Epler for Adafruit Industries
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
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* of this software and associated documentation files (the "Software"), to deal
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* in the Software without restriction, including without limitation the rights
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the Software is
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* furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in
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* all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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* THE SOFTWARE.
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*/
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#include <math.h>
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#include <string.h>
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#include "py/obj.h"
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#include "py/runtime.h"
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#include "shared/runtime/interrupt_char.h"
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#include "common-hal/canio/__init__.h"
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#include "common-hal/canio/Listener.h"
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#include "shared-bindings/canio/Listener.h"
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#include "shared-bindings/util.h"
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#include "supervisor/shared/tick.h"
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#include "component/can.h"
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STATIC void allow_config_change(canio_can_obj_t *can) {
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can->hw->CCCR.bit.INIT = 1;
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while (!can->hw->CCCR.bit.INIT) {
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}
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can->hw->CCCR.bit.CCE = 1;
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}
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STATIC void prevent_config_change(canio_can_obj_t *can) {
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can->hw->CCCR.bit.CCE = 0;
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can->hw->CCCR.bit.INIT = 0;
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while (can->hw->CCCR.bit.INIT) {
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}
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}
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__attribute__((unused))
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STATIC void static_assertions(void) {
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MP_STATIC_ASSERT(CAN_GFC_ANFE_RXF0_Val + 1 == CAN_GFC_ANFE_RXF1_Val);
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MP_STATIC_ASSERT(CAN_GFC_ANFS_RXF0_Val + 1 == CAN_GFC_ANFS_RXF1_Val);
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MP_STATIC_ASSERT(CAN_SIDFE_0_SFEC_STF0M_Val + 1 == CAN_SIDFE_0_SFEC_STF1M_Val);
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MP_STATIC_ASSERT(CAN_XIDFE_0_EFEC_STF0M_Val + 1 == CAN_XIDFE_0_EFEC_STF1M_Val);
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}
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STATIC bool single_id_filter(canio_match_obj_t *match) {
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return match->mask == 0 || match->mask == match->id;
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}
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STATIC bool standard_filter_in_use(CanMramSidfe *filter) {
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return filter->SIDFE_0.bit.SFEC != CAN_SIDFE_0_SFEC_DISABLE_Val;
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}
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STATIC bool extended_filter_in_use(CanMramXidfe *filter) {
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return filter->XIDFE_0.bit.EFEC != CAN_XIDFE_0_EFEC_DISABLE_Val;
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}
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STATIC size_t num_filters_needed(size_t nmatch, canio_match_obj_t **matches, bool extended) {
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size_t num_half_filters_needed = 1;
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for (size_t i = 0; i < nmatch; i++) {
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if (extended != matches[i]->extended) {
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continue;
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}
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if (single_id_filter(matches[i])) {
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num_half_filters_needed += 1;
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} else {
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num_half_filters_needed += 2;
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}
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}
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return num_half_filters_needed / 2;
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}
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STATIC size_t num_filters_available(canio_can_obj_t *can, bool extended) {
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size_t available = 0;
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if (extended) {
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for (size_t i = 0; i < MP_ARRAY_SIZE(can->state->extended_rx_filter); i++) {
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if (!extended_filter_in_use(&can->state->extended_rx_filter[i])) {
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available++;
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}
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}
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} else {
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for (size_t i = 0; i < MP_ARRAY_SIZE(can->state->standard_rx_filter); i++) {
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if (!standard_filter_in_use(&can->state->standard_rx_filter[i])) {
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available++;
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}
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}
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}
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return available;
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}
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STATIC void clear_filters(canio_listener_obj_t *self) {
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canio_can_obj_t *can = self->can;
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int fifo = self->fifo_idx;
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// If it was a global accept, clear it
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allow_config_change(can);
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if (can->hw->GFC.bit.ANFS == CAN_GFC_ANFS_RXF0 + fifo) {
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can->hw->GFC.bit.ANFS = CAN_GFC_ANFS_REJECT_Val;
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}
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if (can->hw->GFC.bit.ANFE == CAN_GFC_ANFE_RXF0 + fifo) {
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can->hw->GFC.bit.ANFE = CAN_GFC_ANFE_REJECT_Val;
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}
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prevent_config_change(can);
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// For each filter entry, if it pointed at this FIFO set it to DISABLE
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for (size_t i = 0; i < MP_ARRAY_SIZE(can->state->extended_rx_filter); i++) {
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int val = CAN_XIDFE_0_EFEC_STF0M_Val + fifo;
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if (can->state->extended_rx_filter[i].XIDFE_0.bit.EFEC == val) {
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can->state->extended_rx_filter[i].XIDFE_0.bit.EFEC = CAN_XIDFE_0_EFEC_DISABLE_Val;
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}
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}
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for (size_t i = 0; i < MP_ARRAY_SIZE(can->state->standard_rx_filter); i++) {
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int val = CAN_SIDFE_0_SFEC_STF1M_Val + fifo;
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if (can->state->standard_rx_filter[i].SIDFE_0.bit.SFEC == val) {
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can->state->standard_rx_filter[i].SIDFE_0.bit.SFEC = CAN_SIDFE_0_SFEC_DISABLE_Val;
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}
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}
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}
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STATIC CanMramXidfe *next_extended_filter(canio_listener_obj_t *self, CanMramXidfe *start) {
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CanMramXidfe *end = &self->can->state->extended_rx_filter[MP_ARRAY_SIZE(self->can->state->extended_rx_filter)];
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if (start == NULL) {
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start = self->can->state->extended_rx_filter;
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} else {
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start = start + 1;
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}
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while (extended_filter_in_use(start)) {
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if (start == end) {
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return NULL;
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}
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start = start + 1;
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}
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return start;
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}
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STATIC CanMramSidfe *next_standard_filter(canio_listener_obj_t *self, CanMramSidfe *start) {
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CanMramSidfe *end = &self->can->state->standard_rx_filter[MP_ARRAY_SIZE(self->can->state->standard_rx_filter)];
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if (start == NULL) {
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start = self->can->state->standard_rx_filter;
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} else {
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start = start + 1;
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}
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while (standard_filter_in_use(start)) {
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if (start == end) {
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return NULL;
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}
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start = start + 1;
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}
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return start;
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}
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STATIC void install_standard_filter(CanMramSidfe *standard, int id1, int id2, int sfec, int sft) {
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assert(standard);
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CAN_SIDFE_0_Type val = {
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.bit.SFID1 = id1,
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.bit.SFID2 = id2,
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.bit.SFEC = sfec,
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.bit.SFT = sft,
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};
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standard->SIDFE_0 = val;
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}
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STATIC void install_extended_filter(CanMramXidfe *extended, int id1, int id2, int efec, int eft) {
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assert(extended);
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CAN_XIDFE_0_Type val0 = {
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.bit.EFID1 = id1,
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.bit.EFEC = efec,
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};
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CAN_XIDFE_1_Type val1 = {
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.bit.EFID2 = id2,
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.bit.EFT = eft,
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};
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// Set entry 0 second, because it has the enable bits (XIDFE_0_EFEC)
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extended->XIDFE_1 = val1;
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extended->XIDFE_0 = val0;
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}
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#define NO_ID (-1)
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void set_filters(canio_listener_obj_t *self, size_t nmatch, canio_match_obj_t **matches) {
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int fifo = self->fifo_idx;
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if (!nmatch) {
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allow_config_change(self->can);
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self->can->hw->GFC.bit.ANFS = CAN_GFC_ANFS_RXF0_Val + fifo;
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self->can->hw->GFC.bit.ANFE = CAN_GFC_ANFE_RXF0_Val + fifo;
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self->can->hw->CCCR.bit.CCE = 0;
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prevent_config_change(self->can);
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return;
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}
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CanMramSidfe *standard = next_standard_filter(self, NULL);
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CanMramXidfe *extended = next_extended_filter(self, NULL);
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int first_id = NO_ID;
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// step 1: single id standard matches
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// we have to gather up pairs and stuff them in a single filter entry
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for (size_t i = 0; i < nmatch; i++) {
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canio_match_obj_t *match = matches[i];
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if (match->extended) {
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continue;
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}
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if (!single_id_filter(match)) {
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continue;
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}
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if (first_id != NO_ID) {
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install_standard_filter(standard, first_id, match->id, CAN_SIDFE_0_SFEC_STF0M_Val + fifo, CAN_SIDFE_0_SFT_DUAL_Val);
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first_id = NO_ID;
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standard = next_standard_filter(self, standard);
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} else {
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first_id = match->id;
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}
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}
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// step 1.5. odd single id standard match
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if (first_id != NO_ID) {
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install_standard_filter(standard, first_id, first_id, CAN_SIDFE_0_SFEC_STF0M_Val + fifo, CAN_SIDFE_0_SFT_DUAL_Val);
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standard = next_standard_filter(self, standard);
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first_id = NO_ID;
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}
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// step 2: standard mask filter
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for (size_t i = 0; i < nmatch; i++) {
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canio_match_obj_t *match = matches[i];
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if (match->extended) {
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continue;
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}
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if (single_id_filter(match)) {
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continue;
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}
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install_standard_filter(standard, match->id, match->mask, CAN_SIDFE_0_SFEC_STF0M_Val + fifo, CAN_SIDFE_0_SFT_CLASSIC_Val);
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standard = next_standard_filter(self, standard);
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}
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// step 3: single id extended matches
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// we have to gather up pairs and stuff them in a single filter entry
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for (size_t i = 0; i < nmatch; i++) {
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canio_match_obj_t *match = matches[i];
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if (!match->extended) {
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continue;
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}
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if (!single_id_filter(match)) {
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continue;
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}
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if (first_id != NO_ID) {
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install_extended_filter(extended, first_id, match->id, CAN_XIDFE_0_EFEC_STF0M_Val + fifo, CAN_XIDFE_1_EFT_DUAL_Val);
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first_id = NO_ID;
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extended = next_extended_filter(self, extended);
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} else {
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first_id = match->id;
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}
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}
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// step 3.5. odd single id standard match
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if (first_id != NO_ID) {
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install_extended_filter(extended, first_id, first_id, CAN_XIDFE_0_EFEC_STF0M_Val + fifo, CAN_XIDFE_1_EFT_DUAL_Val);
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extended = next_extended_filter(self, extended);
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first_id = NO_ID;
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}
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// step 4: extended mask filters
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for (size_t i = 0; i < nmatch; i++) {
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canio_match_obj_t *match = matches[i];
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if (!match->extended) {
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continue;
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}
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if (single_id_filter(match)) {
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continue;
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}
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install_extended_filter(extended, match->id, match->mask, CAN_XIDFE_0_EFEC_STF0M_Val + fifo, CAN_XIDFE_1_EFT_CLASSIC_Val);
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extended = next_extended_filter(self, extended);
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}
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// phew, easy(!)
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}
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void common_hal_canio_listener_construct(canio_listener_obj_t *self, canio_can_obj_t *can, size_t nmatch, canio_match_obj_t **matches, float timeout) {
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if (!can->fifo0_in_use) {
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self->fifo_idx = 0;
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self->fifo = can->state->rx0_fifo;
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self->hw = (canio_rxfifo_reg_t *)&can->hw->RXF0C;
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can->hw->IR.reg = CAN_IR_RF0N | CAN_IR_RF0W | CAN_IR_RF0F | CAN_IR_RF0L;
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can->fifo0_in_use = true;
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} else if (!can->fifo1_in_use) {
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self->fifo_idx = 1;
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self->fifo = can->state->rx1_fifo;
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self->hw = (canio_rxfifo_reg_t *)&can->hw->RXF1C;
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can->fifo1_in_use = true;
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can->hw->IR.reg = CAN_IR_RF1N | CAN_IR_RF1W | CAN_IR_RF1F | CAN_IR_RF1L;
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} else {
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mp_raise_ValueError(translate("All RX FIFOs in use"));
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}
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if (!nmatch) {
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if (can->hw->GFC.bit.ANFS == CAN_GFC_ANFS_RXF1_Val - self->fifo_idx) {
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mp_raise_ValueError(translate("Already have all-matches listener"));
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}
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if (can->hw->GFC.bit.ANFE == CAN_GFC_ANFE_RXF1_Val - self->fifo_idx) {
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mp_raise_ValueError(translate("Already have all-matches listener"));
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}
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}
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if (num_filters_needed(nmatch, matches, false) > num_filters_available(can, false)) {
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mp_raise_ValueError(translate("Filters too complex"));
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}
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if (num_filters_needed(nmatch, matches, true) > num_filters_available(can, true)) {
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mp_raise_ValueError(translate("Filters too complex"));
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}
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// Nothing can fail now so it's safe to assign self->can
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self->can = can;
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set_filters(self, nmatch, matches);
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common_hal_canio_listener_set_timeout(self, timeout);
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}
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void common_hal_canio_listener_set_timeout(canio_listener_obj_t *self, float timeout) {
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self->timeout_ms = (int)MICROPY_FLOAT_C_FUN(ceil)(timeout * 1000);
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}
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float common_hal_canio_listener_get_timeout(canio_listener_obj_t *self) {
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return self->timeout_ms / 1000.0f;
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}
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void common_hal_canio_listener_check_for_deinit(canio_listener_obj_t *self) {
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if (!self->can) {
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raise_deinited_error();
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}
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common_hal_canio_can_check_for_deinit(self->can);
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}
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int common_hal_canio_listener_in_waiting(canio_listener_obj_t *self) {
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return self->hw->RXFS.bit.F0FL;
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}
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mp_obj_t common_hal_canio_listener_receive(canio_listener_obj_t *self) {
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if (!common_hal_canio_listener_in_waiting(self)) {
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uint64_t deadline = supervisor_ticks_ms64() + self->timeout_ms;
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do {
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if (supervisor_ticks_ms64() > deadline) {
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return NULL;
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}
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RUN_BACKGROUND_TASKS;
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// Allow user to break out of a timeout with a KeyboardInterrupt.
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if (mp_hal_is_interrupted()) {
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return NULL;
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}
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} while (!common_hal_canio_listener_in_waiting(self));
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}
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int index = self->hw->RXFS.bit.F0GI;
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canio_can_rx_fifo_t *hw_message = &self->fifo[index];
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bool rtr = hw_message->rxf0.bit.RTR;
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canio_message_obj_t *message = m_new_obj(canio_message_obj_t);
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message->base.type = rtr ? &canio_remote_transmission_request_type : &canio_message_type;
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message->extended = hw_message->rxf0.bit.XTD;
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if (message->extended) {
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message->id = hw_message->rxf0.bit.ID;
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} else {
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message->id = hw_message->rxf0.bit.ID >> 18; // short ids are left-justified
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}
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message->size = hw_message->rxf1.bit.DLC;
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if (!rtr) {
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memcpy(message->data, hw_message->data, message->size);
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}
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self->hw->RXFA.bit.F0AI = index;
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return message;
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}
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void common_hal_canio_listener_deinit(canio_listener_obj_t *self) {
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if (self->can) {
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clear_filters(self);
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if (self->fifo_idx == 0) {
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self->can->fifo0_in_use = false;
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}
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if (self->fifo_idx == 1) {
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self->can->fifo1_in_use = false;
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}
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}
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self->fifo_idx = -1;
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self->fifo = NULL;
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self->can = NULL;
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self->hw = NULL;
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}
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