diff --git a/.gitignore b/.gitignore
deleted file mode 100644
index ae9b08c..0000000
--- a/.gitignore
+++ /dev/null
@@ -1,18 +0,0 @@
-### Altium ###
-# Previews Folders
-**/__Previews/
-
-# History Folders
-**/History/*
-
-# Project Logs
-Project Logs*/
-
-# Project Outputs
-Project Outputs*/
-
-# Auto-conversion notices
-*.PcbDoc.htm
-
-# Access lock file for dbLib sources
-**/*.ldb
\ No newline at end of file
diff --git a/LICENSE b/LICENSE
index 9c2d856..a9f9df5 100644
--- a/LICENSE
+++ b/LICENSE
@@ -1,6 +1,6 @@
MIT License
-Copyright (c) 2021 Lao·Zhu
+Copyright (c) 2023 Lao·Zhu
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
diff --git a/README.md b/README.md
index fb3ebed..5e4c261 100644
--- a/README.md
+++ b/README.md
@@ -1,6 +1,6 @@
# rm_usb2can
-  
+  
English/[中文](https://github.com/rm-controls/rm_usb2can/blob/main/README_CN.md)
@@ -8,7 +8,7 @@ English/[中文](https://github.com/rm-controls/rm_usb2can/blob/main/README_CN.m
### Brief Introduction
- The purpose of this project is to provide [Intel® NUC](https://www.intel.com/content/www/us/en/products/details/nuc.html) and other x86 device with a CAN (Controller Area Network) peripheral interface. Since NUC and most x86 device does not have simple peripheral interfaces such as SPI (Serial Peripheral Interface), it is impossible to use SPI to can chips such as MCP2515. Therefore, the project is developed based on the open source solution [candleLight](https://github.com/candle-usb/candleLight_fw/tree/master) on GitHub, and STM32F072CBT6 is used as the main control chip to realize the function of USB (Universal Serial Bus) to can. STM32F072CBT6 has USB full speed peripherals and can peripherals that can work at the same time. It is packaged as QFP64 (Quad Flat Package) and is an excellent solution.The following figure shows the physical connection between Intel NUC and usb2can.
+ The purpose of this project is to provide [Intel® NUC](https://www.intel.com/content/www/us/en/products/details/nuc.html) and other x86 device with a CAN (Controller Area Network) peripheral interface. Since NUC and most x86 device does not have simple peripheral interfaces such as SPI (Serial Peripheral Interface), it is impossible to use SPI to can chips such as MCP2515. Therefore, the project is developed based on the open source solution [candleLight](https://github.com/candle-usb/candleLight_fw/tree/master) on GitHub, and STM32F072CBT6 is used as the main control chip to realize the function of USB (Universal Serial Bus) to can. STM32F072CBT6 has USB full speed peripherals and can peripherals that can work at the same time. It is packaged as QFP48 (Quad Flat Package) and is an excellent solution.The following figure shows the physical connection between Intel NUC and usb2can.
@@ -16,22 +16,18 @@ English/[中文](https://github.com/rm-controls/rm_usb2can/blob/main/README_CN.m
### Develop Tools
-+ EDA Tool: Altium Designer 20.0.13
-+ Compiler: gcc-arm-none-eabi 8-2019-q3-update
-+ Programming Tool: STM32CubeProgrammer v2.6.0
++ EDA Tool: KiCAD 6.0.9
++ Compiler: gcc-arm-none-eabi 10.3.1 20210824 (release)
++ Programming Tool: STM32CubeProgrammer v2.13.0
***
### Directory Structure
-+ bom: three different versions of usb2can material forms.
-+ candlelight: the repository of GitHub's open source solution [candleLight](https://github.com/candle-usb/candleLight_fw/tree/master).
-+ circuit: circuit schematic diagram and PCB source file designed with Altium designer.
-+ gerber: three different versions of usb2can manufacturing documents.
-+ image: picture in readme.
-+ firmware.bin: Compiled program binaries.
-
-**Note: the PCB and schematic diagram under the circuit folder are example circuits, which are directly used to manufacture products with production results other than those shown in the figure. If you want to directly reproduce the graphic version, please use the production file under the gerber folder.**
++ manufacture: USB2CAN production manufacturing file.
++ program: Github open source program [candleLight](https://github.com/candle-usb/candleLight_fw/tree/master) modified source code.
++ circuit: Circuit schematic and PCB source files designed with KiCAD.
++ image: Images of README.
***
@@ -39,11 +35,11 @@ English/[中文](https://github.com/rm-controls/rm_usb2can/blob/main/README_CN.m
#### Key Points Of Schematic Design
- USB HUB Circuit Design: since the whole vehicle needs at least two can buses to ensure the integrity of the data packet returned by the motor, we use GL850G as the USB HUB chip to realize the scheme of USB one driving four. In addition, we also use Schmidt trigger to realize the power on sequence to ensure that the enumeration sequence of USB devices is consistent after each power on.
+ USB HUB Circuit Design: since the whole vehicle needs at least two can buses to ensure the integrity of the data packet returned by the motor, we use SL2.1s as the USB HUB chip to realize the scheme of USB one driving four. In addition, we also use Schmidt trigger to realize the power on sequence to ensure that the enumeration sequence of USB devices is consistent after each power on.
- USB To CAN Circuit Design: use STM32F072CBT6 to realize the function of USB to can. The can level conversion chip adopts MAX3051EKA chip, which uses 3.3V power supply and is packaged as SOT23-8 (Small Outline Transistor), which provides the basis for PCB miniaturization. The purpose of R6 and R7 resistors in the figure is to change the boot mode of STM32, so that STM32 can switch between DFU (Device Firmware Upgrade) burning mode and flash mode by changing the short circuit mode of R6 and R7, so as to facilitate firmware burning.
+ USB To CAN Circuit Design: use STM32F072CBT6 to realize the function of USB to can. The CAN level conversion chip uses the TJA1050 chip, which uses a 5V power supply and greatly reduces the probability of CAN transceiver damage due to the chip's higher common mode withstand voltage. The purpose of R6 and R7 resistors in the figure is to change the boot mode of STM32, so that STM32 can switch between DFU (Device Firmware Upgrade) burning mode and flash mode by changing the short circuit mode of R6 and R7, so as to facilitate firmware burning.
@@ -58,9 +54,9 @@ English/[中文](https://github.com/rm-controls/rm_usb2can/blob/main/README_CN.m
### Circuit Making
- We provide three different versions of Gerber files for production: [two-way CAN + UART + DBUS](https://github.com/rm-controls/rm_usb2can/tree/main/gerber/2CAN%2BUART%2BDBUS), [four-way CAN](https://github.com/rm-controls/rm_usb2can/tree/main/gerber/4CAN), [UART + DBUS](https://github.com/rm-controls/rm_usb2can/tree/main/gerber/UART%2BDBUS).The circuits of these three versions are designed with two-layer PCB, with an area of about 20 * 30MM. You can directly submit the packaged Gerber file to a manufacturer (such as [jlc](https://www.jlc.com/#)) for production.
+ We provide Gerber files that can be used directly for manufacturing in the [manufacturer folder](https://github.com/rm-controls/rm_usb2can/tree/main/manufacture). This version can realize one way USB to 2 way CAN + 2 way UART, and its circuit schematic is shown in the [circuit folder](https://github.com/rm-controls/rm_usb2can/tree/main/circuit). You can submit the packaged Gerber file directly to a manufacturer (e.g., [PCB Way](https://www.pcbway.com/)) for production.
- You can find the BOM (Bill Of Material) table corresponding to the board [here](https://github.com/rm-controls/rm_usb2can/tree/main/bom) and weld the components to the fabricated PCB according to this table. After welding, please carefully check whether there is residual solder between the pins, which will lead to short circuit of the circuit board. At the same time, you should also check whether there is false soldering of the pins.
+ You can also find the corresponding BOM (Bill Of Material) table for the board in the [manufacturer folder](https://github.com/rm-controls/rm_usb2can/tree/main/manufacture) and solder the components to the already made PCB according to this table. After the soldering is complete, please carefully check whether there is residual solder between the pins, that will lead to a short circuit on the board, and you also have to check whether the pins have the phenomenon of false solder.
After welding, use a multimeter to check whether there is a short circuit between 5V power interface and GND, and whether there is a short circuit between 3.3V power output and GND. When the above situation does not occur, connect the board to the USB port of the computer. At this time, you should see that the power indicator on the board is on, and the computer can recognize the USB HUB chip.
@@ -70,7 +66,7 @@ English/[中文](https://github.com/rm-controls/rm_usb2can/blob/main/README_CN.m
### Firmware Programming
- You can [click here](https://github.com/rm-controls/rm_usb2can/releases/download/firmware_v1_0/candleLight.bin) to download the compiled firmware, or follow the [candlelight documentation](https://github.com/candle-usb/candleLight_fw/tree/master#building) to compile firmware by yourself. Finally, you will get the .bin file. We use [STM32CubeProgrammer](https://www.st.com/en/development-tools/stm32cubeprog.html) to burn the firmware into STM32 through USB. The steps to download firmware are shown below:
+ You can download the compiled firmware in [Release](https://github.com/rm-controls/rm_usb2can/releases) page, or follow the [candlelight documentation](https://github.com/candle-usb/candleLight_fw/tree/master#building) to compile firmware by yourself. Finally, you will get the .bin file. We use [STM32CubeProgrammer](https://www.st.com/en/development-tools/stm32cubeprog.html) to burn the firmware into STM32 through USB. The steps to download firmware are shown below:
1. Remove the pull-down resistance of BOOT0 pin of STM32 and weld the pull-up resistance.
2. Connect the board to the USB port of the computer and open STM32CubeProgrammer.
@@ -141,4 +137,4 @@ The source code is released under a [MIT License](https://github.com/rm-controls
**Affiliation：DynamicXInteractive BOM for KiCAD
+
+
+
+
+
+
+
+
+
+
+
+ F
+
+ FB
+
+ B
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ Title
+
+
+ Revision
+
+
+
+
+ Company
+
+
+ Date
+
+
+
+
+
+
+
+
:-x$assembler-with-cpp>)
add_custom_target(version_h BYPRODUCTS "${CMAKE_CURRENT_BINARY_DIR}/version.h"
COMMAND ${CMAKE_COMMAND}
- -D SRCDIR="${CMAKE_CURRENT_SOURCE_DIR}"
+ -D SRCDIR= "${CMAKE_CURRENT_SOURCE_DIR}"
-P ${CMAKE_CURRENT_SOURCE_DIR}/gitversion.cmake)
include_directories(library/include system user/include system/cmsis usb ${CMAKE_CURRENT_BINARY_DIR})
-add_definitions(-DDEBUG -DUSE_HAL_DRIVER -DSTM32F072xB)
+add_definitions(-DUSE_HAL_DRIVER -DSTM32F072xB)
-file(GLOB_RECURSE SOURCES "user/src/*.c" "library/source/*.c" "usb/*.c" "system/*.c")
+file(GLOB_RECURSE SOURCES "user/source/*.c" "library/source/*.c" "usb/*.c" "system/*.c")
set(LINKER_SCRIPT ${CMAKE_SOURCE_DIR}/STM32F072XB.ld)
diff --git a/program/STM32F072XB.ld b/program/STM32F072XB.ld
index fc61046..17a72e6 100644
--- a/program/STM32F072XB.ld
+++ b/program/STM32F072XB.ld
@@ -1,17 +1,15 @@
-__STACK_SIZE = 2K;
-__HEAP_SIZE = 10K;
+__STACK_SIZE = 2k;
+__HEAP_SIZE = 0k;
-__FLASH_SIZE = 128K;
-__NVM_SIZE = 1K;
+__FLASH_SIZE = 128k;
+__RAM_SIZE = 16k;
MEMORY
{
- FLASH (rx) : ORIGIN = 0x08000000, LENGTH = __FLASH_SIZE - __NVM_SIZE
- RAM (rwx) : ORIGIN = 0x20000000, LENGTH = 16K
- DATA (xrw) : ORIGIN = 0x08000000 + __FLASH_SIZE - __NVM_SIZE, LENGTH = __NVM_SIZE
+ FLASH (rx) : ORIGIN = 0x08000000, LENGTH = 128k
+ RAM (rw) : ORIGIN = 0x20000000, LENGTH = 16k
}
-
ENTRY(Reset_Handler)
SECTIONS
@@ -65,51 +63,48 @@ SECTIONS
__copy_table_end__ = .;
} > FLASH
- .zero.table :
- {
- . = ALIGN(4);
- __zero_table_start__ = .;
- __zero_table_end__ = .;
- } > FLASH
-
- __etext = ALIGN (4);
-
- .user_data :
- {
- . = ALIGN(4);
- *(.user_data)
- . = ALIGN(4);
- } > DATA
- .data : AT (__etext)
+ .preinit_array :
{
- __data_start__ = .;
- *(vtable)
- *(.data)
- *(.data.*)
-
. = ALIGN(4);
/* preinit data */
PROVIDE_HIDDEN (__preinit_array_start = .);
KEEP(*(.preinit_array))
PROVIDE_HIDDEN (__preinit_array_end = .);
+ . = ALIGN(4);
+ } >FLASH
+ .init_array :
+ {
. = ALIGN(4);
/* init data */
PROVIDE_HIDDEN (__init_array_start = .);
KEEP(*(SORT(.init_array.*)))
KEEP(*(.init_array))
PROVIDE_HIDDEN (__init_array_end = .);
+ . = ALIGN(4);
+ } >FLASH
-
+ .fini_array :
+ {
. = ALIGN(4);
- /* finit data */
PROVIDE_HIDDEN (__fini_array_start = .);
- KEEP(*(SORT(.fini_array.*)))
- KEEP(*(.fini_array))
+ KEEP (*(SORT(.fini_array.*)))
+ KEEP (*(.fini_array*))
PROVIDE_HIDDEN (__fini_array_end = .);
+ . = ALIGN(4);
+ } >FLASH
+
+ __etext = ALIGN (4);
+
+ .data : AT (__etext)
+ {
+ __data_start__ = .;
+ *(vtable)
+ *(.data)
+ *(.data.*)
+
- KEEP(*(.jcr*))
. = ALIGN(4);
/* All data end */
__data_end__ = .;
diff --git a/program/gitversion.cmake b/program/gitversion.cmake
index 3f12b92..91d43ca 100644
--- a/program/gitversion.cmake
+++ b/program/gitversion.cmake
@@ -7,12 +7,12 @@ find_package(Git)
# e.g. add spaces in the format string, will not work easily.
if (Git_FOUND)
- execute_process(COMMAND ${GIT_EXECUTABLE} log --pretty=format:fw_%h_%as -n 1
- OUTPUT_VARIABLE GIT_REV
- ERROR_QUIET
- WORKING_DIRECTORY ${SRCDIR}
- )
-endif()
+ execute_process(COMMAND ${GIT_EXECUTABLE} log --pretty=format:fw_%h_%as -n 1
+ OUTPUT_VARIABLE GIT_REV
+ ERROR_QUIET
+ WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
+ )
+endif ()
# Check whether we got any revision (which isn't
# always the case, e.g. when someone downloaded a zip
@@ -21,32 +21,32 @@ if ("${GIT_REV}" STREQUAL "")
set(GIT_REV "N/A")
set(GIT_DIFF "")
set(GIT_TAG "N/A")
-else()
+else ()
execute_process(
- COMMAND ${GIT_EXECUTABLE} diff --quiet --exit-code
- RESULT_VARIABLE GIT_DIRTY
- WORKING_DIRECTORY ${SRCDIR})
+ COMMAND ${GIT_EXECUTABLE} diff --quiet --exit-code
+ RESULT_VARIABLE GIT_DIRTY
+ WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR})
execute_process(
- COMMAND git describe --exact-match --tags
- OUTPUT_VARIABLE GIT_TAG
- ERROR_QUIET
- WORKING_DIRECTORY ${SRCDIR})
- if (NOT "${GIT_DIRTY}" EQUAL 0)
- #append '+' if unclean tree
- set(GIT_DIFF "+")
- endif()
+ COMMAND git describe --exact-match --tags
+ OUTPUT_VARIABLE GIT_TAG
+ ERROR_QUIET
+ WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR})
+ if (NOT "${GIT_DIRTY}" EQUAL 0)
+ #append '+' if unclean tree
+ set(GIT_DIFF "+")
+ endif ()
string(STRIP "${GIT_REV}" GIT_REV)
-endif()
+endif ()
set(VERSION "#define GIT_HASH \"${GIT_REV}${GIT_DIFF}\"\n")
-if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/version.h)
+if (EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/version.h)
file(READ ${CMAKE_CURRENT_SOURCE_DIR}/version.h VERSION_)
-else()
+else ()
set(VERSION_ "")
-endif()
+endif ()
if (NOT "${VERSION}" STREQUAL "${VERSION_}")
file(WRITE ${CMAKE_CURRENT_BINARY_DIR}/version.h "${VERSION}")
-endif()
+endif ()
diff --git a/program/library/include/Legacy/stm32_hal_legacy.h b/program/library/include/Legacy/stm32_hal_legacy.h
index 967547d..f321b33 100644
--- a/program/library/include/Legacy/stm32_hal_legacy.h
+++ b/program/library/include/Legacy/stm32_hal_legacy.h
@@ -7,13 +7,12 @@
******************************************************************************
* @attention
*
- * © Copyright (c) 2019 STMicroelectronics.
- * All rights reserved. © Copyright (c) 2016 STMicroelectronics.
- * All rights reserved. © Copyright (c) 2016 STMicroelectronics.
- * All rights reserved. © Copyright (c) 2016 STMicroelectronics.
- * All rights reserved. © Copyright (c) 2016 STMicroelectronics.
- * All rights reserved. © Copyright (c) 2016 STMicroelectronics.
- * All rights reserved. © Copyright (c) 2016 STMicroelectronics.
- * All rights reserved. © Copyright (c) 2016 STMicroelectronics.
- * All rights reserved. © Copyright (c) 2016 STMicroelectronics.
- * All rights reserved. © Copyright (c) 2016 STMicroelectronics.
- * All rights reserved. © Copyright (c) 2016 STMicroelectronics.
- * All rights reserved. © Copyright (c) 2016 STMicroelectronics.
- * All rights reserved. © Copyright (c) 2016 STMicroelectronics.
- * All rights reserved. © Copyright (c) 2016 STMicroelectronics.
- * All rights reserved. © Copyright (c) 2016 STMicroelectronics.
- * All rights reserved. © Copyright (c) 2016 STMicroelectronics.
- * All rights reserved. © Copyright (c) 2016 STMicroelectronics.
- * All rights reserved. © Copyright (c) 2016 STMicroelectronics.
- * All rights reserved. © Copyright (c) 2016 STMicroelectronics.
- * All rights reserved. © Copyright (c) 2016 STMicroelectronics.
- * All rights reserved. © Copyright (c) 2016 STMicroelectronics.
- * All rights reserved. © Copyright (c) 2016 STMicroelectronics.
- * All rights reserved. © Copyright (c) 2016 STMicroelectronics.
- * All rights reserved. © Copyright (c) 2016 STMicroelectronics.
- * All rights reserved. © Copyright (c) 2016 STMicroelectronics.
- * All rights reserved. © Copyright (c) 2016 STMicroelectronics.
- * All rights reserved. © Copyright (c) 2016 STMicroelectronics.
- * All rights reserved. © Copyright (c) 2016 STMicroelectronics.
- * All rights reserved. © Copyright (c) 2016 STMicroelectronics.
- * All rights reserved.
+#include "stm32f072xb.h"
diff --git a/program/system/cmsis/cmsis_gcc.h b/program/system/cmsis/cmsis_gcc.h
index 2d9db15..0f0caba 100644
--- a/program/system/cmsis/cmsis_gcc.h
+++ b/program/system/cmsis/cmsis_gcc.h
@@ -1,11 +1,11 @@
/**************************************************************************//**
* @file cmsis_gcc.h
* @brief CMSIS compiler GCC header file
- * @version V5.0.4
- * @date 09. April 2018
+ * @version V5.2.0
+ * @date 08. May 2019
******************************************************************************/
/*
- * Copyright (c) 2009-2018 Arm Limited. All rights reserved.
+ * Copyright (c) 2009-2019 Arm Limited. All rights reserved.
*
* SPDX-License-Identifier: Apache-2.0
*
@@ -113,7 +113,74 @@
#ifndef __RESTRICT
#define __RESTRICT __restrict
#endif
+#ifndef __COMPILER_BARRIER
+ #define __COMPILER_BARRIER() __ASM volatile("":::"memory")
+#endif
+
+/* ######################### Startup and Lowlevel Init ######################## */
+
+#ifndef __PROGRAM_START
+
+/**
+ \brief Initializes data and bss sections
+ \details This default implementations initialized all data and additional bss
+ sections relying on .copy.table and .zero.table specified properly
+ in the used linker script.
+
+ */
+__STATIC_FORCEINLINE __NO_RETURN void __cmsis_start(void)
+{
+ extern void _start(void) __NO_RETURN;
+
+ typedef struct {
+ uint32_t const* src;
+ uint32_t* dest;
+ uint32_t wlen;
+ } __copy_table_t;
+
+ typedef struct {
+ uint32_t* dest;
+ uint32_t wlen;
+ } __zero_table_t;
+
+ extern const __copy_table_t __copy_table_start__;
+ extern const __copy_table_t __copy_table_end__;
+ extern const __zero_table_t __zero_table_start__;
+ extern const __zero_table_t __zero_table_end__;
+
+ for (__copy_table_t const* pTable = &__copy_table_start__; pTable < &__copy_table_end__; ++pTable) {
+ for(uint32_t i=0u; iwlen; ++i) {
+ pTable->dest[i] = pTable->src[i];
+ }
+ }
+
+ for (__zero_table_t const* pTable = &__zero_table_start__; pTable < &__zero_table_end__; ++pTable) {
+ for(uint32_t i=0u; iwlen; ++i) {
+ pTable->dest[i] = 0u;
+ }
+ }
+
+ _start();
+}
+
+#define __PROGRAM_START __cmsis_start
+#endif
+
+#ifndef __INITIAL_SP
+#define __INITIAL_SP __StackTop
+#endif
+
+#ifndef __STACK_LIMIT
+#define __STACK_LIMIT __StackLimit
+#endif
+
+#ifndef __VECTOR_TABLE
+#define __VECTOR_TABLE __Vectors
+#endif
+#ifndef __VECTOR_TABLE_ATTRIBUTE
+#define __VECTOR_TABLE_ATTRIBUTE __attribute((used, section(".vectors")))
+#endif
/* ########################### Core Function Access ########################### */
/** \ingroup CMSIS_Core_FunctionInterface
@@ -1008,7 +1075,23 @@ __STATIC_FORCEINLINE uint32_t __RBIT(uint32_t value)
\param [in] value Value to count the leading zeros
\return number of leading zeros in value
*/
-#define __CLZ (uint8_t)__builtin_clz
+__STATIC_FORCEINLINE uint8_t __CLZ(uint32_t value)
+{
+ /* Even though __builtin_clz produces a CLZ instruction on ARM, formally
+ __builtin_clz(0) is undefined behaviour, so handle this case specially.
+ This guarantees ARM-compatible results if happening to compile on a non-ARM
+ target, and ensures the compiler doesn't decide to activate any
+ optimisations using the logic "value was passed to __builtin_clz, so it
+ is non-zero".
+ ARM GCC 7.3 and possibly earlier will optimise this test away, leaving a
+ single CLZ instruction.
+ */
+ if (value == 0U)
+ {
+ return 32U;
+ }
+ return __builtin_clz(value);
+}
#if ((defined (__ARM_ARCH_7M__ ) && (__ARM_ARCH_7M__ == 1)) || \
@@ -2082,4 +2165,4 @@ __STATIC_FORCEINLINE int32_t __SMMLA (int32_t op1, int32_t op2, int32_t op3)
#pragma GCC diagnostic pop
-#endif /* __CMSIS_GCC_H */
+#endif /* __CMSIS_GCC_H */
\ No newline at end of file
diff --git a/program/system/stm32f072xb.h b/program/system/stm32f072xb.h
index 0b121d4..f02789c 100644
--- a/program/system/stm32f072xb.h
+++ b/program/system/stm32f072xb.h
@@ -2,29 +2,27 @@
******************************************************************************
* @file stm32f072xb.h
* @author MCD Application Team
- * @brief CMSIS Cortex-M0 Device Peripheral Access Layer Header File.
- * This file contains all the peripheral register's definitions, bits
- * definitions and memory mapping for STM32F0xx devices.
- *
+ * @brief CMSIS Cortex-M0 Device Peripheral Access Layer Header File.
+ * This file contains all the peripheral register's definitions, bits
+ * definitions and memory mapping for STM32F0xx devices.
+ *
* This file contains:
* - Data structures and the address mapping for all peripherals
* - Peripheral's registers declarations and bits definition
- * - Macros to access peripherals registers hardware
- *
+ * - Macros to access peripheral's registers hardware
+ *
******************************************************************************
* @attention
*
- * © Copyright (c) 2016 STMicroelectronics.
- * All rights reserved. (b)) ? (a) : (b))
-
#if defined ( __GNUC__ )
#ifndef __weak
#define __weak __attribute__((weak))
diff --git a/program/user/include/can.h b/program/user/include/can.h
index af6bcf3..8376aea 100644
--- a/program/user/include/can.h
+++ b/program/user/include/can.h
@@ -29,10 +29,9 @@ THE SOFTWARE.
#include
#include
+#include "gs_usb.h"
#include "hal_include.h"
-#include
-
typedef struct {
CAN_TypeDef *instance;
uint16_t brp;
@@ -57,8 +56,6 @@ bool can_send(can_data_t *hcan, struct gs_host_frame *frame);
*/
uint32_t can_get_error_status(can_data_t *hcan);
-#define CAN_ERRCOUNT_THRESHOLD 15 /* send an error frame if tx/rx counters increase by more than this amount */
-
/** parse status value returned by can_get_error_status().
* @param frame : will hold the generated error frame
* @return 1 when status changes (if any) need a new error frame sent
diff --git a/program/user/include/compiler.h b/program/user/include/compiler.h
new file mode 100644
index 0000000..b93df46
--- /dev/null
+++ b/program/user/include/compiler.h
@@ -0,0 +1,79 @@
+/*-
+ * Copyright (c) 2010 Isilon Systems, Inc.
+ * Copyright (c) 2010 iX Systems, Inc.
+ * Copyright (c) 2010 Panasas, Inc.
+ * Copyright (c) 2013-2016 Mellanox Technologies, Ltd.
+ * Copyright (c) 2015 François Tigeot
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ * 1. Redistributions of source code must retain the above copyright
+ * notice unmodified, this list of conditions, and the following
+ * disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in the
+ * documentation and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``AS IS'' AND ANY EXPRESS OR
+ * IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES
+ * OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
+ * IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT
+ * NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+ * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+ * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
+ * THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ * $FreeBSD$
+ */
+#ifndef _LINUXKPI_LINUX_COMPILER_H_
+#define _LINUXKPI_LINUX_COMPILER_H_
+
+#ifndef __aligned
+#define __aligned(x) __attribute__((__aligned__(x)))
+#endif
+
+#ifndef __packed
+#define __packed __attribute__((__packed__))
+#endif
+
+#define barrier() __asm__ __volatile__ ("" : : : "memory")
+
+#define ACCESS_ONCE(x) (*(volatile __typeof(x) *)&(x))
+
+#define WRITE_ONCE(x,v) \
+ do { \
+ barrier(); \
+ ACCESS_ONCE(x) = (v); \
+ barrier(); \
+ } while (0)
+
+#define READ_ONCE(x) \
+ ({ \
+ __typeof(x) __var = ({ \
+ barrier(); \
+ ACCESS_ONCE(x); \
+ }); \
+ barrier(); \
+ __var; \
+ })
+
+#define lockless_dereference(p) READ_ONCE(p)
+
+#define __same_type(a, b) __builtin_types_compatible_p(typeof(a), typeof(b))
+#define __must_be_array(a) __same_type(a, &(a)[0])
+
+#define sizeof_field(_s, _m) sizeof(((_s *)0)->_m)
+
+#define container_of(ptr, type, member) \
+ ({ \
+ __typeof(((type *)0)->member) *_p = (ptr); \
+ (type *)((char *)_p - offsetof(type, member)); \
+ })
+
+#define ARRAY_SIZE(a) (sizeof(a) / sizeof((a)[0]))
+
+#endif /* _LINUXKPI_LINUX_COMPILER_H_ */
diff --git a/program/user/include/config.h b/program/user/include/config.h
index f001602..e678e37 100644
--- a/program/user/include/config.h
+++ b/program/user/include/config.h
@@ -29,33 +29,38 @@ THE SOFTWARE.
* - LED pin assignments and polarity
* - other special pins to control CAN transceivers.
*
-* CAN_S_PIN :Some CAN transceivers (e.g. TJA1050) have a "Silent mode in which the transmitter is disabled";
+* CAN_S_PIN: Some CAN transceivers (e.g. TJA1050) have a "Silent mode in which the transmitter is disabled";
* enabled with this 'S' pin. If undefined, the corresponding code will be disabled.
*
+* TERM_Pin: Add support for an externally controlled terminating resistor
+*
*/
#pragma once
#include "version.h"
-#define CAN_QUEUE_SIZE 64
+#define CAN_QUEUE_SIZE 64
-#define USBD_VID 0x1d50
+#define USBD_VID 0x1d50
#define USBD_PID_FS 0x606f
-#define USBD_LANGID_STRING 1033
-#define USBD_CONFIGURATION_STRING_FS (uint8_t*) GIT_HASH
-#define USBD_INTERFACE_STRING_FS (uint8_t*) "gs_usb interface"
-
-#define USBD_PRODUCT_STRING_FS (uint8_t*) "candleLight USB to CAN adapter"
-#define USBD_MANUFACTURER_STRING (uint8_t*) "bytewerk"
-#define DFU_INTERFACE_STRING_FS (uint8_t*) "candleLight firmware upgrade interface"
-
-#define LED1_Pin GPIO_PIN_0
-#define LED1_Mode GPIO_MODE_OUTPUT_OD
-#define LED1_GPIO_Port GPIOA
-#define LED1_Active_High 0
-
-#define LED2_GPIO_Port GPIOA
-#define LED2_Pin GPIO_PIN_1
-#define LED2_Mode GPIO_MODE_OUTPUT_OD
-#define LED2_Active_High 0
+#define USBD_LANGID_STRING 1033
+#define USBD_CONFIGURATION_STRING_FS (uint8_t*) GIT_HASH
+#define USBD_INTERFACE_STRING_FS (uint8_t*) "gs_usb interface"
+
+#define USBD_PRODUCT_STRING_FS (uint8_t*) "candleLight USB to CAN adapter"
+#define USBD_MANUFACTURER_STRING (uint8_t*) "bytewerk"
+#define DFU_INTERFACE_STRING_FS (uint8_t*) "candleLight firmware upgrade interface"
+
+#define CAN_INTERFACE CAN
+#define CAN_CLOCK_SPEED 48000000
+
+#define LEDRX_Pin GPIO_PIN_0
+#define LEDRX_Mode GPIO_MODE_OUTPUT_OD
+#define LEDRX_GPIO_Port GPIOA
+#define LEDRX_Active_High 0
+
+#define LEDTX_GPIO_Port GPIOA
+#define LEDTX_Pin GPIO_PIN_1
+#define LEDTX_Mode GPIO_MODE_OUTPUT_OD
+#define LEDTX_Active_High 0
diff --git a/program/user/include/flash.h b/program/user/include/device.h
similarity index 83%
rename from program/user/include/flash.h
rename to program/user/include/device.h
index 39f9e3d..e2a5b2e 100644
--- a/program/user/include/flash.h
+++ b/program/user/include/device.h
@@ -1,8 +1,10 @@
+#pragma once
+
/*
The MIT License (MIT)
-Copyright (c) 2016 Hubert Denkmair
+Copyright (c) 2022 fenugrec
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
@@ -24,12 +26,9 @@ THE SOFTWARE.
*/
-#pragma once
+#include "can.h"
+#include "hal_include.h"
-#include
-#include
+void device_can_init(can_data_t *hcan, CAN_TypeDef *instance);
-void flash_load();
-bool flash_set_user_id(uint8_t channel, uint32_t user_id);
-uint32_t flash_get_user_id(uint8_t channel);
-void flash_flush();
+void device_sysclock_config(void);
diff --git a/program/user/include/dfu.h b/program/user/include/dfu.h
index a018266..6ee6894 100644
--- a/program/user/include/dfu.h
+++ b/program/user/include/dfu.h
@@ -26,4 +26,4 @@ THE SOFTWARE.
#pragma once
-void dfu_run_bootloader();
+void dfu_run_bootloader(void);
diff --git a/program/user/include/gpio.h b/program/user/include/gpio.h
index 83a0b64..9cd764c 100644
--- a/program/user/include/gpio.h
+++ b/program/user/include/gpio.h
@@ -26,4 +26,30 @@ THE SOFTWARE.
#pragma once
-void gpio_init();
+#include "gs_usb.h"
+#include "config.h"
+
+void gpio_init(void);
+
+/* macro to define init (i.e. reset) state of a pin */
+#define GPIO_INIT_STATE(ACTIVE_HIGH) (((ACTIVE_HIGH) == 1) ? GPIO_PIN_RESET : GPIO_PIN_SET)
+
+#ifdef TERM_Pin
+enum gs_can_termination_state set_term(unsigned int channel, enum gs_can_termination_state state);
+enum gs_can_termination_state get_term(unsigned int channel);
+
+#else
+static inline enum gs_can_termination_state set_term(unsigned int channel, enum gs_can_termination_state state)
+{
+ (void)channel;
+ (void)state;
+ return GS_CAN_TERMINATION_UNSUPPORTED;
+}
+
+static inline enum gs_can_termination_state get_term(unsigned int channel)
+{
+ (void)channel;
+ return GS_CAN_TERMINATION_UNSUPPORTED;
+}
+
+#endif
diff --git a/program/user/include/gs_usb.h b/program/user/include/gs_usb.h
index 064108a..85d5eaa 100644
--- a/program/user/include/gs_usb.h
+++ b/program/user/include/gs_usb.h
@@ -26,124 +26,139 @@ THE SOFTWARE.
#pragma once
-#define u32 uint32_t
-#define u8 uint8_t
+#include
-#define GSUSB_ENDPOINT_IN 0x81
-#define GSUSB_ENDPOINT_OUT 0x02
+#include "compiler.h"
+#define u32 uint32_t
+#define u8 uint8_t
-#define GS_CAN_MODE_NORMAL 0
-#define GS_CAN_MODE_LISTEN_ONLY (1<<0)
-#define GS_CAN_MODE_LOOP_BACK (1<<1)
-#define GS_CAN_MODE_TRIPLE_SAMPLE (1<<2)
-#define GS_CAN_MODE_ONE_SHOT (1<<3)
-#define GS_CAN_MODE_HW_TIMESTAMP (1<<4)
+#define GSUSB_ENDPOINT_IN 0x81
+#define GSUSB_ENDPOINT_OUT 0x02
+
+
+#define GS_CAN_MODE_NORMAL 0
+#define GS_CAN_MODE_LISTEN_ONLY (1<<0)
+#define GS_CAN_MODE_LOOP_BACK (1<<1)
+#define GS_CAN_MODE_TRIPLE_SAMPLE (1<<2)
+#define GS_CAN_MODE_ONE_SHOT (1<<3)
+#define GS_CAN_MODE_HW_TIMESTAMP (1<<4)
/* #define GS_CAN_FEATURE_IDENTIFY (1<<5) */
/* #define GS_CAN_FEATURE_USER_ID (1<<6) */
-#define GS_CAN_MODE_PAD_PKTS_TO_MAX_PKT_SIZE (1<<7)
-#define GS_CAN_MODE_FD (1<<8) /* switch device to CAN-FD mode */
+#define GS_CAN_MODE_PAD_PKTS_TO_MAX_PKT_SIZE (1<<7)
+#define GS_CAN_MODE_FD (1<<8) /* switch device to CAN-FD mode */
/* #define GS_CAN_FEATURE_REQ_USB_QUIRK_LPC546XX (1<<9) */
/* #define GS_CAN_FEATURE_BT_CONST_EXT (1<<10) */
-
-#define GS_CAN_FEATURE_LISTEN_ONLY (1<<0)
-#define GS_CAN_FEATURE_LOOP_BACK (1<<1)
-#define GS_CAN_FEATURE_TRIPLE_SAMPLE (1<<2)
-#define GS_CAN_FEATURE_ONE_SHOT (1<<3)
-#define GS_CAN_FEATURE_HW_TIMESTAMP (1<<4)
-#define GS_CAN_FEATURE_IDENTIFY (1<<5)
-#define GS_CAN_FEATURE_USER_ID (1<<6)
+/* #define GS_CAN_FEATURE_TERMINATION (1<<11) */
+#define GS_CAN_MODE_BERR_REPORTING (1<<12)
+/* GS_CAN_FEATURE_GET_STATE (1<<13) */
+
+#define GS_CAN_FEATURE_LISTEN_ONLY (1<<0)
+#define GS_CAN_FEATURE_LOOP_BACK (1<<1)
+#define GS_CAN_FEATURE_TRIPLE_SAMPLE (1<<2)
+#define GS_CAN_FEATURE_ONE_SHOT (1<<3)
+#define GS_CAN_FEATURE_HW_TIMESTAMP (1<<4)
+#define GS_CAN_FEATURE_IDENTIFY (1<<5)
+#define GS_CAN_FEATURE_USER_ID (1<<6)
#define GS_CAN_FEATURE_PAD_PKTS_TO_MAX_PKT_SIZE (1<<7)
-#define GS_CAN_FEATURE_FD (1<<8) /* device supports CAN-FD */
+#define GS_CAN_FEATURE_FD (1<<8) /* device supports CAN-FD */
/* request workaround for LPC546XX erratum USB.15:
* let host driver add a padding byte to each USB frame
*/
-#define GS_CAN_FEATURE_REQ_USB_QUIRK_LPC546XX (1<<9)
+#define GS_CAN_FEATURE_REQ_USB_QUIRK_LPC546XX (1<<9)
/* device supports separate bit timing constants for CAN-FD
* arbitration and data phase, see:
* GS_USB_BREQ_BT_CONST_EXT and struct gs_device_bt_const_extended
*/
-#define GS_CAN_FEATURE_BT_CONST_EXT (1<<10)
+#define GS_CAN_FEATURE_BT_CONST_EXT (1<<10)
+/* device supports switchable termination, see:
+ * - GS_USB_BREQ_SET_TERMINATION
+ * - GS_USB_BREQ_GET_TERMINATION
+ * - struct gs_device_termination_state
+ */
+#define GS_CAN_FEATURE_TERMINATION (1<<11)
+#define GS_CAN_FEATURE_BERR_REPORTINGBIT (1<<12)
+#define GS_CAN_FEATURE_GET_STATE (1<<13)
-#define GS_CAN_FLAG_OVERFLOW (1<<0)
-#define GS_CAN_FLAG_FD (1<<1) /* is a CAN-FD frame */
-#define GS_CAN_FLAG_BRS (1<<2) /* bit rate switch (for CAN-FD frames) */
-#define GS_CAN_FLAG_ESI (1<<3) /* error state indicator (for CAN-FD frames) */
+#define GS_CAN_FLAG_OVERFLOW (1<<0)
+#define GS_CAN_FLAG_FD (1<<1) /* is a CAN-FD frame */
+#define GS_CAN_FLAG_BRS (1<<2) /* bit rate switch (for CAN-FD frames) */
+#define GS_CAN_FLAG_ESI (1<<3) /* error state indicator (for CAN-FD frames) */
-#define CAN_EFF_FLAG 0x80000000U /* EFF/SFF is set in the MSB */
-#define CAN_RTR_FLAG 0x40000000U /* remote transmission request */
-#define CAN_ERR_FLAG 0x20000000U /* error message frame */
+#define CAN_EFF_FLAG 0x80000000U /* EFF/SFF is set in the MSB */
+#define CAN_RTR_FLAG 0x40000000U /* remote transmission request */
+#define CAN_ERR_FLAG 0x20000000U /* error message frame */
-#define CAN_ERR_DLC 8 /* dlc for error message frames */
+#define CAN_ERR_DLC 8 /* dlc for error message frames */
/* error class (mask) in can_id */
-#define CAN_ERR_TX_TIMEOUT 0x00000001U /* TX timeout (by netdevice driver) */
-#define CAN_ERR_LOSTARB 0x00000002U /* lost arbitration / data[0] */
-#define CAN_ERR_CRTL 0x00000004U /* controller problems / data[1] */
-#define CAN_ERR_PROT 0x00000008U /* protocol violations / data[2..3] */
-#define CAN_ERR_TRX 0x00000010U /* transceiver status / data[4] */
-#define CAN_ERR_ACK 0x00000020U /* received no ACK on transmission */
-#define CAN_ERR_BUSOFF 0x00000040U /* bus off */
-#define CAN_ERR_BUSERROR 0x00000080U /* bus error (may flood!) */
-#define CAN_ERR_RESTARTED 0x00000100U /* controller restarted */
+#define CAN_ERR_TX_TIMEOUT 0x00000001U /* TX timeout (by netdevice driver) */
+#define CAN_ERR_LOSTARB 0x00000002U /* lost arbitration / data[0] */
+#define CAN_ERR_CRTL 0x00000004U /* controller problems / data[1] */
+#define CAN_ERR_PROT 0x00000008U /* protocol violations / data[2..3] */
+#define CAN_ERR_TRX 0x00000010U /* transceiver status / data[4] */
+#define CAN_ERR_ACK 0x00000020U /* received no ACK on transmission */
+#define CAN_ERR_BUSOFF 0x00000040U /* bus off */
+#define CAN_ERR_BUSERROR 0x00000080U /* bus error (may flood!) */
+#define CAN_ERR_RESTARTED 0x00000100U /* controller restarted */
/* arbitration lost in bit ... / data[0] */
-#define CAN_ERR_LOSTARB_UNSPEC 0x00 /* unspecified */
- /* else bit number in bitstream */
+#define CAN_ERR_LOSTARB_UNSPEC 0x00 /* unspecified */
+/* else bit number in bitstream */
/* error status of CAN-controller / data[1] */
-#define CAN_ERR_CRTL_UNSPEC 0x00 /* unspecified */
+#define CAN_ERR_CRTL_UNSPEC 0x00 /* unspecified */
#define CAN_ERR_CRTL_RX_OVERFLOW 0x01 /* RX buffer overflow */
#define CAN_ERR_CRTL_TX_OVERFLOW 0x02 /* TX buffer overflow */
-#define CAN_ERR_CRTL_RX_WARNING 0x04 /* reached warning level for RX errors */
-#define CAN_ERR_CRTL_TX_WARNING 0x08 /* reached warning level for TX errors */
-#define CAN_ERR_CRTL_RX_PASSIVE 0x10 /* reached error passive status RX */
-#define CAN_ERR_CRTL_TX_PASSIVE 0x20 /* reached error passive status TX */
- /* (at least one error counter exceeds */
- /* the protocol-defined level of 127) */
-#define CAN_ERR_CRTL_ACTIVE 0x40 /* recovered to error active state */
+#define CAN_ERR_CRTL_RX_WARNING 0x04 /* reached warning level for RX errors */
+#define CAN_ERR_CRTL_TX_WARNING 0x08 /* reached warning level for TX errors */
+#define CAN_ERR_CRTL_RX_PASSIVE 0x10 /* reached error passive status RX */
+#define CAN_ERR_CRTL_TX_PASSIVE 0x20 /* reached error passive status TX */
+/* (at least one error counter exceeds */
+/* the protocol-defined level of 127) */
+#define CAN_ERR_CRTL_ACTIVE 0x40 /* recovered to error active state */
/* error in CAN protocol (type) / data[2] */
-#define CAN_ERR_PROT_UNSPEC 0x00 /* unspecified */
-#define CAN_ERR_PROT_BIT 0x01 /* single bit error */
-#define CAN_ERR_PROT_FORM 0x02 /* frame format error */
-#define CAN_ERR_PROT_STUFF 0x04 /* bit stuffing error */
-#define CAN_ERR_PROT_BIT0 0x08 /* unable to send dominant bit */
-#define CAN_ERR_PROT_BIT1 0x10 /* unable to send recessive bit */
-#define CAN_ERR_PROT_OVERLOAD 0x20 /* bus overload */
-#define CAN_ERR_PROT_ACTIVE 0x40 /* active error announcement */
-#define CAN_ERR_PROT_TX 0x80 /* error occurred on transmission */
+#define CAN_ERR_PROT_UNSPEC 0x00 /* unspecified */
+#define CAN_ERR_PROT_BIT 0x01 /* single bit error */
+#define CAN_ERR_PROT_FORM 0x02 /* frame format error */
+#define CAN_ERR_PROT_STUFF 0x04 /* bit stuffing error */
+#define CAN_ERR_PROT_BIT0 0x08 /* unable to send dominant bit */
+#define CAN_ERR_PROT_BIT1 0x10 /* unable to send recessive bit */
+#define CAN_ERR_PROT_OVERLOAD 0x20 /* bus overload */
+#define CAN_ERR_PROT_ACTIVE 0x40 /* active error announcement */
+#define CAN_ERR_PROT_TX 0x80 /* error occurred on transmission */
/* error in CAN protocol (location) / data[3] */
-#define CAN_ERR_PROT_LOC_UNSPEC 0x00 /* unspecified */
-#define CAN_ERR_PROT_LOC_SOF 0x03 /* start of frame */
+#define CAN_ERR_PROT_LOC_UNSPEC 0x00 /* unspecified */
+#define CAN_ERR_PROT_LOC_SOF 0x03 /* start of frame */
#define CAN_ERR_PROT_LOC_ID28_21 0x02 /* ID bits 28 - 21 (SFF: 10 - 3) */
#define CAN_ERR_PROT_LOC_ID20_18 0x06 /* ID bits 20 - 18 (SFF: 2 - 0 )*/
-#define CAN_ERR_PROT_LOC_SRTR 0x04 /* substitute RTR (SFF: RTR) */
-#define CAN_ERR_PROT_LOC_IDE 0x05 /* identifier extension */
+#define CAN_ERR_PROT_LOC_SRTR 0x04 /* substitute RTR (SFF: RTR) */
+#define CAN_ERR_PROT_LOC_IDE 0x05 /* identifier extension */
#define CAN_ERR_PROT_LOC_ID17_13 0x07 /* ID bits 17-13 */
#define CAN_ERR_PROT_LOC_ID12_05 0x0F /* ID bits 12-5 */
#define CAN_ERR_PROT_LOC_ID04_00 0x0E /* ID bits 4-0 */
-#define CAN_ERR_PROT_LOC_RTR 0x0C /* RTR */
-#define CAN_ERR_PROT_LOC_RES1 0x0D /* reserved bit 1 */
-#define CAN_ERR_PROT_LOC_RES0 0x09 /* reserved bit 0 */
-#define CAN_ERR_PROT_LOC_DLC 0x0B /* data length code */
-#define CAN_ERR_PROT_LOC_DATA 0x0A /* data section */
+#define CAN_ERR_PROT_LOC_RTR 0x0C /* RTR */
+#define CAN_ERR_PROT_LOC_RES1 0x0D /* reserved bit 1 */
+#define CAN_ERR_PROT_LOC_RES0 0x09 /* reserved bit 0 */
+#define CAN_ERR_PROT_LOC_DLC 0x0B /* data length code */
+#define CAN_ERR_PROT_LOC_DATA 0x0A /* data section */
#define CAN_ERR_PROT_LOC_CRC_SEQ 0x08 /* CRC sequence */
#define CAN_ERR_PROT_LOC_CRC_DEL 0x18 /* CRC delimiter */
-#define CAN_ERR_PROT_LOC_ACK 0x19 /* ACK slot */
+#define CAN_ERR_PROT_LOC_ACK 0x19 /* ACK slot */
#define CAN_ERR_PROT_LOC_ACK_DEL 0x1B /* ACK delimiter */
-#define CAN_ERR_PROT_LOC_EOF 0x1A /* end of frame */
-#define CAN_ERR_PROT_LOC_INTERM 0x12 /* intermission */
+#define CAN_ERR_PROT_LOC_EOF 0x1A /* end of frame */
+#define CAN_ERR_PROT_LOC_INTERM 0x12 /* intermission */
/* error status of CAN-transceiver / data[4] */
/* CANH CANL */
-#define CAN_ERR_TRX_UNSPEC 0x00 /* 0000 0000 */
-#define CAN_ERR_TRX_CANH_NO_WIRE 0x04 /* 0000 0100 */
+#define CAN_ERR_TRX_UNSPEC 0x00 /* 0000 0000 */
+#define CAN_ERR_TRX_CANH_NO_WIRE 0x04 /* 0000 0100 */
#define CAN_ERR_TRX_CANH_SHORT_TO_BAT 0x05 /* 0000 0101 */
#define CAN_ERR_TRX_CANH_SHORT_TO_VCC 0x06 /* 0000 0110 */
#define CAN_ERR_TRX_CANH_SHORT_TO_GND 0x07 /* 0000 0111 */
-#define CAN_ERR_TRX_CANL_NO_WIRE 0x40 /* 0100 0000 */
+#define CAN_ERR_TRX_CANL_NO_WIRE 0x40 /* 0100 0000 */
#define CAN_ERR_TRX_CANL_SHORT_TO_BAT 0x50 /* 0101 0000 */
#define CAN_ERR_TRX_CANL_SHORT_TO_VCC 0x60 /* 0110 0000 */
#define CAN_ERR_TRX_CANL_SHORT_TO_GND 0x70 /* 0111 0000 */
@@ -159,10 +174,13 @@ enum gs_usb_breq {
GS_USB_BREQ_DEVICE_CONFIG,
GS_USB_BREQ_TIMESTAMP,
GS_USB_BREQ_IDENTIFY,
- GS_USB_BREQ_GET_USER_ID,
- GS_USB_BREQ_SET_USER_ID,
+ GS_USB_BREQ_GET_USER_ID, //not implemented
+ GS_USB_BREQ_SET_USER_ID, //not implemented
GS_USB_BREQ_DATA_BITTIMING,
GS_USB_BREQ_BT_CONST_EXT,
+ GS_USB_BREQ_SET_TERMINATION,
+ GS_USB_BREQ_GET_TERMINATION,
+ GS_USB_BREQ_GET_STATE,
};
enum gs_can_mode {
@@ -181,15 +199,26 @@ enum gs_can_state {
GS_CAN_STATE_SLEEPING
};
+enum gs_can_termination_state {
+ GS_CAN_TERMINATION_UNSUPPORTED = -1, // private, not in kernel enum
+ GS_CAN_TERMINATION_STATE_OFF = 0,
+ GS_CAN_TERMINATION_STATE_ON,
+};
+
/* data types passed between host and device */
struct gs_host_config {
u32 byte_order;
-} __packed;
-/* All data exchanged between host and device is exchanged in host byte order,
- * thanks to the struct gs_host_config byte_order member, which is sent first
- * to indicate the desired byte order.
+} __packed __aligned(4);
+
+/* The firmware on the original USB2CAN by Geschwister Schneider
+ * Technologie Entwicklungs- und Vertriebs UG exchanges all data
+ * between the host and the device in host byte order. This is done
+ * with the struct gs_host_config::byte_order member, which is sent
+ * first to indicate the desired byte order.
+ *
+ * The widely used open source firmware candleLight doesn't support
+ * this feature and exchanges the data in little endian byte order.
*/
-
struct gs_device_config {
u8 reserved1;
u8 reserved2;
@@ -197,18 +226,18 @@ struct gs_device_config {
u8 icount;
u32 sw_version;
u32 hw_version;
-} __packed;
+} __packed __aligned(4);
struct gs_device_mode {
u32 mode;
u32 flags;
-} __packed;
+} __packed __aligned(4);
struct gs_device_state {
u32 state;
u32 rxerr;
u32 txerr;
-} __packed;
+} __packed __aligned(4);
struct gs_device_bittiming {
u32 prop_seg;
@@ -216,7 +245,7 @@ struct gs_device_bittiming {
u32 phase_seg2;
u32 sjw;
u32 brp;
-} __packed;
+} __packed __aligned(4);
struct gs_device_bt_const {
u32 feature;
@@ -229,7 +258,7 @@ struct gs_device_bt_const {
u32 brp_min;
u32 brp_max;
u32 brp_inc;
-} __packed;
+} __packed __aligned(4);
struct gs_device_bt_const_extended {
u32 feature;
@@ -251,7 +280,11 @@ struct gs_device_bt_const_extended {
u32 dbrp_min;
u32 dbrp_max;
u32 dbrp_inc;
-} __packed;
+} __packed __aligned(4);
+
+struct gs_device_termination_state {
+ u32 state;
+} __packed __aligned(4);
struct gs_host_frame {
u32 echo_id;
@@ -266,7 +299,7 @@ struct gs_host_frame {
u32 timestamp_us;
-} __packed;
+} __packed __aligned(4);
struct gs_host_frame_canfd {
u32 echo_id;
@@ -278,10 +311,4 @@ struct gs_host_frame_canfd {
u8 reserved;
u8 data[64];
-} __packed;
-
-struct gs_tx_context {
- struct gs_can *dev;
- unsigned int echo_id;
-};
-
+} __packed __aligned(4);
diff --git a/program/user/include/iwdg.h b/program/user/include/iwdg.h
new file mode 100644
index 0000000..aaf703e
--- /dev/null
+++ b/program/user/include/iwdg.h
@@ -0,0 +1,27 @@
+/* USER CODE BEGIN Header */
+/**
+ ******************************************************************************
+ * @file iwdg.h
+ * @brief This file contains all the function prototypes for
+ * the iwdg.c file
+ ******************************************************************************
+ * @attention
+ *
+ * Copyright (c) 2023 STMicroelectronics.
+ * All rights reserved.
+ *
+ * This software is licensed under terms that can be found in the LICENSE file
+ * in the root directory of this software component.
+ * If no LICENSE file comes with this software, it is provided AS-IS.
+ *
+ ******************************************************************************
+ */
+/* USER CODE END Header */
+/* Define to prevent recursive inclusion -------------------------------------*/
+#pragma once
+
+#include "hal_include.h"
+
+extern IWDG_HandleTypeDef hiwdg;
+
+void iwdg_init(void);
diff --git a/program/user/include/led.h b/program/user/include/led.h
index 9b6ef95..906341a 100644
--- a/program/user/include/led.h
+++ b/program/user/include/led.h
@@ -29,6 +29,9 @@ THE SOFTWARE.
#include
#include
+
+#define LED_UPDATE_INTERVAL 10 // number of ticks from HAL_GetTick
+
typedef enum {
led_mode_off,
led_mode_normal,
@@ -38,8 +41,8 @@ typedef enum {
} led_mode_t;
typedef enum {
- led_1,
- led_2
+ led_rx = 0, //will also index into array led_state[]
+ led_tx
} led_num_t;
typedef struct {
@@ -51,15 +54,16 @@ typedef struct {
void* port;
uint16_t pin;
bool is_active_high;
+
+ bool blink_request;
uint32_t on_until;
uint32_t off_until;
} led_state_t;
typedef struct {
led_mode_t mode;
- led_mode_t last_mode;
- led_seq_step_t *sequence;
+ const led_seq_step_t *sequence;
uint32_t sequence_step;
uint32_t t_sequence_next;
int32_t seq_num_repeat;
@@ -70,10 +74,10 @@ typedef struct {
void led_init(
led_data_t *leds,
- void* led1_port, uint16_t led1_pin, bool led1_active_high,
- void* led2_port, uint16_t led2_pin, bool led2_active_high
-);
+ void* led_rx_port, uint16_t led_rx_pin, bool led_rx_active_high,
+ void* led_tx_port, uint16_t led_tx_pin, bool led_tx_active_high
+ );
void led_set_mode(led_data_t *leds,led_mode_t mode);
-void led_run_sequence(led_data_t *leds, led_seq_step_t *sequence, int32_t num_repeat);
+void led_run_sequence(led_data_t *leds, const led_seq_step_t *sequence, int32_t num_repeat);
void led_indicate_trx(led_data_t *leds, led_num_t num);
void led_update(led_data_t *leds);
diff --git a/program/user/include/list.h b/program/user/include/list.h
new file mode 100644
index 0000000..10e2cf7
--- /dev/null
+++ b/program/user/include/list.h
@@ -0,0 +1,482 @@
+/*-
+ * Copyright (c) 2010 Isilon Systems, Inc.
+ * Copyright (c) 2010 iX Systems, Inc.
+ * Copyright (c) 2010 Panasas, Inc.
+ * Copyright (c) 2013-2016 Mellanox Technologies, Ltd.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ * 1. Redistributions of source code must retain the above copyright
+ * notice unmodified, this list of conditions, and the following
+ * disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in the
+ * documentation and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``AS IS'' AND ANY EXPRESS OR
+ * IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES
+ * OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
+ * IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT
+ * NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+ * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+ * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
+ * THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ * $FreeBSD$
+ */
+#ifndef _LINUXKPI_LINUX_LIST_H_
+#define _LINUXKPI_LINUX_LIST_H_
+
+#include "compiler.h"
+#include "util.h"
+
+#ifndef prefetch
+#define prefetch(x)
+#endif
+
+#define LIST_HEAD_INIT(name) { &(name), &(name) }
+
+#define LIST_HEAD(name) \
+ struct list_head name = LIST_HEAD_INIT(name)
+
+struct list_head {
+ struct list_head *next;
+ struct list_head *prev;
+};
+
+static inline void
+INIT_LIST_HEAD(struct list_head *list)
+{
+
+ list->next = list->prev = list;
+}
+
+static inline int
+list_empty(const struct list_head *head)
+{
+
+ return (head->next == head);
+}
+
+static inline int
+list_empty_careful(const struct list_head *head)
+{
+ struct list_head *next = head->next;
+
+ return ((next == head) && (next == head->prev));
+}
+
+static inline void
+__list_del(struct list_head *prev, struct list_head *next)
+{
+ next->prev = prev;
+ WRITE_ONCE(prev->next, next);
+}
+
+static inline void
+__list_del_entry(struct list_head *entry)
+{
+
+ __list_del(entry->prev, entry->next);
+}
+
+static inline void
+list_del(struct list_head *entry)
+{
+
+ __list_del(entry->prev, entry->next);
+}
+
+static inline void
+list_replace(struct list_head *old, struct list_head *new)
+{
+ new->next = old->next;
+ new->next->prev = new;
+ new->prev = old->prev;
+ new->prev->next = new;
+}
+
+static inline void
+list_replace_init(struct list_head *old, struct list_head *new)
+{
+ list_replace(old, new);
+ INIT_LIST_HEAD(old);
+}
+
+static inline void
+linux_list_add(struct list_head *new, struct list_head *prev,
+ struct list_head *next)
+{
+
+ next->prev = new;
+ new->next = next;
+ new->prev = prev;
+ prev->next = new;
+}
+
+static inline void
+list_del_init(struct list_head *entry)
+{
+
+ list_del(entry);
+ INIT_LIST_HEAD(entry);
+}
+
+#define list_entry(ptr, type, field) container_of(ptr, type, field)
+
+#define list_first_entry(ptr, type, member) \
+ list_entry((ptr)->next, type, member)
+
+#define list_last_entry(ptr, type, member) \
+ list_entry((ptr)->prev, type, member)
+
+#define list_first_entry_or_null(ptr, type, member) \
+ (!list_empty(ptr) ? list_first_entry(ptr, type, member) : NULL)
+
+#define list_next_entry(ptr, member) \
+ list_entry(((ptr)->member.next), typeof(*(ptr)), member)
+
+#define list_safe_reset_next(ptr, n, member) \
+ (n) = list_next_entry(ptr, member)
+
+#define list_prev_entry(ptr, member) \
+ list_entry(((ptr)->member.prev), typeof(*(ptr)), member)
+
+#define list_for_each(p, head) \
+ for (p = (head)->next; p != (head); p = (p)->next)
+
+#define list_for_each_safe(p, n, head) \
+ for (p = (head)->next, n = (p)->next; p != (head); p = n, n = (p)->next)
+
+#define list_for_each_entry(p, h, field) \
+ for (p = list_entry((h)->next, typeof(*p), field); &(p)->field != (h); \
+ p = list_entry((p)->field.next, typeof(*p), field))
+
+#define list_for_each_entry_safe(p, n, h, field) \
+ for (p = list_entry((h)->next, typeof(*p), field), \
+ n = list_entry((p)->field.next, typeof(*p), field); &(p)->field != (h); \
+ p = n, n = list_entry(n->field.next, typeof(*n), field))
+
+#define list_for_each_entry_from(p, h, field) \
+ for ( ; &(p)->field != (h); \
+ p = list_entry((p)->field.next, typeof(*p), field))
+
+#define list_for_each_entry_continue(p, h, field) \
+ for (p = list_next_entry((p), field); &(p)->field != (h); \
+ p = list_next_entry((p), field))
+
+#define list_for_each_entry_safe_from(pos, n, head, member) \
+ for (n = list_entry((pos)->member.next, typeof(*pos), member); \
+ &(pos)->member != (head); \
+ pos = n, n = list_entry(n->member.next, typeof(*n), member))
+
+#define list_for_each_entry_reverse(p, h, field) \
+ for (p = list_entry((h)->prev, typeof(*p), field); &(p)->field != (h); \
+ p = list_entry((p)->field.prev, typeof(*p), field))
+
+#define list_for_each_entry_safe_reverse(p, n, h, field) \
+ for (p = list_entry((h)->prev, typeof(*p), field), \
+ n = list_entry((p)->field.prev, typeof(*p), field); &(p)->field != (h); \
+ p = n, n = list_entry(n->field.prev, typeof(*n), field))
+
+#define list_for_each_entry_continue_reverse(p, h, field) \
+ for (p = list_entry((p)->field.prev, typeof(*p), field); &(p)->field != (h); \
+ p = list_entry((p)->field.prev, typeof(*p), field))
+
+#define list_for_each_prev(p, h) for (p = (h)->prev; p != (h); p = (p)->prev)
+
+#define list_for_each_entry_from_reverse(p, h, field) \
+ for (; &p->field != (h); \
+ p = list_prev_entry(p, field))
+
+static inline void
+list_add(struct list_head *new, struct list_head *head)
+{
+
+ linux_list_add(new, head, head->next);
+}
+
+static inline void
+list_add_tail(struct list_head *new, struct list_head *head)
+{
+
+ linux_list_add(new, head->prev, head);
+}
+
+static inline void
+list_move(struct list_head *list, struct list_head *head)
+{
+
+ list_del(list);
+ list_add(list, head);
+}
+
+static inline void
+list_move_tail(struct list_head *entry, struct list_head *head)
+{
+
+ list_del(entry);
+ list_add_tail(entry, head);
+}
+
+static inline void
+list_rotate_to_front(struct list_head *entry, struct list_head *head)
+{
+
+ list_move_tail(entry, head);
+}
+
+static inline void
+list_bulk_move_tail(struct list_head *head, struct list_head *first,
+ struct list_head *last)
+{
+ first->prev->next = last->next;
+ last->next->prev = first->prev;
+ head->prev->next = first;
+ first->prev = head->prev;
+ last->next = head;
+ head->prev = last;
+}
+
+static inline void
+linux_list_splice(const struct list_head *list, struct list_head *prev,
+ struct list_head *next)
+{
+ struct list_head *first;
+ struct list_head *last;
+
+ if (list_empty(list))
+ return;
+ first = list->next;
+ last = list->prev;
+ first->prev = prev;
+ prev->next = first;
+ last->next = next;
+ next->prev = last;
+}
+
+static inline void
+list_splice(const struct list_head *list, struct list_head *head)
+{
+
+ linux_list_splice(list, head, head->next);
+}
+
+static inline void
+list_splice_tail(struct list_head *list, struct list_head *head)
+{
+
+ linux_list_splice(list, head->prev, head);
+}
+
+static inline void
+list_splice_init(struct list_head *list, struct list_head *head)
+{
+
+ linux_list_splice(list, head, head->next);
+ INIT_LIST_HEAD(list);
+}
+
+static inline void
+list_splice_tail_init(struct list_head *list, struct list_head *head)
+{
+
+ linux_list_splice(list, head->prev, head);
+ INIT_LIST_HEAD(list);
+}
+
+#undef LIST_HEAD
+#define LIST_HEAD(name) struct list_head name = { &(name), &(name) }
+
+struct hlist_head {
+ struct hlist_node *first;
+};
+
+struct hlist_node {
+ struct hlist_node *next, **pprev;
+};
+#define HLIST_HEAD_INIT { }
+#define HLIST_HEAD(name) struct hlist_head name = HLIST_HEAD_INIT
+#define INIT_HLIST_HEAD(head) (head)->first = NULL
+#define INIT_HLIST_NODE(node) \
+ do { \
+ (node)->next = NULL; \
+ (node)->pprev = NULL; \
+ } while (0)
+
+static inline int
+hlist_unhashed(const struct hlist_node *h)
+{
+
+ return !h->pprev;
+}
+
+static inline int
+hlist_empty(const struct hlist_head *h)
+{
+
+ return !READ_ONCE(h->first);
+}
+
+static inline void
+hlist_del(struct hlist_node *n)
+{
+
+ WRITE_ONCE(*(n->pprev), n->next);
+ if (n->next != NULL)
+ n->next->pprev = n->pprev;
+}
+
+static inline void
+hlist_del_init(struct hlist_node *n)
+{
+
+ if (hlist_unhashed(n))
+ return;
+ hlist_del(n);
+ INIT_HLIST_NODE(n);
+}
+
+static inline void
+hlist_add_head(struct hlist_node *n, struct hlist_head *h)
+{
+
+ n->next = h->first;
+ if (h->first != NULL)
+ h->first->pprev = &n->next;
+ WRITE_ONCE(h->first, n);
+ n->pprev = &h->first;
+}
+
+static inline void
+hlist_add_before(struct hlist_node *n, struct hlist_node *next)
+{
+
+ n->pprev = next->pprev;
+ n->next = next;
+ next->pprev = &n->next;
+ WRITE_ONCE(*(n->pprev), n);
+}
+
+static inline void
+hlist_add_behind(struct hlist_node *n, struct hlist_node *prev)
+{
+
+ n->next = prev->next;
+ WRITE_ONCE(prev->next, n);
+ n->pprev = &prev->next;
+
+ if (n->next != NULL)
+ n->next->pprev = &n->next;
+}
+
+static inline void
+hlist_move_list(struct hlist_head *old, struct hlist_head *new)
+{
+
+ new->first = old->first;
+ if (new->first)
+ new->first->pprev = &new->first;
+ old->first = NULL;
+}
+
+static inline int list_is_singular(const struct list_head *head)
+{
+ return !list_empty(head) && (head->next == head->prev);
+}
+
+static inline void __list_cut_position(struct list_head *list,
+ struct list_head *head, struct list_head *entry)
+{
+ struct list_head *new_first = entry->next;
+ list->next = head->next;
+ list->next->prev = list;
+ list->prev = entry;
+ entry->next = list;
+ head->next = new_first;
+ new_first->prev = head;
+}
+
+static inline void list_cut_position(struct list_head *list,
+ struct list_head *head, struct list_head *entry)
+{
+ if (list_empty(head))
+ return;
+ if (list_is_singular(head) &&
+ (head->next != entry && head != entry))
+ return;
+ if (entry == head)
+ INIT_LIST_HEAD(list);
+ else
+ __list_cut_position(list, head, entry);
+}
+
+static inline int list_is_first(const struct list_head *list,
+ const struct list_head *head)
+{
+
+ return (list->prev == head);
+}
+
+static inline int list_is_last(const struct list_head *list,
+ const struct list_head *head)
+{
+ return list->next == head;
+}
+
+static inline void
+list_add_locked(struct list_head *entry, struct list_head *head)
+{
+ bool was_irq_enabled = disable_irq();
+
+ list_add(entry, head);
+ restore_irq(was_irq_enabled);
+}
+
+static inline void
+list_add_tail_locked(struct list_head *entry, struct list_head *head)
+{
+ bool was_irq_enabled = disable_irq();
+
+ list_add_tail(entry, head);
+ restore_irq(was_irq_enabled);
+}
+
+#define hlist_entry(ptr, type, field) container_of(ptr, type, field)
+
+#define hlist_for_each(p, head) \
+ for (p = (head)->first; p; p = (p)->next)
+
+#define hlist_for_each_safe(p, n, head) \
+ for (p = (head)->first; p && ({ n = (p)->next; 1; }); p = n)
+
+#define hlist_entry_safe(ptr, type, member) \
+ ((ptr) ? hlist_entry(ptr, type, member) : NULL)
+
+#define hlist_for_each_entry(pos, head, member) \
+ for (pos = hlist_entry_safe((head)->first, typeof(*(pos)), member); \
+ pos; \
+ pos = hlist_entry_safe((pos)->member.next, typeof(*(pos)), member))
+
+#define hlist_for_each_entry_continue(pos, member) \
+ for (pos = hlist_entry_safe((pos)->member.next, typeof(*(pos)), member); \
+ (pos); \
+ pos = hlist_entry_safe((pos)->member.next, typeof(*(pos)), member))
+
+#define hlist_for_each_entry_from(pos, member) \
+ for (; (pos); \
+ pos = hlist_entry_safe((pos)->member.next, typeof(*(pos)), member))
+
+#define hlist_for_each_entry_safe(pos, n, head, member) \
+ for (pos = hlist_entry_safe((head)->first, typeof(*(pos)), member); \
+ (pos) && ({ n = (pos)->member.next; 1; }); \
+ pos = hlist_entry_safe(n, typeof(*(pos)), member))
+
+extern void list_sort(void *priv, struct list_head *head, int (*cmp)(void *priv,
+ struct list_head *a, struct list_head *b));
+
+#endif /* _LINUXKPI_LINUX_LIST_H_ */
diff --git a/program/user/include/queue.h b/program/user/include/queue.h
deleted file mode 100644
index 58f3f68..0000000
--- a/program/user/include/queue.h
+++ /dev/null
@@ -1,52 +0,0 @@
-/*
-
-The MIT License (MIT)
-
-Copyright (c) 2016 Hubert Denkmair
-
-Permission is hereby granted, free of charge, to any person obtaining a copy
-of this software and associated documentation files (the "Software"), to deal
-in the Software without restriction, including without limitation the rights
-to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-copies of the Software, and to permit persons to whom the Software is
-furnished to do so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in
-all copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
-THE SOFTWARE.
-
-*/
-
-#pragma once
-
-#include
-#include
-
-typedef struct {
- unsigned max_elements;
- unsigned first;
- unsigned size;
- void **buf;
-} queue_t;
-
-queue_t *queue_create(unsigned max_elements);
-void queue_free(queue_t *q);
-
-unsigned queue_size(queue_t *q);
-bool queue_is_empty(queue_t *q);
-bool queue_push_back(queue_t *q, void *el);
-bool queue_push_front(queue_t *q, void *el);
-void *queue_pop_front(queue_t *q);
-
-unsigned queue_size_i(queue_t *q);
-bool queue_is_empty_i(queue_t *q);
-bool queue_push_back_i(queue_t *q, void *el);
-bool queue_push_front_i(queue_t *q, void *el);
-void *queue_pop_front_i(queue_t *q);
diff --git a/program/user/include/timer.h b/program/user/include/timer.h
index 000abeb..cfe1e42 100644
--- a/program/user/include/timer.h
+++ b/program/user/include/timer.h
@@ -28,5 +28,5 @@ THE SOFTWARE.
#include
-void timer_init();
-uint32_t timer_get();
+void timer_init(void);
+uint32_t timer_get(void);
diff --git a/program/user/include/usbd_desc.h b/program/user/include/usbd_desc.h
index 8a0c67f..8c3eaf7 100644
--- a/program/user/include/usbd_desc.h
+++ b/program/user/include/usbd_desc.h
@@ -26,8 +26,9 @@ THE SOFTWARE.
#pragma once
+#include
+#include "usbd_conf.h"
#include "usbd_def.h"
extern const USBD_DescriptorsTypeDef FS_Desc;
extern uint8_t USBD_DescBuf[USBD_DESC_BUF_SIZE];
-
diff --git a/program/user/include/usbd_gs_can.h b/program/user/include/usbd_gs_can.h
index 860c8ca..4bcf938 100644
--- a/program/user/include/usbd_gs_can.h
+++ b/program/user/include/usbd_gs_can.h
@@ -27,40 +27,78 @@ THE SOFTWARE.
#pragma once
#include
-#include
-#include
-#include
-#include
-#include
+#include
+
+#include "can.h"
+#include "config.h"
+#include "gs_usb.h"
+#include "led.h"
+#include "list.h"
+#include "usbd_def.h"
/* Define these here so they can be referenced in other files */
-#define CAN_DATA_MAX_PACKET_SIZE 32 /* Endpoint IN & OUT Packet size */
-#define CAN_CMD_PACKET_SIZE 64 /* Control Endpoint Packet size */
-#define USB_CAN_CONFIG_DESC_SIZ 50
-#define NUM_CAN_CHANNEL 1
-#define USBD_GS_CAN_VENDOR_CODE 0x20
-#define DFU_INTERFACE_NUM 1
-#define DFU_INTERFACE_STR_INDEX 0xE0
+#define CAN_DATA_MAX_PACKET_SIZE 32 /* Endpoint IN & OUT Packet size */
+#define CAN_CMD_PACKET_SIZE 64 /* Control Endpoint Packet size */
+#define USB_CAN_CONFIG_DESC_SIZ 50
+#define NUM_CAN_CHANNEL 1
+#define USBD_GS_CAN_VENDOR_CODE 0x20
+#define DFU_INTERFACE_NUM 1
+#define DFU_INTERFACE_STR_INDEX 0xE0
extern USBD_ClassTypeDef USBD_GS_CAN;
-# define USB_INTERFACE USB
-# define USB_INTERRUPT USB_IRQn
-# define CAN_INTERFACE CAN
-# define CAN_CLOCK_SPEED 48000000
+struct gs_host_frame_object {
+ struct list_head list;
+ struct gs_host_frame frame;
+};
+
+typedef struct {
+ uint8_t ep0_buf[CAN_CMD_PACKET_SIZE];
+
+ __IO uint32_t TxState;
+
+ USBD_SetupReqTypedef last_setup_request;
+
+ struct list_head list_frame_pool;
+ struct list_head list_from_host;
+ struct list_head list_to_host;
+
+ struct gs_host_frame_object *from_host_buf;
+
+ can_data_t channels[NUM_CAN_CHANNEL];
+
+ led_data_t *leds;
+ bool dfu_detach_requested;
+
+ bool timestamps_enabled;
+ uint32_t sof_timestamp_us;
+
+ bool pad_pkts_to_max_pkt_size;
+
+ struct gs_host_frame_object msgbuf[CAN_QUEUE_SIZE];
+} USBD_GS_CAN_HandleTypeDef __attribute__ ((aligned (4)));
+
+#if defined(STM32F0)
+# define USB_INTERFACE USB
+# define USB_INTERRUPT USB_IRQn
+#elif defined(STM32F4)
+# define USB_INTERFACE USB_OTG_FS
+# define USB_INTERRUPT OTG_FS_IRQn
+
+// RX FIFO is defined in words, so divide bytes by 4
+// RX FIFO size chosen according to reference manual RM0368 which suggests
+// using (largest packet size / 4) + 1
+# define USB_RX_FIFO_SIZE ((256U / 4U) + 1U)
+#endif
-uint8_t USBD_GS_CAN_Init(USBD_HandleTypeDef *pdev, queue_t *q_frame_pool, queue_t *q_from_host, led_data_t *leds);
-void USBD_GS_CAN_SetChannel(USBD_HandleTypeDef *pdev, uint8_t channel, can_data_t *handle);
-void USBD_GS_CAN_SuspendCallback(USBD_HandleTypeDef *pdev);
-void USBD_GS_CAN_ResumeCallback(USBD_HandleTypeDef *pdev);
+uint8_t USBD_GS_CAN_Init(USBD_GS_CAN_HandleTypeDef *hcan, USBD_HandleTypeDef *pdev, led_data_t *leds);
+void USBD_GS_CAN_SuspendCallback(USBD_HandleTypeDef *pdev);
+void USBD_GS_CAN_ResumeCallback(USBD_HandleTypeDef *pdev);
bool USBD_GS_CAN_TxReady(USBD_HandleTypeDef *pdev);
-uint8_t USBD_GS_CAN_PrepareReceive(USBD_HandleTypeDef *pdev);
bool USBD_GS_CAN_CustomDeviceRequest(USBD_HandleTypeDef *pdev, USBD_SetupReqTypedef *req);
bool USBD_GS_CAN_CustomInterfaceRequest(USBD_HandleTypeDef *pdev, USBD_SetupReqTypedef *req);
bool USBD_GS_CAN_DfuDetachRequested(USBD_HandleTypeDef *pdev);
uint8_t USBD_GS_CAN_SendFrame(USBD_HandleTypeDef *pdev, struct gs_host_frame *frame);
uint8_t USBD_GS_CAN_Transmit(USBD_HandleTypeDef *pdev, uint8_t *buf, uint16_t len);
-uint8_t USBD_GS_CAN_GetProtocolVersion(USBD_HandleTypeDef *pdev);
-uint8_t USBD_GS_CAN_GetPadPacketsToMaxPacketSize(USBD_HandleTypeDef *pdev);
diff --git a/program/user/include/util.h b/program/user/include/util.h
index 86d9a9a..7d4e117 100644
--- a/program/user/include/util.h
+++ b/program/user/include/util.h
@@ -62,10 +62,17 @@ static inline bool disable_irq(void)
return was_enabled;
}
-static inline void enable_irq()
+static inline void enable_irq(void)
{
__enable_irq();
- __ISB();
+ __ISB();
+}
+
+static inline void restore_irq(bool was_enabled)
+{
+ if (was_enabled) {
+ enable_irq();
+ }
}
/* Lightweight assert macro to replace standard assert()
@@ -81,9 +88,9 @@ static inline void enable_irq()
*
*/
#define assert_basic(exp) \
- if (exp) { \
- } else \
- assert_failed()
+ if (exp) { \
+ } else \
+ assert_failed()
/** halt / set core to debug state with BKPT.
*
diff --git a/program/user/source/can.c b/program/user/source/can.c
new file mode 100644
index 0000000..b55c07c
--- /dev/null
+++ b/program/user/source/can.c
@@ -0,0 +1,362 @@
+/*
+
+ The MIT License (MIT)
+
+ Copyright (c) 2016 Hubert Denkmair
+
+ Permission is hereby granted, free of charge, to any person obtaining a copy
+ of this software and associated documentation files (the "Software"), to deal
+ in the Software without restriction, including without limitation the rights
+ to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
+
+ The above copyright notice and this permission notice shall be included in
+ all copies or substantial portions of the Software.
+
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ THE SOFTWARE.
+
+ */
+
+#include "can.h"
+#include "config.h"
+#include "device.h"
+#include "gpio.h"
+#include "gs_usb.h"
+#include "hal_include.h"
+
+// The STM32F0 only has one CAN interface, define it as CAN1 as
+// well, so it doesn't need to be handled separately.
+#if !defined(CAN1) && defined(CAN)
+#define CAN1 CAN
+#endif
+
+// Completely reset the CAN pheriperal, including bus-state and error counters
+static void rcc_reset(CAN_TypeDef *instance)
+{
+#ifdef CAN1
+ if (instance == CAN1) {
+ __HAL_RCC_CAN1_FORCE_RESET();
+ __HAL_RCC_CAN1_RELEASE_RESET();
+ }
+#endif
+
+#ifdef CAN2
+ if (instance == CAN2) {
+ __HAL_RCC_CAN2_FORCE_RESET();
+ __HAL_RCC_CAN2_RELEASE_RESET();
+ }
+#endif
+}
+
+void can_init(can_data_t *hcan, CAN_TypeDef *instance)
+{
+ device_can_init(hcan, instance);
+}
+
+bool can_set_bittiming(can_data_t *hcan, uint16_t brp, uint8_t phase_seg1, uint8_t phase_seg2, uint8_t sjw)
+{
+ if ( (brp>0) && (brp<=1024)
+ && (phase_seg1>0) && (phase_seg1<=16)
+ && (phase_seg2>0) && (phase_seg2<=8)
+ && (sjw>0) && (sjw<=4)
+ ) {
+ hcan->brp = brp & 0x3FF;
+ hcan->phase_seg1 = phase_seg1;
+ hcan->phase_seg2 = phase_seg2;
+ hcan->sjw = sjw;
+ return true;
+ } else {
+ return false;
+ }
+}
+
+void can_enable(can_data_t *hcan, bool loop_back, bool listen_only, bool one_shot)
+{
+ CAN_TypeDef *can = hcan->instance;
+
+ uint32_t mcr = CAN_MCR_INRQ
+ | CAN_MCR_ABOM
+ | CAN_MCR_TXFP
+ | (one_shot ? CAN_MCR_NART : 0);
+
+ uint32_t btr = ((uint32_t)(hcan->sjw-1)) << 24
+ | ((uint32_t)(hcan->phase_seg1-1)) << 16
+ | ((uint32_t)(hcan->phase_seg2-1)) << 20
+ | (hcan->brp - 1)
+ | (loop_back ? CAN_MODE_LOOPBACK : 0)
+ | (listen_only ? CAN_MODE_SILENT : 0);
+
+
+ // Reset CAN peripheral
+ can->MCR |= CAN_MCR_RESET;
+ while ((can->MCR & CAN_MCR_RESET) != 0); // reset bit is set to zero after reset
+ while ((can->MSR & CAN_MSR_SLAK) == 0); // should be in sleep mode after reset
+
+ // Completely reset while being of the bus
+ rcc_reset(can);
+
+ can->MCR |= CAN_MCR_INRQ;
+ while ((can->MSR & CAN_MSR_INAK) == 0);
+
+ can->MCR = mcr;
+ can->BTR = btr;
+
+ can->MCR &= ~CAN_MCR_INRQ;
+ while ((can->MSR & CAN_MSR_INAK) != 0);
+
+ uint32_t filter_bit = 0x00000001;
+ can->FMR |= CAN_FMR_FINIT;
+ can->FMR &= ~CAN_FMR_CAN2SB;
+ can->FA1R &= ~filter_bit; // disable filter
+ can->FS1R |= filter_bit; // set to single 32-bit filter mode
+ can->FM1R &= ~filter_bit; // set filter mask mode for filter 0
+ can->sFilterRegister[0].FR1 = 0; // filter ID = 0
+ can->sFilterRegister[0].FR2 = 0; // filter Mask = 0
+ can->FFA1R &= ~filter_bit; // assign filter 0 to FIFO 0
+ can->FA1R |= filter_bit; // enable filter
+ can->FMR &= ~CAN_FMR_FINIT;
+
+#ifdef nCANSTBY_Pin
+ HAL_GPIO_WritePin(nCANSTBY_Port, nCANSTBY_Pin, !GPIO_INIT_STATE(nCANSTBY_Active_High));
+#endif
+}
+
+void can_disable(can_data_t *hcan)
+{
+ CAN_TypeDef *can = hcan->instance;
+#ifdef nCANSTBY_Pin
+ HAL_GPIO_WritePin(nCANSTBY_Port, nCANSTBY_Pin, GPIO_INIT_STATE(nCANSTBY_Active_High));
+#endif
+ can->MCR |= CAN_MCR_INRQ; // send can controller into initialization mode
+}
+
+bool can_is_enabled(can_data_t *hcan)
+{
+ CAN_TypeDef *can = hcan->instance;
+ return (can->MCR & CAN_MCR_INRQ) == 0;
+}
+
+bool can_is_rx_pending(can_data_t *hcan)
+{
+ CAN_TypeDef *can = hcan->instance;
+ return ((can->RF0R & CAN_RF0R_FMP0) != 0);
+}
+
+bool can_receive(can_data_t *hcan, struct gs_host_frame *rx_frame)
+{
+ CAN_TypeDef *can = hcan->instance;
+
+ if (can_is_rx_pending(hcan)) {
+ CAN_FIFOMailBox_TypeDef *fifo = &can->sFIFOMailBox[0];
+
+ if (fifo->RIR & CAN_RI0R_IDE) {
+ rx_frame->can_id = CAN_EFF_FLAG | ((fifo->RIR >> 3) & 0x1FFFFFFF);
+ } else {
+ rx_frame->can_id = (fifo->RIR >> 21) & 0x7FF;
+ }
+
+ if (fifo->RIR & CAN_RI0R_RTR) {
+ rx_frame->can_id |= CAN_RTR_FLAG;
+ }
+
+ rx_frame->can_dlc = fifo->RDTR & CAN_RDT0R_DLC;
+
+ rx_frame->data[0] = (fifo->RDLR >> 0) & 0xFF;
+ rx_frame->data[1] = (fifo->RDLR >> 8) & 0xFF;
+ rx_frame->data[2] = (fifo->RDLR >> 16) & 0xFF;
+ rx_frame->data[3] = (fifo->RDLR >> 24) & 0xFF;
+ rx_frame->data[4] = (fifo->RDHR >> 0) & 0xFF;
+ rx_frame->data[5] = (fifo->RDHR >> 8) & 0xFF;
+ rx_frame->data[6] = (fifo->RDHR >> 16) & 0xFF;
+ rx_frame->data[7] = (fifo->RDHR >> 24) & 0xFF;
+
+ can->RF0R |= CAN_RF0R_RFOM0; // release FIFO
+
+ return true;
+ } else {
+ return false;
+ }
+}
+
+static CAN_TxMailBox_TypeDef *can_find_free_mailbox(can_data_t *hcan)
+{
+ CAN_TypeDef *can = hcan->instance;
+
+ uint32_t tsr = can->TSR;
+ if ( tsr & CAN_TSR_TME0 ) {
+ return &can->sTxMailBox[0];
+ } else if ( tsr & CAN_TSR_TME1 ) {
+ return &can->sTxMailBox[1];
+ } else if ( tsr & CAN_TSR_TME2 ) {
+ return &can->sTxMailBox[2];
+ } else {
+ return 0;
+ }
+}
+
+bool can_send(can_data_t *hcan, struct gs_host_frame *frame)
+{
+ CAN_TxMailBox_TypeDef *mb = can_find_free_mailbox(hcan);
+ if (mb != 0) {
+
+ /* first, clear transmission request */
+ mb->TIR &= CAN_TI0R_TXRQ;
+
+ if (frame->can_id & CAN_EFF_FLAG) { // extended id
+ mb->TIR = CAN_ID_EXT | (frame->can_id & 0x1FFFFFFF) << 3;
+ } else {
+ mb->TIR = (frame->can_id & 0x7FF) << 21;
+ }
+
+ if (frame->can_id & CAN_RTR_FLAG) {
+ mb->TIR |= CAN_RTR_REMOTE;
+ }
+
+ mb->TDTR &= 0xFFFFFFF0;
+ mb->TDTR |= frame->can_dlc & 0x0F;
+
+ mb->TDLR =
+ ( frame->data[3] << 24 )
+ | ( frame->data[2] << 16 )
+ | ( frame->data[1] << 8 )
+ | ( frame->data[0] << 0 );
+
+ mb->TDHR =
+ ( frame->data[7] << 24 )
+ | ( frame->data[6] << 16 )
+ | ( frame->data[5] << 8 )
+ | ( frame->data[4] << 0 );
+
+ /* request transmission */
+ mb->TIR |= CAN_TI0R_TXRQ;
+
+ return true;
+ } else {
+ return false;
+ }
+}
+
+uint32_t can_get_error_status(can_data_t *hcan)
+{
+ CAN_TypeDef *can = hcan->instance;
+
+ uint32_t err = can->ESR;
+
+ /* Write 7 to LEC so we know if it gets set to the same thing again */
+ can->ESR = 7<<4;
+
+ return err;
+}
+
+static bool status_is_active(uint32_t err)
+{
+ return !(err & (CAN_ESR_BOFF | CAN_ESR_EPVF));
+}
+
+bool can_parse_error_status(uint32_t err, uint32_t last_err, can_data_t *hcan, struct gs_host_frame *frame)
+{
+ /* We build up the detailed error information at the same time as we decide
+ * whether there's anything worth sending. This variable tracks that final
+ * result. */
+ bool should_send = false;
+ (void) hcan;
+
+ frame->echo_id = 0xFFFFFFFF;
+ frame->can_id = CAN_ERR_FLAG;
+ frame->can_dlc = CAN_ERR_DLC;
+ frame->data[0] = CAN_ERR_LOSTARB_UNSPEC;
+ frame->data[1] = CAN_ERR_CRTL_UNSPEC;
+ frame->data[2] = CAN_ERR_PROT_UNSPEC;
+ frame->data[3] = CAN_ERR_PROT_LOC_UNSPEC;
+ frame->data[4] = CAN_ERR_TRX_UNSPEC;
+ frame->data[5] = 0;
+ frame->data[6] = 0;
+ frame->data[7] = 0;
+
+ if (err & CAN_ESR_BOFF) {
+ if (!(last_err & CAN_ESR_BOFF)) {
+ /* We transitioned to bus-off. */
+ frame->can_id |= CAN_ERR_BUSOFF;
+ should_send = true;
+ }
+ // - tec (overflowed) / rec (looping, likely used for recessive counting)
+ // are not valid in the bus-off state.
+ // - The warning flags remains set, error passive will cleared.
+ // - LEC errors will be reported, while the device isn't even allowed to send.
+ //
+ // Hence only report bus-off, ignore everything else.
+ return should_send;
+ }
+
+ /* We transitioned from passive/bus-off to active, so report the edge. */
+ if (!status_is_active(last_err) && status_is_active(err)) {
+ frame->can_id |= CAN_ERR_CRTL;
+ frame->data[1] |= CAN_ERR_CRTL_ACTIVE;
+ should_send = true;
+ }
+
+ uint8_t tx_error_cnt = (err>>16) & 0xFF;
+ uint8_t rx_error_cnt = (err>>24) & 0xFF;
+ /* The Linux sja1000 driver puts these counters here. Seems like as good a
+ * place as any. */
+ frame->data[6] = tx_error_cnt;
+ frame->data[7] = rx_error_cnt;
+
+ if (err & CAN_ESR_EPVF) {
+ if (!(last_err & CAN_ESR_EPVF)) {
+ frame->can_id |= CAN_ERR_CRTL;
+ frame->data[1] |= CAN_ERR_CRTL_RX_PASSIVE | CAN_ERR_CRTL_TX_PASSIVE;
+ should_send = true;
+ }
+ } else if (err & CAN_ESR_EWGF) {
+ if (!(last_err & CAN_ESR_EWGF)) {
+ frame->can_id |= CAN_ERR_CRTL;
+ frame->data[1] |= CAN_ERR_CRTL_RX_WARNING | CAN_ERR_CRTL_TX_WARNING;
+ should_send = true;
+ }
+ }
+
+ uint8_t lec = (err>>4) & 0x07;
+ switch (lec) {
+ case 0x01: /* stuff error */
+ frame->can_id |= CAN_ERR_PROT;
+ frame->data[2] |= CAN_ERR_PROT_STUFF;
+ should_send = true;
+ break;
+ case 0x02: /* form error */
+ frame->can_id |= CAN_ERR_PROT;
+ frame->data[2] |= CAN_ERR_PROT_FORM;
+ should_send = true;
+ break;
+ case 0x03: /* ack error */
+ frame->can_id |= CAN_ERR_ACK;
+ should_send = true;
+ break;
+ case 0x04: /* bit recessive error */
+ frame->can_id |= CAN_ERR_PROT;
+ frame->data[2] |= CAN_ERR_PROT_BIT1;
+ should_send = true;
+ break;
+ case 0x05: /* bit dominant error */
+ frame->can_id |= CAN_ERR_PROT;
+ frame->data[2] |= CAN_ERR_PROT_BIT0;
+ should_send = true;
+ break;
+ case 0x06: /* CRC error */
+ frame->can_id |= CAN_ERR_PROT;
+ frame->data[3] |= CAN_ERR_PROT_LOC_CRC_SEQ;
+ should_send = true;
+ break;
+ default: /* 0=no error, 7=no change */
+ break;
+ }
+
+ return should_send;
+}
diff --git a/program/user/source/device_f0.c b/program/user/source/device_f0.c
new file mode 100644
index 0000000..534280b
--- /dev/null
+++ b/program/user/source/device_f0.c
@@ -0,0 +1,93 @@
+/*
+
+The MIT License (MIT)
+
+Copyright (c) 2016 Hubert Denkmair
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
+
+*/
+/*
+ * F0 device-specific code
+ */
+
+#include "can.h"
+#include "device.h"
+#include "hal_include.h"
+
+void device_can_init(can_data_t *hcan, CAN_TypeDef *instance) {
+ __HAL_RCC_CAN1_CLK_ENABLE();
+
+ GPIO_InitTypeDef itd;
+
+ itd.Pin = GPIO_PIN_8|GPIO_PIN_9;
+ itd.Mode = GPIO_MODE_AF_PP;
+ itd.Pull = GPIO_NOPULL;
+ itd.Speed = GPIO_SPEED_FREQ_HIGH;
+ itd.Alternate = GPIO_AF4_CAN;
+ HAL_GPIO_Init(GPIOB, &itd);
+
+ hcan->instance = instance;
+ hcan->brp = 6;
+ hcan->sjw = 1;
+ hcan->phase_seg1 = 13;
+ hcan->phase_seg2 = 2;
+ return;
+}
+
+void device_sysclock_config(void) {
+ RCC_OscInitTypeDef RCC_OscInitStruct;
+ RCC_ClkInitTypeDef RCC_ClkInitStruct;
+
+ RCC_PeriphCLKInitTypeDef PeriphClkInit;
+ RCC_CRSInitTypeDef RCC_CRSInitStruct;
+
+ RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI48;
+ RCC_OscInitStruct.HSI48State = RCC_HSI48_ON;
+ RCC_OscInitStruct.PLL.PLLState = RCC_PLL_NONE;
+ HAL_RCC_OscConfig(&RCC_OscInitStruct);
+
+ RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK |
+ RCC_CLOCKTYPE_SYSCLK |
+ RCC_CLOCKTYPE_PCLK1;
+ RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_HSI48;
+ RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
+ RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
+ HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_1);
+
+ PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_USB;
+ PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_HSI48;
+ HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit);
+
+ __HAL_RCC_CRS_CLK_ENABLE();
+ RCC_CRSInitStruct.Prescaler = RCC_CRS_SYNC_DIV1;
+ RCC_CRSInitStruct.Source = RCC_CRS_SYNC_SOURCE_USB;
+ RCC_CRSInitStruct.Polarity = RCC_CRS_SYNC_POLARITY_RISING;
+ RCC_CRSInitStruct.ReloadValue = __HAL_RCC_CRS_RELOADVALUE_CALCULATE(48000000,1000);
+ RCC_CRSInitStruct.ErrorLimitValue = 34;
+ RCC_CRSInitStruct.HSI48CalibrationValue = 32;
+ HAL_RCCEx_CRSConfig(&RCC_CRSInitStruct);
+
+ HAL_SYSTICK_Config(HAL_RCC_GetHCLKFreq()/1000);
+
+ HAL_SYSTICK_CLKSourceConfig(SYSTICK_CLKSOURCE_HCLK);
+
+ /* SysTick_IRQn interrupt configuration */
+ HAL_NVIC_SetPriority(SysTick_IRQn, 0, 0);
+}
diff --git a/program/user/source/dfu.c b/program/user/source/dfu.c
new file mode 100644
index 0000000..7fae19a
--- /dev/null
+++ b/program/user/source/dfu.c
@@ -0,0 +1,91 @@
+/*
+
+The MIT License (MIT)
+
+Copyright (c) 2016 Hubert Denkmair
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
+
+*/
+
+#include "dfu.h"
+#include
+#include "hal_include.h"
+
+#define RESET_TO_BOOTLOADER_MAGIC_CODE 0xDEADBEEF
+
+#define SYSMEM_STM32F042 0x1FFFC400
+#define SYSMEM_STM32F072 0x1FFFC800
+
+static uint32_t dfu_reset_to_bootloader_magic;
+
+static void dfu_hack_boot_pin_f042(void);
+static void dfu_jump_to_bootloader(uint32_t sysmem_base);
+
+void dfu_run_bootloader(void)
+{
+ dfu_reset_to_bootloader_magic = RESET_TO_BOOTLOADER_MAGIC_CODE;
+ NVIC_SystemReset();
+}
+
+void __initialize_hardware_early(void)
+{
+ if (dfu_reset_to_bootloader_magic == RESET_TO_BOOTLOADER_MAGIC_CODE)
+ {
+ switch (HAL_GetDEVID())
+ {
+
+ case 0x445: // STM32F04x
+ dfu_hack_boot_pin_f042();
+ dfu_jump_to_bootloader(SYSMEM_STM32F042);
+ break;
+
+ case 0x448: // STM32F07x
+ dfu_jump_to_bootloader(SYSMEM_STM32F072);
+ break;
+
+ }
+ }
+
+ SystemInit();
+}
+
+static void dfu_hack_boot_pin_f042(void)
+{
+ __HAL_RCC_GPIOF_CLK_ENABLE();
+ GPIO_InitTypeDef GPIO_InitStruct;
+ GPIO_InitStruct.Pin = GPIO_PIN_11;
+ GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+ GPIO_InitStruct.Pull = GPIO_PULLUP;
+ GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+ HAL_GPIO_Init(GPIOF, &GPIO_InitStruct);
+ HAL_GPIO_WritePin(GPIOF, GPIO_PIN_11, 1);
+}
+
+static void dfu_jump_to_bootloader(uint32_t sysmem_base)
+{
+ void (*bootloader)(void) = (void (*)(void))(*((uint32_t *) (sysmem_base + 4)));
+
+ __set_MSP(*(__IO uint32_t*) sysmem_base);
+ bootloader();
+
+ while (42)
+ {
+ }
+}
diff --git a/program/user/source/gpio.c b/program/user/source/gpio.c
new file mode 100644
index 0000000..2474b71
--- /dev/null
+++ b/program/user/source/gpio.c
@@ -0,0 +1,163 @@
+/*
+
+The MIT License (MIT)
+
+Copyright (c) 2016 Hubert Denkmair
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
+
+*/
+
+#include "gpio.h"
+#include "hal_include.h"
+
+#ifdef TERM_Pin
+static int term_state = 0;
+
+enum gs_can_termination_state get_term(unsigned int channel)
+{
+ if (term_state & (1 << channel)) {
+ return GS_CAN_TERMINATION_STATE_ON;
+ } else {
+ return GS_CAN_TERMINATION_STATE_OFF;
+ }
+}
+
+enum gs_can_termination_state set_term(unsigned int channel, enum gs_can_termination_state state)
+{
+ if (state == GS_CAN_TERMINATION_STATE_ON) {
+ term_state |= 1 << channel;
+ } else {
+ term_state &= ~(1 << channel);
+ }
+
+#if (TERM_Active_High == 1)
+ #define TERM_ON GPIO_PIN_SET
+ #define TERM_OFF GPIO_PIN_RESET
+#else
+ #define TERM_ON GPIO_PIN_RESET
+ #define TERM_OFF GPIO_PIN_SET
+#endif
+
+ HAL_GPIO_WritePin(TERM_GPIO_Port, TERM_Pin, (state ? TERM_ON : TERM_OFF));
+
+ return state;
+}
+
+static inline void gpio_init_term(void)
+{
+ HAL_GPIO_WritePin(TERM_GPIO_Port, TERM_Pin, GPIO_INIT_STATE(TERM_Active_High));
+
+ GPIO_InitTypeDef GPIO_InitStruct = {
+ .Pin = TERM_Pin,
+ .Mode = TERM_Mode,
+ .Pull = GPIO_NOPULL,
+ .Speed = GPIO_SPEED_FREQ_LOW,
+ .Alternate = 0
+ };
+ HAL_GPIO_Init(TERM_GPIO_Port, &GPIO_InitStruct);
+}
+
+#else
+
+static inline void gpio_init_term(void)
+{
+}
+
+#endif
+
+// must run before can_init
+void gpio_init(void)
+{
+ GPIO_InitTypeDef GPIO_InitStruct;
+
+ __HAL_RCC_GPIOA_CLK_ENABLE();
+ __HAL_RCC_GPIOB_CLK_ENABLE();
+ __HAL_RCC_GPIOC_CLK_ENABLE();
+#if defined(STM32F4)
+ __HAL_RCC_GPIOD_CLK_ENABLE();
+#endif
+
+#ifdef CAN_S_Pin
+ HAL_GPIO_WritePin(CAN_S_GPIO_Port, CAN_S_Pin, GPIO_PIN_SET);
+ GPIO_InitStruct.Pin = CAN_S_Pin;
+ GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+ GPIO_InitStruct.Pull = GPIO_NOPULL;
+ GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+ HAL_GPIO_Init(CAN_S_GPIO_Port, &GPIO_InitStruct);
+#endif
+
+#ifdef LEDRX_Pin
+ HAL_GPIO_WritePin(LEDRX_GPIO_Port, LEDRX_Pin, GPIO_INIT_STATE(LEDRX_Active_High));
+ GPIO_InitStruct.Pin = LEDRX_Pin;
+ GPIO_InitStruct.Mode = LEDRX_Mode;
+ GPIO_InitStruct.Pull = GPIO_NOPULL;
+ GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+ HAL_GPIO_Init(LEDRX_GPIO_Port, &GPIO_InitStruct);
+#endif
+
+#ifdef LEDTX_Pin
+ HAL_GPIO_WritePin(LEDTX_GPIO_Port, LEDTX_Pin, GPIO_INIT_STATE(LEDTX_Active_High));
+ GPIO_InitStruct.Pin = LEDTX_Pin;
+ GPIO_InitStruct.Mode = LEDTX_Mode;
+ GPIO_InitStruct.Pull = GPIO_NOPULL;
+ GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+ HAL_GPIO_Init(LEDTX_GPIO_Port, &GPIO_InitStruct);
+#endif
+
+#ifdef nCANSTBY_Pin
+ HAL_GPIO_WritePin(nCANSTBY_Port, nCANSTBY_Pin, GPIO_INIT_STATE(nCANSTBY_Active_High));
+ GPIO_InitStruct.Pin = nCANSTBY_Pin;
+ GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+ GPIO_InitStruct.Pull = GPIO_NOPULL;
+ GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+ HAL_GPIO_Init(nCANSTBY_Port, &GPIO_InitStruct); //xceiver standby.
+#endif
+
+#ifdef DCDCEN_Pin
+ HAL_GPIO_WritePin(DCDCEN_Port, DCDCEN_Pin, GPIO_PIN_SET);
+ GPIO_InitStruct.Pin = DCDCEN_Pin;
+ GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+ GPIO_InitStruct.Pull = GPIO_NOPULL;
+ GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+ HAL_GPIO_Init(DCDCEN_Port, &GPIO_InitStruct); //start DCDC (TODO : wait until enumerated)
+#endif
+
+#ifdef nSI86EN_Pin
+ HAL_GPIO_WritePin(nSI86EN_Port, nSI86EN_Pin, GPIO_PIN_RESET);
+ GPIO_InitStruct.Pin = nSI86EN_Pin;
+ GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+ GPIO_InitStruct.Pull = GPIO_NOPULL;
+ GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+ HAL_GPIO_Init(nSI86EN_Port, &GPIO_InitStruct); //enable si86
+#endif
+
+
+#if defined(BOARD_STM32F4_DevBoard)
+ // initialize USB pins
+ GPIO_InitStruct.Pin = USB_Pin_DM | USB_Pin_DP;
+ GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+ GPIO_InitStruct.Pull = GPIO_NOPULL;
+ GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
+ GPIO_InitStruct.Alternate = GPIO_AF10_OTG_FS;
+ HAL_GPIO_Init(USB_GPIO_Port, &GPIO_InitStruct);
+#endif
+
+ gpio_init_term();
+}
diff --git a/program/user/source/interrupts.c b/program/user/source/interrupts.c
new file mode 100644
index 0000000..4300824
--- /dev/null
+++ b/program/user/source/interrupts.c
@@ -0,0 +1,262 @@
+/*
+
+The MIT License (MIT)
+
+Copyright (c) 2019 Hubert Denkmair
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
+
+*/
+
+#include
+#include "hal_include.h"
+
+void NMI_Handler(void)
+{
+ __asm__ ("BKPT");
+ while (1);
+}
+
+void HardFault_Handler(void)
+{
+ __asm__ ("BKPT");
+ while (1);
+}
+
+void SysTick_Handler(void)
+{
+ HAL_IncTick();
+ HAL_SYSTICK_IRQHandler();
+}
+
+extern PCD_HandleTypeDef hpcd_USB_FS;
+void USB_Handler(void)
+{
+ HAL_PCD_IRQHandler(&hpcd_USB_FS);
+}
+
+void Default_Handler(void)
+{
+ __asm__ ("BKPT");
+ while (1);
+}
+
+extern void Reset_Handler(void);
+
+typedef void (*pFunc)(void);
+extern uint32_t __StackTop;
+
+#if defined(STM32F0)
+__attribute__((used, section(".vectors")))
+const pFunc InterruptVectorTable[48] = {
+ (pFunc)(&__StackTop), // initial stack pointer
+ Reset_Handler, // reset handler
+ NMI_Handler, // -14: NMI
+ HardFault_Handler, // -13: HardFault
+ 0, // -12: MemManage_Handler
+ 0, // -11: BusFault_Handler
+ 0, // -10: UsageFault_Handler
+ 0, //
+ 0, //
+ 0, //
+ 0, //
+ 0, // -5: SVC_Handler
+ 0, // -4: DebugMon_Handler
+ 0, //
+ 0, // -2: PendSV
+ SysTick_Handler, // -1: SysTick
+// External Interrupts
+ 0, // int 0: WWDG
+ 0, // int 1: PVD
+ 0, // int 2: RTC
+ 0, // int 3: FLASH
+ 0, // int 4: RCC_CRS
+ 0, // int 5: EXTI0_1
+ 0, // int 6: EXTI2_3
+ 0, // int 7: EXTI4_15
+ 0, // int 8: TSC
+ 0, // int 9: DMA_CH1
+ 0, // int 10: DMA_CH2_3
+ 0, // int 11: DMA_CH4_5_6_7
+ 0, // int 12: ADC_COMP
+ 0, // int 13: TIM1_BRK_UP_TRG_COM
+ 0, // int 14: TIM1_CC
+ 0, // int 15: TIM2
+ 0, // int 16: TIM3
+ 0, // int 17: TIM6_DAC
+ 0, // int 18: TIM7
+ 0, // int 19: TIM14
+ 0, // int 20: TIM15
+ 0, // int 21: TIM16
+ 0, // int 22: TIM17
+ 0, // int 23: I2C1
+ 0, // int 24: I2C2
+ 0, // int 25: SPI1
+ 0, // int 26: SPI2
+ 0, // int 27: USART1
+ 0, // int 28: USART2
+ 0, // int 29: USART3_4
+ 0, // int 30: CEC_CAN
+ USB_Handler, // int 31: USB
+};
+
+#elif defined(STM32F4)
+__attribute__((used, section(".vectors")))
+const pFunc InterruptVectorTable[84] = {
+ (pFunc)(&__StackTop), // initial stack pointer
+ Reset_Handler, // reset handler
+ NMI_Handler, // -14: NMI
+ HardFault_Handler, // -13: HardFault
+ 0, // -12: MemManage_Handler
+ 0, // -11: BusFault_Handler
+ 0, // -10: UsageFault_Handler
+ 0, //
+ 0, //
+ 0, //
+ 0, //
+ 0, // -5: SVC_Handler
+ 0, // -4: DebugMon_Handler
+ 0, //
+ 0, // -2: PendSV
+ SysTick_Handler, // -1: SysTick
+// External Interrupts
+ 0, // int 0: WWDG
+ 0, // int 1: PVD
+ 0, // int 2: tamper and timestamp, EXTI line
+ 0, // int 3: RTC
+ 0, // int 4: FLASH
+ 0, // int 5: RCC
+ 0, // int 6: EXTI Line 0
+ 0, // int 7: EXTI Line 1
+ 0, // int 8: EXTI Line 2
+ 0, // int 9: EXTI Line 3
+ 0, // int 10: EXTI Line 4
+ 0, // int 11: DMA Stream 0
+ 0, // int 12: DMA Stream 1
+ 0, // int 13: DMA Stream 2
+ 0, // int 14: DMA Stream 3
+ 0, // int 15: DMA Stream 4
+ 0, // int 16: DMA Stream 5
+ 0, // int 17: DMA Stream 6
+ 0, // int 18: ADCs
+ 0, // int 19: CAN1 TX
+ 0, // int 20: CAN1 RX0
+ 0, // int 21: CAN1 RX1
+ 0, // int 22: CAN1 SCE
+ 0, // int 23: External Line [9:5]s
+ 0, // int 24: TIM1 Break and TIM9
+ 0, // int 25: TIM1 Update and TIM10
+ 0, // int 26: TIM1 Trigger and Commutation and TIM11
+ 0, // int 27: TIM1 Capture Compare
+ 0, // int 28: TIM2
+ 0, // int 29: TIM3
+ 0, // int 30: TIM4
+ 0, // int 31: I2C1 Event
+ 0, // int 32: I2C1 Error
+ 0, // int 33: I2C2 Event
+ 0, // int 34: I2C2 Error
+ 0, // int 35: SPI1
+ 0, // int 36: SPI2
+ 0, // int 36: USART1
+ 0, // int 37: USART2
+ 0, // int 38: USART3
+ 0, // int 39: External Line [15:10]s
+ 0, // int 40: RTC Alarm (A and B), EXTI Line
+ 0, // int 41: USB OTG FS Wakeup, EXTI Line
+ 0, // int 42: TIM8 Break and TIM12
+ 0, // int 43: TIM8 Update and TIM13
+ 0, // int 44: TIM8 Trigger and Commutation and TIM14
+ 0, // int 45: TIM8 Capture Compare
+ 0, // int 46: DMA1 Stream7
+ 0, // int 47: FSMC
+ 0, // int 48: SDIO
+ 0, // int 49: TIM5
+ 0, // int 50: SPI3
+ 0, // int 51: UART4
+ 0, // int 52: UART5
+ 0, // int 53: TIM6 and DAC1&2 underrun errors
+ 0, // int 54: TIM7
+ 0, // int 55: DMA2 Stream 0
+ 0, // int 56: DMA2 Stream 1
+ 0, // int 57: DMA2 Stream 2
+ 0, // int 58: DMA2 Stream 3
+ 0, // int 59: DMA2 Stream 4
+ 0, // int 60: Ethernet
+ 0, // int 61: Ethernet Wakeup, EXTI Line
+ 0, // int 62: CAN2 TX
+ 0, // int 63: CAN2 RX0
+ 0, // int 64: CAN2 RX1
+ 0, // int 65: CAN2 SCE
+ USB_Handler, // int 66: USB OTG FS
+ // don't need to define any interrupts after this one
+};
+#elif defined(STM32G0)
+__attribute__((used, section(".vectors")))
+const pFunc InterruptVectorTable[48] = {
+ (pFunc)(&__StackTop), // initial stack pointer
+ Reset_Handler, // reset handler
+ NMI_Handler, // -14: NMI
+ HardFault_Handler, // -13: HardFault
+ 0, // -12: MemManage_Handler
+ 0, // -11: BusFault_Handler
+ 0, // -10: UsageFault_Handler
+ 0, //
+ 0, //
+ 0, //
+ 0, //
+ 0, // -5: SVC_Handler
+ 0, // -4: DebugMon_Handler
+ 0, //
+ 0, // -2: PendSV
+ SysTick_Handler, // -1: SysTick
+// External Interrupts
+ 0, /* Window WatchDog */
+ 0, /* PVD through EXTI Line detect */
+ 0, /* RTC through the EXTI line */
+ 0, /* FLASH */
+ 0, /* RCC & CRS */
+ 0, /* EXTI Line 0 and 1 */
+ 0, /* EXTI Line 2 and 3 */
+ 0, /* EXTI Line 4 to 15 */
+ USB_Handler, /* USB, UCPD1, UCPD2 */
+ 0, /* DMA1 Channel 1 */
+ 0, /* DMA1 Channel 2 and Channel 3 */
+ 0, /* DMA1 Ch4 to Ch7, DMA2 Ch1 to Ch5, DMAMUX1 overrun */
+ 0, /* ADC1, COMP1 and COMP2 */
+ 0, /* TIM1 Break, Update, Trigger and Commutation */
+ 0, /* TIM1 Capture Compare */
+ 0, /* TIM2 */
+ 0, /* TIM3, TIM4 */
+ 0, /* TIM6, DAC and LPTIM1 */
+ 0, /* TIM7 and LPTIM2 */
+ 0, /* TIM14 */
+ 0, /* TIM15 */
+ 0, /* TIM16 & FDCAN1_IT0 & FDCAN2_IT0 */
+ 0, /* TIM17 & FDCAN1_IT1 & FDCAN2_IT1 */
+ 0, /* I2C1 */
+ 0, /* I2C2, I2C3 */
+ 0, /* SPI1 */
+ 0, /* SPI2, SPI3 */
+ 0, /* USART1 */
+ 0, /* USART2 & LPUART2 */
+ 0, /* USART3, USART4, USART5, USART6, LPUART1 */
+ 0, /* CEC */
+ // don't need to define any interrupts after this one
+};
+#endif
diff --git a/program/user/source/iwdg.c b/program/user/source/iwdg.c
new file mode 100644
index 0000000..3bb26a4
--- /dev/null
+++ b/program/user/source/iwdg.c
@@ -0,0 +1,29 @@
+/**
+ ******************************************************************************
+ * @file iwdg.c
+ * @brief This file provides code for the configuration
+ * of the IWDG instances.
+ ******************************************************************************
+ * @attention
+ *
+ * Copyright (c) 2023 STMicroelectronics.
+ * All rights reserved.
+ *
+ * This software is licensed under terms that can be found in the LICENSE file
+ * in the root directory of this software component.
+ * If no LICENSE file comes with this software, it is provided AS-IS.
+ *
+ ******************************************************************************
+ */
+
+#include "iwdg.h"
+
+IWDG_HandleTypeDef hiwdg;
+
+void iwdg_init(void) {
+ hiwdg.Instance = IWDG;
+ hiwdg.Init.Prescaler = IWDG_PRESCALER_256;
+ hiwdg.Init.Window = 4096;
+ hiwdg.Init.Reload = 1560;
+ HAL_IWDG_Init(&hiwdg);
+}
diff --git a/program/user/src/led.c b/program/user/source/led.c
similarity index 64%
rename from program/user/src/led.c
rename to program/user/source/led.c
index 9ba24f0..ff02b13 100644
--- a/program/user/src/led.c
+++ b/program/user/source/led.c
@@ -24,24 +24,26 @@ THE SOFTWARE.
*/
-#include "led.h"
#include
+
+#include "led.h"
#include "hal_include.h"
+#include "util.h"
#define SEQ_ISPASSED(now, target) ((int32_t) ((now) - (target)) >= 0)
void led_init(
led_data_t *leds,
- void* led1_port, uint16_t led1_pin, bool led1_active_high,
- void* led2_port, uint16_t led2_pin, bool led2_active_high
-) {
+ void* led_rx_port, uint16_t led_rx_pin, bool led_rx_active_high,
+ void* led_tx_port, uint16_t led_tx_pin, bool led_tx_active_high
+ ) {
memset(leds, 0, sizeof(led_data_t));
- leds->led_state[0].port = led1_port;
- leds->led_state[0].pin = led1_pin;
- leds->led_state[0].is_active_high = led1_active_high;
- leds->led_state[1].port = led2_port;
- leds->led_state[1].pin = led2_pin;
- leds->led_state[1].is_active_high = led2_active_high;
+ leds->led_state[led_rx].port = led_rx_port;
+ leds->led_state[led_rx].pin = led_rx_pin;
+ leds->led_state[led_rx].is_active_high = led_rx_active_high;
+ leds->led_state[led_tx].port = led_tx_port;
+ leds->led_state[led_tx].pin = led_tx_pin;
+ leds->led_state[led_tx].is_active_high = led_tx_active_high;
}
void led_set_mode(led_data_t *leds,led_mode_t mode)
@@ -61,21 +63,20 @@ static void led_set(led_state_t *led, bool state)
static uint32_t led_set_sequence_step(led_data_t *leds, uint32_t step_num)
{
- led_seq_step_t *step = &leds->sequence[step_num];
+ const led_seq_step_t *step = &leds->sequence[step_num];
leds->sequence_step = step_num;
- led_set(&leds->led_state[0], step->state & 0x01);
- led_set(&leds->led_state[1], step->state & 0x02);
+ led_set(&leds->led_state[led_rx], step->state & 0x01);
+ led_set(&leds->led_state[led_tx], step->state & 0x02);
uint32_t delta = 10 * step->time_in_10ms;
if (delta > INT32_MAX) {
- delta = INT32_MAX; //clamp
+ delta = INT32_MAX; //clamp
}
leds->t_sequence_next = HAL_GetTick() + delta;
return delta;
}
-void led_run_sequence(led_data_t *leds, led_seq_step_t *sequence, int32_t num_repeat)
+void led_run_sequence(led_data_t *leds, const led_seq_step_t *sequence, int32_t num_repeat)
{
- leds->last_mode = leds->mode;
leds->mode = led_mode_sequence;
leds->sequence = sequence;
leds->seq_num_repeat = num_repeat;
@@ -83,23 +84,25 @@ void led_run_sequence(led_data_t *leds, led_seq_step_t *sequence, int32_t num_re
led_update(leds);
}
-void led_indicate_trx(led_data_t *leds, led_num_t num)
-{
- uint32_t now = HAL_GetTick();
- led_state_t *led = &leds->led_state[num];
+void led_indicate_trx(led_data_t *leds, led_num_t num) {
+ leds->led_state[num].blink_request = 1;
+}
- if ( SEQ_ISPASSED(now, led->on_until) &&
- SEQ_ISPASSED(now, led->off_until) ) {
- led->off_until = now + 30;
- led->on_until = now + 45;
+static void led_trx_blinker(led_state_t *ledstate, uint32_t now) {
+ if ( SEQ_ISPASSED(now, ledstate->on_until) &&
+ SEQ_ISPASSED(now, ledstate->off_until) ) {
+ ledstate->off_until = now + 30;
+ ledstate->on_until = now + 45;
}
-
- led_update(leds);
}
-static void led_update_normal_mode(led_state_t *led)
+static void led_update_normal_mode(led_state_t *led, uint32_t now)
{
- uint32_t now = HAL_GetTick();
+ if (led->blink_request) {
+ led->blink_request = 0;
+ led_trx_blinker(led, now);
+ }
+
led_set(led, SEQ_ISPASSED(now, led->off_until));
}
@@ -137,16 +140,23 @@ static void led_update_sequence(led_data_t *leds)
void led_update(led_data_t *leds)
{
+ static uint32_t next_update = 0;
+ uint32_t now = HAL_GetTick();
+ if (!SEQ_ISPASSED(now, next_update)) {
+ return;
+ }
+ next_update = now + LED_UPDATE_INTERVAL;
+
switch (leds->mode) {
case led_mode_off:
- led_set(&leds->led_state[0], false);
- led_set(&leds->led_state[1], false);
+ led_set(&leds->led_state[led_rx], false);
+ led_set(&leds->led_state[led_tx], false);
break;
case led_mode_normal:
- led_update_normal_mode(&leds->led_state[0]);
- led_update_normal_mode(&leds->led_state[1]);
+ led_update_normal_mode(&leds->led_state[led_rx], now);
+ led_update_normal_mode(&leds->led_state[led_tx], now);
break;
case led_mode_sequence:
@@ -154,7 +164,6 @@ void led_update(led_data_t *leds)
break;
default:
- led_set(&leds->led_state[0], false);
- led_set(&leds->led_state[1], true);
+ assert_failed();
}
}
diff --git a/program/user/source/main.c b/program/user/source/main.c
new file mode 100644
index 0000000..65e87af
--- /dev/null
+++ b/program/user/source/main.c
@@ -0,0 +1,210 @@
+/*
+
+The MIT License (MIT)
+
+Copyright (c) 2016 Hubert Denkmair
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
+
+*/
+
+#include
+#include
+#include
+
+#include "iwdg.h"
+#include "can.h"
+#include "config.h"
+#include "device.h"
+#include "dfu.h"
+#include "gpio.h"
+#include "gs_usb.h"
+#include "hal_include.h"
+#include "led.h"
+#include "timer.h"
+#include "usbd_conf.h"
+#include "usbd_core.h"
+#include "usbd_def.h"
+#include "usbd_desc.h"
+#include "usbd_gs_can.h"
+#include "util.h"
+
+void HAL_MspInit(void);
+static void SystemClock_Config(void);
+static void send_to_host(void);
+
+static USBD_GS_CAN_HandleTypeDef hGS_CAN;
+static USBD_HandleTypeDef hUSB = {0};
+static led_data_t hLED = {0};
+
+int main(void) {
+ can_data_t *channel = &hGS_CAN.channels[0];
+ uint32_t last_can_error_status = 0;
+
+ HAL_Init();
+ SystemClock_Config();
+
+ gpio_init();
+
+ led_init(&hLED, LEDRX_GPIO_Port, LEDRX_Pin, LEDRX_Active_High, LEDTX_GPIO_Port, LEDTX_Pin, LEDTX_Active_High);
+
+ /* nice wake-up pattern */
+ for (uint8_t i = 0; i < 10; i++) {
+ HAL_GPIO_TogglePin(LEDRX_GPIO_Port, LEDRX_Pin);
+ HAL_Delay(50);
+ HAL_GPIO_TogglePin(LEDTX_GPIO_Port, LEDTX_Pin);
+ }
+
+ led_set_mode(&hLED, led_mode_off);
+ timer_init();
+
+ can_init(channel, CAN_INTERFACE);
+ can_disable(channel);
+
+ INIT_LIST_HEAD(&hGS_CAN.list_frame_pool);
+ INIT_LIST_HEAD(&hGS_CAN.list_from_host);
+ INIT_LIST_HEAD(&hGS_CAN.list_to_host);
+
+ for (unsigned i = 0; i < ARRAY_SIZE(hGS_CAN.msgbuf); i++)
+ list_add_tail(&hGS_CAN.msgbuf[i].list, &hGS_CAN.list_frame_pool);
+
+ USBD_Init(&hUSB, (USBD_DescriptorsTypeDef *) &FS_Desc, DEVICE_FS);
+ USBD_RegisterClass(&hUSB, &USBD_GS_CAN);
+ USBD_GS_CAN_Init(&hGS_CAN, &hUSB, &hLED);
+ USBD_Start(&hUSB);
+
+ iwdg_init();
+
+ while (1) {
+ struct gs_host_frame_object *frame_object;
+
+ bool was_irq_enabled = disable_irq();
+ frame_object = list_first_entry_or_null(&hGS_CAN.list_from_host,
+ struct gs_host_frame_object,
+ list);
+ if (frame_object) { // send CAN message from host
+ struct gs_host_frame *frame = &frame_object->frame;
+
+ list_del(&frame_object->list);
+ restore_irq(was_irq_enabled);
+
+ if (can_send(channel, frame)) {
+ // Echo sent frame back to host
+ frame->flags = 0x0;
+ frame->reserved = 0x0;
+ frame->timestamp_us = timer_get();
+
+ list_add_tail_locked(&frame_object->list, &hGS_CAN.list_to_host);
+ led_indicate_trx(&hLED, led_tx);
+ } else
+ list_add_locked(&frame_object->list, &hGS_CAN.list_from_host);
+ } else
+ restore_irq(was_irq_enabled);
+
+ if (USBD_GS_CAN_TxReady(&hUSB))
+ send_to_host();
+
+ if (can_is_rx_pending(channel)) {
+ bool was_irq_enabled = disable_irq();
+ frame_object = list_first_entry_or_null(&hGS_CAN.list_frame_pool,
+ struct gs_host_frame_object,
+ list);
+ if (frame_object) {
+ struct gs_host_frame *frame = &frame_object->frame;
+
+ list_del(&frame_object->list);
+ restore_irq(was_irq_enabled);
+
+ if (can_receive(channel, frame)) {
+ frame->timestamp_us = timer_get();
+ frame->echo_id = 0xFFFFFFFF; // not a echo frame
+ frame->channel = 0;
+ frame->flags = 0;
+ frame->reserved = 0;
+
+ list_add_tail_locked(&frame_object->list, &hGS_CAN.list_to_host);
+ led_indicate_trx(&hLED, led_rx);
+ HAL_IWDG_Refresh(&hiwdg);
+ } else
+ list_add_tail_locked(&frame_object->list, &hGS_CAN.list_frame_pool);
+ } else
+ restore_irq(was_irq_enabled);
+ // If there are frames to receive, don't report any error frames. The
+ // best we can localize the errors to is "after the last successfully
+ // received frame", so wait until we get there. LEC will hold some error
+ // to report even if multiple pass by.
+ } else {
+ uint32_t can_err = can_get_error_status(channel);
+
+ bool was_irq_enabled = disable_irq();
+ frame_object = list_first_entry_or_null(&hGS_CAN.list_frame_pool,
+ struct gs_host_frame_object,
+ list);
+ if (frame_object) {
+ struct gs_host_frame *frame = &frame_object->frame;
+
+ list_del(&frame_object->list);
+ restore_irq(was_irq_enabled);
+
+ frame->timestamp_us = timer_get();
+ if (can_parse_error_status(can_err, last_can_error_status, channel, frame)) {
+ list_add_tail_locked(&frame_object->list, &hGS_CAN.list_to_host);
+ last_can_error_status = can_err;
+ } else
+ list_add_tail_locked(&frame_object->list, &hGS_CAN.list_frame_pool);
+ } else
+ restore_irq(was_irq_enabled);
+ }
+
+ led_update(&hLED);
+
+ if (USBD_GS_CAN_DfuDetachRequested(&hUSB))
+ dfu_run_bootloader();
+
+ }
+}
+
+void HAL_MspInit(void) {
+ __HAL_RCC_SYSCFG_CLK_ENABLE();
+ HAL_NVIC_SetPriority(SysTick_IRQn, 0, 0);
+}
+
+void SystemClock_Config(void) {
+ device_sysclock_config();
+}
+
+void send_to_host(void) {
+ struct gs_host_frame_object *frame_object;
+
+ bool was_irq_enabled = disable_irq();
+ frame_object = list_first_entry_or_null(&hGS_CAN.list_to_host,
+ struct gs_host_frame_object,
+ list);
+ if (!frame_object) {
+ restore_irq(was_irq_enabled);
+ return;
+ }
+ list_del(&frame_object->list);
+ restore_irq(was_irq_enabled);
+
+ if (USBD_GS_CAN_SendFrame(&hUSB, &frame_object->frame) == USBD_OK)
+ list_add_tail_locked(&frame_object->list, &hGS_CAN.list_frame_pool);
+ else
+ list_add_locked(&frame_object->list, &hGS_CAN.list_to_host);
+}
diff --git a/program/user/source/startup.c b/program/user/source/startup.c
new file mode 100644
index 0000000..b1fd72d
--- /dev/null
+++ b/program/user/source/startup.c
@@ -0,0 +1,38 @@
+#include
+#include
+#include
+
+typedef struct _copy_table_t
+{
+ uint32_t const* src;
+ uint32_t* dest;
+ uint32_t wlen;
+} copy_table_t;
+
+extern const copy_table_t __copy_table_start__;
+extern const copy_table_t __copy_table_end__;
+
+void __initialize_hardware_early(void);
+void _start(void) __attribute__((noreturn));
+
+void Reset_Handler(void)
+{
+ __initialize_hardware_early();
+
+ for (copy_table_t const* table = &__copy_table_start__; table < &__copy_table_end__; ++table) {
+ memcpy(table->dest, table->src, table->wlen);
+ }
+
+ _start();
+}
+
+void __register_exitproc(void) {
+ return;
+}
+
+void _exit(int code)
+{
+ (void) code;
+ __asm__ ("BKPT");
+ while (1);
+}
diff --git a/program/user/src/timer.c b/program/user/source/timer.c
similarity index 96%
rename from program/user/src/timer.c
rename to program/user/source/timer.c
index 9f65ce8..fd40fe1 100644
--- a/program/user/src/timer.c
+++ b/program/user/source/timer.c
@@ -27,7 +27,7 @@ THE SOFTWARE.
#include "timer.h"
#include "hal_include.h"
-void timer_init()
+void timer_init(void)
{
__HAL_RCC_TIM2_CLK_ENABLE();
@@ -44,7 +44,7 @@ void timer_init()
TIM2->EGR = TIM_EGR_UG;
}
-uint32_t timer_get()
+uint32_t timer_get(void)
{
return TIM2->CNT;
}
diff --git a/program/user/src/usbd_conf.c b/program/user/source/usbd_conf.c
similarity index 85%
rename from program/user/src/usbd_conf.c
rename to program/user/source/usbd_conf.c
index 901bc3a..db23a1c 100644
--- a/program/user/src/usbd_conf.c
+++ b/program/user/source/usbd_conf.c
@@ -25,19 +25,36 @@ THE SOFTWARE.
*/
#include
+#include
#include "usbd_core.h"
+#include "usbd_ctlreq.h"
+#include "usbd_def.h"
#include "usbd_gs_can.h"
PCD_HandleTypeDef hpcd_USB_FS;
void HAL_PCD_MspInit(PCD_HandleTypeDef* hpcd)
{
- if(hpcd->Instance==USB_INTERFACE) {
+ if (hpcd->Instance==USB_INTERFACE) {
#if defined(USB)
__HAL_RCC_USB_CLK_ENABLE();
#elif defined(USB_OTG_FS)
__HAL_RCC_USB_OTG_FS_CLK_ENABLE();
+#elif defined(USB_DRD_FS)
+ __HAL_RCC_USB_CLK_ENABLE();
+ HAL_SYSCFG_StrobeDBattpinsConfig(SYSCFG_CFGR1_UCPD1_STROBE);
+ /* Enable VDDUSB */
+ if (__HAL_RCC_PWR_IS_CLK_DISABLED())
+ {
+ __HAL_RCC_PWR_CLK_ENABLE();
+ HAL_PWREx_EnableVddUSB();
+ __HAL_RCC_PWR_CLK_DISABLE();
+ }
+ else
+ {
+ HAL_PWREx_EnableVddUSB();
+ }
#endif
HAL_NVIC_SetPriority(USB_INTERRUPT, 1, 0);
HAL_NVIC_EnableIRQ(USB_INTERRUPT);
@@ -46,8 +63,8 @@ void HAL_PCD_MspInit(PCD_HandleTypeDef* hpcd)
void HAL_PCD_MspDeInit(PCD_HandleTypeDef* hpcd)
{
- if(hpcd->Instance==USB_INTERFACE) {
-#if defined(USB)
+ if (hpcd->Instance==USB_INTERFACE) {
+#if defined(USB) || defined(USB_DRD_FS)
__HAL_RCC_USB_CLK_DISABLE();
#elif defined(USB_OTG_FS)
__HAL_RCC_USB_OTG_FS_CLK_DISABLE();
@@ -128,10 +145,14 @@ USBD_StatusTypeDef USBD_LL_Init(USBD_HandleTypeDef *pdev)
hpcd_USB_FS.Init.Sof_enable = DISABLE;
hpcd_USB_FS.Init.vbus_sensing_enable = DISABLE;
hpcd_USB_FS.Init.use_dedicated_ep1 = DISABLE;
+#elif defined(STM32G0)
+ hpcd_USB_FS.Init.Sof_enable = DISABLE;
+ hpcd_USB_FS.Init.battery_charging_enable = DISABLE;
+ hpcd_USB_FS.Init.vbus_sensing_enable = DISABLE;
+ hpcd_USB_FS.Init.bulk_doublebuffer_enable = ENABLE;
+ hpcd_USB_FS.Init.iso_singlebuffer_enable = DISABLE;
#endif
HAL_PCD_Init(&hpcd_USB_FS);
-
-
/*
* PMA layout
* 0x00 - 0x17 (24 bytes) metadata?
@@ -141,16 +162,15 @@ USBD_StatusTypeDef USBD_LL_Init(USBD_HandleTypeDef *pdev)
* 0xD8 - 0x157 (128 bytes) EP1 OUT (buffer 1)
* 0x158 - 0x1D7 (128 bytes) EP1 OUT (buffer 2)
*/
-#if defined(USB)
- HAL_PCDEx_PMAConfig((PCD_HandleTypeDef*)pdev->pData , 0x00 , PCD_SNG_BUF, 0x18);
- HAL_PCDEx_PMAConfig((PCD_HandleTypeDef*)pdev->pData , 0x80 , PCD_SNG_BUF, 0x58);
- HAL_PCDEx_PMAConfig((PCD_HandleTypeDef*)pdev->pData , 0x81 , PCD_SNG_BUF, 0x98);
- HAL_PCDEx_PMAConfig((PCD_HandleTypeDef*)pdev->pData , 0x02 , PCD_DBL_BUF, 0x00D80158);
+#if defined(USB) || defined(USB_DRD_FS)
+ HAL_PCDEx_PMAConfig((PCD_HandleTypeDef*)pdev->pData, 0x00, PCD_SNG_BUF, 0x18);
+ HAL_PCDEx_PMAConfig((PCD_HandleTypeDef*)pdev->pData, 0x80, PCD_SNG_BUF, 0x58);
+ HAL_PCDEx_PMAConfig((PCD_HandleTypeDef*)pdev->pData, 0x81, PCD_SNG_BUF, 0x98);
+ HAL_PCDEx_PMAConfig((PCD_HandleTypeDef*)pdev->pData, 0x02, PCD_DBL_BUF, 0x00D80158);
#elif defined(USB_OTG_FS)
HAL_PCDEx_SetRxFiFo((PCD_HandleTypeDef*)pdev->pData, USB_RX_FIFO_SIZE); // shared RX FIFO
HAL_PCDEx_SetTxFiFo((PCD_HandleTypeDef*)pdev->pData, 0U, 64U / 4U); // 0x80, 64 bytes (div by 4 for words)
HAL_PCDEx_SetTxFiFo((PCD_HandleTypeDef*)pdev->pData, 1U, 64U / 4U); // 0x81, 64 bytes (div by 4 for words)
-
#endif
return USBD_OK;
diff --git a/program/user/src/usbd_desc.c b/program/user/source/usbd_desc.c
similarity index 84%
rename from program/user/src/usbd_desc.c
rename to program/user/source/usbd_desc.c
index f67c962..a74a15b 100644
--- a/program/user/src/usbd_desc.c
+++ b/program/user/source/usbd_desc.c
@@ -24,23 +24,24 @@ THE SOFTWARE.
*/
+#include
#include
-#include "usbd_core.h"
+#include "usbd_ctlreq.h"
#include "usbd_desc.h"
#include "config.h"
#include "util.h"
-uint8_t *USBD_FS_DeviceDescriptor(USBD_SpeedTypeDef speed, uint16_t *length);
-uint8_t *USBD_FS_LangIDStrDescriptor(USBD_SpeedTypeDef speed, uint16_t *length);
-uint8_t *USBD_FS_ManufacturerStrDescriptor(USBD_SpeedTypeDef speed, uint16_t *length);
-uint8_t *USBD_FS_ProductStrDescriptor(USBD_SpeedTypeDef speed, uint16_t *length);
-uint8_t *USBD_FS_SerialStrDescriptor(USBD_SpeedTypeDef speed, uint16_t *length);
-uint8_t *USBD_FS_ConfigStrDescriptor(USBD_SpeedTypeDef speed, uint16_t *length);
-uint8_t *USBD_FS_InterfaceStrDescriptor(USBD_SpeedTypeDef speed, uint16_t *length);
+static uint8_t *USBD_FS_DeviceDescriptor(USBD_SpeedTypeDef speed, uint16_t *length);
+static uint8_t *USBD_FS_LangIDStrDescriptor(USBD_SpeedTypeDef speed, uint16_t *length);
+static uint8_t *USBD_FS_ManufacturerStrDescriptor(USBD_SpeedTypeDef speed, uint16_t *length);
+static uint8_t *USBD_FS_ProductStrDescriptor(USBD_SpeedTypeDef speed, uint16_t *length);
+static uint8_t *USBD_FS_SerialStrDescriptor(USBD_SpeedTypeDef speed, uint16_t *length);
+static uint8_t *USBD_FS_ConfigStrDescriptor(USBD_SpeedTypeDef speed, uint16_t *length);
+static uint8_t *USBD_FS_InterfaceStrDescriptor(USBD_SpeedTypeDef speed, uint16_t *length);
#ifdef USB_SUPPORT_USER_STRING_DESC
uint8_t *USBD_FS_USRStringDesc(USBD_SpeedTypeDef speed, uint8_t idx, uint16_t *length);
-#endif /* USB_SUPPORT_USER_STRING_DESC */
+#endif /* USB_SUPPORT_USER_STRING_DESC */
const USBD_DescriptorsTypeDef FS_Desc = {
USBD_FS_DeviceDescriptor,
@@ -74,7 +75,7 @@ static const uint8_t USBD_FS_DeviceDesc[USB_LEN_DEV_DESC] = {
USBD_IDX_PRODUCT_STR, /* Index of product string */
USBD_IDX_SERIAL_STR, /* Index of serial number string */
USBD_MAX_NUM_CONFIGURATION /* bNumConfigurations */
-} ;
+};
/* USB Standard Device Descriptor */
static const uint8_t USBD_LangIDDesc[USB_LEN_LANGID_STR_DESC] =
@@ -121,7 +122,7 @@ uint8_t *USBD_FS_SerialStrDescriptor(USBD_SpeedTypeDef speed, uint16_t *length)
UNUSED(speed);
- hex32(buf , *(uint32_t*)(UID_BASE ));
+ hex32(buf, *(uint32_t*)(UID_BASE ));
hex32(buf + 8, *(uint32_t*)(UID_BASE + 4));
hex32(buf + 16, *(uint32_t*)(UID_BASE + 8));
diff --git a/program/user/src/usbd_gs_can.c b/program/user/source/usbd_gs_can.c
similarity index 80%
rename from program/user/src/usbd_gs_can.c
rename to program/user/source/usbd_gs_can.c
index 7968600..5e4db3c 100644
--- a/program/user/src/usbd_gs_can.c
+++ b/program/user/source/usbd_gs_can.c
@@ -24,42 +24,23 @@ THE SOFTWARE.
*/
-#include "usbd_gs_can.h"
-#include "config.h"
#include
#include
+
+#include "can.h"
+#include "config.h"
+#include "gpio.h"
+#include "gs_usb.h"
#include "hal_include.h"
-#include "usbd_desc.h"
+#include "led.h"
+#include "timer.h"
+#include "usbd_core.h"
#include "usbd_ctlreq.h"
+#include "usbd_def.h"
+#include "usbd_desc.h"
+#include "usbd_gs_can.h"
#include "usbd_ioreq.h"
-#include "gs_usb.h"
-#include "can.h"
-#include "timer.h"
-#include "flash.h"
-
-typedef struct {
- uint8_t ep0_buf[CAN_CMD_PACKET_SIZE];
-
- __IO uint32_t TxState;
-
- USBD_SetupReqTypedef last_setup_request;
-
- struct gs_host_config host_config;
- queue_t *q_frame_pool;
- queue_t *q_from_host;
-
- struct gs_host_frame *from_host_buf;
-
- can_data_t *channels[NUM_CAN_CHANNEL];
-
- led_data_t *leds;
- bool dfu_detach_requested;
-
- bool timestamps_enabled;
- uint32_t sof_timestamp_us;
-
- bool pad_pkts_to_max_pkt_size;
-} USBD_GS_CAN_HandleTypeDef __attribute__ ((aligned (4)));
+#include "util.h"
static volatile bool is_usb_suspend_cb = false;
@@ -75,21 +56,17 @@ static uint8_t USBD_GS_CAN_SOF(struct _USBD_HandleTypeDef *pdev);
/* CAN interface class callbacks structure */
USBD_ClassTypeDef USBD_GS_CAN = {
- USBD_GS_CAN_Start,
- USBD_GS_CAN_DeInit,
- USBD_GS_CAN_Setup,
- NULL, // EP0_TxSent
- USBD_GS_CAN_EP0_RxReady,
- USBD_GS_CAN_DataIn,
- USBD_GS_CAN_DataOut,
- USBD_GS_CAN_SOF,
- NULL, // IsoInComplete
- NULL, // IsoOutComplete
- USBD_GS_CAN_GetCfgDesc,
- USBD_GS_CAN_GetCfgDesc,
- USBD_GS_CAN_GetCfgDesc,
- NULL, // GetDeviceQualifierDescriptor
- USBD_GS_CAN_GetStrDesc // GetUsrStrDescriptor
+ .Init = USBD_GS_CAN_Start,
+ .DeInit = USBD_GS_CAN_DeInit,
+ .Setup = USBD_GS_CAN_Setup,
+ .EP0_RxReady = USBD_GS_CAN_EP0_RxReady,
+ .DataIn = USBD_GS_CAN_DataIn,
+ .DataOut = USBD_GS_CAN_DataOut,
+ .SOF = USBD_GS_CAN_SOF,
+ .GetHSConfigDescriptor = USBD_GS_CAN_GetCfgDesc,
+ .GetFSConfigDescriptor = USBD_GS_CAN_GetCfgDesc,
+ .GetOtherSpeedConfigDescriptor = USBD_GS_CAN_GetCfgDesc,
+ .GetUsrStrDescriptor = USBD_GS_CAN_GetStrDesc,
};
@@ -211,12 +188,12 @@ static const uint8_t USBD_MS_COMP_ID_FEATURE_DESC[] = {
/* Microsoft Extended Properties Feature Descriptor */
static const uint8_t USBD_MS_EXT_PROP_FEATURE_DESC[] = {
0x92, 0x00, 0x00, 0x00, /* length */
- 0x00, 0x01, /* version 1.0 */
+ 0x00, 0x01, /* version 1.0 */
0x05, 0x00, /* descr index (0x0005) */
0x01, 0x00, /* number of sections */
0x88, 0x00, 0x00, 0x00, /* property section size */
0x07, 0x00, 0x00, 0x00, /* property data type 7: Unicode REG_MULTI_SZ */
- 0x2a, 0x00, /* property name length */
+ 0x2a, 0x00, /* property name length */
0x44, 0x00, 0x65, 0x00, /* property name "DeviceInterfaceGUIDs" */
0x76, 0x00, 0x69, 0x00,
@@ -271,8 +248,11 @@ static const struct gs_device_bt_const USBD_GS_CAN_btconst = {
| GS_CAN_FEATURE_LOOP_BACK
| GS_CAN_FEATURE_HW_TIMESTAMP
| GS_CAN_FEATURE_IDENTIFY
- | GS_CAN_FEATURE_USER_ID
- | GS_CAN_FEATURE_PAD_PKTS_TO_MAX_PKT_SIZE,
+ | GS_CAN_FEATURE_PAD_PKTS_TO_MAX_PKT_SIZE
+#ifdef TERM_Pin
+ | GS_CAN_FEATURE_TERMINATION
+#endif
+ ,
CAN_CLOCK_SPEED, // can timing base clock
1, // tseg1 min
16, // tseg1 max
@@ -284,6 +264,14 @@ static const struct gs_device_bt_const USBD_GS_CAN_btconst = {
1, // brp increment;
};
+static inline uint8_t USBD_GS_CAN_PrepareReceive(USBD_HandleTypeDef *pdev)
+{
+ USBD_GS_CAN_HandleTypeDef *hcan = (USBD_GS_CAN_HandleTypeDef*)pdev->pClassData;
+ struct gs_host_frame *frame = &hcan->from_host_buf->frame;
+
+ return USBD_LL_PrepareReceive(pdev, GSUSB_ENDPOINT_OUT, (uint8_t *)frame, sizeof(*frame));
+}
+
/* It's unclear from the documentation, but it appears that the USB library is
* not safely reentrant. It attempts to signal errors via return values if it is
* reentered, but that code is not interrupt-safe and the error values are
@@ -293,17 +281,10 @@ static const struct gs_device_bt_const USBD_GS_CAN_btconst = {
* within other calls, which means the USB interrupt is already disabled and we
* don't have any other interrupts to worry about. */
-uint8_t USBD_GS_CAN_Init(USBD_HandleTypeDef *pdev, queue_t *q_frame_pool, queue_t *q_from_host, led_data_t *leds)
+uint8_t USBD_GS_CAN_Init(USBD_GS_CAN_HandleTypeDef *hcan, USBD_HandleTypeDef *pdev, led_data_t *leds)
{
- USBD_GS_CAN_HandleTypeDef *hcan = calloc(1, sizeof(USBD_GS_CAN_HandleTypeDef));
-
- assert_basic(hcan);
-
- hcan->q_frame_pool = q_frame_pool;
- hcan->q_from_host = q_from_host;
hcan->leds = leds;
pdev->pClassData = hcan;
- hcan->from_host_buf = NULL;
return USBD_OK;
}
@@ -315,7 +296,7 @@ static uint8_t USBD_GS_CAN_Start(USBD_HandleTypeDef *pdev, uint8_t cfgidx)
UNUSED(cfgidx);
assert_basic(pdev->pClassData);
- USBD_LL_OpenEP(pdev, GSUSB_ENDPOINT_IN, USBD_EP_TYPE_BULK, CAN_DATA_MAX_PACKET_SIZE);
+ USBD_LL_OpenEP(pdev, GSUSB_ENDPOINT_IN, USBD_EP_TYPE_BULK, CAN_DATA_MAX_PACKET_SIZE);
USBD_LL_OpenEP(pdev, GSUSB_ENDPOINT_OUT, USBD_EP_TYPE_BULK, CAN_DATA_MAX_PACKET_SIZE);
USBD_GS_CAN_PrepareReceive(pdev);
@@ -340,19 +321,10 @@ static uint8_t USBD_GS_CAN_SOF(struct _USBD_HandleTypeDef *pdev)
return USBD_OK;
}
-void USBD_GS_CAN_SetChannel(USBD_HandleTypeDef *pdev, uint8_t channel, can_data_t* handle) {
- USBD_GS_CAN_HandleTypeDef *hcan = (USBD_GS_CAN_HandleTypeDef*) pdev->pClassData;
-
- assert_basic(hcan);
- assert_basic(channel < NUM_CAN_CHANNEL);
- hcan->channels[channel] = handle;
- return;
-}
-
-static led_seq_step_t led_identify_seq[] = {
- { .state = 0x01, .time_in_10ms = 10 },
- { .state = 0x02, .time_in_10ms = 10 },
- { .state = 0x00, .time_in_10ms = 0 }
+static const led_seq_step_t led_identify_seq[] = {
+ { .state = 0x01, .time_in_10ms = 10 },
+ { .state = 0x02, .time_in_10ms = 10 },
+ { .state = 0x00, .time_in_10ms = 0 }
};
static uint8_t USBD_GS_CAN_EP0_RxReady(USBD_HandleTypeDef *pdev) {
@@ -366,35 +338,44 @@ static uint8_t USBD_GS_CAN_EP0_RxReady(USBD_HandleTypeDef *pdev) {
USBD_SetupReqTypedef *req = &hcan->last_setup_request;
- switch (req->bRequest) {
+ switch (req->bRequest) {
- case GS_USB_BREQ_HOST_FORMAT:
- // TODO process host data (expect 0x0000beef in byte_order)
- memcpy(&hcan->host_config, hcan->ep0_buf, sizeof(hcan->host_config));
- break;
+ case GS_USB_BREQ_HOST_FORMAT:
+ /* The firmware on the original USB2CAN by Geschwister Schneider
+ * Technologie Entwicklungs- und Vertriebs UG exchanges all data
+ * between the host and the device in host byte order. This is done
+ * with the struct gs_host_config::byte_order member, which is sent
+ * first to indicate the desired byte order.
+ *
+ * The widely used open source firmware candleLight doesn't support
+ * this feature and exchanges the data in little endian byte order.
+ */
+ break;
- case GS_USB_BREQ_IDENTIFY:
- memcpy(¶m_u32, hcan->ep0_buf, sizeof(param_u32));
- if (param_u32) {
- led_run_sequence(hcan->leds, led_identify_seq, -1);
- } else {
- ch = hcan->channels[req->wValue]; // TODO verify wValue input data (implement getChannelData() ?)
- led_set_mode(hcan->leds, can_is_enabled(ch) ? led_mode_normal : led_mode_off);
- }
- break;
+ case GS_USB_BREQ_IDENTIFY:
+ memcpy(¶m_u32, hcan->ep0_buf, sizeof(param_u32));
+ if (param_u32) {
+ led_run_sequence(hcan->leds, led_identify_seq, -1);
+ } else {
+ ch = &hcan->channels[req->wValue]; // TODO verify wValue input data (implement getChannelData() ?)
+ led_set_mode(hcan->leds, can_is_enabled(ch) ? led_mode_normal : led_mode_off);
+ }
+ break;
- case GS_USB_BREQ_SET_USER_ID:
- memcpy(¶m_u32, hcan->ep0_buf, sizeof(param_u32));
- if (flash_set_user_id(req->wValue, param_u32)) {
- flash_flush();
- }
- break;
+ case GS_USB_BREQ_SET_TERMINATION:
+ if (get_term(req->wValue) != GS_CAN_TERMINATION_UNSUPPORTED) {
+ memcpy(¶m_u32, hcan->ep0_buf, sizeof(param_u32));
+ if (set_term(req->wValue, param_u32) == GS_CAN_TERMINATION_UNSUPPORTED) {
+ USBD_CtlError(pdev, req);
+ }
+ }
+ break;
- case GS_USB_BREQ_MODE:
- if (req->wValue < NUM_CAN_CHANNEL) {
+ case GS_USB_BREQ_MODE:
+ if (req->wValue < NUM_CAN_CHANNEL) {
- mode = (struct gs_device_mode*)hcan->ep0_buf;
- ch = hcan->channels[req->wValue];
+ mode = (struct gs_device_mode*)hcan->ep0_buf;
+ ch = &hcan->channels[req->wValue];
if (mode->mode == GS_CAN_MODE_RESET) {
@@ -407,33 +388,33 @@ static uint8_t USBD_GS_CAN_EP0_RxReady(USBD_HandleTypeDef *pdev) {
hcan->pad_pkts_to_max_pkt_size = (mode->flags & GS_CAN_MODE_PAD_PKTS_TO_MAX_PKT_SIZE) != 0;
can_enable(ch,
- (mode->flags & GS_CAN_MODE_LOOP_BACK) != 0,
- (mode->flags & GS_CAN_MODE_LISTEN_ONLY) != 0,
- (mode->flags & GS_CAN_MODE_ONE_SHOT) != 0
- // triple sampling not supported on bxCAN
- );
+ (mode->flags & GS_CAN_MODE_LOOP_BACK) != 0,
+ (mode->flags & GS_CAN_MODE_LISTEN_ONLY) != 0,
+ (mode->flags & GS_CAN_MODE_ONE_SHOT) != 0
+ // triple sampling not supported on bxCAN
+ );
led_set_mode(hcan->leds, led_mode_normal);
}
}
- break;
+ break;
- case GS_USB_BREQ_BITTIMING:
- timing = (struct gs_device_bittiming*)hcan->ep0_buf;
- if (req->wValue < NUM_CAN_CHANNEL) {
+ case GS_USB_BREQ_BITTIMING:
+ timing = (struct gs_device_bittiming*)hcan->ep0_buf;
+ if (req->wValue < NUM_CAN_CHANNEL) {
can_set_bittiming(
- hcan->channels[req->wValue],
+ &hcan->channels[req->wValue],
timing->brp,
timing->prop_seg + timing->phase_seg1,
timing->phase_seg2,
timing->sjw
- );
- }
- break;
+ );
+ }
+ break;
default:
break;
- }
+ }
req->bRequest = 0xFF;
return USBD_OK;
@@ -468,19 +449,38 @@ static uint8_t USBD_GS_CAN_DFU_Request(USBD_HandleTypeDef *pdev, USBD_SetupReqTy
static uint8_t USBD_GS_CAN_Config_Request(USBD_HandleTypeDef *pdev, USBD_SetupReqTypedef *req)
{
USBD_GS_CAN_HandleTypeDef *hcan = (USBD_GS_CAN_HandleTypeDef*) pdev->pClassData;
+ enum gs_can_termination_state term_state;
uint32_t d32;
switch (req->bRequest) {
+ case GS_USB_BREQ_SET_TERMINATION:
+ if (get_term(req->wValue) == GS_CAN_TERMINATION_UNSUPPORTED) {
+ USBD_CtlError(pdev, req);
+ break;
+ }
+ // fall-through
case GS_USB_BREQ_HOST_FORMAT:
case GS_USB_BREQ_MODE:
case GS_USB_BREQ_BITTIMING:
case GS_USB_BREQ_IDENTIFY:
- case GS_USB_BREQ_SET_USER_ID:
hcan->last_setup_request = *req;
USBD_CtlPrepareRx(pdev, hcan->ep0_buf, req->wLength);
break;
+ case GS_USB_BREQ_GET_TERMINATION:
+ term_state = get_term(req->wValue);
+
+ if (term_state == GS_CAN_TERMINATION_UNSUPPORTED) {
+ USBD_CtlError(pdev, req);
+ } else {
+ d32 = (uint32_t)term_state;
+ memcpy(hcan->ep0_buf, &d32, sizeof(d32));
+ USBD_CtlSendData(pdev, hcan->ep0_buf, req->wLength);
+ }
+
+ break;
+
case GS_USB_BREQ_DEVICE_CONFIG:
memcpy(hcan->ep0_buf, &USBD_GS_CAN_dconf, sizeof(USBD_GS_CAN_dconf));
USBD_CtlSendData(pdev, hcan->ep0_buf, req->wLength);
@@ -494,19 +494,8 @@ static uint8_t USBD_GS_CAN_Config_Request(USBD_HandleTypeDef *pdev, USBD_SetupRe
case GS_USB_BREQ_TIMESTAMP:
memcpy(hcan->ep0_buf, &hcan->sof_timestamp_us, sizeof(hcan->sof_timestamp_us));
USBD_CtlSendData(pdev, hcan->ep0_buf, sizeof(hcan->sof_timestamp_us));
- break;
-
- case GS_USB_BREQ_GET_USER_ID:
- if (req->wValue < NUM_CAN_CHANNEL) {
- d32 = flash_get_user_id(req->wValue);
- memcpy(hcan->ep0_buf, &d32, sizeof(d32));
- USBD_CtlSendData(pdev, hcan->ep0_buf, sizeof(d32));
- } else {
- USBD_CtlError(pdev, req);
- }
break;
-
default:
USBD_CtlError(pdev, req);
}
@@ -521,9 +510,9 @@ static uint8_t USBD_GS_CAN_Vendor_Request(USBD_HandleTypeDef *pdev, USBD_SetupRe
if (
(req_type == 0x01) // class request
- && (req_rcpt == 0x01) // recipient: interface
- && (req->wIndex == DFU_INTERFACE_NUM)
- ) {
+ && (req_rcpt == 0x01) // recipient: interface
+ && (req->wIndex == DFU_INTERFACE_NUM)
+ ) {
return USBD_GS_CAN_DFU_Request(pdev, req);
} else {
return USBD_GS_CAN_Config_Request(pdev, req);
@@ -609,14 +598,23 @@ static uint8_t USBD_GS_CAN_DataOut(USBD_HandleTypeDef *pdev, uint8_t epnum) {
return USBD_OK;
}
+ bool was_irq_enabled = disable_irq();
// Enqueue the frame we just received.
- queue_push_back(hcan->q_from_host, hcan->from_host_buf);
+ list_add_tail(&hcan->from_host_buf->list, &hcan->list_from_host);
+
// Grab a buffer for the next frame from the pool.
- hcan->from_host_buf = queue_pop_front(hcan->q_frame_pool);
+ hcan->from_host_buf = list_first_entry_or_null(&hcan->list_frame_pool,
+ struct gs_host_frame_object,
+ list);
if (hcan->from_host_buf) {
+ list_del(&hcan->from_host_buf->list);
+ restore_irq(was_irq_enabled);
+
// We got a buffer! Get ready to receive from the USB host into it.
USBD_GS_CAN_PrepareReceive(pdev);
} else {
+ restore_irq(was_irq_enabled);
+
// gs_can has no way to drop packets. If we just drop this one, gs_can
// will fill up its queue of packets awaiting ACKs and then hang. Instead,
// wait to call PrepareReceive until we have a frame to receive into.
@@ -631,24 +629,21 @@ static uint8_t *USBD_GS_CAN_GetCfgDesc(uint16_t *len)
return USBD_DescBuf;
}
-inline uint8_t USBD_GS_CAN_PrepareReceive(USBD_HandleTypeDef *pdev)
-{
- USBD_GS_CAN_HandleTypeDef *hcan = (USBD_GS_CAN_HandleTypeDef*)pdev->pClassData;
- return USBD_LL_PrepareReceive(pdev, GSUSB_ENDPOINT_OUT, (uint8_t*)hcan->from_host_buf, sizeof(*hcan->from_host_buf));
-}
-
bool USBD_GS_CAN_TxReady(USBD_HandleTypeDef *pdev)
{
USBD_GS_CAN_HandleTypeDef *hcan = (USBD_GS_CAN_HandleTypeDef*)pdev->pClassData;
- int primask = disable_irq();
+ bool was_irq_enabled = disable_irq();
if (!hcan->from_host_buf) {
- hcan->from_host_buf = queue_pop_front(hcan->q_frame_pool);
+ hcan->from_host_buf = list_first_entry_or_null(&hcan->list_frame_pool,
+ struct gs_host_frame_object,
+ list);
if (hcan->from_host_buf) {
+ list_del(&hcan->from_host_buf->list);
USBD_GS_CAN_PrepareReceive(pdev);
}
}
bool result = hcan->TxState == 0;
- enable_irq(primask);
+ restore_irq(was_irq_enabled);
return result;
}
@@ -664,22 +659,6 @@ uint8_t USBD_GS_CAN_Transmit(USBD_HandleTypeDef *pdev, uint8_t *buf, uint16_t le
}
}
-uint8_t USBD_GS_CAN_GetProtocolVersion(USBD_HandleTypeDef *pdev)
-{
- USBD_GS_CAN_HandleTypeDef *hcan = (USBD_GS_CAN_HandleTypeDef*)pdev->pClassData;
- if (hcan->timestamps_enabled) {
- return 2;
- } else {
- return 1;
- }
-}
-
-uint8_t USBD_GS_CAN_GetPadPacketsToMaxPacketSize(USBD_HandleTypeDef *pdev)
-{
- USBD_GS_CAN_HandleTypeDef *hcan = (USBD_GS_CAN_HandleTypeDef*)pdev->pClassData;
- return hcan->pad_pkts_to_max_pkt_size;
-}
-
uint8_t USBD_GS_CAN_SendFrame(USBD_HandleTypeDef *pdev, struct gs_host_frame *frame)
{
uint8_t buf[CAN_DATA_MAX_PACKET_SIZE],*send_addr;
@@ -693,7 +672,7 @@ uint8_t USBD_GS_CAN_SendFrame(USBD_HandleTypeDef *pdev, struct gs_host_frame *fr
send_addr = (uint8_t *)frame;
- if(hcan->pad_pkts_to_max_pkt_size){
+ if (hcan->pad_pkts_to_max_pkt_size) {
// When talking to WinUSB it seems to help a lot if the
// size of packet you send equals the max packet size.
// In this mode, fill packets out to max packet size and
@@ -706,9 +685,9 @@ uint8_t USBD_GS_CAN_SendFrame(USBD_HandleTypeDef *pdev, struct gs_host_frame *fr
len = sizeof(buf);
}
- int primask = disable_irq();
+ bool was_irq_enabled = disable_irq();
uint8_t result = USBD_GS_CAN_Transmit(pdev, send_addr, len);
- enable_irq(primask);
+ restore_irq(was_irq_enabled);
return result;
}
@@ -743,18 +722,19 @@ void USBD_GS_CAN_SuspendCallback(USBD_HandleTypeDef *pdev)
// Disable CAN and go off bus on USB suspend
USBD_GS_CAN_HandleTypeDef *hcan = (USBD_GS_CAN_HandleTypeDef*) pdev->pClassData;
- if(hcan != NULL)
+ if (hcan != NULL)
{
- for(uint32_t i=0; ichannels[i] != NULL)
- can_disable(hcan->channels[i]);
+ can_data_t *channel = &hcan->channels[i];
+
+ can_disable(channel);
}
}
- if(hcan != NULL && hcan->leds != NULL)
+ if (hcan != NULL && hcan->leds != NULL)
led_set_mode(hcan->leds, led_mode_off);
-
+
is_usb_suspend_cb = true;
}
diff --git a/program/user/src/util.c b/program/user/source/util.c
similarity index 100%
rename from program/user/src/util.c
rename to program/user/source/util.c
diff --git a/program/user/src/can.c b/program/user/src/can.c
deleted file mode 100644
index 9a72303..0000000
--- a/program/user/src/can.c
+++ /dev/null
@@ -1,338 +0,0 @@
-/*
-
-The MIT License (MIT)
-
-Copyright (c) 2016 Hubert Denkmair
-
-Permission is hereby granted, free of charge, to any person obtaining a copy
-of this software and associated documentation files (the "Software"), to deal
-in the Software without restriction, including without limitation the rights
-to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-copies of the Software, and to permit persons to whom the Software is
-furnished to do so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in
-all copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
-THE SOFTWARE.
-
-*/
-
-#include "can.h"
-#include "config.h"
-
-void can_init(can_data_t *hcan, CAN_TypeDef *instance) {
- __HAL_RCC_CAN1_CLK_ENABLE();
-
- GPIO_InitTypeDef itd;
-
- itd.Pin = GPIO_PIN_8 | GPIO_PIN_9;
- itd.Mode = GPIO_MODE_AF_PP;
- itd.Pull = GPIO_NOPULL;
- itd.Speed = GPIO_SPEED_FREQ_HIGH;
- itd.Alternate = GPIO_AF4_CAN;
- HAL_GPIO_Init(GPIOB, &itd);
-
- hcan->instance = instance;
- hcan->brp = 6;
- hcan->sjw = 1;
-
- hcan->phase_seg1 = 13;
- hcan->phase_seg2 = 2;
-}
-
-bool can_set_bittiming(can_data_t *hcan, uint16_t brp, uint8_t phase_seg1, uint8_t phase_seg2, uint8_t sjw) {
- if ((brp > 0) && (brp <= 1024)
- && (phase_seg1 > 0) && (phase_seg1 <= 16)
- && (phase_seg2 > 0) && (phase_seg2 <= 8)
- && (sjw > 0) && (sjw <= 4)
- ) {
- hcan->brp = brp & 0x3FF;
- hcan->phase_seg1 = phase_seg1;
- hcan->phase_seg2 = phase_seg2;
- hcan->sjw = sjw;
- return true;
- } else {
- return false;
- }
-}
-
-void can_enable(can_data_t *hcan, bool loop_back, bool listen_only, bool one_shot) {
- (void) one_shot;
- CAN_TypeDef *can = hcan->instance;
-
- uint32_t mcr = CAN_MCR_INRQ
- | CAN_MCR_ABOM
- | CAN_MCR_AWUM
- | CAN_MCR_TXFP;
-
- uint32_t btr = ((uint32_t) (hcan->sjw - 1)) << 24
- | ((uint32_t) (hcan->phase_seg1 - 1)) << 16
- | ((uint32_t) (hcan->phase_seg2 - 1)) << 20
- | (hcan->brp - 1)
- | (loop_back ? CAN_MODE_LOOPBACK : 0)
- | (listen_only ? CAN_MODE_SILENT : 0);
-
-
- // Reset CAN peripheral
- can->MCR |= CAN_MCR_RESET;
- while ((can->MCR & CAN_MCR_RESET) != 0); // reset bit is set to zero after reset
- while ((can->MSR & CAN_MSR_SLAK) == 0); // should be in sleep mode after reset
-
- can->MCR |= CAN_MCR_INRQ;
- while ((can->MSR & CAN_MSR_INAK) == 0);
-
- can->MCR = mcr;
- can->BTR = btr;
-
- can->MCR &= ~CAN_MCR_INRQ;
- while ((can->MSR & CAN_MSR_INAK) != 0);
-
- uint32_t filter_bit = 0x00000001;
- can->FMR |= CAN_FMR_FINIT;
- can->FMR &= ~CAN_FMR_CAN2SB;
- can->FA1R &= ~filter_bit; // disable filter
- can->FS1R |= filter_bit; // set to single 32-bit filter mode
- can->FM1R &= ~filter_bit; // set filter mask mode for filter 0
- can->sFilterRegister[0].FR1 = 0; // filter ID = 0
- can->sFilterRegister[0].FR2 = 0; // filter Mask = 0
- can->FFA1R &= ~filter_bit; // assign filter 0 to FIFO 0
- can->FA1R |= filter_bit; // enable filter
- can->FMR &= ~CAN_FMR_FINIT;
-}
-
-void can_disable(can_data_t *hcan) {
- CAN_TypeDef *can = hcan->instance;
- can->MCR |= CAN_MCR_INRQ; // send can controller into initialization mode
-}
-
-bool can_is_enabled(can_data_t *hcan) {
- CAN_TypeDef *can = hcan->instance;
- return (can->MCR & CAN_MCR_INRQ) == 0;
-}
-
-bool can_is_rx_pending(can_data_t *hcan) {
- CAN_TypeDef *can = hcan->instance;
- return ((can->RF0R & CAN_RF0R_FMP0) != 0);
-}
-
-bool can_receive(can_data_t *hcan, struct gs_host_frame *rx_frame) {
- CAN_TypeDef *can = hcan->instance;
-
- if (can_is_rx_pending(hcan)) {
- CAN_FIFOMailBox_TypeDef *fifo = &can->sFIFOMailBox[0];
-
- if (fifo->RIR & CAN_RI0R_IDE) {
- rx_frame->can_id = CAN_EFF_FLAG | ((fifo->RIR >> 3) & 0x1FFFFFFF);
- } else {
- rx_frame->can_id = (fifo->RIR >> 21) & 0x7FF;
- }
-
- if (fifo->RIR & CAN_RI0R_RTR) {
- rx_frame->can_id |= CAN_RTR_FLAG;
- }
-
- rx_frame->can_dlc = fifo->RDTR & CAN_RDT0R_DLC;
-
- rx_frame->data[0] = (fifo->RDLR >> 0) & 0xFF;
- rx_frame->data[1] = (fifo->RDLR >> 8) & 0xFF;
- rx_frame->data[2] = (fifo->RDLR >> 16) & 0xFF;
- rx_frame->data[3] = (fifo->RDLR >> 24) & 0xFF;
- rx_frame->data[4] = (fifo->RDHR >> 0) & 0xFF;
- rx_frame->data[5] = (fifo->RDHR >> 8) & 0xFF;
- rx_frame->data[6] = (fifo->RDHR >> 16) & 0xFF;
- rx_frame->data[7] = (fifo->RDHR >> 24) & 0xFF;
-
- can->RF0R |= CAN_RF0R_RFOM0; // release FIFO
-
- return true;
- } else {
- return false;
- }
-}
-
-static CAN_TxMailBox_TypeDef *can_find_free_mailbox(can_data_t *hcan) {
- CAN_TypeDef *can = hcan->instance;
-
- uint32_t tsr = can->TSR;
- if (tsr & CAN_TSR_TME0) {
- return &can->sTxMailBox[0];
- } else if (tsr & CAN_TSR_TME1) {
- return &can->sTxMailBox[1];
- } else if (tsr & CAN_TSR_TME2) {
- return &can->sTxMailBox[2];
- } else {
- return 0;
- }
-}
-
-bool can_send(can_data_t *hcan, struct gs_host_frame *frame) {
- CAN_TxMailBox_TypeDef *mb = can_find_free_mailbox(hcan);
- if (mb != 0) {
-
- /* first, clear transmission request */
- mb->TIR &= CAN_TI0R_TXRQ;
-
- if (frame->can_id & CAN_EFF_FLAG) { // extended id
- mb->TIR = CAN_ID_EXT | (frame->can_id & 0x1FFFFFFF) << 3;
- } else {
- mb->TIR = (frame->can_id & 0x7FF) << 21;
- }
-
- if (frame->can_id & CAN_RTR_FLAG) {
- mb->TIR |= CAN_RTR_REMOTE;
- }
-
- mb->TDTR &= 0xFFFFFFF0;
- mb->TDTR |= frame->can_dlc & 0x0F;
-
- mb->TDLR =
- (frame->data[3] << 24)
- | (frame->data[2] << 16)
- | (frame->data[1] << 8)
- | (frame->data[0] << 0);
-
- mb->TDHR =
- (frame->data[7] << 24)
- | (frame->data[6] << 16)
- | (frame->data[5] << 8)
- | (frame->data[4] << 0);
-
- /* request transmission */
- mb->TIR |= CAN_TI0R_TXRQ;
-
- return true;
- } else {
- return false;
- }
-}
-
-uint32_t can_get_error_status(can_data_t *hcan) {
- CAN_TypeDef *can = hcan->instance;
- return can->ESR;
-}
-
-static bool status_is_active(uint32_t err) {
- return !(err & (CAN_ESR_BOFF | CAN_ESR_EPVF));
-}
-
-bool can_parse_error_status(uint32_t err, uint32_t last_err, can_data_t *hcan, struct gs_host_frame *frame) {
- /* We build up the detailed error information at the same time as we decide
- * whether there's anything worth sending. This variable tracks that final
- * result. */
- bool should_send = false;
-
- frame->echo_id = 0xFFFFFFFF;
- frame->can_id = CAN_ERR_FLAG | CAN_ERR_CRTL;
- frame->can_dlc = CAN_ERR_DLC;
- frame->data[0] = CAN_ERR_LOSTARB_UNSPEC;
- frame->data[1] = CAN_ERR_CRTL_UNSPEC;
- frame->data[2] = CAN_ERR_PROT_UNSPEC;
- frame->data[3] = CAN_ERR_PROT_LOC_UNSPEC;
- frame->data[4] = CAN_ERR_TRX_UNSPEC;
- frame->data[5] = 0;
- frame->data[6] = 0;
- frame->data[7] = 0;
-
- if (err & CAN_ESR_BOFF) {
- frame->can_id |= CAN_ERR_BUSOFF;
- if (!(last_err & CAN_ESR_BOFF)) {
- /* We transitioned to bus-off. */
- should_send = true;
- }
- } else if (last_err & CAN_ESR_BOFF) {
- /* We transitioned out of bus-off. */
- should_send = true;
- }
-
- /* We transitioned from passive/bus-off to active, so report the edge. */
- if (!status_is_active(last_err) && status_is_active(err)) {
- frame->data[1] |= CAN_ERR_CRTL_ACTIVE;
- should_send = true;
- }
-
- uint8_t tx_error_cnt = (err >> 16) & 0xFF;
- uint8_t rx_error_cnt = (err >> 24) & 0xFF;
- /* The Linux sja1000 driver puts these counters here. Seems like as good a
- * place as any. */
- frame->data[6] = tx_error_cnt;
- frame->data[7] = rx_error_cnt;
-
- uint8_t last_tx_error_cnt = (last_err >> 16) & 0xFF;
- uint8_t last_rx_error_cnt = (last_err >> 24) & 0xFF;
- /* If either error counter transitioned to/from 0. */
- if ((tx_error_cnt == 0) != (last_tx_error_cnt == 0)) {
- should_send = true;
- }
- if ((rx_error_cnt == 0) != (last_rx_error_cnt == 0)) {
- should_send = true;
- }
- /* If either error counter increased by 15. */
- if (((int) last_tx_error_cnt + CAN_ERRCOUNT_THRESHOLD) < tx_error_cnt) {
- should_send = true;
- }
- if (((int) last_rx_error_cnt + CAN_ERRCOUNT_THRESHOLD) < rx_error_cnt) {
- should_send = true;
- }
-
- if (err & CAN_ESR_EPVF) {
- frame->data[1] |= CAN_ERR_CRTL_RX_PASSIVE | CAN_ERR_CRTL_TX_PASSIVE;
- if (!(last_err & CAN_ESR_EPVF)) {
- should_send = true;
- }
- } else if (err & CAN_ESR_EWGF) {
- frame->data[1] |= CAN_ERR_CRTL_RX_WARNING | CAN_ERR_CRTL_TX_WARNING;
- if (!(last_err & CAN_ESR_EWGF)) {
- should_send = true;
- }
- } else if (last_err & (CAN_ESR_EPVF | CAN_ESR_EWGF)) {
- should_send = true;
- }
-
- uint8_t lec = (err >> 4) & 0x07;
- switch (lec) {
- case 0x01: /* stuff error */
- frame->can_id |= CAN_ERR_PROT;
- frame->data[2] |= CAN_ERR_PROT_STUFF;
- should_send = true;
- break;
- case 0x02: /* form error */
- frame->can_id |= CAN_ERR_PROT;
- frame->data[2] |= CAN_ERR_PROT_FORM;
- should_send = true;
- break;
- case 0x03: /* ack error */
- frame->can_id |= CAN_ERR_ACK;
- should_send = true;
- break;
- case 0x04: /* bit recessive error */
- frame->can_id |= CAN_ERR_PROT;
- frame->data[2] |= CAN_ERR_PROT_BIT1;
- should_send = true;
- break;
- case 0x05: /* bit dominant error */
- frame->can_id |= CAN_ERR_PROT;
- frame->data[2] |= CAN_ERR_PROT_BIT0;
- should_send = true;
- break;
- case 0x06: /* CRC error */
- frame->can_id |= CAN_ERR_PROT;
- frame->data[3] |= CAN_ERR_PROT_LOC_CRC_SEQ;
- should_send = true;
- break;
- default: /* 0=no error, 7=no change */
- break;
- }
-
- CAN_TypeDef *can = hcan->instance;
- /* Write 7 to LEC so we know if it gets set to the same thing again */
- can->ESR = 7 << 4;
-
- return should_send;
-}
diff --git a/program/user/src/dfu.c b/program/user/src/dfu.c
deleted file mode 100644
index 2601921..0000000
--- a/program/user/src/dfu.c
+++ /dev/null
@@ -1,84 +0,0 @@
-/*
-
-The MIT License (MIT)
-
-Copyright (c) 2016 Hubert Denkmair
-
-Permission is hereby granted, free of charge, to any person obtaining a copy
-of this software and associated documentation files (the "Software"), to deal
-in the Software without restriction, including without limitation the rights
-to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-copies of the Software, and to permit persons to whom the Software is
-furnished to do so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in
-all copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
-THE SOFTWARE.
-
-*/
-
-#include "dfu.h"
-#include
-#include "hal_include.h"
-
-#define RESET_TO_BOOTLOADER_MAGIC_CODE 0xDEADBEEF
-
-#define SYSMEM_STM32F042 0x1FFFC400
-#define SYSMEM_STM32F072 0x1FFFC800
-
-static uint32_t dfu_reset_to_bootloader_magic;
-
-static void dfu_hack_boot_pin_f042();
-static void dfu_jump_to_bootloader();
-
-void dfu_run_bootloader() {
- dfu_reset_to_bootloader_magic = RESET_TO_BOOTLOADER_MAGIC_CODE;
- NVIC_SystemReset();
-}
-
-void __initialize_hardware_early(void) {
- if (dfu_reset_to_bootloader_magic == RESET_TO_BOOTLOADER_MAGIC_CODE) {
- switch (HAL_GetDEVID()) {
-
- case 0x445: // STM32F04x
- dfu_hack_boot_pin_f042();
- dfu_jump_to_bootloader(SYSMEM_STM32F042);
- break;
-
- case 0x448: // STM32F07x
- dfu_jump_to_bootloader(SYSMEM_STM32F072);
- break;
-
- }
- }
-
- SystemInit();
-}
-
-static void dfu_hack_boot_pin_f042() {
- __HAL_RCC_GPIOF_CLK_ENABLE();
- GPIO_InitTypeDef GPIO_InitStruct;
- GPIO_InitStruct.Pin = GPIO_PIN_11;
- GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
- GPIO_InitStruct.Pull = GPIO_PULLUP;
- GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
- HAL_GPIO_Init(GPIOF, &GPIO_InitStruct);
- HAL_GPIO_WritePin(GPIOF, GPIO_PIN_11, 1);
-}
-
-static void dfu_jump_to_bootloader(uint32_t sysmem_base) {
- void (*bootloader)(void) = (void (*)(void)) (*((uint32_t *) (sysmem_base + 4)));
-
- __set_MSP(*(__IO uint32_t *) sysmem_base);
- bootloader();
-
- while (42) {
- }
-}
diff --git a/program/user/src/flash.c b/program/user/src/flash.c
deleted file mode 100644
index e36cfef..0000000
--- a/program/user/src/flash.c
+++ /dev/null
@@ -1,84 +0,0 @@
-/*
-
-The MIT License (MIT)
-
-Copyright (c) 2016 Hubert Denkmair
-
-Permission is hereby granted, free of charge, to any person obtaining a copy
-of this software and associated documentation files (the "Software"), to deal
-in the Software without restriction, including without limitation the rights
-to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-copies of the Software, and to permit persons to whom the Software is
-furnished to do so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in
-all copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
-THE SOFTWARE.
-
-*/
-
-
-#include "flash.h"
-#include
-#include "hal_include.h"
-
-#define NUM_CHANNEL 1
-
-typedef struct {
- uint32_t user_id[NUM_CHANNEL];
-} flash_data_t;
-
-static flash_data_t flash_data_ram;
-__attribute__((__section__(".user_data"))) const flash_data_t flash_data_rom;
-
-void flash_load() {
- memcpy(&flash_data_ram, &flash_data_rom, sizeof(flash_data_t));
-}
-
-bool flash_set_user_id(uint8_t channel, uint32_t user_id) {
- if (channel < NUM_CHANNEL) {
- if (flash_data_ram.user_id[channel] != user_id) {
- flash_data_ram.user_id[channel] = user_id;
- flash_flush();
- }
-
- return true;
- } else {
- return false;
- }
-}
-
-uint32_t flash_get_user_id(uint8_t channel) {
- if (channel < NUM_CHANNEL) {
- return flash_data_ram.user_id[channel];
- } else {
- return 0;
- }
-}
-
-void flash_flush() {
- FLASH_EraseInitTypeDef erase_pages;
-
- erase_pages.PageAddress = (uint32_t) &flash_data_rom;
- erase_pages.NbPages = 1;
- erase_pages.TypeErase = FLASH_TYPEERASE_PAGES;
-
- HAL_FLASH_Unlock();
-
- __HAL_FLASH_CLEAR_FLAG(FLASH_FLAG_EOP | FLASH_FLAG_WRPERR | FLASH_SR_PGERR);
-
- uint32_t error = 0;
- HAL_FLASHEx_Erase(&erase_pages, &error);
- if (error == 0xFFFFFFFF) { // erase finished successfully
- HAL_FLASH_Program(FLASH_TYPEPROGRAM_WORD, (uint32_t) &flash_data_rom.user_id[0], flash_data_ram.user_id[0]);
- }
-
- HAL_FLASH_Lock();
-}
diff --git a/program/user/src/gpio.c b/program/user/src/gpio.c
deleted file mode 100644
index 51ebbcc..0000000
--- a/program/user/src/gpio.c
+++ /dev/null
@@ -1,51 +0,0 @@
-/*
-
-The MIT License (MIT)
-
-Copyright (c) 2016 Hubert Denkmair
-
-Permission is hereby granted, free of charge, to any person obtaining a copy
-of this software and associated documentation files (the "Software"), to deal
-in the Software without restriction, including without limitation the rights
-to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-copies of the Software, and to permit persons to whom the Software is
-furnished to do so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in
-all copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
-THE SOFTWARE.
-
-*/
-
-#include "config.h"
-#include "hal_include.h"
-
-// must run before can_init
-void gpio_init() {
- GPIO_InitTypeDef GPIO_InitStruct;
-
- __HAL_RCC_GPIOA_CLK_ENABLE();
- __HAL_RCC_GPIOB_CLK_ENABLE();
- __HAL_RCC_GPIOC_CLK_ENABLE();
-
- HAL_GPIO_WritePin(LED1_GPIO_Port, LED1_Pin, GPIO_PIN_SET);
- GPIO_InitStruct.Pin = LED1_Pin;
- GPIO_InitStruct.Mode = LED1_Mode;
- GPIO_InitStruct.Pull = GPIO_NOPULL;
- GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
- HAL_GPIO_Init(LED1_GPIO_Port, &GPIO_InitStruct);
-
- HAL_GPIO_WritePin(LED2_GPIO_Port, LED2_Pin, GPIO_PIN_SET);
- GPIO_InitStruct.Pin = LED2_Pin;
- GPIO_InitStruct.Mode = LED2_Mode;
- GPIO_InitStruct.Pull = GPIO_NOPULL;
- GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
- HAL_GPIO_Init(LED2_GPIO_Port, &GPIO_InitStruct);
-}
diff --git a/program/user/src/interrupts.c b/program/user/src/interrupts.c
deleted file mode 100644
index 408ce52..0000000
--- a/program/user/src/interrupts.c
+++ /dev/null
@@ -1,210 +0,0 @@
-/*
-
-The MIT License (MIT)
-
-Copyright (c) 2019 Hubert Denkmair
-
-Permission is hereby granted, free of charge, to any person obtaining a copy
-of this software and associated documentation files (the "Software"), to deal
-in the Software without restriction, including without limitation the rights
-to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-copies of the Software, and to permit persons to whom the Software is
-furnished to do so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in
-all copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
-THE SOFTWARE.
-
-*/
-
-#include
-#include
-#include "hal_include.h"
-
-void NMI_Handler(void)
-{
- __asm__("BKPT");
- while (1);
-}
-
-void HardFault_Handler(void)
-{
- __asm__("BKPT");
- while (1);
-}
-
-void SysTick_Handler(void)
-{
- HAL_IncTick();
- HAL_SYSTICK_IRQHandler();
-}
-
-extern PCD_HandleTypeDef hpcd_USB_FS;
-void USB_Handler(void)
-{
- HAL_PCD_IRQHandler(&hpcd_USB_FS);
-}
-
-void Default_Handler()
-{
- __asm__("BKPT");
- while (1);
-}
-
-extern void Reset_Handler();
-
-typedef void(*pFunc)();
-extern uint32_t __StackTop;
-
-#if defined(STM32F0)
-__attribute__((used, section(".vectors")))
-const pFunc InterruptVectorTable[48] = {
- (pFunc)(&__StackTop), // initial stack pointer
- Reset_Handler, // reset handler
- NMI_Handler, // -14: NMI
- HardFault_Handler, // -13: HardFault
- 0, // -12: MemManage_Handler
- 0, // -11: BusFault_Handler
- 0, // -10: UsageFault_Handler
- 0, //
- 0, //
- 0, //
- 0, //
- 0, // -5: SVC_Handler
- 0, // -4: DebugMon_Handler
- 0, //
- 0, // -2: PendSV
- SysTick_Handler, // -1: SysTick
-// External Interrupts
- 0, // int 0: WWDG
- 0, // int 1: PVD
- 0, // int 2: RTC
- 0, // int 3: FLASH
- 0, // int 4: RCC_CRS
- 0, // int 5: EXTI0_1
- 0, // int 6: EXTI2_3
- 0, // int 7: EXTI4_15
- 0, // int 8: TSC
- 0, // int 9: DMA_CH1
- 0, // int 10: DMA_CH2_3
- 0, // int 11: DMA_CH4_5_6_7
- 0, // int 12: ADC_COMP
- 0, // int 13: TIM1_BRK_UP_TRG_COM
- 0, // int 14: TIM1_CC
- 0, // int 15: TIM2
- 0, // int 16: TIM3
- 0, // int 17: TIM6_DAC
- 0, // int 18: TIM7
- 0, // int 19: TIM14
- 0, // int 20: TIM15
- 0, // int 21: TIM16
- 0, // int 22: TIM17
- 0, // int 23: I2C1
- 0, // int 24: I2C2
- 0, // int 25: SPI1
- 0, // int 26: SPI2
- 0, // int 27: USART1
- 0, // int 28: USART2
- 0, // int 29: USART3_4
- 0, // int 30: CEC_CAN
- USB_Handler, // int 31: USB
-};
-
-#elif defined(STM32F4)
-__attribute__((used, section(".vectors")))
-const pFunc InterruptVectorTable[84] = {
- (pFunc)(&__StackTop), // initial stack pointer
- Reset_Handler, // reset handler
- NMI_Handler, // -14: NMI
- HardFault_Handler, // -13: HardFault
- 0, // -12: MemManage_Handler
- 0, // -11: BusFault_Handler
- 0, // -10: UsageFault_Handler
- 0, //
- 0, //
- 0, //
- 0, //
- 0, // -5: SVC_Handler
- 0, // -4: DebugMon_Handler
- 0, //
- 0, // -2: PendSV
- SysTick_Handler, // -1: SysTick
-// External Interrupts
- 0, // int 0: WWDG
- 0, // int 1: PVD
- 0, // int 2: tamper and timestamp, EXTI line
- 0, // int 3: RTC
- 0, // int 4: FLASH
- 0, // int 5: RCC
- 0, // int 6: EXTI Line 0
- 0, // int 7: EXTI Line 1
- 0, // int 8: EXTI Line 2
- 0, // int 9: EXTI Line 3
- 0, // int 10: EXTI Line 4
- 0, // int 11: DMA Stream 0
- 0, // int 12: DMA Stream 1
- 0, // int 13: DMA Stream 2
- 0, // int 14: DMA Stream 3
- 0, // int 15: DMA Stream 4
- 0, // int 16: DMA Stream 5
- 0, // int 17: DMA Stream 6
- 0, // int 18: ADCs
- 0, // int 19: CAN1 TX
- 0, // int 20: CAN1 RX0
- 0, // int 21: CAN1 RX1
- 0, // int 22: CAN1 SCE
- 0, // int 23: External Line [9:5]s
- 0, // int 24: TIM1 Break and TIM9
- 0, // int 25: TIM1 Update and TIM10
- 0, // int 26: TIM1 Trigger and Commutation and TIM11
- 0, // int 27: TIM1 Capture Compare
- 0, // int 28: TIM2
- 0, // int 29: TIM3
- 0, // int 30: TIM4
- 0, // int 31: I2C1 Event
- 0, // int 32: I2C1 Error
- 0, // int 33: I2C2 Event
- 0, // int 34: I2C2 Error
- 0, // int 35: SPI1
- 0, // int 36: SPI2
- 0, // int 36: USART1
- 0, // int 37: USART2
- 0, // int 38: USART3
- 0, // int 39: External Line [15:10]s
- 0, // int 40: RTC Alarm (A and B), EXTI Line
- 0, // int 41: USB OTG FS Wakeup, EXTI Line
- 0, // int 42: TIM8 Break and TIM12
- 0, // int 43: TIM8 Update and TIM13
- 0, // int 44: TIM8 Trigger and Commutation and TIM14
- 0, // int 45: TIM8 Capture Compare
- 0, // int 46: DMA1 Stream7
- 0, // int 47: FSMC
- 0, // int 48: SDIO
- 0, // int 49: TIM5
- 0, // int 50: SPI3
- 0, // int 51: UART4
- 0, // int 52: UART5
- 0, // int 53: TIM6 and DAC1&2 underrun errors
- 0, // int 54: TIM7
- 0, // int 55: DMA2 Stream 0
- 0, // int 56: DMA2 Stream 1
- 0, // int 57: DMA2 Stream 2
- 0, // int 58: DMA2 Stream 3
- 0, // int 59: DMA2 Stream 4
- 0, // int 60: Ethernet
- 0, // int 61: Ethernet Wakeup, EXTI Line
- 0, // int 62: CAN2 TX
- 0, // int 63: CAN2 RX0
- 0, // int 64: CAN2 RX1
- 0, // int 65: CAN2 SCE
- USB_Handler, // int 66: USB OTG FS
- // don't need to define any interrupts after this one
-};
-#endif
diff --git a/program/user/src/main.c b/program/user/src/main.c
deleted file mode 100644
index a47a468..0000000
--- a/program/user/src/main.c
+++ /dev/null
@@ -1,228 +0,0 @@
-/*
-
-The MIT License (MIT)
-
-Copyright (c) 2016 Hubert Denkmair
-
-Permission is hereby granted, free of charge, to any person obtaining a copy
-of this software and associated documentation files (the "Software"), to deal
-in the Software without restriction, including without limitation the rights
-to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-copies of the Software, and to permit persons to whom the Software is
-furnished to do so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in
-all copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
-THE SOFTWARE.
-
-*/
-
-#include
-#include
-
-#include "config.h"
-#include "hal_include.h"
-#include "usbd_def.h"
-#include "usbd_desc.h"
-#include "usbd_core.h"
-#include "usbd_gs_can.h"
-#include "gpio.h"
-#include "queue.h"
-#include "gs_usb.h"
-#include "can.h"
-#include "led.h"
-#include "dfu.h"
-#include "timer.h"
-#include "flash.h"
-#include "util.h"
-
-void SystemClock_Config(void);
-static bool send_to_host_or_enqueue(struct gs_host_frame *frame);
-static void send_to_host();
-
-can_data_t hCAN = {0};
-USBD_HandleTypeDef hUSB = {0};
-led_data_t hLED = {0};
-
-queue_t *q_frame_pool = NULL;
-queue_t *q_from_host = NULL;
-queue_t *q_to_host = NULL;
-
-uint32_t received_count = 0;
-
-int main(void) {
- uint32_t last_can_error_status = 0;
-
- HAL_Init();
- SystemClock_Config();
- flash_load();
- gpio_init();
- led_init(&hLED, LED1_GPIO_Port, LED1_Pin, LED1_Active_High, LED2_GPIO_Port, LED2_Pin, LED2_Active_High);
-
- /* nice wake-up pattern */
- for (uint8_t i = 0; i < 10; i++) {
- HAL_GPIO_TogglePin(LED1_GPIO_Port, LED1_Pin);
- HAL_Delay(50);
- HAL_GPIO_TogglePin(LED2_GPIO_Port, LED2_Pin);
- }
-
- led_set_mode(&hLED, led_mode_off);
- timer_init();
-
- can_init(&hCAN, CAN_INTERFACE);
- can_disable(&hCAN);
-
- q_frame_pool = queue_create(CAN_QUEUE_SIZE);
- q_from_host = queue_create(CAN_QUEUE_SIZE);
- q_to_host = queue_create(CAN_QUEUE_SIZE);
- assert_basic(q_frame_pool && q_from_host && q_to_host);
-
- struct gs_host_frame *msgbuf = calloc(CAN_QUEUE_SIZE, sizeof(struct gs_host_frame));
- assert_basic(msgbuf);
-
- for (unsigned i = 0; i < CAN_QUEUE_SIZE; i++) {
- queue_push_back(q_frame_pool, &msgbuf[i]);
- }
-
- USBD_Init(&hUSB, (USBD_DescriptorsTypeDef *) &FS_Desc, DEVICE_FS);
- USBD_RegisterClass(&hUSB, &USBD_GS_CAN);
- USBD_GS_CAN_Init(&hUSB, q_frame_pool, q_from_host, &hLED);
- USBD_GS_CAN_SetChannel(&hUSB, 0, &hCAN);
- USBD_Start(&hUSB);
-
- while (1) {
- struct gs_host_frame *frame = queue_pop_front(q_from_host);
- if (frame != 0) { // send can message from host
- if (can_send(&hCAN, frame)) {
- // Echo sent frame back to host
- frame->flags = 0x0;
- frame->reserved = 0x0;
- frame->timestamp_us = timer_get();
- send_to_host_or_enqueue(frame);
-
- led_indicate_trx(&hLED, led_2);
- } else {
- queue_push_front(q_from_host, frame); // retry later
- }
- }
-
- if (USBD_GS_CAN_TxReady(&hUSB)) {
- send_to_host();
- }
-
- if (can_is_rx_pending(&hCAN)) {
- struct gs_host_frame *frame = queue_pop_front(q_frame_pool);
- if (frame != 0) {
- if (can_receive(&hCAN, frame)) {
- received_count++;
-
- frame->timestamp_us = timer_get();
- frame->echo_id = 0xFFFFFFFF; // not a echo frame
- frame->channel = 0;
- frame->flags = 0;
- frame->reserved = 0;
-
- send_to_host_or_enqueue(frame);
-
- led_indicate_trx(&hLED, led_1);
- } else {
- queue_push_back(q_frame_pool, frame);
- }
- }
- // If there are frames to receive, don't report any error frames. The
- // best we can localize the errors to is "after the last successfully
- // received frame", so wait until we get there. LEC will hold some error
- // to report even if multiple pass by.
- } else {
- uint32_t can_err = can_get_error_status(&hCAN);
- struct gs_host_frame *frame = queue_pop_front(q_frame_pool);
- if (frame != 0) {
- frame->timestamp_us = timer_get();
- if (can_parse_error_status(can_err, last_can_error_status, &hCAN, frame)) {
- send_to_host_or_enqueue(frame);
- last_can_error_status = can_err;
- } else {
- queue_push_back(q_frame_pool, frame);
- }
- }
- }
-
- led_update(&hLED);
-
- if (USBD_GS_CAN_DfuDetachRequested(&hUSB)) {
- dfu_run_bootloader();
- }
-
- }
-}
-
-void HAL_MspInit(void) {
- __HAL_RCC_SYSCFG_CLK_ENABLE();
- HAL_NVIC_SetPriority(SysTick_IRQn, 0, 0);
-}
-
-void SystemClock_Config(void) {
- RCC_OscInitTypeDef RCC_OscInitStruct;
- RCC_ClkInitTypeDef RCC_ClkInitStruct;
-
- RCC_PeriphCLKInitTypeDef PeriphClkInit;
- RCC_CRSInitTypeDef RCC_CRSInitStruct;
-
- RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI48;
- RCC_OscInitStruct.HSI48State = RCC_HSI48_ON;
- RCC_OscInitStruct.PLL.PLLState = RCC_PLL_NONE;
- HAL_RCC_OscConfig(&RCC_OscInitStruct);
-
- RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK |
- RCC_CLOCKTYPE_SYSCLK |
- RCC_CLOCKTYPE_PCLK1;
- RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_HSI48;
- RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
- RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
- HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_1);
-
- PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_USB;
- PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_HSI48;
- HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit);
-
- __HAL_RCC_CRS_CLK_ENABLE();
- RCC_CRSInitStruct.Prescaler = RCC_CRS_SYNC_DIV1;
- RCC_CRSInitStruct.Source = RCC_CRS_SYNC_SOURCE_USB;
- RCC_CRSInitStruct.Polarity = RCC_CRS_SYNC_POLARITY_RISING;
- RCC_CRSInitStruct.ReloadValue = __HAL_RCC_CRS_RELOADVALUE_CALCULATE(48000000, 1000);
- RCC_CRSInitStruct.ErrorLimitValue = 34;
- RCC_CRSInitStruct.HSI48CalibrationValue = 32;
- HAL_RCCEx_CRSConfig(&RCC_CRSInitStruct);
-
- HAL_SYSTICK_Config(HAL_RCC_GetHCLKFreq() / 1000);
- HAL_SYSTICK_CLKSourceConfig(SYSTICK_CLKSOURCE_HCLK);
-
- /* SysTick_IRQn interrupt configuration */
- HAL_NVIC_SetPriority(SysTick_IRQn, 0, 0);
-}
-
-bool send_to_host_or_enqueue(struct gs_host_frame *frame) {
- queue_push_back(q_to_host, frame);
- return true;
-}
-
-void send_to_host() {
- struct gs_host_frame *frame = queue_pop_front(q_to_host);
-
- if (!frame)
- return;
-
- if (USBD_GS_CAN_SendFrame(&hUSB, frame) == USBD_OK) {
- queue_push_back(q_frame_pool, frame);
- } else {
- queue_push_front(q_to_host, frame);
- }
-}
-
diff --git a/program/user/src/queue.c b/program/user/src/queue.c
deleted file mode 100644
index 6070b2b..0000000
--- a/program/user/src/queue.c
+++ /dev/null
@@ -1,152 +0,0 @@
-/*
-
-The MIT License (MIT)
-
-Copyright (c) 2016 Hubert Denkmair
-
-Permission is hereby granted, free of charge, to any person obtaining a copy
-of this software and associated documentation files (the "Software"), to deal
-in the Software without restriction, including without limitation the rights
-to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-copies of the Software, and to permit persons to whom the Software is
-furnished to do so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in
-all copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
-THE SOFTWARE.
-
-*/
-
-#include
-#include
-
-queue_t *queue_create(unsigned max_elements){
- queue_t *q = calloc(1, sizeof(queue_t));
- q->buf = calloc(max_elements, sizeof(void*));
- q->max_elements = max_elements;
- return q;
-}
-
-void queue_destroy(queue_t *q)
-{
- free(q->buf);
- free(q);
-}
-
-unsigned queue_size(queue_t *q)
-{
- bool was_irq_enabled = disable_irq();
- unsigned retval = q->size;
- if (was_irq_enabled) enable_irq();
- return retval;
-}
-
-bool queue_is_empty(queue_t *q)
-{
- return queue_size(q)==0;
-}
-
-bool queue_push_back(queue_t *q, void *el)
-{
- bool retval = false;
- bool was_irq_enabled = disable_irq();
-
- if (q->size < q->max_elements) {
- unsigned pos = (q->first + q->size) % q->max_elements;
- q->buf[pos] = el;
- q->size += 1;
- retval = true;
- }
-
- if (was_irq_enabled) enable_irq();
- return retval;
-}
-
-bool queue_push_front(queue_t *q, void *el)
-{
- bool retval = false;
- bool was_irq_enabled = disable_irq();
- if (q->size < q->max_elements) {
- if (q->first==0) {
- q->first = q->max_elements - 1;
- } else {
- q->first = q->first - 1;
- }
- q->buf[q->first] = el;
- q->size += 1;
- retval = true;
- }
- if (was_irq_enabled) enable_irq();
- return retval;
-}
-
-void *queue_pop_front(queue_t *q)
-{
- bool was_irq_enabled = disable_irq();
- void *el = 0;
- if (q->size > 0) {
- el = q->buf[q->first];
- q->first = (q->first + 1) % q->max_elements;
- q->size -= 1;
- }
- if (was_irq_enabled) enable_irq();
- return el;
-}
-
-unsigned queue_size_i(queue_t *q)
-{
- return q->size;
-}
-
-bool queue_is_empty_i(queue_t *q)
-{
- return queue_size_i(q)==0;
-}
-
-bool queue_push_back_i(queue_t *q, void *el)
-{
- bool retval = false;
-
- if (q->size < q->max_elements) {
- unsigned pos = (q->first + q->size) % q->max_elements;
- q->buf[pos] = el;
- q->size += 1;
- retval = true;
- }
-
- return retval;
-}
-
-bool queue_push_front_i(queue_t *q, void *el)
-{
- bool retval = false;
- if (q->size < q->max_elements) {
- if (q->first==0) {
- q->first = q->max_elements - 1;
- } else {
- q->first = q->first - 1;
- }
- q->buf[q->first] = el;
- q->size += 1;
- retval = true;
- }
- return retval;
-}
-
-void *queue_pop_front_i(queue_t *q)
-{
- void *el = 0;
- if (q->size > 0) {
- el = q->buf[q->first];
- q->first = (q->first + 1) % q->max_elements;
- q->size -= 1;
- }
- return el;
-}
diff --git a/program/user/src/startup.c b/program/user/src/startup.c
deleted file mode 100644
index 70035e8..0000000
--- a/program/user/src/startup.c
+++ /dev/null
@@ -1,54 +0,0 @@
-#include
-#include
-
-typedef struct _copy_table_t
-{
- uint32_t const* src;
- uint32_t* dest;
- uint32_t wlen;
-} copy_table_t;
-
-typedef struct _zero_table_t
-{
- uint32_t* dest;
- uint32_t wlen;
-} zero_table_t;
-
-extern const copy_table_t __copy_table_start__;
-extern const copy_table_t __copy_table_end__;
-extern const zero_table_t __zero_table_start__;
-extern const zero_table_t __zero_table_end__;
-
-void __initialize_hardware_early();
-void _start() __attribute__((noreturn));
-
-void Reset_Handler()
-{
- __initialize_hardware_early();
-
- for (copy_table_t const* table = &__copy_table_start__; table < &__copy_table_end__; ++table)
- {
- for (size_t i=0; iwlen; ++i)
- {
- table->dest[i] = table->src[i];
- }
- }
-
- for (zero_table_t const* table = &__zero_table_start__; table < &__zero_table_end__; ++table)
- {
- for (size_t i=0; iwlen; ++i)
- {
- table->dest[i] = 0u;
- }
- }
-
- _start();
-}
-
-
-void _exit(int code)
-{
- (void) code;
- __asm__("BKPT");
- while (1);
-}
\ No newline at end of file