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Fix: get rid of "can_reset" and "can_mode". #15

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Merged
merged 1 commit into from
Oct 3, 2023
Merged

Fix: get rid of "can_reset" and "can_mode". #15

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4 changes: 1 addition & 3 deletions include/can_api.h
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Original file line number Diff line number Diff line change
Expand Up @@ -94,11 +94,9 @@ void can_handle_data();
void can_init(can_t *obj, CANName peripheral, CanNominalBitTimingResult const can_bit_timing);
int can_frequency(can_t *obj, uint32_t const can_bitrate);

int can_write(can_t *obj, union x8h7_can_message const * msg);
void can_write(can_t *obj, union x8h7_can_message const * msg);
int can_read(can_t *obj, union x8h7_can_message *msg);
int can_mode(can_t *obj, CanMode mode);
int can_filter(can_t *obj, uint32_t id, uint32_t mask, CANFormat format, int32_t handle);
void can_reset(can_t *obj);
unsigned char can_rderror(can_t *obj);
unsigned char can_tderror(can_t *obj);

Expand Down
61 changes: 3 additions & 58 deletions src/can.c
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Original file line number Diff line number Diff line change
Expand Up @@ -185,8 +185,7 @@ void fdcan1_handler(uint8_t opcode, uint8_t *data, uint16_t size) {

dbg_printf("fdcan1_handler: sending CAN message to %x, size %d, content[0]=0x%02X\n", msg.id, msg.len, msg.data[0]);

if (!can_write(&fdcan_1, &msg))
can_reset(&fdcan_1);
can_write(&fdcan_1, &msg);
}
else {
dbg_printf("fdcan1_handler: error invalid opcode (:%d)\n", opcode);
Expand Down Expand Up @@ -221,8 +220,7 @@ void fdcan2_handler(uint8_t opcode, uint8_t *data, uint16_t size) {

dbg_printf("fdcan2_handler: sending CAN message to %x, size %d, content[0]=0x%02X\n", msg.id, msg.len, msg.data[0]);

if (!can_write(&fdcan_2, &msg))
can_reset(&fdcan_2);
can_write(&fdcan_2, &msg);
}
else {
dbg_printf("fdcan2_handler: error invalid opcode (:%d)\n", opcode);
Expand Down Expand Up @@ -354,18 +352,6 @@ void can_init(can_t *obj, CANName peripheral, CanNominalBitTimingResult const ca
can_internal_init(obj);
}

/** Reset CAN interface.
*
* To use after error overflow.
*/
void can_reset(can_t *obj)
{
can_mode(obj, MODE_RESET);
HAL_FDCAN_ResetTimeoutCounter(&obj->CanHandle);
HAL_FDCAN_ResetTimestampCounter(&obj->CanHandle);
}


int can_frequency(can_t *obj, uint32_t const can_bitrate)
{
if (HAL_FDCAN_Stop(&obj->CanHandle) != HAL_OK) {
Expand Down Expand Up @@ -443,7 +429,7 @@ int can_filter(can_t *obj, uint32_t id, uint32_t mask, CANFormat format, int32_t
}


int can_write(can_t *obj, union x8h7_can_message const * msg)
void can_write(can_t *obj, union x8h7_can_message const * msg)
{
FDCAN_TxHeaderTypeDef TxHeader = {0};

Expand Down Expand Up @@ -494,13 +480,11 @@ int can_write(can_t *obj, union x8h7_can_message const * msg)
if (err_code == HAL_FDCAN_ERROR_FIFO_FULL) msg[1] = X8H7_CAN_STS_FLG_TX_OVR;

enqueue_packet(obj == &fdcan_1 ? PERIPH_FDCAN1 : PERIPH_FDCAN2, CAN_STATUS, sizeof(msg), msg);
return 0;
}
else
{
uint8_t msg[2] = {X8H7_CAN_STS_INT_TX, 0};
enqueue_packet(obj == &fdcan_1 ? PERIPH_FDCAN1 : PERIPH_FDCAN2, CAN_STATUS, sizeof(msg), msg);
return 1;
}
}

Expand Down Expand Up @@ -554,42 +538,3 @@ unsigned char can_tderror(can_t *obj)

return (unsigned char)ErrorCounters.TxErrorCnt;
}

/** Change CAN operation to the specified mode
*
* @param mode The new operation mode (MODE_RESET, MODE_NORMAL, MODE_SILENT, MODE_TEST_LOCAL, MODE_TEST_GLOBAL, MODE_TEST_SILENT)
*
* @returns
* 0 if mode change failed or unsupported,
* 1 if mode change was successful
*/
int can_mode(can_t *obj, CanMode mode)
{
if (HAL_FDCAN_Stop(&obj->CanHandle) != HAL_OK) {
error("HAL_FDCAN_Stop error\n");
}

switch (mode) {
case MODE_RESET:
break;
case MODE_NORMAL:
obj->CanHandle.Init.Mode = FDCAN_MODE_NORMAL;
// obj->CanHandle.Init.NominalPrescaler = 100; // Prescaler
break;
case MODE_SILENT: // Bus Monitoring
obj->CanHandle.Init.Mode = FDCAN_MODE_BUS_MONITORING;
break;
case MODE_TEST_GLOBAL: // External LoopBack
case MODE_TEST_LOCAL:
obj->CanHandle.Init.Mode = FDCAN_MODE_EXTERNAL_LOOPBACK;
break;
case MODE_TEST_SILENT: // Internal LoopBack
obj->CanHandle.Init.Mode = FDCAN_MODE_INTERNAL_LOOPBACK;
// obj->CanHandle.Init.NominalPrescaler = 1; // Prescaler
break;
default:
return 0;
}

return can_internal_init(obj);
}