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Change can_health request method (#1472) 

* init

* fix typo

* remove tx lost as fake and add rx lsot
This commit is contained in:
Igor Biletskyy 2023-06-20 12:29:20 -07:00 committed by GitHub
parent 0f4e8f79f5
commit 9d56e80390
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GPG Key ID: 4AEE18F83AFDEB23
3 changed files with 14 additions and 13 deletions
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9
board/drivers/bxcan.h
View File

@ -91,14 +91,15 @@ void update_can_health_pkt(uint8_t can_number, bool error_irq) {
can_health[can_number].transmit_error_cnt = ((esr_reg & CAN_ESR_TEC) >> CAN_ESR_TEC_Pos); can_health[can_number].transmit_error_cnt = ((esr_reg & CAN_ESR_TEC) >> CAN_ESR_TEC_Pos);
} }
// CAN error // ***************************** CAN *****************************
// CANx_SCE IRQ Handler
void can_sce(uint8_t can_number) { void can_sce(uint8_t can_number) {
ENTER_CRITICAL(); ENTER_CRITICAL();
update_can_health_pkt(can_number, true); update_can_health_pkt(can_number, true);
EXIT_CRITICAL(); EXIT_CRITICAL();
} }
// ***************************** CAN ***************************** // CANx_TX IRQ Handler
void process_can(uint8_t can_number) { void process_can(uint8_t can_number) {
if (can_number != 0xffU) { if (can_number != 0xffU) {
@ -154,12 +155,11 @@ void process_can(uint8_t can_number) {
} }
} }
update_can_health_pkt(can_number, false);
EXIT_CRITICAL(); EXIT_CRITICAL();
} }
} }
// CAN receive handlers // CANx_RX0 IRQ Handler
// blink blue when we are receiving CAN messages // blink blue when we are receiving CAN messages
void can_rx(uint8_t can_number) { void can_rx(uint8_t can_number) {
CAN_TypeDef *CAN = CANIF_FROM_CAN_NUM(can_number); CAN_TypeDef *CAN = CANIF_FROM_CAN_NUM(can_number);
@ -214,7 +214,6 @@ void can_rx(uint8_t can_number) {
rx_buffer_overflow += can_push(&can_rx_q, &to_push) ? 0U : 1U; rx_buffer_overflow += can_push(&can_rx_q, &to_push) ? 0U : 1U;
// next // next
update_can_health_pkt(can_number, false);
CAN->RF0R |= CAN_RF0R_RFOM0; CAN->RF0R |= CAN_RF0R_RFOM0;
} }
} }

17
board/drivers/fdcan.h
View File

@ -32,7 +32,6 @@ void can_set_gmlan(uint8_t bus) {
print("GMLAN not available on red panda\n"); print("GMLAN not available on red panda\n");
} }
// ***************************** CAN *****************************
void update_can_health_pkt(uint8_t can_number, bool error_irq) { void update_can_health_pkt(uint8_t can_number, bool error_irq) {
ENTER_CRITICAL(); ENTER_CRITICAL();
@ -61,11 +60,11 @@ void update_can_health_pkt(uint8_t can_number, bool error_irq) {
if (error_irq) { if (error_irq) {
can_health[can_number].total_error_cnt += 1U; can_health[can_number].total_error_cnt += 1U;
if ((CANx->IR & (FDCAN_IR_TEFL)) != 0) { if ((CANx->IR & (FDCAN_IR_RF0L)) != 0) {
can_health[can_number].total_tx_lost_cnt += 1U; can_health[can_number].total_rx_lost_cnt += 1U;
} }
// Actually reset can core only on arbitration or data phase errors and when CEL couter reaches at least 100 errors // Actually reset can core only on arbitration or data phase errors and when CEL couter reaches at least 100 errors
if (((CANx->IR & (FDCAN_IR_PED | FDCAN_IR_PEA)) != 0) && (((ecr_reg & FDCAN_ECR_CEL) >> FDCAN_ECR_CEL_Pos) == 100U)) { if (((CANx->IR & (FDCAN_IR_PED | FDCAN_IR_PEA)) != 0) && (((ecr_reg & FDCAN_ECR_CEL) >> FDCAN_ECR_CEL_Pos) >= 100U)) {
llcan_clear_send(CANx); llcan_clear_send(CANx);
} }
// Clear error interrupts // Clear error interrupts
@ -74,6 +73,8 @@ void update_can_health_pkt(uint8_t can_number, bool error_irq) {
EXIT_CRITICAL(); EXIT_CRITICAL();
} }
// ***************************** CAN *****************************
// FDCANx_IT1 IRQ Handler (TX)
void process_can(uint8_t can_number) { void process_can(uint8_t can_number) {
if (can_number != 0xffU) { if (can_number != 0xffU) {
ENTER_CRITICAL(); ENTER_CRITICAL();
@ -128,12 +129,11 @@ void process_can(uint8_t can_number) {
} }
} }
update_can_health_pkt(can_number, false);
EXIT_CRITICAL(); EXIT_CRITICAL();
} }
} }
// CAN receive handlers // FDCANx_IT0 IRQ Handler (RX and errors)
// blink blue when we are receiving CAN messages // blink blue when we are receiving CAN messages
void can_rx(uint8_t can_number) { void can_rx(uint8_t can_number) {
FDCAN_GlobalTypeDef *CANx = CANIF_FROM_CAN_NUM(can_number); FDCAN_GlobalTypeDef *CANx = CANIF_FROM_CAN_NUM(can_number);
@ -217,8 +217,9 @@ void can_rx(uint8_t can_number) {
} }
// Error handling // Error handling
bool error_irq = ((CANx->IR & (FDCAN_IR_PED | FDCAN_IR_PEA | FDCAN_IR_EP | FDCAN_IR_BO | FDCAN_IR_RF0L)) != 0); if ((CANx->IR & (FDCAN_IR_PED | FDCAN_IR_PEA | FDCAN_IR_EP | FDCAN_IR_BO | FDCAN_IR_RF0L | FDCAN_IR_ELO)) != 0) {
update_can_health_pkt(can_number, error_irq); update_can_health_pkt(can_number, true);
}
} }
void FDCAN1_IT0_IRQ_Handler(void) { can_rx(0); } void FDCAN1_IT0_IRQ_Handler(void) { can_rx(0); }

1
board/main_comms.h
View File

@ -167,6 +167,7 @@ int comms_control_handler(ControlPacket_t *req, uint8_t *resp) {
case 0xc2: case 0xc2:
COMPILE_TIME_ASSERT(sizeof(can_health_t) <= USBPACKET_MAX_SIZE); COMPILE_TIME_ASSERT(sizeof(can_health_t) <= USBPACKET_MAX_SIZE);
if (req->param1 < 3U) { if (req->param1 < 3U) {
update_can_health_pkt(req->param1, false);
can_health[req->param1].can_speed = (bus_config[req->param1].can_speed / 10U); can_health[req->param1].can_speed = (bus_config[req->param1].can_speed / 10U);
can_health[req->param1].can_data_speed = (bus_config[req->param1].can_data_speed / 10U); can_health[req->param1].can_data_speed = (bus_config[req->param1].can_data_speed / 10U);
can_health[req->param1].canfd_enabled = bus_config[req->param1].canfd_enabled; can_health[req->param1].canfd_enabled = bus_config[req->param1].canfd_enabled;