diff --git a/.vscode/settings.json b/.vscode/settings.json
index caa4ff15bf38b4658d34a4bf0af6745b62d54e44..ba530265aee5551604bf78df79042eaae66e1dba 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -118,19 +118,28 @@
"specialfunctions": "cpp"
},
"cSpell.words": [
+ "abom",
"ADCPRE",
+ "addfilter",
"ADON",
"aelf",
"airbrakes",
"Airbrakes",
+ "Alain",
"Alessandro",
+ "ALST",
"AMSL",
+ "apbclk",
"atthr",
"AVDD",
+ "awum",
"Baro",
+ "bittiming",
"boardcore",
"Boardcorev",
"boudrate",
+ "Canbus",
+ "Carlucci",
"Corigliano",
"CORTEXM",
"cpitch",
@@ -153,6 +162,8 @@
"Fatttr",
"fedetft's",
"fiprintf",
+ "FMPIE",
+ "FOVR",
"Gatttr",
"getdetahstate",
"GNSS",
@@ -169,10 +180,15 @@
"Hatt",
"HIFCR",
"HISR",
+ "hppw",
"HSCMAND",
"HSCMRNN",
"HWMAPPING",
"IDLEIE",
+ "Impli",
+ "Implii",
+ "INAK",
+ "INRQ",
"irqn",
"irqv",
"JEOC",
@@ -182,6 +198,7 @@
"Kalman",
"Katt",
"kbps",
+ "LBKM",
"ldrex",
"leds",
"LIFCR",
@@ -198,6 +215,7 @@
"mosi",
"MPXHZ",
"Musso",
+ "nart",
"NATT",
"NBAR",
"NDTR",
@@ -213,13 +231,21 @@
"PINC",
"Pitot",
"Plin",
+ "prescaler",
"Qgbw",
"Qget",
"Qhandle",
"Qput",
"Qwait",
"Qwakeup",
+ "RDHR",
+ "RDLR",
+ "RDTR",
+ "rflm",
+ "RFOM",
"Riccardo",
+ "RQCP",
+ "RXIRQ",
"RXNE",
"RXNEIE",
"sats",
@@ -239,11 +265,19 @@
"syaw",
"TCIE",
"TCIF",
+ "TDHR",
+ "TDLR",
+ "TDTR",
"TEIE",
"Terraneo",
"testsuite",
+ "TMEIE",
"TSCPP",
"TSVREFE",
+ "txfp",
+ "TXIRQ",
+ "TXOK",
+ "TXRQ",
"Ublox",
"UBXACK",
"UBXGPS",
diff --git a/cmake/boardcore.cmake b/cmake/boardcore.cmake
index b853f0628a71eb8045e1dc9c036fcd5e25d394dc..3453618b78c814bded59867f2d416255aad4744b 100644
--- a/cmake/boardcore.cmake
+++ b/cmake/boardcore.cmake
@@ -45,9 +45,9 @@ foreach(OPT_BOARD ${BOARDS})
# Drivers
${SBS_BASE}/src/shared/drivers/adc/InternalTemp.cpp
${SBS_BASE}/src/shared/drivers/adc/InternalADC.cpp
- ${SBS_BASE}/src/shared/drivers/canbus/Canbus.cpp
- ${SBS_BASE}/src/shared/drivers/canbus/CanInterrupt.cpp
- ${SBS_BASE}/src/shared/drivers/canbus/CanProtocol.cpp
+ ${SBS_BASE}/src/shared/drivers/canbus/CanDriver/CanDriver.cpp
+ ${SBS_BASE}/src/shared/drivers/canbus/CanDriver/CanInterrupt.cpp
+ ${SBS_BASE}/src/shared/drivers/canbus/CanProtocol/CanProtocol.cpp
${SBS_BASE}/src/shared/drivers/i2c/stm32f2_f4_i2c.cpp
${SBS_BASE}/src/shared/drivers/interrupt/external_interrupts.cpp
${SBS_BASE}/src/shared/drivers/timer/PWM.cpp
diff --git a/src/shared/drivers/canbus/BusLoadEstimation.h b/src/shared/drivers/canbus/CanDriver/BusLoadEstimation.h
similarity index 100%
rename from src/shared/drivers/canbus/BusLoadEstimation.h
rename to src/shared/drivers/canbus/CanDriver/BusLoadEstimation.h
diff --git a/src/shared/drivers/canbus/CanData.h b/src/shared/drivers/canbus/CanDriver/CanData.h
similarity index 100%
rename from src/shared/drivers/canbus/CanData.h
rename to src/shared/drivers/canbus/CanDriver/CanData.h
diff --git a/src/shared/drivers/canbus/Canbus.cpp b/src/shared/drivers/canbus/CanDriver/CanDriver.cpp
similarity index 94%
rename from src/shared/drivers/canbus/Canbus.cpp
rename to src/shared/drivers/canbus/CanDriver/CanDriver.cpp
index b7d70591a2b90d79f7ba675bd98c6858e89192ad..dc9469bddda098bdeac1b050a113bc04e734128c 100644
--- a/src/shared/drivers/canbus/Canbus.cpp
+++ b/src/shared/drivers/canbus/CanDriver/CanDriver.cpp
@@ -20,7 +20,7 @@
* THE SOFTWARE.
*/
-#include "Canbus.h"
+#include "CanDriver.h"
#include <kernel/scheduler/scheduler.h>
#include <utils/ClockUtils.h>
@@ -53,26 +53,23 @@ CanbusDriver::CanbusDriver(CAN_TypeDef* can, CanbusConfig config,
ClockUtils::enablePeripheralClock(can);
// Enter init mode
- can->MCR &= (~CAN_MCR_SLEEP);
+ can->MCR &= ~CAN_MCR_SLEEP;
can->MCR |= CAN_MCR_INRQ;
while ((can->MSR & CAN_MSR_INAK) == 0)
;
+ // Automatic wakeup when a new packet is available
if (config.awum)
- {
- can->MCR |=
- CAN_MCR_AWUM; // Automatic wakeup when a new packet is available
- }
+ can->MCR |= CAN_MCR_AWUM;
+ // Automatically recover from Bus-Off mode
if (config.abom)
- {
- can->MCR |= CAN_MCR_ABOM; // Automatically recover from Bus-Off mode
- }
+ can->MCR |= CAN_MCR_ABOM;
+
+ // Disable automatic retransmission
if (config.nart)
- {
- can->MCR |= CAN_MCR_NART; // Disable automatic retransmission
- }
+ can->MCR |= CAN_MCR_NART;
// Bit timing configuration
can->BTR &= ~CAN_BTR_BRP;
@@ -86,21 +83,15 @@ CanbusDriver::CanbusDriver(CAN_TypeDef* can, CanbusConfig config,
can->BTR |= ((bitTiming.SJW - 1) & 0x3) << 24;
if (config.loopback)
- {
can->BTR |= CAN_BTR_LBKM;
- }
// Enter filter initialization mode
can->FMR |= CAN_FMR_FINIT;
if (can == CAN1)
- {
canDrivers[0] = this;
- }
else
- {
canDrivers[1] = this;
- }
// Enable interrupts
can->IER |= CAN_IER_FMPIE0 | CAN_IER_FMPIE1 | CAN_IER_TMEIE;
@@ -139,7 +130,7 @@ CanbusDriver::BitTiming CanbusDriver::calcBitTiming(AutoBitTiming autoBt)
1 << 10),
1);
- // Given N, calculate BS1 and BS2 that statusult in a sample time as
+ // Given N, calculate BS1 and BS2 that result in a sample time as
// close as possible to the target one
cfgIter.BS1 =
std::min(std::max((int)roundf(autoBt.samplePoint * N - 1), 1),
@@ -190,9 +181,7 @@ CanbusDriver::BitTiming CanbusDriver::calcBitTiming(AutoBitTiming autoBt)
void CanbusDriver::init()
{
if (isInit)
- {
return;
- }
PrintLogger ls = l.getChild("init");
@@ -203,9 +192,7 @@ void CanbusDriver::init()
LOG_DEBUG(ls, "Waiting for canbus synchronization...");
while ((can->MSR & CAN_MSR_INAK) > 0)
- {
Thread::sleep(1);
- }
LOG_INFO(ls, "Canbus synchronized! Init done!");
@@ -221,6 +208,7 @@ bool CanbusDriver::addFilter(FilterBank filter)
LOG_ERR(ls, "Cannot add filter: canbus already initialized");
return false;
}
+
if (filterIndex == NUM_FILTER_BANKS)
{
LOG_ERR(ls, "Cannot add filter: no more filter banks available");
@@ -256,6 +244,7 @@ uint32_t CanbusDriver::send(CanPacket packet)
{
miosix::FastInterruptDisableLock d;
+
// Wait until there is an empty mailbox available to use
while ((can->TSR & CAN_TSR_TME) == 0)
{
@@ -312,13 +301,9 @@ uint32_t CanbusDriver::send(CanPacket packet)
for (uint8_t i = 0; i < packet.length; ++i)
{
if (i < 4)
- {
mailbox->TDLR |= packet.data[i] << i * 8;
- }
else
- {
mailbox->TDHR |= packet.data[i] << (i - 4) * 8;
- }
}
// Finally send the packet
@@ -336,13 +321,9 @@ void CanbusDriver::handleRXInterrupt(int fifo)
mailbox = &can->sFIFOMailBox[fifo];
if (fifo == 0)
- {
RFR = &can->RF0R;
- }
else
- {
RFR = &can->RF1R;
- }
status.fifoOverrun = (*RFR & CAN_RF0R_FOVR0) > 0;
status.fifoFull = (*RFR & CAN_RF0R_FULL0) > 0;
@@ -365,25 +346,18 @@ void CanbusDriver::handleRXInterrupt(int fifo)
p.rtr = (mailbox->RIR & CAN_RI0R_RTR) > 0;
if (p.ext)
- {
p.id = (mailbox->RIR >> 3) & 0x1FFFFFFF;
- }
else
- {
p.id = (mailbox->RIR >> 21) & 0x7FF;
- }
+
p.length = mailbox->RDTR & CAN_RDT0R_DLC;
for (uint8_t i = 0; i < p.length; i++)
{
if (i < 4) // Low register
- {
p.data[i] = (mailbox->RDLR >> (i * 8)) & 0xFF;
- }
else // High register
- {
p.data[i] = (mailbox->RDHR >> ((i - 4) * 8)) & 0xFF;
- }
}
*RFR |= CAN_RF0R_RFOM0;
diff --git a/src/shared/drivers/canbus/Canbus.h b/src/shared/drivers/canbus/CanDriver/CanDriver.h
similarity index 94%
rename from src/shared/drivers/canbus/Canbus.h
rename to src/shared/drivers/canbus/CanDriver/CanDriver.h
index b841096f29ade3f3ec47fb8af18198709075e4bf..07006aa3752021ebad17d7fe3a25ff13d19562da 100644
--- a/src/shared/drivers/canbus/Canbus.h
+++ b/src/shared/drivers/canbus/CanDriver/CanDriver.h
@@ -38,8 +38,8 @@ namespace Canbus
{
/**
- * @brief Low level canbus driver, with support for both peripherals (CAN1 and
- * CAN2) on stm32f4 micros.
+ * @brief Low level CanBus driver, with support for both peripherals (CAN1 and
+ * CAN2) on stm32f4 microcontrollers.
*/
class CanbusDriver
{
@@ -56,7 +56,7 @@ class CanbusDriver
public:
/**
- * @brief Configuration struct for basic canbus operation.
+ * @brief Configuration struct for basic CanBus operation.
*/
struct CanbusConfig
{
@@ -81,7 +81,7 @@ public:
{
/**
* @brief Canbus baud rate in bps (BITS PER SECOND). CANOpen standard
- * values are preferred but not mandatory: 1000 kpbs, 500 kbps, 250
+ * values are preferred but not mandatory: 1000 kbps, 500 kbps, 250
* kbps, 125 kbps, 100 kbps, 83.333 kbps, 50 kbps, 25 kbps and 10 kbps.
*/
uint32_t baudRate;
@@ -93,7 +93,7 @@ public:
};
/**
- * @brief Struct specifing exact bit timing registers values.
+ * @brief Struct specifying exact bit timing registers values.
*/
struct BitTiming
{
@@ -133,7 +133,7 @@ public:
~CanbusDriver();
/**
- * @brief Exits initialization mode and starts canbus operation.
+ * @brief Exits initialization mode and starts CanBus operation.
*/
void init();
@@ -173,7 +173,7 @@ public:
}
/**
- * @brief Returns the canbus peripheral assigned to this instance.
+ * @brief Returns the CanBus peripheral assigned to this instance.
*/
CAN_TypeDef* getCAN() { return can; }
diff --git a/src/shared/drivers/canbus/CanInterrupt.cpp b/src/shared/drivers/canbus/CanDriver/CanInterrupt.cpp
similarity index 99%
rename from src/shared/drivers/canbus/CanInterrupt.cpp
rename to src/shared/drivers/canbus/CanDriver/CanInterrupt.cpp
index e0312b326dc917837e84f4faca875d6f22fa62c8..4ed47a191f8c8afa1a0716b7f1b0bfc08642cf47 100644
--- a/src/shared/drivers/canbus/CanInterrupt.cpp
+++ b/src/shared/drivers/canbus/CanDriver/CanInterrupt.cpp
@@ -26,7 +26,7 @@
#include <kernel/scheduler/scheduler.h>
#include <miosix.h>
-#include "Canbus.h"
+#include "CanDriver.h"
namespace Boardcore
{
@@ -98,9 +98,7 @@ void __attribute__((used)) CAN_RXIRQHandlerImpl(int canDev, int fifo)
(void)canDev;
if (canDrivers[canDev])
- {
canDrivers[canDev]->handleRXInterrupt(fifo);
- }
}
void __attribute__((used)) CAN_TXIRQHandlerImpl(int canDev)
diff --git a/src/shared/drivers/canbus/CanInterrupt.h b/src/shared/drivers/canbus/CanDriver/CanInterrupt.h
similarity index 100%
rename from src/shared/drivers/canbus/CanInterrupt.h
rename to src/shared/drivers/canbus/CanDriver/CanInterrupt.h
diff --git a/src/shared/drivers/canbus/Filters.h b/src/shared/drivers/canbus/CanDriver/Filters.h
similarity index 100%
rename from src/shared/drivers/canbus/Filters.h
rename to src/shared/drivers/canbus/CanDriver/Filters.h
diff --git a/src/shared/drivers/canbus/CanProtocol.cpp b/src/shared/drivers/canbus/CanProtocol/CanProtocol.cpp
similarity index 100%
rename from src/shared/drivers/canbus/CanProtocol.cpp
rename to src/shared/drivers/canbus/CanProtocol/CanProtocol.cpp
diff --git a/src/shared/drivers/canbus/CanProtocol.h b/src/shared/drivers/canbus/CanProtocol/CanProtocol.h
similarity index 99%
rename from src/shared/drivers/canbus/CanProtocol.h
rename to src/shared/drivers/canbus/CanProtocol/CanProtocol.h
index d2be1c2efe69dc3fba64068530dd3e6e8b4d5a5e..88316ffad940f4884fa1a000f5a02e10dee9a732 100644
--- a/src/shared/drivers/canbus/CanProtocol.h
+++ b/src/shared/drivers/canbus/CanProtocol/CanProtocol.h
@@ -23,13 +23,12 @@
#pragma once
#include <ActiveObject.h>
+#include <drivers/canbus/CanDriver/CanDriver.h>
#include <utils/Debug.h>
#include <utils/collections/IRQCircularBuffer.h>
#include <thread>
-#include "Canbus.h"
-
#define N_BOARDS 3 ///< Number of boards on the bus.
namespace Boardcore
diff --git a/src/tests/drivers/canbus/SimpleCanManager.h b/src/tests/drivers/canbus/SimpleCanManager.h
index f7ff5a59d5c65a83500948b128f2f0714c344701..141c5a60e2fe12c72607cd171f35231313874559 100644
--- a/src/tests/drivers/canbus/SimpleCanManager.h
+++ b/src/tests/drivers/canbus/SimpleCanManager.h
@@ -21,16 +21,16 @@
*/
#pragma once
+
+#include <ActiveObject.h>
+#include <drivers/canbus/CanDriver/BusLoadEstimation.h>
+#include <drivers/canbus/CanDriver/CanDriver.h>
#include <miosix.h>
+#include <utils/collections/SyncCircularBuffer.h>
#include <cstdlib>
#include <functional>
-#include "ActiveObject.h"
-#include "drivers/canbus/BusLoadEstimation.h"
-#include "drivers/canbus/Canbus.h"
-#include "utils/collections/SyncCircularBuffer.h"
-
using std::function;
class SimpleCanManager
diff --git a/src/tests/drivers/canbus/test-can-protocol.cpp b/src/tests/drivers/canbus/test-can-protocol.cpp
index 04b1fae84d928f8b93fb18d67fbea7f78c3a15f6..01b8a5f271fbaa49bc0834ca788c8a164f7edae1 100644
--- a/src/tests/drivers/canbus/test-can-protocol.cpp
+++ b/src/tests/drivers/canbus/test-can-protocol.cpp
@@ -22,13 +22,13 @@
* THE SOFTWARE.
*/
-#include <drivers/canbus/CanProtocol.h>
+#include <drivers/canbus/CanDriver/BusLoadEstimation.h>
+#include <drivers/canbus/CanDriver/CanDriver.h>
+#include <drivers/canbus/CanProtocol/CanProtocol.h>
#include <functional>
#include <thread>
-#include "drivers/canbus/BusLoadEstimation.h"
-#include "drivers/canbus/Canbus.h"
#include "utils/collections/CircularBuffer.h"
constexpr uint32_t BAUD_RATE = 500 * 1000;
diff --git a/src/tests/drivers/canbus/test-canbus-2way.cpp b/src/tests/drivers/canbus/test-canbus-2way.cpp
index 91b69f5c2b9589fc67bfe5c843f0ed3eadad35b9..1a22bdfc874f306cfa4222838a19cd6b7ac02628 100644
--- a/src/tests/drivers/canbus/test-canbus-2way.cpp
+++ b/src/tests/drivers/canbus/test-canbus-2way.cpp
@@ -25,17 +25,17 @@
// considered lost. It may also receive requests from other canbus devices, to
// which it will respond
+#include <ActiveObject.h>
+#include <diagnostic/PrintLogger.h>
+#include <drivers/canbus/CanDriver/BusLoadEstimation.h>
+#include <drivers/canbus/CanDriver/CanDriver.h>
#include <utils/Debug.h>
#include <utils/Stats/Stats.h>
+#include <utils/collections/CircularBuffer.h>
#include <string>
-#include "ActiveObject.h"
#include "SimpleCanManager.h"
-#include "diagnostic/PrintLogger.h"
-#include "drivers/canbus/BusLoadEstimation.h"
-#include "drivers/canbus/Canbus.h"
-#include "utils/collections/CircularBuffer.h"
constexpr uint32_t BAUD_RATE = 500 * 1000;
constexpr float SAMPLE_POINT = 87.5f / 100.0f;
diff --git a/src/tests/drivers/canbus/test-canbus-filters.cpp b/src/tests/drivers/canbus/test-canbus-filters.cpp
index 64c8868840454afd28abcb7506592713ceb08095..c56e948c238fa50528df5466e64290f296fa2914 100644
--- a/src/tests/drivers/canbus/test-canbus-filters.cpp
+++ b/src/tests/drivers/canbus/test-canbus-filters.cpp
@@ -23,7 +23,7 @@
#include <ActiveObject.h>
#include <diagnostic/PrintLogger.h>
#include <drivers/canbus/BusLoadEstimation.h>
-#include <drivers/canbus/Canbus.h>
+#include <drivers/canbus/CanDriver.h>
#include <string>
diff --git a/src/tests/drivers/canbus/test-canbus-loopback.cpp b/src/tests/drivers/canbus/test-canbus-loopback.cpp
index d01ac89a1eee286837069dde8cbd8c8eef46e28e..06559020e6eaee2e933d2ce66696ec2a1c5baf44 100644
--- a/src/tests/drivers/canbus/test-canbus-loopback.cpp
+++ b/src/tests/drivers/canbus/test-canbus-loopback.cpp
@@ -20,12 +20,12 @@
* THE SOFTWARE.
*/
-#include <string>
+#include <ActiveObject.h>
+#include <diagnostic/PrintLogger.h>
+#include <drivers/canbus/CanDriver/BusLoadEstimation.h>
+#include <drivers/canbus/CanDriver/CanDriver.h>
-#include "ActiveObject.h"
-#include "diagnostic/PrintLogger.h"
-#include "drivers/canbus/BusLoadEstimation.h"
-#include "drivers/canbus/Canbus.h"
+#include <string>
using std::string;
using namespace Boardcore;