openmv/lib/alif/Boards/DevKit-e7/Templates/FreeRTOS/CANFD_Int_Loopback.c
iabdalkader daf2bb30da misc: Restructure repo.
Signed-off-by: iabdalkader <i.abdalkader@gmail.com>
2025-04-13 08:28:34 +02:00

734 lines
24 KiB
C

/* Copyright (C) 2023 Alif Semiconductor - All Rights Reserved.
* Use, distribution and modification of this code is permitted under the
* terms stated in the Alif Semiconductor Software License Agreement
*
* You should have received a copy of the Alif Semiconductor Software
* License Agreement with this file. If not, please write to:
* contact@alifsemi.com, or visit: https://alifsemi.com/license
*
*/
/******************************************************************************
* @file CANFD_Int_Loopback.c
* @author Shreehari H K
* @email shreehari.hk@alifsemi.com
* @version V1.0.0
* @date 05-July-2023
* @brief FreeRTOS demo application for CANFD.
* - Performs Internal loopback test.
* @bug None
* @Note None
******************************************************************************/
#include <stdio.h>
#include <string.h>
#include <RTE_Components.h>
#include CMSIS_device_header
#include "pinconf.h"
#include "Driver_CAN.h"
#include "FreeRTOS.h"
#include "FreeRTOSConfig.h"
#include "task.h"
#if defined(RTE_Compiler_IO_STDOUT)
#include "retarget_stdout.h"
#endif /* RTE_Compiler_IO_STDOUT */
#include "se_services_port.h"
/* It is recommended to use the bit rate and bit segments
* as specified in the Hardware reference manual for proper communication.
*
* Nominal bit rate 500kbps, Fast bit rate 2Mbps, 20MHz CANFD clock are set
* for this example
*/
#define CANFD_NOMINAL_BITRATE 500000U
#define CANFD_BIT_TIME_PROP_SEG 2U
#define CANFD_BIT_TIME_SEG1 30U
#define CANFD_BIT_TIME_SEG2 8U
#define CANFD_BIT_TIME_SJW 8U
#define CANFD_FAST_BITRATE 2000000U
#define CANFD_FAST_BIT_TIME_PROP_SEG 1U
#define CANFD_FAST_BIT_TIME_SEG1 7U
#define CANFD_FAST_BIT_TIME_SEG2 2U
#define CANFD_FAST_BIT_TIME_SJW 2U
#define CANFD_TRANSCEIVER_TX_DELAY_COMP 8U
#define CANFD_NOMINAL_BITTIME_SEGMENTS ((CANFD_BIT_TIME_PROP_SEG << 0U) | \
(CANFD_BIT_TIME_SEG1 << 8U) | \
(CANFD_BIT_TIME_SEG2 << 16U) | \
(CANFD_BIT_TIME_SJW << 24U))
#define CANFD_FAST_BITTIME_SEGMENTS ((CANFD_FAST_BIT_TIME_PROP_SEG << 0U) | \
(CANFD_FAST_BIT_TIME_SEG1 << 8U) | \
(CANFD_FAST_BIT_TIME_SEG2 << 16U) | \
(CANFD_FAST_BIT_TIME_SJW << 24U))
/* Object filter settings */
#define CANFD_OBJECT_FILTER_CODE_1 0x5A5U
#define CANFD_OBJECT_FILTER_CODE_2 0x01FF5A5AU
#define CANFD_OBJECT_FILTER_MASK 0U
#define CANFD_MAX_MSG_SIZE 64U
/* Application Message Frame types */
typedef enum _CANFD_FRAME
{
CANFD_FRAME_STD_ID_CLASSIC_DATA,
CANFD_FRAME_STD_ID_RTR,
CANFD_FRAME_STD_ID_FD_DATA,
CANFD_FRAME_EXT_ID_RTR,
CANFD_FRAME_EXT_ID_CLASSIC_DATA,
CANFD_FRAME_EXT_ID_FD_DATA,
CANFD_FRAME_OVER
}CANFD_FRAME;
/* Define for FreeRTOS notification objects */
#define CANFD_RX_SUCCESS 0x01U
#define CANFD_ERROR 0x02U
#define CANFD_ALL_NOTIFICATIONS (CANFD_RX_SUCCESS | CANFD_ERROR)
/* Define for FreeRTOS */
#define CANFD_TASK_STACK_SIZE 512U /* 512 Words */
#define TIMER_SERVICE_TASK_STACK_SIZE configTIMER_TASK_STACK_DEPTH
#define IDLE_TASK_STACK_SIZE configMINIMAL_STACK_SIZE
static StackType_t IdleStack[2 * IDLE_TASK_STACK_SIZE];
static StaticTask_t IdleTcb;
static StackType_t TimerStack[2 * TIMER_SERVICE_TASK_STACK_SIZE];
static StaticTask_t TimerTcb;
/* Task handle */
static TaskHandle_t canfd_xHandle;
/****************************** FreeRTOS functions **********************/
void vApplicationGetIdleTaskMemory(StaticTask_t **ppxIdleTaskTCBBuffer,
StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize) {
*ppxIdleTaskTCBBuffer = &IdleTcb;
*ppxIdleTaskStackBuffer = IdleStack;
*pulIdleTaskStackSize = IDLE_TASK_STACK_SIZE;
}
void vApplicationStackOverflowHook(TaskHandle_t pxTask, char *pcTaskName)
{
ARG_UNUSED(pxTask);
ARG_UNUSED(pcTaskName);
for (;;);
}
void vApplicationGetTimerTaskMemory(StaticTask_t **ppxTimerTaskTCBBuffer,
StackType_t **ppxTimerTaskStackBuffer, uint32_t *pulTimerTaskStackSize)
{
*ppxTimerTaskTCBBuffer = &TimerTcb;
*ppxTimerTaskStackBuffer = TimerStack;
*pulTimerTaskStackSize = TIMER_SERVICE_TASK_STACK_SIZE;
}
void vApplicationIdleHook(void)
{
for (;;);
}
/* CANFD instance object */
extern ARM_DRIVER_CAN Driver_CANFD;
static ARM_DRIVER_CAN* CANFD_instance = &Driver_CANFD;
/* File Global variables */
static volatile bool error_occurred = false;
static volatile bool rx_buf_overrun = false;
static bool stop_execution = false;
static volatile bool rx_msg_error = false;
static uint8_t tx_obj_id = 255U;
static uint8_t rx_obj_id = 255U;
static ARM_CAN_MSG_INFO tx_msg_header;
static ARM_CAN_MSG_INFO rx_msg_header;
static uint8_t tx_msg_size = 0U;
static volatile uint8_t rx_msg_size = 0U;
static uint8_t tx_data[CANFD_MAX_MSG_SIZE + 1U] =
"!!!!!!***** CANFD TESTAPP Message Communication Test *****!!!!!!";
static uint8_t rx_data[CANFD_MAX_MSG_SIZE + 1U];
/* A map between Data length code to the payload size */
static const uint8_t canfd_len_dlc_map[0x10U] =
{0U, 1U, 2U, 3U, 4U, 5U, 6U, 7U, 8U,
12U, 16U, 20U, 24U, 32U, 48U, 64U};
/* Support functions */
static bool canfd_process_rx_message(void);
static bool canfd_transmit_message(const CANFD_FRAME msg_type);
static void canfd_check_error(void);
/**
* @fn static void cb_unit_event(uint32_t event)
* @brief CANFD Callback function for events
* @note none
* @param event: CANFD event
* @retval none
*/
static void cb_unit_event(uint32_t event)
{
BaseType_t xHigherPriorityTaskWoken = pdFALSE, xResult = pdFALSE;
if(event == ARM_CAN_EVENT_UNIT_WARNING)
{
/* Communication error occurred */
xResult = xTaskNotifyFromISR(canfd_xHandle, CANFD_ERROR,
eSetBits, &xHigherPriorityTaskWoken);
if(xResult == pdTRUE)
{
portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
}
}
}
/**
* @fn static void cb_object_event(uint32_t obj_idx, uint32_t event)
* @brief CANFD Callback function for particular object events
* @note none
* @param obj_idx : Object ID
* @param event : CANFD event
* @retval none
*/
static void cb_object_event(uint32_t obj_idx, uint32_t event)
{
BaseType_t xHigherPriorityTaskWoken = pdFALSE, xResult = pdFALSE;
if((event & ARM_CAN_EVENT_RECEIVE) ||
(event & ARM_CAN_EVENT_RECEIVE_OVERRUN))
{
/* Invokes Message Read function if the Receive Object matches */
if(obj_idx == rx_obj_id)
{
/* Reading arrived CAN Message */
if(CANFD_instance->MessageRead(obj_idx, &rx_msg_header,
rx_data,
rx_msg_size) != ARM_DRIVER_OK)
{
rx_msg_error = true;
}
if(event & ARM_CAN_EVENT_RECEIVE_OVERRUN)
{
rx_buf_overrun = true;
}
/* Rx Success - Notify the task*/
xResult = xTaskNotifyFromISR(canfd_xHandle, CANFD_RX_SUCCESS,
eSetBits, &xHigherPriorityTaskWoken);
if(xResult == pdTRUE)
{
portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
}
}
}
}
/**
* @fn static void canfd_lbi_demo_task(void *pvParameters)
* @brief CANFD Internal Loopback Demo
* @note none
* @param pvParameters : Task parameter
* @retval none
*/
static void canfd_lbi_demo_task(void *pvParameters)
{
CANFD_FRAME msg_type = CANFD_FRAME_STD_ID_CLASSIC_DATA;
int32_t ret_val = ARM_DRIVER_OK;
ARM_CAN_CAPABILITIES can_capabilities;
ARM_CAN_OBJ_CAPABILITIES can_obj_capabilities;
uint8_t iter = 0U;
bool cur_sts = true;
uint32_t task_notified_value = 0U;
uint32_t error_code = 0U;
uint32_t service_error_code = 0U;
ARG_UNUSED(pvParameters);
/* Initialize the SE services */
se_services_port_init();
/* Enables the HFOSC clock */
error_code = SERVICES_clocks_enable_clock(se_services_s_handle,
CLKEN_HFOSC,
true,
&service_error_code);
if(error_code)
{
printf("SE Error: HFOSC clk enable = %d\n", (int)error_code);
return;
}
/* Enables the 160MHz clock */
error_code = SERVICES_clocks_enable_clock(se_services_s_handle,
CLKEN_CLK_160M,
true,
&service_error_code);
if(error_code)
{
printf("SE Error: 160 MHz clk enable = %d\n", (int)error_code);
return;
}
printf("*** CANFD Internal Loopback Demo app is starting ***\n");
if(ret_val != ARM_DRIVER_OK)
{
printf("Error in pin-mux configuration\n");
return;
}
/* Get CANFD capabilities */
can_capabilities = CANFD_instance->GetCapabilities();
printf("Num of objects supported: %d\r\n", can_capabilities.num_objects);
/* Initializing CANFD Access struct */
ret_val = CANFD_instance->Initialize(cb_unit_event, cb_object_event);
if(ret_val != ARM_DRIVER_OK)
{
printf("ERROR: Failed to initialize the CANFD \n");
return;
}
/* Powering up CANFD */
ret_val = CANFD_instance->PowerControl(ARM_POWER_FULL);
if(ret_val != ARM_DRIVER_OK)
{
printf("ERROR: Failed to Power up the CANFD \n");
goto uninitialise_canfd;
}
/* Setting CANFD to FD mode */
if(can_capabilities.fd_mode == 1U)
{
CANFD_instance->Control(ARM_CAN_SET_FD_MODE, ENABLE);
if(ret_val != ARM_DRIVER_OK)
{
printf("ERROR: CANFD Enabling FD mode failed\r\n");
goto power_off_canfd;
}
}
/* Initializing up CANFD module */
ret_val = CANFD_instance->SetMode(ARM_CAN_MODE_INITIALIZATION);
if(ret_val != ARM_DRIVER_OK)
{
printf("ERROR: Failed to set CANFD to INIT mode \r\n");
goto power_off_canfd;
}
/* Setting bit rate for CANFD */
ret_val = CANFD_instance->SetBitrate(ARM_CAN_BITRATE_NOMINAL,
CANFD_NOMINAL_BITRATE,
CANFD_NOMINAL_BITTIME_SEGMENTS);
if(ret_val != ARM_DRIVER_OK)
{
printf("ERROR: Failed to set CANFD Nominal Bitrate\r\n");
goto power_off_canfd;
}
/* Setting bit rate for CANFD */
if(can_capabilities.fd_mode == 1U)
{
ret_val = CANFD_instance->SetBitrate(ARM_CAN_BITRATE_FD_DATA,
CANFD_FAST_BITRATE,
CANFD_FAST_BITTIME_SEGMENTS);
if(ret_val != ARM_DRIVER_OK)
{
printf("ERROR: Failed to set CANFD Fast Bitrate\r\n");
goto power_off_canfd;
}
/* Sets below Transceiver's Transmitter Delay Compensation value
* for Fast bit rate of 2Mbps when CANFD clock is 20MHz */
ret_val = CANFD_instance->Control(ARM_CAN_SET_TRANSCEIVER_DELAY,
CANFD_TRANSCEIVER_TX_DELAY_COMP);
if(ret_val != ARM_DRIVER_OK)
{
printf("ERROR: Failed to set CANFD TDC \r\n");
goto power_off_canfd;
}
}
/* Assign IDs to Tx and Rx objects */
for(iter = 0U; iter < can_capabilities.num_objects; iter++)
{
can_obj_capabilities = CANFD_instance->ObjectGetCapabilities(iter);
if((can_obj_capabilities.tx == 1U) && (tx_obj_id == 255U))
{
tx_obj_id = iter;
}
else if((can_obj_capabilities.rx == 1U) && (rx_obj_id == 255U))
{
rx_obj_id = iter;
}
}
ret_val = CANFD_instance->ObjectConfigure(tx_obj_id, ARM_CAN_OBJ_TX);
if(ret_val != ARM_DRIVER_OK)
{
printf("ERROR: Object Tx configuration failed\r\n");
goto power_off_canfd;
}
ret_val = CANFD_instance->ObjectConfigure(rx_obj_id, ARM_CAN_OBJ_RX);
if(ret_val != ARM_DRIVER_OK)
{
printf("ERROR: Object Rx configuration failed\r\n");
goto power_off_canfd;
}
/* Setting Object filter of CANFD */
ret_val = CANFD_instance->ObjectSetFilter(rx_obj_id,
ARM_CAN_FILTER_ID_EXACT_ADD,
CANFD_OBJECT_FILTER_CODE_1,
CANFD_OBJECT_FILTER_MASK);
if(ret_val == ARM_DRIVER_ERROR_SPECIFIC)
{
printf("ERROR: No free Filter available\r\n");
}
else if(ret_val != ARM_DRIVER_OK)
{
printf("ERROR: Failed to set CANFD Object filter\r\n");
goto power_off_canfd;
}
/* Setting Object filter of CANFD */
ret_val = CANFD_instance->ObjectSetFilter(rx_obj_id,
ARM_CAN_FILTER_ID_EXACT_ADD,
CANFD_OBJECT_FILTER_CODE_2,
CANFD_OBJECT_FILTER_MASK);
if(ret_val == ARM_DRIVER_ERROR_SPECIFIC)
{
printf("ERROR: No free Filter available\r\n");
}
else if(ret_val != ARM_DRIVER_OK)
{
printf("ERROR: Failed to set CANFD Object filter\r\n");
goto power_off_canfd;
}
/* Setting CANFD to Normal mode */
ret_val = CANFD_instance->SetMode(ARM_CAN_MODE_LOOPBACK_INTERNAL);
if(ret_val != ARM_DRIVER_OK)
{
printf("ERROR: Failed to set CANFD to Internal Loopback mode\r\n");
goto power_off_canfd;
}
while(!(stop_execution))
{
/* Checks current status is Ok*/
if(cur_sts)
{
cur_sts = false;
/* Invoke the below function to prepare and send a message */
if(canfd_transmit_message(msg_type) != false)
{
/* wait for receive/error callback. */
if(xTaskNotifyWait(NULL, CANFD_ALL_NOTIFICATIONS,
&task_notified_value,
portMAX_DELAY) != pdFALSE)
{
/* Checks if both callbacks are successful */
if(task_notified_value & CANFD_RX_SUCCESS)
{
/* Invokes received message process function */
cur_sts = canfd_process_rx_message();
}
else if(task_notified_value & CANFD_ERROR)
{
/* Invoke the below function to check on errors */
canfd_check_error();
/* Sets the flag to stop the execution */
stop_execution = true;
}
}
msg_type++;
}
}
}
power_off_canfd:
/* Powering OFF CANFD module */
if(CANFD_instance->PowerControl(ARM_POWER_OFF) != ARM_DRIVER_OK)
{
printf("ERROR in CANFD power off\r\n");
}
uninitialise_canfd:
/* Un-initialising CANFD module */
if(CANFD_instance->Uninitialize() != ARM_DRIVER_OK)
{
printf("ERROR in CANFD un-initialization\r\n");
}
/* Disables the HFOSC clock */
error_code = SERVICES_clocks_enable_clock(se_services_s_handle,
CLKEN_HFOSC,
false,
&service_error_code);
if(error_code)
{
printf("SE Error: HFOSC clk disable = %d\n", (int)error_code);
return;
}
/* Disables the 160MHz clock */
error_code = SERVICES_clocks_enable_clock(se_services_s_handle,
CLKEN_CLK_160M,
false,
&service_error_code);
if(error_code)
{
printf("SE Error: 160 MHz clk disable = %d\n", (int)error_code);
return;
}
printf("*** CANFD Internal Loopback Demo is ended ***\r\n");
/* Task delete */
vTaskDelete( NULL );
}
/**
* @fn int main()
* @brief main function of the CANFD Application
* @note none
* @param none
* @retval software execution status
*/
int main()
{
/* System Initialization */
SystemCoreClockUpdate();
#if defined(RTE_Compiler_IO_STDOUT_User)
int32_t ret;
ret = stdout_init();
if(ret != ARM_DRIVER_OK)
{
while(1)
{
}
}
#endif
/* Create application main thread */
BaseType_t xReturned = xTaskCreate(canfd_lbi_demo_task, "CANFD_LBIM_Task",
CANFD_TASK_STACK_SIZE, NULL,
(configMAX_PRIORITIES - 1U),
&canfd_xHandle);
if(xReturned != pdPASS)
{
vTaskDelete(canfd_xHandle);
return -1;
}
/* Start thread execution */
vTaskStartScheduler();
return 0;
}
/**
* @fn static void canfd_check_error(void)
* @brief Checks for the errors in CANFD
* @note none
* @param none
* @retval none
*/
static void canfd_check_error(void)
{
ARM_CAN_STATUS cur_sts;
if(error_occurred)
{
/* Getting the current CANFD status */
cur_sts = CANFD_instance->GetStatus();
printf("Error in CANFD->Error Code:%d\r\n", cur_sts.last_error_code);
error_occurred = false;
}
}
/**
* @fn static bool canfd_process_rx_message(void)
* @brief Processes the received messages
* @note none
* @param none
* @retval none
*/
static bool canfd_process_rx_message(void)
{
uint8_t iter = 0U;
if(rx_msg_error)
{
printf("Error in reading message \r\n");
rx_msg_error = false; /* Discard the message */
stop_execution = true;
return false;
}
else
{
/* Checking if a new message is received. If yes
* performs the below operations */
if(rx_msg_header.rtr == 1U)
{
printf("Rx msg:\r\n Type:Remote frame, Id:%lu",
(rx_msg_header.id & (~ARM_CAN_ID_IDE_Msk)));
}
else
{
printf("Rx msg:\r\n Type:Data frame, ");
/* Checks if expected Rx msg length is equal to actual length */
if(rx_msg_size == canfd_len_dlc_map[rx_msg_header.dlc])
{
/* If transmitted message is matching with received message:
* performs the following operation */
if(memcmp(tx_data, rx_data, rx_msg_size) == 0U)
{
/* If any error is present in the Rx message */
if(rx_msg_header.esi)
{
printf("\r\n Error Occurred in Rx message \r\n");
stop_execution = true;
return false;
}
printf("Id:%lu, Len:%d:\r\n Data:",
(rx_msg_header.id & (~ARM_CAN_ID_IDE_Msk)),
rx_msg_size);
for(iter = 0; iter < rx_msg_size; iter++)
{
printf("%c", rx_data[iter]);
}
}
else
{
printf("\r\n Error: Tx and Rx message mismatch \r\n");
stop_execution = true;
return false;
}
}
else
{
printf("\r\n Error: Rx msg length is not as expected\r\n");
stop_execution = true;
return false;
}
}
printf("\r\n");
if(rx_buf_overrun)
{
printf("Error: Receiver buffer overrun \r\n");
rx_buf_overrun = false;
}
}
return true;
}
/**
* @fn static bool canfd_transmit_message(CANFD_FRAME msg_type)
* @brief Prepares and sends message
* @note none
* @param msg_type : Type of msg to send
* @retval none
*/
static bool canfd_transmit_message(const CANFD_FRAME msg_type)
{
int32_t status = ARM_DRIVER_OK;
uint8_t iter = 0U;
switch(msg_type)
{
case CANFD_FRAME_STD_ID_CLASSIC_DATA:
/* Sending Classic CAN DATA message of
* length 5 bytes with Message Id 0x5A5 */
tx_msg_header.brs = 0x0U;
tx_msg_header.dlc = 0x5U;
tx_msg_header.id = 0x5A5U;
tx_msg_header.rtr = 0x0U;
tx_msg_header.edl = 0x0U;
tx_msg_size = 0x5U;
break;
case CANFD_FRAME_STD_ID_RTR:
/* Sending Classic CAN Remote request message
* with Message Id 0x5A5 */
tx_msg_header.brs = 0x0U;
tx_msg_header.dlc = 0x0U;
tx_msg_header.id = 0x5A5U;
tx_msg_header.rtr = 0x1U;
tx_msg_header.edl = 0x0U;
tx_msg_size = 0x0U;
break;
case CANFD_FRAME_STD_ID_FD_DATA:
/* Sending FD CAN DATA message of
* length 64 bytes with Message Id 0x5A5 */
tx_msg_header.brs = 0x1U;
tx_msg_header.dlc = 0xFU;
tx_msg_header.id = 0x5A5U;
tx_msg_header.rtr = 0x0U;
tx_msg_header.edl = 0x1U;
tx_msg_size = 0x40U;
break;
case CANFD_FRAME_EXT_ID_RTR:
/* Sending Classic CAN Remote request message
* with Extended Message Id 0x1FF5A5AU */
tx_msg_header.brs = 0x0U;
tx_msg_header.dlc = 0x0U;
tx_msg_header.id = 0x81FF5A5AU;
tx_msg_header.rtr = 0x1U;
tx_msg_header.edl = 0x0U;
tx_msg_size = 0x0U;
break;
case CANFD_FRAME_EXT_ID_CLASSIC_DATA:
/* Sending Classic CAN data message of
* length 8 bytes with Extended Message Id 0x1FF5A5AU */
tx_msg_header.brs = 0x0U;
tx_msg_header.dlc = 0x8U;
tx_msg_header.id = 0x81FF5A5AU;
tx_msg_header.rtr = 0x0U;
tx_msg_header.edl = 0x0U;
tx_msg_size = 0x8U;
break;
case CANFD_FRAME_EXT_ID_FD_DATA:
/* Sending FD CAN message of length 16 bytes
* with Extended Message Id 0x1FF5A5AU */
tx_msg_header.brs = 0x1U;
tx_msg_header.dlc = 0xAU;
tx_msg_header.id = 0x81FF5A5AU;
tx_msg_header.rtr = 0x0U;
tx_msg_header.edl = 0x1U;
tx_msg_size = 0x10U;
break;
case CANFD_FRAME_OVER:
default:
stop_execution = true;
return false;
}
/* Sends the message to CAN HAL Driver */
status = CANFD_instance->MessageSend(tx_obj_id, &tx_msg_header,
tx_data, tx_msg_size);
if(status == ARM_DRIVER_OK)
{
rx_msg_size = tx_msg_size;
printf("Tx Msg:\r\n Id:%lu, Len:%d: \r\n Data:",
(tx_msg_header.id & (~ARM_CAN_ID_IDE_Msk)), tx_msg_size);
for(iter = 0; iter < tx_msg_size; iter++)
{
printf("%c", tx_data[iter]);
}
printf("\r\n");
}
else
{
printf("Error: Failed to send message \n");
stop_execution = true;
return false;
}
return true;
}