Добавлен CAN-доступ к регистратору УМП через отдельный канал ответов

Source/Internal/ecan.c

@@ -12,6 +12,7 @@
 #include "message.h"
 #include "peripher.h"
 #include "log_to_mem.h"
+#include "ump_can_protocol.h"
 
 
 // Prototype statements for functions found within this file.
@@ -31,6 +32,16 @@ int CanTimeOutErrorTR = 0;
 
 int wait=0;
 
+/* MBOX2 âûäåëåí ïîä îòâåòû ðåãèñòðàòîðà; øòàòíûé MBOX0 ïðîäîëæàåò
+ * ïåðåäàâàòü òåõíîëîãè÷åñêèå äàííûå íåçàâèñèìî. ISR òîëüêî ñòàâèò çàïðîñ,
+ * à ñíèìîê è îòïðàâêà êîðîòêèìè øàãàìè âûïîëíÿþòñÿ â îñíîâíîì öèêëå. */
+static volatile unsigned int ump_can_pending;
+static volatile unsigned int ump_can_tag, ump_can_address, ump_can_value;
+static unsigned int ump_can_reply[UMP_CAN_MAX_WORDS];
+static unsigned int ump_can_length, ump_can_index, ump_can_reply_tag;
+static unsigned int ump_can_waiting;
+static unsigned long ump_can_sent_at;
+
 void InitCan(int Port, int DevNum)
 {
   struct ECAN_REGS ECanShadow; 
@@ -62,6 +73,7 @@ void InitCan(int Port, int DevNum)
 //	Specify that 8 bits will be sent/received
     ECanMboxes->MBOX0.MSGCTRL.all = 0x00000008;
     ECanMboxes->MBOX1.MSGCTRL.all = 0x00000008;
+    ECanMboxes->MBOX2.MSGCTRL.all = 0x00000008;
      
 //	Disable all Mailboxes
 //	Required before writing the MSGIDs
@@ -73,11 +85,12 @@ void InitCan(int Port, int DevNum)
 //	çàäàåì àäðåñ 1 àùèêa íà ïðèåì
     ECanMboxes->MBOX1.MSGID.all = id + DevNum; //ïîìåíàòü!!!! 1 è 0!!!
 
-//	задаем режимы работы ащикa 0 на передачу, остальные на прием
-    ECanRegs->CANMD.all = 0xFFFFFFFE; 
+//	MBOX0 è MBOX2 ïåðåäàþò äàííûå; MBOX1 ïðèíèìàåò êîìàíäû.
+    ECanMboxes->MBOX2.MSGID.all = id + 0x20 + DevNum;
+    ECanRegs->CANMD.all = 0xFFFFFFFA;
     
-//	выбираем только 2 ащикa дла работы, остальные запрещаем
-    ECanRegs->CANME.all = 0x00000003;
+//	Âêëþ÷àåì òðè mailbox: òåëåìåòðèÿ, êîìàíäû è îòâåòû ëîããåðà.
+    ECanRegs->CANME.all = 0x00000007;
 
 //	Clear all TAn bits
 	ECanRegs->CANTA.all	= 0xFFFFFFFF;
@@ -197,6 +210,18 @@ void Handlai(volatile struct ECAN_MBOXES * ECanMboxes)
 	hiword = ECanMboxes->MBOX1.MDH.all;
 	loword = ECanMboxes->MBOX1.MDL.all;
 
+    /* Ñëóæåáíûé çàïðîñ ëîããåðà íå ÿâëÿåòñÿ êîìàíäîé ÓÌÏ è ñàì íå äîëæåí
+     * çàïîëíÿòü æóðíàë CAN-ñîáûòèÿìè ïðè îíëàéí-÷òåíèè. Êîðîòêèå êàäðû
+     * îòáðàñûâàþòñÿ: íåçàïîëíåííûå áàéòû mailbox ìîãëè îñòàòüñÿ îò ïðîøëîãî. */
+    if ((unsigned int)(hiword >> 16) == UMP_CAN_MARKER) {
+        if (ECanMboxes->MBOX1.MSGCTRL.bit.DLC == 8) {
+            ump_can_tag = (unsigned int)hiword;
+            ump_can_address = (unsigned int)(loword >> 16);
+            ump_can_value = (unsigned int)loword;
+            ump_can_pending = 1;
+        }
+        return;
+    }
 	adr		= (hiword >> 16);
 
 	bit[0]	= adr & 0x8000;
@@ -260,3 +285,52 @@ interrupt void CANa_reset_err(void)
 //===========================================================================
 // No more.
 //===========================================================================
+
+
+/* Îäèí âûçîâ îáñëóæèâàåò ìàêñèìóì îäèí êàäð è íèêîãäà íå æä¸ò ACK â öèêëå.
+ * Ñíèìîê ôèêñèðóåòñÿ îäèí ðàç íà çàïðîñ: CAN-ôðàãìåíòû íå ñìåøèâàþò
+ * çíà÷åíèÿ äî/ïîñëå ïåðåêëþ÷åíèÿ êîëüöåâîãî áàíêà. Íîâûå çàïðîñû çàáèðàåì
+ * ïîñëå çàâåðøåíèÿ ïðåäûäóùåãî îòâåòà. GUI äåðæèò òîëüêî îäèí çàïðîñ. */
+void UMP_CAN_service(void)
+{
+    unsigned int saved, tag, address, value, error;
+    unsigned long hiword, loword;
+    if (ump_can_waiting) {
+        if (ECanaRegs.CANTA.all & 4UL) {
+            ECanaRegs.CANTA.all = 4UL;
+            ump_can_waiting = 0;
+        } else if ((ECanaRegs.CANAA.all & 4UL) ||
+                   ((unsigned long)CpuTimer1.InterruptCount - ump_can_sent_at > 250UL)) {
+            /* Íåò ïîäòâåðæäåíèÿ øèíû: îòìåíÿåì òîëüêî ñëóæåáíûé mailbox.
+             * GUI îáíàðóæèò íåïîëíûé îòâåò ïî òàéì-àóòó; óïðàâëåíèå MBOX0
+             * è ïðè¸ì êîìàíä MBOX1 ïðîäîëæàþòñÿ. */
+            ECanaRegs.CANTRR.all = 4UL;
+            /* Äî ôàêòè÷åñêîãî çàâåðøåíèÿ îòìåíû mailbox íå ïåðåèñïîëüçóåì. */
+            if (!(ECanaRegs.CANAA.all & 4UL)) return;
+            ECanaRegs.CANAA.all = 4UL;
+            ump_can_waiting = 0;
+            ump_can_length = 0;
+        } else return;
+    }
+    if (ump_can_index >= ump_can_length && ump_can_pending) {
+        saved = __disable_interrupts();
+        tag = ump_can_tag; address = ump_can_address; value = ump_can_value;
+        ump_can_pending = 0;
+        ump_can_length = ump_can_prepare(tag & 0xFF, address, value, ump_can_reply, &error);
+        ump_can_reply_tag = (tag & 0xFF00) | error;
+        ump_can_index = 0;
+        __restore_interrupts(saved);
+    }
+    if (ump_can_index >= ump_can_length) return;
+    /* Ïåðåä ñëåäóþùèì ôðàãìåíòîì óñòóïàåì øòàòíîé òåëåìåòðèè MBOX0. */
+    if (ECanaRegs.CANTRS.all & 1UL) return;
+    hiword = ((unsigned long)(UMP_CAN_MARKER + ump_can_index/2) << 16) | ump_can_reply_tag;
+    loword = ((unsigned long)ump_can_reply[ump_can_index] << 16) | ump_can_reply[ump_can_index+1];
+    ECanaRegs.CANTA.all = 4UL; ECanaRegs.CANAA.all = 4UL;
+    ECanaMboxes.MBOX2.MDH.all = hiword;
+    ECanaMboxes.MBOX2.MDL.all = loword;
+    ump_can_sent_at = CpuTimer1.InterruptCount;
+    ECanaRegs.CANTRS.all = 4UL;
+    ump_can_waiting = 1;
+    ump_can_index += 2;
+}