amiro-os / core / src / aos_rtcan.c @ 341cc329
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/*
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AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
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Copyright (C) 2016..2018 Thomas Schöpping et al.
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <hal.h> |
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#include <hal_can.h> |
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#include <hal_can_lld.h> |
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#include <aos_rtcan.h> |
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#include <aos_thread.h> |
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#include <chthreads.h> |
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#include <chtime.h> |
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#include <ch.h> |
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#include <stdbool.h> |
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#define True 1 |
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#define False 0 |
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#define HRTMSG 00 |
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#define SRTMSG 01 |
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#define NRTMSG 11 |
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#define SLEEPTIME 20 |
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static THD_WORKING_AREA(myThreadWorkingArea, 128); |
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msgqueue_t hrtQueue; |
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msgqueue_t srtQueue; |
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msgqueue_t nrtQueue; |
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/*
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* @brief transmit Message over CAN
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*/
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msg_t rtcan_transmit(CANDriver *canp, canmbx_t mailbox, const CANTxFrame *ctfp){
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// call cantransmit, needed params driver, mailbox and tx frame
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msg_t transmit = canTransmitTimeout(canp,mailbox,ctfp,TIME_IMMEDIATE); |
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return transmit;
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} |
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/*
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* @brief receive Message over CAN
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*/
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msg_t rtcan_receive(CANDriver *canp, canmbx_t mailbox,CANRxFrame *crfp){ |
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// call lld cantransmit, needed params driver, mailbox and rx frame
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return canReceiveTimeout(canp,mailbox,crfp,TIME_IMMEDIATE);
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} |
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bool pushRTCanMsgSorted(rtcan_msg_t *msg,msgqueue_t* msgqueue){
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rtcan_msg_t * prevElem = msgqueue->head; |
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rtcan_msg_t * compareElem = prevElem->next; |
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while(ST2MS(msg->deadline) >= ST2MS(compareElem->deadline)){
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if(compareElem->next != NULL){ |
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prevElem = compareElem; |
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compareElem = compareElem->next; |
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}else{
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prevElem->next = msg; |
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msgqueue->tail = msg; |
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msgqueue->size++; |
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return true; |
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} |
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} |
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if(compareElem!= NULL){ |
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msg->next = compareElem; |
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} |
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return false; |
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} |
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/*
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* @brief push Message to its Queue, based on type of Message
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*/
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bool pushRTCanMsg(rtcan_msg_t *msg,msgqueue_t* msgqueue){
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if(msg != NULL){ |
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if(msgqueueEmpty(msgqueue)){
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queueInit(msg,msgqueue); |
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return true; |
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} |
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msgqueue->tail->next = msg; |
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msg->next = NULL;
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msgqueue->tail = msg; |
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msgqueue->size++; |
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return true; |
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} |
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return false; |
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} |
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/*
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* @brief dequeue Message from Queue
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*/
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rtcan_msg_t* popRTCanMsg(msgqueue_t* msgqueue){ |
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//todo special case head = tail
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if(!msgqueueEmpty(msgqueue)){
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rtcan_msg_t *elem = msgqueue->head; |
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msgqueue->head = elem->next; |
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msgqueue->size--; |
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return elem;
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} |
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return NULL; |
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} |
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/*
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* @brief init Message Queue
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*/
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void queueInit(rtcan_msg_t *head,msgqueue_t* msgqueue){
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msgqueue->size = 0;
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msgqueue->head = head; |
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msgqueue->tail = head; |
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head->next = NULL;
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msgqueue->size++; |
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} |
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// Handling Message Queues
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bool enqueueMsg(uint8_t *payload, uint8_t msgType, aos_timestamp_t deadline){
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static rtcan_msg_t msg;
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msg.payload = payload; |
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msg.msgType = msgType; |
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msg.deadline = deadline; |
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if(msgType == HRTMSG){
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return pushRTCanMsg(&msg,&hrtQueue);
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}else if(msgType == SRTMSG){ |
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return pushRTCanMsgSorted(&msg,&srtQueue);
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}else if(msgType == NRTMSG){ |
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return pushRTCanMsg(&msg,&nrtQueue);
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} |
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return false; |
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} |
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u_int32_t createId(rtcan_msg_t *msg, uint8_t msgType){ |
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// first 6 bit laxity
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// 6-21 id
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// 21-29 fragment
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u_int32_t id = 0;
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aos_timestamp_t uptime; |
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aosSysGetUptime(&uptime); |
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uint32_t uptimeMcs = (uint32_t)(uptime / MICROSECONDS_PER_DAY); |
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} |
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/**
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* @brief schedule rtcan messages into mailboxes
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*/
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static msg_t Thread(void *arg){ |
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(void)arg;
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chRegSetThreadName("RTCAN Timer");
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int nextSlot; // set by while loop from calendar |
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while (true){ |
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// send Frame of Timeslot
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// iterate over calendar(bitmask)
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rtcan_msg_t *nextMsg; |
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chThdSleepMilliseconds( SLEEPTIME ); |
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if(nextSlot == 1){ |
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nextMsg = popRTCanMsg(&hrtQueue); |
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}else{
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if(!msgqueueEmpty(srtQueue)){
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nextMsg = popRTCanMsg(&srtQueue); |
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}else{
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nextMsg = popRTCanMsg(&nrtQueue); |
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} |
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} |
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if(nextMsg != NULL){ |
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// create frame
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// frame needs id, payload(later) and ___
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// place it in Mailbox to be sent in next time slot
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} |
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// maybe send empty message if no message to reduce jitter????
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chThdSleepMilliseconds( SLEEPTIME ); |
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} |
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return 0; |
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} |
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/** empty or clear?*/
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int msgqueueEmpty(msgqueue_t* mqueue){
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if(mqueue == NULL){ |
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return true; |
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} |
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return false; |
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} |
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//TODO: ISR
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//TODO: Params
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