CanInterrupt.cpp

Go to the documentation of this file.

/* Copyright (c) 2015-2021 Skyward Experimental Rocketry
 * Authors: Luca Erbetta, Matteo Piazzolla, Alain Carlucci
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy
 * of this software and associated documentation files (the "Software"), to deal
 * in the Software without restriction, including without limitation the rights
 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 * copies of the Software, and to permit persons to whom the Software is
 * furnished to do so, subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in
 * all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 * THE SOFTWARE.
 */
 
#include "CanInterrupt.h"
 
#include <interfaces-impl/arch_registers_impl.h>
#include <kernel/scheduler/scheduler.h>
#include <miosix.h>
 
#include "CanDriver.h"
 
namespace Boardcore
{
 
namespace Canbus
{
 
CanbusDriver* canDrivers[2];
 
}
 
}  // namespace Boardcore
 
void __attribute__((naked)) CAN1_RX0_IRQHandler()
{
    saveContext();
    asm volatile("mov r0, #0");
    asm volatile("mov r1, #0");
    asm volatile("bl _Z20CAN_RXIRQHandlerImplii");
    restoreContext();
}
 
void __attribute__((naked)) CAN1_RX1_IRQHandler()
{
    saveContext();
    asm volatile("mov r0, #0");
    asm volatile("mov r1, #1");
    asm volatile("bl _Z20CAN_RXIRQHandlerImplii");
    restoreContext();
}
 
void __attribute__((naked)) CAN2_RX0_IRQHandler()
{
    saveContext();
    asm volatile("mov r0, #1");
    asm volatile("mov r1, #0");
    asm volatile("bl _Z20CAN_RXIRQHandlerImplii");
    restoreContext();
}
 
void __attribute__((naked)) CAN2_RX1_IRQHandler()
{
    saveContext();
    asm volatile("mov r0, #1");
    asm volatile("mov r1, #1");
    asm volatile("bl _Z20CAN_RXIRQHandlerImplii");
    restoreContext();
}
 
void __attribute__((naked)) CAN1_TX_IRQHandler()
{
    saveContext();
    asm volatile("mov r0, #0");
    asm volatile("bl _Z20CAN_TXIRQHandlerImpli");
    restoreContext();
}
 
void __attribute__((naked)) CAN2_TX_IRQHandler()
{
    saveContext();
    asm volatile("mov r0, #1");
    asm volatile("bl _Z20CAN_TXIRQHandlerImpli");
    restoreContext();
}
 
void __attribute__((used)) CAN_RXIRQHandlerImpl(int canDev, int fifo)
{
    using namespace Boardcore::Canbus;
    (void)canDev;
 
    if (canDrivers[canDev])
        canDrivers[canDev]->handleRXInterrupt(fifo);
}
 
void __attribute__((used)) CAN_TXIRQHandlerImpl(int canDev)
{
    (void)canDev;
    bool hppw = false;
 
    using namespace Boardcore::Canbus;
 
    CanbusDriver* bus = canDrivers[canDev];
 
    if (bus)
    {
        CAN_TypeDef* can = bus->getCAN();
 
        CanTXResult res;
        res.tme     = can->TSR & CAN_TSR_TME >> 26;
        res.errCode = (can->ESR | CAN_ESR_LEC) >> 4;
 
        if ((can->TSR & CAN_TSR_RQCP0) > 0)
        {
            res.mailbox = 0;
            res.txStatus =
                can->TSR & (CAN_TSR_TXOK0 | CAN_TSR_ALST0 | CAN_TSR_TERR0) >> 1;
 
            can->TSR |= CAN_TSR_RQCP0;
        }
        if ((can->TSR & CAN_TSR_RQCP1) > 0)
        {
            res.mailbox = 1;
            res.txStatus =
                can->TSR & (CAN_TSR_TXOK1 | CAN_TSR_ALST1 | CAN_TSR_TERR1) >> 9;
 
            can->TSR |= CAN_TSR_RQCP1;
        }
        if ((can->TSR & CAN_TSR_RQCP2) > 0)
        {
            res.mailbox  = 2;
            res.txStatus = can->TSR & (CAN_TSR_TXOK2 | 2 | CAN_TSR_TERR2) >> 17;
 
            can->TSR |= CAN_TSR_RQCP2;
        }
 
        res.seq = bus->getTXMailboxSequence(res.mailbox);
 
        bus->getTXResultBuffer().IRQput(res, hppw);
        bus->wakeTXThread();
    }
 
    if (hppw)
        miosix::Scheduler::IRQfindNextThread();
}