timoschneider/zephyr_usb_can_fd_bridge
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added internal can header to remove padding from msgs

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This commit is contained in:
Timo Schneider
2025-08-31 12:01:55 +02:00
parent de2af53284
commit 534be573e6
6 changed files with 68 additions and 61 deletions
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2
boards/nucleo_h755zi_q_stm32h755xx_m7.overlay
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@@ -27,7 +27,7 @@
};
&fdcan1 {
bitrate = <1000000>;
bitrate = <500000>;
bitrate-data = <4000000>;
status = "okay";
};

4
prj.conf
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@@ -19,11 +19,9 @@ CONFIG_DEBUG_THREAD_INFO=y
CONFIG_CONSOLE=y
# logging
CONFIG_LOG=y
CONFIG_LOG_MODE_IMMEDIATE=y
CONFIG_LOG=n
CONFIG_STDOUT_CONSOLE=y
CONFIG_PRINTK=y
CONFIG_LOG_DEFAULT_LEVEL=3
# Enable CDC ACM (virtual COM port)
CONFIG_SERIAL=y

109
src/bridges/bridge_usb_cdc_acm_canfd.cpp
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@@ -13,16 +13,19 @@ K_FIFO_DEFINE(usb_fifo_2);
K_FIFO_DEFINE(usb_fifo_3);
struct uart_msg {
uint16_t len;
uint8_t data[62];
};
struct uart_msg_queue {
void *fifo_reserved;
uint8_t len;
uint8_t *data;
uart_msg msg;
};
uint8_t get_can_id_from_usb_dev(const struct device *dev) {
if (dev == cdc0) {
return 0x10;
}
if (dev == cdc1) {
return 0x20;
}
@@ -42,7 +45,6 @@ struct k_fifo *get_fifo_from_dev(const struct device *dev) {
if (dev == cdc0) {
return &usb_fifo_0;
}
if (dev == cdc1) {
return &usb_fifo_1;
}
@@ -60,7 +62,7 @@ struct k_fifo *get_fifo_from_dev(const struct device *dev) {
const struct device *get_usb_dev_from_can_id(uint8_t can_id) {
switch (can_id) {
case 0x10:
case 0x11:
return cdc0;
case 0x21:
return cdc1;
@@ -73,62 +75,66 @@ const struct device *get_usb_dev_from_can_id(uint8_t can_id) {
}
}
uint8_t get_lenght_from_dlc(uint8_t dlc) {
static const uint8_t dlc_to_len[16] = {
0, 1, 2, 3, 4, 5, 6, 7, 8, 12, 16, 20, 24, 32, 48, 64
};
if (dlc < 16) {
return dlc_to_len[dlc];
} else {
return 0;
}
}
static void uart_rx_handler(const struct device *dev, void *user_data)
{
ARG_UNUSED(user_data);
while (uart_irq_update(dev) && uart_irq_is_pending(dev)) {
printk("tx: %i, rx: %i\r\n", uart_irq_tx_ready(dev), uart_irq_rx_ready(dev));
//printk("tx: %i, rx: %i\r\n", uart_irq_tx_ready(dev), uart_irq_rx_ready(dev));
if (uart_irq_rx_ready(dev)) {
uint8_t buffer[64] = {0};
uart_msg msg;
int recv_len = uart_fifo_read(dev, buffer, 64);
if (recv_len > 0) {
struct can_frame counter_frame = {
msg.len = uart_fifo_read(dev, msg.data, 62);
if (msg.len > 0) {
struct can_frame frame = {
.id = get_can_id_from_usb_dev(dev),
.dlc = can_bytes_to_dlc(recv_len),
.dlc = can_bytes_to_dlc(msg.len+2),
.flags = CAN_FRAME_FDF | CAN_FRAME_BRS,
.data = {0},
};
memcpy(counter_frame.data, buffer, recv_len);
can_send(fdcan1, &counter_frame, K_NO_WAIT, NULL, NULL);
memcpy(frame.data, &msg, msg.len+2);
can_send(fdcan1, &frame, K_NO_WAIT, NULL, NULL);
printk("CAN TX: ");
for (size_t i = 0; i < msg.len; i++) {
printk("%02X ", msg.data[i]);
}
printk(" / %i\n", msg.len);
}
}
if (uart_irq_tx_ready(dev) >= 64) {
if (uart_irq_tx_ready(dev)) {
k_fifo* fifo = get_fifo_from_dev(dev);
if (fifo == NULL) {
uart_irq_tx_disable(dev);
return;
}
struct uart_msg *msg = (uart_msg*) k_fifo_get(fifo, K_MSEC(10));
if(msg){
printk("sending to UART: %s / %i\n\r", msg->data, msg->len);
uart_fifo_fill(dev, msg->data, msg->len);
k_free(msg->data);
k_free(msg);
}
else {
printk("Nothing to do\n\r");
struct uart_msg_queue *msg_q = NULL;
while (1) {
msg_q = (uart_msg_queue*) k_fifo_get(fifo, K_MSEC(10));
if (msg_q == NULL) {
uart_irq_tx_disable(dev);
printk("Processed all messages\n\r");
return;
}
if (uart_irq_tx_ready(dev) > msg_q->msg.len) {
printk("USB TX: ");
for (size_t i = 0; i < msg_q->msg.len; i++) {
printk("%02X ", msg_q->msg.data[i]);
}
printk(" / %i\n", msg_q->msg.len);
uart_fifo_fill(dev, msg_q->msg.data, msg_q->msg.len);
}
k_free(msg_q);
}
}
}
}
void can_rx_handler(const struct device *dev, struct can_frame *frame, void *user_data)
{
ARG_UNUSED(dev);
@@ -137,20 +143,17 @@ void can_rx_handler(const struct device *dev, struct can_frame *frame, void *use
const struct device *uart_dev = get_usb_dev_from_can_id(frame->id);
if (!uart_dev) return;
struct uart_msg *msg = (uart_msg*)k_malloc(sizeof(uart_msg));
if (!msg) return;
struct uart_msg_queue *msg_q = (uart_msg_queue*)k_malloc(sizeof(uart_msg_queue));
if (!msg_q) return;
msg->len = get_lenght_from_dlc(frame->dlc);
printk("msg size: %i / %i\n\r", msg->len, frame->dlc);
if (frame->dlc < 2) {
k_free(msg_q);
return;
};
msg->data = (uint8_t*)k_malloc(sizeof(uint8_t) * msg->len);
if (!msg->data) return;
memcpy(&msg_q->msg, frame->data, sizeof(uart_msg));
memset(msg->data, 0, msg->len);
memcpy(msg->data, frame->data, msg->len);
printk("sending to Queue: %s / %s / %i / %i\n\r", frame->data, msg->data, msg->len, frame->dlc);
k_fifo_put(get_fifo_from_dev(uart_dev), msg);
k_fifo_put(get_fifo_from_dev(uart_dev), msg_q);
uart_irq_tx_enable(uart_dev);
}
@@ -165,11 +168,15 @@ void bridges_init() {
uart_irq_callback_set(cdc3, uart_rx_handler);
uart_irq_rx_enable(cdc3);
struct can_filter filter = {
.id = 0, // match all IDs
.mask = 0, // accept everything
.flags = 0,
struct can_filter filters[4] = {
{ .id = 0x11, .mask = 0, .flags = 0 },
{ .id = 0x21, .mask = 0, .flags = 0 },
{ .id = 0x31, .mask = 0, .flags = 0 },
{ .id = 0x41, .mask = 0, .flags = 0 },
};
can_add_rx_filter(fdcan1, can_rx_handler, NULL, &filter);
for (int i = 0; i < 4; i++) {
can_add_rx_filter(fdcan1, can_rx_handler, NULL, &filters[i]);
}
}

2
src/canfd/can_fd.cpp
View File

@@ -5,7 +5,7 @@
void canfd_init() {
if (!can_set_mode(fdcan1, CAN_MODE_LOOPBACK | CAN_MODE_FD)) {
if (!can_set_mode(fdcan1, CAN_MODE_FD)) {
printk("CAN0 set to CAN FD\n");
}

1
src/devices/devices.cpp
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@@ -5,6 +5,7 @@ const struct device *cdc1 = DEVICE_DT_GET(DT_NODELABEL(cdc_acm_uart1));
const struct device *cdc2 = DEVICE_DT_GET(DT_NODELABEL(cdc_acm_uart2));
const struct device *cdc3 = DEVICE_DT_GET(DT_NODELABEL(cdc_acm_uart3));
const struct device *fdcan1 = DEVICE_DT_GET(DT_NODELABEL(fdcan1));

1
src/devices/devices.hpp
View File

@@ -9,6 +9,7 @@ extern const struct device *cdc1;
extern const struct device *cdc2;
extern const struct device *cdc3;
extern const struct device *fdcan1;