flywithu/Toyota-AVC-LAN
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More send related bugfixes

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This commit is contained in:
Allen Hill 2023-09-14 19:52:11 -04:00
parent 1cafed82d0
commit ff55d7e671
2 changed files with 50 additions and 35 deletions
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83
src/avclandrv.c
View File

@ -284,6 +284,13 @@ void AVCLAN_init() {
TCB1.CCMP = 0xFFFF;
TCB1.CTRLA = TCB_CLKSEL | TCB_ENABLE_bm;
// Set PA4 and PC0 as outputs
PORTA.DIRSET = PIN4_bm;
PORTC.DIRSET = PIN0_bm;
// Set bus output pins to idle
AVC_SET_LOGICAL_1();
answerReq = cm_Null;
cd_Track = 1;
@ -331,12 +338,8 @@ void AVCLAN_sendbit_ACK() {
return;
}
AVC_OUT_EN();
set_AVC_logic_for(0, AVCLAN_BIT0_LOGIC_0);
set_AVC_logic_for(1, AVCLAN_BIT0_LOGIC_1);
AVC_OUT_DIS();
}
void AVCLAN_sendbit_parity(uint8_t parity) {
@ -420,8 +423,9 @@ ISR(TCB0_INT_vect) {
period = TCB0.CNT;
#endif
// If input was set for less than 26 us (a generous half period), bit was a 1
READING_BYTE <<= 1;
// If the logical `0` pulse was less than the sync + data period threshold,
// bit was a 1
pulsewidth = TCB0.CCMP;
if (pulsewidth < (uint16_t)AVCLAN_READBIT_THRESHOLD) {
READING_BYTE++;
@ -502,23 +506,22 @@ uint8_t AVCLAN_readbyte(uint8_t *byte) {
return (parity & 1);
}
// Returns true if an ACK bit was sent by the peripheral
uint8_t AVCLAN_readbit_ACK() {
TCB1.CNT = 0;
set_AVC_logic_for(0, AVCLAN_BIT1_LOGIC_0);
AVC_SET_LOGICAL_1();
AVC_OUT_DIS();
while (1) {
if (!BUS_IS_IDLE && (TCB1.CNT > AVCLAN_READBIT_THRESHOLD))
break; // ACK
if (TCB1.CNT > AVCLAN_BIT_LENGTH_MAX)
return 1; // NAK
return 0; // NAK
}
// Check/wait in case we get here before peripheral finishes ACK bit
while (!BUS_IS_IDLE) {}
AVC_OUT_EN(); // back to write mode
return 0;
return 1;
}
uint8_t CheckCmd(const AVCLAN_frame_t *frame, const uint8_t *cmd) {
@ -682,7 +685,6 @@ uint8_t AVCLAN_readframe() {
AVCLAN_printframe(&frame);
if (for_me) {
if (CheckCmd(&frame, stat1)) {
answerReq = cm_Status1;
return 1;
@ -699,7 +701,10 @@ uint8_t AVCLAN_readframe() {
answerReq = cm_Status4;
return 1;
}
// if (CheckCmd((uint8_t*)stat5)) { answerReq = cm_Status5; return 1; }
// if (CheckCmd((uint8_t*)stat5)) {
// answerReq = cm_Status5;
// return 1;
// }
if (CheckCmd(&frame, play_req1)) {
answerReq = cm_PlayReq1;
@ -757,20 +762,33 @@ uint8_t AVCLAN_sendframe(const AVCLAN_frame_t *frame) {
uint8_t parity = 0;
TCB1.CNT = 0;
do {
while (BUS_IS_IDLE) {
// Wait for 120% of a bit length
if (TCB1.CNT >= (uint16_t)(AVCLAN_BIT_LENGTH_MAX * 12 / 10))
break;
}
if (TCB1.CNT > 864)
line_busy = 0;
} while (line_busy);
while (BUS_IS_IDLE) {
// Wait for 120% of a bit length
if (TCB1.CNT >= (uint16_t)(AVCLAN_BIT_LENGTH_MAX * 2))
break;
}
// switch to output mode
AVC_OUT_EN();
// End of first loop could be due to bus being driven
TCB1.CNT = 0;
if (!BUS_IS_IDLE) {
// Some other device started sending
// Can't yet simultaneously send and recieve to do proper CSMA/CD
return 1;
AVCLAN_sendbit_start();
// Beginnings of CSMA/CD
// do {
// if (TCB1.CNT >= (uint16_t)(AVCLAN_STARTBIT_LOGIC_0 * 1.2))
// return 1; // Something's hinky; nothing is longer than the start bit
// } while (!BUS_IS_IDLE);
// if (TCB1.CNT <= (uint16_t)(AVCLAN_STARTBIT_LOGIC_0 * 0.8))
// return 1; // Shouldn't be possible (waiting 2 bit lengths with idle
// bus,
// // then next bit should be a long one ie start)
// set_AVC_logic_for(1, AVCLAN_STARTBIT_LOGIC_1); // wait for end of start
// bit
} else {
AVCLAN_sendbit_start();
}
AVCLAN_sendbits((uint8_t *)&frame->broadcast, 1);
parity = AVCLAN_sendbits(&frame->controller_addr, 12);
@ -779,8 +797,7 @@ uint8_t AVCLAN_sendframe(const AVCLAN_frame_t *frame) {
parity = AVCLAN_sendbits(&frame->peripheral_addr, 12);
AVCLAN_sendbit_parity(parity);
if (!frame->broadcast && AVCLAN_readbit_ACK()) {
AVC_OUT_DIS();
if (frame->broadcast && !AVCLAN_readbit_ACK()) {
STARTEvent;
RS232_Print("Error NAK: Addresses\n");
return 1;
@ -789,8 +806,7 @@ uint8_t AVCLAN_sendframe(const AVCLAN_frame_t *frame) {
parity = AVCLAN_sendbits(&frame->control, 4);
AVCLAN_sendbit_parity(parity);
if (!frame->broadcast && AVCLAN_readbit_ACK()) {
AVC_OUT_DIS();
if (frame->broadcast && !AVCLAN_readbit_ACK()) {
STARTEvent;
RS232_Print("Error NAK: Control\n");
return 2;
@ -799,8 +815,7 @@ uint8_t AVCLAN_sendframe(const AVCLAN_frame_t *frame) {
parity = AVCLAN_sendbyte(&frame->length); // data length
AVCLAN_sendbit_parity(parity);
if (!frame->broadcast && AVCLAN_readbit_ACK()) {
AVC_OUT_DIS();
if (frame->broadcast && !AVCLAN_readbit_ACK()) {
STARTEvent;
RS232_Print("Error NAK: Message length\n");
return 3;
@ -812,18 +827,18 @@ uint8_t AVCLAN_sendframe(const AVCLAN_frame_t *frame) {
// Based on the µPD6708 datasheet, ACK bit for broadcast doesn't seem
// necessary (i.e. This deviates from the previous broadcast specific
// function that sent an extra `1` bit after each byte/parity)
if (!frame->broadcast && AVCLAN_readbit_ACK()) {
AVC_OUT_DIS();
if (frame->broadcast && !AVCLAN_readbit_ACK()) {
STARTEvent;
RS232_Print("Error ACK 4 (Data uint8_t: ");
RS232_PrintDec(i);
RS232_Print("Error NAK (Data: ");
RS232_PrintHex8(i);
RS232_Print(")\n");
return 4;
}
// else
// AVCLAN_sendbit_1();
}
// back to read mode
AVC_OUT_DIS();
STARTEvent;
if (printAllFrames)

2
src/avclandrv.h
View File

@ -87,7 +87,7 @@ typedef struct AVCLAN_KnownMessage_struct {
typedef struct AVCLAN_frame_struct {
uint8_t valid;
MSG_TYPE_t broadcast;
MSG_TYPE_t broadcast; // 0 for broadcast messages
uint16_t controller_addr; // formerly "master"
uint16_t peripheral_addr; // formerly "slave"
uint8_t control;