mirror of
https://github.com/Klipper3d/klipper.git
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add SLCAN
Signed-off-by: Findlay Feng <i@fengch.me>
This commit is contained in:
Findlay Feng
parent
8c7693c048
commit
d86f28d2ed
4 changed files with 547 additions and 16 deletions
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@ -50,7 +50,7 @@ source "src/simulator/Kconfig"
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config SERIAL
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bool
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config SERIAL_BAUD
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depends on SERIAL
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depends on SERIAL || SERIAL_CANBUS
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int "Baud rate for serial port" if LOW_LEVEL_OPTIONS
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default 250000
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help
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@ -261,9 +261,11 @@ endmenu
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# Generic configuration options for CANbus
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config CANSERIAL
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bool
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config SERIAL_CANBUS
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bool
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config CANBUS
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bool
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default y if CANSERIAL || USBCANBUS
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default y if CANSERIAL || USBCANBUS || SERIAL_CANBUS
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config CANBUS_FREQUENCY
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int "CAN bus speed" if LOW_LEVEL_OPTIONS && CANBUS
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default 1000000
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410
src/generic/slcan.c
Normal file
410
src/generic/slcan.c
Normal file
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@ -0,0 +1,410 @@
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// Support for Linux "slcan" CANbus adapter emulation
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//
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// Copyright (C) 2025 Findlay Feng <i@fengch.me>
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//
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// This file may be distributed under the terms of the GNU GPLv3 license.
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#include "autoconf.h"
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#include "board/irq.h"
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#include "canbus.h"
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#include "canserial.h"
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#include "command.h"
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#include "sched.h"
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#include "serial_irq.h"
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#include <ctype.h>
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#include <string.h>
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DECL_CONSTANT("CANBUS_FREQUENCY", CONFIG_CANBUS_FREQUENCY);
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#define SLCAN_RX_BUFF_SIZE 128
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#define SLCAN_RX_BUFF_MAKS 127
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#define SLCAN_TX_QUEUE_SIZE 16
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#define SLCAN_TX_QUEUE_MAKS 15
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// CAN2.0A
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#define SLCAN_MTU (sizeof("t11181122334455667788EA5F\r") + 1)
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// CAN2.0B
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// #define SLCAN_MTU (sizeof("T1111222281122334455667788EA5F\r") + 1)
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union slcan_frame
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{
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struct
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{
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char cmd;
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union
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{
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struct
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{
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char id[3];
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char dcl;
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char data[16];
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char timestamp[4];
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} __packed;
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char cmd_data[SLCAN_MTU - 1];
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};
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} __packed;
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char buff[SLCAN_MTU];
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};
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static struct slcan_data
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{
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struct
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{
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uint32_t offset;
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uint32_t count;
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char buff[SLCAN_RX_BUFF_SIZE];
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} rx;
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struct
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{
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char *head;
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uint32_t offset;
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uint32_t count;
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uint32_t working;
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union slcan_frame queue[SLCAN_TX_QUEUE_SIZE];
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} tx;
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uint32_t assigned_id;
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} slcan = {0};
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static inline uint8_t hex2int(char c)
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{
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uint8_t ret = c - '0';
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if (ret < 10)
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{
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return ret;
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}
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return (c - 'A' + 10) & 0xf;
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}
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static inline char int2hex(uint8_t i)
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{
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i &= 0xf;
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return i + (i < 10 ? '0' : 'A' - 10);
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}
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static int get_canbus_msg_for_slcan_frame(struct canbus_msg *msg,
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union slcan_frame const *slcan_f)
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{
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msg->id = hex2int(slcan_f->id[0]) << 8 | hex2int(slcan_f->id[1]) << 4 |
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hex2int(slcan_f->id[2]);
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msg->dlc = hex2int(slcan_f->dcl);
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if (msg->dlc > 8)
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{
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return -1;
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}
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char const *data = slcan_f->data;
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for (int i = 0; i < msg->dlc; i++)
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{
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uint8_t tmp = hex2int(*(data++)) << 4;
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msg->data[i] = tmp | hex2int(*(data++));
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}
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return 0;
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}
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static int get_slcan_frame_for_canbus_msg(union slcan_frame *slcan_f,
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struct canbus_msg const *msg)
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{
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uint32_t id = msg->id;
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slcan_f->id[0] = int2hex(id >> 8);
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slcan_f->id[1] = int2hex(id >> 4);
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slcan_f->id[2] = int2hex(id);
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uint8_t dlc = msg->dlc;
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if (dlc > 8)
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{
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return -1;
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}
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slcan_f->cmd = 't';
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slcan_f->dcl = int2hex(dlc);
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char *data = slcan_f->data;
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for (int i = 0; i < dlc; i++)
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{
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uint8_t tmp = msg->data[i];
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*(data++) = int2hex(tmp >> 4);
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*(data++) = int2hex(tmp);
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}
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*(data++) = '\r';
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*data = '\0';
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return 0;
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}
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void serial_rx_byte(uint_fast8_t data)
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{
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uint32_t count = slcan.rx.count;
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if (count - slcan.rx.offset >= SLCAN_RX_BUFF_SIZE)
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{
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// todo_error();
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return;
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}
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slcan.rx.buff[(count++) & SLCAN_RX_BUFF_MAKS] = data;
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slcan.rx.count = count;
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if (data == '\r')
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{
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sched_wake_tasks();
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}
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}
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int serial_get_tx_byte(uint8_t *pdata)
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{
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char *head = slcan.tx.head;
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char c = head == NULL ? '\0' : *head;
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while (c == '\0')
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{
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uint32_t offset = slcan.tx.offset;
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if (offset == slcan.tx.count)
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{
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return -1;
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}
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head = slcan.tx.queue[(offset++) & SLCAN_TX_QUEUE_MAKS].buff;
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slcan.tx.offset = offset;
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slcan.tx.head = head;
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c = *head;
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}
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*pdata = c;
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slcan.tx.head = head + 1;
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return 0;
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}
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static int _slcan_send(int *format(union slcan_frame *slcan_frame,
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char const *data),
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char const *data)
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{
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uint32_t working;
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irq_disable();
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if ((slcan.tx.count - (slcan.tx.offset + slcan.tx.working)) >=
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SLCAN_TX_QUEUE_SIZE)
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{
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irq_enable();
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return -1;
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}
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working = slcan.tx.working++;
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irq_enable();
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uint32_t count = slcan.tx.count + working;
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union slcan_frame *f = &slcan.tx.queue[count & SLCAN_TX_QUEUE_MAKS];
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int ret = 0;
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if (format(f, data))
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{
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*f->buff = '\0';
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ret = -2;
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};
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irq_disable();
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if (working == 0)
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{
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slcan.tx.count += slcan.tx.working;
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slcan.tx.working = 0;
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serial_enable_tx_irq();
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}
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irq_enable();
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return ret;
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}
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static int slcan_frame_fill(union slcan_frame *dest_frame,
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union slcan_frame const *src_frame)
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{
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strncpy((char *)dest_frame, (char const *)src_frame,
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sizeof(union slcan_frame));
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return 0;
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}
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#define slcan_send(c, f) \
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_slcan_send((int *(*)(union slcan_frame *, const char *))(c), \
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(char const *)(f))
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static int slcan_send_frame(union slcan_frame const *f)
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{
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return slcan_send(slcan_frame_fill, f);
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}
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static int slcan_send_msg(struct canbus_msg const *msg)
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{
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return slcan_send(get_slcan_frame_for_canbus_msg, msg);
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}
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static const uint32_t slcan_bitrate_const[] = {
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10000, 20000, 50000, 100000, 125000, 250000, 500000, 800000, 1000000};
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#define ERROR ((union slcan_frame const *)"\a")
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#define OK ((union slcan_frame const *)"\r")
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static int frame_dump(union slcan_frame const *f)
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{
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switch (f->cmd)
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{
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case 'C':
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case 'O':
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slcan_send_frame(OK);
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break;
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case 'S':
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uint8_t index = f->cmd_data[0] - '0';
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if (index > 8)
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{
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goto error;
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}
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uint32_t s = slcan_bitrate_const[index];
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if (s != CONFIG_CANBUS_FREQUENCY)
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{
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goto error;
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}
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slcan_send_frame(OK);
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break;
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case 't':
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struct canbus_msg msg;
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if (get_canbus_msg_for_slcan_frame(&msg, f) != 0)
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{
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goto error;
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};
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uint32_t id = msg.id;
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if (id == slcan.assigned_id)
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{
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canserial_process_data(&msg);
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slcan_send_frame(OK);
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break;
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}
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if (canhw_send(&msg) < 0)
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{
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return -2;
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}
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slcan_send_frame(OK);
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if (id == CANBUS_ID_ADMIN)
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{
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canserial_process_data(&msg);
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}
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break;
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default:
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error:
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slcan_send_frame(ERROR);
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return -1;
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}
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return 0;
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}
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static union slcan_frame slcan_tmp = {0};
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static char *next = slcan_tmp.buff;
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static int sync_next = 0;
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void slcan_task(void)
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{
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while (slcan.rx.offset != slcan.rx.count)
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{
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uint32_t offset = slcan.rx.offset;
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char c = slcan.rx.buff[offset++ & SLCAN_RX_BUFF_MAKS];
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if (sync_next)
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{
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if (c == '\r')
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{
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sync_next = 0;
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}
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goto next_char;
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}
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if (c == '\r')
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{
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if (next < slcan_tmp.data)
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{
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goto error;
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}
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int dlc = hex2int(slcan_tmp.dcl);
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if (dlc > 8 || next < &slcan_tmp.data[dlc << 1])
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{
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goto next_frame;
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}
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*next = c;
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*(next + 1) = '\0';
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if (frame_dump(&slcan_tmp) == -2)
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{
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sched_wake_tasks();
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return;
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}
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goto next_frame;
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}
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if (!isprint(c))
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{
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goto error;
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}
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if (next - slcan_tmp.buff >= sizeof(slcan_tmp))
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{
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goto error;
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}
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*(next++) = c;
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next_char:
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slcan.rx.offset = offset;
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continue;
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error:
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sync_next = 1;
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next_frame:
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slcan.rx.offset = offset;
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next = slcan_tmp.buff;
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}
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}
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DECL_TASK(slcan_task);
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int canbus_send(struct canbus_msg *msg)
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{
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if (slcan_send_msg(msg))
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{
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return -1;
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}
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return msg->dlc;
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}
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void canbus_set_filter(uint32_t id) { slcan.assigned_id = id; }
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void canbus_notify_tx(void) { sched_wake_tasks(); }
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void canbus_process_data(struct canbus_msg *msg) { slcan_send_msg(msg); }
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@ -168,6 +168,10 @@ config HAVE_STM32_USBCANBUS
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depends on HAVE_STM32_CANBUS || HAVE_STM32_FDCANBUS
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depends on !MACH_STM32F1
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default y
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config HAVE_STM32_SLCAN
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bool
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depends on HAVE_STM32_CANBUS || HAVE_STM32_FDCANBUS
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default y
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config MCU
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string
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@ -397,50 +401,133 @@ choice
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bool "USB (on PB14/PB15)"
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depends on MACH_STM32H743 || MACH_STM32H750
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select USBSERIAL
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config STM32_SERIAL_USART1
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config STM32_DIRECT_SERIAL_USART1
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bool "Serial (on USART1 PA10/PA9)"
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select SERIAL
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config STM32_SERIAL_USART1_ALT_PB7_PB6
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select STM32_SERIAL_USART1
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config STM32_DIRECT_SERIAL_USART1_ALT_PB7_PB6
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bool "Serial (on USART1 PB7/PB6)" if LOW_LEVEL_OPTIONS
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select SERIAL
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config STM32_SERIAL_USART2
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select STM32_SERIAL_USART1_ALT_PB7_PB6
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config STM32_DIRECT_SERIAL_USART2
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bool "Serial (on USART2 PA3/PA2)" if LOW_LEVEL_OPTIONS
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select SERIAL
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config STM32_SERIAL_USART2_ALT_PA15_PA14
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select STM32_SERIAL_USART2
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config STM32_DIRECT_SERIAL_USART2_ALT_PA15_PA14
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bool "Serial (on USART2 PA15/PA14)" if LOW_LEVEL_OPTIONS && (MACH_STM32F0 || MACH_STM32G4)
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select SERIAL
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config STM32_SERIAL_USART2_ALT_PB4_PB3
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select STM32_SERIAL_USART2_ALT_PA15_PA14
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config STM32_DIRECT_SERIAL_USART2_ALT_PB4_PB3
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bool "Serial (on USART2 PB4/PB3)" if LOW_LEVEL_OPTIONS && MACH_STM32G4
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select SERIAL
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config STM32_SERIAL_USART2_ALT_PD6_PD5
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select STM32_SERIAL_USART2_ALT_PB4_PB3
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config STM32_DIRECT_SERIAL_USART2_ALT_PD6_PD5
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bool "Serial (on USART2 PD6/PD5)" if LOW_LEVEL_OPTIONS && !MACH_STM32F0
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select SERIAL
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config STM32_SERIAL_USART3
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select STM32_SERIAL_USART2_ALT_PD6_PD5
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config STM32_DIRECT_SERIAL_USART3
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bool "Serial (on USART3 PB11/PB10)" if LOW_LEVEL_OPTIONS
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depends on !MACH_STM32F0 && !MACH_STM32F401
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select SERIAL
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config STM32_SERIAL_USART3_ALT_PD9_PD8
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select STM32_SERIAL_USART3
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config STM32_DIRECT_SERIAL_USART3_ALT_PD9_PD8
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bool "Serial (on USART3 PD9/PD8)" if LOW_LEVEL_OPTIONS
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depends on !MACH_STM32F0 && !MACH_STM32F401
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select SERIAL
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config STM32_SERIAL_USART3_ALT_PC11_PC10
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select STM32_SERIAL_USART3_ALT_PD9_PD8
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config STM32_DIRECT_SERIAL_USART3_ALT_PC11_PC10
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bool "Serial (on USART3 PC11/PC10)" if LOW_LEVEL_OPTIONS
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depends on MACH_STM32G474
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select SERIAL
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config STM32_SERIAL_UART4
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select STM32_SERIAL_USART3_ALT_PC11_PC10
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config STM32_DIRECT_SERIAL_UART4
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bool "Serial (on UART4 PA0/PA1)"
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depends on MACH_STM32H7
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select SERIAL
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config STM32_SERIAL_USART5
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select STM32_SERIAL_UART4
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config STM32_DIRECT_SERIAL_USART5
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bool "Serial (on USART5 PD2/PD3)" if LOW_LEVEL_OPTIONS
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depends on MACH_STM32G0Bx
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select SERIAL
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config STM32_SERIAL_USART6
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select STM32_SERIAL_USART5
|
||||
config STM32_DIRECT_SERIAL_USART6
|
||||
bool "Serial (on USART6 PA12/PA11)" if LOW_LEVEL_OPTIONS && MACH_STM32F401
|
||||
select SERIAL
|
||||
config STM32_SERIAL_USART6_ALT_PC7_PC6
|
||||
select STM32_SERIAL_USART6
|
||||
config STM32_DIRECT_SERIAL_USART6_ALT_PC7_PC6
|
||||
bool "Serial (on USART6 PC7/PC6)" if LOW_LEVEL_OPTIONS && MACH_STM32F401
|
||||
select SERIAL
|
||||
select STM32_SERIAL_USART6_ALT_PC7_PC6
|
||||
config STM32_SLCAN_USART1
|
||||
bool "SLCAN bus bridge (Serial on USART1 PA10/PA9)"
|
||||
depends on HAVE_STM32_SLCAN
|
||||
select SERIAL_CANBUS
|
||||
select STM32_SERIAL_USART1
|
||||
config STM32_SLCAN_USART1_ALT_PB7_PB6
|
||||
bool "SLCAN bus bridge (Serial on USART1 PB7/PB6)" if LOW_LEVEL_OPTIONS
|
||||
depends on HAVE_STM32_SLCAN
|
||||
select SERIAL_CANBUS
|
||||
select STM32_SERIAL_USART1_ALT_PB7_PB6
|
||||
config STM32_SLCAN_USART2
|
||||
bool "SLCAN bus bridge (Serial on USART2 PA3/PA2)" if LOW_LEVEL_OPTIONS
|
||||
depends on HAVE_STM32_SLCAN
|
||||
select SERIAL_CANBUS
|
||||
select STM32_SERIAL_USART2
|
||||
config STM32_SLCAN_USART2_ALT_PA15_PA14
|
||||
bool "SLCAN bus bridge (Serial on USART2 PA15/PA14)" if LOW_LEVEL_OPTIONS && (MACH_STM32F0 || MACH_STM32G4)
|
||||
depends on HAVE_STM32_SLCAN
|
||||
select SERIAL_CANBUS
|
||||
select STM32_SERIAL_USART2_ALT_PA15_PA14
|
||||
config STM32_SLCAN_USART2_ALT_PB4_PB3
|
||||
bool "SLCAN bus bridge (Serial on USART2 PB4/PB3)" if LOW_LEVEL_OPTIONS && MACH_STM32G4
|
||||
depends on HAVE_STM32_SLCAN
|
||||
select SERIAL_CANBUS
|
||||
select STM32_SERIAL_USART2_ALT_PB4_PB3
|
||||
config STM32_SLCAN_USART2_ALT_PD6_PD5
|
||||
bool "SLCAN bus bridge (Serial on USART2 PD6/PD5)" if LOW_LEVEL_OPTIONS && !MACH_STM32F0
|
||||
depends on HAVE_STM32_SLCAN
|
||||
select SERIAL_CANBUS
|
||||
select STM32_SERIAL_USART2_ALT_PD6_PD5
|
||||
config STM32_SLCAN_USART3
|
||||
bool "SLCAN bus bridge (Serial on USART3 PB11/PB10)" if LOW_LEVEL_OPTIONS
|
||||
depends on HAVE_STM32_SLCAN
|
||||
select SERIAL_CANBUS
|
||||
depends on !MACH_STM32F0 && !MACH_STM32F401
|
||||
select STM32_SERIAL_USART3
|
||||
config STM32_SLCAN_USART3_ALT_PD9_PD8
|
||||
bool "SLCAN bus bridge (Serial on USART3 PD9/PD8)" if LOW_LEVEL_OPTIONS
|
||||
depends on HAVE_STM32_SLCAN
|
||||
depends on !MACH_STM32F0 && !MACH_STM32F401
|
||||
select SERIAL_CANBUS
|
||||
select STM32_SERIAL_USART3_ALT_PD9_PD8
|
||||
config STM32_SLCAN_USART3_ALT_PC11_PC10
|
||||
bool "SLCAN bus bridge (Serial on USART3 PC11/PC10)" if LOW_LEVEL_OPTIONS
|
||||
depends on HAVE_STM32_SLCAN
|
||||
depends on MACH_STM32G474
|
||||
select SERIAL_CANBUS
|
||||
select STM32_SERIAL_USART3_ALT_PC11_PC10
|
||||
config STM32_SLCAN_UART4
|
||||
bool "SLCAN bus bridge (Serial on UART4 PA0/PA1)"
|
||||
depends on HAVE_STM32_SLCAN
|
||||
depends on MACH_STM32H7
|
||||
select SERIAL_CANBUS
|
||||
select STM32_SERIAL_UART4
|
||||
config STM32_SLCAN_USART5
|
||||
bool "SLCAN bus bridge (Serial on USART5 PD2/PD3)" if LOW_LEVEL_OPTIONS
|
||||
depends on HAVE_STM32_SLCAN
|
||||
depends on MACH_STM32G0Bx
|
||||
select SERIAL_CANBUS
|
||||
select STM32_SERIAL_USART5
|
||||
config STM32_SLCAN_USART6
|
||||
bool "SLCAN bus bridge (Serial on USART6 PA12/PA11)" if LOW_LEVEL_OPTIONS && MACH_STM32F401
|
||||
depends on HAVE_STM32_SLCAN
|
||||
select SERIAL_CANBUS
|
||||
select STM32_SERIAL_USART6
|
||||
config STM32_SLCAN_USART6_ALT_PC7_PC6
|
||||
bool "SLCAN bus bridge (Serial on USART6 PC7/PC6)" if LOW_LEVEL_OPTIONS && MACH_STM32F401
|
||||
depends on HAVE_STM32_SLCAN
|
||||
select SERIAL_CANBUS
|
||||
select STM32_SERIAL_USART6_ALT_PC7_PC6
|
||||
config STM32_CANBUS_PA11_PA12
|
||||
bool "CAN bus (on PA11/PA12)"
|
||||
depends on HAVE_STM32_CANBUS || HAVE_STM32_FDCANBUS
|
||||
|
|
@ -495,7 +582,7 @@ choice
|
|||
select USBCANBUS
|
||||
endchoice
|
||||
choice
|
||||
prompt "CAN bus interface" if USBCANBUS
|
||||
prompt "CAN bus interface" if USBCANBUS || SERIAL_CANBUS
|
||||
config STM32_CMENU_CANBUS_PB8_PB9
|
||||
bool "CAN bus (on PB8/PB9)"
|
||||
config STM32_CMENU_CANBUS_PI9_PH13
|
||||
|
|
@ -524,6 +611,37 @@ choice
|
|||
depends on HAVE_STM32_FDCANBUS
|
||||
endchoice
|
||||
|
||||
config STM32_SERIAL_USART1
|
||||
bool
|
||||
config STM32_SERIAL_USART1_ALT_PB7_PB6
|
||||
bool
|
||||
config STM32_SERIAL_USART2
|
||||
bool
|
||||
config STM32_SERIAL_USART2_ALT_PA15_PA14
|
||||
bool
|
||||
config STM32_SERIAL_USART2_ALT_PB4_PB3
|
||||
bool
|
||||
config STM32_SERIAL_USART2_ALT_PD6_PD5
|
||||
bool
|
||||
config STM32_SERIAL_USART3
|
||||
bool
|
||||
depends on !MACH_STM32F0 && !MACH_STM32F401
|
||||
config STM32_SERIAL_USART3_ALT_PD9_PD8
|
||||
bool
|
||||
depends on !MACH_STM32F0 && !MACH_STM32F401
|
||||
config STM32_SERIAL_USART3_ALT_PC11_PC10
|
||||
bool
|
||||
depends on MACH_STM32G474
|
||||
config STM32_SERIAL_UART4
|
||||
bool
|
||||
depends on MACH_STM32H7
|
||||
config STM32_SERIAL_USART5
|
||||
bool
|
||||
depends on MACH_STM32G0Bx
|
||||
config STM32_SERIAL_USART6
|
||||
bool
|
||||
config STM32_SERIAL_USART6_ALT_PC7_PC6
|
||||
bool
|
||||
|
||||
config STM32_CANBUS_PB8_PB9
|
||||
bool
|
||||
|
|
|
|||
|
|
@ -84,6 +84,7 @@ src-$(CONFIG_USBSERIAL) += $(usb-src-y) stm32/chipid.c generic/usb_cdc.c
|
|||
canbus-src-y := generic/canserial.c ../lib/fast-hash/fasthash.c
|
||||
canbus-src-$(CONFIG_HAVE_STM32_CANBUS) += stm32/can.c
|
||||
canbus-src-$(CONFIG_HAVE_STM32_FDCANBUS) += stm32/fdcan.c
|
||||
src-$(CONFIG_SERIAL_CANBUS) += $(serial-src-y) $(canbus-src-y) generic/slcan.c stm32/chipid.c
|
||||
src-$(CONFIG_CANSERIAL) += $(canbus-src-y) generic/canbus.c stm32/chipid.c
|
||||
src-$(CONFIG_USBCANBUS) += $(usb-src-y) $(canbus-src-y)
|
||||
src-$(CONFIG_USBCANBUS) += stm32/chipid.c generic/usb_canbus.c
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue