/**
* @brief Polled delay.
* @note The real delay is always few cycles in excess of the specified
* value.
* @note This function is only available if the port layer supports the
* option @p PORT_SUPPORTS_RT.
*
* @param[in] cycles number of cycles
*
* @xclass
*/
void chSysPolledDelayX(rtcnt_t cycles) {
rtcnt_t start = chSysGetRealtimeCounterX();
rtcnt_t end = start + cycles;
while (chSysIsCounterWithinX(chSysGetRealtimeCounterX(), start, end)) {
}
}
/**
* @brief Stops a measurement and chains to the next one using the same time
* stamp.
*
* @param[in,out] tmp1 pointer to the @p time_measurement_t structure to be
* stopped
* @param[in,out] tmp2 pointer to the @p time_measurement_t structure to be
* started
*
*
* @xclass
*/
NOINLINE void chTMChainMeasurementToX(time_measurement_t *tmp1,
time_measurement_t *tmp2) {
/* Starts new measurement.*/
tmp2->last = chSysGetRealtimeCounterX();
/* Stops previous measurement using the same time stamp.*/
tm_stop(tmp1, tmp2->last, 0);
}
static void memtest(void) {
red_led_off();
while (true) {
memtest_struct.rand_seed = chSysGetRealtimeCounterX();
memtest_run(&memtest_struct, MEMTEST_RUN_ALL);
green_led_toggle();
}
green_led_on();
green_led_off();
}
/**
* @brief Writes a time stamp and increases the trace buffer pointer.
*
* @notapi
*/
static NOINLINE void trace_next(void) {
ch.dbg.trace_buffer.ptr->time = chVTGetSystemTimeX();
#if PORT_SUPPORTS_RT == TRUE
ch.dbg.trace_buffer.ptr->rtstamp = chSysGetRealtimeCounterX();
#else
ch.dbg.trace_buffer.ptr->rtstamp = (rtcnt_t)0;
#endif
/* Trace hook, useful in order to interface debug tools.*/
CH_CFG_TRACE_HOOK(ch.dbg.trace_buffer.ptr);
if (++ch.dbg.trace_buffer.ptr >=
&ch.dbg.trace_buffer.buffer[CH_DBG_TRACE_BUFFER_SIZE]) {
ch.dbg.trace_buffer.ptr = &ch.dbg.trace_buffer.buffer[0];
}
}
static void pattern_fill(void) {
size_t i;
srand(chSysGetRealtimeCounterX());
for(i=0; i<NAND_PAGE_SIZE; i++){
ref_buf[i] = rand() & 0xFF;
}
/* protect bad mark */
ref_buf[NAND_PAGE_DATA_SIZE] = 0xFF;
ref_buf[NAND_PAGE_DATA_SIZE + 1] = 0xFF;
memcpy(nand_buf, ref_buf, NAND_PAGE_SIZE);
/* paranoid mode ON */
osalDbgCheck(0 == memcmp(ref_buf, nand_buf, NAND_PAGE_SIZE));
}
/**
* @brief Stops a measurement.
* @pre The @p time_measurement_t structure must be initialized.
*
* @param[in,out] tmp pointer to a @p time_measurement_t structure
*
* @xclass
*/
NOINLINE void chTMStopMeasurementX(time_measurement_t *tmp) {
tm_stop(tmp, chSysGetRealtimeCounterX(), ch.tm.offset);
}
/**
* @brief Starts a measurement.
* @pre The @p time_measurement_t structure must be initialized.
*
* @param[in,out] tmp pointer to a @p TimeMeasurement structure
*
* @xclass
*/
NOINLINE void chTMStartMeasurementX(time_measurement_t *tmp) {
tmp->last = chSysGetRealtimeCounterX();
}
CCM_FUNC static THD_FUNCTION(ThreadCAN, arg)
{
event_listener_t el;
CANTxFrame txmsg;
CANRxFrame rxmsg;
uint16_t i;
bool pidserved;
(void)arg;
chRegSetThreadName("CAN Bus");
while(CAND1.state != CAN_READY) chThdSleepMilliseconds(10);
while(SDU1.state != SDU_READY) chThdSleepMilliseconds(10);
chEvtRegister(&CAND1.rxfull_event, &el, 0);
while(TRUE) {
// Are we using coms for sensor data? If not just sleep.
if (settings.sensorsInput != SENSORS_INPUT_COM && (settings.functions & FUNC_OBD_SERVER) == 0) {
chThdSleepMilliseconds(100);
continue;
}
//checkCanFilters(&CAND1, &cancfg);
if (chEvtWaitAnyTimeout(ALL_EVENTS, MS2ST(10)) == 0) {
continue;
}
while (canReceive(&CAND1, CAN_ANY_MAILBOX, &rxmsg, TIME_IMMEDIATE) == MSG_OK) {
/* Process message.*/
if (dbg_can) {
chprintf(DBG_STREAM, "->[CANBUS][%08x][SID:%03x][RTR:%01x]", chSysGetRealtimeCounterX(), rxmsg.SID, rxmsg.RTR);
for(i = 0; i < rxmsg.DLC; i++) {
chprintf(DBG_STREAM, ":%02x", rxmsg.data8[i]);
}
chprintf(DBG_STREAM, "\r\n");
}
if (settings.functions & FUNC_OBD_SERVER) {
pidserved = serveCanOBDPidRequest(&CAND1, &txmsg, &rxmsg);
if (dbg_can && pidserved) {
chprintf(DBG_STREAM, "<-[CANBUS][%08x][SID:%03x][RTR:%01x]", chSysGetRealtimeCounterX(), txmsg.SID, txmsg.RTR);
for(i = 0; i < txmsg.DLC; i++) {
chprintf(DBG_STREAM, ":%02x", txmsg.data8[i]);
}
chprintf(DBG_STREAM, "\r\n");
}
else if (dbg_can) {
chprintf(DBG_STREAM, "!![CANBUS][%08x][ignored sender %03x]\r\n", chSysGetRealtimeCounterX(), rxmsg.SID);
}
}
if ((settings.functions & FUNC_OBD_SERVER) == 0) {
if (settings.sensorsInput == SENSORS_INPUT_OBD_CAN) {
readCanOBDPidResponse(&rxmsg);
}
else if (settings.sensorsInput == SENSORS_INPUT_YAMAHA_CAN) {
readCanYamahaPid(&rxmsg);
}
}
}
if (settings.sensorsInput == SENSORS_INPUT_OBD_CAN
&& (settings.functions & FUNC_OBD_SERVER) == 0) {
// Request OBD PIDs
sendCanOBDFrames(&CAND1, &txmsg);
if (dbg_can) {
chprintf(DBG_STREAM, "<-[CANBUS][%08x][SID:%03x][RTR:%01x]", chSysGetRealtimeCounterX(), txmsg.SID, txmsg.RTR);
for(i = 0; i < 8; i++) {
chprintf(DBG_STREAM, ":%02x", txmsg.data8[i]);
}
chprintf(DBG_STREAM, "\r\n");
}
chThdSleepMilliseconds(100); // ~10Hz
}
}
chEvtUnregister(&CAND1.rxfull_event, &el);
return;
}
