simple msg queue for can

firmware/CMakeLists.txt

@@ -44,15 +44,14 @@ target_sources(dispensy PUBLIC
     ${CMAKE_CURRENT_LIST_DIR}/src/can.c
 
     ${CMAKE_CURRENT_LIST_DIR}/pico-ssd1306/ssd1306.c
-
     ${CMAKE_CURRENT_LIST_DIR}/can2040/src/can2040.c
 )
 
 target_include_directories(dispensy PUBLIC ${CMAKE_CURRENT_LIST_DIR}/include)
-
 target_include_directories(dispensy PUBLIC ${CMAKE_CURRENT_LIST_DIR}/pico-ssd1306)
-
 target_include_directories(dispensy PUBLIC ${CMAKE_CURRENT_LIST_DIR}/can2040/src)
+
+# https://github.com/KevinOConnor/can2040/blob/master/docs/API.md
 target_include_directories(dispensy PUBLIC ${CMAKE_CURRENT_LIST_DIR}/pico-sdk/src/rp2_common/cmsis/stub/CMSIS/Device/RaspberryPi/RP2040/Include)
 target_include_directories(dispensy PUBLIC ${CMAKE_CURRENT_LIST_DIR}/pico-sdk/src/rp2_common/cmsis/stub/CMSIS/Core/Include)
 
@@ -62,6 +61,7 @@ target_compile_options(dispensy PUBLIC
     -Wextra
     -Werror
 
+    # can2040 requires at least O2
     -O3
 
     -DSSD1306_DEBUG_PRINT=debug
@@ -76,7 +76,6 @@ set_source_files_properties(${CMAKE_CURRENT_LIST_DIR}/pico-sdk/lib/btstack/src/c
 set_source_files_properties(${CMAKE_CURRENT_LIST_DIR}/pico-sdk/lib/btstack/src/classic/goep_client.c PROPERTIES COMPILE_FLAGS -Wno-unused-parameter)
 set_source_files_properties(${CMAKE_CURRENT_LIST_DIR}/pico-sdk/lib/btstack/src/classic/goep_server.c PROPERTIES COMPILE_FLAGS -Wno-unused-parameter)
 set_source_files_properties(${CMAKE_CURRENT_LIST_DIR}/pico-sdk/src/rp2_common/hardware_flash/flash.c PROPERTIES COMPILE_FLAGS -Wno-shadow)
-
 set_source_files_properties(${CMAKE_CURRENT_LIST_DIR}/can2040/src/can2040.c PROPERTIES COMPILE_FLAGS -Wno-unused-parameter)
 
 # repo meta data
@@ -103,3 +102,10 @@ target_link_libraries(dispensy
 target_compile_definitions(dispensy PUBLIC PICO_RP2040_USB_DEVICE_ENUMERATION_FIX=1)
 
 pico_add_extra_outputs(dispensy)
+
+# print binary size
+# https://github.com/raspberrypi/pico-sdk/issues/1196#issuecomment-1429404558
+add_custom_command(TARGET dispensy
+    POST_BUILD
+    COMMAND ${PICO_GCC_TRIPLE}-size --format=gnu ${CMAKE_CURRENT_BINARY_DIR}/dispensy.elf
+)

firmware/include/can.h

@@ -20,6 +20,7 @@
 #define __CAN_H__
 
 void can_init(void);
+void can_run(void);
 
 void can_hello(void);
 

firmware/src/can.c

@@ -21,6 +21,7 @@
 
 #include "config.h"
 #include "log.h"
+#include "ring.h"
 #include "can.h"
 
 #define PIO_IRQ PIO0_IRQ_0_IRQn
@@ -32,25 +33,38 @@ static const uint gpio_tx = 24;
 
 static struct can2040 bus;
 
+#define MSG_BUF_LEN 128
+static struct can2040_msg msg_buff[MSG_BUF_LEN] = {0};
+static struct ring_buffer msg_rb = RB_INIT(msg_buff, MSG_BUF_LEN, sizeof(struct can2040_msg));
+
+static bool rx_buff_overflow = false;
+static bool can_err = false;
+
 static void can2040_cb(struct can2040 *cd, uint32_t notify, struct can2040_msg *msg) {
     (void)cd;
 
     switch (notify) {
         case CAN2040_NOTIFY_RX: {
-            debug("rx id=%" PRIX32 " dlc=%" PRIX32 " data=0x%08" PRIX32 "%08" PRIX32,
-                  msg->id, msg->dlc, msg->data32[0], msg->data32[1]);
+            //debug("rx id=%" PRIX32 " dlc=%" PRIX32 " data=0x%08" PRIX32 "%08" PRIX32,
+            //      msg->id, msg->dlc, msg->data32[0], msg->data32[1]);
+
+            if (rb_space(&msg_rb) > 0) {
+                rb_push(&msg_rb, msg);
+            } else {
+                rx_buff_overflow = true;
+            }
             break;
         }
 
         case CAN2040_NOTIFY_TX: {
-            debug("tx id=%" PRIX32 " dlc=%" PRIX32 " data=0x%08" PRIX32 "%08" PRIX32,
-                  msg->id, msg->dlc, msg->data32[0], msg->data32[1]);
+            //debug("tx id=%" PRIX32 " dlc=%" PRIX32 " data=0x%08" PRIX32 "%08" PRIX32,
+            //      msg->id, msg->dlc, msg->data32[0], msg->data32[1]);
             break;
         }
 
         case CAN2040_NOTIFY_ERROR: {
-            debug("err id=%" PRIX32 " dlc=%" PRIX32 " data=0x%08" PRIX32 "%08" PRIX32,
-                  msg->id, msg->dlc, msg->data32[0], msg->data32[1]);
+            debug("can err");
+            can_err = true;
             break;
         }
     }
@@ -71,6 +85,19 @@ void can_init(void) {
     can2040_start(&bus, sys_clock, bitrate, gpio_rx, gpio_tx);
 }
 
+static void handle_message(struct can2040_msg *msg) {
+    debug("rx id=%" PRIX32 " dlc=%" PRIX32 " data=0x%08" PRIX32 "%08" PRIX32,
+          msg->id, msg->dlc, msg->data32[0], msg->data32[1]);
+}
+
+void can_run(void) {
+    while (rb_len(&msg_rb) > 0) {
+        struct can2040_msg msg = {0};
+        rb_pop(&msg_rb, &msg);
+        handle_message(&msg);
+    }
+}
+
 void can_hello(void) {
     static uint32_t prev = 0;
     uint32_t now = to_ms_since_boot(get_absolute_time());

firmware/src/console.c

@@ -31,20 +31,6 @@
 #define CNSL_BUFF_SIZE 64
 #define CNSL_REPEAT_MS 500
 
-#define DEV_AUTO_CONNECT(s) {                                     \
-    ble_scan(BLE_SCAN_OFF);                                       \
-    bd_addr_t addr;                                               \
-    bd_addr_type_t type;                                          \
-    const char *foo = s;                                          \
-    sscanf(foo, "%02hhX:%02hhX:%02hhX:%02hhX:%02hhX:%02hhX %hhu", \
-            &addr[0], &addr[1], &addr[2], &addr[3],               \
-            &addr[4], &addr[5], &type);                           \
-    ble_connect(addr, type);                                      \
-    while (!ble_is_connected()) {                                 \
-        sleep_ms(1);                                              \
-    }                                                             \
-}
-
 static char cnsl_line_buff[CNSL_BUFF_SIZE + 1];
 static uint32_t cnsl_buff_pos = 0;
 
@@ -166,18 +152,10 @@ void cnsl_handle_input(const void *buf, size_t len) {
 
             usb_cdc_write((const uint8_t *)"\b \b", 3);
 
-#ifndef NDEBUG
-            serial_write((const uint8_t *)"\b \b", 3);
-#endif
-
             // check for another backspace in this space
             i--;
         } else {
             usb_cdc_write((const uint8_t *)(cnsl_line_buff + i), 1);
-
-#ifndef NDEBUG
-            serial_write((const uint8_t *)(cnsl_line_buff + i), 1);
-#endif
         }
     }