X-Git-Url: http://rtime.felk.cvut.cz/gitweb/can-benchmark.git/blobdiff_plain/ed81f09538552b857c45ec9086a99b010ceec38a..0c60e90bdf1a75402f9cc86eb300c5619dd895bc:/rtems/gw/cangw/helpers.c

diff --git a/rtems/gw/cangw/helpers.c b/rtems/gw/cangw/helpers.c
new file mode 100644
index 0000000..0f94242
--- /dev/null
+++ b/rtems/gw/cangw/helpers.c
@@ -0,0 +1,90 @@
+#include <system_def.h>
+#include "system.h"
+#include "app_def.h"
+#include <unistd.h>
+#include <fcntl.h>
+#include <stdio.h>
+#include <errno.h>
+#include <stdlib.h>
+#include <rtems/error.h>
+#include <rtems/monitor.h>
+#include <rtems/shell.h>
+
+#include <bsp/mscan.h>
+#include <bsp/mscan-base.h>
+
+
+#include "helpers.h"
+#include "gw.h"
+
+
+extern unsigned long int total_1, total_2, succ_1, succ_2, err_1, err_2;
+
+static rtems_device_major_number mscan_major;
+static rtems_driver_address_table mscan_driver_table=MSCAN_DRIVER_TABLE_ENTRY;
+
+
+int print_can_totals(int argc, char** argv){
+    printf("Total 1: %lu, Total 2: %lu\n", total_1, total_2);
+    printf("Success 1: %lu, Success 2: %lu\n", succ_1, succ_2);
+    printf("Errors 1: %lu, Errors 2: %lu\n", err_1, err_2);
+    return 0;
+}
+
+int print_regs(int argc, char** argv){
+    printf("IPB_CLOCK: %lu\n", bsp_uboot_board_info.bi_ipbfreq);
+    printf("XLB_CLOCK: %lu\n", bsp_uboot_board_info.bi_busfreq);
+    printf("G2_CLOCK: %lu\n", bsp_uboot_board_info.bi_intfreq);
+    printf("BAUD: %lu\n", bsp_uboot_board_info.bi_baudrate);
+    printf("BIT 27 set to 1: 0x%08lx\n", MPC5200_BIT32(27));
+    printf("GPIO_PCR_CHIP_ALTS_CAN: 0x%08x\n", GPIO_PCR_CHIP_ALTS_CAN);    
+    printf("GPIO_PCR_CHIP_SELECT_1: 0x%08x\n", GPIO_PCR_CHIP_SELECT_1);
+    return 0;
+}
+
+
+
+/*
+* Single function to prepare CAN devices for read/write operation.
+*
+* Sets up baud rate at 1M, opens fda and fdb and checks for errors.
+*/
+static int init_CAN(){
+    rtems_status_code status;
+    
+    printf("Initializing CAN bus.\n");
+    
+    printf("Changing gpiopcr setting...\n");    
+    //Clear PCR_CHIP_SELECT bits and sets them to ALT_CAN.
+    mpc5200.gpiopcr = (mpc5200.gpiopcr & (~GPIO_PCR_CHIP_SELECT_1)) | GPIO_PCR_CHIP_ALTS_CAN;
+
+    printf("Registering CAN drivers...\n");
+    status = rtems_io_register_driver(0, &mscan_driver_table, &mscan_major);
+    if (status != RTEMS_SUCCESSFUL){
+        printf("caninit: rtems_io_register_driver %s\n",rtems_status_text(status));
+        return 1;
+    }
+    
+    return 0;
+}
+
+int start_can(int argc, char** argv){
+    int res;
+    static char inited = 0;
+    if (!inited){
+        res = init_CAN();
+        inited = 1;
+        if (res != 0){
+            //TODO
+            printf("Error while initializing CAN\n");
+            return res;
+        }
+        printf("CAN inited\n");
+    }
+    res = start_GW();
+    return 0;
+}
+
+int end_can(int argc, char** argv){
+    return end_GW();
+}
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