embedded/app/usbcan/main.c

   1 /**************************************************************************/
   2 /* File: main.c - setup and main loop of USB<->CAN converter              */
   3 /*                                                                        */
   4 /* LinCAN - (Not only) Linux CAN bus driver                               */
   5 /* Copyright (C) 2002-2011 DCE FEE CTU Prague <http://dce.felk.cvut.cz>   */
   6 /* Copyright (C) 2008 Jan Kriz email:johen@post.cz                        */
   7 /*                                                                        */
   8 /* LinCAN is free software; you can redistribute it and/or modify it      */
   9 /* under terms of the GNU General Public License as published by the      */
  10 /* Free Software Foundation; either version 2, or (at your option) any    */
  11 /* later version.  LinCAN is distributed in the hope that it will be      */
  12 /* useful, but WITHOUT ANY WARRANTY; without even the implied warranty    */
  13 /* of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU    */
  14 /* General Public License for more details. You should have received a    */
  15 /* copy of the GNU General Public License along with LinCAN; see file     */
  16 /* COPYING. If not, write to the Free Software Foundation, 675 Mass Ave,  */
  17 /* Cambridge, MA 02139, USA.                                              */
  18 /*                                                                        */
  19 /* To allow use of LinCAN in the compact embedded systems firmware        */
  20 /* and RT-executives (RTEMS for example), main authors agree with next    */
  21 /* special exception:                                                     */
  22 /*                                                                        */
  23 /* Including LinCAN header files in a file, instantiating LinCAN generics */
  24 /* or templates, or linking other files with LinCAN objects to produce    */
  25 /* an application image/executable, does not by itself cause the          */
  26 /* resulting application image/executable to be covered by                */
  27 /* the GNU General Public License.                                        */
  28 /* This exception does not however invalidate any other reasons           */
  29 /* why the executable file might be covered by the GNU Public License.    */
  30 /* Publication of enhanced or derived LinCAN files is required although.  */
  31 /**************************************************************************/
  32
  33 #include <stdio.h>
  34 #include <string.h>
  35 #include <cpu_def.h>
  36 #include <system_def.h>
  37 #include <lt_timer.h>
  38 #include <local_config.h>
  39 #include <usb/usbdebug.h>
  40 #include <usb/usb.h>
  41 #include <usb/lpc.h>
  42 #include <usb/usb_srq.h>
  43 #include <mem_loc.h>
  44 #include <keyval_id.h>
  45 #include <hal_machperiph.h>
  46 #include <keyval_loc.h>
  47 #include <lpciap.h>
  48 #include <lpciap_kvpb.h>
  49
  50 #include <endian.h>
  51 #if __BYTE_ORDER == __BIG_ENDIAN
  52   #include <byteswap.h>
  53 #endif
  54
  55 #include "./can/can.h"
  56 #include "./can/sja1000p.h"
  57 #include "./can/main.h"
  58
  59 // #include "./can/can_sysdep.h"
  60 #include "./can/modparms.h"
  61 #include "./can/devcommon.h"
  62
  63 #include "./can/ul_usb1.h"
  64 //#include "./can/setup.h"
  65
  66 #include "./usb/usb_defs.h"
  67 #include "./usb/usb_vend.h"
  68
  69 #define MASK_EP1RX  0x01
  70 #define MASK_EP1TX  0x02
  71
  72 #define CAN_OP_MASK 0x80
  73 #define CAN_OP_READ 0x80
  74 #define CAN_OP_WRITE 0x00
  75
  76 #ifdef USB_MAX_PACKET
  77         #undef USB_MAX_PACKET
  78         #define USB_MAX_PACKET 16
  79 #endif
  80 /***********************************************************************
  81  * Note:
  82  * Comparing to LinCAN, there is no need to sleep for processes
  83  * because the degree of filling of fifo from the client side
  84  * is solved in main cycle (no new messages are accepted when full)
  85  * and on the server side by speed of USB interface. FIFO in edge
  86  * from SJA chip to USB interface should never be filled.
  87  ***********************************************************************/
  88
  89 /***********************************************************************
  90  * Note:
  91  * Code is wittingly complex in order to ease future changes in hardware
  92  * configuration and to make it as much similar as the code of LinCAN
  93  ***********************************************************************/
  94
  95 LT_TIMER_DEC(lt_10msec)
  96 LT_TIMER_IMP(lt_10msec)
  97 LT_TIMER_DEC(lt_100msec)
  98 LT_TIMER_IMP(lt_100msec)
  99 LT_TIMER_DEC(lt_2sec)
 100 LT_TIMER_IMP(lt_2sec)
 101
 102 typedef void (*FNC)(); //function ptr
 103
 104 /***********************************************************************
 105  * global variables
 106  ***********************************************************************/
 107
 108
 109 usb_device_t usb_device;
 110
 111 usb_ep_t eps[NUM_ENDPOINTS];
 112 unsigned char ep1_rx_buff[USB_MAX_PACKET];
 113 unsigned char ep1_tx_buff[USB_MAX_PACKET];
 114 uint8_t timer_str,timer_rx_off,timer_tx_off,timer_configured;
 115 volatile uint8_t bootloader_run;
 116
 117 uint8_t vendor_ret;
 118
 119 int processlocal;
 120
 121 int baudrate[MAX_TOT_CHIPS];
 122 struct canhardware_t canhardware;
 123 struct canhardware_t *hardware_p=&canhardware;
 124 struct canchip_t *chips_p[MAX_TOT_CHIPS];
 125 struct msgobj_t *objects_p[MAX_TOT_MSGOBJS];
 126
 127 struct canuser_t *canuser;
 128
 129 extern int init_chip_struct(struct candevice_t *candev, int chipnr, int irq, long baudrate);
 130 extern int register_chip_struct(struct canchip_t *chip, int minorbase);
 131 extern int register_obj_struct(struct msgobj_t *obj, int minorbase);
 132
 133 /***********************************************************************
 134  * IF SOMETHING BAD HAPPENED
 135  ***********************************************************************/
 136
 137 int sys_err(){
 138   unsigned char i=0;
 139
 140   while(1) {
 141     if (lt_100msec_expired(100)) {
 142       i++;
 143       if (i&1) {
 144         SET_OUT_PIN(LED_PORT,LED_ERR);
 145       } else {
 146         CLR_OUT_PIN(LED_PORT,LED_ERR);
 147       }
 148      #ifdef WATCHDOG_ENABLED
 149       watchdog_feed();
 150      #endif /* WATCHDOG_ENABLED */
 151     }
 152   }
 153 }
 154
 155 /***********************************************************************
 156  * Microsecond delay routine
 157  ***********************************************************************/
 158
 159 void udelay(long time)
 160 {
 161   volatile long ticks=(time * CCLK) / 2000000;
 162   do{
 163     ticks--;
 164   } while(ticks>0);
 165 }
 166
 167
 168 /***********************************************************************
 169  * Routine for visible LED blinking (on USB transmission)
 170  ***********************************************************************/
 171
 172 void timer_10ms(void)
 173 {
 174   if (timer_tx_off!=0) timer_tx_off--;
 175   else SET_OUT_PIN(LED_PORT,LED1_BIT);
 176   if (timer_rx_off!=0) timer_rx_off--;
 177   else SET_OUT_PIN(LED_PORT,LED2_BIT);
 178 /*  if (timer_configured!=0) timer_configured--;
 179   else {
 180     timer_configured=20;
 181                 CLR_OUT_PIN(LED_PORT,LED1_BIT);
 182                 CLR_OUT_PIN(LED_PORT,LED2_BIT);
 183                 timer_rx_off=timer_tx_off=5;
 184   }*/
 185 }
 186
 187 /***********************************************************************
 188  * Main routine
 189  ***********************************************************************/
 190
 191 int main(void)
 192 {
 193         struct candevice_t *candev;
 194         struct canchip_t *chip=NULL;
 195         struct msgobj_t *obj;
 196         struct canque_ends_t *qends;
 197         struct canque_edge_t *edge,*qedge;
 198         struct canque_slot_t *slot;
 199         struct canmsg_t canmsg;
 200         can_spin_irqflags_t iflags;
 201
 202         int chipnr,bd;
 203         int i,size,m=0;
 204
 205         CANMSG("Starting USBCAN module firmware...\n");
 206
 207 //      volatile int i=0;
 208         bootloader_run=0;
 209         /***********************************/
 210         lt_10msec_init();
 211         lt_100msec_init();
 212         lt_2sec_init();
 213
 214         SET_OUT_PIN(LED_PORT,LED_ERR);
 215         CLR_OUT_PIN(LED_PORT,LED_GP);
 216
 217         if (USB_MAX_PACKET<16){
 218                 CANMSG("Maximum packet size less than 16B (is %dB)\n",USB_MAX_PACKET);
 219                 sys_err();
 220         }
 221
 222         /***********************************************************************
 223          * CAN device initialization - device side (adapted from LinCAN setup.c)
 224          ***********************************************************************/
 225
 226         can_init();
 227
 228         DEBUGMSG("Initiating CAN device initialization\n");
 229         baudrate[0]=1000;
 230
 231         canqueue_kern_initialize();
 232
 233         hardware_p->nr_boards=1;
 234
 235         candev=(struct candevice_t *)malloc(sizeof(struct candevice_t));
 236         if (!candev){
 237                 CANMSG("No space left in memory\n");
 238                 sys_err();
 239         }
 240         memset(candev, 0, sizeof(struct candevice_t));
 241
 242         hardware_p->candevice[0]=candev;
 243         candev->candev_idx=0;
 244         candev->io_addr=0;
 245         candev->dev_base_addr=0;
 246
 247         candev->hwspecops=(struct hwspecops_t *)malloc(sizeof(struct hwspecops_t));
 248         if (!candev->hwspecops){
 249                 CANMSG("No space left in memory\n");
 250                 sys_err();
 251         }
 252         memset(candev->hwspecops, 0, sizeof(struct hwspecops_t));
 253
 254         ul_usb1_register(candev->hwspecops);
 255
 256         bd=baudrate[0];
 257         if (candev->hwspecops->init_hw_data(candev)){
 258                 CANMSG("HW data could not be initialized\n");
 259                 sys_err();
 260         }
 261         /* Alocate and initialize the chip structures */
 262         for (chipnr=0; chipnr < candev->nr_all_chips; chipnr++) {
 263 /*              if(chipnr<irqnum)
 264                         irqsig=irq[*irq_param_idx_p+chipnr];*/
 265                 if (init_chip_struct(candev, chipnr, 0, bd*1000)){
 266                         CANMSG("Chip structure could not be initialized\n");
 267                         sys_err();
 268                 }
 269         }
 270         for (chipnr=0; chipnr < candev->nr_all_chips; chipnr++) {
 271                 struct canchip_t *chip=candev->chip[chipnr];
 272                 int objnr;
 273
 274                 register_chip_struct(chip, m);
 275
 276                 for (objnr=0; objnr<chip->max_objects; objnr++) {
 277                         register_obj_struct(chip->msgobj[objnr], m);
 278                         if(m>=0) m++;
 279                 }
 280         }
 281         if (candev->hwspecops->request_io(candev))
 282                 sys_err();
 283         candev->flags|=CANDEV_IO_RESERVED;
 284         if (candev->hwspecops->reset(candev))
 285                 sys_err();
 286         for(chipnr=0; chipnr<candev->nr_all_chips; chipnr++) {
 287                 if((chip=candev->chip[chipnr])==NULL)
 288                         continue;
 289
 290                 if(chip->chipspecops->attach_to_chip(chip)<0) {
 291 //                      CANMSG("Initial attach to the chip HW failed\n");
 292                         sys_err();
 293                 }
 294
 295                 chip->flags |= CHIP_ATTACHED;
 296
 297 // Interrupts from chip are served in main cycle
 298 /*              if(can_chip_setup_irq(chip)<0) {
 299 //                      CANMSG("Error to setup chip IRQ\n");
 300                         sys_err();
 301                 }*/
 302         }
 303
 304         if (candev->flags & CANDEV_PROGRAMMABLE_IRQ)
 305                 if (candev->hwspecops->program_irq(candev)){
 306 //                      CANMSG("Error to program board interrupt\n");
 307                         sys_err();
 308                 }
 309
 310         /***********************************************************************
 311          * CAN device initialization - client side (adapted from LinCAN open.c)
 312          ***********************************************************************/
 313
 314         chip=candev->chip[0];
 315         obj=chip->msgobj[0];
 316         atomic_inc(&obj->obj_used);
 317         can_msgobj_set_fl(obj,OPENED);
 318
 319         if (chip->flags & CHIP_CONFIGURED)
 320                 DEBUGMSG("Device is already configured.\n");
 321         else {
 322                 if (chip->chipspecops->chip_config(chip))
 323                         CANMSG("Error configuring chip.\n");
 324                 else
 325                         chip->flags |= CHIP_CONFIGURED;
 326
 327                 if (chip->chipspecops->pre_read_config(chip,obj)<0)
 328                         CANMSG("Error initializing chip for receiving\n");
 329
 330         } /* End of chip configuration */
 331
 332         canuser = (struct canuser_t *)malloc(sizeof(struct canuser_t));
 333         if(canuser == NULL) sys_err();
 334         canuser->flags=0;
 335 //      canuser->userinfo.fileinfo.file = file;
 336         canuser->msgobj = obj;
 337 //      canuser->magic = CAN_USER_MAGIC;
 338 //      file->private_data = canuser;
 339
 340         qends = (struct canque_ends_t *)malloc(sizeof(struct canque_ends_t));
 341         if(qends == NULL) sys_err();
 342         canqueue_ends_init_kern(qends);
 343         canuser->qends = qends;
 344
 345         /*required to synchronize with RT-Linux context*/
 346         can_spin_lock_irqsave(&canuser_manipulation_lock, iflags);
 347         list_add(&canuser->peers, &obj->obj_users);
 348         can_spin_unlock_irqrestore(&canuser_manipulation_lock, iflags);
 349
 350         if(canqueue_connect_edge(edge=canque_new_edge_kern(MAX_BUF_LENGTH),
 351                 canuser->qends, obj->qends)<0) sys_err();
 352
 353         if(canqueue_connect_edge(canuser->rx_edge0=canque_new_edge_kern(MAX_BUF_LENGTH),
 354                 obj->qends, canuser->qends)<0) sys_err();
 355         /*FIXME: more generic model should be used there*/
 356         canque_edge_decref(canuser->rx_edge0);
 357         canque_edge_decref(edge);
 358
 359
 360         /***********************************************************************
 361          * USB Init
 362          ***********************************************************************/
 363
 364         memset( &usb_device, 0, sizeof( usb_device));
 365         usb_device.id = 1;
 366         usb_device.devdes_table = &usb_devdes_table;
 367         usb_device.init = usb_lpc_init;
 368         usb_debug_set_level(DEBUG_LEVEL_NONE);
 369         usb_device.cntep = NUM_ENDPOINTS;
 370         usb_device.ep = eps;
 371
 372         eps[0].max_packet_size = USB_MAX_PACKET;
 373         eps[1].max_packet_size = USB_MAX_PACKET;
 374         eps[0].epnum = 0x01;
 375         eps[1].epnum = 0x81;
 376         eps[0].event_mask = 0x04;
 377         eps[1].event_mask = 0x08;
 378         eps[0].udev = &usb_device;
 379         eps[1].udev = &usb_device;
 380
 381         usb_device.vendor_fnc=usbcan_vendor;
 382
 383         usb_init(&usb_device);
 384         usb_connect(&usb_device);
 385         usb_device.ep_events |= MASK_EP1TX;
 386
 387         /***********************************************************************
 388          * Start
 389          ***********************************************************************/
 390
 391         timer_rx_off=timer_tx_off=timer_str=timer_configured=0;
 392         while (1) {
 393
 394                 usb_check_events(&usb_device);
 395                 usb_control_response(&usb_device);
 396
 397                 if (!(IO0PIN&P0_SJA1000_INT_PIN)) //INT PIN is inverted
 398                         chip->chipspecops->irq_handler(0,chip);
 399
 400                 if (usb_device.ep_events & MASK_EP1RX) {  //EP1RX - data waiting to receive
 401                         if (canque_get_inslot(qends, &qedge, &slot, 0)>=0){ //Free slot obtained
 402                                 size=usb_udev_read_endpoint(&eps[0],ep1_rx_buff,16);
 403                                 if (size==16){
 404                                         uint16_t msgflags;
 405                                         uint32_t msgid;
 406                                         canmsg.cob=0;
 407                                         canmsg.length=*(uint8_t *)(ep1_rx_buff+1);
 408                                         if (canmsg.length > CAN_MSG_LENGTH)
 409                                                 canmsg.length=CAN_MSG_LENGTH;
 410                                         msgflags=*(uint16_t *)(ep1_rx_buff+2);
 411                                         msgid=*(uint32_t *)(ep1_rx_buff+4);
 412                                         #if __BYTE_ORDER == __BIG_ENDIAN
 413                                                 msgflags  = bswap_16( msgflags);
 414                                                 msgid  = bswap_32( msgid);
 415                                         #endif
 416                                         canmsg.flags=msgflags;
 417                                         canmsg.id=msgid;
 418
 419                                         for (i=0;i<canmsg.length;i++){
 420                                                 canmsg.data[i]=*(unsigned char*)(ep1_rx_buff+8+i);
 421                                         }
 422                                         for (;i<CAN_MSG_LENGTH;i++){
 423                                                 canmsg.data[i]=0;
 424                                         }
 425                                         /* Automatic selection of extended format if ID>2047 */
 426                                         if (canmsg.id & ~0x7ffl & MSG_ID_MASK ) canmsg.flags |= MSG_EXT;
 427                                         /* has been dependent on "extended" option */
 428                                         slot->msg=canmsg;
 429                                         canque_put_inslot(qends, qedge, slot);
 430                                 }
 431                                 else
 432                                         canque_abort_inslot(qends,qedge,slot);
 433                                 timer_rx_off=50;        //rosviceni diody pri prijmu
 434                                 CLR_OUT_PIN(LED_PORT,LED2_BIT);
 435                                 usb_device.ep_events &= ~MASK_EP1RX;
 436                         }
 437
 438
 439 /*                      if (size==2){
 440                                 uint8_t val;
 441                                 if ((data[0]&CAN_OP_MASK)==CAN_OP_READ){ // Get data from CAN device and return to caller
 442                                         val = can_read(data[0] & ~CAN_OP_MASK);
 443                                         *(data+1)=val;
 444                                         usb_udev_write_endpoint(&eps[1],(unsigned char *)data,size);
 445                                         timer_rx_off=50;        //rosviceni diody pri prijmu
 446                                         CLR_OUT_PIN(LED_PORT,LED2_BIT);
 447                                         usb_can_send=0;
 448                                 }
 449                                 if ((data[0]&CAN_OP_MASK)==CAN_OP_WRITE){ // Save data to CAN device
 450                                         can_write(data[1], data[0] & ~CAN_OP_MASK);
 451                                         timer_tx_off=50;                //rozsviceni diod pri vysilani
 452                                         CLR_OUT_PIN(LED_PORT,LED1_BIT);
 453                                 }
 454                         }*/
 455                 }
 456
 457                 if(usb_device.ep_events & MASK_EP1TX){ //EP1TX - data transmitted
 458                         if(canque_test_outslot(qends, &qedge, &slot)>=0){
 459                                 DEBUGMSG("CAN message ready to send over usb\n");
 460                                 uint16_t msgflags;
 461                                 uint32_t msgid;
 462
 463                                 *(uint8_t *)(ep1_tx_buff)=0;
 464                                 *(uint8_t *)(ep1_tx_buff+1)=slot->msg.length;
 465
 466                                 msgflags=slot->msg.flags;
 467                                 msgid=slot->msg.id;
 468                                 #if __BYTE_ORDER == __BIG_ENDIAN
 469                                         msgflags  = bswap_16( msgflags);
 470                                         msgid  = bswap_32( msgid);
 471                                 #endif
 472
 473                                 *(uint16_t *)(ep1_tx_buff+2)=msgflags;
 474                                 *(uint32_t *)(ep1_tx_buff+4)=msgid;
 475                                 for (i=0;i<slot->msg.length;i++){
 476                                         *(uint8_t *)(ep1_tx_buff+8+i)=slot->msg.data[i];
 477                                 }
 478                                 for (;i<CAN_MSG_LENGTH;i++){
 479                                         *(uint8_t *)(ep1_tx_buff+8+i)=0;
 480                                 }
 481                                 usb_udev_write_endpoint(&eps[1],ep1_tx_buff,16);
 482
 483                                 canque_free_outslot(qends, qedge, slot);
 484                                 timer_tx_off=50;                //rozsviceni diod pri vysilani
 485                                 CLR_OUT_PIN(LED_PORT,LED1_BIT);
 486                                 usb_device.ep_events &= ~MASK_EP1TX;
 487                         }
 488                 }
 489
 490                 //if (usb_can_send && )
 491
 492 #ifdef WATCHDOG_ENABLED
 493                 watchdog_feed();
 494 #endif /* WATCHDOG_ENABLED */
 495
 496                 /* 10ms timer */
 497                 if (lt_10msec_expired(10))
 498                         timer_10ms();
 499         }
 500
 501         SET_OUT_PIN(LED_PORT,LED_GP);
 502         SET_OUT_PIN(LED_PORT,LED_ERR);
 503
 504         /* unreachable code */
 505 #ifdef SDCC
 506         vec_jmp(0x0);  /* need to call a function from misc to correct linking */
 507 #endif
 508         return 0;
 509 }