4 #include <system_def.h>
6 #include <local_config.h>
7 #include <usb/usbdebug.h>
10 #include <usb/usb_srq.h>
12 #include <keyval_id.h>
13 #include <hal_machperiph.h>
14 #include <keyval_loc.h>
16 #include <lpciap_kvpb.h>
19 #if __BYTE_ORDER == __BIG_ENDIAN
23 #include "./can/can.h"
24 #include "./can/sja1000p.h"
25 #include "./can/main.h"
27 #include "./can/can_sysdep.h"
28 #include "./can/modparms.h"
29 #include "./can/devcommon.h"
31 #include "./can/ul_usb1.h"
32 //#include "./can/setup.h"
34 #include "./usb/usb_vend.h"
36 #define MASK_EP1RX 0x01
37 #define MASK_EP1TX 0x02
41 #define USB_MAX_PACKET 16
44 #define CAN_OP_MASK 0x80
45 #define CAN_OP_READ 0x80
46 #define CAN_OP_WRITE 0x00
48 /***********************************************************************
50 * Comparing to LinCAN, there is no need to sleep for processes
51 * because the degree of filling of fifo from the client side
52 * is solved in main cycle (no new messages are accepted when full)
53 * and on the server side by speed of USB interface. FIFO in edge
54 * from SJA chip to USB interface should never be filled.
55 ***********************************************************************/
57 /***********************************************************************
59 * Code is wittingly complex in order to ease future changes in hardware
60 * configuration and to make it as much similar as the code of LinCAN
61 ***********************************************************************/
63 LT_TIMER_DEC(lt_10msec)
64 LT_TIMER_IMP(lt_10msec)
65 LT_TIMER_DEC(lt_100msec)
66 LT_TIMER_IMP(lt_100msec)
70 typedef void (*FNC)(); //function ptr
72 /***********************************************************************
74 ***********************************************************************/
77 usb_device_t usb_device;
80 unsigned char ep1_rx_buff[USB_MAX_PACKET];
81 unsigned char ep1_tx_buff[USB_MAX_PACKET];
82 uint8_t timer_str,timer_rx_off,timer_tx_off,timer_configured;
83 volatile uint8_t bootloader_run;
87 int baudrate[MAX_TOT_CHIPS];
88 struct canhardware_t canhardware;
89 struct canhardware_t *hardware_p=&canhardware;
90 struct canchip_t *chips_p[MAX_TOT_CHIPS];
91 struct msgobj_t *objects_p[MAX_TOT_MSGOBJS];
93 struct canuser_t *canuser;
96 /***********************************************************************
97 * SOMETHING BAD HAPPENED
98 ***********************************************************************/
104 if (lt_100msec_expired(100)) {
107 SET_OUT_PIN(LED_PORT,LED_ERR);
109 CLR_OUT_PIN(LED_PORT,LED_ERR);
111 #ifdef WATCHDOG_ENABLED
113 #endif /* WATCHDOG_ENABLED */
118 /***********************************************************************
119 * Routine for visible LED blinking (on USB transmission)
120 ***********************************************************************/
122 void timer_10ms(void)
124 if (timer_tx_off!=0) timer_tx_off--;
125 else SET_OUT_PIN(LED_PORT,LED1_BIT);
126 if (timer_rx_off!=0) timer_rx_off--;
127 else SET_OUT_PIN(LED_PORT,LED2_BIT);
128 /* if (timer_configured!=0) timer_configured--;
131 CLR_OUT_PIN(LED_PORT,LED1_BIT);
132 CLR_OUT_PIN(LED_PORT,LED2_BIT);
133 timer_rx_off=timer_tx_off=5;
137 /***********************************************************************
139 ***********************************************************************/
143 struct candevice_t *candev;
144 struct canchip_t *chip=NULL;
145 struct msgobj_t *obj;
146 struct canque_ends_t *qends;
147 struct canque_edge_t *edge,*qedge;
148 struct canque_slot_t *slot;
149 struct canmsg_t canmsg;
150 can_spin_irqflags_t iflags;
157 /***********************************/
162 SET_OUT_PIN(LED_PORT,LED_ERR);
163 CLR_OUT_PIN(LED_PORT,LED_GP);
165 /***********************************************************************
166 * CAN device initialization - device side (adapted from LinCAN setup.c)
167 ***********************************************************************/
172 canqueue_kern_initialize();
174 hardware_p->nr_boards=1;
176 candev=(struct candevice_t *)malloc(sizeof(struct candevice_t));
177 if (candev==NULL) sys_err();
178 memset(candev, 0, sizeof(struct candevice_t));
180 hardware_p->candevice[0]=candev;
181 candev->candev_idx=0;
183 candev->dev_base_addr=0;
185 candev->hwspecops=(struct hwspecops_t *)malloc(sizeof(struct hwspecops_t));
186 if (candev->hwspecops==NULL) sys_err();
187 memset(candev->hwspecops, 0, sizeof(struct hwspecops_t));
189 ul_usb1_register(candev->hwspecops);
192 if (candev->hwspecops->init_hw_data(candev)) sys_err();
193 /* Alocate and initialize the chip structures */
194 for (chipnr=0; chipnr < candev->nr_all_chips; chipnr++) {
196 irqsig=irq[*irq_param_idx_p+chipnr];*/
197 if (init_chip_struct(candev, chipnr, 0, bd*1000)) sys_err();
199 if (candev->hwspecops->request_io(candev))
201 candev->flags|=CANDEV_IO_RESERVED;
202 if (candev->hwspecops->reset(candev))
204 for(chipnr=0; chipnr<candev->nr_all_chips; chipnr++) {
205 if((chip=candev->chip[chipnr])==NULL)
208 if(chip->chipspecops->attach_to_chip(chip)<0) {
209 // CANMSG("Initial attach to the chip HW failed\n");
213 chip->flags |= CHIP_ATTACHED;
215 // Interrupts from chip are served in main cycle
216 /* if(can_chip_setup_irq(chip)<0) {
217 // CANMSG("Error to setup chip IRQ\n");
222 if (candev->flags & CANDEV_PROGRAMMABLE_IRQ)
223 if (candev->hwspecops->program_irq(candev)){
224 // CANMSG("Error to program board interrupt\n");
228 /***********************************************************************
229 * CAN device initialization - client side (adapted from LinCAN open.c)
230 ***********************************************************************/
232 chip=candev->chip[0];
234 atomic_inc(&obj->obj_used);
235 can_msgobj_set_fl(obj,OPENED);
237 if (chip->flags & CHIP_CONFIGURED)
238 DEBUGMSG("Device is already configured.\n");
240 if (chip->chipspecops->chip_config(chip))
241 CANMSG("Error configuring chip.\n");
243 chip->flags |= CHIP_CONFIGURED;
245 if (chip->chipspecops->pre_read_config(chip,obj)<0)
246 CANMSG("Error initializing chip for receiving\n");
248 } /* End of chip configuration */
250 canuser = (struct canuser_t *)malloc(sizeof(struct canuser_t));
251 if(canuser == NULL) sys_err();
253 // canuser->userinfo.fileinfo.file = file;
254 canuser->msgobj = obj;
255 // canuser->magic = CAN_USER_MAGIC;
256 // file->private_data = canuser;
258 qends = (struct canque_ends_t *)malloc(sizeof(struct canque_ends_t));
259 if(qends == NULL) sys_err();
260 canqueue_ends_init_kern(qends);
261 canuser->qends = qends;
263 /*required to synchronize with RT-Linux context*/
264 can_spin_lock_irqsave(&canuser_manipulation_lock, iflags);
265 list_add(&canuser->peers, &obj->obj_users);
266 can_spin_unlock_irqrestore(&canuser_manipulation_lock, iflags);
268 if(canqueue_connect_edge(edge=canque_new_edge_kern(MAX_BUF_LENGTH),
269 canuser->qends, obj->qends)<0) sys_err();
271 if(canqueue_connect_edge(canuser->rx_edge0=canque_new_edge_kern(MAX_BUF_LENGTH),
272 obj->qends, canuser->qends)<0) sys_err();
273 /*FIXME: more generic model should be used there*/
274 canque_edge_decref(canuser->rx_edge0);
275 canque_edge_decref(edge);
278 /***********************************************************************
280 ***********************************************************************/
282 memset( &usb_device, 0, sizeof( usb_device));
284 usb_device.init = usb_lpc_init;
285 usb_debug_set_level(DEBUG_LEVEL_NONE);
286 usb_device.cntep = 3;
289 eps[0].max_packet_size = USB_MAX_PACKET;
290 eps[1].max_packet_size = USB_MAX_PACKET;
293 eps[0].event_mask = 0x04;
294 eps[1].event_mask = 0x08;
295 eps[0].udev = &usb_device;
296 eps[1].udev = &usb_device;
298 // usb_device.vendor_fnc=usb_loader;
300 usb_init(&usb_device);
301 usb_connect(&usb_device);
305 /***********************************************************************
307 ***********************************************************************/
309 timer_rx_off=timer_tx_off=timer_str=timer_configured=0;
312 usb_check_events(&usb_device);
313 usb_control_response(&usb_device);
315 if (!(IO0PIN&P0_SJA1000_INT_PIN))
316 chip->chipspecops->irq_handler(0,chip);
318 if (usb_device.ep_events & MASK_EP1RX) { //EP1RX - data waiting to receive
320 if (canque_get_inslot(qends, &qedge, &slot, 0)>=0){ //Free slot obtained
321 size=usb_udev_read_endpoint(&eps[0],ep1_rx_buff,USB_MAX_PACKET);
326 canmsg.length=*(uint8_t *)(ep1_rx_buff+1);
327 if (canmsg.length > CAN_MSG_LENGTH)
328 canmsg.length=CAN_MSG_LENGTH;
329 msgflags=*(uint16_t *)(ep1_rx_buff+2);
330 msgid=*(uint32_t *)(ep1_rx_buff+4);
331 #if __BYTE_ORDER == __BIG_ENDIAN
332 msgflags = bswap_16( msgflags);
333 msgid = bswap_32( msgid);
335 canmsg.flags=msgflags;
338 for (i=0;i<canmsg.length;i++){
339 canmsg.data[i]=*(unsigned char*)(ep1_rx_buff+8+i);
341 for (;i<CAN_MSG_LENGTH;i++){
344 /* Automatic selection of extended format if ID>2047 */
345 if (canmsg.id & ~0x7ffl & MSG_ID_MASK ) canmsg.flags |= MSG_EXT;
346 /* has been dependent on "extended" option */
348 canque_put_inslot(qends, qedge, slot);
351 canque_abort_inslot(qends,qedge,slot);
352 timer_rx_off=50; //rosviceni diody pri prijmu
353 CLR_OUT_PIN(LED_PORT,LED2_BIT);
354 usb_device.ep_events &= ~MASK_EP1RX;
359 if (((*data)&CAN_OP_MASK)==CAN_OP_READ){ // Get data from CAN device and return to caller
360 can_read((*data) & 0x7F,&val);
362 usb_udev_write_endpoint(&eps[1],(unsigned char *)data,size);
363 timer_rx_off=50; //rosviceni diody pri prijmu
364 CLR_OUT_PIN(LED_PORT,LED2_BIT);
367 if (((*data)&CAN_OP_MASK)==CAN_OP_WRITE){ // Save data to CAN device
368 can_write((*data)&(~CAN_OP_MASK),data+1);
369 timer_tx_off=50; //rozsviceni diod pri vysilani
370 CLR_OUT_PIN(LED_PORT,LED1_BIT);
375 if(usb_device.ep_events & MASK_EP1TX){ //EP1TX - data transmitted
376 if(canque_test_outslot(qends, &qedge, &slot)>=0){
380 *(uint8_t *)(ep1_tx_buff)=0;
381 *(uint8_t *)(ep1_tx_buff+1)=slot->msg.length;
383 msgflags=slot->msg.flags;
385 #if __BYTE_ORDER == __BIG_ENDIAN
386 msgflags = bswap_16( msgflags);
387 msgid = bswap_32( msgid);
390 *(uint16_t *)(ep1_tx_buff+2)=msgflags;
391 *(uint32_t *)(ep1_tx_buff+4)=msgid;
392 for (i=0;i<slot->msg.length;i++){
393 *(uint8_t *)(ep1_tx_buff+8+i)=slot->msg.data[i];
395 for (;i<CAN_MSG_LENGTH;i++){
396 *(uint8_t *)(ep1_tx_buff+8+i)=0;
398 usb_udev_write_endpoint(&eps[1],ep1_tx_buff,USB_MAX_PACKET);
400 canque_free_outslot(qends, qedge, slot);
401 timer_tx_off=50; //rozsviceni diod pri vysilani
402 CLR_OUT_PIN(LED_PORT,LED1_BIT);
403 usb_device.ep_events &= ~MASK_EP1TX;
407 //if (usb_can_send && )
409 #ifdef WATCHDOG_ENABLED
411 #endif /* WATCHDOG_ENABLED */
414 if (lt_10msec_expired(10))
418 SET_OUT_PIN(LED_PORT,LED_GP);
419 SET_OUT_PIN(LED_PORT,LED_ERR);
421 /* unreachable code */
423 vec_jmp(0x0); /* need to call a function from misc to correct linking */