1 /**************************************************************************/
2 /* File: main.c - setup and main loop of USB<->CAN converter */
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 */
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. */
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: */
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 /**************************************************************************/
36 #include <system_def.h>
38 #include <local_config.h>
39 #include <usb/usbdebug.h>
42 #include <usb/usb_srq.h>
44 #include <keyval_id.h>
45 #include <hal_machperiph.h>
46 #include <keyval_loc.h>
48 #include <lpciap_kvpb.h>
51 #if __BYTE_ORDER == __BIG_ENDIAN
55 #include "./can/can.h"
56 #include "./can/sja1000p.h"
57 #include "./can/main.h"
59 // #include "./can/can_sysdep.h"
60 #include "./can/modparms.h"
61 #include "./can/devcommon.h"
63 //#include "./can/ul_usb1.h"
65 //#include "./can/setup.h"
67 #include "./usb/usb_defs.h"
68 #include "./usb/usb_vend.h"
71 #include "can/lpc17xx_can.h"
73 #define MASK_EP1RX 0x01
74 #define MASK_EP1TX 0x02
76 #define CAN_OP_MASK 0x80
77 #define CAN_OP_READ 0x80
78 #define CAN_OP_WRITE 0x00
82 #define USB_MAX_PACKET 16
84 /***********************************************************************
86 * Comparing to LinCAN, there is no need to sleep for processes
87 * because the degree of filling of fifo from the client side
88 * is solved in main cycle (no new messages are accepted when full)
89 * and on the server side by speed of USB interface. FIFO in edge
90 * from SJA chip to USB interface should never be filled.
91 ***********************************************************************/
93 /***********************************************************************
95 * Code is wittingly complex in order to ease future changes in hardware
96 * configuration and to make it as much similar as the code of LinCAN
97 ***********************************************************************/
99 LT_TIMER_DEC(lt_10msec)
100 LT_TIMER_IMP(lt_10msec)
101 LT_TIMER_DEC(lt_100msec)
102 LT_TIMER_IMP(lt_100msec)
103 LT_TIMER_DEC(lt_2sec)
104 LT_TIMER_IMP(lt_2sec)
106 typedef void (*FNC)(); //function ptr
108 /***********************************************************************
110 ***********************************************************************/
112 usb_device_t usb_device;
114 usb_ep_t eps[NUM_ENDPOINTS];
115 unsigned char ep1_rx_buff[USB_MAX_PACKET];
116 unsigned char ep1_tx_buff[USB_MAX_PACKET];
117 uint8_t timer_str,timer_rx_off,timer_tx_off,timer_configured;
118 volatile uint8_t bootloader_run;
124 int baudrate[MAX_TOT_CHIPS];
125 struct canhardware_t canhardware;
126 struct canhardware_t *hardware_p=&canhardware;
127 struct canchip_t *chips_p[MAX_TOT_CHIPS];
128 struct msgobj_t *objects_p[MAX_TOT_MSGOBJS];
130 struct canuser_t *canuser;
132 extern int init_chip_struct(struct candevice_t *candev, int chipnr, int irq, long baudrate);
133 extern int register_chip_struct(struct canchip_t *chip, int minorbase);
134 extern int register_obj_struct(struct msgobj_t *obj, int minorbase);
136 /***********************************************************************
137 * IF SOMETHING BAD HAPPENED
138 ***********************************************************************/
145 if (lt_100msec_expired(100)) {
148 SET_OUT_PIN(LED_PORT,LED_ERR);
150 CLR_OUT_PIN(LED_PORT,LED_ERR);
152 #ifdef WATCHDOG_ENABLED
154 #endif /* WATCHDOG_ENABLED */
159 /***********************************************************************
160 * Microsecond delay routine
161 ***********************************************************************/
163 void udelay(long time)
165 volatile long ticks=(time * CCLK) / 2000000;
172 /***********************************************************************
173 * Routine for visible LED blinking (on USB transmission)
174 ***********************************************************************/
176 void timer_10ms(void)
178 if (timer_tx_off!=0) timer_tx_off--;
179 else SET_OUT_PIN(LED_PORT,LED1_BIT);
180 if (timer_rx_off!=0) timer_rx_off--;
181 else SET_OUT_PIN(LED_PORT,LED2_BIT);
183 /* if (timer_configured!=0) timer_configured--;
186 CLR_OUT_PIN(LED_PORT,LED1_BIT);
187 CLR_OUT_PIN(LED_PORT,LED2_BIT);
188 timer_rx_off=timer_tx_off=5;
192 /***********************************************************************
194 ***********************************************************************/
198 struct candevice_t *candev;
199 struct canchip_t *chip=NULL;
200 struct msgobj_t *obj;
201 struct canque_ends_t *qends;
202 struct canque_edge_t *edge,*qedge;
203 struct canque_slot_t *slot;
204 struct canmsg_t canmsg;
205 can_spin_irqflags_t iflags;
210 CANMSG("Starting USBCAN module firmware...\n");
214 /***********************************/
221 //SET_OUT_PIN(LED_PORT,LED_ERR);
222 //CLR_OUT_PIN(LED_PORT,LED_GP);
224 if (USB_MAX_PACKET<16){
225 CANMSG("Maximum packet size less than 16B (is %dB)\n",USB_MAX_PACKET);
230 //***********************************************************************
231 // * CAN device initialization - device side (adapted from LinCAN setup.c)
232 // ***********************************************************************
235 //can_init(); // useless with lpc17xx (defined in can_lpcbusemu.c)
238 DEBUGMSG("Initiating CAN device initialization\n");
241 canqueue_kern_initialize();
243 hardware_p->nr_boards=1;
245 candev=(struct candevice_t *)malloc(sizeof(struct candevice_t));
247 CANMSG("No space left in memory\n");
250 memset(candev, 0, sizeof(struct candevice_t));
252 hardware_p->candevice[0]=candev;
253 candev->candev_idx=0;
255 candev->dev_base_addr=0;
257 candev->hwspecops=(struct hwspecops_t *)malloc(sizeof(struct hwspecops_t));
258 if (!candev->hwspecops){
259 CANMSG("No space left in memory\n");
262 memset(candev->hwspecops, 0, sizeof(struct hwspecops_t));
267 //ul_usb1_register(candev->hwspecops); //(defined in ul_usb1.c)
268 // register for another board:
269 can_lmc1_register(candev->hwspecops);
274 if (candev->hwspecops->init_hw_data(candev)){
275 CANMSG("HW data could not be initialized\n");
279 // Alocate and initialize the chip structures
280 for (chipnr=0; chipnr < candev->nr_all_chips; chipnr++) {
282 // irqsig=irq[*irq_param_idx_p+chipnr];
283 if (init_chip_struct(candev, chipnr, 0, bd*1000)){
284 CANMSG("Chip structure could not be initialized\n");
291 for (chipnr=0; chipnr < candev->nr_all_chips; chipnr++) {
292 struct canchip_t *chip=candev->chip[chipnr];
295 register_chip_struct(chip, m);
297 for (objnr=0; objnr<chip->max_objects; objnr++) {
298 register_obj_struct(chip->msgobj[objnr], m);
304 if (candev->hwspecops->request_io(candev))
306 candev->flags|=CANDEV_IO_RESERVED;
309 if (candev->hwspecops->reset(candev))
313 for(chipnr=0; chipnr<candev->nr_all_chips; chipnr++) {
314 if((chip=candev->chip[chipnr])==NULL)
317 if(chip->chipspecops->attach_to_chip(chip)<0) {
318 // CANMSG("Initial attach to the chip HW failed\n");
322 chip->flags |= CHIP_ATTACHED;
324 // Interrupts from chip are served in main cycle
325 // if(can_chip_setup_irq(chip)<0) {
326 // CANMSG("Error to setup chip IRQ\n");
331 if (candev->flags & CANDEV_PROGRAMMABLE_IRQ)
332 if (candev->hwspecops->program_irq(candev)){
333 // CANMSG("Error to program board interrupt\n");
337 //***********************************************************************
338 // * CAN device initialization - client side (adapted from LinCAN open.c)
339 // ***********************************************************************
342 chip=candev->chip[0];
344 atomic_inc(&obj->obj_used);
345 can_msgobj_set_fl(obj,OPENED);
347 if (chip->flags & CHIP_CONFIGURED)
348 DEBUGMSG("Device is already configured.\n");
350 if (chip->chipspecops->chip_config(chip))
351 CANMSG("Error configuring chip.\n");
353 chip->flags |= CHIP_CONFIGURED;
355 if (chip->chipspecops->pre_read_config(chip,obj)<0)
356 CANMSG("Error initializing chip for receiving\n");
358 } // End of chip configuration
361 canuser = (struct canuser_t *)malloc(sizeof(struct canuser_t));
362 if(canuser == NULL) sys_err();
364 // canuser->userinfo.fileinfo.file = file;
365 canuser->msgobj = obj;
366 // canuser->magic = CAN_USER_MAGIC;
367 // file->private_data = canuser;
369 qends = (struct canque_ends_t *)malloc(sizeof(struct canque_ends_t));
370 if(qends == NULL) sys_err();
371 canqueue_ends_init_kern(qends);
372 canuser->qends = qends;
374 //required to synchronize with RT-Linux context
375 can_spin_lock_irqsave(&canuser_manipulation_lock, iflags);
376 list_add(&canuser->peers, &obj->obj_users);
377 can_spin_unlock_irqrestore(&canuser_manipulation_lock, iflags);
379 if(canqueue_connect_edge(edge=canque_new_edge_kern(MAX_BUF_LENGTH),
380 canuser->qends, obj->qends)<0) sys_err();
382 if(canqueue_connect_edge(canuser->rx_edge0=canque_new_edge_kern(MAX_BUF_LENGTH),
383 obj->qends, canuser->qends)<0) sys_err();
384 //FIXME: more generic model should be used there
385 canque_edge_decref(canuser->rx_edge0);
386 canque_edge_decref(edge);
390 /***********************************************************************
392 ***********************************************************************/
394 memset( &usb_device, 0, sizeof( usb_device));
396 usb_device.devdes_table = &usb_devdes_table;
397 usb_device.init = usb_lpc_init;
398 usb_debug_set_level(DEBUG_LEVEL_NONE);
399 usb_device.cntep = NUM_ENDPOINTS;
402 eps[0].max_packet_size = USB_MAX_PACKET;
403 eps[1].max_packet_size = USB_MAX_PACKET;
406 eps[0].event_mask = 0x04;
407 eps[1].event_mask = 0x08;
408 eps[0].udev = &usb_device;
409 eps[1].udev = &usb_device;
411 usb_device.vendor_fnc=usbcan_vendor;
413 usb_init(&usb_device);
414 usb_connect(&usb_device);
415 usb_device.ep_events |= MASK_EP1TX;
417 /***********************************************************************
419 ***********************************************************************/
421 timer_rx_off=timer_tx_off=timer_str=timer_configured=0;
424 printf("Main loop\n");
428 usb_check_events(&usb_device);
429 usb_control_response(&usb_device);
431 // useless with lpc17xx:
432 // if (!(IO0PIN&P0_SJA1000_INT_PIN)) //INT PIN is inverted
433 // chip->chipspecops->irq_handler(0,chip);
435 if (usb_device.ep_events & MASK_EP1RX) { //EP1RX - data waiting to receive
437 if (canque_get_inslot(qends, &qedge, &slot, 0)>=0){ //Free slot obtained
439 size=usb_udev_read_endpoint(&eps[0],ep1_rx_buff,16);
444 canmsg.length=*(uint8_t *)(ep1_rx_buff+1);
445 if (canmsg.length > CAN_MSG_LENGTH)
446 canmsg.length=CAN_MSG_LENGTH;
447 msgflags=*(uint16_t *)(ep1_rx_buff+2);
448 msgid=*(uint32_t *)(ep1_rx_buff+4);
449 #if __BYTE_ORDER == __BIG_ENDIAN
450 msgflags = bswap_16( msgflags);
451 msgid = bswap_32( msgid);
453 canmsg.flags=msgflags;
456 for (i=0;i<canmsg.length;i++){
457 canmsg.data[i]=*(unsigned char*)(ep1_rx_buff+8+i);
459 for (;i<CAN_MSG_LENGTH;i++){
462 /* Automatic selection of extended format if ID>2047 */
463 if (canmsg.id & ~0x7ffl & MSG_ID_MASK ) canmsg.flags |= MSG_EXT;
464 /* has been dependent on "extended" option */
467 canque_put_inslot(qends, qedge, slot);
471 canque_abort_inslot(qends,qedge,slot);
474 timer_rx_off=50; //rosviceni diody pri prijmu
475 CLR_OUT_PIN(LED_PORT,LED2_BIT);
476 usb_device.ep_events &= ~MASK_EP1RX;
484 if ((data[0]&CAN_OP_MASK)==CAN_OP_READ){ // Get data from CAN device and return to caller
485 val = can_read(data[0] & ~CAN_OP_MASK);
487 usb_udev_write_endpoint(&eps[1],(unsigned char *)data,size);
488 timer_rx_off=50; //rosviceni diody pri prijmu
489 CLR_OUT_PIN(LED_PORT,LED2_BIT);
492 if ((data[0]&CAN_OP_MASK)==CAN_OP_WRITE){ // Save data to CAN device
493 can_write(data[1], data[0] & ~CAN_OP_MASK);
494 timer_tx_off=50; //rozsviceni diod pri vysilani
495 CLR_OUT_PIN(LED_PORT,LED1_BIT);
501 if(usb_device.ep_events & MASK_EP1TX){ //EP1TX - data transmitted
502 if(canque_test_outslot(qends, &qedge, &slot)>=0){
503 DEBUGMSG("CAN message ready to send over usb\n");
507 *(uint8_t *)(ep1_tx_buff)=0;
508 *(uint8_t *)(ep1_tx_buff+1)=slot->msg.length;
510 msgflags=slot->msg.flags;
512 #if __BYTE_ORDER == __BIG_ENDIAN
513 msgflags = bswap_16( msgflags);
514 msgid = bswap_32( msgid);
517 *(uint16_t *)(ep1_tx_buff+2)=msgflags;
518 *(uint32_t *)(ep1_tx_buff+4)=msgid;
519 for (i=0;i<slot->msg.length;i++){
520 *(uint8_t *)(ep1_tx_buff+8+i)=slot->msg.data[i];
522 for (;i<CAN_MSG_LENGTH;i++){
523 *(uint8_t *)(ep1_tx_buff+8+i)=0;
525 usb_udev_write_endpoint(&eps[1],ep1_tx_buff,16);
527 canque_free_outslot(qends, qedge, slot);
528 timer_tx_off=50; //rozsviceni diod pri vysilani
529 CLR_OUT_PIN(LED_PORT,LED1_BIT);
530 usb_device.ep_events &= ~MASK_EP1TX;
537 //if (usb_can_send && )
539 #ifdef WATCHDOG_ENABLED
541 #endif /* WATCHDOG_ENABLED */
544 if (lt_10msec_expired(10))
548 SET_OUT_PIN(LED_PORT,LED_GP);
549 SET_OUT_PIN(LED_PORT,LED_ERR);
551 /* unreachable code */
553 vec_jmp(0x0); /* need to call a function from misc to correct linking */