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
  65 //#include "./can/setup.h"
  66
  67 #include "./usb/usb_defs.h"
  68 #include "./usb/usb_vend.h"
  69
  70 // DEBUG CAN
  71 #include "can/lpc17xx_can.h"
  72 // DEBUG CAN - end
  73
  74 #define MASK_EP1RX  0x01
  75 #define MASK_EP1TX  0x02
  76
  77 #define CAN_OP_MASK 0x80
  78 #define CAN_OP_READ 0x80
  79 #define CAN_OP_WRITE 0x00
  80
  81 #ifdef USB_MAX_PACKET
  82         #undef USB_MAX_PACKET
  83         #define USB_MAX_PACKET 16
  84 #endif
  85 /***********************************************************************
  86  * Note:
  87  * Comparing to LinCAN, there is no need to sleep for processes
  88  * because the degree of filling of fifo from the client side
  89  * is solved in main cycle (no new messages are accepted when full)
  90  * and on the server side by speed of USB interface. FIFO in edge
  91  * from SJA chip to USB interface should never be filled.
  92  ***********************************************************************/
  93
  94 /***********************************************************************
  95  * Note:
  96  * Code is wittingly complex in order to ease future changes in hardware
  97  * configuration and to make it as much similar as the code of LinCAN
  98  ***********************************************************************/
  99
 100 LT_TIMER_DEC(lt_10msec)
 101 LT_TIMER_IMP(lt_10msec)
 102 LT_TIMER_DEC(lt_100msec)
 103 LT_TIMER_IMP(lt_100msec)
 104 LT_TIMER_DEC(lt_2sec)
 105 LT_TIMER_IMP(lt_2sec)
 106
 107 typedef void (*FNC)(); //function ptr
 108
 109
 110 /***********************************************************************
 111  * global variables
 112  ***********************************************************************/
 113
 114
 115 usb_device_t usb_device;
 116
 117 usb_ep_t eps[NUM_ENDPOINTS];
 118 unsigned char ep1_rx_buff[USB_MAX_PACKET];
 119 unsigned char ep1_tx_buff[USB_MAX_PACKET];
 120 uint8_t timer_str,timer_rx_off,timer_tx_off,timer_configured;
 121 volatile uint8_t bootloader_run;
 122
 123 uint8_t vendor_ret;
 124
 125 int processlocal;
 126
 127 int baudrate[MAX_TOT_CHIPS];
 128 struct canhardware_t canhardware;
 129 struct canhardware_t *hardware_p=&canhardware;
 130 struct canchip_t *chips_p[MAX_TOT_CHIPS];
 131 struct msgobj_t *objects_p[MAX_TOT_MSGOBJS];
 132
 133 struct canuser_t *canuser;
 134
 135 extern int init_chip_struct(struct candevice_t *candev, int chipnr, int irq, long baudrate);
 136 extern int register_chip_struct(struct canchip_t *chip, int minorbase);
 137 extern int register_obj_struct(struct msgobj_t *obj, int minorbase);
 138
 139 /***********************************************************************
 140  * IF SOMETHING BAD HAPPENED
 141  ***********************************************************************/
 142
 143 int sys_err(){
 144
 145   unsigned char i=0;
 146
 147   while(1) {
 148     if (lt_100msec_expired(100)) {
 149       i++;
 150       if (i&1) {
 151         SET_OUT_PIN(LED_PORT,LED_ERR);
 152       } else {
 153         CLR_OUT_PIN(LED_PORT,LED_ERR);
 154       }
 155      #ifdef WATCHDOG_ENABLED
 156       watchdog_feed();
 157      #endif /* WATCHDOG_ENABLED */
 158     }
 159   }
 160 }
 161
 162 /***********************************************************************
 163  * Microsecond delay routine
 164  ***********************************************************************/
 165 /*
 166 void udelay(long time)
 167 {
 168   volatile long ticks=(time * CCLK) / 2000000;
 169   do{
 170     ticks--;
 171   } while(ticks>0);
 172 }
 173 */
 174
 175 /***********************************************************************
 176  * Routine for visible LED blinking (on USB transmission)
 177  ***********************************************************************/
 178
 179 void timer_10ms(void)
 180 {
 181   if (timer_tx_off!=0) timer_tx_off--;
 182   else SET_OUT_PIN(LED_PORT,LED1_BIT);
 183   if (timer_rx_off!=0) timer_rx_off--;
 184   else SET_OUT_PIN(LED_PORT,LED2_BIT);
 185
 186 /*  if (timer_configured!=0) timer_configured--;
 187   else {
 188     timer_configured=20;
 189                 CLR_OUT_PIN(LED_PORT,LED1_BIT);
 190                 CLR_OUT_PIN(LED_PORT,LED2_BIT);
 191                 timer_rx_off=timer_tx_off=5;
 192   }*/
 193 }
 194
 195 /***********************************************************************
 196  * Main routine
 197  ***********************************************************************/
 198
 199 int main(void)
 200 {
 201         struct candevice_t *candev;
 202         struct canchip_t *chip=NULL;
 203         struct msgobj_t *obj;
 204         struct canque_ends_t *qends;
 205         struct canque_edge_t *edge,*qedge;
 206         struct canque_slot_t *slot;
 207         struct canmsg_t canmsg;
 208         can_spin_irqflags_t iflags;
 209
 210         int chipnr,bd;
 211         int i,size,m=0;
 212
 213         CANMSG("Starting USBCAN module firmware...\n");
 214
 215
 216 //      volatile int i=0;
 217         bootloader_run=0;
 218         /***********************************/
 219
 220         lt_10msec_init();
 221         lt_100msec_init();
 222         lt_2sec_init();
 223
 224         // DEBUG
 225         //SET_OUT_PIN(LED_PORT,LED_ERR);
 226         //CLR_OUT_PIN(LED_PORT,LED_GP);
 227
 228         if (USB_MAX_PACKET<16){
 229                 CANMSG("Maximum packet size less than 16B (is %dB)\n",USB_MAX_PACKET);
 230                 sys_err();
 231         }
 232
 233 // !!! DEBUG - first version, only transmitting CAN messages withnout usage of queue system from LinCAN
 234
 235         // CAN
 236         CAN_init(1000000);
 237         // CAN end
 238
 239 /*
 240
 241         //***********************************************************************
 242         // * CAN device initialization - device side (adapted from LinCAN setup.c)
 243         // ***********************************************************************
 244
 245         // DEBUG
 246         //can_init(); // only for successful compiling (defined in can_lpcbusemu.c)
 247
 248
 249
 250
 251         DEBUGMSG("Initiating CAN device initialization\n");
 252         baudrate[0]=1000;
 253
 254         canqueue_kern_initialize();
 255
 256         hardware_p->nr_boards=1;
 257
 258         candev=(struct candevice_t *)malloc(sizeof(struct candevice_t));
 259         if (!candev){
 260                 CANMSG("No space left in memory\n");
 261                 sys_err();
 262         }
 263         memset(candev, 0, sizeof(struct candevice_t));
 264
 265         hardware_p->candevice[0]=candev;
 266         candev->candev_idx=0;
 267         candev->io_addr=0;
 268         candev->dev_base_addr=0;
 269
 270         candev->hwspecops=(struct hwspecops_t *)malloc(sizeof(struct hwspecops_t));
 271         if (!candev->hwspecops){
 272                 CANMSG("No space left in memory\n");
 273                 sys_err();
 274         }
 275         memset(candev->hwspecops, 0, sizeof(struct hwspecops_t));
 276
 277         // DEBUG
 278         //ul_usb1_register(candev->hwspecops);  // only for successful compiling (defined in ul_usb1.c)
 279
 280
 281         bd=baudrate[0];
 282         if (candev->hwspecops->init_hw_data(candev)){
 283                 CANMSG("HW data could not be initialized\n");
 284                 sys_err();
 285         }
 286         // Alocate and initialize the chip structures
 287         for (chipnr=0; chipnr < candev->nr_all_chips; chipnr++) {
 288 //              if(chipnr<irqnum)
 289 //                      irqsig=irq[*irq_param_idx_p+chipnr];
 290                 if (init_chip_struct(candev, chipnr, 0, bd*1000)){
 291                         CANMSG("Chip structure could not be initialized\n");
 292                         sys_err();
 293                 }
 294         }
 295         for (chipnr=0; chipnr < candev->nr_all_chips; chipnr++) {
 296                 struct canchip_t *chip=candev->chip[chipnr];
 297                 int objnr;
 298
 299                 register_chip_struct(chip, m);
 300
 301                 for (objnr=0; objnr<chip->max_objects; objnr++) {
 302                         register_obj_struct(chip->msgobj[objnr], m);
 303                         if(m>=0) m++;
 304                 }
 305         }
 306         if (candev->hwspecops->request_io(candev))
 307                 sys_err();
 308         candev->flags|=CANDEV_IO_RESERVED;
 309         if (candev->hwspecops->reset(candev))
 310                 sys_err();
 311         for(chipnr=0; chipnr<candev->nr_all_chips; chipnr++) {
 312                 if((chip=candev->chip[chipnr])==NULL)
 313                         continue;
 314
 315                 if(chip->chipspecops->attach_to_chip(chip)<0) {
 316 //                      CANMSG("Initial attach to the chip HW failed\n");
 317                         sys_err();
 318                 }
 319
 320                 chip->flags |= CHIP_ATTACHED;
 321
 322 // Interrupts from chip are served in main cycle
 323 //              if(can_chip_setup_irq(chip)<0) {
 324 //                      CANMSG("Error to setup chip IRQ\n");
 325 //                      sys_err();
 326 //              }
 327         }
 328
 329         if (candev->flags & CANDEV_PROGRAMMABLE_IRQ)
 330                 if (candev->hwspecops->program_irq(candev)){
 331 //                      CANMSG("Error to program board interrupt\n");
 332                         sys_err();
 333                 }
 334
 335         //***********************************************************************
 336         // * CAN device initialization - client side (adapted from LinCAN open.c)
 337         // ***********************************************************************
 338
 339         chip=candev->chip[0];
 340         obj=chip->msgobj[0];
 341         atomic_inc(&obj->obj_used);
 342         can_msgobj_set_fl(obj,OPENED);
 343
 344         if (chip->flags & CHIP_CONFIGURED)
 345                 DEBUGMSG("Device is already configured.\n");
 346         else {
 347                 if (chip->chipspecops->chip_config(chip))
 348                         CANMSG("Error configuring chip.\n");
 349                 else
 350                         chip->flags |= CHIP_CONFIGURED;
 351
 352                 if (chip->chipspecops->pre_read_config(chip,obj)<0)
 353                         CANMSG("Error initializing chip for receiving\n");
 354
 355         } // End of chip configuration
 356
 357         canuser = (struct canuser_t *)malloc(sizeof(struct canuser_t));
 358         if(canuser == NULL) sys_err();
 359         canuser->flags=0;
 360 //      canuser->userinfo.fileinfo.file = file;
 361         canuser->msgobj = obj;
 362 //      canuser->magic = CAN_USER_MAGIC;
 363 //      file->private_data = canuser;
 364
 365         qends = (struct canque_ends_t *)malloc(sizeof(struct canque_ends_t));
 366         if(qends == NULL) sys_err();
 367         canqueue_ends_init_kern(qends);
 368         canuser->qends = qends;
 369
 370         //required to synchronize with RT-Linux context
 371         can_spin_lock_irqsave(&canuser_manipulation_lock, iflags);
 372         list_add(&canuser->peers, &obj->obj_users);
 373         can_spin_unlock_irqrestore(&canuser_manipulation_lock, iflags);
 374
 375         if(canqueue_connect_edge(edge=canque_new_edge_kern(MAX_BUF_LENGTH),
 376                 canuser->qends, obj->qends)<0) sys_err();
 377
 378         if(canqueue_connect_edge(canuser->rx_edge0=canque_new_edge_kern(MAX_BUF_LENGTH),
 379                 obj->qends, canuser->qends)<0) sys_err();
 380         //FIXME: more generic model should be used there
 381         canque_edge_decref(canuser->rx_edge0);
 382         canque_edge_decref(edge);
 383
 384 */
 385
 386         /***********************************************************************
 387          * USB Init
 388          ***********************************************************************/
 389
 390         memset( &usb_device, 0, sizeof( usb_device));
 391         usb_device.id = 1;
 392         usb_device.devdes_table = &usb_devdes_table;
 393         usb_device.init = usb_lpc_init;
 394         usb_debug_set_level(DEBUG_LEVEL_NONE);
 395         usb_device.cntep = NUM_ENDPOINTS;
 396         usb_device.ep = eps;
 397
 398         eps[0].max_packet_size = USB_MAX_PACKET;
 399         eps[1].max_packet_size = USB_MAX_PACKET;
 400         eps[0].epnum = 0x01;
 401         eps[1].epnum = 0x81;
 402         eps[0].event_mask = 0x04;
 403         eps[1].event_mask = 0x08;
 404         eps[0].udev = &usb_device;
 405         eps[1].udev = &usb_device;
 406
 407         usb_device.vendor_fnc=usbcan_vendor;
 408
 409         usb_init(&usb_device);
 410         usb_connect(&usb_device);
 411         usb_device.ep_events |= MASK_EP1TX;
 412
 413         /***********************************************************************
 414          * Start
 415          ***********************************************************************/
 416
 417         timer_rx_off=timer_tx_off=timer_str=timer_configured=0;
 418
 419
 420         printf("Main loop\n");
 421
 422         while (1) {
 423
 424                 usb_check_events(&usb_device);
 425                 usb_control_response(&usb_device);
 426
 427 // DEBUG
 428 //              if (!(IO0PIN&P0_SJA1000_INT_PIN)) //INT PIN is inverted
 429 //                      chip->chipspecops->irq_handler(0,chip);
 430
 431                 if (usb_device.ep_events & MASK_EP1RX) {  //EP1RX - data waiting to receive
 432
 433                         // DEBUG - unused queue system (yet)
 434                         //if (canque_get_inslot(qends, &qedge, &slot, 0)>=0){ //Free slot obtained
 435
 436                                 size=usb_udev_read_endpoint(&eps[0],ep1_rx_buff,16);
 437                                 if (size==16){
 438                                         uint16_t msgflags;
 439                                         uint32_t msgid;
 440                                         canmsg.cob=0;
 441                                         canmsg.length=*(uint8_t *)(ep1_rx_buff+1);
 442                                         if (canmsg.length > CAN_MSG_LENGTH)
 443                                                 canmsg.length=CAN_MSG_LENGTH;
 444                                         msgflags=*(uint16_t *)(ep1_rx_buff+2);
 445                                         msgid=*(uint32_t *)(ep1_rx_buff+4);
 446                                         #if __BYTE_ORDER == __BIG_ENDIAN
 447                                                 msgflags  = bswap_16( msgflags);
 448                                                 msgid  = bswap_32( msgid);
 449                                         #endif
 450                                         canmsg.flags=msgflags;
 451                                         canmsg.id=msgid;
 452
 453                                         for (i=0;i<canmsg.length;i++){
 454                                                 canmsg.data[i]=*(unsigned char*)(ep1_rx_buff+8+i);
 455                                         }
 456                                         for (;i<CAN_MSG_LENGTH;i++){
 457                                                 canmsg.data[i]=0;
 458                                         }
 459                                         /* Automatic selection of extended format if ID>2047 */
 460                                         if (canmsg.id & ~0x7ffl & MSG_ID_MASK ) canmsg.flags |= MSG_EXT;
 461                                         /* has been dependent on "extended" option */
 462
 463                                         // DEBUG - unused queue system (yet)
 464                                         //slot->msg=canmsg;
 465                                         //canque_put_inslot(qends, qedge, slot);
 466                                         CAN_send(&canmsg);
 467                                 }
 468
 469                                 // DEBUG - unused queue system (yet)
 470                                 //else
 471                                 //      canque_abort_inslot(qends,qedge,slot);
 472
 473                                 timer_rx_off=50;        //rosviceni diody pri prijmu
 474                                 CLR_OUT_PIN(LED_PORT,LED2_BIT);
 475                                 usb_device.ep_events &= ~MASK_EP1RX;
 476
 477                         // DEBUG
 478                         //}
 479
 480
 481 /*                      if (size==2){
 482                                 uint8_t val;
 483                                 if ((data[0]&CAN_OP_MASK)==CAN_OP_READ){ // Get data from CAN device and return to caller
 484                                         val = can_read(data[0] & ~CAN_OP_MASK);
 485                                         *(data+1)=val;
 486                                         usb_udev_write_endpoint(&eps[1],(unsigned char *)data,size);
 487                                         timer_rx_off=50;        //rosviceni diody pri prijmu
 488                                         CLR_OUT_PIN(LED_PORT,LED2_BIT);
 489                                         usb_can_send=0;
 490                                 }
 491                                 if ((data[0]&CAN_OP_MASK)==CAN_OP_WRITE){ // Save data to CAN device
 492                                         can_write(data[1], data[0] & ~CAN_OP_MASK);
 493                                         timer_tx_off=50;                //rozsviceni diod pri vysilani
 494                                         CLR_OUT_PIN(LED_PORT,LED1_BIT);
 495                                 }
 496                         }*/
 497                 }
 498
 499                 // DEBUG - only transmitting CAN messages, no reading (yet)
 500                 /*
 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");
 504                                 uint16_t msgflags;
 505                                 uint32_t msgid;
 506
 507                                 *(uint8_t *)(ep1_tx_buff)=0;
 508                                 *(uint8_t *)(ep1_tx_buff+1)=slot->msg.length;
 509
 510                                 msgflags=slot->msg.flags;
 511                                 msgid=slot->msg.id;
 512                                 #if __BYTE_ORDER == __BIG_ENDIAN
 513                                         msgflags  = bswap_16( msgflags);
 514                                         msgid  = bswap_32( msgid);
 515                                 #endif
 516
 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];
 521                                 }
 522                                 for (;i<CAN_MSG_LENGTH;i++){
 523                                         *(uint8_t *)(ep1_tx_buff+8+i)=0;
 524                                 }
 525                                 usb_udev_write_endpoint(&eps[1],ep1_tx_buff,16);
 526
 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;
 531                         }
 532                 }
 533                 */
 534
 535                 //if (usb_can_send && )
 536
 537 #ifdef WATCHDOG_ENABLED
 538                 watchdog_feed();
 539 #endif /* WATCHDOG_ENABLED */
 540
 541                 /* 10ms timer */
 542                 if (lt_10msec_expired(10))
 543                         timer_10ms();
 544         }
 545
 546         SET_OUT_PIN(LED_PORT,LED_GP);
 547         SET_OUT_PIN(LED_PORT,LED_ERR);
 548
 549         /* unreachable code */
 550 #ifdef SDCC
 551         vec_jmp(0x0);  /* need to call a function from misc to correct linking */
 552 #endif
 553         return 0;
 554 }