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
  71 #include "can/lpc17xx_can.h"
  72
  73 #define MASK_EP1RX  0x01
  74 #define MASK_EP1TX  0x02
  75
  76 #define CAN_OP_MASK 0x80
  77 #define CAN_OP_READ 0x80
  78 #define CAN_OP_WRITE 0x00
  79
  80 #ifdef USB_MAX_PACKET
  81         #undef USB_MAX_PACKET
  82         #define USB_MAX_PACKET 16
  83 #endif
  84 /***********************************************************************
  85  * Note:
  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  ***********************************************************************/
  92
  93 /***********************************************************************
  94  * Note:
  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  ***********************************************************************/
  98
  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)
 105
 106 typedef void (*FNC)(); //function ptr
 107
 108 /***********************************************************************
 109  * global variables
 110  ***********************************************************************/
 111
 112 usb_device_t usb_device;
 113
 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;
 119
 120 uint8_t vendor_ret;
 121
 122 int processlocal;
 123
 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];
 129
 130 struct canuser_t *canuser;
 131
 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);
 135
 136 /***********************************************************************
 137  * IF SOMETHING BAD HAPPENED
 138  ***********************************************************************/
 139
 140 int sys_err(){
 141
 142   unsigned char i=0;
 143
 144   while(1) {
 145     if (lt_100msec_expired(100)) {
 146       i++;
 147       if (i&1) {
 148         SET_OUT_PIN(LED_PORT,LED_ERR);
 149       } else {
 150         CLR_OUT_PIN(LED_PORT,LED_ERR);
 151       }
 152      #ifdef WATCHDOG_ENABLED
 153       watchdog_feed();
 154      #endif /* WATCHDOG_ENABLED */
 155     }
 156   }
 157 }
 158
 159 /***********************************************************************
 160  * Microsecond delay routine
 161  ***********************************************************************/
 162 /*
 163 void udelay(long time)
 164 {
 165   volatile long ticks=(time * CCLK) / 2000000;
 166   do{
 167     ticks--;
 168   } while(ticks>0);
 169 }
 170 */
 171
 172 /***********************************************************************
 173  * Routine for visible LED blinking (on USB transmission)
 174  ***********************************************************************/
 175
 176 void timer_10ms(void)
 177 {
 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);
 182
 183 /*  if (timer_configured!=0) timer_configured--;
 184   else {
 185     timer_configured=20;
 186                 CLR_OUT_PIN(LED_PORT,LED1_BIT);
 187                 CLR_OUT_PIN(LED_PORT,LED2_BIT);
 188                 timer_rx_off=timer_tx_off=5;
 189   }*/
 190 }
 191
 192 /***********************************************************************
 193  * Main routine
 194  ***********************************************************************/
 195
 196 int main(void)
 197 {
 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;
 206
 207         int chipnr,bd;
 208         int i,size,m=0;
 209
 210         CANMSG("Starting USBCAN module firmware...\n");
 211
 212 //      volatile int i=0;
 213         bootloader_run=0;
 214         /***********************************/
 215
 216         lt_10msec_init();
 217         lt_100msec_init();
 218         lt_2sec_init();
 219
 220         // DEBUG
 221         //SET_OUT_PIN(LED_PORT,LED_ERR);
 222         //CLR_OUT_PIN(LED_PORT,LED_GP);
 223
 224         if (USB_MAX_PACKET<16){
 225                 CANMSG("Maximum packet size less than 16B (is %dB)\n",USB_MAX_PACKET);
 226                 sys_err();
 227         }
 228
 229
 230         //***********************************************************************
 231         // * CAN device initialization - device side (adapted from LinCAN setup.c)
 232         // ***********************************************************************
 233
 234 //      useless with lpc17xx (defined in can_lpcbusemu.c)
 235 //      can_init();
 236
 237
 238         DEBUGMSG("Initiating CAN device initialization\n");
 239         baudrate[0]=1000;
 240
 241         canqueue_kern_initialize();
 242
 243         hardware_p->nr_boards=1;
 244
 245         candev=(struct candevice_t *)malloc(sizeof(struct candevice_t));
 246         if (!candev){
 247                 CANMSG("No space left in memory\n");
 248                 sys_err();
 249         }
 250         memset(candev, 0, sizeof(struct candevice_t));
 251
 252         hardware_p->candevice[0]=candev;
 253         candev->candev_idx=0;
 254         candev->io_addr=0;
 255         candev->dev_base_addr=0;
 256
 257         candev->hwspecops=(struct hwspecops_t *)malloc(sizeof(struct hwspecops_t));
 258         if (!candev->hwspecops){
 259                 CANMSG("No space left in memory\n");
 260                 sys_err();
 261         }
 262         memset(candev->hwspecops, 0, sizeof(struct hwspecops_t));
 263
 264
 265
 266         // DEBUG
 267         //ul_usb1_register(candev->hwspecops);  //(defined in ul_usb1.c)
 268         // register for another board:
 269         can_lmc1_register(candev->hwspecops);
 270
 271
 272
 273         bd=baudrate[0];
 274         if (candev->hwspecops->init_hw_data(candev)){
 275                 CANMSG("HW data could not be initialized\n");
 276                 sys_err();
 277         }
 278
 279         // Alocate and initialize the chip structures
 280         for (chipnr=0; chipnr < candev->nr_all_chips; chipnr++) {
 281 //              if(chipnr<irqnum)
 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");
 285                         sys_err();
 286                 }
 287         }
 288
 289
 290
 291         for (chipnr=0; chipnr < candev->nr_all_chips; chipnr++) {
 292                 struct canchip_t *chip=candev->chip[chipnr];
 293                 int objnr;
 294
 295                 register_chip_struct(chip, m);
 296
 297                 for (objnr=0; objnr<chip->max_objects; objnr++) {
 298                         register_obj_struct(chip->msgobj[objnr], m);
 299                         if(m>=0) m++;
 300                 }
 301         }
 302
 303
 304         if (candev->hwspecops->request_io(candev))
 305                 sys_err();
 306         candev->flags|=CANDEV_IO_RESERVED;
 307
 308
 309         if (candev->hwspecops->reset(candev))
 310                 sys_err();
 311
 312
 313         for(chipnr=0; chipnr<candev->nr_all_chips; chipnr++) {
 314                 if((chip=candev->chip[chipnr])==NULL)
 315                         continue;
 316
 317                 if(chip->chipspecops->attach_to_chip(chip)<0) {
 318 //                      CANMSG("Initial attach to the chip HW failed\n");
 319                         sys_err();
 320                 }
 321
 322                 chip->flags |= CHIP_ATTACHED;
 323
 324                 // used with lpc17xx:
 325                 if(can_chip_setup_irq(chip)<0) {
 326                         CANMSG("Error to setup chip IRQ\n");
 327                         sys_err();
 328                 }
 329
 330         }
 331
 332         if (candev->flags & CANDEV_PROGRAMMABLE_IRQ)
 333                 if (candev->hwspecops->program_irq(candev)){
 334 //                      CANMSG("Error to program board interrupt\n");
 335                         sys_err();
 336                 }
 337
 338         //***********************************************************************
 339         // * CAN device initialization - client side (adapted from LinCAN open.c)
 340         // ***********************************************************************
 341
 342
 343         chip=candev->chip[0];
 344         obj=chip->msgobj[0];
 345         atomic_inc(&obj->obj_used);
 346         can_msgobj_set_fl(obj,OPENED);
 347
 348         if (chip->flags & CHIP_CONFIGURED)
 349                 DEBUGMSG("Device is already configured.\n");
 350         else {
 351                 if (chip->chipspecops->chip_config(chip))
 352                         CANMSG("Error configuring chip.\n");
 353                 else
 354                         chip->flags |= CHIP_CONFIGURED;
 355
 356                 if (chip->chipspecops->pre_read_config(chip,obj)<0)
 357                         CANMSG("Error initializing chip for receiving\n");
 358
 359         } // End of chip configuration
 360
 361
 362         canuser = (struct canuser_t *)malloc(sizeof(struct canuser_t));
 363         if(canuser == NULL) sys_err();
 364         canuser->flags=0;
 365 //      canuser->userinfo.fileinfo.file = file;
 366         canuser->msgobj = obj;
 367 //      canuser->magic = CAN_USER_MAGIC;
 368 //      file->private_data = canuser;
 369
 370         qends = (struct canque_ends_t *)malloc(sizeof(struct canque_ends_t));
 371         if(qends == NULL) sys_err();
 372         canqueue_ends_init_kern(qends);
 373         canuser->qends = qends;
 374
 375         //required to synchronize with RT-Linux context
 376         can_spin_lock_irqsave(&canuser_manipulation_lock, iflags);
 377         list_add(&canuser->peers, &obj->obj_users);
 378         can_spin_unlock_irqrestore(&canuser_manipulation_lock, iflags);
 379
 380         if(canqueue_connect_edge(edge=canque_new_edge_kern(MAX_BUF_LENGTH),
 381                 canuser->qends, obj->qends)<0) sys_err();
 382
 383         if(canqueue_connect_edge(canuser->rx_edge0=canque_new_edge_kern(MAX_BUF_LENGTH),
 384                 obj->qends, canuser->qends)<0) sys_err();
 385         //FIXME: more generic model should be used there
 386         canque_edge_decref(canuser->rx_edge0);
 387         canque_edge_decref(edge);
 388
 389
 390
 391         /***********************************************************************
 392          * USB Init
 393          ***********************************************************************/
 394
 395         memset( &usb_device, 0, sizeof( usb_device));
 396         usb_device.id = 1;
 397         usb_device.devdes_table = &usb_devdes_table;
 398         usb_device.init = usb_lpc_init;
 399         usb_debug_set_level(DEBUG_LEVEL_NONE);
 400         usb_device.cntep = NUM_ENDPOINTS;
 401         usb_device.ep = eps;
 402
 403         eps[0].max_packet_size = USB_MAX_PACKET;
 404         eps[1].max_packet_size = USB_MAX_PACKET;
 405         eps[0].epnum = 0x01;
 406         eps[1].epnum = 0x81;
 407         eps[0].event_mask = 0x04;
 408         eps[1].event_mask = 0x08;
 409         eps[0].udev = &usb_device;
 410         eps[1].udev = &usb_device;
 411
 412         usb_device.vendor_fnc=usbcan_vendor;
 413
 414         usb_init(&usb_device);
 415         usb_connect(&usb_device);
 416         usb_device.ep_events |= MASK_EP1TX;
 417
 418         /***********************************************************************
 419          * Start
 420          ***********************************************************************/
 421
 422         timer_rx_off=timer_tx_off=timer_str=timer_configured=0;
 423
 424
 425         printf("Main loop\n");
 426
 427         while (1) {
 428
 429                 usb_check_events(&usb_device);
 430                 usb_control_response(&usb_device);
 431
 432 // useless with lpc17xx:
 433 //              if (!(IO0PIN&P0_SJA1000_INT_PIN)) //INT PIN is inverted
 434 //                      chip->chipspecops->irq_handler(0,chip);
 435
 436                 if (usb_device.ep_events & MASK_EP1RX) {  //EP1RX - data waiting to receive
 437
 438                         if (canque_get_inslot(qends, &qedge, &slot, 0)>=0){ //Free slot obtained
 439
 440                                 size=usb_udev_read_endpoint(&eps[0],ep1_rx_buff,16);
 441                                 if (size==16){
 442                                         uint16_t msgflags;
 443                                         uint32_t msgid;
 444                                         canmsg.cob=0;
 445                                         canmsg.length=*(uint8_t *)(ep1_rx_buff+1);
 446                                         if (canmsg.length > CAN_MSG_LENGTH)
 447                                                 canmsg.length=CAN_MSG_LENGTH;
 448                                         msgflags=*(uint16_t *)(ep1_rx_buff+2);
 449                                         msgid=*(uint32_t *)(ep1_rx_buff+4);
 450                                         #if __BYTE_ORDER == __BIG_ENDIAN
 451                                                 msgflags  = bswap_16( msgflags);
 452                                                 msgid  = bswap_32( msgid);
 453                                         #endif
 454                                         canmsg.flags=msgflags;
 455                                         canmsg.id=msgid;
 456
 457                                         for (i=0;i<canmsg.length;i++){
 458                                                 canmsg.data[i]=*(unsigned char*)(ep1_rx_buff+8+i);
 459                                         }
 460                                         for (;i<CAN_MSG_LENGTH;i++){
 461                                                 canmsg.data[i]=0;
 462                                         }
 463                                         /* Automatic selection of extended format if ID>2047 */
 464                                         if (canmsg.id & ~0x7ffl & MSG_ID_MASK ) canmsg.flags |= MSG_EXT;
 465                                         /* has been dependent on "extended" option */
 466
 467                                         slot->msg=canmsg;
 468                                         canque_put_inslot(qends, qedge, slot);
 469
 470                                 }
 471                                 else
 472                                         canque_abort_inslot(qends,qedge,slot);
 473
 474
 475                                 timer_rx_off=50;        //rosviceni diody pri prijmu
 476                                 CLR_OUT_PIN(LED_PORT,LED2_BIT);
 477                                 usb_device.ep_events &= ~MASK_EP1RX;
 478
 479
 480                         }
 481
 482
 483 /*                      if (size==2){
 484                                 uint8_t val;
 485                                 if ((data[0]&CAN_OP_MASK)==CAN_OP_READ){ // Get data from CAN device and return to caller
 486                                         val = can_read(data[0] & ~CAN_OP_MASK);
 487                                         *(data+1)=val;
 488                                         usb_udev_write_endpoint(&eps[1],(unsigned char *)data,size);
 489                                         timer_rx_off=50;        //rosviceni diody pri prijmu
 490                                         CLR_OUT_PIN(LED_PORT,LED2_BIT);
 491                                         usb_can_send=0;
 492                                 }
 493                                 if ((data[0]&CAN_OP_MASK)==CAN_OP_WRITE){ // Save data to CAN device
 494                                         can_write(data[1], data[0] & ~CAN_OP_MASK);
 495                                         timer_tx_off=50;                //rozsviceni diod pri vysilani
 496                                         CLR_OUT_PIN(LED_PORT,LED1_BIT);
 497                                 }
 498                         }*/
 499                 }
 500
 501
 502                 if(usb_device.ep_events & MASK_EP1TX){ //EP1TX - data transmitted
 503                         if(canque_test_outslot(qends, &qedge, &slot)>=0){
 504                                 DEBUGMSG("CAN message ready to send over usb\n");
 505                                 uint16_t msgflags;
 506                                 uint32_t msgid;
 507
 508                                 *(uint8_t *)(ep1_tx_buff)=0;
 509                                 *(uint8_t *)(ep1_tx_buff+1)=slot->msg.length;
 510
 511                                 msgflags=slot->msg.flags;
 512                                 msgid=slot->msg.id;
 513                                 #if __BYTE_ORDER == __BIG_ENDIAN
 514                                         msgflags  = bswap_16( msgflags);
 515                                         msgid  = bswap_32( msgid);
 516                                 #endif
 517
 518                                 *(uint16_t *)(ep1_tx_buff+2)=msgflags;
 519                                 *(uint32_t *)(ep1_tx_buff+4)=msgid;
 520                                 for (i=0;i<slot->msg.length;i++){
 521                                         *(uint8_t *)(ep1_tx_buff+8+i)=slot->msg.data[i];
 522                                 }
 523                                 for (;i<CAN_MSG_LENGTH;i++){
 524                                         *(uint8_t *)(ep1_tx_buff+8+i)=0;
 525                                 }
 526                                 usb_udev_write_endpoint(&eps[1],ep1_tx_buff,16);
 527
 528                                 canque_free_outslot(qends, qedge, slot);
 529                                 timer_tx_off=50;                //rozsviceni diod pri vysilani
 530                                 CLR_OUT_PIN(LED_PORT,LED1_BIT);
 531                                 usb_device.ep_events &= ~MASK_EP1TX;
 532
 533                         }
 534
 535
 536                 }
 537
 538
 539                 //if (usb_can_send && )
 540
 541 #ifdef WATCHDOG_ENABLED
 542                 watchdog_feed();
 543 #endif /* WATCHDOG_ENABLED */
 544
 545                 /* 10ms timer */
 546                 if (lt_10msec_expired(10))
 547                         timer_10ms();
 548         }
 549
 550         SET_OUT_PIN(LED_PORT,LED_GP);
 551         SET_OUT_PIN(LED_PORT,LED_ERR);
 552
 553         /* unreachable code */
 554 #ifdef SDCC
 555         vec_jmp(0x0);  /* need to call a function from misc to correct linking */
 556 #endif
 557         return 0;
 558 }