embedded/app/usbcan/main.c

   1 #include <stdio.h>
   2 #include <string.h>
   3 #include <cpu_def.h>
   4 #include <system_def.h>
   5 #include <lt_timer.h>
   6 #include <local_config.h>
   7 #include <usb/usbdebug.h>
   8 #include <usb/usb.h>
   9 #include <usb/lpc.h>
  10 #include <usb/usb_srq.h>
  11 #include <mem_loc.h>
  12 #include <keyval_id.h>
  13 #include <hal_machperiph.h>
  14 #include <keyval_loc.h>
  15 #include <lpciap.h>
  16 #include <lpciap_kvpb.h>
  17
  18 #include "can/can.h"
  19 #include "can/sja1000p.h"
  20
  21 #define MASK_EP1RX  0x01
  22 #define MASK_EP1TX  0x02
  23
  24 #ifdef USB_MAX_PACKET
  25         #undef USB_MAX_PACKET
  26         #define USB_MAX_PACKET 8
  27 #endif
  28
  29 #define CAN_OP_MASK 0x80
  30 #define CAN_OP_READ 0x80
  31 #define CAN_OP_WRITE 0x00
  32
  33
  34 LT_TIMER_DEC(lt_10msec)
  35 LT_TIMER_IMP(lt_10msec)
  36 LT_TIMER_DEC(lt_100msec)
  37 LT_TIMER_IMP(lt_100msec)
  38 LT_TIMER_DEC(lt_2sec)
  39 LT_TIMER_IMP(lt_2sec)
  40
  41 typedef void (*FNC)(); //function ptr
  42
  43 /***********************************/
  44 // global variables
  45
  46 usb_device_t usb_device;
  47
  48 usb_ep_t eps[2];
  49 unsigned char ep1_rx_buff[USB_MAX_PACKET];
  50 unsigned char ep1_tx_buff[USB_MAX_PACKET];
  51 uint8_t timer_str,timer_rx_off,timer_tx_off,timer_configured,usb_can_send;
  52 volatile uint8_t bootloader_run;
  53
  54 int processlocal;
  55
  56 /**
  57         SOMETHING BAD HAPPENED
  58 */
  59 int sys_err(){
  60   unsigned char i=0;
  61
  62   while(1) {
  63     if (lt_100msec_expired(100)) {
  64       i++;
  65       if (i&1) {
  66         SET_OUT_PIN(LED_PORT,LED_ERR);
  67       } else {
  68         CLR_OUT_PIN(LED_PORT,LED_ERR);
  69       }
  70      #ifdef WATCHDOG_ENABLED
  71       watchdog_feed();
  72      #endif /* WATCHDOG_ENABLED */
  73     }
  74   }
  75 }
  76
  77 /**
  78         Routine for visible LED blinking
  79 */
  80 void timer_10ms(void)
  81 {
  82   if (timer_tx_off!=0) timer_tx_off--;
  83   else SET_OUT_PIN(LED_PORT,LED1_BIT);
  84   if (timer_rx_off!=0) timer_rx_off--;
  85   else SET_OUT_PIN(LED_PORT,LED2_BIT);
  86
  87 /*  if (timer_configured!=0) timer_configured--;
  88   else {
  89     timer_configured=20;
  90                 CLR_OUT_PIN(LED_PORT,LED1_BIT);
  91                 CLR_OUT_PIN(LED_PORT,LED2_BIT);
  92                 timer_rx_off=timer_tx_off=5;
  93   }*/
  94 }
  95
  96 /***********************************/
  97 int main(void)
  98 {
  99 //      volatile int i=0;
 100         bootloader_run=0;
 101         /***********************************/
 102         lt_10msec_init();
 103         lt_100msec_init();
 104         lt_2sec_init();
 105
 106         SET_OUT_PIN(LED_PORT,LED_ERR);
 107         CLR_OUT_PIN(LED_PORT,LED_GP);
 108
 109   //********************
 110   // USB init
 111   memset( &usb_device, 0, sizeof( usb_device));
 112   usb_device.id = 1;
 113   usb_device.init = usb_lpc_init;
 114   usb_debug_set_level(DEBUG_LEVEL_NONE);
 115         usb_device.cntep = 3;
 116         usb_device.ep = eps;
 117
 118         eps[0].max_packet_size = USB_MAX_PACKET;
 119         eps[1].max_packet_size = USB_MAX_PACKET;
 120         eps[0].epnum = 0x01;
 121         eps[1].epnum = 0x81;
 122         eps[0].event_mask = 0x04;
 123         eps[1].event_mask = 0x08;
 124         eps[0].udev = &usb_device;
 125         eps[1].udev = &usb_device;
 126
 127 //  usb_device.vendor_fnc=usb_loader;
 128
 129   usb_init(&usb_device);
 130   usb_connect(&usb_device);
 131
 132         can_init();
 133         usb_can_send=1;
 134
 135         /********************/
 136         // start
 137   timer_rx_off=timer_tx_off=timer_str=timer_configured=0;
 138         while (1) {
 139
 140                 usb_check_events(&usb_device);
 141                 usb_control_response(&usb_device);
 142
 143                 if ((usb_device.ep_events & MASK_EP1RX)&&(usb_can_send)) {  //EP1RX
 144                         int size;
 145                         uint8_t *data;
 146                         uint8_t val;
 147                         size=usb_udev_read_endpoint(&eps[0],ep1_rx_buff,USB_MAX_PACKET);
 148                         data=(uint8_t *)ep1_rx_buff;
 149                         if (size==2){
 150                                 if (((*data)&CAN_OP_MASK)==CAN_OP_READ){ // Get data from CAN device and return to caller
 151                                         can_read((*data) & 0x7F,&val);
 152                                         *(data+1)=val;
 153                                         usb_udev_write_endpoint(&eps[1],(unsigned char *)data,size);
 154                                         timer_rx_off=50;        //rosviceni diody pri prijmu
 155                                         CLR_OUT_PIN(LED_PORT,LED2_BIT);
 156                                         usb_can_send=0;
 157                                 }
 158                                 if (((*data)&CAN_OP_MASK)==CAN_OP_WRITE){ // Save data to CAN device
 159                                         can_write((*data)&(~CAN_OP_MASK),data+1);
 160                                         timer_tx_off=50;                //rozsviceni diod pri vysilani
 161                                         CLR_OUT_PIN(LED_PORT,LED1_BIT);
 162                                 }
 163                         }
 164                         usb_device.ep_events &= ~MASK_EP1RX;
 165                 }
 166
 167                 if(usb_device.ep_events & MASK_EP1TX){
 168                         usb_can_send=1;
 169                         usb_device.ep_events &= ~MASK_EP1TX;
 170                 }
 171
 172 #ifdef WATCHDOG_ENABLED
 173                 watchdog_feed();
 174 #endif /* WATCHDOG_ENABLED */
 175
 176                 /* 10ms timer */
 177                 if (lt_10msec_expired(10))
 178                         timer_10ms();
 179         }
 180
 181         SET_OUT_PIN(LED_PORT,LED_GP);
 182         SET_OUT_PIN(LED_PORT,LED_ERR);
 183
 184         /* unreachable code */
 185 #ifdef SDCC
 186         vec_jmp(0x0);  /* need to call a function from misc to correct linking */
 187 #endif
 188         return 0;
 189 }