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 <endian.h>
  19 #if __BYTE_ORDER == __BIG_ENDIAN
  20   #include <byteswap.h>
  21 #endif
  22
  23 #include "./can/can.h"
  24 #include "./can/sja1000p.h"
  25 #include "./can/main.h"
  26
  27 // #include "./can/can_sysdep.h"
  28 #include "./can/modparms.h"
  29 #include "./can/devcommon.h"
  30
  31 #include "./can/ul_usb1.h"
  32 //#include "./can/setup.h"
  33
  34 #include "./usb/usb_vend.h"
  35
  36 #define MASK_EP1RX  0x01
  37 #define MASK_EP1TX  0x02
  38
  39 #define CAN_OP_MASK 0x80
  40 #define CAN_OP_READ 0x80
  41 #define CAN_OP_WRITE 0x00
  42
  43 #ifdef USB_MAX_PACKET
  44         #undef USB_MAX_PACKET
  45         #define USB_MAX_PACKET 16
  46 #endif
  47 /***********************************************************************
  48  * Note:
  49  * Comparing to LinCAN, there is no need to sleep for processes
  50  * because the degree of filling of fifo from the client side
  51  * is solved in main cycle (no new messages are accepted when full)
  52  * and on the server side by speed of USB interface. FIFO in edge
  53  * from SJA chip to USB interface should never be filled.
  54  ***********************************************************************/
  55
  56 /***********************************************************************
  57  * Note:
  58  * Code is wittingly complex in order to ease future changes in hardware
  59  * configuration and to make it as much similar as the code of LinCAN
  60  ***********************************************************************/
  61
  62 LT_TIMER_DEC(lt_10msec)
  63 LT_TIMER_IMP(lt_10msec)
  64 LT_TIMER_DEC(lt_100msec)
  65 LT_TIMER_IMP(lt_100msec)
  66 LT_TIMER_DEC(lt_2sec)
  67 LT_TIMER_IMP(lt_2sec)
  68
  69 typedef void (*FNC)(); //function ptr
  70
  71 /***********************************************************************
  72         * global variables
  73         ***********************************************************************/
  74
  75
  76 usb_device_t usb_device;
  77
  78 usb_ep_t eps[2];
  79 unsigned char ep1_rx_buff[USB_MAX_PACKET];
  80 unsigned char ep1_tx_buff[USB_MAX_PACKET];
  81 uint8_t timer_str,timer_rx_off,timer_tx_off,timer_configured;
  82 volatile uint8_t bootloader_run;
  83
  84 uint8_t vendor_ret;
  85
  86 int processlocal;
  87
  88 int baudrate[MAX_TOT_CHIPS];
  89 struct canhardware_t canhardware;
  90 struct canhardware_t *hardware_p=&canhardware;
  91 struct canchip_t *chips_p[MAX_TOT_CHIPS];
  92 struct msgobj_t *objects_p[MAX_TOT_MSGOBJS];
  93
  94 struct canuser_t *canuser;
  95
  96 extern int init_chip_struct(struct candevice_t *candev, int chipnr, int irq, long baudrate);
  97 extern int register_chip_struct(struct canchip_t *chip, int minorbase);
  98 extern int register_obj_struct(struct msgobj_t *obj, int minorbase);
  99
 100 /***********************************************************************
 101  * IF SOMETHING BAD HAPPENED
 102  ***********************************************************************/
 103
 104 int sys_err(){
 105   unsigned char i=0;
 106
 107   while(1) {
 108     if (lt_100msec_expired(100)) {
 109       i++;
 110       if (i&1) {
 111         SET_OUT_PIN(LED_PORT,LED_ERR);
 112       } else {
 113         CLR_OUT_PIN(LED_PORT,LED_ERR);
 114       }
 115      #ifdef WATCHDOG_ENABLED
 116       watchdog_feed();
 117      #endif /* WATCHDOG_ENABLED */
 118     }
 119   }
 120 }
 121
 122 /***********************************************************************
 123  * Routine for visible LED blinking (on USB transmission)
 124  ***********************************************************************/
 125
 126 void timer_10ms(void)
 127 {
 128   if (timer_tx_off!=0) timer_tx_off--;
 129   else SET_OUT_PIN(LED_PORT,LED1_BIT);
 130   if (timer_rx_off!=0) timer_rx_off--;
 131   else SET_OUT_PIN(LED_PORT,LED2_BIT);
 132 /*  if (timer_configured!=0) timer_configured--;
 133   else {
 134     timer_configured=20;
 135                 CLR_OUT_PIN(LED_PORT,LED1_BIT);
 136                 CLR_OUT_PIN(LED_PORT,LED2_BIT);
 137                 timer_rx_off=timer_tx_off=5;
 138   }*/
 139 }
 140
 141 /***********************************************************************
 142  * Main routine
 143  ***********************************************************************/
 144
 145 int main(void)
 146 {
 147         struct candevice_t *candev;
 148         struct canchip_t *chip=NULL;
 149         struct msgobj_t *obj;
 150         struct canque_ends_t *qends;
 151         struct canque_edge_t *edge,*qedge;
 152         struct canque_slot_t *slot;
 153         struct canmsg_t canmsg;
 154         can_spin_irqflags_t iflags;
 155
 156         int chipnr,bd;
 157         int i,size,m=0;
 158
 159         CANMSG("Starting USBCAN module firmware...\n");
 160
 161 //      volatile int i=0;
 162         bootloader_run=0;
 163         /***********************************/
 164         lt_10msec_init();
 165         lt_100msec_init();
 166         lt_2sec_init();
 167
 168         SET_OUT_PIN(LED_PORT,LED_ERR);
 169         CLR_OUT_PIN(LED_PORT,LED_GP);
 170
 171         if (USB_MAX_PACKET<16){
 172                 CANMSG("Maximum packet size less than 16B (is %dB)\n",USB_MAX_PACKET);
 173                 sys_err();
 174         }
 175
 176         /***********************************************************************
 177          * CAN device initialization - device side (adapted from LinCAN setup.c)
 178          ***********************************************************************/
 179
 180         can_init();
 181
 182         DEBUGMSG("Initiating CAN device initialization\n");
 183         baudrate[0]=1000;
 184
 185         canqueue_kern_initialize();
 186
 187         hardware_p->nr_boards=1;
 188
 189         candev=(struct candevice_t *)malloc(sizeof(struct candevice_t));
 190         if (!candev){
 191                 CANMSG("No space left in memory\n");
 192                 sys_err();
 193         }
 194         memset(candev, 0, sizeof(struct candevice_t));
 195
 196         hardware_p->candevice[0]=candev;
 197         candev->candev_idx=0;
 198         candev->io_addr=0;
 199         candev->dev_base_addr=0;
 200
 201         candev->hwspecops=(struct hwspecops_t *)malloc(sizeof(struct hwspecops_t));
 202         if (!candev->hwspecops){
 203                 CANMSG("No space left in memory\n");
 204                 sys_err();
 205         }
 206         memset(candev->hwspecops, 0, sizeof(struct hwspecops_t));
 207
 208         ul_usb1_register(candev->hwspecops);
 209
 210         bd=baudrate[0];
 211         if (candev->hwspecops->init_hw_data(candev)){
 212                 CANMSG("HW data could not be initialized\n");
 213                 sys_err();
 214         }
 215         /* Alocate and initialize the chip structures */
 216         for (chipnr=0; chipnr < candev->nr_all_chips; chipnr++) {
 217 /*              if(chipnr<irqnum)
 218                         irqsig=irq[*irq_param_idx_p+chipnr];*/
 219                 if (init_chip_struct(candev, chipnr, 0, bd*1000)){
 220                         CANMSG("Chip structure could not be initialized\n");
 221                         sys_err();
 222                 }
 223         }
 224         for (chipnr=0; chipnr < candev->nr_all_chips; chipnr++) {
 225                 struct canchip_t *chip=candev->chip[chipnr];
 226                 int objnr;
 227
 228                 register_chip_struct(chip, m);
 229
 230                 for (objnr=0; objnr<chip->max_objects; objnr++) {
 231                         register_obj_struct(chip->msgobj[objnr], m);
 232                         if(m>=0) m++;
 233                 }
 234         }
 235         if (candev->hwspecops->request_io(candev))
 236                 sys_err();
 237         candev->flags|=CANDEV_IO_RESERVED;
 238         if (candev->hwspecops->reset(candev))
 239                 sys_err();
 240         for(chipnr=0; chipnr<candev->nr_all_chips; chipnr++) {
 241                 if((chip=candev->chip[chipnr])==NULL)
 242                         continue;
 243
 244                 if(chip->chipspecops->attach_to_chip(chip)<0) {
 245 //                      CANMSG("Initial attach to the chip HW failed\n");
 246                         sys_err();
 247                 }
 248
 249                 chip->flags |= CHIP_ATTACHED;
 250
 251 // Interrupts from chip are served in main cycle
 252 /*              if(can_chip_setup_irq(chip)<0) {
 253 //                      CANMSG("Error to setup chip IRQ\n");
 254                         sys_err();
 255                 }*/
 256         }
 257
 258         if (candev->flags & CANDEV_PROGRAMMABLE_IRQ)
 259                 if (candev->hwspecops->program_irq(candev)){
 260 //                      CANMSG("Error to program board interrupt\n");
 261                         sys_err();
 262                 }
 263
 264         /***********************************************************************
 265          * CAN device initialization - client side (adapted from LinCAN open.c)
 266          ***********************************************************************/
 267
 268         chip=candev->chip[0];
 269         obj=chip->msgobj[0];
 270         atomic_inc(&obj->obj_used);
 271         can_msgobj_set_fl(obj,OPENED);
 272
 273         if (chip->flags & CHIP_CONFIGURED)
 274                 DEBUGMSG("Device is already configured.\n");
 275         else {
 276                 if (chip->chipspecops->chip_config(chip))
 277                         CANMSG("Error configuring chip.\n");
 278                 else
 279                         chip->flags |= CHIP_CONFIGURED;
 280
 281                 if (chip->chipspecops->pre_read_config(chip,obj)<0)
 282                         CANMSG("Error initializing chip for receiving\n");
 283
 284         } /* End of chip configuration */
 285
 286         canuser = (struct canuser_t *)malloc(sizeof(struct canuser_t));
 287         if(canuser == NULL) sys_err();
 288         canuser->flags=0;
 289 //      canuser->userinfo.fileinfo.file = file;
 290         canuser->msgobj = obj;
 291 //      canuser->magic = CAN_USER_MAGIC;
 292 //      file->private_data = canuser;
 293
 294         qends = (struct canque_ends_t *)malloc(sizeof(struct canque_ends_t));
 295         if(qends == NULL) sys_err();
 296         canqueue_ends_init_kern(qends);
 297         canuser->qends = qends;
 298
 299         /*required to synchronize with RT-Linux context*/
 300         can_spin_lock_irqsave(&canuser_manipulation_lock, iflags);
 301         list_add(&canuser->peers, &obj->obj_users);
 302         can_spin_unlock_irqrestore(&canuser_manipulation_lock, iflags);
 303
 304         if(canqueue_connect_edge(edge=canque_new_edge_kern(MAX_BUF_LENGTH),
 305                 canuser->qends, obj->qends)<0) sys_err();
 306
 307         if(canqueue_connect_edge(canuser->rx_edge0=canque_new_edge_kern(MAX_BUF_LENGTH),
 308                 obj->qends, canuser->qends)<0) sys_err();
 309         /*FIXME: more generic model should be used there*/
 310         canque_edge_decref(canuser->rx_edge0);
 311         canque_edge_decref(edge);
 312
 313
 314         /***********************************************************************
 315          * USB Init
 316          ***********************************************************************/
 317
 318         memset( &usb_device, 0, sizeof( usb_device));
 319         usb_device.id = 1;
 320         usb_device.init = usb_lpc_init;
 321         usb_debug_set_level(DEBUG_LEVEL_NONE);
 322         usb_device.cntep = 3;
 323         usb_device.ep = eps;
 324
 325         eps[0].max_packet_size = USB_MAX_PACKET;
 326         eps[1].max_packet_size = USB_MAX_PACKET;
 327         eps[0].epnum = 0x01;
 328         eps[1].epnum = 0x81;
 329         eps[0].event_mask = 0x04;
 330         eps[1].event_mask = 0x08;
 331         eps[0].udev = &usb_device;
 332         eps[1].udev = &usb_device;
 333
 334   usb_device.vendor_fnc=usbcan_vendor;
 335
 336         usb_init(&usb_device);
 337         usb_connect(&usb_device);
 338         usb_device.ep_events |= MASK_EP1TX;
 339
 340         /***********************************************************************
 341          * Start
 342          ***********************************************************************/
 343
 344   timer_rx_off=timer_tx_off=timer_str=timer_configured=0;
 345         while (1) {
 346
 347                 usb_check_events(&usb_device);
 348                 usb_control_response(&usb_device);
 349
 350                 if (!(IO0PIN&P0_SJA1000_INT_PIN)) //INT PIN is inverted
 351                         chip->chipspecops->irq_handler(0,chip);
 352
 353                 if (usb_device.ep_events & MASK_EP1RX) {  //EP1RX - data waiting to receive
 354                         uint8_t val;
 355                         if (canque_get_inslot(qends, &qedge, &slot, 0)>=0){ //Free slot obtained
 356                                 size=usb_udev_read_endpoint(&eps[0],ep1_rx_buff,16);
 357                                 if (size==16){
 358                                         uint16_t msgflags;
 359                                         uint32_t msgid;
 360                                         canmsg.cob=0;
 361                                         canmsg.length=*(uint8_t *)(ep1_rx_buff+1);
 362                                         if (canmsg.length > CAN_MSG_LENGTH)
 363                                                 canmsg.length=CAN_MSG_LENGTH;
 364                                         msgflags=*(uint16_t *)(ep1_rx_buff+2);
 365                                         msgid=*(uint32_t *)(ep1_rx_buff+4);
 366                                         #if __BYTE_ORDER == __BIG_ENDIAN
 367                                                 msgflags  = bswap_16( msgflags);
 368                                                 msgid  = bswap_32( msgid);
 369                                         #endif
 370                                         canmsg.flags=msgflags;
 371                                         canmsg.id=msgid;
 372
 373                                         for (i=0;i<canmsg.length;i++){
 374                                                 canmsg.data[i]=*(unsigned char*)(ep1_rx_buff+8+i);
 375                                         }
 376                                         for (;i<CAN_MSG_LENGTH;i++){
 377                                                 canmsg.data[i]=0;
 378                                         }
 379                                         /* Automatic selection of extended format if ID>2047 */
 380                                         if (canmsg.id & ~0x7ffl & MSG_ID_MASK ) canmsg.flags |= MSG_EXT;
 381                                         /* has been dependent on "extended" option */
 382                                         slot->msg=canmsg;
 383                                         canque_put_inslot(qends, qedge, slot);
 384                                 }
 385                                 else
 386                                         canque_abort_inslot(qends,qedge,slot);
 387                                 timer_rx_off=50;        //rosviceni diody pri prijmu
 388                                 CLR_OUT_PIN(LED_PORT,LED2_BIT);
 389                                 usb_device.ep_events &= ~MASK_EP1RX;
 390                         }
 391
 392
 393 /*                      if (size==2){
 394                                 if (((*data)&CAN_OP_MASK)==CAN_OP_READ){ // Get data from CAN device and return to caller
 395                                         can_read((*data) & 0x7F,&val);
 396                                         *(data+1)=val;
 397                                         usb_udev_write_endpoint(&eps[1],(unsigned char *)data,size);
 398                                         timer_rx_off=50;        //rosviceni diody pri prijmu
 399                                         CLR_OUT_PIN(LED_PORT,LED2_BIT);
 400                                         usb_can_send=0;
 401                                 }
 402                                 if (((*data)&CAN_OP_MASK)==CAN_OP_WRITE){ // Save data to CAN device
 403                                         can_write((*data)&(~CAN_OP_MASK),data+1);
 404                                         timer_tx_off=50;                //rozsviceni diod pri vysilani
 405                                         CLR_OUT_PIN(LED_PORT,LED1_BIT);
 406                                 }
 407                         }*/
 408                 }
 409
 410                 if(usb_device.ep_events & MASK_EP1TX){ //EP1TX - data transmitted
 411                         if(canque_test_outslot(qends, &qedge, &slot)>=0){
 412                                 DEBUGMSG("CAN message ready to send over usb\n");
 413                                 uint16_t msgflags;
 414                                 uint32_t msgid;
 415
 416                                 *(uint8_t *)(ep1_tx_buff)=0;
 417                                 *(uint8_t *)(ep1_tx_buff+1)=slot->msg.length;
 418
 419                                 msgflags=slot->msg.flags;
 420                                 msgid=slot->msg.id;
 421                                 #if __BYTE_ORDER == __BIG_ENDIAN
 422                                         msgflags  = bswap_16( msgflags);
 423                                         msgid  = bswap_32( msgid);
 424                                 #endif
 425
 426                                 *(uint16_t *)(ep1_tx_buff+2)=msgflags;
 427                                 *(uint32_t *)(ep1_tx_buff+4)=msgid;
 428                                 for (i=0;i<slot->msg.length;i++){
 429                                         *(uint8_t *)(ep1_tx_buff+8+i)=slot->msg.data[i];
 430                                 }
 431                                 for (;i<CAN_MSG_LENGTH;i++){
 432                                         *(uint8_t *)(ep1_tx_buff+8+i)=0;
 433                                 }
 434                                 usb_udev_write_endpoint(&eps[1],ep1_tx_buff,16);
 435
 436                                 canque_free_outslot(qends, qedge, slot);
 437                                 timer_tx_off=50;                //rozsviceni diod pri vysilani
 438                                 CLR_OUT_PIN(LED_PORT,LED1_BIT);
 439                                 usb_device.ep_events &= ~MASK_EP1TX;
 440                         }
 441                 }
 442
 443                 //if (usb_can_send && )
 444
 445 #ifdef WATCHDOG_ENABLED
 446                 watchdog_feed();
 447 #endif /* WATCHDOG_ENABLED */
 448
 449                 /* 10ms timer */
 450                 if (lt_10msec_expired(10))
 451                         timer_10ms();
 452         }
 453
 454         SET_OUT_PIN(LED_PORT,LED_GP);
 455         SET_OUT_PIN(LED_PORT,LED_ERR);
 456
 457         /* unreachable code */
 458 #ifdef SDCC
 459         vec_jmp(0x0);  /* need to call a function from misc to correct linking */
 460 #endif
 461         return 0;
 462 }