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 extern int can_lmc1_register(struct hwspecops_t *hwspecops);
  71 extern int ul_usb1_register(struct hwspecops_t *hwspecops);
  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  * Routine for visible LED blinking (on USB transmission)
 161  ***********************************************************************/
 162
 163 void timer_10ms(void)
 164 {
 165   if (timer_tx_off!=0) timer_tx_off--;
 166   else SET_OUT_PIN(LED_PORT,LED1_BIT);
 167   if (timer_rx_off!=0) timer_rx_off--;
 168   else SET_OUT_PIN(LED_PORT,LED2_BIT);
 169
 170 /*  if (timer_configured!=0) timer_configured--;
 171   else {
 172     timer_configured=20;
 173                 CLR_OUT_PIN(LED_PORT,LED1_BIT);
 174                 CLR_OUT_PIN(LED_PORT,LED2_BIT);
 175                 timer_rx_off=timer_tx_off=5;
 176   }*/
 177 }
 178
 179 /***********************************************************************
 180  * Main routine
 181  ***********************************************************************/
 182
 183 int main(void)
 184 {
 185         struct candevice_t *candev;
 186         struct canchip_t *chip=NULL;
 187         struct msgobj_t *obj;
 188         struct canque_ends_t *qends;
 189         struct canque_edge_t *edge,*qedge;
 190         struct canque_slot_t *slot;
 191         struct canmsg_t canmsg;
 192         can_spin_irqflags_t iflags;
 193
 194         int chipnr,bd;
 195         int i,size,m=0;
 196
 197         CANMSG("Starting USBCAN module firmware...\n");
 198
 199 //      volatile int i=0;
 200         bootloader_run=0;
 201         /***********************************/
 202
 203         lt_10msec_init();
 204         lt_100msec_init();
 205         lt_2sec_init();
 206
 207         // DEBUG
 208         //SET_OUT_PIN(LED_PORT,LED_ERR);
 209         //CLR_OUT_PIN(LED_PORT,LED_GP);
 210
 211         if (USB_MAX_PACKET<16){
 212                 CANMSG("Maximum packet size less than 16B (is %dB)\n",USB_MAX_PACKET);
 213                 sys_err();
 214         }
 215
 216
 217         // ***********************************************************************
 218         // * CAN device initialization - device side (adapted from LinCAN setup.c)
 219         // ***********************************************************************
 220
 221 //      useless with lpc17xx (defined in can_lpcbusemu.c)
 222 //      can_init();
 223
 224
 225         DEBUGMSG("Initiating CAN device initialization\n");
 226         baudrate[0]=1000;
 227
 228         canqueue_kern_initialize();
 229
 230         hardware_p->nr_boards=1;
 231
 232         candev=(struct candevice_t *)malloc(sizeof(struct candevice_t));
 233         if (!candev){
 234                 CANMSG("No space left in memory\n");
 235                 sys_err();
 236         }
 237         memset(candev, 0, sizeof(struct candevice_t));
 238
 239         hardware_p->candevice[0]=candev;
 240         candev->candev_idx=0;
 241         candev->io_addr=0;
 242         candev->dev_base_addr=0;
 243
 244         candev->hwspecops=(struct hwspecops_t *)malloc(sizeof(struct hwspecops_t));
 245         if (!candev->hwspecops){
 246                 CANMSG("No space left in memory\n");
 247                 sys_err();
 248         }
 249         memset(candev->hwspecops, 0, sizeof(struct hwspecops_t));
 250
 251
 252
 253         ul_usb1_register(candev->hwspecops);
 254 //      can_lmc1_register(candev->hwspecops);
 255
 256
 257
 258         bd=baudrate[0];
 259         if (candev->hwspecops->init_hw_data(candev)){
 260                 CANMSG("HW data could not be initialized\n");
 261                 sys_err();
 262         }
 263
 264         // Alocate and initialize the chip structures
 265         for (chipnr=0; chipnr < candev->nr_all_chips; chipnr++) {
 266 //              if(chipnr<irqnum)
 267 //                      irqsig=irq[*irq_param_idx_p+chipnr];
 268                 if (init_chip_struct(candev, chipnr, 0, bd*1000)){
 269                         CANMSG("Chip structure could not be initialized\n");
 270                         sys_err();
 271                 }
 272         }
 273
 274
 275
 276         for (chipnr=0; chipnr < candev->nr_all_chips; chipnr++) {
 277                 struct canchip_t *chip=candev->chip[chipnr];
 278                 int objnr;
 279
 280                 register_chip_struct(chip, m);
 281
 282                 for (objnr=0; objnr<chip->max_objects; objnr++) {
 283                         register_obj_struct(chip->msgobj[objnr], m);
 284                         if(m>=0) m++;
 285                 }
 286         }
 287
 288
 289         if (candev->hwspecops->request_io(candev))
 290                 sys_err();
 291         candev->flags|=CANDEV_IO_RESERVED;
 292
 293
 294         if (candev->hwspecops->reset(candev))
 295                 sys_err();
 296
 297
 298         for(chipnr=0; chipnr<candev->nr_all_chips; chipnr++) {
 299                 if((chip=candev->chip[chipnr])==NULL)
 300                         continue;
 301
 302                 if(chip->chipspecops->attach_to_chip(chip)<0) {
 303 //                      CANMSG("Initial attach to the chip HW failed\n");
 304                         sys_err();
 305                 }
 306
 307                 chip->flags |= CHIP_ATTACHED;
 308
 309                 // used with lpc17xx:
 310                 if(can_chip_setup_irq(chip)<0) {
 311                         CANMSG("Error to setup chip IRQ\n");
 312                         sys_err();
 313                 }
 314
 315         }
 316
 317         if (candev->flags & CANDEV_PROGRAMMABLE_IRQ)
 318                 if (candev->hwspecops->program_irq(candev)){
 319 //                      CANMSG("Error to program board interrupt\n");
 320                         sys_err();
 321                 }
 322
 323         //***********************************************************************
 324         // * CAN device initialization - client side (adapted from LinCAN open.c)
 325         // ***********************************************************************
 326
 327
 328         chip=candev->chip[0];
 329         obj=chip->msgobj[0];
 330         atomic_inc(&obj->obj_used);
 331         can_msgobj_set_fl(obj,OPENED);
 332
 333         if (chip->flags & CHIP_CONFIGURED)
 334                 DEBUGMSG("Device is already configured.\n");
 335         else {
 336                 if (chip->chipspecops->chip_config(chip))
 337                         CANMSG("Error configuring chip.\n");
 338                 else
 339                         chip->flags |= CHIP_CONFIGURED;
 340
 341                 if (chip->chipspecops->pre_read_config(chip,obj)<0)
 342                         CANMSG("Error initializing chip for receiving\n");
 343
 344         } // End of chip configuration
 345
 346
 347         canuser = (struct canuser_t *)malloc(sizeof(struct canuser_t));
 348         if(canuser == NULL) sys_err();
 349         canuser->flags=0;
 350 //      canuser->userinfo.fileinfo.file = file;
 351         canuser->msgobj = obj;
 352 //      canuser->magic = CAN_USER_MAGIC;
 353 //      file->private_data = canuser;
 354
 355         qends = (struct canque_ends_t *)malloc(sizeof(struct canque_ends_t));
 356         if(qends == NULL) sys_err();
 357         canqueue_ends_init_kern(qends);
 358         canuser->qends = qends;
 359
 360         //required to synchronize with RT-Linux context
 361         can_spin_lock_irqsave(&canuser_manipulation_lock, iflags);
 362         list_add(&canuser->peers, &obj->obj_users);
 363         can_spin_unlock_irqrestore(&canuser_manipulation_lock, iflags);
 364
 365         if(canqueue_connect_edge(edge=canque_new_edge_kern(MAX_BUF_LENGTH),
 366                 canuser->qends, obj->qends)<0) sys_err();
 367
 368         if(canqueue_connect_edge(canuser->rx_edge0=canque_new_edge_kern(MAX_BUF_LENGTH),
 369                 obj->qends, canuser->qends)<0) sys_err();
 370         //FIXME: more generic model should be used there
 371         canque_edge_decref(canuser->rx_edge0);
 372         canque_edge_decref(edge);
 373
 374
 375
 376         /***********************************************************************
 377          * USB Init
 378          ***********************************************************************/
 379
 380         memset( &usb_device, 0, sizeof( usb_device));
 381         usb_device.id = 1;
 382         usb_device.devdes_table = &usb_devdes_table;
 383         usb_device.init = usb_lpc_init;
 384         usb_debug_set_level(DEBUG_LEVEL_NONE);
 385         usb_device.cntep = NUM_ENDPOINTS;
 386         usb_device.ep = eps;
 387
 388         eps[0].max_packet_size = USB_MAX_PACKET;
 389         eps[1].max_packet_size = USB_MAX_PACKET;
 390         eps[0].epnum = 0x01;
 391         eps[1].epnum = 0x81;
 392         eps[0].event_mask = 0x04;
 393         eps[1].event_mask = 0x08;
 394         eps[0].udev = &usb_device;
 395         eps[1].udev = &usb_device;
 396
 397         usb_device.vendor_fnc=usbcan_vendor;
 398
 399         usb_init(&usb_device);
 400         usb_connect(&usb_device);
 401         usb_device.ep_events |= MASK_EP1TX;
 402
 403         /***********************************************************************
 404          * Start
 405          ***********************************************************************/
 406
 407         timer_rx_off=timer_tx_off=timer_str=timer_configured=0;
 408
 409
 410         printf("Main loop\n");
 411
 412         while (1) {
 413
 414                 usb_check_events(&usb_device);
 415                 usb_control_response(&usb_device);
 416
 417 // useless with lpc17xx:
 418 //              if (!(IO0PIN&P0_SJA1000_INT_PIN)) //INT PIN is inverted
 419 //                      chip->chipspecops->irq_handler(0,chip);
 420
 421                 if (usb_device.ep_events & MASK_EP1RX) {  //EP1RX - data waiting to receive
 422
 423                         if (canque_get_inslot(qends, &qedge, &slot, 0)>=0){ //Free slot obtained
 424
 425                                 size=usb_udev_read_endpoint(&eps[0],ep1_rx_buff,16);
 426                                 if (size==16){
 427                                         uint16_t msgflags;
 428                                         uint32_t msgid;
 429                                         canmsg.cob=0;
 430                                         canmsg.length=*(uint8_t *)(ep1_rx_buff+1);
 431                                         if (canmsg.length > CAN_MSG_LENGTH)
 432                                                 canmsg.length=CAN_MSG_LENGTH;
 433                                         msgflags=*(uint16_t *)(ep1_rx_buff+2);
 434                                         msgid=*(uint32_t *)(ep1_rx_buff+4);
 435                                         #if __BYTE_ORDER == __BIG_ENDIAN
 436                                                 msgflags  = bswap_16( msgflags);
 437                                                 msgid  = bswap_32( msgid);
 438                                         #endif
 439                                         canmsg.flags=msgflags;
 440                                         canmsg.id=msgid;
 441
 442                                         for (i=0;i<canmsg.length;i++){
 443                                                 canmsg.data[i]=*(unsigned char*)(ep1_rx_buff+8+i);
 444                                         }
 445                                         for (;i<CAN_MSG_LENGTH;i++){
 446                                                 canmsg.data[i]=0;
 447                                         }
 448                                         /* Automatic selection of extended format if ID>2047 */
 449                                         if (canmsg.id & ~0x7ffl & MSG_ID_MASK ) canmsg.flags |= MSG_EXT;
 450                                         /* has been dependent on "extended" option */
 451
 452                                         slot->msg=canmsg;
 453                                         canque_put_inslot(qends, qedge, slot);
 454
 455                                 }
 456                                 else
 457                                         canque_abort_inslot(qends,qedge,slot);
 458
 459
 460                                 timer_rx_off=50;        //rosviceni diody pri prijmu
 461                                 CLR_OUT_PIN(LED_PORT,LED2_BIT);
 462                                 usb_device.ep_events &= ~MASK_EP1RX;
 463
 464
 465                         }
 466
 467
 468 /*                      if (size==2){
 469                                 uint8_t val;
 470                                 if ((data[0]&CAN_OP_MASK)==CAN_OP_READ){ // Get data from CAN device and return to caller
 471                                         val = can_read(data[0] & ~CAN_OP_MASK);
 472                                         *(data+1)=val;
 473                                         usb_udev_write_endpoint(&eps[1],(unsigned char *)data,size);
 474                                         timer_rx_off=50;        //rosviceni diody pri prijmu
 475                                         CLR_OUT_PIN(LED_PORT,LED2_BIT);
 476                                         usb_can_send=0;
 477                                 }
 478                                 if ((data[0]&CAN_OP_MASK)==CAN_OP_WRITE){ // Save data to CAN device
 479                                         can_write(data[1], data[0] & ~CAN_OP_MASK);
 480                                         timer_tx_off=50;                //rozsviceni diod pri vysilani
 481                                         CLR_OUT_PIN(LED_PORT,LED1_BIT);
 482                                 }
 483                         }*/
 484                 }
 485
 486
 487                 if(usb_device.ep_events & MASK_EP1TX){ //EP1TX - data transmitted
 488                         if(canque_test_outslot(qends, &qedge, &slot)>=0){
 489                                 DEBUGMSG("CAN message ready to send over usb\n");
 490                                 uint16_t msgflags;
 491                                 uint32_t msgid;
 492
 493                                 *(uint8_t *)(ep1_tx_buff)=0;
 494                                 *(uint8_t *)(ep1_tx_buff+1)=slot->msg.length;
 495
 496                                 msgflags=slot->msg.flags;
 497                                 msgid=slot->msg.id;
 498                                 #if __BYTE_ORDER == __BIG_ENDIAN
 499                                         msgflags  = bswap_16( msgflags);
 500                                         msgid  = bswap_32( msgid);
 501                                 #endif
 502
 503                                 *(uint16_t *)(ep1_tx_buff+2)=msgflags;
 504                                 *(uint32_t *)(ep1_tx_buff+4)=msgid;
 505                                 for (i=0;i<slot->msg.length;i++){
 506                                         *(uint8_t *)(ep1_tx_buff+8+i)=slot->msg.data[i];
 507                                 }
 508                                 for (;i<CAN_MSG_LENGTH;i++){
 509                                         *(uint8_t *)(ep1_tx_buff+8+i)=0;
 510                                 }
 511                                 usb_udev_write_endpoint(&eps[1],ep1_tx_buff,16);
 512
 513                                 canque_free_outslot(qends, qedge, slot);
 514                                 timer_tx_off=50;                //rozsviceni diod pri vysilani
 515                                 CLR_OUT_PIN(LED_PORT,LED1_BIT);
 516                                 usb_device.ep_events &= ~MASK_EP1TX;
 517
 518                         }
 519
 520
 521                 }
 522
 523
 524                 //if (usb_can_send && )
 525
 526 #ifdef WATCHDOG_ENABLED
 527                 watchdog_feed();
 528 #endif /* WATCHDOG_ENABLED */
 529
 530                 /* 10ms timer */
 531                 if (lt_10msec_expired(10))
 532                         timer_10ms();
 533         }
 534
 535         SET_OUT_PIN(LED_PORT,LED_GP);
 536         SET_OUT_PIN(LED_PORT,LED_ERR);
 537
 538         /* unreachable code */
 539 #ifdef SDCC
 540         vec_jmp(0x0);  /* need to call a function from misc to correct linking */
 541 #endif
 542         return 0;
 543 }