4 #include <system_def.h>
6 #include <local_config.h>
7 #include <usb/usbdebug.h>
10 #include <usb/usb_srq.h>
12 #include <keyval_id.h>
13 #include <hal_machperiph.h>
14 #include <keyval_loc.h>
16 #include <lpciap_kvpb.h>
19 #if __BYTE_ORDER == __BIG_ENDIAN
23 #include "./can/can.h"
24 #include "./can/sja1000p.h"
25 #include "./can/main.h"
27 // #include "./can/can_sysdep.h"
28 #include "./can/modparms.h"
29 #include "./can/devcommon.h"
31 #include "./can/ul_usb1.h"
32 //#include "./can/setup.h"
34 #include "./usb/usb_vend.h"
36 #define MASK_EP1RX 0x01
37 #define MASK_EP1TX 0x02
39 #define CAN_OP_MASK 0x80
40 #define CAN_OP_READ 0x80
41 #define CAN_OP_WRITE 0x00
45 #define USB_MAX_PACKET 16
47 /***********************************************************************
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 ***********************************************************************/
56 /***********************************************************************
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 ***********************************************************************/
62 LT_TIMER_DEC(lt_10msec)
63 LT_TIMER_IMP(lt_10msec)
64 LT_TIMER_DEC(lt_100msec)
65 LT_TIMER_IMP(lt_100msec)
69 typedef void (*FNC)(); //function ptr
71 /***********************************************************************
73 ***********************************************************************/
76 usb_device_t usb_device;
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;
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];
94 struct canuser_t *canuser;
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);
100 /***********************************************************************
101 * IF SOMETHING BAD HAPPENED
102 ***********************************************************************/
108 if (lt_100msec_expired(100)) {
111 SET_OUT_PIN(LED_PORT,LED_ERR);
113 CLR_OUT_PIN(LED_PORT,LED_ERR);
115 #ifdef WATCHDOG_ENABLED
117 #endif /* WATCHDOG_ENABLED */
122 /***********************************************************************
123 * Routine for visible LED blinking (on USB transmission)
124 ***********************************************************************/
126 void timer_10ms(void)
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--;
135 CLR_OUT_PIN(LED_PORT,LED1_BIT);
136 CLR_OUT_PIN(LED_PORT,LED2_BIT);
137 timer_rx_off=timer_tx_off=5;
141 /***********************************************************************
143 ***********************************************************************/
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;
159 CANMSG("Starting USBCAN module firmware...\n");
163 /***********************************/
168 SET_OUT_PIN(LED_PORT,LED_ERR);
169 CLR_OUT_PIN(LED_PORT,LED_GP);
171 if (USB_MAX_PACKET<16){
172 CANMSG("Maximum packet size less than 16B (is %dB)\n",USB_MAX_PACKET);
176 /***********************************************************************
177 * CAN device initialization - device side (adapted from LinCAN setup.c)
178 ***********************************************************************/
182 DEBUGMSG("Initiating CAN device initialization\n");
185 canqueue_kern_initialize();
187 hardware_p->nr_boards=1;
189 candev=(struct candevice_t *)malloc(sizeof(struct candevice_t));
191 CANMSG("No space left in memory\n");
194 memset(candev, 0, sizeof(struct candevice_t));
196 hardware_p->candevice[0]=candev;
197 candev->candev_idx=0;
199 candev->dev_base_addr=0;
201 candev->hwspecops=(struct hwspecops_t *)malloc(sizeof(struct hwspecops_t));
202 if (!candev->hwspecops){
203 CANMSG("No space left in memory\n");
206 memset(candev->hwspecops, 0, sizeof(struct hwspecops_t));
208 ul_usb1_register(candev->hwspecops);
211 if (candev->hwspecops->init_hw_data(candev)){
212 CANMSG("HW data could not be initialized\n");
215 /* Alocate and initialize the chip structures */
216 for (chipnr=0; chipnr < candev->nr_all_chips; chipnr++) {
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");
224 for (chipnr=0; chipnr < candev->nr_all_chips; chipnr++) {
225 struct canchip_t *chip=candev->chip[chipnr];
228 register_chip_struct(chip, m);
230 for (objnr=0; objnr<chip->max_objects; objnr++) {
231 register_obj_struct(chip->msgobj[objnr], m);
235 if (candev->hwspecops->request_io(candev))
237 candev->flags|=CANDEV_IO_RESERVED;
238 if (candev->hwspecops->reset(candev))
240 for(chipnr=0; chipnr<candev->nr_all_chips; chipnr++) {
241 if((chip=candev->chip[chipnr])==NULL)
244 if(chip->chipspecops->attach_to_chip(chip)<0) {
245 // CANMSG("Initial attach to the chip HW failed\n");
249 chip->flags |= CHIP_ATTACHED;
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");
258 if (candev->flags & CANDEV_PROGRAMMABLE_IRQ)
259 if (candev->hwspecops->program_irq(candev)){
260 // CANMSG("Error to program board interrupt\n");
264 /***********************************************************************
265 * CAN device initialization - client side (adapted from LinCAN open.c)
266 ***********************************************************************/
268 chip=candev->chip[0];
270 atomic_inc(&obj->obj_used);
271 can_msgobj_set_fl(obj,OPENED);
273 if (chip->flags & CHIP_CONFIGURED)
274 DEBUGMSG("Device is already configured.\n");
276 if (chip->chipspecops->chip_config(chip))
277 CANMSG("Error configuring chip.\n");
279 chip->flags |= CHIP_CONFIGURED;
281 if (chip->chipspecops->pre_read_config(chip,obj)<0)
282 CANMSG("Error initializing chip for receiving\n");
284 } /* End of chip configuration */
286 canuser = (struct canuser_t *)malloc(sizeof(struct canuser_t));
287 if(canuser == NULL) sys_err();
289 // canuser->userinfo.fileinfo.file = file;
290 canuser->msgobj = obj;
291 // canuser->magic = CAN_USER_MAGIC;
292 // file->private_data = canuser;
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;
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);
304 if(canqueue_connect_edge(edge=canque_new_edge_kern(MAX_BUF_LENGTH),
305 canuser->qends, obj->qends)<0) sys_err();
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);
314 /***********************************************************************
316 ***********************************************************************/
318 memset( &usb_device, 0, sizeof( usb_device));
320 usb_device.init = usb_lpc_init;
321 usb_debug_set_level(DEBUG_LEVEL_NONE);
322 usb_device.cntep = 3;
325 eps[0].max_packet_size = USB_MAX_PACKET;
326 eps[1].max_packet_size = USB_MAX_PACKET;
329 eps[0].event_mask = 0x04;
330 eps[1].event_mask = 0x08;
331 eps[0].udev = &usb_device;
332 eps[1].udev = &usb_device;
334 usb_device.vendor_fnc=usbcan_vendor;
336 usb_init(&usb_device);
337 usb_connect(&usb_device);
338 usb_device.ep_events |= MASK_EP1TX;
340 /***********************************************************************
342 ***********************************************************************/
344 timer_rx_off=timer_tx_off=timer_str=timer_configured=0;
347 usb_check_events(&usb_device);
348 usb_control_response(&usb_device);
350 if (!(IO0PIN&P0_SJA1000_INT_PIN)) //INT PIN is inverted
351 chip->chipspecops->irq_handler(0,chip);
353 if (usb_device.ep_events & MASK_EP1RX) { //EP1RX - data waiting to receive
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);
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);
370 canmsg.flags=msgflags;
373 for (i=0;i<canmsg.length;i++){
374 canmsg.data[i]=*(unsigned char*)(ep1_rx_buff+8+i);
376 for (;i<CAN_MSG_LENGTH;i++){
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 */
383 canque_put_inslot(qends, qedge, slot);
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;
394 if (((*data)&CAN_OP_MASK)==CAN_OP_READ){ // Get data from CAN device and return to caller
395 can_read((*data) & 0x7F,&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);
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);
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");
416 *(uint8_t *)(ep1_tx_buff)=0;
417 *(uint8_t *)(ep1_tx_buff+1)=slot->msg.length;
419 msgflags=slot->msg.flags;
421 #if __BYTE_ORDER == __BIG_ENDIAN
422 msgflags = bswap_16( msgflags);
423 msgid = bswap_32( msgid);
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];
431 for (;i<CAN_MSG_LENGTH;i++){
432 *(uint8_t *)(ep1_tx_buff+8+i)=0;
434 usb_udev_write_endpoint(&eps[1],ep1_tx_buff,16);
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;
443 //if (usb_can_send && )
445 #ifdef WATCHDOG_ENABLED
447 #endif /* WATCHDOG_ENABLED */
450 if (lt_10msec_expired(10))
454 SET_OUT_PIN(LED_PORT,LED_GP);
455 SET_OUT_PIN(LED_PORT,LED_ERR);
457 /* unreachable code */
459 vec_jmp(0x0); /* need to call a function from misc to correct linking */