#include <lpciap.h>
#include <lpciap_kvpb.h>
-#include "can/can.h"
-#include "can/sja1000p.h"
+#include <endian.h>
+#if __BYTE_ORDER == __BIG_ENDIAN
+ #include <byteswap.h>
+#endif
+
+#include "./can/can.h"
+#include "./can/sja1000p.h"
+#include "./can/main.h"
+
+// #include "./can/can_sysdep.h"
+#include "./can/modparms.h"
+#include "./can/devcommon.h"
+
+#include "./can/ul_usb1.h"
+//#include "./can/setup.h"
+
+#include "./usb/usb_vend.h"
#define MASK_EP1RX 0x01
#define MASK_EP1TX 0x02
-#ifdef USB_MAX_PACKET
- #undef USB_MAX_PACKET
- #define USB_MAX_PACKET 8
-#endif
-
#define CAN_OP_MASK 0x80
#define CAN_OP_READ 0x80
#define CAN_OP_WRITE 0x00
+#ifdef USB_MAX_PACKET
+ #undef USB_MAX_PACKET
+ #define USB_MAX_PACKET 16
+#endif
+/***********************************************************************
+ * Note:
+ * Comparing to LinCAN, there is no need to sleep for processes
+ * because the degree of filling of fifo from the client side
+ * is solved in main cycle (no new messages are accepted when full)
+ * and on the server side by speed of USB interface. FIFO in edge
+ * from SJA chip to USB interface should never be filled.
+ ***********************************************************************/
+
+/***********************************************************************
+ * Note:
+ * Code is wittingly complex in order to ease future changes in hardware
+ * configuration and to make it as much similar as the code of LinCAN
+ ***********************************************************************/
LT_TIMER_DEC(lt_10msec)
LT_TIMER_IMP(lt_10msec)
typedef void (*FNC)(); //function ptr
-/***********************************/
-// global variables
+/***********************************************************************
+ * global variables
+ ***********************************************************************/
+
usb_device_t usb_device;
usb_ep_t eps[2];
unsigned char ep1_rx_buff[USB_MAX_PACKET];
unsigned char ep1_tx_buff[USB_MAX_PACKET];
-uint8_t timer_str,timer_rx_off,timer_tx_off,timer_configured,usb_can_send;
+uint8_t timer_str,timer_rx_off,timer_tx_off,timer_configured;
volatile uint8_t bootloader_run;
+uint8_t vendor_ret;
+
int processlocal;
-/**
- SOMETHING BAD HAPPENED
-*/
+int baudrate[MAX_TOT_CHIPS];
+struct canhardware_t canhardware;
+struct canhardware_t *hardware_p=&canhardware;
+struct canchip_t *chips_p[MAX_TOT_CHIPS];
+struct msgobj_t *objects_p[MAX_TOT_MSGOBJS];
+
+struct canuser_t *canuser;
+
+extern int init_chip_struct(struct candevice_t *candev, int chipnr, int irq, long baudrate);
+extern int register_chip_struct(struct canchip_t *chip, int minorbase);
+extern int register_obj_struct(struct msgobj_t *obj, int minorbase);
+
+/***********************************************************************
+ * IF SOMETHING BAD HAPPENED
+ ***********************************************************************/
+
int sys_err(){
unsigned char i=0;
}
}
-/**
- Routine for visible LED blinking
-*/
+/***********************************************************************
+ * Routine for visible LED blinking (on USB transmission)
+ ***********************************************************************/
+
void timer_10ms(void)
{
if (timer_tx_off!=0) timer_tx_off--;
else SET_OUT_PIN(LED_PORT,LED1_BIT);
if (timer_rx_off!=0) timer_rx_off--;
else SET_OUT_PIN(LED_PORT,LED2_BIT);
-
/* if (timer_configured!=0) timer_configured--;
else {
timer_configured=20;
}*/
}
-/***********************************/
+/***********************************************************************
+ * Main routine
+ ***********************************************************************/
+
int main(void)
{
+ struct candevice_t *candev;
+ struct canchip_t *chip=NULL;
+ struct msgobj_t *obj;
+ struct canque_ends_t *qends;
+ struct canque_edge_t *edge,*qedge;
+ struct canque_slot_t *slot;
+ struct canmsg_t canmsg;
+ can_spin_irqflags_t iflags;
+
+ int chipnr,bd;
+ int i,size,m=0;
+
+ CANMSG("Starting USBCAN module firmware...\n");
+
// volatile int i=0;
bootloader_run=0;
/***********************************/
SET_OUT_PIN(LED_PORT,LED_ERR);
CLR_OUT_PIN(LED_PORT,LED_GP);
- //********************
- // USB init
- memset( &usb_device, 0, sizeof( usb_device));
- usb_device.id = 1;
- usb_device.init = usb_lpc_init;
- usb_debug_set_level(DEBUG_LEVEL_NONE);
+ if (USB_MAX_PACKET<16){
+ CANMSG("Maximum packet size less than 16B (is %dB)\n",USB_MAX_PACKET);
+ sys_err();
+ }
+
+ /***********************************************************************
+ * CAN device initialization - device side (adapted from LinCAN setup.c)
+ ***********************************************************************/
+
+ can_init();
+
+ DEBUGMSG("Initiating CAN device initialization\n");
+ baudrate[0]=1000;
+
+ canqueue_kern_initialize();
+
+ hardware_p->nr_boards=1;
+
+ candev=(struct candevice_t *)malloc(sizeof(struct candevice_t));
+ if (!candev){
+ CANMSG("No space left in memory\n");
+ sys_err();
+ }
+ memset(candev, 0, sizeof(struct candevice_t));
+
+ hardware_p->candevice[0]=candev;
+ candev->candev_idx=0;
+ candev->io_addr=0;
+ candev->dev_base_addr=0;
+
+ candev->hwspecops=(struct hwspecops_t *)malloc(sizeof(struct hwspecops_t));
+ if (!candev->hwspecops){
+ CANMSG("No space left in memory\n");
+ sys_err();
+ }
+ memset(candev->hwspecops, 0, sizeof(struct hwspecops_t));
+
+ ul_usb1_register(candev->hwspecops);
+
+ bd=baudrate[0];
+ if (candev->hwspecops->init_hw_data(candev)){
+ CANMSG("HW data could not be initialized\n");
+ sys_err();
+ }
+ /* Alocate and initialize the chip structures */
+ for (chipnr=0; chipnr < candev->nr_all_chips; chipnr++) {
+/* if(chipnr<irqnum)
+ irqsig=irq[*irq_param_idx_p+chipnr];*/
+ if (init_chip_struct(candev, chipnr, 0, bd*1000)){
+ CANMSG("Chip structure could not be initialized\n");
+ sys_err();
+ }
+ }
+ for (chipnr=0; chipnr < candev->nr_all_chips; chipnr++) {
+ struct canchip_t *chip=candev->chip[chipnr];
+ int objnr;
+
+ register_chip_struct(chip, m);
+
+ for (objnr=0; objnr<chip->max_objects; objnr++) {
+ register_obj_struct(chip->msgobj[objnr], m);
+ if(m>=0) m++;
+ }
+ }
+ if (candev->hwspecops->request_io(candev))
+ sys_err();
+ candev->flags|=CANDEV_IO_RESERVED;
+ if (candev->hwspecops->reset(candev))
+ sys_err();
+ for(chipnr=0; chipnr<candev->nr_all_chips; chipnr++) {
+ if((chip=candev->chip[chipnr])==NULL)
+ continue;
+
+ if(chip->chipspecops->attach_to_chip(chip)<0) {
+// CANMSG("Initial attach to the chip HW failed\n");
+ sys_err();
+ }
+
+ chip->flags |= CHIP_ATTACHED;
+
+// Interrupts from chip are served in main cycle
+/* if(can_chip_setup_irq(chip)<0) {
+// CANMSG("Error to setup chip IRQ\n");
+ sys_err();
+ }*/
+ }
+
+ if (candev->flags & CANDEV_PROGRAMMABLE_IRQ)
+ if (candev->hwspecops->program_irq(candev)){
+// CANMSG("Error to program board interrupt\n");
+ sys_err();
+ }
+
+ /***********************************************************************
+ * CAN device initialization - client side (adapted from LinCAN open.c)
+ ***********************************************************************/
+
+ chip=candev->chip[0];
+ obj=chip->msgobj[0];
+ atomic_inc(&obj->obj_used);
+ can_msgobj_set_fl(obj,OPENED);
+
+ if (chip->flags & CHIP_CONFIGURED)
+ DEBUGMSG("Device is already configured.\n");
+ else {
+ if (chip->chipspecops->chip_config(chip))
+ CANMSG("Error configuring chip.\n");
+ else
+ chip->flags |= CHIP_CONFIGURED;
+
+ if (chip->chipspecops->pre_read_config(chip,obj)<0)
+ CANMSG("Error initializing chip for receiving\n");
+
+ } /* End of chip configuration */
+
+ canuser = (struct canuser_t *)malloc(sizeof(struct canuser_t));
+ if(canuser == NULL) sys_err();
+ canuser->flags=0;
+// canuser->userinfo.fileinfo.file = file;
+ canuser->msgobj = obj;
+// canuser->magic = CAN_USER_MAGIC;
+// file->private_data = canuser;
+
+ qends = (struct canque_ends_t *)malloc(sizeof(struct canque_ends_t));
+ if(qends == NULL) sys_err();
+ canqueue_ends_init_kern(qends);
+ canuser->qends = qends;
+
+ /*required to synchronize with RT-Linux context*/
+ can_spin_lock_irqsave(&canuser_manipulation_lock, iflags);
+ list_add(&canuser->peers, &obj->obj_users);
+ can_spin_unlock_irqrestore(&canuser_manipulation_lock, iflags);
+
+ if(canqueue_connect_edge(edge=canque_new_edge_kern(MAX_BUF_LENGTH),
+ canuser->qends, obj->qends)<0) sys_err();
+
+ if(canqueue_connect_edge(canuser->rx_edge0=canque_new_edge_kern(MAX_BUF_LENGTH),
+ obj->qends, canuser->qends)<0) sys_err();
+ /*FIXME: more generic model should be used there*/
+ canque_edge_decref(canuser->rx_edge0);
+ canque_edge_decref(edge);
+
+
+ /***********************************************************************
+ * USB Init
+ ***********************************************************************/
+
+ memset( &usb_device, 0, sizeof( usb_device));
+ usb_device.id = 1;
+ usb_device.init = usb_lpc_init;
+ usb_debug_set_level(DEBUG_LEVEL_NONE);
usb_device.cntep = 3;
usb_device.ep = eps;
eps[0].udev = &usb_device;
eps[1].udev = &usb_device;
-// usb_device.vendor_fnc=usb_loader;
+ usb_device.vendor_fnc=usbcan_vendor;
- usb_init(&usb_device);
- usb_connect(&usb_device);
+ usb_init(&usb_device);
+ usb_connect(&usb_device);
+ usb_device.ep_events |= MASK_EP1TX;
- can_init();
- usb_can_send=1;
+ /***********************************************************************
+ * Start
+ ***********************************************************************/
- /********************/
- // start
timer_rx_off=timer_tx_off=timer_str=timer_configured=0;
while (1) {
usb_check_events(&usb_device);
usb_control_response(&usb_device);
- if ((usb_device.ep_events & MASK_EP1RX)&&(usb_can_send)) { //EP1RX
- int size;
- uint8_t *data;
+ if (!(IO0PIN&P0_SJA1000_INT_PIN)) //INT PIN is inverted
+ chip->chipspecops->irq_handler(0,chip);
+
+ if (usb_device.ep_events & MASK_EP1RX) { //EP1RX - data waiting to receive
uint8_t val;
- size=usb_udev_read_endpoint(&eps[0],ep1_rx_buff,USB_MAX_PACKET);
- data=(uint8_t *)ep1_rx_buff;
- if (size==2){
+ if (canque_get_inslot(qends, &qedge, &slot, 0)>=0){ //Free slot obtained
+ size=usb_udev_read_endpoint(&eps[0],ep1_rx_buff,16);
+ if (size==16){
+ uint16_t msgflags;
+ uint32_t msgid;
+ canmsg.cob=0;
+ canmsg.length=*(uint8_t *)(ep1_rx_buff+1);
+ if (canmsg.length > CAN_MSG_LENGTH)
+ canmsg.length=CAN_MSG_LENGTH;
+ msgflags=*(uint16_t *)(ep1_rx_buff+2);
+ msgid=*(uint32_t *)(ep1_rx_buff+4);
+ #if __BYTE_ORDER == __BIG_ENDIAN
+ msgflags = bswap_16( msgflags);
+ msgid = bswap_32( msgid);
+ #endif
+ canmsg.flags=msgflags;
+ canmsg.id=msgid;
+
+ for (i=0;i<canmsg.length;i++){
+ canmsg.data[i]=*(unsigned char*)(ep1_rx_buff+8+i);
+ }
+ for (;i<CAN_MSG_LENGTH;i++){
+ canmsg.data[i]=0;
+ }
+ /* Automatic selection of extended format if ID>2047 */
+ if (canmsg.id & ~0x7ffl & MSG_ID_MASK ) canmsg.flags |= MSG_EXT;
+ /* has been dependent on "extended" option */
+ slot->msg=canmsg;
+ canque_put_inslot(qends, qedge, slot);
+ }
+ else
+ canque_abort_inslot(qends,qedge,slot);
+ timer_rx_off=50; //rosviceni diody pri prijmu
+ CLR_OUT_PIN(LED_PORT,LED2_BIT);
+ usb_device.ep_events &= ~MASK_EP1RX;
+ }
+
+
+/* if (size==2){
if (((*data)&CAN_OP_MASK)==CAN_OP_READ){ // Get data from CAN device and return to caller
can_read((*data) & 0x7F,&val);
*(data+1)=val;
timer_tx_off=50; //rozsviceni diod pri vysilani
CLR_OUT_PIN(LED_PORT,LED1_BIT);
}
- }
- usb_device.ep_events &= ~MASK_EP1RX;
+ }*/
}
- if(usb_device.ep_events & MASK_EP1TX){
- usb_can_send=1;
- usb_device.ep_events &= ~MASK_EP1TX;
+ if(usb_device.ep_events & MASK_EP1TX){ //EP1TX - data transmitted
+ if(canque_test_outslot(qends, &qedge, &slot)>=0){
+ DEBUGMSG("CAN message ready to send over usb\n");
+ uint16_t msgflags;
+ uint32_t msgid;
+
+ *(uint8_t *)(ep1_tx_buff)=0;
+ *(uint8_t *)(ep1_tx_buff+1)=slot->msg.length;
+
+ msgflags=slot->msg.flags;
+ msgid=slot->msg.id;
+ #if __BYTE_ORDER == __BIG_ENDIAN
+ msgflags = bswap_16( msgflags);
+ msgid = bswap_32( msgid);
+ #endif
+
+ *(uint16_t *)(ep1_tx_buff+2)=msgflags;
+ *(uint32_t *)(ep1_tx_buff+4)=msgid;
+ for (i=0;i<slot->msg.length;i++){
+ *(uint8_t *)(ep1_tx_buff+8+i)=slot->msg.data[i];
+ }
+ for (;i<CAN_MSG_LENGTH;i++){
+ *(uint8_t *)(ep1_tx_buff+8+i)=0;
+ }
+ usb_udev_write_endpoint(&eps[1],ep1_tx_buff,16);
+
+ canque_free_outslot(qends, qedge, slot);
+ timer_tx_off=50; //rozsviceni diod pri vysilani
+ CLR_OUT_PIN(LED_PORT,LED1_BIT);
+ usb_device.ep_events &= ~MASK_EP1TX;
+ }
}
+ //if (usb_can_send && )
+
#ifdef WATCHDOG_ENABLED
watchdog_feed();
#endif /* WATCHDOG_ENABLED */
projects / lincan.git / blobdiff