X-Git-Url: http://rtime.felk.cvut.cz/gitweb/lincan.git/blobdiff_plain/6b854a1ee07ddd8638beebf0076c866df50881eb..7c28d4d63c2ccd9945d1b0bb11dd3caff4c382b3:/embedded/app/usbcan/main.c diff --git a/embedded/app/usbcan/main.c b/embedded/app/usbcan/main.c index 205ae35..14fbe28 100644 --- a/embedded/app/usbcan/main.c +++ b/embedded/app/usbcan/main.c @@ -1,3 +1,35 @@ +/**************************************************************************/ +/* File: main.c - setup and main loop of USB<->CAN converter */ +/* */ +/* LinCAN - (Not only) Linux CAN bus driver */ +/* Copyright (C) 2002-2011 DCE FEE CTU Prague */ +/* Copyright (C) 2008 Jan Kriz email:johen@post.cz */ +/* */ +/* LinCAN is free software; you can redistribute it and/or modify it */ +/* under terms of the GNU General Public License as published by the */ +/* Free Software Foundation; either version 2, or (at your option) any */ +/* later version. LinCAN is distributed in the hope that it will be */ +/* useful, but WITHOUT ANY WARRANTY; without even the implied warranty */ +/* of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU */ +/* General Public License for more details. You should have received a */ +/* copy of the GNU General Public License along with LinCAN; see file */ +/* COPYING. If not, write to the Free Software Foundation, 675 Mass Ave, */ +/* Cambridge, MA 02139, USA. */ +/* */ +/* To allow use of LinCAN in the compact embedded systems firmware */ +/* and RT-executives (RTEMS for example), main authors agree with next */ +/* special exception: */ +/* */ +/* Including LinCAN header files in a file, instantiating LinCAN generics */ +/* or templates, or linking other files with LinCAN objects to produce */ +/* an application image/executable, does not by itself cause the */ +/* resulting application image/executable to be covered by */ +/* the GNU General Public License. */ +/* This exception does not however invalidate any other reasons */ +/* why the executable file might be covered by the GNU Public License. */ +/* Publication of enhanced or derived LinCAN files is required although. */ +/**************************************************************************/ + #include #include #include @@ -15,29 +47,54 @@ #include #include +#include +#if __BYTE_ORDER == __BIG_ENDIAN + #include +#endif + #include "./can/can.h" #include "./can/sja1000p.h" #include "./can/main.h" -#include "./can/can_sysdep.h" +// #include "./can/can_sysdep.h" #include "./can/modparms.h" #include "./can/devcommon.h" -#include "./can/ul_usb1.h" -//#include "./can/setup.h" +//#include "./can/ul_usb1.h" + +#include "./can/setup.h" + +#include "./usb/usb_defs.h" +#include "./usb/usb_vend.h" + +extern int can_lmc1_register(struct hwspecops_t *hwspecops); +extern int ul_usb1_register(struct hwspecops_t *hwspecops); #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) @@ -48,17 +105,20 @@ LT_TIMER_IMP(lt_2sec) typedef void (*FNC)(); //function ptr -/***********************************/ -// global variables +/*********************************************************************** + * global variables + ***********************************************************************/ usb_device_t usb_device; -usb_ep_t eps[2]; +usb_ep_t eps[NUM_ENDPOINTS]; 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; int baudrate[MAX_TOT_CHIPS]; @@ -67,11 +127,18 @@ 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 + ***********************************************************************/ -/** - SOMETHING BAD HAPPENED -*/ int sys_err(){ + unsigned char i=0; while(1) { @@ -89,9 +156,10 @@ int sys_err(){ } } -/** - 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--; @@ -108,26 +176,49 @@ void timer_10ms(void) }*/ } -/***********************************/ +/*********************************************************************** + * Main routine + ***********************************************************************/ + int main(void) { struct candevice_t *candev; - struct canchip_t *chip; + 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; /***********************************/ + lt_10msec_init(); lt_100msec_init(); lt_2sec_init(); - SET_OUT_PIN(LED_PORT,LED_ERR); - CLR_OUT_PIN(LED_PORT,LED_GP); + // DEBUG + //SET_OUT_PIN(LED_PORT,LED_ERR); + //CLR_OUT_PIN(LED_PORT,LED_GP); + + if (USB_MAX_PACKET<16){ + CANMSG("Maximum packet size less than 16B (is %dB)\n",USB_MAX_PACKET); + sys_err(); + } + - /// ************************* - /// CAN device initialization + // *********************************************************************** + // * CAN device initialization - device side (adapted from LinCAN setup.c) + // *********************************************************************** + DEBUGMSG("Initiating CAN device initialization\n"); baudrate[0]=1000; canqueue_kern_initialize(); @@ -135,8 +226,11 @@ int main(void) hardware_p->nr_boards=1; candev=(struct candevice_t *)malloc(sizeof(struct candevice_t)); - if (candev==NULL) sys_err(); - memset(candev, 0, 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; @@ -144,24 +238,65 @@ int main(void) candev->dev_base_addr=0; candev->hwspecops=(struct hwspecops_t *)malloc(sizeof(struct hwspecops_t)); - if (candev->hwspecops==NULL) sys_err(); - memset(candev->hwspecops, 0, sizeof(struct hwspecops_t)); + if (!candev->hwspecops){ + CANMSG("No space left in memory\n"); + sys_err(); + } + memset(candev->hwspecops, 0, sizeof(struct hwspecops_t)); + + +#ifdef CONFIG_OC_LINCAN_CARD_ul_usb1 ul_usb1_register(candev->hwspecops); +#endif +#ifdef CONFIG_OC_LINCAN_CARD_can_lmc1 + can_lmc1_register(candev->hwspecops); +#endif bd=baudrate[0]; - if (candev->hwspecops->init_hw_data(candev)) sys_err(); - /* Alocate and initialize the chip structures */ + 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(chipnrnr_all_chips; chipnr++) { -/* if(chipnrchip[chipnr]; + int objnr; + + register_chip_struct(chip, m); + + for (objnr=0; objnrmax_objects; objnr++) { + register_obj_struct(chip->msgobj[objnr], m); + if(m>=0) m++; + } } - if (candev->hwspecops->request_io(candev)) + + + if (candev->hwspecops->request_io(candev)) { + CANMSG("Error to request IO\n"); sys_err(); + } candev->flags|=CANDEV_IO_RESERVED; - if (candev->hwspecops->reset(candev)) + + + if (candev->hwspecops->reset(candev)) { + CANMSG("Error to reset chip\n"); sys_err(); + } + + for(chipnr=0; chipnrnr_all_chips; chipnr++) { if((chip=candev->chip[chipnr])==NULL) continue; @@ -173,11 +308,12 @@ int main(void) 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"); + // used with lpc17xx: + if(can_chip_setup_irq(chip)<0) { + CANMSG("Error to setup chip IRQ\n"); sys_err(); - }*/ + } + } if (candev->flags & CANDEV_PROGRAMMABLE_IRQ) @@ -186,19 +322,69 @@ int main(void) 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; - /// *************************************** - /// CAN device initialization - client side + //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); - ///********* - /// USB init + 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.devdes_table = &usb_devdes_table; usb_device.init = usb_lpc_init; usb_debug_set_level(DEBUG_LEVEL_NONE); - usb_device.cntep = 3; + usb_device.cntep = NUM_ENDPOINTS; usb_device.ep = eps; eps[0].max_packet_size = USB_MAX_PACKET; @@ -210,50 +396,136 @@ int main(void) 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_device.ep_events |= MASK_EP1TX; + + /*********************************************************************** + * Start + ***********************************************************************/ + + timer_rx_off=timer_tx_off=timer_str=timer_configured=0; - can_init(); - usb_can_send=1; - /********************/ - // start - timer_rx_off=timer_tx_off=timer_str=timer_configured=0; + printf("Main loop\n"); + 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; - 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 (((*data)&CAN_OP_MASK)==CAN_OP_READ){ // Get data from CAN device and return to caller - can_read((*data) & 0x7F,&val); +#ifdef CONFIG_OC_LINCAN_CARD_ul_usb1 + /* polled IRQ mode for ul_usb1 board*/ + if (!(IO0PIN&P0_SJA1000_INT_PIN)) /* INT PIN is inverted */ + chip->chipspecops->irq_handler(0,chip); +#endif + + if (usb_device.ep_events & MASK_EP1RX) { //EP1RX - data waiting to receive + + 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;i2047 */ + 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){ + uint8_t val; + if ((data[0]&CAN_OP_MASK)==CAN_OP_READ){ // Get data from CAN device and return to caller + val = can_read(data[0] & ~CAN_OP_MASK); *(data+1)=val; usb_udev_write_endpoint(&eps[1],(unsigned char *)data,size); timer_rx_off=50; //rosviceni diody pri prijmu CLR_OUT_PIN(LED_PORT,LED2_BIT); usb_can_send=0; } - if (((*data)&CAN_OP_MASK)==CAN_OP_WRITE){ // Save data to CAN device - can_write((*data)&(~CAN_OP_MASK),data+1); + if ((data[0]&CAN_OP_MASK)==CAN_OP_WRITE){ // Save data to CAN device + can_write(data[1], data[0] & ~CAN_OP_MASK); 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;imsg.length;i++){ + *(uint8_t *)(ep1_tx_buff+8+i)=slot->msg.data[i]; + } + for (;i