- Subproject commit 5f5cb285cd0a3a9bb79a72f5a91d84fff6c48ebc
-Subproject commit bd0f31e2adaa80d99e699a92001c8b296e8d1af3
++Subproject commit ab932b46eaec6a8a4253c36454d75ee4fd0a00ff
--- /dev/null
+makefile_inc_dir := $(patsubst %/,%,$(dir $(lastword $(MAKEFILE_LIST))))
+
+all: rpp-test-sw.out
+
+# Use the configuration "exported" by library build
+CONFIG = $(makefile_inc_dir)/../rpp-lib/Makefile.config
+ifneq ($(wildcard $(CONFIG)),)
+include $(CONFIG)
+else
+$(error "rpp-lib not compiled! Either run `make -C $(makefile_inc_dir)/../rpp-lib/build/<target>/Release` or build the appropriate CCS project.")
+endif
+
+include $(makefile_inc_dir)/../rpp-lib/build/Makefile.rules
+include $(makefile_inc_dir)/../rpp-lib/common.mk
+
+SOURCES = \
+ cmdproc/src/cmdproc.c \
+ cmdproc/src/cmdproc_freertos.c \
+ cmdproc/src/cmdproc_io.c \
+ cmdproc/src/cmdproc_io_line.c \
+ cmdproc/src/cmdproc_io_std_line.c \
+ cmdproc/src/cmdproc_io_tisci.c \
+ cmdproc/src/cmdproc_run.c \
+ cmdproc/src/cmdproc_utils.c \
+ cmdproc/src/i2str.c \
+ commands/cmd.c \
+ commands/cmd_adc.c \
+ commands/cmd_can.c \
+ commands/cmd_pin.c \
+ commands/cmd_port.c \
+ commands/main.c
+
++SOURCES_tms570_rpp = \
++ commands/cmd_dac.c \
++ commands/cmd_din.c \
++ commands/cmd_emac.c \
++ commands/cmd_fray.c \
++ commands/cmd_fr_basic_test.c \
++ commands/cmd_hbr.c \
++ commands/cmd_hout.c \
++ commands/cmd_lin.c \
++ commands/cmd_lout.c \
++ commands/cmd_motor_example.c \
++ commands/cmd_nc.c \
++ commands/cmd_netstats.c \
++ commands/cmd_sdram.c \
++ commands/cmd_spi.c \
++ commands/cmd_vbat.c
++
++
++SOURCES += $(SOURCES_$(TARGET))
++
+OBJS = $(SOURCES:%.c=%.obj)
+
+RPP_CFLAGS += -I$(makefile_inc_dir)/cmdproc/include -I$(makefile_inc_dir)
+RPP_CFLAGS += -I. # For version.h
+
+rpp-test-sw.out: $(OBJS) $(RPP_LIB_DIR)/rpp-lib.lib
+ $(LD) $(RPP_CFLAGS) $(RPP_LDFLAGS) $(OBJS) $(RPP_LDLIBS) -o $@
+
+$(makefile_inc_dir)/commands/main.c: version.h
+$(makefile_inc_dir)/commands/cmd.c: version.h
+include $(makefile_inc_dir)/Makefile.version
+
+$(OBJS): %.obj: $(makefile_inc_dir)/%.c
+ $(call mkdir,$(dir $@))
+ $(RPP_COMPILE_CMD)
+
+clean::
+ $(call rm,rpp-test-sw.out $(OBJS))
+
+-include $(OBJS:%=%.dep)
--- /dev/null
- * Copyright (C) 2012-2013 Czech Technical University in Prague
+ /*
- " FANCTRL\n"
- " ETHRST\n"
- " VBAT1EN\n"
- " VBAT2EN\n"
- " VBAT3EN\n"
- " VBATEN\n"
- " SPICSA\n"
- " SPICSB\n"
- " MOUT1EN\n"
- " MOUT2EN\n"
- " CANNSTB\n"
- " CANEN\n"
- " LIN2NSLP\n"
- " LIN1NSLP\n"
- " DININT\n"
- " DIN8\n"
- " DIN9\n"
- " DIN10\n"
- " DIN11\n"
- " DIN12\n"
- " DIN13\n"
- " DIN14\n"
- " DIN15\n"
- " MOUT6EN\n"
- " MOUT5EN\n"
- " MOUT6IN\n"
- " MOUT5IN\n"
- " MOUT4EN\n"
- " MOUT3EN\n"
- " MOUT4IN\n"
- " MOUT3IN\n"
- " HBREN\n"
- " HBRDIR\n"
- " HBRPWM\n"
- " MOUT1IN\n"
- " MOUT2IN\n"
- " HOUT1IN\n"
- " HOUT1DIAG\n"
- " HOUT2IN\n"
- " HOUT2DIAG\n"
- " HOUT3IN\n"
- " HOUT3DIAG\n"
- " HOUT4IN\n"
- " HOUT4DIAG\n"
- " HOUT5IN\n"
- " HOUT5DIAG\n"
- " HOUT6IN\n"
- " HOUT6DIAG\n",
++ * Copyright (C) 2012-2015 Czech Technical University in Prague
+ *
+ * Created on: 28.2.2013
+ *
+ * Authors:
+ * - Michal Horn
+ *
+ * This document contains proprietary information belonging to Czech
+ * Technical University in Prague. Passing on and copying of this
+ * document, and communication of its contents is not permitted
+ * without prior written authorization.
+ *
+ * File : cmd_pin.c
+ *
+ * Abstract:
+ * Commands for pin controlling
+ * - Printing list of available pins
+ * - Setting and getting value to pins
+ * - Setting and getting pins direction
+ */
+
+ #include "../cmd_pin.h"
+ #include "stdio.h"
+ #include "string.h"
+
+ #ifndef DOCGEN
+
+ #include "rpp/rpp.h"
+ #include "hal/hal.h"
+ #include "cmdproc_utils.h"
+
+ /**
+ * @brief Print list of pins
+ *
+ * @param[in] cmd_io Pointer to IO stack
+ * @param[in] des Pointer to command descriptor
+ * @param[in] param Parameters of command
+ * @return 0 when OK or error code
+ */
+ int cmd_do_pin_list(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[])
+ {
+ uint32_t i;
+
+ rpp_sci_printf("List of all defined pins. Those names can be used by pinval command.\r\n");
+ for (i = 0; i < MAX_PIN_CNT; i++) {
+ if (pin_map[i].pin_name == PIN_NAME_UNUSED) continue;
+ rpp_sci_printf(pin_map[i].pin_name);
+ rpp_sci_printf("\r\n");
+ }
+ return 1;
+ }
+
+ /**
+ * @brief Set or get pin value
+ *
+ * @param[in] cmd_io Pointer to IO stack
+ * @param[in] des Pointer to command descriptor
+ * @param[in] param Parameters of command
+ * @return 0 when OK or error code
+ */
+ int cmd_do_pin_val(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[])
+ {
+ char *p;
+ long val;
+ uint32_t *desc;
+ char spareParams;
+ char pinName[32];
+
+ p = param[1];
+ if (sscanf(p, "%31s ", pinName) != 1)
+ return -CMDERR_BADPAR;
+
+ if ((desc = hal_gpio_pin_get_dsc(pinName, -1)) == NULL) return -CMDERR_BADREG;
+
+ if (param[2] != NULL) { // More parameters = set values
+ p = param[2];
+ if (sscanf(p, "%d %1s", &val, &spareParams) != 1)
+ return -CMDERR_BADPAR;
+ if (val != 0 && val != 1)
+ return -CMDERR_BADPAR;
+ hal_gpio_pin_set_value(*desc, (uint32_t)val);
+ return cmd_opchar_replong(cmd_io, param, val, 0, 0);
+ ;
+ }
+ else { // No more parameters = get values
+ uint32_t pin_value = hal_gpio_pin_get_value(*desc);
+ rpp_sci_printf("pinval%s=%d\n", pinName, pin_value);
+ return 0;
+ }
+ }
+
+ /**
+ * @brief Set or get pin direction
+ *
+ * @param[in] cmd_io Pointer to IO stack
+ * @param[in] des Pointer to command descriptor
+ * @param[in] param Parameters of command
+ * @return 0 when OK or error code
+ */
+ int cmd_do_pin_dir(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[])
+ {
+ char *p;
+ long val;
+ uint32_t *desc;
+ char spareParams;
+ char pinName[32];
+
+ p = param[1];
+ if (sscanf(p, "%31s ", pinName) != 1)
+ return -CMDERR_BADPAR;
+
+ if ((desc = hal_gpio_pin_get_dsc(pinName, -1)) == NULL) return -CMDERR_BADREG;
+
+ if (param[2] != NULL) { // More parameters = set values
+ p = param[2];
+ if (sscanf(p, "%d %1s", &val, &spareParams) != 1)
+ return -CMDERR_BADPAR;
+ if (val == 1) {
+ *desc |= PORT_CONF_SET_DIR;
+ *desc |= PORT_CONF_DIR_OUT;
+ }
+ else if (val == 0) {
+ *desc &= (~PORT_CONF_DIR_OUT);
+ *desc |= PORT_CONF_SET_DIR;
+ }
+ else
+ return -CMDERR_BADPAR;
+
+ hal_gpio_pin_conf(*desc);
+ return cmd_opchar_replong(cmd_io, param, val, 0, 0);
+ }
+ else { // No more parameters = get values
+ uint32_t pin_dir = hal_gpio_pin_get_direction(*desc);
+ rpp_sci_printf("pindir%s=%d\n", pinName, pin_dir);
+ return 0;
+ }
+ }
+
+ #endif /* DOCGEN */
+
+ /** Command descriptor for pin list */
+ cmd_des_t const cmd_des_pin_list = {
+ 0, 0,
+ "pinlist","Print a list of all defined pins.",
+ "### Command syntax ###\n"
+ "\n"
+ " pinlist\n"
+ "\n"
+ "### Description ###\n"
+ "\n"
+ "The command prints a list of all defined pins accessible by pinval and\n"
+ "pindir commands.\n"
+ "\n"
+ "### Example ###\n"
+ "\n"
+ " --> pinlist\n"
+ " List of all defined pins. Those names can be used by pinval command.\n"
- "Most of the pins are accessible indirectly via other highlevel\n"
- "commands. HBR_EN is, for example, controlled by the hbrenable command.\n"
- "This command serves as supplement to highlevel commands for testing\n"
- "purpose.\n"
- "\n"
++ " GIOA0\n"
++ " GIOA1\n"
++ " GIOA2\n"
++ " GIOA3\n"
++ " GIOA4\n"
++ " GIOA5\n"
++ " GIOA6\n"
++ " GIOA7\n"
++ " GIOB0\n"
++ " GIOB1\n"
++ " GIOB2\n"
++ " GIOB3\n"
++ " GIOB4\n"
++ " GIOB5\n"
++ " GIOB6\n"
++ " GIOB7\n"
++ " NHET10\n"
++ " NHET11\n"
++ " NHET12\n"
++ " NHET13\n"
++ " NHET14\n"
++ " NHET15\n"
++ " NHET16\n"
++ " NHET17\n"
++ " NHET18\n"
++ " NHET19\n"
++ " NHET110\n"
++ " NHET111\n"
++ " NHET112\n"
++ " NHET113\n"
++ " NHET114\n"
++ " NHET115\n"
++ " NHET116\n"
++ " NHET117\n"
++ " NHET118\n"
++ " NHET119\n"
++ " NHET120\n"
++ " NHET121\n"
++ " NHET122\n"
++ " NHET123\n"
++ " NHET124\n"
++ " NHET125\n"
++ " NHET126\n"
++ " NHET127\n"
++ " NHET128\n"
++ " NHET129\n"
++ " NHET130\n"
++ " NHET131\n",
+ CMD_HANDLER(cmd_do_pin_list), (void *)&cmd_list_pin
+ };
+
+ /** Command descriptor for pin get/set value */
+ cmd_des_t const cmd_des_pin_val = {
+ 0, 0,
+ "pinval*","Set or get the pin value",
+ "### Command syntax ###\n"
+ "\n"
+ " pinval<NAME> <VAL>\n"
+ " pinval<NAME>\n"
+ "where\n"
+ "\n"
+ "- `<NAME>` is a string identifying the pin\n"
+ "- `<VAL>` can be 0 or 1\n"
+ "\n"
+ "### Description ###\n"
+ "\n"
+ "This command is sets or gets a value of the particular pin.\n"
+ "\n"
+ "The list of valid pin names can be obtained with pinlist command.\n"
+ "\n"
- " --> pinvalHBREN 1\n"
- " pinvalHBREN=1\n"
+ "### Example ###\n"
+ "\n"
- "Sets the HBR_EN pin to 1.\n"
++ " --> pinvalGIOB0 1\n"
++ " pinvalGIOB0=1\n"
+ "\n"
- " --> pinvalHBREN\n"
- " pinvalHBREN=1\n"
++ "Sets the GIOB0 pin to 1.\n"
+ "\n"
- "Gets a value of the HBR_EN pin.\n",
++ " --> pinvalGIOB0\n"
++ " pinvalGIOB0=1\n"
+ "\n"
- "Most of the pins are accessible indirectly via other highlevel\n"
- "commands HBR_EN is, for example, controlled by the hbrenable command.\n"
- "This command serves as supplement to highlevel commands for testing\n"
- "purpose.\n"
- "\n"
++ "Gets a value of the GIOB0 pin.\n",
+ CMD_HANDLER(cmd_do_pin_val), (void *)&cmd_list_pin
+ };
+
+ /** Command descriptor for pin get/set direction */
+ cmd_des_t const cmd_des_pin_dir = {
+ 0, 0,
+ "pindir*","Set the pin direction",
+ "### Command syntax ###\n"
+ "\n"
+ " pindir<NAME> <DIR>\n"
+ " pindir<NAME>\n"
+ "where\n"
+ "\n"
+ "- `<NAME>` is a string identifying the pin\n"
+ "- DIR is be either 0 (input) or 1 (output)\n"
+ "\n"
+ "### Description ###\n"
+ "\n"
+ "This command is used to set or get direction of the particular pin.\n"
+ "\n"
+ "The list of valid pin names can be obtained with pinlist command.\n"
+ "\n"
- " --> pindirHBREN 1\n"
- " pindirHBREN=1\n"
+ "### Example ###\n"
+ "\n"
- "Sets the HBR_EN pin as output.\n"
++ " --> pindirGIOB0 1\n"
++ " pindirGIOB0=1\n"
+ "\n"
- " --> pindirHBREN\n"
- " pindirHBREN=1\n"
++ "Sets the GIOB0 pin as output.\n"
+ "\n"
- "Gets the direction of the HBR_EN pin.\n",
++ " --> pindirGIOB0\n"
++ " pindirGIOB0=1\n"
+ "\n"
++ "Gets the direction of the GIOB0 pin.\n",
+ CMD_HANDLER(cmd_do_pin_dir), (void *)&cmd_list_pin
+ };
+
+ /** List of commands for pin, defined as external */
+ cmd_des_t const *cmd_list_pin[] = {
+ &cmd_des_pin_list,
+ &cmd_des_pin_val,
+ &cmd_des_pin_dir,
+ NULL
+ };
--- /dev/null
- * Copyright (C) 2012-2013 Czech Technical University in Prague
+ /*
- rpp_sci_printf("portval%s=%x", portName, ret);
++ * Copyright (C) 2012-2015 Czech Technical University in Prague
+ *
+ * Created on: 28.2.2013
+ *
+ * Authors:
+ * - Michal Horn
+ *
+ * This document contains proprietary information belonging to Czech
+ * Technical University in Prague. Passing on and copying of this
+ * document, and communication of its contents is not permitted
+ * without prior written authorization.
+ *
+ * File : cmd_port.c
+ *
+ * Abstract:
+ * Commands for port controlling
+ * - Printing list of available ports (not yet available)
+ * - Setting/getting port value*
+ */
+
+ #include "../cmd_port.h"
+ #include "stdio.h"
+
+ #ifndef DOCGEN
+
+ #include "rpp/rpp.h"
+ #include "hal/hal.h"
+ #include "cmdproc_utils.h"
+
+
+ int cmd_do_port_list(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[])
+ {
+ uint32_t i;
+ char *portInterface;
+
+ rpp_sci_printf("List of all defined ports with its type. Those names can be used by portval command.\r\n");
+ const port_def_t *ports = hal_port_get_definitions();
+
+ for (i = 0; i < PORT_CNT; i++) {
+ if (ports[i].name == PIN_NAME_UNUSED) continue;
+ if (ports[i].desc->interfaceType == PORT_INTERFACE_SPI)
+ portInterface = "SPI";
+ else if (ports[i].desc->interfaceType == PORT_INTERFACE_GPIO)
+ portInterface = "GPIO";
+ else if (ports[i].desc->interfaceType == PORT_INTERFACE_ADC)
+ portInterface = "ADC";
+ else
+ portInterface = "UNKNOWN";
+ rpp_sci_printf("%s, %s\r\n", ports[i].name, portInterface);
+ }
+ return 1;
+ }
+
+
+
+ /**
+ * @brief Read values from specified port
+ *
+ * @param[in] cmd_io Pointer to IO stack
+ * @param[in] des Pointer to command descriptor
+ * @param[in] param Parameters of command
+ * @return 0 when OK or error code
+ */
+ int cmd_do_port_val(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[])
+ {
+ char *p;
+ int i;
+ port_desc_t *desc;
+ uint32_t ret;
+ uint32_t values[MAX_PARAM_VALUES_NUM];
+ char portName[32];
+ char *token;
+ uint32_t numParams;
+
+ p = param[1];
+ if (sscanf(p, "%31s ", portName) != 1)
+ return -CMDERR_BADPAR;
+
+ if ((desc = hal_port_get_dsc(portName, -1)) == NULL) return -CMDERR_BADREG;
+
+ if (param[2] != NULL) { // More parameters = set values
+ p = param[2];
+ if (desc->port_setfnc_ptr == NULL)
+ return -CMDERR_WRPERM;
+ else {
+ if (desc->interfaceType == PORT_INTERFACE_GPIO)
+ // Information about pin values are encoded as hexadecimal 8b value
+ numParams = desc->numValues/8+1;
+ else if (desc->interfaceType == PORT_INTERFACE_SPI)
+ // Commands are passed as bytes
+ numParams = desc->numValues;
+ else if (desc->interfaceType == PORT_INTERFACE_ADC)
+ return -CMDERR_BADPAR; // ADC is read only and no other port is supported
+ token = strtok(p, " ");
+ i = 0;
+ while (i < numParams && token != NULL) {
+ if (sscanf(token, "%x", &values[i]) == EOF)
+ break;
+ token = strtok(NULL, " ");
+ i++;
+ }
+
+ if (i != numParams || token != NULL)
+ return -CMDERR_BADPAR;
+ ret = desc->port_setfnc_ptr(desc->config, desc->numValues, values);
+ }
+ return cmd_opchar_replong(cmd_io, param, ret, 0, 16);
+ }
+ else {
+ if (desc->port_getfnc_ptr == NULL)
+ return -CMDERR_RDPERM;
+ else {
+ ret = desc->port_getfnc_ptr(desc->config, desc->numValues, values);
+ for (i = 0; i < desc->numValues; i++) {
+ rpp_sci_printf("%d\r\n", values[i]);
+ }
+ }
- "NOTE: For successful communication with the HBR, HBR_EN pin must\n"
- "be set first.\n"
- "\n"
++ rpp_sci_printf("portval%s=%x\n", portName, ret);
+ return 0;
+ }
+ }
+
+ #endif /* DOCGEN */
+
+ /** Command descriptor for read values from port command */
+ cmd_des_t const cmd_des_port_val = {
+ 0, 0,
+ "portval*","Read or write values from or to the port",
+ "### Command syntax ###\n"
+ "\n"
+ " portval<NAME> <VAL>\n"
+ " portval<NAME>\n"
+ "where\n"
+ "\n"
+ "- `<NAME>` is a string specifying the name of the port\n"
+ "- `<VAL>` is a sequence of hexadecimal numbers, separated by spaces, e.g. 12 AA CD\n\n"
+ "\n"
+ "### Description ###\n"
+ "\n"
+ "This command sets or gets values of all pins on the specified port.\n"
+ "If the port is connected to the GPIO interface of the MCU, then\n"
+ "when writing the value, the lowest significant bit of the argument\n"
+ "is assigned to the first pin, the second bit is assigned to the\n"
+ "second pin, etc. The command returns zero.\n"
+ "When reading from the port, the command returns values for each pin.\n"
+ "\n"
+ "If the port is connected to the SPI interface of the MCU, then\n"
+ "it is write only and the argument is interpreted as a command for\n"
+ "the port controller. The command returns the response from the\n"
+ "port controller.\n"
+ "For command examples please refer to the project wiki\n"
+ "\n"
+ "If the port is connected to the ADC interface of the MCU, then\n"
+ "it is read only and returns values for each ADC pin.\n"
+ "\n"
+ "Port names and interface type can be obtained with the portlist\n"
+ "command.\n"
+ "\n"
- " --> portvalMOUTIN 3A\n"
- " portvalMOUTIN=0\n"
- " --> portvalMOUTIN\n"
+ "### Example ###\n"
+ "\n"
- "This pair of commands sets:\nMOUT1IN"
- "MOUT1IN=0\n"
- "MOUT2IN=1\n"
- "MOUT3IN=0\n"
- "MOUT4IN=1\n"
- "MOUT5IN=1\n"
- "MOUT6IN=1\n"
++ " --> portvalGIOB 3A\n"
++ " portvalGIOB=0\n"
++ " --> portvalGIOB\n"
+ " 0\n"
+ " 1\n"
+ " 0\n"
+ " 1\n"
+ " 1\n"
+ " 1\n"
+ "\n"
- " DINMCU, GPIO\n"
- " DINSPI, SPI\n"
- " HOUTDIAG, GPIO\n"
- " HOUTIN, GPIO\n"
- " HOUTIFBK, ADC\n"
- " ADC, ADC\n"
- " LOUT, SPI\n"
- " DAC12, SPI\n"
- " DAC34, SPI\n"
- " DACDREF, SPI\n"
- " HBR, SPI\n"
- " FRAY1, SPI\n"
- " FRAY2, SPI\n"
- " MOUTEN, GPIO\n"
- " MOUTIN, GPIO\n",
++ "This pair of commands sets:\nGIOB"
++ "GIOB=0\n"
++ "GIOB=1\n"
++ "GIOB=0\n"
++ "GIOB=1\n"
++ "GIOB=1\n"
++ "GIOB=1\n"
+ "Which is shown in getter output\n",
+ CMD_HANDLER(cmd_do_port_val), (void *)&cmd_list_port
+ };
+
+ /** Command descriptor for port list printout */
+ cmd_des_t const cmd_des_port_list = {
+ 0, 0,
+ "portlist","Print a list of all port names",
+ "### Command syntax ###\n"
+ "\n"
+ " portlist\n"
+ "\n"
+ "### Description ###\n"
+ "\n"
+ "This command prints the list of all defined ports accessible via the\n"
+ "portval command. Each record of the list is a couple of\n"
+ "PortName-PortInterface, where PortInterface is SPI, ADC or GPIO.\n"
+ "The type of the MCU<->port interface slightly modifies the meaning\n"
+ "of the portval command."
+ "\n"
+ "### Example ###\n"
+ "\n"
+ " --> portlist\n"
+ " List of all defined ports with its type. Those names can be used by portval command.\n"
++ " GIOA, GPIO\n"
++ " GIOB, GPIO\n"
++ " NHET1, GPIO\n"
++ " ADC, ADC\n",
+ CMD_HANDLER(cmd_do_port_list), (void *)&cmd_list_port
+ };
+
+ /** List of commands for port, defined as external */
+ cmd_des_t const *cmd_list_port[] = {
+ &cmd_des_port_val,
+ &cmd_des_port_list,
+ NULL
+ };
--- /dev/null
+/*
+ * Copyright (C) 2012-2015 Czech Technical University in Prague
+ *
+ * Created on: 31.7.2012
+ *
+ * Authors:
+ * - Michal Horn
+ *
+ * This document contains proprietary information belonging to Czech
+ * Technical University in Prague. Passing on and copying of this
+ * document, and communication of its contents is not permitted
+ * without prior written authorization.
+ *
+ * File : cmd.c
+ *
+ * Abstract:
+ * This file contains root of the list of the commands.
+ *
+ */
+
+/* Include files */
+#include "cmdproc.h"
+#include "cmd.h"
+#include "cmd_adc.h"
+#include "cmd_can.h"
+#include "cmd_pin.h"
+#include "cmd_port.h"
+
++#ifdef TARGET_TMS570_RPP
++#include "cmd_dac.h"
++#include "cmd_emac.h"
++#include "cmd_fray.h"
++#include "cmd_din.h"
++#include "cmd_hbr.h"
++#include "cmd_hout.h"
++#include "cmd_lin.h"
++#include "cmd_lout.h"
++#include "cmd_nc.h"
++#include "cmd_netstats.h"
++#include "cmd_sdram.h"
++#include "cmd_spi.h"
++#include "cmd_vbat.h"
++#include "cmd_motor_example.h"
++#include "cmd_fr_basic_test.h"
++#endif
++
+#ifndef DOCGEN
+
+#include "rpp/rpp.h"
+#include "hal/hal.h"
+
+
+#include <version.h>
+
+int cmd_do_version(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[])
+{
+ rpp_sci_printf("version=%s\n", GIT_VERSION);
+ return 0;
+}
+
+#endif /* DOCGEN */
+
+/** Root list in which commands are stored */
+cmd_des_t const **cmd_list;
+
++#ifdef TARGET_TMS570_RPP
++int cmd_do_sleep(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[])
++{
++ hal_gpio_pin_set_value(PIN_DSC_CANNSTB, 1);
++ hal_gpio_pin_set_value(PIN_DSC_CANEN, 1);
++ hal_gpio_pin_set_value(PIN_DSC_LIN2NSLP, 1);
++ hal_gpio_pin_set_value(PIN_DSC_LIN1NSLP, 1);
++ vTaskDelay(10/portTICK_RATE_MS);
++ hal_gpio_pin_set_value(PIN_DSC_LIN2NSLP, 0);
++ hal_gpio_pin_set_value(PIN_DSC_LIN1NSLP, 0);
++ hal_gpio_pin_set_value(PIN_DSC_CANNSTB, 0);
++ return 0;
++}
++
++/** Command descriptor for sleep command */
++cmd_des_t const cmd_des_sleep = {
++ 0, 0,
++ "sleep","Sleep the board",
++ "### Syntax ###\n"
++ "\n"
++ " sleep\n"
++ "\n"
++ "### Description ###\n"
++ "\n"
++ "This command configures the LIN and CAN peripherals to enter sleep mode\n"
++ "and turn the whole device into sleep mode. External signal on CAN or\n"
++ "LIN will wake the device up.\n",
++ CMD_HANDLER(cmd_do_sleep), (void *)&cmd_list
++};
++#endif
++
+/** Command descriptor for show help command */
+cmd_des_t const cmd_des_help = {
+ 0, 0,
+ "help","Print help for commands",
+ "### Syntax ###\n"
+ "\n"
+ " help [command]\n"
+ "\n"
+ "### Description ###\n"
+ "\n"
+ "This command without parameter prints the list of all available\n"
+ "commands with short help text for each of them. If a parameter is\n"
+ "provided, the command prints a long description for given command.\n",
+ CMD_HANDLER(cmd_do_help), (void *)&cmd_list
+};
+
+cmd_des_t const cmd_des_version = {
+ 0, 0,
+ "version","Print version of the software",
+ "### Syntax ###\n"
+ "\n"
+ " version\n"
+ "\n"
+ "### Description ###\n"
+ "\n"
+ "This command prints the version of the test software. The version\n"
+ "number is the output of 'git describe' command, i.e. it is composed\n"
+ "from the last tag in the git repository, the number of commits since\n"
+ "the tag and the abbreviated commit hash.\n"
+ "\n"
+ "### Example ###\n"
+ "\n"
+ " --> version\n"
+ " version=v0.2-109-ga81a9dd\n",
+ CMD_HANDLER(cmd_do_version),
+};
+
+/* ------------------------
+ * Command lists definitons
+ * ------------------------
+ */
+
+/** @brief Main list of commands */
+cmd_des_t const *cmd_list_main[] = {
+ &cmd_des_help,
++#ifdef TARGET_TMS570_RPP
++ &cmd_des_sleep,
++#endif
+ &cmd_des_version,
+ CMD_DES_INCLUDE_SUBLIST(cmd_list_adc),
+ CMD_DES_INCLUDE_SUBLIST(cmd_list_can),
++#ifdef TARGET_TMS570_RPP
++ CMD_DES_INCLUDE_SUBLIST(cmd_list_dac),
++ CMD_DES_INCLUDE_SUBLIST(cmd_list_din),
++ CMD_DES_INCLUDE_SUBLIST(cmd_list_emac),
++ CMD_DES_INCLUDE_SUBLIST(cmd_list_fr_basic_test),
++ CMD_DES_INCLUDE_SUBLIST(cmd_list_fray),
++ CMD_DES_INCLUDE_SUBLIST(cmd_list_hbr),
++ CMD_DES_INCLUDE_SUBLIST(cmd_list_hout),
++ CMD_DES_INCLUDE_SUBLIST(cmd_list_lin),
++ CMD_DES_INCLUDE_SUBLIST(cmd_list_lout),
++ CMD_DES_INCLUDE_SUBLIST(cmd_list_motor_example),
++ CMD_DES_INCLUDE_SUBLIST(cmd_list_nc),
++ CMD_DES_INCLUDE_SUBLIST(cmd_list_netstats),
++#endif
+ CMD_DES_INCLUDE_SUBLIST(cmd_list_pin),
+ CMD_DES_INCLUDE_SUBLIST(cmd_list_port),
++#ifdef TARGET_TMS570_RPP
++ CMD_DES_INCLUDE_SUBLIST(cmd_list_sdram),
++ CMD_DES_INCLUDE_SUBLIST(cmd_list_spi),
++ CMD_DES_INCLUDE_SUBLIST(cmd_list_vbat),
++#endif
+ NULL
+};
+
+/** Pointer to the root list */
+cmd_des_t const **cmd_list = cmd_list_main;
--- /dev/null
- * Copyright (C) 2012-2013 Czech Technical University in Prague
+ /*
++ * Copyright (C) 2012-2013, 2015 Czech Technical University in Prague
+ *
+ * Created on: 28.2.2013
+ *
+ * Authors:
+ * - Michal Horn
+ *
+ * This document contains proprietary information belonging to Czech
+ * Technical University in Prague. Passing on and copying of this
+ * document, and communication of its contents is not permitted
+ * without prior written authorization.
+ *
+ * File : cmd_fray.c
+ *
+ * Abstract:
+ * Commands for control FlexRay
+ * - Getting status of FlexRay from chips on SPI
+ * - Sending test data on FRAY
+ * - Receiving test data on FRAY
+ *
+ * There are FlexRay test commands, to test the connection between two FlexRay nodes A and B
+ * The node A is sending a message 100 times with some period.
+ * The node B is receiving this message and check if it fits the pattern.
+ * Commands are counting the number of errors, which is printed at the end of the test.
+ * After 100 transmissions both nodes are halted.
+ */
+
+ #include "cmd_fray.h"
+ #include "stdio.h"
+
+ #ifndef DOCGEN
+
+ #include "rpp/rpp.h"
+ #include "drv/fray.h"
+ #include "cmdproc_utils.h"
+ #include "hal/hal.h"
+ #include "cmdproc.h"
+ #include "sys/ti_drv_fray.h"
++#include "hal/spi_resp_transl.h"
+
+ /**
+ * This structure contains global FlexRay configuration.
+ * All nodes in the network have to use the same values for
+ * all parameters of this structure.
+ */
+ static Fr_TMS570LS_ClusterConfigType Fr_cluster_config = {
+ .gColdStartAttempts = 0x2,
+ .gListenNoise = 0xF,
+ .gMacroPerCycle = 0x15E0, // Macrotick = 1us
+ .gMaxWithoutClockCorrectionFatal = 0xF,
+ .gMaxWithoutClockCorrectionPassive = 0xF,
+ .gNetworkManagementVectorLength = 12,
+ .gNumberOfMinislots = 0x15A,
+ .gNumberOfStaticSlots = 0x8,
+ .gOffsetCorrectionStart = 0xAE4,
+ .gPayloadLengthStatic = 0x9,
+ .gSyncNodeMax = 0xF,
+ .gdActionPointOffset = 0x4,
+ .gdCASRxLowMax = 0x43,
+ .gdDynamicSlotIdlePhase = 0x1,
+ .gdMinislot = 0x4,
+ .gdMinislotActionPointOffset = 0x2,
+ .gdNIT = 0xAE3,
+ .gdSampleClockPeriod = 0, // 10mbit/sec
+ .gdStaticSlot = 0x56,
+ .gdTSSTransmitter = 0xA,
+ .gdWakeupSymbolRxIdle = 18,
+ .gdWakeupSymbolRxLow = 18,
+ .gdWakeupSymbolRxWindow = 76,
+ .gdWakeupSymbolTxIdle = 180,
+ .gdWakeupSymbolTxLow = 60
+ };
+
+
+ /**
+ * This structure contains local configuration of the FlexRay node A.
+ * That is the node that transmits messages to the node B.
+ */
+ static Fr_TMS570LS_NodeConfigType Fr_node_A_config = {
+ .pAllowHaltDueToClock = 0,
+ .pAllowPassiveToActive = 0xF,
+ .pChannels = FR_CHANNEL_AB,
+ .pClusterDriftDamping = 0x1,
+ .pDelayCompensationA = 0x3,
+ .pDelayCompensationB = 0x3,
+ .pExternOffsetCorrection = 0,
+ .pExternRateCorrection = 0,
+ .pKeySlotUsedForStartup = TRUE,
+ .pKeySlotUsedForSync = TRUE,
+ .pLatestTx = 0x10D,
+ .pMacroInitialOffsetA = 0x6,
+ .pMacroInitialOffsetB = 0x6,
+ .pMicroInitialOffsetA = 0x18,
+ .pMicroInitialOffsetB = 0x18,
+ .pMicroPerCycle = 0x36B00, // (cycle period, 5.6ms), uT = 25ns@10Mbit/sec, 25ns@5Mbit/sec, 50ns@2.5Mbit/sec
+ .pRateCorrectionOut = 0xCD,
+ .pOffsetCorrectionOut = 0x151,
+ .pSamplesPerMicrotick = 0, // 10 mbit/sec
+ .pSingleSlotEnabled = TRUE,
+ .pWakeupChannel = FR_CHANNEL_A,
+ .pWakeupPattern = 2,
+ .pdAcceptedStartupRange = 0x81,
+ .pdListenTimeout = 0x36DA2,
+ .pdMaxDrift = 0x151,
+ .pDecodingCorrection = 0x33
+ };
+
+ /**
+ * This structure contains local configuration of the FlexRay node B.
+ * That is the node that receives messages from the node A.
+ */
+ static Fr_TMS570LS_NodeConfigType Fr_node_B_config = {
+ .pAllowHaltDueToClock = 0,
+ .pAllowPassiveToActive = 0xF,
+ .pChannels = FR_CHANNEL_AB,
+ .pClusterDriftDamping = 0x1,
+ .pDelayCompensationA = 0x3,
+ .pDelayCompensationB = 0x3,
+ .pExternOffsetCorrection = 0,
+ .pExternRateCorrection = 0,
+ .pKeySlotUsedForStartup = TRUE,
+ .pKeySlotUsedForSync = TRUE,
+ .pLatestTx = 0x10D,
+ .pMacroInitialOffsetA = 0x6,
+ .pMacroInitialOffsetB = 0x6,
+ .pMicroInitialOffsetA = 0x18,
+ .pMicroInitialOffsetB = 0x18,
+ .pMicroPerCycle = 0x36B00,
+ .pRateCorrectionOut = 0xCD,
+ .pOffsetCorrectionOut = 0x151,
+ .pSamplesPerMicrotick = 0, // 10 mbit/sec
+ .pSingleSlotEnabled = TRUE,
+ .pWakeupChannel = FR_CHANNEL_A,
+ .pWakeupPattern = 2,
+ .pdAcceptedStartupRange = 0x81,
+ .pdListenTimeout = 0x36DA2,
+ .pdMaxDrift = 0x151,
+ .pDecodingCorrection = 0x33
+ };
+
+ /**
+ * FlexRay node A message RAM configuration.
+ * Reconfiguration is disabled, 2 static buffers are configured.
+ */
+ static Fr_TMS570LS_MsgRAMConfig Fr_node_A_msgRAM_config = {
+ .dynSegmentBufferCount = 0,
+ .fifoBufferCount = 0,
+ .secureBuffers = FR_SB_ALL_REC_DISABLED,
+ .statSegmentBufferCount = 2,
+ .syncFramePayloadMultiplexEnabled = 0
+ };
+
+ /**
+ * FlexRay node B message RAM configuration.
+ * Reconfiguration is disabled, 2 static buffers are configured.
+ */
+ static Fr_TMS570LS_MsgRAMConfig Fr_node_B_msgRAM_config = {
+ .dynSegmentBufferCount = 0,
+ .fifoBufferCount = 0,
+ .secureBuffers = FR_SB_ALL_REC_DISABLED,
+ .statSegmentBufferCount = 2,
+ .syncFramePayloadMultiplexEnabled = 0
+ };
+
+ /**
+ * The FlexRay node A is a sync node and coldstarter. That is why the first buffer
+ * (buffer 0) is configured as TX. All coldstarters and sync nodes must have the
+ * first buffer configured as TX. The FlexRay network has to contain at least two
+ * sync nodes and coldstarters.
+ * The second buffer is used for messages transmission. It is TX and configured as
+ * single-shot to send only one message after some period.
+ */
+ static Fr_TMS570LS_BufferConfigType Fr_node_A_static_buffers_config[] = {
+ {
+ .channel = FR_CHANNEL_AB,
+ .cycleCounterFiltering = 0,
+ .isTx = TRUE,
+ .fidMask = 0,
+ .maxPayload = 9,
+ .msgBufferInterrupt = TRUE,
+ .payloadPreambleIndicatorTr = FALSE,
+ .rejectNullFrames = FALSE,
+ .rejectStaticSegment = FALSE,
+ .singleTransmit = FALSE,
+ .slotId = 1
+ },
+ {
+ .channel = FR_CHANNEL_AB,
+ .cycleCounterFiltering = 0,
+ .isTx = TRUE,
+ .fidMask = 0,
+ .maxPayload = 9,
+ .msgBufferInterrupt = TRUE,
+ .payloadPreambleIndicatorTr = FALSE,
+ .rejectNullFrames = FALSE,
+ .rejectStaticSegment = FALSE,
+ .singleTransmit = TRUE,
+ .slotId = 3
+ }
+ };
+
+ /**
+ * The FlexRay node B is a sync node and coldstarter. That is why the first buffer
+ * (buffer 0) is configured as TX. All coldstarters and sync nodes must have the
+ * first buffer configured as TX. The FlexRay network has to contain at least two
+ * sync nodes and coldstarters.
+ * The second buffer is used for messages receiving.
+ */
+ static Fr_TMS570LS_BufferConfigType Fr_node_B_static_buffers_config[] = {
+ {
+ .channel = FR_CHANNEL_AB,
+ .cycleCounterFiltering = 0,
+ .isTx = TRUE,
+ .fidMask = 0,
+ .maxPayload = 9,
+ .msgBufferInterrupt = TRUE,
+ .payloadPreambleIndicatorTr = FALSE,
+ .rejectNullFrames = FALSE,
+ .rejectStaticSegment = FALSE,
+ .singleTransmit = FALSE,
+ .slotId = 2
+ },
+ {
+ .channel = FR_CHANNEL_AB,
+ .cycleCounterFiltering = 0,
+ .isTx = FALSE,
+ .fidMask = 0,
+ .maxPayload = 9,
+ .msgBufferInterrupt = TRUE,
+ .payloadPreambleIndicatorTr = FALSE,
+ .rejectNullFrames = FALSE,
+ .rejectStaticSegment = FALSE,
+ .singleTransmit = TRUE,
+ .slotId = 3
+ }
+ };
+
+ /**
+ * Unifying configuration structure for the node A.
+ */
+ static Fr_ConfigType Fr_config_node_A = {
+ .clusterConfiguration = &Fr_cluster_config,
+ .dynamicBufferConfigs = NULL,
+ .fifoBufferConfigs = NULL,
+ .msgRAMConfig = &Fr_node_A_msgRAM_config,
+ .nodeConfiguration = &Fr_node_A_config,
+ .staticBufferConfigs = Fr_node_A_static_buffers_config
+ };
+
+ /**
+ * Unifying configuration structure for the node B.
+ */
+ static Fr_ConfigType Fr_config_node_B = {
+ .clusterConfiguration = &Fr_cluster_config,
+ .dynamicBufferConfigs = NULL,
+ .fifoBufferConfigs = NULL,
+ .msgRAMConfig = &Fr_node_B_msgRAM_config,
+ .nodeConfiguration = &Fr_node_B_config,
+ .staticBufferConfigs = Fr_node_B_static_buffers_config
+ };
+
+ /**
+ * Loads data into TX buffer for FlexRay node A.
+ * Set TX Request for the buffer to start the transmission.
+ */
+ int8_t transmit_node_a()
+ {
+ uint8_t data[18];
+ int i;
+
+ // Write payload for the buffer
+ for (i = 0; i < 18; i++) {
+ data[i] = i;
+ }
+ return rpp_fr_transmit_lpdu(0, 3, data, 18);
+ }
+
+ /**
+ * Check data of the received message for correctness.
+ * @return 0 if message was received and is correct
+ * 1 if message was received and is incorrect
+ */
+ int check_message(const uint8_t *data)
+ {
+ int i;
+
+ for (i = 0; i < 18; i++) {
+ if (data[i] != i)
+ return 1;
+ }
+ return 0;
+ }
+
+
+ /**
+ * @brief Get FlexRay status in human readable form
+ *
+ * Command sends some data on SPI (data do not matters, chips are read only) and retreives a response.
+ * The response is translated and displayed as readable text.
+ *
+ * @param[in] cmd_io Pointer to IO stack
+ * @param[in] des Pointer to command descriptor
+ * @param[in] param Parameters of command
+ * @return 0 when OK or error code
+ */
+ int cmd_do_fray_status(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[])
+ {
+ char *p;
+ int pin;
+ uint32_t numCmdDesc;
+ int i;
+ uint32_t numFieldDesc;
+
+ p = param[1];
+ if (sscanf(p, "%d", &pin) != 1)
+ return -CMDERR_BADPAR;
+ pin--; // Highlevel command has pin number mapped according the board scheme, this switches to internal representation
+ if (pin > FRAY_NUM_PORTS || pin < 0) return -CMDERR_BADPAR;
+
+ if (Fr_spi_transfer(pin) != 0) return -CMDERR_BADDIO;
+
+ spitr_reg_translate_table_t translatedData;
+ const spitr_cmd_map_t *cmdDesc = get_spi_cmd_map(PORT_NAME_FRAY1, -1, &numCmdDesc);
+ if (cmdDesc == NULL) return -CMDERR_BADREG;
+
+ const spitr_field_desc_t *fieldDescs = get_spi_field_desc(cmdDesc, numCmdDesc, Fr_spi_get_cmd(pin), &numFieldDesc);
+ if (fieldDescs == NULL)
+ return -CMDERR_BADPAR;
+ uint32_t fr_spi_response = Fr_spi_response(pin);
+ uint32_t lsbResponse = 0 | ((fr_spi_response & 0xFF) << 8) | ((fr_spi_response & 0xFF00) >> 8);
+ spitr_fill_tr_table(fieldDescs, numFieldDesc, lsbResponse, &translatedData);
+ for (i = 0; i < translatedData.num_rows; i++) {
+ rpp_sci_printf("%s: %x\r\n", translatedData.row[i].field_name, translatedData.row[i].value);
+ }
+ return 0;
+ }
+
+ /**
+ * @brief Start sending data on the FlexRay as node A
+ *
+ * @param[in] cmd_io Pointer to IO stack
+ * @param[in] des Pointer to command descriptor
+ * @param[in] param Parameters of command
+ * @return 0 when OK or error code
+ */
+ int cmd_do_test_frayA(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[])
+ {
+ uint32_t i;
+ uint32_t error = 0;
+ uint32_t msg_cnt = 0;
+ uint32_t count = 100;
+ Fr_TxLPduStatusType status;
+ Fr_POCStatusType poc_status;
+
+ if (param[1] && sscanf(param[1], "%d", &count) != 1)
+ return -CMDERR_BADPAR;
+
+ if (rpp_fr_init_driver(&Fr_config_node_A, &error) == FAILURE) {
+ rpp_sci_printf("Fray driver initialization failed: %#x.\n", error);
+ return -CMDERR_BADCFG;
+ }
+ if (rpp_fr_init_controller(0, &error) == FAILURE) {
+ rpp_sci_printf("Fray control node initialization failed: %#x.\n", error);
+ return -CMDERR_BADCFG;
+ }
+ rpp_sci_printf("Fray control node initialized.\r\n");
+ rpp_sci_printf("Waiting for network connection...\r\n");
+
+ if (rpp_fr_start_communication(0, &error) == FAILURE) {
+ rpp_sci_printf("Integration to the network failed: %#x.\n", error);
+ return -CMDERR_BADCFG;
+ }
+ if (rpp_fr_all_slots(0) == FAILURE) {
+ rpp_sci_printf("All slots mode selection failed.\n");
+ return -CMDERR_BADCFG;
+ }
+
+ rpp_sci_printf("Connected. Frames transmission is starting. O means OK, X means Error\r\n");
+ if (rpp_fr_clear_timer_irq(0,0) == FAILURE ||
+ rpp_fr_set_timer(0,0,10,1) == FAILURE
+ ) {
+ rpp_sci_printf("Absolute timer setting failed.\n");
+ return -CMDERR_BADCFG;
+ }
+ for (i = 0; i < count; i++) {
+ if (transmit_node_a() == FAILURE) {
+ rpp_sci_printf("X");
+ error++;
+ }
+ else
+ rpp_sci_printf("O");
+ msg_cnt++;
+
+ do {
+ rpp_fr_check_tx_lpdu_status(0, 3, &status);
+ rpp_fr_get_poc_status(0, &poc_status);
+ } while (status == FR_NOT_TRANSMITTED && poc_status.ErrorMode == FR_ERRORMODE_ACTIVE);
+
+ if (poc_status.ErrorMode != FR_ERRORMODE_ACTIVE) {
+ rpp_sci_printf("\nFlexRay exited active mode (see command frbtgetpocst)!\n");
+ break;
+ }
+
+ }
+ rpp_sci_printf("\r\nTransmitted %d messages with %d errors.\r\n", msg_cnt, error);
+ if (rpp_fr_halt_communication(0) != SUCCESS)
+ rpp_sci_printf("FlexRay HALT command failed, please reset the board to stop transmission.\r\n");
+ else
+ rpp_sci_printf("FlexRay halted, reset the board to make FlexRay usable again.\r\n");
+ return 0;
+ }
+
+ /**
+ * @brief Start receiving data on the FlexRay as node B
+ *
+ * @param[in] cmd_io Pointer to IO stack
+ * @param[in] des Pointer to command descriptor
+ * @param[in] param Parameters of command
+ * @return 0 when OK or error code
+ */
+ int cmd_do_test_frayB(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[])
+ {
+ uint32_t i;
+ uint32_t error = 0;
+ uint32_t msg_cnt = 0;
+ uint32_t count = 100;
+
+ if (param[1] && sscanf(param[1], "%d", &count) != 1)
+ return -CMDERR_BADPAR;
+
+ if (rpp_fr_init_driver(&Fr_config_node_B, &error) == FAILURE) {
+ rpp_sci_printf("Fray driver initialization failed: %#x.\n", error);
+ return -CMDERR_BADCFG;
+ }
+ if (rpp_fr_init_controller(0, &error) == FAILURE) {
+ rpp_sci_printf("Fray control node initialization failed: %#x.\n", error);
+ return -CMDERR_BADCFG;
+ }
+ rpp_sci_printf("Fray control node initialized.\r\n");
+ rpp_sci_printf("Waiting for network connection...\r\n");
+
+ if (rpp_fr_start_communication(0, &error) == FAILURE) {
+ rpp_sci_printf("Integration to the network failed: %#x.\n", error);
+ return -CMDERR_BADCFG;
+ }
+ if (rpp_fr_all_slots(0) == FAILURE) {
+ rpp_sci_printf("All slots mode selection failed.\n");
+ return -CMDERR_BADCFG;
+ }
+
+ rpp_sci_printf("Connected. Frames transmission is starting. O means OK, X means Error, T means timeout.\r\n");
+ for (i = 0; i < count; i++) {
+ uint8_t data[18];
+ Fr_RxLPduStatusType status;
+ uint8_t size;
+ uint8_t cycle1, cycle2;
+ uint16_t mtick;
+
+ rpp_fr_get_global_time(0, &cycle1, &mtick);
+ do {
+ if (rpp_fr_receive_lpdu(0, 3, data, &status, &size) == FAILURE) {
+ rpp_sci_printf("\nMessage receiving failed!\n");
+ break;
+ }
+ rpp_fr_get_global_time(0, &cycle2, &mtick);
+ } while (status == FR_NOT_RECEIVED && (cycle2 != ((cycle1-1) & 0x3F)));
+
+ if (status == FR_NOT_RECEIVED)
+ rpp_sci_printf("T");
+ else if (check_message(data) == 0) {
+ rpp_sci_printf("O");
+ msg_cnt++;
+ }
+ else {
+ rpp_sci_printf("X");
+ error++;
+ msg_cnt++;
+ }
+ }
+ rpp_sci_printf("\r\nReceived %d messages with %d errors.\r\n", msg_cnt, error);
+ if (rpp_fr_halt_communication(0) != SUCCESS)
+ rpp_sci_printf("FlexRay HALT command failed, please reset the board to stop transmission.\r\n");
+ else
+ rpp_sci_printf("FlexRay halted\r\n");
+ return 0;
+ }
+
+ #endif /* DOCGEN */
+
+ /** Command descriptor for FlexRay status command */
+ cmd_des_t const cmd_des_fray_stat = {
+ 0, 0,
+ "frayxcvrstat#","Get the status of a FlexRay transceiver in a human readable form",
+ "### Command syntax ###\n"
+ "\n"
+ " frayxcvrstat<CHN>\n"
+ "where CHN is a number in range 1-2\n"
+ "\n"
+ "### Description ###\n"
+ "\n"
+ "The command receives response from a FlexRay transceiver via SPI, and\n"
+ "prints in the form of attribute-value table.\n"
+ "\n"
+ "### Example ###\n"
+ "\n"
+ " --> frayxcvrstat1\n"
+ "\n"
+ "Prints the status of FRAY1 transceiver.\n",
+ CMD_HANDLER(cmd_do_fray_status), (void *)&cmd_list_fray
+ };
+
+ /** Command descriptor for FlexRay 1 test node A */
+ cmd_des_t const cmd_des_test_fray_a = {
+ 0, 0,
+ "fraytestA","Run the FlexRay test as A node",
+ "### Command syntax ###\n"
+ "\n"
+ " fraytestA [<COUNT>]\n"
+ "\n"
+ "where `<COUNT>` is an optional number of messages to send. The default\n"
+ "is 100.\n"
+ "\n"
+ "### Description ###\n"
+ "\n"
+ "The commands creates FlexRay node A and starts sending a message\n"
+ "approximately every communication cycle. COUNT messages are sent for the\n"
+ "test of the connection. The command should be run with two devices\n"
+ "connected by a FlexRay bus and the second device should be running the\n"
+ "fraytestB command (it is necessary to run both commands shortly after\n"
+ "each other).\n"
+ "\n"
+ "When the command transmits a message a character is printed. O means\n"
+ "that the message was transmitted correctly, X signals a transmission\n"
+ "error. The number of TX errors and successfully transmitted messages\n"
+ "is maintained during the test and printed at the end.\n",
+ CMD_HANDLER(cmd_do_test_frayA), (void *)&cmd_list_fray
+ };
+
+ /** Command descriptor for FlexRay 1 test node B */
+ cmd_des_t const cmd_des_test_fray_b = {
+ 0, 0,
+ "fraytestB","Run the FlexRay test as B node",
+ "### Command syntax ###\n"
+ "\n"
+ " fraytestB [<COUNT>]\n"
+ "\n"
+ "where `<COUNT>` is an optional number of messages to receive. The default\n"
+ "is 100.\n"
+ "\n"
+ "### Description ###\n"
+ "\n"
+ "The commands creates FlexRay node B and starts receiving a messages.\n"
+ "100 messages should be received. The command should be run with two\n"
+ "devices connected by a FlexRay bus and the second device should be\n"
+ "running the fraytestA command (it is necessary to run both commands\n"
+ "shortly after each other).\n"
+ "\n"
+ "When the command receives a message a character is printed. O means\n"
+ "that the message was received correctly, X signals an error in data, T\n"
+ "means timeout (i.e. no message was received within 63 cycles). The\n"
+ "number of RX errors and successfully received messages is maintained\n"
+ "during the test and printed at the end.\n",
+ CMD_HANDLER(cmd_do_test_frayB), (void *)&cmd_list_fray
+ };
+
+ /** List of commands for din, defined as external */
+ cmd_des_t const *cmd_list_fray[] = {
+ &cmd_des_fray_stat,
+ &cmd_des_test_fray_a,
+ &cmd_des_test_fray_b,
+ NULL
+ };
--- /dev/null
- * Copyright (C) 2012-2013 Czech Technical University in Prague
+ /*
++ * Copyright (C) 2012-2013, 2015 Czech Technical University in Prague
+ *
+ * Created on: 28.2.2013
+ *
+ * Authors:
+ * - Michal Horn
+ *
+ * This document contains proprietary information belonging to Czech
+ * Technical University in Prague. Passing on and copying of this
+ * document, and communication of its contents is not permitted
+ * without prior written authorization.
+ *
+ * File : cmd_spi.c
+ *
+ * Abstract:
+ * Command for processing data from SPI and
+ * lowlevel command for sending data on SPI
+ *
+ */
+
+ #include "cmd_spi.h"
+ #include "stdio.h"
+
+ #ifndef DOCGEN
+
+ #include "rpp/rpp.h"
+ #include "cmdproc_utils.h"
+ #include "drv/drv.h"
+ #include <_isfuncdcl.h>
++#include "hal/spi.h"
++#include "hal/spi_resp_transl.h"
+
+ /**
+ * @brief Translate SPI response according the command and peripheral type
+ *
+ * @param[in] cmd_io Pointer to IO stack
+ * @param[in] des Pointer to command descriptor
+ * @param[in] param Parameters of command
+ * @return 0 when OK or error code
+ */
+ int cmd_do_spi_translate(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[])
+ {
+ char *p;
+ int i;
+ uint32_t ret;
+ uint32_t values[MAX_PARAM_VALUES_NUM];
+ uint32_t numFieldDesc;
+ uint32_t numCmdDesc;
+ uint32_t command;
+ uint32_t response;
+ spitr_reg_translate_table_t translatedData;
+ char peripheralName[32];
+ char spareParams;
+
+ p = param[1];
+ if (sscanf(p, "%31s ", peripheralName) != 1)
+ return -CMDERR_BADPAR;
+
+ const spitr_cmd_map_t *cmdDesc = cmdDesc = get_spi_cmd_map(peripheralName, -1, &numCmdDesc);
+ if (cmdDesc == NULL) return -CMDERR_BADREG;
+
+
+ if (param[2] != NULL) { // More parameters expected
+ p = param[2];
+ if (sscanf(p, "%x %x %1s", &values[0], &values[1], &spareParams) != 2)
+ return -CMDERR_BADPAR;
+ command = values[0];
+ response = values[1];
+
+ const spitr_field_desc_t *fieldDescs = get_spi_field_desc(cmdDesc, numCmdDesc, command, &numFieldDesc);
+ if (fieldDescs == NULL)
+ return -CMDERR_BADPAR;
+
+ ret = spitr_fill_tr_table(fieldDescs, numFieldDesc, response, &translatedData);
+
+ for (i = 0; i < translatedData.num_rows; i++) {
+ rpp_sci_printf("%s: %x\r\n", translatedData.row[i].field_name, translatedData.row[i].value);
+ }
+ return cmd_opchar_replong(cmd_io, param, ret, 0, 10);
+ }
+ else
+ return -CMDERR_BADPAR;
+ }
+
+
+ /* SPI Master testing command */
+ #define TEST_BUF 64
+ uint8_t spi_test_buf_tx[TEST_BUF];
+ uint8_t spi_test_buf_rx[TEST_BUF];
+
+ int spimst_print_rx(struct spi_drv *ifc, int status, int addr, uint8_t *buf)
+ {
+ int i;
+
+ if (status < 0) {
+ rpp_sci_printf("spirx failed: %d\n", status);
+ return -1;
+ }
+
+ rpp_sci_printf("spirx:%#x(", addr);
+ for (i = 0; i < status; i++) {
+ rpp_sci_printf("%#x", buf[i]);
+ if (i < status-1)
+ rpp_sci_printf(",");
+ }
+ rpp_sci_printf(")\n");
+
+ return 0;
+ }
+
+
+ /**
+ * @brief Send SPI command on SPI and receive response
+ *
+ * @param[in] cmd_io Pointer to IO stack
+ * @param[in] des Pointer to command descriptor
+ * @param[in] param Parameters of command
+ * @return 0 when OK or error code
+ */
+ int cmd_do_spimst(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[])
+ {
+ spi_drv_t *ifc;
+ int i;
+ char *p;
+ char *token;
+ int ret;
+ unsigned int addr;
+ unsigned int rq_len;
+ int spi;
+ int values[MAX_PARAM_VALUES_NUM];
+
+ p = param[1];
+ if (sscanf(p, "%d", &spi) != 1)
+ return -CMDERR_BADPAR;
+ p = param[2];
+ if (sscanf(p, " %d", &addr) != 1)
+ return -CMDERR_BADPAR;
+ token = strtok(p, " ");
+ token = strtok(NULL, " ");
+ i = 0;
+ while (i < MAX_PARAM_VALUES_NUM && token != NULL) {
+ if (sscanf(token, "%x", &values[i]) == EOF)
+ break;
+ token = strtok(NULL, " ");
+ spi_test_buf_tx[i] = (uint8_t)values[i];
+ i++;
+ }
+
+
+ ifc = spi_find_drv(NULL, spi);
+ if (ifc == NULL)
+ return -CMDERR_NODEV;
+
+ if (!(ifc->flags & SPI_IFC_ON))
+ //if (spi_tms570_init(ifc) < 0)
+ return -CMDERR_BADCFG;
+
+ rq_len = i;
+
+ ret = spi_transfer(ifc, addr, rq_len, spi_test_buf_tx, spi_test_buf_rx);
+ spimst_print_rx(ifc, ret, addr, spi_test_buf_rx);
+ return 0;
+ }
+
+ #endif /* DOCGEN */
+ /** Command descriptor for SPI response translation */
+ cmd_des_t const cmd_des_spi_translate = {
+ 0, CDESM_OPCHR|CDESM_RW,
+ "spitr*","Translate response from an SPI peripheral",
+ "### Command syntax ###\n"
+ "\n"
+ " spitr<NAME> <CMD> <RESP>\n"
+ "where\n"
+ "\n"
+ "- `<NAME>` is a string specifying the name of the peripheral (one of DINSPI, LOUT, DAC12, DAC34, HBR, FRAY1 and FRAY2)\n"
+ "- `<CMD>` is a hexadecimal number in range 0 - FFFFFFFF\n"
+ "- `<RESP>` is a hexadecimal number in range 0 - FFFFFFFF\n"
+ "\n"
+ "### Description ###\n"
+ "\n"
+ "This command translates a response from SPI from many different\n"
+ "peripherals into a human readable form. The SPI response is in the\n"
+ "form of a hexadecimal number, which encodes the information. This\n"
+ "commands takes this response, the command which produced this\n"
+ "response, the name of the peripheral and translates the response into\n"
+ "the attribute-value table.\n"
+ "\n"
+ "### Example ###\n"
+ " --> portvalDINSPI 7F 00 00\n"
+ " portvalDINSPI=AAC03F\n"
+ " --> spitrDINSPI 7F0000 3FC0AA\n"
+ " Thermal flag : 0\n"
+ " INT flag : 0\n"
+ " SP0 - DIN0 : 1\n"
+ " SP1 - DIN1 : 1\n"
+ " SP2 - DIN2 : 1\n"
+ " SP3 - DIN3 : 1\n"
+ " SP4 - DIN4 : 1\n"
+ " SP5 - DIN5 : 1\n"
+ " SP6 - DIN6 : 1\n"
+ " SP7 - DIN7 : 1\n"
+ " SG0 - DIN8 : 0\n"
+ " SG1 - DIN9 : 1\n"
+ " SG2 - DIN10 : 0\n"
+ " SG3 - DIN11 : 1\n"
+ " SG4 - DIN12 : 0\n"
+ " SG5 - DIN13 : 1\n"
+ " SG6 - DIN14 : 0\n"
+ " SG7 - DIN15 : 1\n"
+ " SG8 - NA : 0\n"
+ " SG9 - NA : 0\n"
+ " SG10 - NA : 0\n"
+ " SG11 - NA : 0\n"
+ " SG12 - NA : 0\n"
+ " SG13 - NA : 0\n"
+ " spitrDINSPI=24\n"
+ "\n"
+ "Translates response 0x3FC0AA returned by command 0x7F0000 into a human\n"
+ "readable form.\n"
+ "Please notice LSB->MSB conversion of the portval result. The necessity\n"
+ "of the conversion depends on the controller of the examined port.\n",
+ CMD_HANDLER(cmd_do_spi_translate), (void *)&cmd_list_spi
+ };
+
+ /** Command descriptor for SPI trasfer */
+ cmd_des_t const cmd_des_spimst = {
+ 0, 0,
+ "spimst*", "Request SPI master communication",
+ "### Command syntax ###\n"
+ "\n"
+ " spimst<SPI> <ADDR> <DATA>\n"
+ "where\n"
+ "\n"
+ "- `<SPI>` is a number in range 0 - 4\n"
+ "- `<ADDR>` is a number in range 0 - 2\n"
+ "- `<DATA>` is a sequence of hexadecimal numbers, separated by spaces, e.g. 12 AA CD\n"
+ "\n"
+ "### Description ###\n"
+ "\n"
+ "The command sends given data to the SPI peripheral and prints the\n"
+ "response. The response contains the address and the received data in\n"
+ "parentheses.\n"
+ "\n"
+ "### Example ###\n"
+ "\n"
+ " --> spimst1 0 7F 00 00\n"
+ " spirx:0x0(0x3f,0xc0,0xff)\n"
+ "\n"
+ "Sends reset command (0x7F0000) to the DIN peripheral.\n",
+ CMD_HANDLER(cmd_do_spimst), (void *)&cmd_list_spi
+ };
+
+ /** List of commands for SPI, defined as external */
+ cmd_des_t const *cmd_list_spi[] = {
+ &cmd_des_spi_translate,
+ &cmd_des_spimst,
+ NULL
+ };
\r
/* Include Files */\r
#include "rpp/rpp.h"\r
+#include "os/os.h"\r
#include "cmdproc_freertos.h"\r
-#include "version.h" // Generated by Eclipse in the pre-build step\r
+#include "version.h" // Generated by Makefile\r
+\r
+#if defined(TARGET_TMS570_HDK)\r
+#define TARGET_STR "TI HDK TMS570LS3137"\r
+#elif defined(TARGET_RM48_HDK)\r
+#define TARGET_STR "TI HDK RM48L952"\r
+#elif defined(TARGET_TMS570_HYDCTR)\r
+#define TARGET_STR "Eaton Hydraulics Controller"\r
++#elif defined(TARGET_TMS570_RPP)\r
++#define TARGET_STR "Porsche Rapid Prototyping Platform"\r
+#elif defined(TARGET_POSIX)\r
+#define TARGET_STR "POSIX version"\r
+#else\r
+#error Unknown target\r
+#endif\r
\r
/** @fn void main(void)\r
* @brief Application main function\r
projects / pes-rpp / rpp-test-sw.git / commitdiff