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/*
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This file is part of CanFestival, a library implementing CanOpen Stack.
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Author: Christian Fortin (canfestival@canopencanada.ca)
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See COPYING file for copyrights details.
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This library is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 2.1 of the License, or (at your option) any later version.
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This library is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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Lesser General Public License for more details.
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You should have received a copy of the GNU Lesser General Public
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License along with this library; if not, write to the Free Software
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#include <stdlib.h>
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#include <sys/time.h>
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#include <signal.h>
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#include <cyg/kernel/kapi.h>
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#include <cyg/hal/hal_arch.h>
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#include "applicfg.h"
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#include <data.h>
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#include <def.h>
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#include <can.h>
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#include <can_driver.h>
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#include <objdictdef.h>
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#include <objacces.h>
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#include "lpc2138_pinout.h"
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#include "lpc2138_defs.h"
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#include "lpc2138.h"
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#include "sja1000.h"
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#include "time_slicer.h"
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/*
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SEND/RECEIVE
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*/
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CAN_HANDLE canOpen(s_BOARD *board)
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{
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return NULL;
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}
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/***************************************************************************/
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int canClose(CAN_HANDLE fd0)
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{
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return 0;
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}
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UNS8 canReceive(CAN_HANDLE fd0, Message *m)
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/*
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Message *m :
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typedef struct {
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SHORT_CAN cob_id; // l'ID du mesg
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UNS8 rtr; // remote transmission request. 0 if not rtr,
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// 1 for a rtr message
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UNS8 len; // message length (0 to 8)
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UNS8 data[8]; // data
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} Message;
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Fill the structure "Message" with data from the CAN receive buffer
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return : 0
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*/
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{
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/*
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the sja1000 must be set to the PeliCAN mode
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*/
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m->cob_id.w = sja1000_read(16) + (sja1000_read(17)<<8); // IO_PORTS_16(CAN0 + CANRCVID) >> 5
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m->rtr = (sja1000_read(17) >> 4) & 0x01; // (IO_PORTS_8(CAN0 + CANRCVID + 1) >> 4) & 0x01;
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m->len = sja1000_read(18);
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m->data[0] = sja1000_read(19);
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m->data[1] = sja1000_read(20);
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m->data[2] = sja1000_read(21);
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m->data[3] = sja1000_read(22);
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m->data[4] = sja1000_read(23);
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m->data[5] = sja1000_read(24);
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m->data[6] = sja1000_read(25);
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m->data[7] = sja1000_read(26);
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sja1000_write(CMR, 1<<RRB ); // release fifo
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return 0;
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}
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UNS8 canSend(CAN_HANDLE fd0, Message *m)
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/*
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Message *m :
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typedef struct {
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SHORT_CAN cob_id; // l'ID du mesg
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UNS8 rtr; // remote transmission request. 0 if not rtr,
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// 1 for a rtr message
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UNS8 len; // message length (0 to 8)
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UNS8 data[8]; // data
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} Message;
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Send the content of the structure "Message" to the CAN transmit buffer
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return : 0 if OK, 1 if error
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*/
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{
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unsigned char rec_buf;
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do
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{
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rec_buf = sja1000_read(SR);
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}
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while ( (rec_buf & (1<<TBS))==0); // loop until TBS high
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sja1000_write(16, m->cob_id.w & 0xff);
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sja1000_write(17, (m->cob_id.w >> 8) & 0xff);
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sja1000_write(18, m->len);
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sja1000_write(19, m->data[0]); // tx data 1
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sja1000_write(20, m->data[1]); // tx data 2
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sja1000_write(21, m->data[2]); // tx data 3
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sja1000_write(22, m->data[3]); // tx data 4
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sja1000_write(23, m->data[4]); // tx data 5
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sja1000_write(24, m->data[5]); // tx data 6
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sja1000_write(25, m->data[6]); // tx data 7
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sja1000_write(26, m->data[7]); // tx data 8
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sja1000_write(CMR,( (0<<SRR) | (0<<CDO) | (0<<RRB) | (0<<AT) | (1<<TR)));
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do
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{
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rec_buf = sja1000_read(SR);
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}
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while ( (rec_buf & (1<<TBS))==0); // loop until TBS high
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return 0;
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}
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/*
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SEQUENTIAL I/O TO FLASH
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those functions are for continous writing and read
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*/
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int nvram_open(void)
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{
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3
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int n = NVRAM_BLOCK_SIZE / sizeof(unsigned int);
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0
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/* some actions to initialise the flash */
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data_len = 0;
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3
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data_num_pages = 0;
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data_page = (unsigned int *)malloc(sizeof(unsigned int) * n);
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memset(data_page, 0, sizeof(unsigned int)*n);
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0
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if (data_page == NULL)
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return -1;
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3
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regs_page = (unsigned int *)malloc(sizeof(unsigned int) * n);
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memset(regs_page, 0, sizeof(unsigned int)*n);
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if (regs_page == NULL)
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return -2;
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iat_flash_read_regs();
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/* start the data at the location specified in the registers */
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if (0) /* for now it is 0, but put here a test to know whether
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or not the NVRAM has been written before */
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data_addr = regs_page[1];
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else
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data_addr = NVRAM_BLOCK_SIZE; /* let start at block 1 */
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0
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return 0;
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}
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void nvram_close(void)
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{
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/* write the last page before closing */
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iat_flash_write_page(data_addr);
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0
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/* some actions to end accessing the flash */
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free(data_page);
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3
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regs_page[4] = data_num_pages;
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/* write the registers to the NVRAM before closing */
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iat_flash_write_regs();
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free(regs_page);
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}
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void nvram_set_pos(UNS32 pos)
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/* set the current position in the NVRAM to pos */
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{
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}
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void nvram_new_firmwave()
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{
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/*
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this function is called whenever a new firmware is about
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to be written in the NVRAM
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*/
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data_addr = regs_page[1] + regs_page[4]*NVRAM_BLOCK_SIZE;
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if (data_addr > NVRAM_MAX_SIZE)
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data_addr = NVRAM_BLOCK_SIZE;
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0
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}
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int _get_data_len(int type)
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{
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int len = 0; /* number of bytes */
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switch(type)
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{
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case boolean:
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len = 1;
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break;
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case int8:
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case uint8:
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len = 1;
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break;
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case int16:
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case uint16:
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len = 2;
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break;
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case int24:
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case uint24:
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len = 3;
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break;
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case int32:
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case uint32:
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case real32:
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len = 4;
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break;
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case int40:
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case uint40:
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len = 5;
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break;
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case int48:
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case uint48:
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len = 6;
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break;
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case int56:
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case uint56:
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len = 7;
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break;
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case int64:
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case uint64:
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case real64:
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len = 8;
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break;
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#if 0
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/* TO DO */
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case visible_string:
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case octet_string:
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case unicode_string:
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case time_of_day:
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case time_difference:
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#endif
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}
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return len;
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}
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3
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char nvram_write_data(int type, int access_attr, void *data)
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0
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/* return 0 if successfull */
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{
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int len = _get_data_len(type);
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3
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if (data_len+len > NVRAM_BLOCK_SIZE)
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0
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{
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iat_flash_write_page(data_addr);
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data_len = 0;
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3
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data_addr += NVRAM_BLOCK_SIZE;
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/* wrap-around address pointer */
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if (data_addr > NVRAM_MAX_SIZE)
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data_addr = NVRAM_BLOCK_SIZE;
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data_num_pages++;
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0
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}
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memcpy(((char *)data_page)+data_len, data, len);
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data_len += len;
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return 0;
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}
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3
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char nvram_read_data(int type, int access_attr, void *data)
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0
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/* return 0 if successful */
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{
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int len = _get_data_len(type);
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3
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if (data_len+len > NVRAM_BLOCK_SIZE)
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0
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{
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3
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data_addr += NVRAM_BLOCK_SIZE;
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/* wrap-around address pointer */
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if (data_addr > NVRAM_MAX_SIZE)
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data_addr = NVRAM_BLOCK_SIZE;
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0
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iat_flash_read_page(data_addr);
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data_len = 0;
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}
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memcpy(data, ((char *)data_page)+data_len, len);
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data_len += len;
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return 0;
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}
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3
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/*
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NVRAM registers at block 0
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pos description
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0 version of the current dictionnary
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1 starting address for data block
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2 date of last writing
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3 address of the previous dictionnary
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4 size in pages of the current dict
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*/
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void nvram_write_reg(UNS32 reg, UNS16 pos)
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/* write reg at the position in the data block 0 */
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{
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regs_page[pos] = reg;
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}
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UNS32 nvram_read_reg(UNS16 pos)
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/* read reg at the position in the data block 0 */
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{
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return regs_page[pos];
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}
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0
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/*
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350 |
LED
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*/
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352 |
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3
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void led_set_redgreen(UNS8 bits)
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/* bits : each bit of this uns8 is assigned a led
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0=off, 1=on
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*/
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0
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357 |
{
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358 |
lpc2138_redgreenled_set(bits);
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359 |
}
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360 |
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