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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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}

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void nvram_close(void)

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{

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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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{

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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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}

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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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char nvram_write_data(int type, int access_attr, void *data)

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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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	if (data_len+len > NVRAM_BLOCK_SIZE)

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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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		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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	}

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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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char nvram_read_data(int type, int access_attr, void *data)

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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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	if (data_len+len > NVRAM_BLOCK_SIZE)

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	{

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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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		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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/*

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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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/*

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	LED

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*/

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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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{

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	lpc2138_redgreenled_set(bits);

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}

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