author | frdupin |
Wed, 13 Dec 2006 15:36:30 +0100 | |
changeset 56 | 904abfb26abf |
parent 18 | 2fc8aa46980b |
permissions | -rw-r--r-- |
0 | 1 |
/* |
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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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18
2fc8aa46980b
First version of NVRAM implemented on the file system for can_virtual
oremeq
parents:
3
diff
changeset
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return iat_init(); |
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} |
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void nvram_close(void) |
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{ |
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2fc8aa46980b
First version of NVRAM implemented on the file system for can_virtual
oremeq
parents:
3
diff
changeset
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iat_end(); |
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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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18
2fc8aa46980b
First version of NVRAM implemented on the file system for can_virtual
oremeq
parents:
3
diff
changeset
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void nvram_new_firmware() |
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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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0 | 313 |
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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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