etisserant@0: /*
etisserant@0: This file is part of CanFestival, a library implementing CanOpen Stack.
etisserant@0: 
etisserant@0:  Author: Christian Fortin (canfestival@canopencanada.ca)
etisserant@0: 
etisserant@0: See COPYING file for copyrights details.
etisserant@0: 
etisserant@0: This library is free software; you can redistribute it and/or
etisserant@0: modify it under the terms of the GNU Lesser General Public
etisserant@0: License as published by the Free Software Foundation; either
etisserant@0: version 2.1 of the License, or (at your option) any later version.
etisserant@0: 
etisserant@0: This library is distributed in the hope that it will be useful,
etisserant@0: but WITHOUT ANY WARRANTY; without even the implied warranty of
etisserant@0: MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
etisserant@0: Lesser General Public License for more details.
etisserant@0: 
etisserant@0: You should have received a copy of the GNU Lesser General Public
etisserant@0: License along with this library; if not, write to the Free Software
etisserant@0: Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
etisserant@0: */
etisserant@0: 
etisserant@0: #include <stdlib.h>
etisserant@0: 
etisserant@0: #include <sys/time.h>
etisserant@0: #include <signal.h>
etisserant@0: 
etisserant@0: #include <cyg/kernel/kapi.h>
etisserant@0: #include <cyg/hal/hal_arch.h>
etisserant@0: 
etisserant@0: #include "applicfg.h"
etisserant@0: #include <data.h>
etisserant@0: #include <def.h>
etisserant@0: #include <can.h>
etisserant@0: #include <can_driver.h>
etisserant@0: #include <objdictdef.h>
etisserant@0: #include <objacces.h>
etisserant@0: 
etisserant@0: #include "lpc2138_pinout.h"
etisserant@0: #include "lpc2138_defs.h"
etisserant@0: #include "lpc2138.h"
etisserant@0: 
etisserant@0: #include "sja1000.h"
etisserant@0: 
etisserant@0: #include "time_slicer.h"
etisserant@0: 
etisserant@0: 
etisserant@0: /*
etisserant@0: 	SEND/RECEIVE
etisserant@0: */
etisserant@0: CAN_HANDLE canOpen(s_BOARD *board)
etisserant@0: {
etisserant@0: 	return NULL;
etisserant@0: }
etisserant@0: 
etisserant@0: /***************************************************************************/
etisserant@0: int canClose(CAN_HANDLE fd0)
etisserant@0: {
etisserant@0: 	return 0;
etisserant@0: }
etisserant@0: 
etisserant@0: UNS8 canReceive(CAN_HANDLE fd0, Message *m)
etisserant@0: /*
etisserant@0: Message *m :
etisserant@0: 	typedef struct {
etisserant@0: 	  SHORT_CAN cob_id;     // l'ID du mesg
etisserant@0: 	  UNS8 rtr;             // remote transmission request. 0 if not rtr,
etisserant@0:         	                // 1 for a rtr message
etisserant@0: 	  UNS8 len;             // message length (0 to 8)
etisserant@0: 	  UNS8 data[8];         // data
etisserant@0: 	} Message;
etisserant@0: 
etisserant@0: Fill the structure "Message" with data from the CAN receive buffer
etisserant@0: 
etisserant@0: return : 0
etisserant@0: */
etisserant@0: {
etisserant@0: /*
etisserant@0: 	the sja1000 must be set to the PeliCAN mode
etisserant@0: */
etisserant@0:     m->cob_id.w = sja1000_read(16) + (sja1000_read(17)<<8); // IO_PORTS_16(CAN0 + CANRCVID) >> 5
etisserant@0: 
etisserant@0:     m->rtr = (sja1000_read(17) >> 4) & 0x01; // (IO_PORTS_8(CAN0 + CANRCVID + 1) >> 4) & 0x01; 
etisserant@0: 
etisserant@0:     m->len = sja1000_read(18);
etisserant@0: 
etisserant@0:     m->data[0] = sja1000_read(19);
etisserant@0:     m->data[1] = sja1000_read(20);
etisserant@0:     m->data[2] = sja1000_read(21);
etisserant@0:     m->data[3] = sja1000_read(22);
etisserant@0:     m->data[4] = sja1000_read(23);
etisserant@0:     m->data[5] = sja1000_read(24);
etisserant@0:     m->data[6] = sja1000_read(25);
etisserant@0:     m->data[7] = sja1000_read(26);
etisserant@0: 
etisserant@0:     sja1000_write(CMR, 1<<RRB );        // release fifo
etisserant@0: 
etisserant@0:     return 0;
etisserant@0: }
etisserant@0: 
etisserant@0: 
etisserant@0: UNS8 canSend(CAN_HANDLE fd0, Message *m)
etisserant@0: /*
etisserant@0: Message *m :
etisserant@0: 	typedef struct {
etisserant@0: 	  SHORT_CAN cob_id;     // l'ID du mesg
etisserant@0: 	  UNS8 rtr;                     // remote transmission request. 0 if not rtr,
etisserant@0:         	                        // 1 for a rtr message
etisserant@0: 	  UNS8 len;                     // message length (0 to 8)
etisserant@0: 	  UNS8 data[8];         // data
etisserant@0: 	} Message;
etisserant@0: 
etisserant@0: Send the content of the structure "Message" to the CAN transmit buffer
etisserant@0: 
etisserant@0: return : 0 if OK, 1 if error
etisserant@0: */
etisserant@0: {
etisserant@0:     unsigned char rec_buf;
etisserant@0: 
etisserant@0:     do
etisserant@0:     {
etisserant@0:         rec_buf = sja1000_read(SR);
etisserant@0:     }
etisserant@0:     while ( (rec_buf & (1<<TBS))==0);           // loop until TBS high
etisserant@0: 
etisserant@0:     sja1000_write(16, m->cob_id.w & 0xff); 
etisserant@0:     sja1000_write(17, (m->cob_id.w >> 8) & 0xff);
etisserant@0:     sja1000_write(18, m->len);
etisserant@0: 
etisserant@0:     sja1000_write(19, m->data[0]); // tx data 1
etisserant@0:     sja1000_write(20, m->data[1]); // tx data 2
etisserant@0:     sja1000_write(21, m->data[2]); // tx data 3
etisserant@0:     sja1000_write(22, m->data[3]); // tx data 4
etisserant@0:     sja1000_write(23, m->data[4]); // tx data 5
etisserant@0:     sja1000_write(24, m->data[5]); // tx data 6
etisserant@0:     sja1000_write(25, m->data[6]); // tx data 7
etisserant@0:     sja1000_write(26, m->data[7]); // tx data 8
etisserant@0: 
etisserant@0:     sja1000_write(CMR,( (0<<SRR) | (0<<CDO) | (0<<RRB) | (0<<AT) | (1<<TR)));
etisserant@0:     do
etisserant@0:     {
etisserant@0:         rec_buf = sja1000_read(SR);
etisserant@0:     }
etisserant@0:     while ( (rec_buf & (1<<TBS))==0);           // loop until TBS high
etisserant@0: 
etisserant@0:     return 0;
etisserant@0: }
etisserant@0: 
etisserant@0: 
etisserant@0: /*
etisserant@0: 	SEQUENTIAL I/O TO FLASH
etisserant@0: 	those functions are for continous writing and read
etisserant@0: */
etisserant@0: 
etisserant@0: 
etisserant@0: int nvram_open(void)
etisserant@0: {
etisserant@0: 	/* some actions to initialise the flash */
etisserant@0: 	data_len = 0;
etisserant@0: 
etisserant@0: 	data_addr = 0; 
etisserant@0: 
etisserant@0: 	data_page = (unsigned int *)malloc(sizeof(unsigned int) * 64);
etisserant@0: 	memset(data_page, 0, sizeof(unsigned int)*64);
etisserant@0: 
etisserant@0: 	if (data_page == NULL)
etisserant@0: 		return -1;
etisserant@0: 
etisserant@0: 	return 0;
etisserant@0: }
etisserant@0: 
etisserant@0: 
etisserant@0: void nvram_close(void)
etisserant@0: {
etisserant@0: 	/* some actions to end accessing the flash */
etisserant@0: 	free(data_page);
etisserant@0: }
etisserant@0: 
etisserant@0: int _get_data_len(int type)
etisserant@0: {
etisserant@0: 	int len = 0; /* number of bytes */
etisserant@0: 	switch(type)
etisserant@0: 	{
etisserant@0: 		case  boolean:
etisserant@0: 			len = 1;
etisserant@0: 			break;
etisserant@0: 
etisserant@0: 		case  int8:
etisserant@0: 		case  uint8:
etisserant@0: 			len = 1;
etisserant@0: 			break;
etisserant@0: 		case  int16:
etisserant@0: 		case  uint16:
etisserant@0: 			len = 2;
etisserant@0: 			break;
etisserant@0: 		case  int24:
etisserant@0: 		case  uint24:
etisserant@0: 			len = 3;
etisserant@0: 			break;
etisserant@0: 		case  int32:
etisserant@0: 		case  uint32:
etisserant@0: 		case  real32:
etisserant@0: 			len = 4;
etisserant@0: 			break;
etisserant@0: 		case  int40:
etisserant@0: 		case  uint40:
etisserant@0: 			len = 5;
etisserant@0: 			break;
etisserant@0: 		case  int48:
etisserant@0: 		case  uint48:
etisserant@0: 			len = 6;
etisserant@0: 			break;
etisserant@0: 		case  int56:
etisserant@0: 		case  uint56:
etisserant@0: 			len = 7;
etisserant@0: 			break;
etisserant@0: 		case  int64:
etisserant@0: 		case  uint64:
etisserant@0: 		case  real64:
etisserant@0: 			len = 8;
etisserant@0: 			break;
etisserant@0: #if 0
etisserant@0: /* TO DO */
etisserant@0: 		case  visible_string:
etisserant@0: 		case  octet_string:
etisserant@0: 		case  unicode_string:
etisserant@0: 		case  time_of_day:
etisserant@0: 		case  time_difference:
etisserant@0: #endif
etisserant@0: 	}
etisserant@0: 
etisserant@0: 	return len;
etisserant@0: }
etisserant@0: 
etisserant@0: 
etisserant@0: char nvram_write(int type, int access_attr, void *data)
etisserant@0: /* return 0 if successfull */
etisserant@0: {
etisserant@0: 	int len = _get_data_len(type);
etisserant@0: 
etisserant@0: 	if (data_len+len > 256)
etisserant@0: 	{
etisserant@0: 		iat_flash_write_page(data_addr);
etisserant@0: 		data_len = 0;
etisserant@0: 		data_addr += 256;
etisserant@0: 	}
etisserant@0: 		
etisserant@0: 	memcpy(((char *)data_page)+data_len, data, len);
etisserant@0: 
etisserant@0: 	data_len += len;
etisserant@0: 
etisserant@0: 	return 0;
etisserant@0: }
etisserant@0: 
etisserant@0: 
etisserant@0: char nvram_read(int type, int access_attr, void *data)
etisserant@0: /* return 0 if successful */
etisserant@0: {
etisserant@0: 	int len = _get_data_len(type);
etisserant@0: 
etisserant@0: 	if (data_len+len > 256)
etisserant@0: 	{
etisserant@0: 		data_addr += 256;
etisserant@0: 		iat_flash_read_page(data_addr);
etisserant@0: 		data_len = 0;		
etisserant@0: 	}
etisserant@0: 
etisserant@0: 	memcpy(data, ((char *)data_page)+data_len, len);
etisserant@0: 
etisserant@0: 	data_len += len;
etisserant@0: 
etisserant@0: 	return 0;
etisserant@0: }
etisserant@0: 
etisserant@0: 
etisserant@0: /*
etisserant@0: 	LED
etisserant@0: */
etisserant@0: 
etisserant@0: void led_set_redgreen(unsigned char bits)
etisserant@0: {
etisserant@0: 	lpc2138_redgreenled_set(bits);
etisserant@0: }
etisserant@0: