diff options
Diffstat (limited to 'app/src')
-rw-r--r-- | app/src/adc_task.c | 365 | ||||
-rw-r--r-- | app/src/can_task.c | 470 | ||||
-rw-r--r-- | app/src/com_task.c | 279 | ||||
-rw-r--r-- | app/src/gpio_ext.c | 132 | ||||
-rw-r--r-- | app/src/main.c | 139 |
5 files changed, 1385 insertions, 0 deletions
diff --git a/app/src/adc_task.c b/app/src/adc_task.c new file mode 100644 index 0000000..daf4716 --- /dev/null +++ b/app/src/adc_task.c @@ -0,0 +1,365 @@ +/* + * adc_task.c + * + */ + +#include "com_task.h" +#include "adc_task.h" +#include "fsl_adc16.h" +#include "fsl_port.h" +#include "errno.h" +#include "stdlib.h" + +struct adc_data { + uint16_t adc[ADC0_CHANNEL_CNT]; + uint16_t tsc_xm; + uint16_t tsc_xp; + uint16_t tsc_ym; + uint16_t tsc_yp; +} adc_data; + +/* + * Apalis ADC0 -> PTB0 -> ADC0_SE8 + * Apalis ADC1 -> PTB1 -> ADC0_SE9 + * Apalis ADC2 -> PTB2 -> ADC0_SE12 + * Apalis ADC3 -> PTB3 -> ADC0_SE13 + * + * Touch screen: + * Force: + * PTE6 X+ hi-off + * PTB9 X- lo-off + * PTC5 Y+ hi-off + * PTC13 Y- lo-off + * Sense: + * PTB7 -> ADC1_SE13 X- + * PTB6 -> ADC1_SE12 X+ + * PTC9 -> ADC1_SE5b Y- + * PTC8 -> ADC1_SE4b Y+ + */ +const uint8_t adc0_channels[ADC0_CHANNEL_CNT] = {8, 9, 12, 13}; +const uint8_t tsc_channels[TSC0_CHANNEL_CNT] = {13, 12, 5, 4}; + +static int adc_task_init(void) +{ + adc16_config_t adc_config; +#ifdef BOARD_USES_ADC + ADC16_GetDefaultConfig(&adc_config); + adc_config.resolution = kADC16_ResolutionSE16Bit; + adc_config.longSampleMode = kADC16_LongSampleDisabled; + adc_config.clockDivider = kADC16_ClockDivider8; + ADC16_Init(ADC0, &adc_config); + ADC16_SetHardwareAverage(ADC0, kADC16_HardwareAverageDisabled); + PRINTF("ADC init done \r\n"); + return 0; +#else + return -ENODEV; +#endif +} + +static int tsc_task_init(void) +{ + adc16_config_t adc_config; +#ifdef BOARD_USES_ADC + ADC16_GetDefaultConfig(&adc_config); + adc_config.resolution = kADC16_ResolutionSE12Bit; + adc_config.longSampleMode = kADC16_LongSampleCycle10; + adc_config.clockDivider = kADC16_ClockDivider8; + ADC16_Init(ADC1, &adc_config); + ADC16_SetChannelMuxMode(ADC1, kADC16_ChannelMuxB); + ADC16_SetHardwareAverage(ADC1, kADC16_HardwareAverageCount32); + PRINTF("TSC init done \r\n"); + return 0; +#else + return -ENODEV; +#endif +} + +#ifdef BOARD_USES_ADC +static void ts_force_drive(uint8_t xm, uint8_t xp, uint8_t ym, uint8_t yp) +{ + if (xp == 0) + GPIO_SetPinsOutput(GPIOE, 1 << 6); + else + GPIO_ClearPinsOutput(GPIOE, 1 << 6); + + if (xm > 0) + GPIO_SetPinsOutput(GPIOB, 1 << 9); + else + GPIO_ClearPinsOutput(GPIOB, 1 << 9); + + if (yp == 0) + GPIO_SetPinsOutput(GPIOC, 1 << 5); + else + GPIO_ClearPinsOutput(GPIOC, 1 << 5); + + if (ym > 0) + GPIO_SetPinsOutput(GPIOC, 1 << 13); + else + GPIO_ClearPinsOutput(GPIOC, 1 << 13); +} + +static inline uint16_t do_adc_conversion(ADC_Type *base, adc16_channel_config_t *channel) +{ + ADC16_SetChannelConfig(base, 0, channel); + while(ADC16_GetChannelStatusFlags(base, 0) == 0){vTaskDelay(0);} + return (uint16_t)ADC16_GetChannelConversionValue(base, 0); +} + +void adc_task(void *pvParameters) +{ + adc16_channel_config_t channel; + int i; + if (adc_task_init() < 0) + return; + + channel.enableDifferentialConversion = false; + channel.enableInterruptOnConversionCompleted = false; + + while(1) { + for (i = 0; i < ADC0_CHANNEL_CNT;i ++){ + channel.channelNumber = adc0_channels[i]; + adc_data.adc[i] = do_adc_conversion(ADC0, &channel); + registers[APALIS_TK1_K20_ADC_CH0L + 2 * i] = adc_data.adc[i] & 0xFF; + registers[APALIS_TK1_K20_ADC_CH0L + 2 * i + 1] = (adc_data.adc[i] >> 8) & 0xFF; + } + vTaskDelay(5); + } + +} + +enum touch_status { + PEN_UP, + PEN_DOWN +}; + +#define MIN_TOUCH_DET 5 + +/* PTB7 -> ADC1_SE13 X- + * PTB6 -> ADC1_SE12 X+ + * PTC9 -> ADC1_SE5b Y- + * PTC8 -> ADC1_SE4b Y+ + */ +void tsc_task(void *pvParameters) +{ + adc16_channel_config_t channel; + port_pin_config_t pin_config_pd, pin_config_ana; + int old_status, status = PEN_UP; + int irq_stat = 0, press; + uint16_t tsc_xm; + uint16_t tsc_xp; + uint16_t tsc_ym; + uint16_t tsc_yp; + + if (tsc_task_init() < 0) + return; + + pin_config_pd.mux = kPORT_MuxAsGpio; + pin_config_pd.openDrainEnable = kPORT_OpenDrainDisable; + pin_config_pd.pullSelect = kPORT_PullUp; + pin_config_pd.slewRate = kPORT_FastSlewRate; + pin_config_pd.passiveFilterEnable = kPORT_PassiveFilterDisable; + pin_config_pd.driveStrength = kPORT_LowDriveStrength; + pin_config_pd.lockRegister = kPORT_UnlockRegister; + + pin_config_ana.mux = kPORT_PinDisabledOrAnalog; + pin_config_ana.openDrainEnable = kPORT_OpenDrainDisable; + pin_config_ana.pullSelect = kPORT_PullDisable; + pin_config_ana.slewRate = kPORT_FastSlewRate; + pin_config_ana.passiveFilterEnable = kPORT_PassiveFilterDisable; + pin_config_ana.driveStrength = kPORT_LowDriveStrength; + pin_config_ana.lockRegister = kPORT_UnlockRegister; + + channel.enableDifferentialConversion = false; + channel.enableInterruptOnConversionCompleted = false; + + while(1) { + //Touch detect: power Y-, enable pullup on xp and read xp GPIO + ts_force_drive(0, 0, 1, 0); + PORT_SetPinConfig(PORTB, 6u, &pin_config_pd); + vTaskDelay(5); + old_status = status; + status = GPIO_ReadPinInput(GPIOB, 6u) ? PEN_UP:PEN_DOWN; + PORT_SetPinConfig(PORTB, 6u, &pin_config_ana); + + if (status != old_status) + irq_stat = 0; + + if (status == PEN_DOWN) { + //probe ym with power across Y plane + ts_force_drive(0, 0, 1, 1); + channel.channelNumber = tsc_channels[0]; + tsc_ym = do_adc_conversion(ADC1, &channel); + + //probe yp with power across Y plane + channel.channelNumber = tsc_channels[1]; + tsc_yp = do_adc_conversion(ADC1, &channel); + + //probe xm with power across X plane + ts_force_drive(1, 1, 0, 0); + channel.channelNumber = tsc_channels[2]; + tsc_xm = do_adc_conversion(ADC1, &channel); + + //probe xp with power across X plane + channel.channelNumber = tsc_channels[3]; + tsc_xp = do_adc_conversion(ADC1, &channel); + +#ifdef TOUCH_STRONG_FILTERING + /* additional filtering */ + //probe ym with power across Y plane + ts_force_drive(0, 0, 1, 1); + channel.channelNumber = tsc_channels[0]; + tsc_ym += do_adc_conversion(ADC1, &channel); + tsc_ym >>= 1; + + //probe yp with power across Y plane + channel.channelNumber = tsc_channels[1]; + tsc_yp += do_adc_conversion(ADC1, &channel); + tsc_yp >>= 1; + + //probe xm with power across X plane + ts_force_drive(1, 1, 0, 0); + channel.channelNumber = tsc_channels[2]; + tsc_xm += do_adc_conversion(ADC1, &channel); + tsc_xm >>= 1; + + //probe xp with power across X plane + channel.channelNumber = tsc_channels[3]; + tsc_xp += do_adc_conversion(ADC1, &channel); + tsc_xp >>= 1; +#endif + + /* make sure that pen is making good contact */ + press = (abs(tsc_yp - tsc_ym) + + abs(tsc_xp - tsc_xm)) / 2; +#ifdef TOUCH_STRONG_FILTERING + if (press > 9) { +#else + if (press > 15) { +#endif + continue; + } else { + adc_data.tsc_xm = tsc_xm; + adc_data.tsc_xp = tsc_xp; + adc_data.tsc_ym = tsc_ym; + adc_data.tsc_yp = tsc_yp; + } + + } else { + adc_data.tsc_xm = 0; + adc_data.tsc_xp = 0; + adc_data.tsc_ym = 0; + adc_data.tsc_yp = 0; + vTaskDelay(10); + } + + if (irq_stat == 0) { + generate_irq(APALIS_TK1_K20_TSC_IRQ); + irq_stat = 1; + } + + vTaskDelay(5); + } + +} + +int tsc_registers(dspi_transfer_t *spi_transfer) +{ + uint8_t *rx_buf = spi_transfer->rxData; + uint8_t *tx_buf = &spi_transfer->txData[0]; + + if (rx_buf[0] == APALIS_TK1_K20_WRITE_INST) { + switch (rx_buf[1]) { + case APALIS_TK1_K20_TSCREG: + return 0; + default: + return -ENOENT; + } + } else if (rx_buf[0] == APALIS_TK1_K20_BULK_READ_INST) { + if (rx_buf[1] == APALIS_TK1_K20_TSC_XML) { + if (rx_buf[2] == 2) { + tx_buf[0] = adc_data.tsc_xm & 0xFF; + tx_buf[1] = (adc_data.tsc_xm >> 8) & 0xFF; + return 2; + } else if (rx_buf[2] == 8) { + tx_buf[0] = adc_data.tsc_xm & 0xFF; + tx_buf[1] = (adc_data.tsc_xm >> 8) & 0xFF; + tx_buf[2] = adc_data.tsc_xp & 0xFF; + tx_buf[3] = (adc_data.tsc_xp >> 8) & 0xFF; + tx_buf[4] = adc_data.tsc_ym & 0xFF; + tx_buf[5] = (adc_data.tsc_ym >> 8) & 0xFF; + tx_buf[6] = adc_data.tsc_yp & 0xFF; + tx_buf[7] = (adc_data.tsc_yp >> 8) & 0xFF; + return 8; + } + } + switch (rx_buf[1]) { + case APALIS_TK1_K20_TSC_XPL: + tx_buf[0] = adc_data.tsc_xp & 0xFF; + tx_buf[1] = (adc_data.tsc_xp >> 8) & 0xFF; + return 2; + case APALIS_TK1_K20_TSC_YML: + tx_buf[0] = adc_data.tsc_ym & 0xFF; + tx_buf[1] = (adc_data.tsc_ym >> 8) & 0xFF; + return 2; + case APALIS_TK1_K20_TSC_YPL: + tx_buf[0] = adc_data.tsc_yp & 0xFF; + tx_buf[1] = (adc_data.tsc_yp >> 8) & 0xFF; + return 2; + default: + return -ENOENT; + } + } + return -ENOENT; +} + +int adc_registers(dspi_transfer_t *spi_transfer) +{ + uint8_t *rx_buf = spi_transfer->rxData; + uint8_t *tx_buf = &spi_transfer->txData[0]; + + if (rx_buf[0] == APALIS_TK1_K20_WRITE_INST) { + switch (rx_buf[1]) { + case APALIS_TK1_K20_ADCREG: + return 0; + default: + return -ENOENT; + } + } else if (rx_buf[0] == APALIS_TK1_K20_BULK_READ_INST) { + if (rx_buf[1] == APALIS_TK1_K20_ADC_CH0L) { + if (rx_buf[2] == 2) { + tx_buf[0] = adc_data.adc[0] & 0xFF; + tx_buf[1] = (adc_data.adc[0] >> 8) & 0xFF; + return 2; + } else if (rx_buf[2] == 8) { + tx_buf[0] = adc_data.adc[0] & 0xFF; + tx_buf[1] = (adc_data.adc[0] >> 8) & 0xFF; + tx_buf[2] = adc_data.adc[1] & 0xFF; + tx_buf[3] = (adc_data.adc[1] >> 8) & 0xFF; + tx_buf[4] = adc_data.adc[2] & 0xFF; + tx_buf[5] = (adc_data.adc[2] >> 8) & 0xFF; + tx_buf[6] = adc_data.adc[3] & 0xFF; + tx_buf[7] = (adc_data.adc[3] >> 8) & 0xFF; + return 8; + } + } + switch (rx_buf[1]){ + case APALIS_TK1_K20_ADC_CH1L: + tx_buf[0] = adc_data.adc[1] & 0xFF; + tx_buf[1] = (adc_data.adc[1] >> 8) & 0xFF; + return 2; + case APALIS_TK1_K20_ADC_CH2L: + tx_buf[0] = adc_data.adc[2] & 0xFF; + tx_buf[1] = (adc_data.adc[2] >> 8) & 0xFF; + return 2; + case APALIS_TK1_K20_ADC_CH3L: + tx_buf[0] = adc_data.adc[3] & 0xFF; + tx_buf[1] = (adc_data.adc[3] >> 8) & 0xFF; + return 2; + + default: + return -ENOENT; + } + } + return -ENOENT; +} +#endif diff --git a/app/src/can_task.c b/app/src/can_task.c new file mode 100644 index 0000000..e34d35d --- /dev/null +++ b/app/src/can_task.c @@ -0,0 +1,470 @@ + +#include "can_task.h" +#include "com_task.h" +#include "fsl_flexcan.h" + +/* special address description flags for the CAN_ID */ +#define CAN_EFF_FLAG 0x80000000U /* EFF/SFF is set in the MSB */ +#define CAN_RTR_FLAG 0x40000000U /* remote transmission request */ +#define CAN_ERR_FLAG 0x20000000U /* error message frame */ + +#define TX_MESSAGE_BUFFER_NUM0 (9) + +#define CAN_FRAME_MAX_LEN 8 +#define CAN_HEADER_MAX_LEN 5 +#define CAN_TRANSFER_BUF_LEN (CAN_HEADER_MAX_LEN + CAN_FRAME_MAX_LEN) + +#define CANCTRL_MODMASK (BIT(1) | BIT(0)) +#define CANCTRL_INTEN BIT(2) +#define CANINTF_RX BIT(3) +#define CANINTF_TX BIT(4) +#define CANINTF_ERR BIT(5) +#define CANCTRL_ENABLE BIT(6) +#define CANCTRL_INTMASK (CANINTF_RX | CANINTF_TX | CANINTF_ERR) + +#define EFLG_EWARN 0x01 +#define EFLG_RXWAR 0x02 +#define EFLG_TXWAR 0x04 +#define EFLG_RXEP 0x08 +#define EFLG_TXEP 0x10 +#define EFLG_TXBO 0x20 +#define EFLG_RXOVR 0x40 + +struct can_registers { + CAN_Type *base; + flexcan_handle_t handle; + uint8_t can_enable; + uint8_t can_err_reg; + uint8_t can_mode; + uint8_t frames_in_buf; + uint8_t rx_buf_top; + uint8_t rx_buf_bottom; + uint8_t tx_counter; +}; + +static uint8_t data_buffer[2][CAN_RX_BUF_SIZE][CAN_TRANSFER_BUF_LEN]; + +static struct can_registers can_regs[2]; + +static inline void generate_can_irq(uint8_t id) +{ + if (id == 0) { + GPIO_TogglePinsOutput(GPIOB, 1u << 8u); + } else { + GPIO_TogglePinsOutput(GPIOE, 1u << 26u); + } +} + +void can_tx_notify_task(void *pvParameters) +{ + uint32_t ulInterruptStatus; + + while(1){ + xTaskNotifyWait( 0x00, 0xFFFFFFFF, &ulInterruptStatus, portMAX_DELAY); + if (ulInterruptStatus & 0x01) { + registers[APALIS_TK1_K20_CANREG + APALIS_TK1_K20_CAN_DEV_OFFSET(0)] &= ~CANINTF_TX; + generate_can_irq(0); + } + if (ulInterruptStatus & 0x02) { + registers[APALIS_TK1_K20_CANREG + APALIS_TK1_K20_CAN_DEV_OFFSET(1)] &= ~CANINTF_TX; + generate_can_irq(1); + } + if (ulInterruptStatus & 0x04) { + registers[APALIS_TK1_K20_CANREG + APALIS_TK1_K20_CAN_DEV_OFFSET(0)] |= CANINTF_ERR; + generate_can_irq(0); + } + if (ulInterruptStatus & 0x08) { + registers[APALIS_TK1_K20_CANREG + APALIS_TK1_K20_CAN_DEV_OFFSET(1)] |= CANINTF_ERR; + generate_can_irq(1); + } + } +} + +static BaseType_t flexcan_callback(CAN_Type *base, flexcan_handle_t *handle, status_t status, uint32_t result, void *userData) +{ + callback_message_t * cb = (callback_message_t*) userData; + BaseType_t reschedule = pdFALSE; + + switch (status) + { + case kStatus_FLEXCAN_RxFifoIdle: + cb->async_status = pdTRUE; + xSemaphoreGiveFromISR(cb->sem, &reschedule); + break; + + case kStatus_FLEXCAN_TxIdle: + if (TX_MESSAGE_BUFFER_NUM0 == result) + { + switch ((int)base) + { + case (int)CAN0: + + xTaskNotifyFromISR(can_tx_notify_task_handle, 0x01, eSetBits, &reschedule); + break; + case (int)CAN1: + xTaskNotifyFromISR(can_tx_notify_task_handle, 0x02, eSetBits, &reschedule); + break; + } + + } + break; + + case kStatus_FLEXCAN_ErrorStatus: + if ((result & (kFLEXCAN_TxWarningIntFlag)) != 0) { + switch ((int)base) + { + case (int)CAN0: + registers[APALIS_TK1_K20_CANERR + APALIS_TK1_K20_CAN_DEV_OFFSET(0)] |= EFLG_TXWAR; + xTaskNotifyFromISR(can_tx_notify_task_handle, 0x04, eSetBits, &reschedule); + break; + case (int)CAN1: + registers[APALIS_TK1_K20_CANERR + APALIS_TK1_K20_CAN_DEV_OFFSET(1)] |= EFLG_TXWAR; + xTaskNotifyFromISR(can_tx_notify_task_handle, 0x08, eSetBits, &reschedule); + break; + } + } + + if ((result & (kFLEXCAN_BusOffIntFlag)) != 0) { + switch ((int)base) + { + case (int)CAN0: + registers[APALIS_TK1_K20_CANERR + APALIS_TK1_K20_CAN_DEV_OFFSET(0)] |= EFLG_TXBO; + xTaskNotifyFromISR(can_tx_notify_task_handle, 0x04, eSetBits, &reschedule); + break; + case (int)CAN1: + registers[APALIS_TK1_K20_CANERR + APALIS_TK1_K20_CAN_DEV_OFFSET(1)] |= EFLG_TXBO; + xTaskNotifyFromISR(can_tx_notify_task_handle, 0x08, eSetBits, &reschedule); + break; + } + } + break; + default: + break; + } + + return reschedule; +} + +static void CAN_Init(uint8_t id) +{ + flexcan_config_t flexcanConfig; + flexcan_rx_fifo_config_t fifoConfig; + uint32_t fifoFilter = 0xFFFFFFFF; + + FLEXCAN_GetDefaultConfig(&flexcanConfig); + + flexcanConfig.baudRate = 1000000U; /* set default to 1Mbit/s*/ + + /* Init FlexCAN module. */ + flexcanConfig.clkSrc = kFLEXCAN_ClkSrcPeri; + FLEXCAN_Init(can_regs[id].base, &flexcanConfig, CLOCK_GetFreq(kCLOCK_BusClk)); + + /* Create FlexCAN handle structure and set call back function. */ + FLEXCAN_TransferCreateHandle(can_regs[id].base, &can_regs[id].handle, flexcan_callback, + can_regs[id].handle.userData); + + /* Set Rx Mask to don't care on all bits. */ + FLEXCAN_SetRxMbGlobalMask(can_regs[id].base, FLEXCAN_RX_MB_EXT_MASK(0x00, 0, 0)); + FLEXCAN_SetRxFifoGlobalMask(can_regs[id].base, FLEXCAN_RX_MB_EXT_MASK(0x00, 0, 0)); + + fifoConfig.idFilterNum = 0; + fifoConfig.idFilterTable = &fifoFilter; + fifoConfig.idFilterType = kFLEXCAN_RxFifoFilterTypeC; + fifoConfig.priority = kFLEXCAN_RxFifoPrioHigh; + FLEXCAN_SetRxFifoConfig(can_regs[id].base, &fifoConfig, true); + + /* errata #5641 */ + can_regs[id].base->MB[TX_MESSAGE_BUFFER_NUM0 - 1].ID = 0x0; + can_regs[id].base->MB[TX_MESSAGE_BUFFER_NUM0 - 1].WORD0 = 0x0; + can_regs[id].base->MB[TX_MESSAGE_BUFFER_NUM0 - 1].WORD1 = 0x0; + can_regs[id].base->MB[TX_MESSAGE_BUFFER_NUM0 - 1].CS = CAN_CS_CODE(0x8); + can_regs[id].base->MB[TX_MESSAGE_BUFFER_NUM0 - 1].CS = CAN_CS_CODE(0x8); + + /* Setup Tx Message Buffer. */ + FLEXCAN_SetTxMbConfig(can_regs[id].base, TX_MESSAGE_BUFFER_NUM0, true); +} + +uint8_t available_data[2]; + +static void can_calculate_available_data(uint8_t id) { + taskENTER_CRITICAL(); + if ( can_regs[id].rx_buf_bottom <= can_regs[id].rx_buf_top) + available_data[id] = can_regs[id].rx_buf_top - can_regs[id].rx_buf_bottom; + else + available_data[id] = CAN_RX_BUF_SIZE - can_regs[id].rx_buf_bottom; + + available_data[id] = (available_data[id] > APALIS_TK1_MAX_CAN_DMA_XREF) ? APALIS_TK1_MAX_CAN_DMA_XREF:available_data[id]; + registers[APALIS_TK1_K20_CAN_IN_BUF_CNT + APALIS_TK1_K20_CAN_DEV_OFFSET(id)] = available_data[id]; + + if (can_regs[id].rx_buf_bottom == can_regs[id].rx_buf_top) + registers[APALIS_TK1_K20_CANREG + APALIS_TK1_K20_CAN_DEV_OFFSET(id)] &= ~CANINTF_RX; + else + registers[APALIS_TK1_K20_CANREG + APALIS_TK1_K20_CAN_DEV_OFFSET(id)] |= CANINTF_RX; + taskEXIT_CRITICAL(); +} + +void can_spi_read_complete(uint8_t id) +{ + can_calculate_available_data(id); +} + +static void frame_to_buffer(flexcan_frame_t *frame, uint8_t id) { + uint8_t top_frame = can_regs[id].rx_buf_top; + switch (frame->format){ + case kFLEXCAN_FrameFormatExtend: + data_buffer[id][top_frame][0] = frame->id & 0xFF; + data_buffer[id][top_frame][1] = (frame->id >> 8 ) & 0xFF; + data_buffer[id][top_frame][2] = (frame->id >> 16 ) & 0xFF; + data_buffer[id][top_frame][3] = (frame->id >> 24 ) & 0x1F; + data_buffer[id][top_frame][3] |= CAN_EFF_FLAG >> 24; + break; + case kFLEXCAN_FrameFormatStandard: + data_buffer[id][top_frame][0] = (frame->id >> 18) & 0xFF; + data_buffer[id][top_frame][1] = ((frame->id >> 18) >> 8 ) & 0x7F; + data_buffer[id][top_frame][2] = 0x00; + data_buffer[id][top_frame][3] = 0x00; + break; + } + + data_buffer[id][top_frame][3] |= frame->type ? (CAN_RTR_FLAG >> 24):0x00; + data_buffer[id][top_frame][4] = frame->length; + + switch (frame->length) { + case 8:data_buffer[id][top_frame][5 + 7] = frame->dataByte7; + case 7:data_buffer[id][top_frame][5 + 6] = frame->dataByte6; + case 6:data_buffer[id][top_frame][5 + 5] = frame->dataByte5; + case 5:data_buffer[id][top_frame][5 + 4] = frame->dataByte4; + case 4:data_buffer[id][top_frame][5 + 3] = frame->dataByte3; + case 3:data_buffer[id][top_frame][5 + 2] = frame->dataByte2; + case 2:data_buffer[id][top_frame][5 + 1] = frame->dataByte1; + case 1:data_buffer[id][top_frame][5] = frame->dataByte0; + } + + can_regs[id].rx_buf_top++; + can_regs[id].rx_buf_top %= CAN_RX_BUF_SIZE; + + can_calculate_available_data(id); +} + +static inline void can_fifo_rx(uint8_t id, flexcan_fifo_transfer_t * rxXfer) +{ + callback_message_t *can_msg = (callback_message_t *) can_regs[id].handle.userData; + + FLEXCAN_TransferReceiveFifoNonBlocking(can_regs[id].base, &can_regs[id].handle, rxXfer); + xSemaphoreTake(can_msg->sem, portMAX_DELAY); + if (can_msg->async_status == pdTRUE) { + frame_to_buffer(rxXfer->frame, id); + can_regs[id].frames_in_buf++; + generate_can_irq(id); + if (can_regs[id].frames_in_buf >= CAN_RX_BUF_SIZE) + vTaskSuspend(NULL); + } +} + +void can0_task(void *pvParameters) { + flexcan_frame_t rxFrame; + flexcan_fifo_transfer_t rxXfer; + callback_message_t can_msg; + + can_msg.sem = xSemaphoreCreateBinary(); + can_msg.async_status = pdFALSE; + memset(&can_regs[0], 0x00u, sizeof(struct can_registers)); + can_regs[0].handle.userData = (void *) &can_msg; + can_regs[0].base = CAN0; + + CAN_Init(0); + PRINTF("CAN0 init done \r\n"); + + rxXfer.frame = &rxFrame; + + while(1) + { + can_fifo_rx(0, &rxXfer); + } + vSemaphoreDelete(can_msg.sem); +} + +void can1_task(void *pvParameters) { + flexcan_frame_t rxFrame; + flexcan_fifo_transfer_t rxXfer; + callback_message_t can_msg; + + can_msg.sem = xSemaphoreCreateBinary(); + can_msg.async_status = pdFALSE; + memset(&can_regs[1], 0x00u, sizeof(struct can_registers)); + can_regs[1].handle.userData = (void *) &can_msg; + can_regs[1].base = CAN1; + + CAN_Init(1); + PRINTF("CAN1 init done \r\n"); + rxXfer.frame = &rxFrame; + + while(1) + { + can_fifo_rx(1, &rxXfer); + } + vSemaphoreDelete(can_msg.sem); + +} + +static void can_change_mode(int id, uint8_t new_mode) +{ + can_regs[id].can_mode = new_mode; + + FLEXCAN_SetMode(can_regs[id].base, new_mode); + +} + +static void can_enable(int id, uint8_t enable) +{ + can_regs[id].can_mode = enable; + + if (enable) { + callback_message_t *can_msg = (callback_message_t *) can_regs[id].handle.userData; + FLEXCAN_ExitFreezeMode(can_regs[id].base); + can_msg->async_status = pdFALSE; + xSemaphoreGive(can_msg->sem); + generate_can_irq(id); + } else { + FLEXCAN_TransferAbortReceiveFifo(can_regs[id].base, &can_regs[id].handle); + FLEXCAN_EnterFreezeMode(can_regs[id].base); + } + +} + +static uint8_t set_canreg (int id, uint8_t value) +{ + registers[APALIS_TK1_K20_CANREG + APALIS_TK1_K20_CAN_DEV_OFFSET(id)] = value; + if ( can_regs[id].can_mode != (value & CANCTRL_MODMASK) ) + can_change_mode(id, (value & CANCTRL_MODMASK)); + if (can_regs[id].can_enable != (value & CANCTRL_ENABLE)) + can_enable(id, (value & CANCTRL_ENABLE)); + return 0; +} + +static uint8_t clr_canreg (int id, uint8_t mask) +{ + mask &= (CANINTF_RX | CANINTF_TX | CANINTF_ERR); + registers[APALIS_TK1_K20_CANREG + APALIS_TK1_K20_CAN_DEV_OFFSET(id)] &= ~mask; + return 0; +} + +static uint8_t set_canerr (int id, uint8_t value) +{ + registers[APALIS_TK1_K20_CANERR + APALIS_TK1_K20_CAN_DEV_OFFSET(id)] = value; + return 0; +} + +static uint8_t set_canbadreg (int id, uint8_t value) +{ + + FLEXCAN_SetBitRate(can_regs[id].base, CLOCK_GetFreq(kCLOCK_BusClk), value * APALIS_TK1_CAN_CLK_UNIT); + return 0; +} + +static uint8_t set_canbittiming (int id, uint16_t value, int16_t mask) +{ + /* According to NXP we should use default settings */ + return 0; +} + +uint8_t can_sendframe(uint8_t id, uint8_t *data, uint8_t len) +{ + flexcan_mb_transfer_t txXfer; + flexcan_frame_t tx_frame; + + tx_frame.length = data[4]; + tx_frame.id = (data[3] << 24) + (data[2] << 16) + (data[1] << 8) + data[0]; + + tx_frame.format = (data[3] << 24 & CAN_EFF_FLAG) ? + kFLEXCAN_FrameFormatExtend:kFLEXCAN_FrameFormatStandard; + tx_frame.type = (data[3] << 24 & CAN_RTR_FLAG) ? + kFLEXCAN_FrameTypeRemote:kFLEXCAN_FrameTypeData; + + if (tx_frame.format == kFLEXCAN_FrameFormatExtend) + tx_frame.id = FLEXCAN_ID_EXT(tx_frame.id); + else + tx_frame.id = FLEXCAN_ID_STD(tx_frame.id); + + tx_frame.dataByte0 = data[5]; + tx_frame.dataByte1 = data[5 + 1]; + tx_frame.dataByte2 = data[5 + 2]; + tx_frame.dataByte3 = data[5 + 3]; + tx_frame.dataByte4 = data[5 + 4]; + tx_frame.dataByte5 = data[5 + 5]; + tx_frame.dataByte6 = data[5 + 6]; + tx_frame.dataByte7 = data[5 + 7]; + + txXfer.frame = &tx_frame; + txXfer.mbIdx = TX_MESSAGE_BUFFER_NUM0; + if( tx_frame.length <= 8 ) { + FLEXCAN_TransferSendNonBlocking(can_regs[id].base , &can_regs[id].handle, &txXfer); + registers[APALIS_TK1_K20_CANREG + APALIS_TK1_K20_CAN_DEV_OFFSET(id)] |= CANINTF_TX; + return 0; + } + else { + registers[APALIS_TK1_K20_CANREG + APALIS_TK1_K20_CAN_DEV_OFFSET(id)] &= ~CANINTF_TX; + generate_can_irq(id); + return -EIO; + } +} + +uint16_t can_readframe(uint8_t id, dspi_transfer_t *spi_transfer) +{ + uint8_t rx_size; + spi_transfer->txData = data_buffer[id][can_regs[id].rx_buf_bottom]; + rx_size = spi_transfer->rxData[2] / CAN_TRANSFER_BUF_LEN; /* size in frames, not bytes */ + if (rx_size > available_data[id]) + rx_size = available_data[id]; + + can_regs[id].rx_buf_bottom = can_regs[id].rx_buf_bottom + rx_size; + can_regs[id].rx_buf_bottom %= CAN_RX_BUF_SIZE; + + can_regs[id].frames_in_buf -= rx_size; + + return rx_size * CAN_TRANSFER_BUF_LEN; +} + +int canx_registers(dspi_transfer_t *spi_transfer, int id) +{ + uint8_t *rx_buf = spi_transfer->rxData; + if (rx_buf[0] == APALIS_TK1_K20_WRITE_INST) { + rx_buf[1] -= APALIS_TK1_K20_CAN_DEV_OFFSET(id); + switch (rx_buf[1]) { + case APALIS_TK1_K20_CANREG: + return set_canreg(id, rx_buf[2]); + case APALIS_TK1_K20_CANREG_CLR: + return clr_canreg(id, rx_buf[2]); + case APALIS_TK1_K20_CANERR: + return set_canerr(id, rx_buf[2]); + case APALIS_TK1_K20_CAN_BAUD_REG: + return set_canbadreg(id, rx_buf[2]); + case APALIS_TK1_K20_CAN_BIT_1: + return set_canbittiming(id, rx_buf[2], 0x00FF); + case APALIS_TK1_K20_CAN_BIT_2: + return set_canbittiming(id, (rx_buf[2] << 8), 0xFF00); + default: + return -EIO; + } + + } else if (rx_buf[0] == APALIS_TK1_K20_BULK_READ_INST) { + rx_buf[1] -= APALIS_TK1_K20_CAN_DEV_OFFSET(id); + switch (rx_buf[1]) { + case APALIS_TK1_K20_CAN_IN_BUF: + return can_readframe(id, spi_transfer); + default: + return -EIO; + } + } else if (rx_buf[0] == APALIS_TK1_K20_BULK_WRITE_INST) { + rx_buf[1] -= APALIS_TK1_K20_CAN_DEV_OFFSET(id); + switch (rx_buf[1]) { + case APALIS_TK1_K20_CAN_OUT_BUF: + can_sendframe(id, &rx_buf[3], rx_buf[2]); + return 0; + default: + return -EIO; + } + } + return -EIO; +} + diff --git a/app/src/com_task.c b/app/src/com_task.c new file mode 100644 index 0000000..d6bc97d --- /dev/null +++ b/app/src/com_task.c @@ -0,0 +1,279 @@ + +#include "com_task.h" +#include "can_task.h" +#include "gpio_ext.h" +#include "adc_task.h" + +volatile uint8_t registers[APALIS_TK1_K20_LAST_REG]; +volatile uint8_t regRxHandled; + +/* Put FW version at known address in a binary. Make it 32-bit to have room for the future */ +#ifndef TESTER_BUILD +const uint32_t __attribute__((section(".FwVersion"), used)) fw_version = APALIS_TK1_K20_FW_VER; +#else +const uint32_t __attribute__((section(".FwVersion"), used)) fw_version = APALIS_TK1_K20_TESTER_FW_VER; +#endif + +static dspi_slave_handle_t spi_handle; +static uint8_t slaveRxData[APALIS_TK1_K20_MAX_BULK + APALIS_TK1_K20_HEADER]; +static uint8_t slaveTxData[APALIS_TK1_K20_MAX_BULK + APALIS_TK1_K20_HEADER]; + +#ifdef SPI_DMA +dspi_slave_edma_handle_t g_dspi_edma_s_handle; +edma_handle_t dspiEdmaSlaveRxHandle; +edma_handle_t dspiEdmaSlaveTxHandle; +#endif + +void generate_irq(uint8_t irq) { + if (!(registers[APALIS_TK1_K20_MSQREG] & BIT(irq))) { + taskENTER_CRITICAL(); + registers[APALIS_TK1_K20_IRQREG] |= BIT(irq); + /* Toggle INT1 pin */ + GPIO_TogglePinsOutput(GPIOA, 1u << 16u); + taskEXIT_CRITICAL(); + } +} + +void clear_irq_flag(uint8_t irq) { + registers[APALIS_TK1_K20_IRQREG] &= ~irq; +} + +uint8_t get_control_reg() +{ + return registers[APALIS_TK1_K20_CTRREG]; + +} + +void set_control_reg(uint8_t value) +{ + registers[APALIS_TK1_K20_CTRREG] = value; +} + +uint8_t get_status_reg() +{ + return registers[APALIS_TK1_K20_STAREG]; + +} + +void set_status_reg(uint8_t value) +{ + registers[APALIS_TK1_K20_STAREG] = value; +} + +uint8_t get_mask_reg() +{ + return registers[APALIS_TK1_K20_MSQREG]; + +} + +void set_mask_reg(uint8_t value) +{ + registers[APALIS_TK1_K20_MSQREG] = value; +} + +uint8_t get_irq_reg() +{ + return registers[APALIS_TK1_K20_IRQREG]; + +} + +void set_irq_reg(uint8_t value) +{ + /* Clear IRQ flag on 1 */ + clear_irq_flag(value); + +} + +inline int general_registers(dspi_transfer_t * spi_transfer) +{ + uint8_t *rx_buf = spi_transfer->rxData; + + if (rx_buf[0] == APALIS_TK1_K20_WRITE_INST) { + switch (rx_buf[1]) { + case APALIS_TK1_K20_STAREG: + set_status_reg(rx_buf[2]); + return 1; + case APALIS_TK1_K20_REVREG: + return -ENOENT; + case APALIS_TK1_K20_IRQREG: + set_irq_reg(rx_buf[2]); + return 1; + case APALIS_TK1_K20_CTRREG: + set_control_reg(rx_buf[2]); + return 1; + case APALIS_TK1_K20_MSQREG: + set_mask_reg(rx_buf[2]); + return 1; + default: + return -ESRCH; + } + } + + + return -ENXIO; +} + + +inline void SPI_main_callback(status_t status, void *userData) +{ + callback_message_t * cb = (callback_message_t*) userData; + BaseType_t reschedule = pdFALSE; + + if (status == kStatus_Success) + { + xSemaphoreGiveFromISR(cb->sem, &reschedule); + } +#if 0 + if (status == kStatus_DSPI_Error) + { + __NOP(); + } +#endif + portYIELD_FROM_ISR(reschedule); +} + +static void SPI_callback(SPI_Type *base, dspi_slave_handle_t *handle, status_t status, void *userData) +{ + SPI_main_callback(status, userData); +} + +static void SPI_EDMA_callback(SPI_Type *base, dspi_slave_edma_handle_t *handle, status_t status, void *userData) +{ + SPI_main_callback(status, userData); +} + +static dspi_slave_config_t spi2_slaveConfig; + +static void SPI_init() { + gpio_pin_config_t gpio_out_config = { + kGPIO_DigitalOutput, 0, + }; + GPIO_PinInit(GPIOD, 11u, &gpio_out_config); + /* Slave config */ + spi2_slaveConfig.whichCtar = kDSPI_Ctar0; + spi2_slaveConfig.ctarConfig.bitsPerFrame = 8; + spi2_slaveConfig.ctarConfig.cpol = kDSPI_ClockPolarityActiveHigh; + spi2_slaveConfig.ctarConfig.cpha = kDSPI_ClockPhaseSecondEdge; + spi2_slaveConfig.enableContinuousSCK = false; + spi2_slaveConfig.enableRxFifoOverWrite = true; + spi2_slaveConfig.enableModifiedTimingFormat = false; + spi2_slaveConfig.samplePoint = kDSPI_SckToSin0Clock; + PRINTF("SPI init \r\n"); + DSPI_SlaveInit(SPI2, &spi2_slaveConfig); + DSPI_SlaveTransferCreateHandle(SPI2, &spi_handle, SPI_callback, spi_handle.userData); + + /* Set dspi slave interrupt priority higher. */ + NVIC_SetPriority(SPI2_IRQn, 5U); + GPIO_ClearPinsOutput(GPIOA, 1u << 29u); /* INT2 active */ + PRINTF("SPI init done \r\n"); + +} + +void spi_task(void *pvParameters) { + callback_message_t spi_msg; + dspi_transfer_t slaveXfer; + int ret = 0; + int can_read = -1; +#ifdef SPI_DMA + uint32_t slaveRxChannel, slaveTxChannel; + edma_config_t userConfig; +#endif + + spi_msg.sem = xSemaphoreCreateBinary(); + spi_handle.userData = &spi_msg; + SPI_init(); +#ifdef SPI_DMA + slaveRxChannel = 0U; + slaveTxChannel = 1U; + + DMAMUX_Init(DMAMUX); + DMAMUX_SetSource(DMAMUX, slaveRxChannel, kDmaRequestMux0SPI2Rx); + DMAMUX_EnableChannel(DMAMUX, slaveRxChannel); + DMAMUX_SetSource(DMAMUX, slaveTxChannel, kDmaRequestMux0SPI2Tx); + DMAMUX_EnableChannel(DMAMUX, slaveTxChannel); + + EDMA_GetDefaultConfig(&userConfig); + EDMA_Init(DMA0, &userConfig); + + EDMA_CreateHandle(&dspiEdmaSlaveRxHandle, DMA0, slaveRxChannel); + EDMA_CreateHandle(&dspiEdmaSlaveTxHandle, DMA0, slaveTxChannel); + + g_dspi_edma_s_handle.userData = &spi_msg; + DSPI_SlaveTransferCreateHandleEDMA(SPI2, &g_dspi_edma_s_handle, SPI_EDMA_callback, + &spi_msg, &dspiEdmaSlaveRxHandle, &dspiEdmaSlaveTxHandle); +#endif + memset((uint8_t *)registers, 0x00, APALIS_TK1_K20_LAST_REG); + registers[APALIS_TK1_K20_REVREG] = APALIS_TK1_K20_FW_VER; + GPIO_SetPinsOutput(GPIOA, 1u << 29u); /* INT2 idle */ + slaveXfer.configFlags = kDSPI_SlaveCtar0; + + while(1){ + slaveXfer.txData = NULL;/* no MISO traffic*/ + slaveXfer.rxData = slaveRxData; + slaveXfer.dataSize = 3; + /* Wait for instructions from SoC */ + ret = DSPI_SlaveTransferNonBlocking(SPI2, &spi_handle, &slaveXfer); + if ( ret == kStatus_Success) { + xSemaphoreTake(spi_msg.sem, portMAX_DELAY); + + if (slaveRxData[0] != APALIS_TK1_K20_READ_INST) { + taskENTER_CRITICAL(); + slaveXfer.txData = slaveTxData; + slaveXfer.rxData = slaveRxData; + if (slaveRxData[1] <= 0x05) { + ret = general_registers(&slaveXfer); +#ifndef TESTER_BUILD + } else if ((slaveRxData[1] >= APALIS_TK1_K20_CANREG + APALIS_TK1_K20_CAN_DEV_OFFSET(0)) + && (slaveRxData[1] <= APALIS_TK1_K20_CAN_OUT_BUF_END + APALIS_TK1_K20_CAN_DEV_OFFSET(0))) { + ret = canx_registers(&slaveXfer, 0); + can_read = 0; + + } else if ((slaveRxData[1] >= APALIS_TK1_K20_CANREG + APALIS_TK1_K20_CAN_DEV_OFFSET(1)) + && (slaveRxData[1] <= APALIS_TK1_K20_CAN_OUT_BUF_END + APALIS_TK1_K20_CAN_DEV_OFFSET(1))) { + ret = canx_registers(&slaveXfer, 1); + can_read = 1; +#endif +#ifdef BOARD_USES_ADC + } else if ((slaveRxData[1] >= APALIS_TK1_K20_ADCREG) && (slaveRxData[1] <= APALIS_TK1_K20_ADC_CH3H)) { + ret = adc_registers(&slaveXfer); + + } else if ((slaveRxData[1] >= APALIS_TK1_K20_TSCREG) && (slaveRxData[1] <= APALIS_TK1_K20_TSC_YPH)) { + ret = tsc_registers(&slaveXfer); +#endif + } else if ((slaveRxData[1] >= APALIS_TK1_K20_GPIOREG) && (slaveRxData[1] <= APALIS_TK1_K20_GPIO_STA)) { + ret = gpio_registers(&slaveXfer); + } else { + /* Register not defined */ + ret = -EINVAL; + } + + if (ret < 0) { + PRINTF("Invalid read/write ret = %d rx[0] = 0x%x, rx[1] = 0x%x, rx[2] = 0x%x\r\n", + ret, slaveRxData[0], slaveRxData[1], slaveRxData[2]); + } + + if (slaveRxData[0] == APALIS_TK1_K20_BULK_READ_INST) { + slaveXfer.dataSize = ret; + slaveXfer.rxData = NULL; +#ifdef SPI_DMA + DSPI_SlaveTransferEDMA(SPI2, &g_dspi_edma_s_handle, &slaveXfer); +#else + DSPI_SlaveTransferNonBlocking(SPI2, &spi_handle, &slaveXfer); +#endif + taskEXIT_CRITICAL(); + xSemaphoreTake(spi_msg.sem, portMAX_DELAY); + + if (can_read >= 0) { + can_spi_read_complete(can_read); + can_read = -1; + } + } else { + taskEXIT_CRITICAL(); + } + } + } else { + /* Something went wrong, retry */ + DSPI_SlaveTransferAbort(SPI2, &spi_handle); + } + } +} diff --git a/app/src/gpio_ext.c b/app/src/gpio_ext.c new file mode 100644 index 0000000..e0d55fb --- /dev/null +++ b/app/src/gpio_ext.c @@ -0,0 +1,132 @@ +/* + * gpio_ext.c + * + */ + +#include "gpio_ext.h" +#include "com_task.h" +#include "errno.h" + +extern const struct gpio_id *gpio_list; + + +static inline int port_type_to_int(PORT_Type *port) +{ + switch ((int) port) { + case PORTA_BASE: + return 0; + case PORTB_BASE: + return 1; + case PORTC_BASE: + return 2; + case PORTD_BASE: + return 3; + case PORTE_BASE: + return 4; + default: + return -EINVAL; + } +} + +/* returns GPIO index in gpio_list table and -EINVAL + * if there is no entry for this gpio. + */ +static int is_gpio_valid(uint8_t pin) +{ + uint16_t i; + int temp; + if (pin == 0xFF) + return -EINVAL; + + for (i = 0; i < sizeof(gpio_list)/sizeof(struct gpio_id); i++){ + temp = port_type_to_int(gpio_list[i].port) * 32; + temp += gpio_list[i].pin; + if ( temp == pin ) { + return i; + } + if (temp > pin) + return -EINVAL; + } + + return -EINVAL; +} + +static int set_gpio_status(uint8_t status, int index) +{ + gpio_pin_config_t gpio_config; + + gpio_config.pinDirection = (status & APALIS_TK1_K20_GPIO_STA_OE) ? kGPIO_DigitalOutput : kGPIO_DigitalInput; + gpio_config.outputLogic = (status & APALIS_TK1_K20_GPIO_STA_VAL); + + if (index >= 0) + GPIO_PinInit(gpio_list[index].gpio, gpio_list[index].pin, &gpio_config); + else + return index; + + return 0; +} + + +static uint8_t get_gpio_status(int index) +{ + uint8_t status; + GPIO_Type *base; + uint32_t gpio_pin; + + if (index == -EINVAL) + return 0xFF; + base = gpio_list[index].gpio; + gpio_pin = gpio_list[index].pin; + + if (((base->PDDR) >> gpio_pin) & 0x01U) { + status = APALIS_TK1_K20_GPIO_STA_OE; + status += (((base->PDOR) >> gpio_pin) & 0x01U) ? APALIS_TK1_K20_GPIO_STA_VAL : 0x00; + } else { + status = 0x00; + status += (((base->PDIR) >> gpio_pin) & 0x01U) ? APALIS_TK1_K20_GPIO_STA_VAL : 0x00; + } + + return status; +} + +int gpio_registers(dspi_transfer_t *spi_transfer) +{ + uint8_t *rx_buf = spi_transfer->rxData; + int index; + + if (rx_buf[0] == APALIS_TK1_K20_WRITE_INST) { + switch (rx_buf[1]) { + case APALIS_TK1_K20_GPIOREG: + return -ENOENT; + break; + case APALIS_TK1_K20_GPIO_NO: + index = is_gpio_valid(rx_buf[2]); + if (index >= 0){ + registers[APALIS_TK1_K20_GPIO_NO]= rx_buf[2]; + registers[APALIS_TK1_K20_GPIO_STA] = get_gpio_status(index); + return 1; + } else { + registers[APALIS_TK1_K20_GPIO_NO] = 0xFF; + return -ENOENT; + } + break; + case APALIS_TK1_K20_GPIO_STA: + index = is_gpio_valid(registers[APALIS_TK1_K20_GPIO_NO]); + if (index >= 0){ + set_gpio_status(rx_buf[2], index); + registers[APALIS_TK1_K20_GPIO_STA] = get_gpio_status(index); + return 1; + } else { + return -ENOENT; + } + break; + default: + return -ENOENT; + } + } + return -ENOENT; +} + + + + diff --git a/app/src/main.c b/app/src/main.c new file mode 100644 index 0000000..1c36984 --- /dev/null +++ b/app/src/main.c @@ -0,0 +1,139 @@ +/* + * Copyright (c) 2013 - 2016, Freescale Semiconductor, Inc. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without modification, + * are permitted provided that the following conditions are met: + * + * o Redistributions of source code must retain the above copyright notice, this list + * of conditions and the following disclaimer. + * + * o Redistributions in binary form must reproduce the above copyright notice, this + * list of conditions and the following disclaimer in the documentation and/or + * other materials provided with the distribution. + * + * o Neither the name of Freescale Semiconductor, Inc. nor the names of its + * contributors may be used to endorse or promote products derived from this + * software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND + * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR + * ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON + * ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +/** + * This is template for main module created by New Kinetis SDK 2.x Project Wizard. Enjoy! + **/ + +#include <string.h> + +#include "board.h" +#include "pin_mux.h" +#include "clock_config.h" +#include "fsl_debug_console.h" +#include "com_task.h" +#include "can_task.h" +#include "adc_task.h" + +/* FreeRTOS kernel includes. */ +#include "FreeRTOS.h" +#include "task.h" +#include "queue.h" +#include "timers.h" + + +#if ((defined USB_HOST_CONFIG_KHCI) && (USB_HOST_CONFIG_KHCI)) +#define CONTROLLER_ID kUSB_ControllerKhci0 +#endif +#if ((defined USB_HOST_CONFIG_EHCI) && (USB_HOST_CONFIG_EHCI)) +#define CONTROLLER_ID kUSB_ControllerEhci0 +#endif + +#ifdef BOARD_USES_ADC +TaskHandle_t adc_task_handle; +TaskHandle_t tsc_task_handle; +#endif +#ifndef TESTER_BUILD +TaskHandle_t can0_task_handle; +TaskHandle_t can1_task_handle; +TaskHandle_t can_tx_notify_task_handle; +#endif +TaskHandle_t spi_task_handle; + + +/*! + * @brief Application entry point. + */ +int main(void) { + + /* Init board hardware. */ + BOARD_InitPins(); + BOARD_BootClockRUN(); +#ifndef TESTER_BUILD + BOARD_InitDebugConsole(); +#endif + PRINTF("Apalis K20 Firmware Version %d.%d\r\n", FW_MAJOR, FW_MINOR); + + /* Create RTOS task */ + if(xTaskCreate(spi_task, "SPI_task", 1000L / sizeof(portSTACK_TYPE), NULL, 4, &spi_task_handle) != pdPASS) + { + PRINTF("create SPI task error\r\n"); + } +#ifndef TESTER_BUILD + if(xTaskCreate(can0_task, "CAN0_task", 1000L / sizeof(portSTACK_TYPE), NULL, 2, &can0_task_handle) != pdPASS) + { + PRINTF("create CAN0 task error\r\n"); + } + + if(xTaskCreate(can1_task, "CAN1_task", 1000L / sizeof(portSTACK_TYPE), NULL, 2, &can1_task_handle) != pdPASS) + { + PRINTF("create CAN1 task error\r\n"); + } + + if(xTaskCreate(can_tx_notify_task, "CAN_tx_notify_task", 1000L / sizeof(portSTACK_TYPE), NULL, 3, &can_tx_notify_task_handle) != pdPASS) + { + PRINTF("create CAN TX notify task error\r\n"); + } +#endif +#ifdef BOARD_USES_ADC + if(xTaskCreate(adc_task, "ADC_task", 1000L / sizeof(portSTACK_TYPE), NULL, 2, &adc_task_handle) != pdPASS) + { + PRINTF("create ADC task error\r\n"); + } + + if(xTaskCreate(tsc_task, "TSC_task", 1000L / sizeof(portSTACK_TYPE), NULL, 2, &tsc_task_handle) != pdPASS) + { + PRINTF("create TSC task error\r\n"); + } +#endif + + NVIC_SetPriority(CAN0_ORed_Message_buffer_IRQn, 7u); + NVIC_SetPriority(CAN0_Bus_Off_IRQn, 8u); + NVIC_SetPriority(CAN0_Error_IRQn, 8u); + NVIC_SetPriority(CAN0_Tx_Warning_IRQn, 8u); + NVIC_SetPriority(CAN0_Rx_Warning_IRQn, 8u); + NVIC_SetPriority(CAN0_Wake_Up_IRQn, 8u); + NVIC_SetPriority(CAN1_ORed_Message_buffer_IRQn, 7u); + NVIC_SetPriority(CAN1_Bus_Off_IRQn, 8u); + NVIC_SetPriority(CAN1_Error_IRQn, 8u); + NVIC_SetPriority(CAN1_Tx_Warning_IRQn, 8u); + NVIC_SetPriority(CAN1_Rx_Warning_IRQn, 8u); + NVIC_SetPriority(CAN1_Wake_Up_IRQn, 8u); + NVIC_SetPriority(SPI2_IRQn, 5u); + NVIC_SetPriority(DMA0_IRQn, 6u); + vTaskStartScheduler(); + + for(;;) { /* Infinite loop to avoid leaving the main function */ + __asm("NOP"); /* something to use as a breakpoint stop while looping */ + } +} + + + |