From 9b44776ec8bdec0236fc5a2c027b9e2f8427e051 Mon Sep 17 00:00:00 2001 From: kju Date: Fri, 22 Jan 2010 00:17:29 +0000 Subject: [PATCH] fix CAN support, add menuconfig options --- can/borg_can.c | 4 +- can/can.c | 6 +-- can/config.in | 74 +++++++++++++++++++++++++++++ can/lap.c | 123 +++++++++++++++++++++++++++++++++++++++++++++++++ can/lap.h | 120 +++++++++++++++++++++++++++++++++++++++++++++++ can/spi.h | 2 +- config.h | 36 ++++++++------- config.in | 6 +++ 8 files changed, 349 insertions(+), 22 deletions(-) create mode 100644 can/config.in create mode 100644 can/lap.c create mode 100644 can/lap.h diff --git a/can/borg_can.c b/can/borg_can.c index 56938ce..b407b40 100644 --- a/can/borg_can.c +++ b/can/borg_can.c @@ -2,7 +2,7 @@ #include "lap.h" #include "borg_can.h" #include "spi.h" -#include "blinken.h" +#include "../borg_hw/borg_hw.h" #include #include @@ -28,7 +28,7 @@ void bcan_init() msg->cmd = FKT_BORG_INFO; msg->data[0] = NUM_ROWS; msg->data[1] = NUM_COLS; - msg->data[2] = NUM_PLANES; + msg->data[2] = NUMPLANE; can_transmit((can_message *)msg); } diff --git a/can/can.c b/can/can.c index 5129228..b538107 100644 --- a/can/can.c +++ b/can/can.c @@ -355,11 +355,11 @@ void can_init(){ // 0x03 : 125kbit/16MHz // 0x04 : 125kbit/20MHz -#if F_MCP == 16000000 +#if FREQ == 16000000 #define CNF1_T 0x03 -#elif F_MCP == 8000000 +#elif FREQ == 8000000 #define CNF1_T 0x01 -#elif F_MCP == 20000000 +#elif FREQ == 20000000 #define CNF1_T 0x04 #else #error Can Baudrate is only defined for 8, 16 and 20 MHz diff --git a/can/config.in b/can/config.in new file mode 100644 index 0000000..aa7b857 --- /dev/null +++ b/can/config.in @@ -0,0 +1,74 @@ +dep_bool_menu "CAN bus support" CAN_SUPPORT y + +choice 'SPI Port' \ + "PORTA 0 \ + PORTB 1 \ + PORTC 2 \ + PORTD 3" \ + 'PORTB' SPI_PORTIDX + +choice 'Bit MOSI' \ + "Bit0 0 \ + Bit1 1 \ + Bit2 2 \ + Bit3 3 \ + Bit4 4 \ + Bit5 5 \ + Bit6 6 \ + Bit7 7" \ + 'Bit5' SPI_PIN_MOSI + +choice 'Bit MISO' \ + "Bit0 0 \ + Bit1 1 \ + Bit2 2 \ + Bit3 3 \ + Bit4 4 \ + Bit5 5 \ + Bit6 6 \ + Bit7 7" \ + 'Bit6' SPI_PIN_MISO + +choice 'Bit SCK' \ + "Bit0 0 \ + Bit1 1 \ + Bit2 2 \ + Bit3 3 \ + Bit4 4 \ + Bit5 5 \ + Bit6 6 \ + Bit7 7" \ + 'Bit7' SPI_PIN_SCK + +choice 'Bit SS' \ + "Bit0 0 \ + Bit1 1 \ + Bit2 2 \ + Bit3 3 \ + Bit4 4 \ + Bit5 5 \ + Bit6 6 \ + Bit7 7" \ + 'Bit4' SPI_PIN_SS + +bool "Use interrupt" CAN_INTERRUPT + +choice 'Interrupt Port' \ + "PINA PINA \ + PINB PINB \ + PINC PINC \ + PIND PIND" \ + 'PIND' SPI_REG_PIN_MCP_INT + +choice 'Interrupt Bit' \ + "Bit0 0 \ + Bit1 1 \ + Bit2 2 \ + Bit3 3 \ + Bit4 4 \ + Bit5 5 \ + Bit6 6 \ + Bit7 7" \ + 'Bit2' SPI_PIN_MCP_INT + +endmenu diff --git a/can/lap.c b/can/lap.c new file mode 100644 index 0000000..5bc9909 --- /dev/null +++ b/can/lap.c @@ -0,0 +1,123 @@ +#include +#include + +#include "can.h" +#include "lap.h" + +/**************************************************************************** + * STUBS: LAP Core Services + */ + +// send ping to dst +void lap_ping( can_addr dst ) +{ + pdo_message *msg = (pdo_message *)can_buffer_get(); + + msg->addr_src = 0; + msg->addr_dst = dst; + msg->port_src = PORT_MGT; + msg->port_dst = PORT_MGT; + msg->dlc = 1; + msg->cmd = FKT_MGT_PING; + + can_transmit( (can_message *)msg ); +} + +// send reset request to dst +void lap_reset( can_addr dst ) +{ + pdo_message *msg = (pdo_message *)can_buffer_get(); + + msg->addr_src = 0; + msg->addr_dst = dst; + msg->port_src = PORT_MGT; + msg->port_dst = PORT_MGT; + msg->dlc = 1; + msg->cmd = FKT_MGT_RESET; + + can_transmit( (can_message *)msg ); +} + + + + + + + + + + + + +/* +char *sdo_readbuf(lap_message *first_msg, + unsigned char int length, unsigned char &reallength) +{ + unsigned char len = first_message->data[0]; + char *buf = malloc(length); + char *cur = buf; + + reallength = 0; + while( reallength < length ) { + can_message *msg = can_get(); + + if ( msg->addr_src != first_msg->addr_src || + msg->addr_dest != fisrt_msg->addr_dest || + msg->port_src != fisrt_msg->port_src || + msg->port_dest != fisrt_msg->port_dest ) + { + return buf; + } + + memcpy(cur, msg->data, msg->dlc); + reallength+=msg->dlc; + msg->flags = 0x00; + } + + return buf; +} + +// unsigned char sdo_sendpacket(lap_message *msg) +// { +// } +// +// unsigned char sdo_sendpacket_nb(lap_message *msg) +// { +// } + +unsigned char sdo_sendbuf(lap_message *fst_msg, unsigned char *buf, unsigned char len) +{ + while(len > 0) { + can_message *msg = can_buffer_get(); + msg->addr_src = fst_msg->addr_src; + msg->addr_dest = fst_msg->addr_dest; + msg->port_src = fst_msg->port_src; + msg->port_dest = fst_msg->port_dest; + + msg->dlc = len > 8 ? 8 : len; + memcpy(msg->data, buf, msg->dlc); + msg->flags = 0x01; + can_transmit(); + } + // XXX wait for ACK +} + + +unsigned char sdo_sendbuf_nb(lap_message *fst_msg, unsigned char *buf, unsigned char len) +{ + while(len > 0) { + can_message *msg = can_buffer_get(); + msg->addr_src = fst_msg->addr_src; + msg->addr_dest = fst_msg->addr_dest; + msg->port_src = fst_msg->port_src; + msg->port_dest = fst_msg->port_dest; + + msg->dlc = len > 8 ? 8 : len; + memcpy(msg->data, buf, msg->dlc); + msg->flags = 0x01; + can_transmit(); + } + // XXX wait for ACK + +} +*/ diff --git a/can/lap.h b/can/lap.h new file mode 100644 index 0000000..dbc68b4 --- /dev/null +++ b/can/lap.h @@ -0,0 +1,120 @@ +#ifndef LAP_H +#define LAP_H + +/**************************************************************************** + * Labor Automation Protocol + * + */ + +#include + + +/**************************************************************************** + * Types + */ + +// "inherits" from can_message +typedef struct { + can_addr addr_src; + can_addr addr_dst; + can_port port_src; + can_port port_dst; + unsigned char dlc; + unsigned char cmd; + uint16_t index; + uint16_t size; + uint16_t address; +} sdo_message; + +// "inherits" from can_message +typedef struct{ + can_addr addr_src; + can_addr addr_dst; + can_port port_src; + can_port port_dst; + unsigned char dlc; + unsigned char cmd; + unsigned char data[7]; +} pdo_message; + +/**************************************************************************** + * Known ports and services + */ + +typedef enum { PORT_MGT=0x30, PORT_LAMPE=0x20, PORT_SDO=0x15, PORT_SDO_DATA=0x16, PORT_LAPD=0x18, + PORT_BORG=0x23, PORT_MOOD=0x17, PORT_REMOTE=0x21, PORT_GATE=0x22, PORT_CHUCK=0x26 } ports; + +typedef enum { FKT_MGT_PING=0x00, FKT_MGT_PONG=0x01, + FKT_MGT_RESET=0x02, FKT_MGT_AWAKE=0x03, FKT_MGT_TIMEREQUEST=0x04, FKT_MGT_TIMEREPLY=0x05 } lap_mgt_fkts; + +typedef enum { FKT_LAMPE_SET=0x00, FKT_LAMPE_SETMASK=0x01, + FKT_LAMPE_SETDELAY=0x02, FKT_LAMPE_ADD=0x03 } lap_lampe_fkts; + +typedef enum { FKT_BORG_INFO=0x00, FKT_BORG_MODE=0x01, FKT_BORG_SCROLLTEXT_RESET=0x02, + FKT_BORG_SCROLLTEXT_APPEND=0x03 } lap_borg_fkts; + +typedef enum { FKT_ONOFF_INFO=0, FKT_ONOFF_SET=1, FKT_ONOFF_GET=2, + } lap_lapd_fkts; + +typedef enum { FKT_MOOD_INFO=0x00, FKT_MOOD_GET=0x01, FKT_MOOD_SET=0x02, FKT_MOOD_ONOFF=0x03} lap_mood_fkts; +#define SDO_CMD_READ 0x20 +#define SDO_CMD_REPLY 0x21 +#define SDO_CMD_INFO 0x22 +#define SDO_CMD_READ_BLK 0x40 +#define SDO_CMD_READ_BLK_ACK 0x41 +#define SDO_CMD_WRITE_BLK 0x48 +#define SDO_CMD_WRITE_BLK_ACK 0x49 + + +#define SDO_CMD_ERROR_INDEX 0x80 + +#define SDO_TYPE_UINT8_RO 0x00 +#define SDO_TYPE_UINT8_RW 0x01 +#define SDO_TYPE_UINT16_RO 0x04 +#define SDO_TYPE_UINT16_RW 0x05 +#define SDO_TYPE_UINT32_RO 0x08 +#define SDO_TYPE_UINT32_RW 0x09 +#define SDO_TYPE_STRING_RO 0x80 +#define SDO_TYPE_STRING_RW 0x81 +#define SDO_TYPE_STRING_WO 0x82 + + +/**************************************************************************** + * STUBS: LAP Core Services + */ + +// send ping to dst +void lap_ping( can_addr dst ); + +// send reset request to dst +void lap_reset( can_addr dst ); + +/** + * ServiceDataObject routinen + * +unsigned char *sdo_readbuf(sdo_message *first_message, + unsigned char length, unsigned char *actuallength); + +unsigned char sdo_sendbuf(sdo_message *fst_msg, unsigned char *buf, unsigned char len); +unsigned char sdo_sendbuf_nb(sdo_message *fst_msg, unsigned char *buf, unsigned char len); + +*/ +///////////////////////////////////////////////////////////////////////////// +/* Usage + +while(1) { + lap_message msg = lap_rcvpacket(); + switch( msg->fkt_id ) { + case FKT_BLA: + unsigned char length = data[0] + + data + + char *buf = lap_read(msg, length); + if ( !buf ) continue; + + // interpret buffer +} +*/ + +#endif diff --git a/can/spi.h b/can/spi.h index c4c2ee6..89ebace 100644 --- a/can/spi.h +++ b/can/spi.h @@ -1,7 +1,7 @@ #ifndef SPI_H #define SPI_H -#include "config.h" +#include "../config.h" /** * this enables the use of Hardware SPI on ATMEGA diff --git a/config.h b/config.h index 7337829..0eaff67 100644 --- a/config.h +++ b/config.h @@ -12,30 +12,34 @@ #define SNAKE_DELAY 100 -/* -#define BORG_CAN +#ifdef CAN_SUPPORT +#define BORG_CAN // spi.[ch] defines #define SPI_HARDWARE -#define SPI_PORT PORTB //for slave select -#define SPI_PIN PINB //for slave select + +#if SPI_PORTIDX == 0 +#define SPI_PORT PORTA +#define SPI_DDR DDRA +#define SPI_PIN PINA +#elif SPI_PORTIDX == 1 +#define SPI_PORT PORTB #define SPI_DDR DDRB - -#define SPI_PIN_MOSI PB5 -#define SPI_PIN_MISO PB6 -#define SPI_PIN_SCK PB7 -#define SPI_PIN_SS PB4 // for slave select - -//interrupt pin of MCP2515 for non interrupt driven can -#define SPI_REG_PIN_MCP_INT PIND -#define SPI_PIN_MCP_INT PD2 +#define SPI_PIN PINB +#elif SPI_PORTIDX == 2 +#define SPI_PORT PORTC +#define SPI_DDR DDRC +#define SPI_PIN PINC +#elif SPI_PORTIDX == 3 +#define SPI_PORT PORTD +#define SPI_DDR DDRD +#define SPI_PIN PIND +#endif // can.[ch] defines -#undef CAN_INTERRUPT //set this to enable interrupt driven and buffering version #define CAN_RX_BUFFER_SIZE 2 //only used for Interrupt #define CAN_TX_BUFFER_SIZE 2 //only used for Interrupt -#define F_MCP F_CPU -*/ +#endif #define INIT_EEPROM diff --git a/config.in b/config.in index aafd556..417bafd 100644 --- a/config.in +++ b/config.in @@ -45,8 +45,14 @@ source scrolltext/config.in source joystick/config.in ############################################################################### +############################ CAN Menu ######################################### +source can/config.in +############################################################################### + dep_bool "menu support" MENU_SUPPORT $JOYSTICK_SUPPORT + + ############################ Game Menu ######################################## source games/config.in ###############################################################################