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-rw-r--r--app/include/FreeRTOSConfig.h197
-rw-r--r--app/include/adc_task.h20
-rw-r--r--app/include/apalis-tk1-k20-api.h123
-rw-r--r--app/include/can_task.h22
-rw-r--r--app/include/com_task.h45
-rw-r--r--app/include/gpio_ext.h22
6 files changed, 429 insertions, 0 deletions
diff --git a/app/include/FreeRTOSConfig.h b/app/include/FreeRTOSConfig.h
new file mode 100644
index 0000000..91e561f
--- /dev/null
+++ b/app/include/FreeRTOSConfig.h
@@ -0,0 +1,197 @@
+/*
+ FreeRTOS V9.0.0 - Copyright (C) 2016 Real Time Engineers Ltd.
+ All rights reserved
+
+ VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
+
+ This file is part of the FreeRTOS distribution.
+
+ FreeRTOS is free software; you can redistribute it and/or modify it under
+ the terms of the GNU General Public License (version 2) as published by the
+ Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception.
+
+ ***************************************************************************
+ >>! NOTE: The modification to the GPL is included to allow you to !<<
+ >>! distribute a combined work that includes FreeRTOS without being !<<
+ >>! obliged to provide the source code for proprietary components !<<
+ >>! outside of the FreeRTOS kernel. !<<
+ ***************************************************************************
+
+ FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
+ WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+ FOR A PARTICULAR PURPOSE. Full license text is available on the following
+ link: http://www.freertos.org/a00114.html
+
+ ***************************************************************************
+ * *
+ * FreeRTOS provides completely free yet professionally developed, *
+ * robust, strictly quality controlled, supported, and cross *
+ * platform software that is more than just the market leader, it *
+ * is the industry's de facto standard. *
+ * *
+ * Help yourself get started quickly while simultaneously helping *
+ * to support the FreeRTOS project by purchasing a FreeRTOS *
+ * tutorial book, reference manual, or both: *
+ * http://www.FreeRTOS.org/Documentation *
+ * *
+ ***************************************************************************
+
+ http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
+ the FAQ page "My application does not run, what could be wrong?". Have you
+ defined configASSERT()?
+
+ http://www.FreeRTOS.org/support - In return for receiving this top quality
+ embedded software for free we request you assist our global community by
+ participating in the support forum.
+
+ http://www.FreeRTOS.org/training - Investing in training allows your team to
+ be as productive as possible as early as possible. Now you can receive
+ FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
+ Ltd, and the world's leading authority on the world's leading RTOS.
+
+ http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
+ including FreeRTOS+Trace - an indispensable productivity tool, a DOS
+ compatible FAT file system, and our tiny thread aware UDP/IP stack.
+
+ http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
+ Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
+
+ http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
+ Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
+ licenses offer ticketed support, indemnification and commercial middleware.
+
+ http://www.SafeRTOS.com - High Integrity Systems also provide a safety
+ engineered and independently SIL3 certified version for use in safety and
+ mission critical applications that require provable dependability.
+
+ 1 tab == 4 spaces!
+*/
+
+#ifndef FREERTOS_CONFIG_H
+#define FREERTOS_CONFIG_H
+
+/*-----------------------------------------------------------
+ * Application specific definitions.
+ *
+ * These definitions should be adjusted for your particular hardware and
+ * application requirements.
+ *
+ * THESE PARAMETERS ARE DESCRIBED WITHIN THE 'CONFIGURATION' SECTION OF THE
+ * FreeRTOS API DOCUMENTATION AVAILABLE ON THE FreeRTOS.org WEB SITE.
+ *
+ * See http://www.freertos.org/a00110.html.
+ *----------------------------------------------------------*/
+
+#define configUSE_PREEMPTION 1
+#define configUSE_TICKLESS_IDLE 0
+#define configCPU_CLOCK_HZ (SystemCoreClock)
+#define configTICK_RATE_HZ ((TickType_t)1000)
+#define configMAX_PRIORITIES 5
+#define configMINIMAL_STACK_SIZE ((unsigned short)90)
+#define configMAX_TASK_NAME_LEN 20
+#define configUSE_16_BIT_TICKS 0
+#define configIDLE_SHOULD_YIELD 1
+#define configUSE_TASK_NOTIFICATIONS 1
+#define configUSE_MUTEXES 1
+#define configUSE_RECURSIVE_MUTEXES 1
+#define configUSE_COUNTING_SEMAPHORES 1
+#define configUSE_ALTERNATIVE_API 0 /* Deprecated! */
+#define configQUEUE_REGISTRY_SIZE 8
+#define configUSE_QUEUE_SETS 0
+#define configUSE_TIME_SLICING 0
+#define configUSE_NEWLIB_REENTRANT 0
+#define configENABLE_BACKWARD_COMPATIBILITY 1
+#define configNUM_THREAD_LOCAL_STORAGE_POINTERS 5
+#define configUSE_APPLICATION_TASK_TAG 0
+
+/* Memory allocation related definitions. */
+#define configSUPPORT_STATIC_ALLOCATION 0
+#define configSUPPORT_DYNAMIC_ALLOCATION 1
+#define configTOTAL_HEAP_SIZE ((size_t)(10240))
+#define configAPPLICATION_ALLOCATED_HEAP 0
+
+/* Hook function related definitions. */
+#define configUSE_IDLE_HOOK 0
+#define configUSE_TICK_HOOK 0
+#define configCHECK_FOR_STACK_OVERFLOW 0
+#define configUSE_MALLOC_FAILED_HOOK 0
+#define configUSE_DAEMON_TASK_STARTUP_HOOK 0
+
+/* Run time and task stats gathering related definitions. */
+#define configGENERATE_RUN_TIME_STATS 0
+#define configUSE_TRACE_FACILITY 1
+#define configUSE_STATS_FORMATTING_FUNCTIONS 0
+
+/* Co-routine related definitions. */
+#define configUSE_CO_ROUTINES 0
+#define configMAX_CO_ROUTINE_PRIORITIES 2
+
+/* Software timer related definitions. */
+#define configUSE_TIMERS 1
+#define configTIMER_TASK_PRIORITY 2
+#define configTIMER_QUEUE_LENGTH 10
+#define configTIMER_TASK_STACK_DEPTH (configMINIMAL_STACK_SIZE * 2)
+
+/* Define to trap errors during development. */
+//#define configASSERT(x) if((x) == 0) {taskDISABLE_INTERRUPTS(); for (;;);}
+
+/* Optional functions - most linkers will remove unused functions anyway. */
+#define INCLUDE_vTaskPrioritySet 1
+#define INCLUDE_uxTaskPriorityGet 1
+#define INCLUDE_vTaskDelete 1
+#define INCLUDE_vTaskSuspend 1
+#define INCLUDE_xResumeFromISR 1
+#define INCLUDE_vTaskDelayUntil 1
+#define INCLUDE_vTaskDelay 1
+#define INCLUDE_xTaskGetSchedulerState 1
+#define INCLUDE_xTaskGetCurrentTaskHandle 1
+#define INCLUDE_uxTaskGetStackHighWaterMark 0
+#define INCLUDE_xTaskGetIdleTaskHandle 0
+#define INCLUDE_eTaskGetState 0
+#define INCLUDE_xEventGroupSetBitFromISR 1
+#define INCLUDE_xTimerPendFunctionCall 1
+#define INCLUDE_xTaskAbortDelay 0
+#define INCLUDE_xTaskGetHandle 0
+#define INCLUDE_xTaskResumeFromISR 1
+
+#ifdef __NVIC_PRIO_BITS
+/* __BVIC_PRIO_BITS will be specified when CMSIS is being used. */
+#define configPRIO_BITS __NVIC_PRIO_BITS
+#else
+#define configPRIO_BITS 4 /* 15 priority levels */
+#endif
+
+/* The lowest interrupt priority that can be used in a call to a "set priority"
+function. */
+#define configLIBRARY_LOWEST_INTERRUPT_PRIORITY ((1U << (configPRIO_BITS)) - 1)
+
+/* The highest interrupt priority that can be used by any interrupt service
+routine that makes calls to interrupt safe FreeRTOS API functions. DO NOT CALL
+INTERRUPT SAFE FREERTOS API FUNCTIONS FROM ANY INTERRUPT THAT HAS A HIGHER
+PRIORITY THAN THIS! (higher priorities are lower numeric values. */
+#define configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY 5
+
+/* Interrupt priorities used by the kernel port layer itself. These are generic
+to all Cortex-M ports, and do not rely on any particular library functions. */
+#define configKERNEL_INTERRUPT_PRIORITY (configLIBRARY_LOWEST_INTERRUPT_PRIORITY << (8 - configPRIO_BITS))
+/* !!!! configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to zero !!!!
+See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html. */
+#define configMAX_SYSCALL_INTERRUPT_PRIORITY (configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY << (8 - configPRIO_BITS))
+
+/* Normal assert() semantics without relying on the provision of an assert.h
+header file. */
+#define configASSERT(x) \
+ if ((x) == 0) \
+ { \
+ taskDISABLE_INTERRUPTS(); \
+ for (;;) \
+ ; \
+ }
+
+/* Definitions that map the FreeRTOS port interrupt handlers to their CMSIS
+standard names. */
+#define vPortSVCHandler SVC_Handler
+#define xPortPendSVHandler PendSV_Handler
+#define xPortSysTickHandler SysTick_Handler
+
+#endif /* FREERTOS_CONFIG_H */
diff --git a/app/include/adc_task.h b/app/include/adc_task.h
new file mode 100644
index 0000000..98a25aa
--- /dev/null
+++ b/app/include/adc_task.h
@@ -0,0 +1,20 @@
+/*
+ * adc_task.h
+ *
+ */
+
+#ifndef SOURCE_ADC_TASK_H_
+#define SOURCE_ADC_TASK_H_
+#include "board.h"
+#include "fsl_dspi.h"
+
+#ifdef BOARD_USES_ADC
+extern TaskHandle_t adc_task_handle;
+extern TaskHandle_t tsc_task_handle;
+void adc_task(void *pvParameters);
+void tsc_task(void *pvParameters);
+int adc_registers(dspi_transfer_t *spi_transfer);
+int tsc_registers(dspi_transfer_t *spi_transfer);
+#endif
+
+#endif /* SOURCE_ADC_TASK_H_ */
diff --git a/app/include/apalis-tk1-k20-api.h b/app/include/apalis-tk1-k20-api.h
new file mode 100644
index 0000000..112a79b
--- /dev/null
+++ b/app/include/apalis-tk1-k20-api.h
@@ -0,0 +1,123 @@
+/*
+ * Copyright 2016-2017 Toradex AG
+ * Dominik Sliwa <dominik.sliwa@toradex.com>
+ *
+ * This program is free software; you can redistribute it and/or modify it under
+ * the terms of the GNU General Public License version 2 as published by the
+ * Free Software Foundation.
+ */
+
+#ifndef __LINUX_MFD_APALIS_TK1_K20_API_H
+#define __LINUX_MFD_APALIS_TK1_K20_API_H
+
+/* Commands and registers used in SPI communication */
+
+/* Commands*/
+#define APALIS_TK1_K20_READ_INST 0x0F
+#define APALIS_TK1_K20_WRITE_INST 0xF0
+#define APALIS_TK1_K20_BULK_WRITE_INST 0x3C
+#define APALIS_TK1_K20_BULK_READ_INST 0xC3
+
+#define APALIS_TK1_K20_MAX_BULK 250u
+#define APALIS_TK1_K20_HEADER 4u
+
+/* General registers*/
+#define APALIS_TK1_K20_STAREG 0x00 /* general status register RO */
+#define APALIS_TK1_K20_REVREG 0x01 /* FW revision register RO*/
+#define APALIS_TK1_K20_IRQREG 0x02 /* IRQ status RO(reset of read) */
+#define APALIS_TK1_K20_CTRREG 0x03 /* general control register RW */
+#define APALIS_TK1_K20_MSQREG 0x04 /* IRQ mask register RW */
+
+/* 0x05-0x0F Reserved */
+
+/* CAN Registers */
+#define APALIS_TK1_K20_CANREG 0x10 /* CAN0 control & status register RW */
+#define APALIS_TK1_K20_CANREG_CLR 0x11 /* CAN0 CANREG clear register WO */
+#define APALIS_TK1_K20_CANERR 0x12 /* CAN0 error register RW */
+#define APALIS_TK1_K20_CAN_BAUD_REG 0x13 /* CAN0 baud set register RW */
+#define APALIS_TK1_K20_CAN_BIT_1 0x14 /* CAN0 bit timing register 1 RW */
+#define APALIS_TK1_K20_CAN_BIT_2 0x15 /* CAN0 bit timing register 2 RW */
+#define APALIS_TK1_K20_CAN_IN_BUF_CNT 0x16 /* CAN0 IN received data count RO */
+#define APALIS_TK1_K20_CAN_IN_BUF 0x17 /* CAN0 IN RO */
+/* buffer size is 13 bytes */
+#define APALIS_TK1_K20_CAN_IN_BUF_END 0x23 /* CAN0 IN RO */
+#define APALIS_TK1_K20_CAN_OUT_BUF 0x24 /* CAN0 OUT WO */
+/* buffer size is 13 bytes */
+#define APALIS_TK1_K20_CAN_OUT_BUF_END (APALIS_TK1_K20_CAN_OUT_BUF + 13 - 1)/* CAN OUT BUF END */
+#define APALIS_TK1_K20_CAN_OFFSET 0x30
+#define APALIS_TK1_K20_CAN_DEV_OFFSET(x) (x ? APALIS_TK1_K20_CAN_OFFSET : 0)
+
+/* 0x30-0x3F Reserved */
+/* 0x40-0x62 CAN1 registers same layout as CAN0 */
+/* 0x63-0x6F Reserved */
+
+/* ADC Registers */
+#define APALIS_TK1_K20_ADCREG 0x70 /* ADC control & status register RW */
+#define APALIS_TK1_K20_ADC_CH0L 0x71 /* ADC Channel 0 LSB RO */
+#define APALIS_TK1_K20_ADC_CH0H 0x72 /* ADC Channel 0 MSB RO */
+#define APALIS_TK1_K20_ADC_CH1L 0x73 /* ADC Channel 1 LSB RO */
+#define APALIS_TK1_K20_ADC_CH1H 0x74 /* ADC Channel 1 MSB RO */
+#define APALIS_TK1_K20_ADC_CH2L 0x75 /* ADC Channel 2 LSB RO */
+#define APALIS_TK1_K20_ADC_CH2H 0x76 /* ADC Channel 2 MSB RO */
+#define APALIS_TK1_K20_ADC_CH3L 0x77 /* ADC Channel 3 LSB RO */
+#define APALIS_TK1_K20_ADC_CH3H 0x78 /* ADC Channel 3 MSB RO */
+/* Bulk read of LSB register can be use to read entire 16-bit in one command */
+/* Bulk read of APALIS_TK1_K20_ADC_CH0L register can be use to read all
+ * ADC channels in one command */
+
+/* 0x79-0x7F reserved */
+
+/* TSC Register */
+#define APALIS_TK1_K20_TSCREG 0x80 /* TSC control & status register RW */
+#define APALIS_TK1_K20_TSC_XML 0x81 /* TSC X- data LSB RO */
+#define APALIS_TK1_K20_TSC_XMH 0x82 /* TSC X- data MSB RO */
+#define APALIS_TK1_K20_TSC_XPL 0x83 /* TSC X+ data LSB RO */
+#define APALIS_TK1_K20_TSC_XPH 0x84 /* TSC X+ data MSB RO */
+#define APALIS_TK1_K20_TSC_YML 0x85 /* TSC Y- data LSB RO */
+#define APALIS_TK1_K20_TSC_YMH 0x86 /* TSC Y- data MSB RO */
+#define APALIS_TK1_K20_TSC_YPL 0x87 /* TSC Y+ data LSB RO */
+#define APALIS_TK1_K20_TSC_YPH 0x88 /* TSC Y+ data MSB RO */
+/* Bulk read of LSB register can be use to read entire 16-bit in one command */
+#define APALIS_TK1_K20_TSC_ENA BIT(0)
+#define APALIS_TK1_K20_TSC_ENA_MASK BIT(0)
+
+/* 0x89-0x8F Reserved */
+
+/* GPIO Registers */
+#define APALIS_TK1_K20_GPIOREG 0x90 /* GPIO control & status register RW */
+#define APALIS_TK1_K20_GPIO_NO 0x91 /* currently configured GPIO RW */
+#define APALIS_TK1_K20_GPIO_STA 0x92 /* Status register for the APALIS_TK1_K20_GPIO_NO GPIO RW */
+/* MSB | 0 ... 0 | VALUE | Output-1 / Input-0 | LSB */
+#define APALIS_TK1_K20_GPIO_STA_OE BIT(0)
+#define APALIS_TK1_K20_GPIO_STA_VAL BIT(1)
+
+/* 0x93-0xFC Reserved */
+#define APALIS_TK1_K20_LAST_REG 0xFD
+#define APALIS_TK1_K20_RET_REQ 0xFE
+/* 0xFF Reserved */
+
+/* Interrupt flags */
+#define APALIS_TK1_K20_GEN_IRQ 0
+#define APALIS_TK1_K20_CAN0_IRQ 1
+#define APALIS_TK1_K20_CAN1_IRQ 2
+#define APALIS_TK1_K20_ADC_IRQ 3
+#define APALIS_TK1_K20_TSC_IRQ 4
+#define APALIS_TK1_K20_GPIO_IRQ 5
+
+#define APALIS_TK1_K20_FW_VER 0x12
+#define APALIS_TK1_K20_TESTER_FW_VER 0xFE
+
+#define FW_MINOR (APALIS_TK1_K20_FW_VER & 0x0F)
+#define FW_MAJOR ((APALIS_TK1_K20_FW_VER & 0xF0) >> 4)
+
+#define TK1_K20_SENTINEL 0x55
+#define TK1_K20_INVAL 0xAA
+
+#define APALIS_TK1_K20_IRQ_REG_CNT 1
+#define APALIS_TK1_K20_IRQ_PER_REG 8
+
+#define APALIS_TK1_CAN_CLK_UNIT 6250
+
+#define APALIS_TK1_MAX_CAN_DMA_XREF 19u
+
+#endif /* ifndef __LINUX_MFD_APALIS_TK1_K20_API_H */
diff --git a/app/include/can_task.h b/app/include/can_task.h
new file mode 100644
index 0000000..8934c0a
--- /dev/null
+++ b/app/include/can_task.h
@@ -0,0 +1,22 @@
+/*
+ * can_task.h
+ */
+
+#ifndef SOURCE_CAN_TASK_H_
+#define SOURCE_CAN_TASK_H_
+
+/* FreeRTOS kernel includes. */
+#include "FreeRTOS.h"
+#include "task.h"
+#include "fsl_dspi.h"
+
+extern TaskHandle_t can0_task_handle;
+extern TaskHandle_t can1_task_handle;
+extern TaskHandle_t can_tx_notify_task_handle;
+void can0_task(void *pvParameters);
+void can1_task(void *pvParameters);
+void can_tx_notify_task(void *pvParameters);
+int canx_registers(dspi_transfer_t *spi_transfer, int id);
+void can_spi_read_complete(uint8_t id);
+
+#endif /* SOURCE_CAN_TASK_H_ */
diff --git a/app/include/com_task.h b/app/include/com_task.h
new file mode 100644
index 0000000..a541f88
--- /dev/null
+++ b/app/include/com_task.h
@@ -0,0 +1,45 @@
+/*
+ * com_task.h
+ */
+
+#ifndef COM_TASK_H_
+#define COM_TASK_H_
+
+#include "board.h"
+#include "fsl_debug_console.h"
+#include "fsl_dspi.h"
+#include "fsl_gpio.h"
+#include "fsl_edma.h"
+#include "fsl_dspi_edma.h"
+#include "fsl_dmamux.h"
+#include "apalis-tk1-k20-api.h"
+
+/* FreeRTOS kernel includes. */
+#include "FreeRTOS.h"
+#include "task.h"
+#include "queue.h"
+#include "timers.h"
+#include "semphr.h"
+#include "errno.h"
+
+#define SPI_DMA
+
+typedef struct _callback_message_t
+{
+ status_t async_status;
+ SemaphoreHandle_t sem;
+} callback_message_t;
+
+extern TaskHandle_t spi_task_handle;
+void generate_irq(uint8_t irq);
+void clear_irq_flag(uint8_t irq);
+void spi_task(void *pvParameters);
+
+#define BIT(nr) (1UL << (nr))
+#define ADC0_CHANNEL_CNT 4
+#define TSC0_CHANNEL_CNT 4
+#define CAN_RX_BUF_SIZE 256
+
+extern volatile uint8_t registers[APALIS_TK1_K20_LAST_REG];
+
+#endif /* COM_TASK_H_ */
diff --git a/app/include/gpio_ext.h b/app/include/gpio_ext.h
new file mode 100644
index 0000000..7fe800d
--- /dev/null
+++ b/app/include/gpio_ext.h
@@ -0,0 +1,22 @@
+/*
+ * gpio_ext.h
+ *
+ */
+
+#ifndef SOURCE_GPIO_EXT_H_
+#define SOURCE_GPIO_EXT_H_
+
+#include "board.h"
+#include "fsl_device_registers.h"
+#include "fsl_debug_console.h"
+#include "fsl_dspi.h"
+
+struct gpio_id{
+ PORT_Type *port;
+ GPIO_Type *gpio;
+ uint32_t pin;
+};
+
+int gpio_registers(dspi_transfer_t *spi_transfer);
+
+#endif /* SOURCE_GPIO_EXT_H_ */
generated by cgit v1.2.3 (git 2.0.4) at 2024-05-18 21:26:29 +0000