diff options
Diffstat (limited to 'source')
| -rw-r--r-- | source/FreeRTOSConfig.h | 197 | ||||
| -rw-r--r-- | source/adc_task.c | 365 | ||||
| -rw-r--r-- | source/adc_task.h | 20 | ||||
| -rw-r--r-- | source/apalis-tk1-k20-api.h | 123 | ||||
| -rw-r--r-- | source/can_task.c | 470 | ||||
| -rw-r--r-- | source/can_task.h | 22 | ||||
| -rw-r--r-- | source/com_task.c | 279 | ||||
| -rw-r--r-- | source/com_task.h | 45 | ||||
| -rw-r--r-- | source/gpio_ext.c | 130 | ||||
| -rw-r--r-- | source/gpio_ext.h | 82 | ||||
| -rw-r--r-- | source/main.c | 139 |
11 files changed, 0 insertions, 1872 deletions
diff --git a/source/FreeRTOSConfig.h b/source/FreeRTOSConfig.h deleted file mode 100644 index 91e561f..0000000 --- a/source/FreeRTOSConfig.h +++ /dev/null @@ -1,197 +0,0 @@ -/* - 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/source/adc_task.c b/source/adc_task.c deleted file mode 100644 index daf4716..0000000 --- a/source/adc_task.c +++ /dev/null @@ -1,365 +0,0 @@ -/* - * 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/source/adc_task.h b/source/adc_task.h deleted file mode 100644 index 98a25aa..0000000 --- a/source/adc_task.h +++ /dev/null @@ -1,20 +0,0 @@ -/* - * 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/source/apalis-tk1-k20-api.h b/source/apalis-tk1-k20-api.h deleted file mode 100644 index 112a79b..0000000 --- a/source/apalis-tk1-k20-api.h +++ /dev/null @@ -1,123 +0,0 @@ -/* - * 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/source/can_task.c b/source/can_task.c deleted file mode 100644 index e34d35d..0000000 --- a/source/can_task.c +++ /dev/null @@ -1,470 +0,0 @@ - -#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/source/can_task.h b/source/can_task.h deleted file mode 100644 index 8934c0a..0000000 --- a/source/can_task.h +++ /dev/null @@ -1,22 +0,0 @@ -/* - * 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/source/com_task.c b/source/com_task.c deleted file mode 100644 index d6bc97d..0000000 --- a/source/com_task.c +++ /dev/null @@ -1,279 +0,0 @@ - -#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/source/com_task.h b/source/com_task.h deleted file mode 100644 index a541f88..0000000 --- a/source/com_task.h +++ /dev/null @@ -1,45 +0,0 @@ -/* - * 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/source/gpio_ext.c b/source/gpio_ext.c deleted file mode 100644 index 1347796..0000000 --- a/source/gpio_ext.c +++ /dev/null @@ -1,130 +0,0 @@ -/* - * gpio_ext.c - * - */ - -#include "gpio_ext.h" -#include "com_task.h" -#include "errno.h" - - -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/source/gpio_ext.h b/source/gpio_ext.h deleted file mode 100644 index 7d87f4f..0000000 --- a/source/gpio_ext.h +++ /dev/null @@ -1,82 +0,0 @@ -/* - * 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; -}; - -struct gpio_id gpio_list [] = { -#ifndef USE_SWO - {PORTA, GPIOA, 3}, -#endif - {PORTA, GPIOA, 5}, -#ifdef TESTER_BUILD - {PORTA, GPIOA, 12}, - {PORTA, GPIOA, 13}, -#endif - {PORTA, GPIOA, 17}, -#ifndef BOARD_USES_ADC - {PORTB, GPIOB, 0}, - {PORTB, GPIOB, 1}, - {PORTB, GPIOB, 2}, - {PORTB, GPIOB, 3}, -#endif - {PORTB, GPIOB, 10}, - {PORTB, GPIOB, 11}, - {PORTB, GPIOB, 16}, - {PORTB, GPIOB, 17}, - {PORTB, GPIOB, 18}, - {PORTB, GPIOB, 19}, - {PORTC, GPIOC, 0}, - {PORTC, GPIOC, 1}, - {PORTC, GPIOC, 2}, - {PORTC, GPIOC, 3}, - {PORTC, GPIOC, 4}, - {PORTC, GPIOC, 6}, - {PORTC, GPIOC, 7}, -#ifdef TESTER_BUILD - {PORTC, GPIOC, 16}, - {PORTC, GPIOC, 17}, -#endif - {PORTD, GPIOD, 0}, - {PORTD, GPIOD, 1}, - {PORTD, GPIOD, 2}, - {PORTD, GPIOD, 3}, - {PORTD, GPIOD, 4}, - {PORTD, GPIOD, 5}, - {PORTD, GPIOD, 6}, - {PORTD, GPIOD, 7}, - {PORTD, GPIOD, 8}, - {PORTD, GPIOD, 9}, - {PORTD, GPIOD, 11}, - {PORTD, GPIOD, 12}, - {PORTD, GPIOD, 13}, - {PORTD, GPIOD, 14}, - {PORTD, GPIOD, 15}, -#if !defined(SDK_DEBUGCONSOLE) || defined(TESTER_BUILD) - {PORTE, GPIOE, 0}, - {PORTE, GPIOE, 1}, -#endif - {PORTE, GPIOE, 2}, - {PORTE, GPIOE, 3}, - {PORTE, GPIOE, 4}, - {PORTE, GPIOE, 5}, - {PORTE, GPIOE, 24}, - {PORTE, GPIOE, 25} -}; - -int gpio_registers(dspi_transfer_t *spi_transfer); - -#endif /* SOURCE_GPIO_EXT_H_ */ diff --git a/source/main.c b/source/main.c deleted file mode 100644 index 1c36984..0000000 --- a/source/main.c +++ /dev/null @@ -1,139 +0,0 @@ -/* - * 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 */ - } -} - - - |