CAN and communication updates

10 files changed, 129 insertions, 50 deletions

diff --git a/drivers/fsl_dspi.c b/drivers/fsl_dspi.c
index b2f28ed..51da2d8 100644
--- a/drivers/fsl_dspi.c
+++ b/drivers/fsl_dspi.c
@@ -29,6 +29,7 @@
 */
 
 #include "fsl_dspi.h"
+#include "com_task.h"
 
 /*******************************************************************************
  * Definitions
@@ -1434,6 +1435,7 @@ void DSPI_SlaveTransferHandleIRQ(SPI_Type *base, dspi_slave_handle_t *handle)
     uint8_t dummyPattern = DSPI_DUMMY_DATA;
     uint32_t dataReceived;
     uint32_t dataSend = 0;
+    //uint32_t dataCount = 0;
 
     /* Because SPI protocol is synchronous, the number of bytes that that slave received from the
     * master is the actual number of bytes that the slave transmitted to the master. So we only
@@ -1464,6 +1466,13 @@ void DSPI_SlaveTransferHandleIRQ(SPI_Type *base, dspi_slave_handle_t *handle)
                 /* Descrease remaining receive byte count */
                 --handle->remainingReceiveByteCount;
 
+            /*    dataCount = handle->totalByteCount - handle->remainingReceiveByteCount;
+
+                if (dataCount == 2 && (*(handle->rxData - 1) == APALIS_TK1_K20_BULK_WRITE_INST)
+                		&& (dataReceived < APALIS_TK1_K20_MAX_BULK))
+                	handle->totalByteCount += dataReceived;
+*/
+
                 if (handle->remainingSendByteCount > 0)
                 {
                     if (handle->txData)
diff --git a/source/adc_task.c b/source/adc_task.c
index 67d5bd0..bd7215d 100644
--- a/source/adc_task.c
+++ b/source/adc_task.c
@@ -208,8 +208,10 @@ void tsc_task(void *pvParameters)
 
 }
 
-int tsc_registers(uint8_t *rx_buf, uint8_t *tx_buf)
+int tsc_registers(dspi_transfer_t *spi_transfer)
 {
+	uint8_t *rx_buf = spi_transfer->rxData;
+	uint8_t *tx_buf = &spi_transfer->txData[1];
 	if (rx_buf[0] == APALIS_TK1_K20_READ_INST) {
 		switch (rx_buf[1]) {
 		case APALIS_TK1_K20_TSCREG:
@@ -250,11 +252,24 @@ int tsc_registers(uint8_t *rx_buf, uint8_t *tx_buf)
 			return -ENOENT;
 		}
 	} else if (rx_buf[0] == APALIS_TK1_K20_BULK_READ_INST) {
-		switch (rx_buf[1]){
-		case APALIS_TK1_K20_TSC_XML:
-			tx_buf[0] = gen_regs.tsc_xm & 0xFF;
-			tx_buf[1] = (gen_regs.tsc_xm >> 8) & 0xFF;
-			return 2;
+		if (rx_buf[2] == APALIS_TK1_K20_TSC_XML) {
+			if (rx_buf[1] == 2) {
+				tx_buf[0] = gen_regs.tsc_xm & 0xFF;
+				tx_buf[1] = (gen_regs.tsc_xm >> 8) & 0xFF;
+				return 2;
+			} else if (rx_buf[1] == 8) {
+				tx_buf[0] = gen_regs.tsc_xm & 0xFF;
+				tx_buf[1] = (gen_regs.tsc_xm >> 8) & 0xFF;
+				tx_buf[2] = gen_regs.tsc_xp & 0xFF;
+				tx_buf[3] = (gen_regs.tsc_xp >> 8) & 0xFF;
+				tx_buf[4] = gen_regs.tsc_ym & 0xFF;
+				tx_buf[5] = (gen_regs.tsc_ym >> 8) & 0xFF;
+				tx_buf[6] = gen_regs.tsc_yp & 0xFF;
+				tx_buf[7] = (gen_regs.tsc_yp >> 8) & 0xFF;
+				return 8;
+			}
+		}
+		switch (rx_buf[2]) {
 		case APALIS_TK1_K20_TSC_XPL:
 			tx_buf[0] = gen_regs.tsc_xp & 0xFF;
 			tx_buf[1] = (gen_regs.tsc_xp >> 8) & 0xFF;
@@ -274,8 +289,11 @@ int tsc_registers(uint8_t *rx_buf, uint8_t *tx_buf)
 	return -ENOENT;
 }
 
-int adc_registers(uint8_t *rx_buf, uint8_t *tx_buf)
+int adc_registers(dspi_transfer_t *spi_transfer)
 {
+	uint8_t *rx_buf = spi_transfer->rxData;
+	uint8_t *tx_buf = &spi_transfer->txData[1];
+
 	if (rx_buf[0] == APALIS_TK1_K20_READ_INST) {
 		switch (rx_buf[1]) {
 		case APALIS_TK1_K20_ADCREG:
@@ -316,11 +334,24 @@ int adc_registers(uint8_t *rx_buf, uint8_t *tx_buf)
 			return -ENOENT;
 		}
 	} else if (rx_buf[0] == APALIS_TK1_K20_BULK_READ_INST) {
-		switch (rx_buf[1]){
-		case APALIS_TK1_K20_ADC_CH0L:
-			tx_buf[0] = gen_regs.adc[0] & 0xFF;
-			tx_buf[1] = (gen_regs.adc[0] >> 8) & 0xFF;
-			return 2;
+		if (rx_buf[2] == APALIS_TK1_K20_ADC_CH0L) {
+			if (rx_buf[1] == 2) {
+				tx_buf[0] = gen_regs.adc[0] & 0xFF;
+				tx_buf[1] = (gen_regs.adc[0] >> 8) & 0xFF;
+				return 2;
+			} else if (rx_buf[1] == 8) {
+				tx_buf[0] = gen_regs.adc[0] & 0xFF;
+				tx_buf[1] = (gen_regs.adc[0] >> 8) & 0xFF;
+				tx_buf[2] = gen_regs.adc[1] & 0xFF;
+				tx_buf[3] = (gen_regs.adc[1] >> 8) & 0xFF;
+				tx_buf[4] = gen_regs.adc[2] & 0xFF;
+				tx_buf[5] = (gen_regs.adc[2] >> 8) & 0xFF;
+				tx_buf[6] = gen_regs.adc[3] & 0xFF;
+				tx_buf[7] = (gen_regs.adc[3] >> 8) & 0xFF;
+				return 8;
+			}
+		}
+		switch (rx_buf[2]){
 		case APALIS_TK1_K20_ADC_CH1L:
 			tx_buf[0] = gen_regs.adc[1] & 0xFF;
 			tx_buf[1] = (gen_regs.adc[1] >> 8) & 0xFF;
diff --git a/source/adc_task.h b/source/adc_task.h
index 3dafddb..101bffd 100644
--- a/source/adc_task.h
+++ b/source/adc_task.h
@@ -6,14 +6,15 @@
 #ifndef SOURCE_ADC_TASK_H_
 #define SOURCE_ADC_TASK_H_
 #include "board.h"
+#include "fsl_dspi.h"
 
 #ifdef BOARD_USES_ADC
 TaskHandle_t adc_task_handle;
 TaskHandle_t tsc_task_handle;
 void adc_task(void *pvParameters);
 void tsc_task(void *pvParameters);
-int adc_registers(uint8_t *rx_buf, uint8_t *tx_buf);
-int tsc_registers(uint8_t *rx_buf, uint8_t *tx_buf);
+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/can_task.c b/source/can_task.c
index de57090..fbb84aa 100644
--- a/source/can_task.c
+++ b/source/can_task.c
@@ -147,7 +147,7 @@ static void CAN_Init()
 }
 
 
-void can_test_task(void *pvParameters) {
+void can_task(void *pvParameters) {
 	flexcan_frame_t txFrame, rxFrame;
 	flexcan_mb_transfer_t txXfer, rxXfer;
 	callback_message_t cb_msg[2];
@@ -224,10 +224,18 @@ void can_test_task(void *pvParameters) {
 	vTaskDelete(NULL);
 }
 
-int can0_registers(uint8_t *rx_buf, uint8_t *tx_buf){
+int can0_registers(dspi_transfer_t *spi_transfer)
+{
+	uint8_t *rx_buf = spi_transfer->rxData;
+	uint8_t *tx_buf = &spi_transfer->txData[1];
+
 	return -EIO;
 }
 
-int can1_registers(uint8_t *rx_buf, uint8_t *tx_buf){
+int can1_registers(dspi_transfer_t *spi_transfer)
+{
+	uint8_t *rx_buf = spi_transfer->rxData;
+	uint8_t *tx_buf = &spi_transfer->txData[1];
+
 	return -EIO;
 }
diff --git a/source/can_task.h b/source/can_task.h
index 9857e96..ce6eb18 100644
--- a/source/can_task.h
+++ b/source/can_task.h
@@ -8,10 +8,11 @@
 /* FreeRTOS kernel includes. */
 #include "FreeRTOS.h"
 #include "task.h"
+#include "fsl_dspi.h"
 
 TaskHandle_t can_task_handle;
-void can_test_task(void *pvParameters);
-int can0_registers(uint8_t *rx_buf, uint8_t *tx_buf);
-int can1_registers(uint8_t *rx_buf, uint8_t *tx_buf);
+void can_task(void *pvParameters);
+int can0_registers(dspi_transfer_t *spi_transfer);
+int can1_registers(dspi_transfer_t *spi_transfer);
 
 #endif /* SOURCE_CAN_TASK_H_ */
diff --git a/source/com_task.c b/source/com_task.c
index 457066c..01796d8 100644
--- a/source/com_task.c
+++ b/source/com_task.c
@@ -8,8 +8,8 @@
 const uint32_t __attribute__((section(".FwVersion"))) fw_version = APALIS_TK1_K20_FW_VER;
 
 static dspi_slave_handle_t spi_handle;
-static uint8_t slaveRxData[APALIS_TK1_K20_MAX_BULK] = {0U};
-static uint8_t slaveTxData[APALIS_TK1_K20_MAX_BULK] = {0U};
+static uint8_t slaveRxData[APALIS_TK1_K20_MAX_BULK + APALIS_TK1_K20_HEADER] = {0U};
+static uint8_t slaveTxData[APALIS_TK1_K20_MAX_BULK + APALIS_TK1_K20_HEADER] = {0U};
 
 void generate_irq(uint8_t irq) {
 	gen_regs.irq = gen_regs.irq | BIT(irq);
@@ -67,7 +67,10 @@ void set_irq_reg(uint8_t value)
 
 }
 
-inline int general_registers(uint8_t *rx_buf, uint8_t * tx_buf) {
+inline int general_registers(dspi_transfer_t *spi_transfer)
+{
+	uint8_t *rx_buf = spi_transfer->rxData;
+	uint8_t *tx_buf = &spi_transfer->txData[1];
 
 	if (rx_buf[0] == APALIS_TK1_K20_READ_INST) {
 		switch (rx_buf[1]) {
@@ -172,23 +175,23 @@ void spi_task(void *pvParameters) {
 		DSPI_SlaveTransferNonBlocking(SPI2, &spi_handle, &slaveXfer);
 		xSemaphoreTake(cb_msg.sem, portMAX_DELAY);
 		if (slaveRxData[1] <= 0x05) {
-			ret = general_registers(slaveRxData, &slaveTxData[1]);
+			ret = general_registers(&slaveXfer);
 		} else if ((slaveRxData[1] >= APALIS_TK1_K20_CANREG + APALIS_TK1_K20_CAN_DEV_OFFSET(0))
-			&& (slaveRxData[1] <= APALIS_TK1_K20_CAN_OUT_FIF0_END + APALIS_TK1_K20_CAN_DEV_OFFSET(0))) {
-			ret = can0_registers(slaveRxData, &slaveTxData[1]);
+			&& (slaveRxData[1] <= APALIS_TK1_K20_CAN_OUT_BUF_END + APALIS_TK1_K20_CAN_DEV_OFFSET(0))) {
+			ret = can0_registers(&slaveXfer);
 
 		} else if ((slaveRxData[1] >= APALIS_TK1_K20_CANREG + APALIS_TK1_K20_CAN_DEV_OFFSET(1))
-			&& (slaveRxData[1] <= APALIS_TK1_K20_CAN_OUT_FIF0_END + APALIS_TK1_K20_CAN_DEV_OFFSET(1))) {
-			ret = can1_registers(slaveRxData, &slaveTxData[1]);
+			&& (slaveRxData[1] <= APALIS_TK1_K20_CAN_OUT_BUF_END + APALIS_TK1_K20_CAN_DEV_OFFSET(1))) {
+			ret = can1_registers(&slaveXfer);
 #ifdef BOARD_USES_ADC
 		} else if ((slaveRxData[1] >= APALIS_TK1_K20_ADCREG) && (slaveRxData[1] <= APALIS_TK1_K20_ADC_CH3H)) {
-			ret = adc_registers(slaveRxData, &slaveTxData[1]);
+			ret = adc_registers(&slaveXfer);
 
 		} else if ((slaveRxData[1] >= APALIS_TK1_K20_TSCREG) && (slaveRxData[1] <= APALIS_TK1_K20_TSC_YPH)) {
-			ret = tsc_registers(slaveRxData, &slaveTxData[1]);
+			ret = tsc_registers(&slaveXfer);
 #endif
 		} else if ((slaveRxData[1] >= APALIS_TK1_K20_GPIOREG) && (slaveRxData[1] <= APALIS_TK1_K20_GPIO_STA)) {
-			ret = gpio_registers(slaveRxData, &slaveTxData[1]);
+			ret = gpio_registers(&slaveXfer);
 
 		} else {
 			/* Register not defined */
diff --git a/source/com_task.h b/source/com_task.h
index fb6b679..843d840 100644
--- a/source/com_task.h
+++ b/source/com_task.h
@@ -43,26 +43,32 @@ void spi_task(void *pvParameters);
 #define APALIS_TK1_K20_MAX_BULK			(64)
 
 /* General registers*/
-#define APALIS_TK1_K20_STAREG			0x00 /* General status register RO */
+#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 RW(write of 1 will reset the bit) */
-#define APALIS_TK1_K20_CTRREG			0x03 /* General control register RW */
+#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 /* CAN control & status register RW */
-#define APALIS_TK1_K20_CANERR			0x11 /* Error register RW */
-#define APALIS_TK1_K20_CAN_BAUD_REG		0x12 /* CAN Baud set register RW */
-#define APALIS_TK1_K20_CAN_BIT_1		0x13 /* CAN Bittiming register 1 RW */
-#define APALIS_TK1_K20_CAN_BIT_2		0x14 /* CAN Bittiming register 2 RW */
-#define APALIS_TK1_K20_CAN_IN_BUF_CNT		0x15 /* CAN IN BUF Received Data Count RO */
-#define APALIS_TK1_K20_CAN_IN_BUF		0x16 /* CAN IN BUF RO */
-/* buffer size is 14 bytes */
-#define APALIS_TK1_K20_CAN_OUT_BUF_CNT		0x25 /* CAN OUT BUF  Data Count WO */
-#define APALIS_TK1_K20_CAN_OUT_FIF0		0x26 /* CAN OUT BUF WO */
-/* buffer size is 14 bytes */
-#define APALIS_TK1_K20_CAN_OUT_FIF0_END		0x35 /* CAN OUT BUF END */
-#define APALIS_TK1_K20_CAN_DEV_OFFSET(x)	(x ? 0 : 0x30)
+#define APALIS_TK1_K20_CANREG			0x10 /* CAN0 control & status register RW */
+#define APALIS_TK1_K20_CANERR			0x11 /* CAN0 error register RW */
+#define APALIS_TK1_K20_CAN_BAUD_REG		0x12 /* CAN0 baud set register RW */
+#define APALIS_TK1_K20_CAN_BIT_1		0x13 /* CAN0 bit timing register 1 RW */
+#define APALIS_TK1_K20_CAN_BIT_2		0x14 /* CAN0 bit timing register 2 RW */
+#define APALIS_TK1_K20_CAN_IN_BUF_CNT		0x15 /* CAN0 IN received data count RO */
+#define APALIS_TK1_K20_CAN_IN_BUF		0x16 /* CAN0 IN RO */
+/* buffer size is 13 bytes */
+#define APALIS_TK1_K20_CAN_OUT_BUF_CNT		0x23 /* CAN0 OUT data Count WO */
+#define APALIS_TK1_K20_CAN_OUT_FIF0		0x26 /* CAN0 OUT WO */
+/* buffer size is 13 bytes */
+#define APALIS_TK1_K20_CAN_OUT_BUF_END		(APALIS_TK1_K20_CAN_OUT_FIF0 + 13 - 1)/* CAN OUT BUF END */
+#define APALIS_TK1_K20_CAN_DEV_OFFSET(x)	(x ? 0x30 : 0)
+
+/* 0x33-0x3F Reserved */
+/* 0x40-0x62 CAN1 registers */
+/* 0x63-0x6F Reserved */
 
 /* ADC Registers */
 #define APALIS_TK1_K20_ADCREG			0x70 /* ADC control & status register RW */
@@ -75,6 +81,10 @@ void spi_task(void *pvParameters);
 #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 */
@@ -90,6 +100,8 @@ void spi_task(void *pvParameters);
 #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 */
@@ -98,6 +110,8 @@ void spi_task(void *pvParameters);
 #define APALIS_TK1_K20_GPIO_STA_OE		BIT(0)
 #define APALIS_TK1_K20_GPIO_STA_VAL		BIT(1)
 
+/* 0x93-0xFF Reserved */
+
 /* Interrupt flags */
 #define APALIS_TK1_K20_GEN_IRQ			0
 #define APALIS_TK1_K20_CAN0_IRQ			1
@@ -109,11 +123,13 @@ void spi_task(void *pvParameters);
 #define APALIS_TK1_K20_FW_VER			0x09
 
 #define FW_MINOR (APALIS_TK1_K20_FW_VER & 0x0F)
-#define FW_MAJOR ((APALIS_TK1_K20_FW_VER & 0xF0) >> 8)
+#define FW_MAJOR ((APALIS_TK1_K20_FW_VER & 0xF0) >> 4)
 
 #define TK1_K20_SENTINEL			0x55
 #define TK1_K20_INVAL				0xAA
 
+#define APALIS_TK1_K20_HEADER			4
+
 #define ADC0_CHANNEL_CNT	4
 
 #define TSC0_CHANNEL_CNT	4
diff --git a/source/gpio_ext.c b/source/gpio_ext.c
index 5741cb5..977a42e 100644
--- a/source/gpio_ext.c
+++ b/source/gpio_ext.c
@@ -89,7 +89,11 @@ uint8_t get_gpio_status(uint8_t pin)
 	return status;
 }
 
-int gpio_registers(uint8_t *rx_buf, uint8_t *tx_buf){
+int gpio_registers(dspi_transfer_t *spi_transfer)
+{
+	uint8_t *rx_buf = spi_transfer->rxData;
+	uint8_t *tx_buf = &spi_transfer->txData[1];
+
 	if (rx_buf[0] == APALIS_TK1_K20_READ_INST) {
 		switch (rx_buf[1]) {
 		case APALIS_TK1_K20_GPIOREG:
diff --git a/source/gpio_ext.h b/source/gpio_ext.h
index 5edbf3a..ed1316a 100644
--- a/source/gpio_ext.h
+++ b/source/gpio_ext.h
@@ -6,9 +6,10 @@
 #ifndef SOURCE_GPIO_EXT_H_
 #define SOURCE_GPIO_EXT_H_
 
+#include "board.h"
 #include "fsl_device_registers.h"
 #include "fsl_debug_console.h"
-#include "board.h"
+#include "fsl_dspi.h"
 
 struct gpio_id{
 	PORT_Type *port;
@@ -68,6 +69,6 @@ struct gpio_id gpio_list [] = {
 int is_gpio_valid(uint8_t pin);
 int set_gpio_status(uint8_t status, uint8_t pin);
 uint8_t get_gpio_status(uint8_t pin);
-int gpio_registers(uint8_t *rx_buf, uint8_t *tx_buf);
+int gpio_registers(dspi_transfer_t *spi_transfer);
 
 #endif /* SOURCE_GPIO_EXT_H_ */
diff --git a/source/main.c b/source/main.c
index 341627d..5e6a9d3 100644
--- a/source/main.c
+++ b/source/main.c
@@ -95,6 +95,11 @@ int main(void) {
 		PRINTF("create SPI task error\r\n");
 	}
 
+	if(xTaskCreate(can_task, "CAN_task", 2000L / sizeof(portSTACK_TYPE), NULL, 2, &can_task_handle) != pdPASS)
+	{
+		PRINTF("create CAN task error\r\n");
+	}
+
 #ifdef BOARD_USES_ADC
 	if(xTaskCreate(adc_task, "ADC_task", 2000L / sizeof(portSTACK_TYPE), NULL, 2, &adc_task_handle) != pdPASS)
 	{