diff options
| -rw-r--r-- | .cproject | 23 | ||||
| -rw-r--r-- | .settings/language.settings.xml | 4 | ||||
| -rw-r--r-- | drivers/fsl_dspi.c | 23 | ||||
| -rw-r--r-- | drivers/fsl_dspi_edma.c | 28 | ||||
| -rw-r--r-- | drivers/fsl_flexcan.c | 108 | ||||
| -rw-r--r-- | drivers/fsl_flexcan.h | 29 | ||||
| -rw-r--r-- | source/adc_task.c | 4 | ||||
| -rw-r--r-- | source/can_task.c | 168 | ||||
| -rw-r--r-- | source/com_task.c | 65 | ||||
| -rw-r--r-- | source/com_task.h | 2 |
10 files changed, 302 insertions, 152 deletions
@@ -17,7 +17,7 @@ <configuration artifactName="${ProjName}" buildArtefactType="org.eclipse.cdt.build.core.buildArtefactType.exe" buildProperties="org.eclipse.cdt.build.core.buildType=org.eclipse.cdt.build.core.buildType.debug,org.eclipse.cdt.build.core.buildArtefactType=org.eclipse.cdt.build.core.buildArtefactType.exe" cleanCommand="${cross_rm} -rf" description="" id="ilg.gnuarmeclipse.managedbuild.cross.config.elf.debug.475762548" name="Debug" parent="ilg.gnuarmeclipse.managedbuild.cross.config.elf.debug"> <folderInfo id="ilg.gnuarmeclipse.managedbuild.cross.config.elf.debug.475762548." name="/" resourcePath=""> <toolChain id="ilg.gnuarmeclipse.managedbuild.cross.toolchain.elf.debug.1690074070" name="Cross ARM GCC" superClass="ilg.gnuarmeclipse.managedbuild.cross.toolchain.elf.debug"> - <option id="ilg.gnuarmeclipse.managedbuild.cross.option.optimization.level.1531534215" name="Optimization Level" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.optimization.level" value="ilg.gnuarmeclipse.managedbuild.cross.option.optimization.level.most" valueType="enumerated"/> + <option id="ilg.gnuarmeclipse.managedbuild.cross.option.optimization.level.1531534215" name="Optimization Level" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.optimization.level" value="ilg.gnuarmeclipse.managedbuild.cross.option.optimization.level.debug" valueType="enumerated"/> <option id="ilg.gnuarmeclipse.managedbuild.cross.option.optimization.messagelength.1376026763" name="Message length (-fmessage-length=0)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.optimization.messagelength" value="true" valueType="boolean"/> <option id="ilg.gnuarmeclipse.managedbuild.cross.option.optimization.signedchar.322137639" name="'char' is signed (-fsigned-char)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.optimization.signedchar" value="true" valueType="boolean"/> <option id="ilg.gnuarmeclipse.managedbuild.cross.option.optimization.functionsections.85374014" name="Function sections (-ffunction-sections)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.optimization.functionsections" value="true" valueType="boolean"/> @@ -42,7 +42,7 @@ <option id="ilg.gnuarmeclipse.managedbuild.cross.option.warnings.allwarn.998714097" name="Enable all common warnings (-Wall)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.warnings.allwarn" value="true" valueType="boolean"/> <option id="ilg.gnuarmeclipse.managedbuild.cross.option.warnings.pedantic.1394555272" name="Pedantic (-pedantic)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.warnings.pedantic" value="false" valueType="boolean"/> <option id="ilg.gnuarmeclipse.managedbuild.cross.option.warnings.extrawarn.1645809733" name="Enable extra warnings (-Wextra)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.warnings.extrawarn" value="true" valueType="boolean"/> - <option id="ilg.gnuarmeclipse.managedbuild.cross.option.optimization.lto.1022138696" name="Link-time optimizer (-flto)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.optimization.lto" value="true" valueType="boolean"/> + <option id="ilg.gnuarmeclipse.managedbuild.cross.option.optimization.lto.1022138696" name="Link-time optimizer (-flto)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.optimization.lto" value="false" valueType="boolean"/> <targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.ELF" id="ilg.gnuarmeclipse.managedbuild.cross.targetPlatform.1444192880" isAbstract="false" osList="all" superClass="ilg.gnuarmeclipse.managedbuild.cross.targetPlatform"/> <builder buildPath="${workspace_loc:/k20_tester}/Debug" id="ilg.gnuarmeclipse.managedbuild.cross.builder.1236922579" keepEnvironmentInBuildfile="false" managedBuildOn="true" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="ilg.gnuarmeclipse.managedbuild.cross.builder"/> <tool id="ilg.gnuarmeclipse.managedbuild.cross.tool.assembler.959743626" name="Cross ARM GNU Assembler" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.assembler"> @@ -54,11 +54,15 @@ <listOptionValue builtIn="false" value=""${workspace_loc:/k20_main/CMSIS/Include}""/> <listOptionValue builtIn="false" value=""${workspace_loc:/k20_main/CMSIS/Driver/Include}""/> </option> + <option id="ilg.gnuarmeclipse.managedbuild.cross.option.assembler.defs.1505271632" name="Defined symbols (-D)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.assembler.defs" valueType="definedSymbols"> + <listOptionValue builtIn="false" value="NDEBUG"/> + </option> <inputType id="ilg.gnuarmeclipse.managedbuild.cross.tool.assembler.input.852998941" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.assembler.input"/> </tool> <tool id="ilg.gnuarmeclipse.managedbuild.cross.tool.c.compiler.195326104" name="Cross ARM C Compiler" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.c.compiler"> <option id="ilg.gnuarmeclipse.managedbuild.cross.option.c.compiler.defs.2027427795" name="Defined symbols (-D)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.c.compiler.defs" useByScannerDiscovery="false" valueType="definedSymbols"> <listOptionValue builtIn="false" value=""CPU_MK20DN512VLK10""/> + <listOptionValue builtIn="false" value="NDEBUG"/> </option> <option id="ilg.gnuarmeclipse.managedbuild.cross.option.c.compiler.std.1026465758" name="Language standard" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.c.compiler.std" useByScannerDiscovery="true" value="ilg.gnuarmeclipse.managedbuild.cross.option.c.compiler.std.gnu99" valueType="enumerated"/> <option id="ilg.gnuarmeclipse.managedbuild.cross.option.c.compiler.include.paths.59602908" name="Include paths (-I)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.c.compiler.include.paths" useByScannerDiscovery="false" valueType="includePath"> @@ -81,6 +85,7 @@ <tool id="ilg.gnuarmeclipse.managedbuild.cross.tool.cpp.compiler.476692042" name="Cross ARM C++ Compiler" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.cpp.compiler"> <option id="ilg.gnuarmeclipse.managedbuild.cross.option.cpp.compiler.defs.406548015" name="Defined symbols (-D)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.cpp.compiler.defs" useByScannerDiscovery="false" valueType="definedSymbols"> <listOptionValue builtIn="false" value=""CPU_MK20DN512VLK10""/> + <listOptionValue builtIn="false" value="NDEBUG"/> </option> <option id="ilg.gnuarmeclipse.managedbuild.cross.option.cpp.compiler.include.paths.506184444" name="Include paths (-I)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.cpp.compiler.include.paths" useByScannerDiscovery="false" valueType="includePath"> <listOptionValue builtIn="false" value="../freertos/Source/include"/> @@ -142,7 +147,7 @@ </toolChain> </folderInfo> <sourceEntries> - <entry excluding="CMSIS/Driver/DriverTemplates|drivers/fsl_mpu.c|usb_1.1.0/osa/usb_osa_bm.c|usb_1.1.0/device|freertos/Source/portable/MemMang/heap_5.c|freertos/Source/portable/MemMang/heap_3.c|freertos/Source/portable/MemMang/heap_2.c|freertos/Source/portable/MemMang/heap_1.c" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/> + <entry excluding="usb_1.1.0|drivers/fsl_pit.c|drivers/fsl_pdb.c|drivers/fsl_llwu.c|drivers/fsl_flexbus.c|drivers/fsl_uart_edma.c|drivers/fsl_smc.c|drivers/fsl_sim.c|drivers/fsl_sdhc.c|drivers/fsl_sai.c|drivers/fsl_sai_edma.c|drivers/fsl_rtc.c|drivers/fsl_rcm.c|drivers/fsl_pmc.c|drivers/fsl_i2c.c|drivers/fsl_i2c_freertos.c|drivers/fsl_i2c_edma.c|drivers/fsl_ftm.c|drivers/fsl_flash.c|drivers/fsl_ewm.c|drivers/fsl_dac.c|drivers/fsl_crc.c|drivers/fsl_cmt.c|drivers/fsl_cmp.c|CMSIS/Driver/DriverTemplates|drivers/fsl_mpu.c|usb_1.1.0/osa/usb_osa_bm.c|usb_1.1.0/device|freertos/Source/portable/MemMang/heap_5.c|freertos/Source/portable/MemMang/heap_3.c|freertos/Source/portable/MemMang/heap_2.c|freertos/Source/portable/MemMang/heap_1.c" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/> </sourceEntries> </configuration> </storageModule> @@ -170,7 +175,7 @@ <option id="ilg.gnuarmeclipse.managedbuild.cross.option.optimization.signedchar.1398453889" name="'char' is signed (-fsigned-char)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.optimization.signedchar" value="true" valueType="boolean"/> <option id="ilg.gnuarmeclipse.managedbuild.cross.option.optimization.functionsections.458714102" name="Function sections (-ffunction-sections)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.optimization.functionsections" value="true" valueType="boolean"/> <option id="ilg.gnuarmeclipse.managedbuild.cross.option.optimization.datasections.1713635727" name="Data sections (-fdata-sections)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.optimization.datasections" value="true" valueType="boolean"/> - <option id="ilg.gnuarmeclipse.managedbuild.cross.option.debugging.level.616331956" name="Debug level" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.debugging.level"/> + <option id="ilg.gnuarmeclipse.managedbuild.cross.option.debugging.level.616331956" name="Debug level" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.debugging.level" value="ilg.gnuarmeclipse.managedbuild.cross.option.debugging.level.max" valueType="enumerated"/> <option id="ilg.gnuarmeclipse.managedbuild.cross.option.debugging.format.1062923169" name="Debug format" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.debugging.format"/> <option id="ilg.gnuarmeclipse.managedbuild.cross.option.toolchain.name.2099258968" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.toolchain.name" value="GNU Tools for ARM Embedded Processors" valueType="string"/> <option id="ilg.gnuarmeclipse.managedbuild.cross.option.architecture.1414960201" name="Architecture" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.architecture" value="ilg.gnuarmeclipse.managedbuild.cross.option.architecture.arm" valueType="enumerated"/> @@ -202,12 +207,15 @@ <listOptionValue builtIn="false" value=""${workspace_loc:/k20_main/CMSIS/Include}""/> <listOptionValue builtIn="false" value=""${workspace_loc:/k20_main/CMSIS/Driver/Include}""/> </option> + <option id="ilg.gnuarmeclipse.managedbuild.cross.option.assembler.defs.1001154321" name="Defined symbols (-D)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.assembler.defs" valueType="definedSymbols"> + <listOptionValue builtIn="false" value="NDEBUG"/> + </option> <inputType id="ilg.gnuarmeclipse.managedbuild.cross.tool.assembler.input.982936805" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.assembler.input"/> </tool> <tool id="ilg.gnuarmeclipse.managedbuild.cross.tool.c.compiler.867386499" name="Cross ARM C Compiler" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.c.compiler"> <option id="ilg.gnuarmeclipse.managedbuild.cross.option.c.compiler.defs.1292028075" name="Defined symbols (-D)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.c.compiler.defs" useByScannerDiscovery="false" valueType="definedSymbols"> - <listOptionValue builtIn="false" value="NDEBUG"/> <listOptionValue builtIn="false" value=""CPU_MK20DN512VLK10""/> + <listOptionValue builtIn="false" value="NDEBUG"/> </option> <option id="ilg.gnuarmeclipse.managedbuild.cross.option.c.compiler.std.1188085931" name="Language standard" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.c.compiler.std" useByScannerDiscovery="true" value="ilg.gnuarmeclipse.managedbuild.cross.option.c.compiler.std.gnu99" valueType="enumerated"/> <option id="ilg.gnuarmeclipse.managedbuild.cross.option.c.compiler.include.paths.1580315270" name="Include paths (-I)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.c.compiler.include.paths" useByScannerDiscovery="false" valueType="includePath"> @@ -229,8 +237,8 @@ </tool> <tool id="ilg.gnuarmeclipse.managedbuild.cross.tool.cpp.compiler.658547674" name="Cross ARM C++ Compiler" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.cpp.compiler"> <option id="ilg.gnuarmeclipse.managedbuild.cross.option.cpp.compiler.defs.59523076" name="Defined symbols (-D)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.cpp.compiler.defs" useByScannerDiscovery="false" valueType="definedSymbols"> - <listOptionValue builtIn="false" value="NDEBUG"/> <listOptionValue builtIn="false" value=""CPU_MK20DN512VLK10""/> + <listOptionValue builtIn="false" value="NDEBUG"/> </option> <option id="ilg.gnuarmeclipse.managedbuild.cross.option.cpp.compiler.include.paths.1916697474" name="Include paths (-I)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.cpp.compiler.include.paths" useByScannerDiscovery="false" valueType="includePath"> <listOptionValue builtIn="false" value="../freertos/Source/include"/> @@ -293,11 +301,12 @@ </toolChain> </folderInfo> <sourceEntries> - <entry excluding="CMSIS/Driver/DriverTemplates|drivers/fsl_mpu.c|usb_1.1.0/osa/usb_osa_bm.c|usb_1.1.0/device|freertos/Source/portable/MemMang/heap_5.c|freertos/Source/portable/MemMang/heap_3.c|freertos/Source/portable/MemMang/heap_2.c|freertos/Source/portable/MemMang/heap_1.c" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/> + <entry excluding="usb_1.1.0|drivers/fsl_pit.c|drivers/fsl_pdb.c|drivers/fsl_llwu.c|drivers/fsl_flexbus.c|drivers/fsl_uart_edma.c|drivers/fsl_smc.c|drivers/fsl_sim.c|drivers/fsl_sdhc.c|drivers/fsl_sai.c|drivers/fsl_sai_edma.c|drivers/fsl_rtc.c|drivers/fsl_rcm.c|drivers/fsl_pmc.c|drivers/fsl_i2c.c|drivers/fsl_i2c_freertos.c|drivers/fsl_i2c_edma.c|drivers/fsl_ftm.c|drivers/fsl_flash.c|drivers/fsl_ewm.c|drivers/fsl_dac.c|drivers/fsl_crc.c|drivers/fsl_cmt.c|drivers/fsl_cmp.c|CMSIS/Driver/DriverTemplates|drivers/fsl_mpu.c|usb_1.1.0/osa/usb_osa_bm.c|usb_1.1.0/device|freertos/Source/portable/MemMang/heap_5.c|freertos/Source/portable/MemMang/heap_3.c|freertos/Source/portable/MemMang/heap_2.c|freertos/Source/portable/MemMang/heap_1.c" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/> </sourceEntries> </configuration> </storageModule> <storageModule moduleId="org.eclipse.cdt.core.externalSettings"/> + <storageModule moduleId="ilg.gnuarmeclipse.managedbuild.packs"/> </cconfiguration> </storageModule> <storageModule moduleId="cdtBuildSystem" version="4.0.0"> diff --git a/.settings/language.settings.xml b/.settings/language.settings.xml index 0acd25f..3469e49 100644 --- a/.settings/language.settings.xml +++ b/.settings/language.settings.xml @@ -5,7 +5,7 @@ <provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/> <provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/> <provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/> - <provider class="org.eclipse.cdt.managedbuilder.language.settings.providers.GCCBuiltinSpecsDetector" console="false" env-hash="-655446207629780334" id="ilg.gnuarmeclipse.managedbuild.cross.GCCBuiltinSpecsDetector" keep-relative-paths="false" name="CDT GCC Built-in Compiler Settings Cross ARM" parameter="${COMMAND} ${FLAGS} ${cross_toolchain_flags} -E -P -v -dD "${INPUTS}"" prefer-non-shared="true"> + <provider class="org.eclipse.cdt.managedbuilder.language.settings.providers.GCCBuiltinSpecsDetector" console="false" env-hash="1447393205515885021" id="ilg.gnuarmeclipse.managedbuild.cross.GCCBuiltinSpecsDetector" keep-relative-paths="false" name="CDT GCC Built-in Compiler Settings Cross ARM" parameter="${COMMAND} ${FLAGS} ${cross_toolchain_flags} -E -P -v -dD "${INPUTS}"" prefer-non-shared="true"> <language-scope id="org.eclipse.cdt.core.gcc"/> <language-scope id="org.eclipse.cdt.core.g++"/> </provider> @@ -16,7 +16,7 @@ <provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/> <provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/> <provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/> - <provider class="org.eclipse.cdt.managedbuilder.language.settings.providers.GCCBuiltinSpecsDetector" console="false" env-hash="-648854177427414568" id="ilg.gnuarmeclipse.managedbuild.cross.GCCBuiltinSpecsDetector" keep-relative-paths="false" name="CDT GCC Built-in Compiler Settings Cross ARM" parameter="${COMMAND} ${FLAGS} ${cross_toolchain_flags} -E -P -v -dD "${INPUTS}"" prefer-non-shared="true"> + <provider class="org.eclipse.cdt.managedbuilder.language.settings.providers.GCCBuiltinSpecsDetector" console="false" env-hash="1432191262867276349" id="ilg.gnuarmeclipse.managedbuild.cross.GCCBuiltinSpecsDetector" keep-relative-paths="false" name="CDT GCC Built-in Compiler Settings Cross ARM" parameter="${COMMAND} ${FLAGS} ${cross_toolchain_flags} -E -P -v -dD "${INPUTS}"" prefer-non-shared="true"> <language-scope id="org.eclipse.cdt.core.gcc"/> <language-scope id="org.eclipse.cdt.core.g++"/> </provider> diff --git a/drivers/fsl_dspi.c b/drivers/fsl_dspi.c index 66f8974..1ec01b3 100644 --- a/drivers/fsl_dspi.c +++ b/drivers/fsl_dspi.c @@ -1445,7 +1445,7 @@ void DSPI_SlaveTransferHandleIRQ(SPI_Type *base, dspi_slave_handle_t *handle) assert(handle); volatile uint32_t dataReceived; - uint32_t dataSend = 0; +// uint32_t dataSend = 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 @@ -1492,25 +1492,26 @@ void DSPI_SlaveTransferHandleIRQ(SPI_Type *base, dspi_slave_handle_t *handle) case APALIS_TK1_K20_IRQREG: registers[APALIS_TK1_K20_IRQREG] = 0; break; - case APALIS_TK1_K20_CANREG: - registers[APALIS_TK1_K20_CANREG] &= ~0x10; - break; - case APALIS_TK1_K20_CANREG + APALIS_TK1_K20_CAN_OFFSET: - registers[APALIS_TK1_K20_CANREG - + APALIS_TK1_K20_CAN_OFFSET] &= ~0x10; - break; + case APALIS_TK1_K20_CANERR: + registers[APALIS_TK1_K20_CANERR] = 0x00; + case APALIS_TK1_K20_CANERR + APALIS_TK1_K20_CAN_OFFSET: + registers[APALIS_TK1_K20_CANERR + + APALIS_TK1_K20_CAN_OFFSET] = 0x00; } } else { - base->PUSHR_SLAVE = 0x55; + if ( *(handle->rxData - 1) == APALIS_TK1_K20_READ_INST) + { + base->PUSHR_SLAVE = 0x55; + } } } } /* Decrease remaining receive byte count */ --handle->remainingReceiveByteCount; - +#ifndef SPI_DMA if (handle->remainingSendByteCount > 0) { if (handle->txData) @@ -1527,6 +1528,7 @@ void DSPI_SlaveTransferHandleIRQ(SPI_Type *base, dspi_slave_handle_t *handle) /* Write the data to the DSPI data register */ base->PUSHR_SLAVE = dataSend; } +#endif #if 0 } else /* If bits/frame is 2 bytes */ @@ -1617,7 +1619,6 @@ void DSPI_SlaveTransferHandleIRQ(SPI_Type *base, dspi_slave_handle_t *handle) if ((handle->remainingReceiveByteCount == 0) || (handle->state == kDSPI_Error)) { /* Other cases, stop the transfer. */ - dataReceived = base->POPR; DSPI_SlaveTransferComplete(base, handle); return; } diff --git a/drivers/fsl_dspi_edma.c b/drivers/fsl_dspi_edma.c index fa26b2f..2b91cdc 100644 --- a/drivers/fsl_dspi_edma.c +++ b/drivers/fsl_dspi_edma.c @@ -890,9 +890,9 @@ status_t DSPI_SlaveTransferEDMA(SPI_Type *base, dspi_slave_edma_handle_t *handle handle->state = kDSPI_Busy; uint32_t instance = DSPI_GetInstance(base); - uint8_t whichCtar = (transfer->configFlags & DSPI_SLAVE_CTAR_MASK) >> DSPI_SLAVE_CTAR_SHIFT; - handle->bitsPerFrame = - (((base->CTAR_SLAVE[whichCtar]) & SPI_CTAR_SLAVE_FMSZ_MASK) >> SPI_CTAR_SLAVE_FMSZ_SHIFT) + 1; + //uint8_t whichCtar = (transfer->configFlags & DSPI_SLAVE_CTAR_MASK) >> DSPI_SLAVE_CTAR_SHIFT; + handle->bitsPerFrame = 8; + //(((base->CTAR_SLAVE[whichCtar]) & SPI_CTAR_SLAVE_FMSZ_MASK) >> SPI_CTAR_SLAVE_FMSZ_SHIFT) + 1; /* If using a shared RX/TX DMA request, then this limits the amount of data we can transfer * due to the linked channel. The max bytes is 511 if 8-bit/frame or 1022 if 16-bit/frame @@ -1213,23 +1213,23 @@ static void EDMA_DspiSlaveCallback(edma_handle_t *edmaHandle, extern dspi_slave_edma_handle_t g_dspi_edma_s_handle; static void EDMA_DspiSlaveCallback(edma_handle_t *edmaHandle, - void *g_dspiEdmaPrivateHandle, - bool transferDone, - uint32_t tcds) + void *g_dspiEdmaPrivateHandle, + bool transferDone, + uint32_t tcds) { - assert(edmaHandle); + assert(edmaHandle); - DSPI_DisableDMA(SPI2, kDSPI_RxDmaEnable | kDSPI_TxDmaEnable); + DSPI_DisableDMA(SPI2, kDSPI_RxDmaEnable | kDSPI_TxDmaEnable); - g_dspi_edma_s_handle.state = kDSPI_Idle; + g_dspi_edma_s_handle.state = kDSPI_Idle; - if (g_dspi_edma_s_handle.callback) - { + if (g_dspi_edma_s_handle.callback) + { - g_dspi_edma_s_handle.callback(SPI2, &g_dspi_edma_s_handle, - kStatus_Success, g_dspi_edma_s_handle.userData); - } + g_dspi_edma_s_handle.callback(SPI2, &g_dspi_edma_s_handle, + kStatus_Success, g_dspi_edma_s_handle.userData); + } } #endif void DSPI_SlaveTransferAbortEDMA(SPI_Type *base, dspi_slave_edma_handle_t *handle) diff --git a/drivers/fsl_flexcan.c b/drivers/fsl_flexcan.c index 09add9e..2a07dc5 100644 --- a/drivers/fsl_flexcan.c +++ b/drivers/fsl_flexcan.c @@ -88,24 +88,6 @@ typedef void (*flexcan_isr_t)(CAN_Type *base, flexcan_handle_t *handle); */ uint32_t FLEXCAN_GetInstance(CAN_Type *base); -/*! - * @brief Enter FlexCAN Freeze Mode. - * - * This function makes the FlexCAN work under Freeze Mode. - * - * @param base FlexCAN peripheral base address. - */ -static void FLEXCAN_EnterFreezeMode(CAN_Type *base); - -/*! - * @brief Exit FlexCAN Freeze Mode. - * - * This function makes the FlexCAN leave Freeze Mode. - * - * @param base FlexCAN peripheral base address. - */ -static void FLEXCAN_ExitFreezeMode(CAN_Type *base); - #if !defined(NDEBUG) /*! * @brief Check if Message Buffer is occupied by Rx FIFO. @@ -117,7 +99,7 @@ static void FLEXCAN_ExitFreezeMode(CAN_Type *base); */ static bool FLEXCAN_IsMbOccupied(CAN_Type *base, uint8_t mbIdx); #endif - +#if 0 #if (defined(FSL_FEATURE_FLEXCAN_HAS_ERRATA_5641) && FSL_FEATURE_FLEXCAN_HAS_ERRATA_5641) /*! * @brief Get the first valid Message buffer ID of give FlexCAN instance. @@ -129,7 +111,7 @@ static bool FLEXCAN_IsMbOccupied(CAN_Type *base, uint8_t mbIdx); */ static uint32_t FLEXCAN_GetFirstValidMb(CAN_Type *base); #endif - +#endif /*! * @brief Check if Message Buffer interrupt is enabled. * @@ -214,7 +196,7 @@ uint32_t FLEXCAN_GetInstance(CAN_Type *base) return instance; } -static void FLEXCAN_EnterFreezeMode(CAN_Type *base) +void FLEXCAN_EnterFreezeMode(CAN_Type *base) { /* Set Freeze, Halt bits. */ base->MCR |= CAN_MCR_HALT_MASK; @@ -225,7 +207,7 @@ static void FLEXCAN_EnterFreezeMode(CAN_Type *base) } } -static void FLEXCAN_ExitFreezeMode(CAN_Type *base) +void FLEXCAN_ExitFreezeMode(CAN_Type *base) { /* Clear Freeze, Halt bits. */ base->MCR &= ~CAN_MCR_HALT_MASK; @@ -279,7 +261,7 @@ static bool FLEXCAN_IsMbOccupied(CAN_Type *base, uint8_t mbIdx) } } #endif - +#if 0 #if (defined(FSL_FEATURE_FLEXCAN_HAS_ERRATA_5641) && FSL_FEATURE_FLEXCAN_HAS_ERRATA_5641) static uint32_t FLEXCAN_GetFirstValidMb(CAN_Type *base) { @@ -298,6 +280,7 @@ static uint32_t FLEXCAN_GetFirstValidMb(CAN_Type *base) return firstValidMbNum; } #endif +#endif static bool FLEXCAN_IsMbIntEnabled(CAN_Type *base, uint8_t mbIdx) { @@ -487,6 +470,9 @@ void FLEXCAN_Init(CAN_Type *base, const flexcan_config_t *config, uint32_t sourc mcrTemp = (config->enableDoze) ? mcrTemp | CAN_MCR_DOZE_MASK : mcrTemp & ~CAN_MCR_DOZE_MASK; #endif + mcrTemp |= CAN_MCR_HALT_MASK; + mcrTemp |= CAN_MCR_FRZ_MASK; + /* Save MCR Configuation. */ base->MCR = mcrTemp; @@ -539,6 +525,10 @@ void FLEXCAN_SetTimingConfig(CAN_Type *base, const flexcan_timing_config_t *conf { /* Assertion. */ assert(config); + int keep_frozen = 0; + + if (base->MCR & CAN_MCR_FRZACK_MASK) + keep_frozen = 1; /* Enter Freeze Mode. */ FLEXCAN_EnterFreezeMode(base); @@ -553,24 +543,65 @@ void FLEXCAN_SetTimingConfig(CAN_Type *base, const flexcan_timing_config_t *conf CAN_CTRL1_PSEG1(config->phaseSeg1) | CAN_CTRL1_PSEG2(config->phaseSeg2) | CAN_CTRL1_PROPSEG(config->propSeg)); /* Exit Freeze Mode. */ - FLEXCAN_ExitFreezeMode(base); + if (!keep_frozen) + FLEXCAN_ExitFreezeMode(base); } void FLEXCAN_SetBitRate(CAN_Type *base, uint32_t sourceClock_Hz, uint32_t baudRate_Bps) { + int keep_frozen = 0; + + if (base->MCR & CAN_MCR_FRZACK_MASK) + keep_frozen = 1; + /* Enter Freeze Mode. */ FLEXCAN_EnterFreezeMode(base); FLEXCAN_SetBaudRate(base, sourceClock_Hz, baudRate_Bps); /* Exit Freeze Mode. */ - FLEXCAN_ExitFreezeMode(base); + if (!keep_frozen) + FLEXCAN_ExitFreezeMode(base); +} + +void FLEXCAN_SetMode(CAN_Type *base, uint32_t mode) +{ + int keep_frozen = 0; + + if (base->MCR & CAN_MCR_FRZACK_MASK) + keep_frozen = 1; + /* Enter Freeze Mode. */ + FLEXCAN_EnterFreezeMode(base); + switch (mode){ + case CAN_CTRLMODE_3_SAMPLES: + base->CTRL1 &= ~CAN_CTRL1_LPB_MASK; + base->CTRL1 &= ~CAN_CTRL1_LOM_MASK; + base->CTRL1 |= CAN_CTRL1_SMP_MASK; + break; + case CAN_CTRLMODE_LISTENONLY: + base->CTRL1 &= ~CAN_CTRL1_LPB_MASK; + base->CTRL1 &= ~CAN_CTRL1_SMP_MASK; + base->CTRL1 |= CAN_CTRL1_LOM_MASK; + break; + case CAN_CTRLMODE_LOOPBACK: + base->CTRL1 &= ~CAN_CTRL1_SMP_MASK; + base->CTRL1 &= ~CAN_CTRL1_LOM_MASK; + base->CTRL1 |= CAN_CTRL1_LPB_MASK; + break; + case CAN_CTRLMODE_NORMAL: + base->CTRL1 &= ~CAN_CTRL1_LPB_MASK; + base->CTRL1 &= ~CAN_CTRL1_LOM_MASK; + base->CTRL1 &= ~CAN_CTRL1_SMP_MASK; + } + /* Exit Freeze Mode. */ + if (!keep_frozen) + FLEXCAN_ExitFreezeMode(base); } void FLEXCAN_SetRxMbGlobalMask(CAN_Type *base, uint32_t mask) { /* Enter Freeze Mode. */ - FLEXCAN_EnterFreezeMode(base); + //FLEXCAN_EnterFreezeMode(base); /* Setting Rx Message Buffer Global Mask value. */ base->RXMGMASK = mask; @@ -578,19 +609,19 @@ void FLEXCAN_SetRxMbGlobalMask(CAN_Type *base, uint32_t mask) base->RX15MASK = mask; /* Exit Freeze Mode. */ - FLEXCAN_ExitFreezeMode(base); + //FLEXCAN_ExitFreezeMode(base); } void FLEXCAN_SetRxFifoGlobalMask(CAN_Type *base, uint32_t mask) { /* Enter Freeze Mode. */ - FLEXCAN_EnterFreezeMode(base); + //FLEXCAN_EnterFreezeMode(base); /* Setting Rx FIFO Global Mask value. */ base->RXFGMASK = mask; /* Exit Freeze Mode. */ - FLEXCAN_ExitFreezeMode(base); + //FLEXCAN_ExitFreezeMode(base); } void FLEXCAN_SetRxIndividualMask(CAN_Type *base, uint8_t maskIdx, uint32_t mask) @@ -678,7 +709,7 @@ void FLEXCAN_SetRxFifoConfig(CAN_Type *base, const flexcan_rx_fifo_config_t *con uint8_t setup_mb, i, rffn = 0; /* Enter Freeze Mode. */ - FLEXCAN_EnterFreezeMode(base); + //FLEXCAN_EnterFreezeMode(base); if (enable) { @@ -771,7 +802,7 @@ void FLEXCAN_SetRxFifoConfig(CAN_Type *base, const flexcan_rx_fifo_config_t *con } base->MCR |= CAN_MCR_SRXDIS_MASK; /* Exit Freeze Mode. */ - FLEXCAN_ExitFreezeMode(base); + //FLEXCAN_ExitFreezeMode(base); } #if (defined(FSL_FEATURE_FLEXCAN_HAS_RX_FIFO_DMA) && FSL_FEATURE_FLEXCAN_HAS_RX_FIFO_DMA) @@ -843,8 +874,8 @@ status_t FLEXCAN_WriteTxMb(CAN_Type *base, uint8_t mbIdx, const flexcan_frame_t base->MB[mbIdx].CS = cs_temp; #if (defined(FSL_FEATURE_FLEXCAN_HAS_ERRATA_5641) && FSL_FEATURE_FLEXCAN_HAS_ERRATA_5641) - base->MB[FLEXCAN_GetFirstValidMb(base)].CS = CAN_CS_CODE(kFLEXCAN_TxMbInactive); - base->MB[FLEXCAN_GetFirstValidMb(base)].CS = CAN_CS_CODE(kFLEXCAN_TxMbInactive); + base->MB[8].CS = CAN_CS_CODE(kFLEXCAN_TxMbInactive); + base->MB[8].CS = CAN_CS_CODE(kFLEXCAN_TxMbInactive); #endif return kStatus_Success; @@ -1162,7 +1193,7 @@ void FLEXCAN_TransferAbortSend(CAN_Type *base, flexcan_handle_t *handle, uint8_t assert(!FLEXCAN_IsMbOccupied(base, mbIdx)); /* Disable Message Buffer Interrupt. */ - FLEXCAN_DisableMbInterrupts(base, 1 << mbIdx); + //FLEXCAN_DisableMbInterrupts(base, 1 << mbIdx); /* Un-register handle. */ handle->mbFrameBuf[mbIdx] = 0x0; @@ -1214,6 +1245,7 @@ void FLEXCAN_TransferHandleIRQ(CAN_Type *base, flexcan_handle_t *handle) status_t status = kStatus_FLEXCAN_UnHandled; uint32_t result; + BaseType_t reschedule = pdFALSE; /* Store Current FlexCAN Module Error and Status. */ result = base->ESR1; @@ -1234,7 +1266,7 @@ void FLEXCAN_TransferHandleIRQ(CAN_Type *base, flexcan_handle_t *handle) else { /* For this implementation, we solve the Message with lowest MB index first. */ - for (result = 0; result < FSL_FEATURE_FLEXCAN_HAS_MESSAGE_BUFFER_MAX_NUMBERn(base); result++) + for (result = 0; result < 10/* FSL_FEATURE_FLEXCAN_HAS_MESSAGE_BUFFER_MAX_NUMBERn(base) */; result++) { /* Get the lowest unhandled Message Buffer */ if ((FLEXCAN_GetMbStatusFlags(base, 1 << result)) && (FLEXCAN_IsMbIntEnabled(base, result))) @@ -1244,7 +1276,7 @@ void FLEXCAN_TransferHandleIRQ(CAN_Type *base, flexcan_handle_t *handle) } /* Does not find Message to deal with. */ - if (result == FSL_FEATURE_FLEXCAN_HAS_MESSAGE_BUFFER_MAX_NUMBERn(base)) + if (result == 10) { break; } @@ -1323,7 +1355,8 @@ void FLEXCAN_TransferHandleIRQ(CAN_Type *base, flexcan_handle_t *handle) /* Calling Callback Function if has one. */ if (handle->callback != NULL) { - handle->callback(base, handle, status, result, handle->userData); + if (handle->callback(base, handle, status, result, handle->userData) == pdTRUE) + reschedule = pdTRUE; } /* Reset return status */ @@ -1341,6 +1374,7 @@ void FLEXCAN_TransferHandleIRQ(CAN_Type *base, flexcan_handle_t *handle) (0 != (result & (kFLEXCAN_TxWarningIntFlag | kFLEXCAN_RxWarningIntFlag | kFLEXCAN_BusOffIntFlag | kFLEXCAN_ErrorIntFlag | kFLEXCAN_WakeUpIntFlag)))); #endif + portYIELD_FROM_ISR(reschedule); } #if defined(CAN0) diff --git a/drivers/fsl_flexcan.h b/drivers/fsl_flexcan.h index e6baa93..40246fe 100644 --- a/drivers/fsl_flexcan.h +++ b/drivers/fsl_flexcan.h @@ -31,6 +31,8 @@ #define _FSL_FLEXCAN_H_ #include "fsl_common.h" +#include "FreeRTOS.h" +#include "task.h" /*! * @addtogroup flexcan_driver @@ -41,6 +43,11 @@ * Definitions *****************************************************************************/ +#define CAN_CTRLMODE_NORMAL 0x00 /* normal mode */ +#define CAN_CTRLMODE_LOOPBACK 0x01 /* Loopback mode */ +#define CAN_CTRLMODE_LISTENONLY 0x02 /* Listen-only mode */ +#define CAN_CTRLMODE_3_SAMPLES 0x03 /* Triple sampling mode */ + /*! @name Driver version */ /*@{*/ /*! @brief FlexCAN driver version 2.2.0. */ @@ -400,7 +407,7 @@ typedef struct _flexcan_handle flexcan_handle_t; * If the status equals to other FlexCAN Message Buffer transfer status, the result is meaningless and should be * Ignored. */ -typedef void (*flexcan_transfer_callback_t)( +typedef BaseType_t (*flexcan_transfer_callback_t)( CAN_Type *base, flexcan_handle_t *handle, status_t status, uint32_t result, void *userData); /*! @brief FlexCAN handle structure. */ @@ -487,6 +494,24 @@ void FLEXCAN_GetDefaultConfig(flexcan_config_t *config); */ /*! + * @brief Enter FlexCAN Freeze Mode. + * + * This function makes the FlexCAN work under Freeze Mode. + * + * @param base FlexCAN peripheral base address. + */ +void FLEXCAN_EnterFreezeMode(CAN_Type *base); + +/*! + * @brief Exit FlexCAN Freeze Mode. + * + * This function makes the FlexCAN leave Freeze Mode. + * + * @param base FlexCAN peripheral base address. + */ +void FLEXCAN_ExitFreezeMode(CAN_Type *base); + +/*! * @brief Sets the FlexCAN protocol timing characteristic. * * This function gives user settings to CAN bus timing characteristic. @@ -504,6 +529,8 @@ void FLEXCAN_SetTimingConfig(CAN_Type *base, const flexcan_timing_config_t *conf void FLEXCAN_SetBitRate(CAN_Type *base, uint32_t sourceClock_Hz, uint32_t baudRate_Bps); +void FLEXCAN_SetMode(CAN_Type *base, uint32_t mode); + /*! * @brief Sets the FlexCAN receive message buffer global mask. * diff --git a/source/adc_task.c b/source/adc_task.c index 2615943..daf4716 100644 --- a/source/adc_task.c +++ b/source/adc_task.c @@ -270,7 +270,7 @@ int tsc_registers(dspi_transfer_t *spi_transfer) if (rx_buf[0] == APALIS_TK1_K20_WRITE_INST) { switch (rx_buf[1]) { case APALIS_TK1_K20_TSCREG: - return -ENOENT; + return 0; default: return -ENOENT; } @@ -320,7 +320,7 @@ int adc_registers(dspi_transfer_t *spi_transfer) if (rx_buf[0] == APALIS_TK1_K20_WRITE_INST) { switch (rx_buf[1]) { case APALIS_TK1_K20_ADCREG: - return -ENOENT; + return 0; default: return -ENOENT; } diff --git a/source/can_task.c b/source/can_task.c index bab19ac..e34d35d 100644 --- a/source/can_task.c +++ b/source/can_task.c @@ -14,19 +14,13 @@ #define CAN_HEADER_MAX_LEN 5 #define CAN_TRANSFER_BUF_LEN (CAN_HEADER_MAX_LEN + CAN_FRAME_MAX_LEN) -#define CAN_CTRLMODE_NORMAL 0x00 /* normal mode */ -#define CAN_CTRLMODE_LOOPBACK 0x01 /* Loopback mode */ -#define CAN_CTRLMODE_LISTENONLY 0x02 /* Listen-only mode */ -#define CAN_CTRLMODE_3_SAMPLES 0x04 /* Triple sampling mode */ -#define CAN_CTRLMODE_ONE_SHOT 0x08 /* One-Shot mode */ -#define CAN_CTRLMODE_BERR_REPORTING 0x10 /* Bus-error reporting */ - -#define CANCTRL_MODMASK 0x03 -#define CANCTRL_INTMASK 0x38 -#define CANCTRL_INTEN BIT(2) -#define CANINTF_RX BIT(3) -#define CANINTF_TX BIT(4) -#define CANINTF_ERR BIT(5) +#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 @@ -39,24 +33,26 @@ struct can_registers { CAN_Type *base; flexcan_handle_t handle; - uint8_t can_status_reg; + 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 void generate_can_irq(uint8_t id) +static inline void generate_can_irq(uint8_t id) { - if (id == 0) + if (id == 0) { GPIO_TogglePinsOutput(GPIOB, 1u << 8u); - else + } else { GPIO_TogglePinsOutput(GPIOE, 1u << 26u); + } } void can_tx_notify_task(void *pvParameters) @@ -66,17 +62,25 @@ void can_tx_notify_task(void *pvParameters) 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; + 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; + 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 void flexcan_callback(CAN_Type *base, flexcan_handle_t *handle, status_t status, uint32_t result, void *userData) +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; @@ -94,6 +98,7 @@ static void flexcan_callback(CAN_Type *base, flexcan_handle_t *handle, status_t switch ((int)base) { case (int)CAN0: + xTaskNotifyFromISR(can_tx_notify_task_handle, 0x01, eSetBits, &reschedule); break; case (int)CAN1: @@ -104,10 +109,40 @@ static void flexcan_callback(CAN_Type *base, flexcan_handle_t *handle, status_t } 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; } - portYIELD_FROM_ISR(reschedule); + + return reschedule; } static void CAN_Init(uint8_t id) @@ -139,7 +174,11 @@ static void CAN_Init(uint8_t id) FLEXCAN_SetRxFifoConfig(can_regs[id].base, &fifoConfig, true); /* errata #5641 */ - FLEXCAN_SetTxMbConfig(can_regs[id].base, TX_MESSAGE_BUFFER_NUM0 - 1, true); + 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); @@ -148,6 +187,7 @@ static void CAN_Init(uint8_t id) 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 @@ -155,13 +195,17 @@ static void can_calculate_available_data(uint8_t id) { 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) { @@ -195,24 +239,26 @@ static void frame_to_buffer(flexcan_frame_t *frame, uint8_t id) { 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 void can_fifo_rx(uint8_t id, flexcan_fifo_transfer_t * rxXfer) +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; - taskENTER_CRITICAL(); + FLEXCAN_TransferReceiveFifoNonBlocking(can_regs[id].base, &can_regs[id].handle, rxXfer); - taskEXIT_CRITICAL(); xSemaphoreTake(can_msg->sem, portMAX_DELAY); - frame_to_buffer(rxXfer->frame, id); - can_regs[id].frames_in_buf++; - registers[APALIS_TK1_K20_CANREG + APALIS_TK1_K20_CAN_DEV_OFFSET(id)] |= CANINTF_RX; - generate_can_irq(id); - if (can_regs[id].frames_in_buf >= CAN_RX_BUF_SIZE) - vTaskSuspend(NULL); + 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) { @@ -263,16 +309,25 @@ void can1_task(void *pvParameters) { static void can_change_mode(int id, uint8_t new_mode) { - CAN_Type *base = id ? CAN1:CAN0; - can_regs[id].can_mode = new_mode; - switch (new_mode){ - case CAN_CTRLMODE_LOOPBACK: - base->CTRL1 = base->CTRL1 | CAN_CTRL1_LPB_MASK; - break; - case CAN_CTRLMODE_NORMAL: - base->CTRL1 = base->CTRL1 & ~CAN_CTRL1_LPB_MASK; + 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); } } @@ -282,18 +337,21 @@ 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_TX | CANINTF_ERR); + 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; } @@ -304,9 +362,9 @@ static uint8_t set_canbadreg (int id, uint8_t value) return 0; } -static uint8_t set_canbittimig (int id, uint16_t value, int16_t mask) +static uint8_t set_canbittiming (int id, uint16_t value, int16_t mask) { - /* According to NXP we should use default setting */ + /* According to NXP we should use default settings */ return 0; } @@ -339,12 +397,16 @@ uint8_t can_sendframe(uint8_t id, uint8_t *data, uint8_t len) txXfer.frame = &tx_frame; txXfer.mbIdx = TX_MESSAGE_BUFFER_NUM0; - - taskENTER_CRITICAL(); - FLEXCAN_TransferSendNonBlocking(can_regs[id].base , &can_regs[id].handle, &txXfer); - taskEXIT_CRITICAL(); - - return 0; + 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) @@ -354,11 +416,11 @@ uint16_t can_readframe(uint8_t id, dspi_transfer_t *spi_transfer) 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; - can_calculate_available_data(id); return rx_size * CAN_TRANSFER_BUF_LEN; } @@ -378,9 +440,9 @@ int canx_registers(dspi_transfer_t *spi_transfer, int id) case APALIS_TK1_K20_CAN_BAUD_REG: return set_canbadreg(id, rx_buf[2]); case APALIS_TK1_K20_CAN_BIT_1: - return set_canbittimig(id, rx_buf[2], 0x00FF); + return set_canbittiming(id, rx_buf[2], 0x00FF); case APALIS_TK1_K20_CAN_BIT_2: - return set_canbittimig(id, (rx_buf[2] << 8), 0xFF00); + return set_canbittiming(id, (rx_buf[2] << 8), 0xFF00); default: return -EIO; } @@ -398,7 +460,7 @@ int canx_registers(dspi_transfer_t *spi_transfer, int id) switch (rx_buf[1]) { case APALIS_TK1_K20_CAN_OUT_BUF: can_sendframe(id, &rx_buf[3], rx_buf[2]); - break; + return 0; default: return -EIO; } diff --git a/source/com_task.c b/source/com_task.c index 56a4ce2..d6bc97d 100644 --- a/source/com_task.c +++ b/source/com_task.c @@ -7,7 +7,7 @@ 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*/ +/* 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 @@ -18,17 +18,20 @@ 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]; -#define SPI_DMA - #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) { - registers[APALIS_TK1_K20_IRQREG] |= BIT(irq); - /* Toggle INT1 pin */ - GPIO_TogglePinsOutput(GPIOA, 1u << 16u); + 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) { @@ -110,7 +113,8 @@ inline int general_registers(dspi_transfer_t * spi_transfer) return -ENXIO; } -static void SPI_callback(SPI_Type *base, dspi_slave_handle_t *handle, status_t status, void *userData) + +inline void SPI_main_callback(status_t status, void *userData) { callback_message_t * cb = (callback_message_t*) userData; BaseType_t reschedule = pdFALSE; @@ -119,14 +123,25 @@ static void SPI_callback(SPI_Type *base, dspi_slave_handle_t *handle, status_t s { 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() { @@ -184,9 +199,10 @@ void spi_task(void *pvParameters) { EDMA_CreateHandle(&dspiEdmaSlaveTxHandle, DMA0, slaveTxChannel); g_dspi_edma_s_handle.userData = &spi_msg; - DSPI_SlaveTransferCreateHandleEDMA(SPI2, &g_dspi_edma_s_handle, SPI_callback, &spi_msg, &dspiEdmaSlaveRxHandle, &dspiEdmaSlaveTxHandle); + DSPI_SlaveTransferCreateHandleEDMA(SPI2, &g_dspi_edma_s_handle, SPI_EDMA_callback, + &spi_msg, &dspiEdmaSlaveRxHandle, &dspiEdmaSlaveTxHandle); #endif - memset(registers, 0x00, APALIS_TK1_K20_LAST_REG); + 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; @@ -198,12 +214,12 @@ void spi_task(void *pvParameters) { /* Wait for instructions from SoC */ ret = DSPI_SlaveTransferNonBlocking(SPI2, &spi_handle, &slaveXfer); if ( ret == kStatus_Success) { - xSemaphoreTake(spi_msg.sem, portMAX_DELAY); - slaveXfer.txData = slaveTxData; - slaveXfer.rxData = slaveRxData; 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 @@ -231,34 +247,33 @@ void spi_task(void *pvParameters) { ret = -EINVAL; } - if (ret < 0) { - slaveTxData[0] = TK1_K20_INVAL; - slaveTxData[1] = ret; - slaveTxData[2] = slaveRxData[0]; - slaveTxData[3] = slaveRxData[1]; - slaveTxData[4] = slaveRxData[2]; - slaveXfer.txData = slaveTxData; - ret = 5; + 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) - { + if (slaveRxData[0] == APALIS_TK1_K20_BULK_READ_INST) { slaveXfer.dataSize = ret; - slaveXfer.rxData = NULL; /* We're not expecting any MOSI traffic, but NULL messes up stuff */ + 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 index 4a9557d..a541f88 100644 --- a/source/com_task.h +++ b/source/com_task.h @@ -22,6 +22,8 @@ #include "semphr.h" #include "errno.h" +#define SPI_DMA + typedef struct _callback_message_t { status_t async_status; |