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[Krobot-commits] [SCM] krobot branch, master, updated. 93954a49f74cb2037113e6746db7812d3e0b85e5
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From: Nicolas D. <Ba...@us...> - 2011-03-19 17:58:34
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- Log -----------------------------------------------------------------
commit 93954a49f74cb2037113e6746db7812d3e0b85e5
Author: Nicolas Dandrimont <Nic...@cr...>
Date: Sat Mar 19 18:56:07 2011 +0100
[USB_CAN/Firmware] Rewrite copyright notices
commit a15cb73960f845d1290f66fafa70b17e5377dd47
Author: Nicolas Dandrimont <Nic...@cr...>
Date: Sat Mar 19 18:54:38 2011 +0100
[USB_CAN/Firmware] Implement the CAN sending logic
commit 4bfac45208500bd33f1e2deb6e3a0de3b983cf74
Author: Nicolas Dandrimont <Nic...@cr...>
Date: Sat Mar 19 18:53:14 2011 +0100
[USB_CAN/Firmware] Move timestamp computation to the usb_can_emit function
commit e9f522ea891327263f6c9f19130a78d357d59848
Author: Nicolas Dandrimont <Nic...@cr...>
Date: Sat Mar 19 17:40:43 2011 +0100
[USB_CAN/Firmware] Remove ugly printf's
-----------------------------------------------------------------------
Changes:
diff --git a/elec/boards/USB_CAN/Firmware/bertos/drv/can.c b/elec/boards/USB_CAN/Firmware/bertos/drv/can.c
index d245c2d..a4137dd 100644
--- a/elec/boards/USB_CAN/Firmware/bertos/drv/can.c
+++ b/elec/boards/USB_CAN/Firmware/bertos/drv/can.c
@@ -33,6 +33,7 @@
* \brief CAN driver (implementation)
*
* \author Nicolas Dandrimont <Nic...@cr...>
+ *
*/
#include <drv/can.h>
@@ -115,22 +116,16 @@ bool can_transmit(can_driver *drv, can_tx_frame *frame, ticks_t timeout) {
bool ret;
proc_forbid();
- kprintf("Lock xmit (timeout=%d)\n", timeout);
while ((drv->state == CAN_SLEEP) || !can_hw_can_transmit(drv)) {
- kprintf("Can't xmit\n");
ret = event_waitTimeout(&drv->tx_empty_event, timeout);
- kprintf("After wait (%d)\n", ret);
if (ret != true) {
proc_permit();
return false;
}
}
-
- kprintf("Before xmit\n");
+
can_hw_transmit(drv, frame);
- kprintf("After xmit\n");
proc_permit();
- kprintf("Unlock xmit\n");
return true;
}
diff --git a/elec/boards/USB_CAN/Firmware/bertos/drv/can.h b/elec/boards/USB_CAN/Firmware/bertos/drv/can.h
index 07a7d81..9d47528 100644
--- a/elec/boards/USB_CAN/Firmware/bertos/drv/can.h
+++ b/elec/boards/USB_CAN/Firmware/bertos/drv/can.h
@@ -42,6 +42,8 @@
* $WIZ$ module_name = "can"
* $WIZ$ module_configuration = "bertos/cfg/cfg_can.h"
* $WIZ$ module_supports = "stm32"
+ * $WIZ$ module_depends = "timer", "signal"
+ *
*/
diff --git a/elec/boards/USB_CAN/Firmware/usb_can/main.c b/elec/boards/USB_CAN/Firmware/usb_can/main.c
index 01442bf..c86fca5 100644
--- a/elec/boards/USB_CAN/Firmware/usb_can/main.c
+++ b/elec/boards/USB_CAN/Firmware/usb_can/main.c
@@ -1,11 +1,15 @@
/**
- * \file
- * <!--
- * This file is part of BeRTOS.
+ * USB-CAN converter
*
- * Bertos is free software; you can redistribute it and/or modify
+ * This file is the entry point for an USB <-> CAN transceiver.
+ *
+ * Copyright © 2011 Nicolas Dandrimont <ol...@cr...>
+ * Authors: Nicolas Dandrimont <ol...@cr...>
+ * Xavier Lagorce <Xav...@cr...>
+ *
+ * This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2 of the License, or
+ * the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
@@ -14,29 +18,8 @@
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
- * along with this program; if not, write to the Free Software
- * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
- *
- * As a special exception, you may use this file as part of a free software
- * library without restriction. Specifically, if other files instantiate
- * templates or use macros or inline functions from this file, or you compile
- * this file and link it with other files to produce an executable, this
- * file does not by itself cause the resulting executable to be covered by
- * the GNU General Public License. This exception does not however
- * invalidate any other reasons why the executable file might be covered by
- * the GNU General Public License.
- *
- * Copyright 2010 Develer S.r.l. (http://www.develer.com/)
- *
- * -->
- *
- * \author Andrea Righi <ar...@de...>
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
*
- * \brief Kernel project.
- *
- * This is a minimalist kernel project: it just initializes the hardware and
- * creates an independent process to blink an LED, while the main loop
- * continues to monitor the stack utilization of all the processes.
*/
#include "hw/hw_led.h"
@@ -112,23 +95,11 @@ static void NORETURN serial_receive_process(void)
int nbytes, retval, i = 0;
char command[MAX_CMD_SIZE+1];
- can_tx_frame frame;
-
- frame.ide = 1;
- frame.eid = 0x42;
- frame.dlc = 4;
- frame.data8[0] = 1;
- frame.data8[1] = 1;
- frame.data8[2] = 1;
- frame.data8[3] = 1;
-
for (;;) {
i = !i;
nbytes = kfile_gets(&ser.fd, command, MAX_CMD_SIZE+1);
if (nbytes != EOF) {
retval = usb_can_execute_command(CAND1, &ser, command);
- can_transmit(CAND1, &frame, ms_to_ticks(42));
- kprintf("got %d bytes: [%s]\n", nbytes, command);
if (i)
LED1_ON();
else
@@ -143,13 +114,15 @@ static void NORETURN can_receive_process(void) {
can_rx_frame frame;
int retval;
- int32_t timestamp;
+ bool received = false;
+
for (;;) {
- can_receive(CAND1, &frame, ms_to_ticks(100));
- timestamp = ticks_to_ms(timer_clock()) % 60000;
- retval = usb_can_emit(CAND1, &ser, &frame, (uint16_t)timestamp);
- kprintf("received something... %d %08lx %08lx\n", frame.ide ? frame.eid:frame.sid, frame.data32[0], frame.data32[1]);
+ received = can_receive(CAND1, &frame, ms_to_ticks(100));
+ if (received) {
+ retval = usb_can_emit(CAND1, &ser, &frame);
+ kprintf("received something... %d %08lx %08lx\n", frame.ide ? frame.eid:frame.sid, frame.data32[0], frame.data32[1]);
+ }
}
}
diff --git a/elec/boards/USB_CAN/Firmware/usb_can/usb_can.c b/elec/boards/USB_CAN/Firmware/usb_can/usb_can.c
index bb16436..03e505e 100644
--- a/elec/boards/USB_CAN/Firmware/usb_can/usb_can.c
+++ b/elec/boards/USB_CAN/Firmware/usb_can/usb_can.c
@@ -1,14 +1,144 @@
+/**
+ * USB-CAN converter
+ *
+ * This file contains the logic for the USB <-> CAN transceiver.
+ *
+ * Copyright © 2011 Nicolas Dandrimont <ol...@cr...>
+ * Authors: Nicolas Dandrimont <ol...@cr...>
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program 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. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
#include "usb_can.h"
-int usb_can_execute_command(UNUSED_ARG(can_driver *, candrv), UNUSED_ARG(struct Serial *, serial), UNUSED_ARG(char *, command)) {
+INLINE uint32_t nibble_to_uint32(char *nibbles, size_t length) {
+
+ char *p;
+ uint32_t ret = 0;
+ uint8_t tmp = 0;
+
+ for (p = nibbles; p < nibbles + length; p++) {
+ ret = (ret << 4);
+ if ('0' <= *p && *p <= '9')
+ tmp = *p - '0';
+ else if ('A' <= *p && *p <= 'F')
+ tmp = (*p - 'A') + 10;
+ else if ('a' <= *p && *p <= 'f')
+ tmp = (*p - 'a') + 10;
+ else
+ tmp = 0;
+ ret = ret + tmp;
+ }
+
+ return ret;
+}
+
+
+int usb_can_execute_command(can_driver *candrv, struct Serial *serial, char *command) {
+
+ can_tx_frame frame;
+ bool send, ret;
+ int i;
+
+ frame.rtr = 0;
+ frame.ide = 0;
+ frame.eid = 0;
+ frame.sid = 0;
+ frame.dlc = 0;
+ frame.data32[0] = 0;
+ frame.data32[1] = 0;
+
+ switch (command[0]) {
+ case 'V':
+ /* Version number */
+ kfile_write(&serial->fd, "V0402\r", 6);
+ break;
+ case 'N':
+ /* Serial number */
+ kfile_write(&serial->fd, "NKROB\r", 6);
+ break;
+ case 'O':
+ /* Open CAN Channel */
+ /* FIXME: Implement! */
+ break;
+ case 'S':
+ /* Set CAN Channel Baudrate numerically */
+ /* FIXME: Implement! */
+ break;
+ case 's':
+ /* Set CAN Channel Baudrate with BTR0/1 */
+ /* FIXME: Implement! */
+ break;
+ case 'R':
+ /* Send an extended RTR frame */
+ frame.rtr = 1;
+ frame.ide = 1;
+ frame.eid = nibble_to_uint32(&command[1], 8);
+ frame.dlc = nibble_to_uint32(&command[9], 1);
+ for (i = 0; i < frame.dlc; i++)
+ frame.data8[i] = nibble_to_uint32(&command[10 + 2*i], 2);
+ send = true;
+ break;
+ case 'r':
+ /* Send a classic RTR frame */
+ frame.rtr = 1;
+ frame.sid = nibble_to_uint32(&command[1], 3);
+ frame.dlc = nibble_to_uint32(&command[4], 1);
+ for (i = 0; i < frame.dlc; i++)
+ frame.data8[i] = nibble_to_uint32(&command[5 + 2*i], 2);
+ send = true;
+ break;
+ case 'T':
+ frame.ide = 1;
+ frame.eid = nibble_to_uint32(&command[1], 8);
+ frame.dlc = nibble_to_uint32(&command[9], 1);
+ for (i = 0; i < frame.dlc; i++)
+ frame.data8[i] = nibble_to_uint32(&command[10 + 2*i], 2);
+ send = true;
+ break;
+ case 't':
+ frame.sid = nibble_to_uint32(&command[1], 3);
+ frame.dlc = nibble_to_uint32(&command[4], 1);
+ for (i = 0; i < frame.dlc; i++)
+ frame.data8[i] = nibble_to_uint32(&command[5 + 2*i], 2);
+ send = true;
+ break;
+ default:
+ break;
+ }
+
+ if (send) {
+ ret = can_transmit(candrv, &frame, ms_to_ticks(10));
+ if (ret)
+ kfile_write(&serial->fd, frame.ide ? "Z\r" : "z\r", 2);
+ else
+ kfile_write(&serial->fd, "\a", 1);
+ }
return 0;
}
-int usb_can_emit(UNUSED_ARG(can_driver *, candrv), struct Serial *serial, can_rx_frame *frame, uint16_t timestamp) {
+int usb_can_emit(UNUSED_ARG(can_driver *, candrv), struct Serial *serial, can_rx_frame *frame) {
char buffer[32] = "";
int i = 0, j = 0;
+ uint16_t timestamp;
+
+ /* The timestamp should wrap around every minute (it works until
+ the 32 bits of timer_clock are exhausted) */
+ timestamp = ticks_to_ms(timer_clock()) % 60000;
buffer[0] = frame->rtr ? 'r' : 't';
diff --git a/elec/boards/USB_CAN/Firmware/usb_can/usb_can.h b/elec/boards/USB_CAN/Firmware/usb_can/usb_can.h
index 5a8c1ee..efc7d0c 100644
--- a/elec/boards/USB_CAN/Firmware/usb_can/usb_can.h
+++ b/elec/boards/USB_CAN/Firmware/usb_can/usb_can.h
@@ -16,6 +16,6 @@
int usb_can_execute_command(can_driver *candrv, struct Serial *serial, char *command);
-int usb_can_emit(can_driver *candrv, struct Serial *serial, can_rx_frame *frame, uint16_t timestamp);
+int usb_can_emit(can_driver *candrv, struct Serial *serial, can_rx_frame *frame);
#endif /* !USB_CAN_H */
hooks/post-receive
--
krobot
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