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Large Panda CAN cleanup. Restrict GMLAN to valid baud rates.

Browse Source 
Work towards removing/centralizing ifdefs for CAN3 and PANDA
This commit is contained in:
Jessy Diamond Exum
2017-07-05 22:21:44 -07:00
parent 1712c901d4
commit a0616a2bc2
10 changed files with 280 additions and 235 deletions
Download Patch File Download Diff File Expand all files Collapse all files

169
board/can.c
View File

@@ -3,52 +3,51 @@
#include "can.h"
#include "uart.h"
#include "gpio.h"
#include "llgpio.h"
#include "libc.h"
#include "rev.h"
// assign CAN numbering
#ifdef PANDA
// panda: CAN1 = 0 CAN2 = 1 CAN3 = 2
// panda: CAN1 = 0 CAN2 = 1 CAN3 = 2
can_port_desc can_ports[] = {
{.CAN=CAN1,
.forwarding=-1,
.bitrate=CAN_DEFAULT_BITRATE,
.gmlan_support=false,
.gmlan=false,
.safety_mode=0,
.pin={GPIOC, 1, 0}},
{.CAN=CAN2,
.forwarding=-1,
.bitrate=CAN_DEFAULT_BITRATE,
.gmlan_support=true,
.gmlan=false,
.safety_mode=0,
.pin={GPIOC, 13, 0}},
{CAN_PORT_DESC_INITIALIZER,
.CAN = CAN1,
.can_pins = {{GPIOB, 8, GPIO_AF8_CAN1}, {GPIOB, 9, GPIO_AF8_CAN1}},
.enable_pin = {GPIOC, 1, 0},
.gmlan_support = false,
},
{CAN_PORT_DESC_INITIALIZER,
.CAN = CAN2,
.can_pins = {{GPIOB, 5, GPIO_AF9_CAN2}, {GPIOB, 6, GPIO_AF9_CAN2}},
.enable_pin = {GPIOC, 13, 0},
.gmlan_support = true,
.gmlan_pins = {{GPIOB, 12, GPIO_AF9_CAN2}, {GPIOB, 13, GPIO_AF9_CAN2}},
},
//TODO Make gmlan support correct for REV B
{.CAN=CAN3,
.forwarding=-1,
.bitrate=CAN_DEFAULT_BITRATE,
.gmlan_support=true,
.gmlan=false,
.safety_mode=0,
.pin={GPIOA, 0, 0}},
{CAN_PORT_DESC_INITIALIZER,
.CAN = CAN3,
.can_pins = {{GPIOA, 8, GPIO_AF11_CAN3}, {GPIOA, 15, GPIO_AF11_CAN3}},
.enable_pin = {GPIOA, 0, 0},
.gmlan_support = true,
.gmlan_pins = {{GPIOB, 3, GPIO_AF11_CAN3}, {GPIOB, 4, GPIO_AF11_CAN3}},
}
};
#else
// old: CAN1 = 1 CAN2 = 0
// old: CAN1 = 1 CAN2 = 0
can_port_desc can_ports[] = {
{.CAN=CAN2,
.forwarding=-1,
.bitrate=CAN_DEFAULT_BITRATE,
.gmlan_support=false,
.gmlan=false,
.safety_mode=0,
.pin={GPIOB, 3, 1}},
{.CAN=CAN1,
.forwarding=-1,
.bitrate=CAN_DEFAULT_BITRATE,
.gmlan_support=false,
.gmlan=false,
.safety_mode=0,
.pin={GPIOB, 4, 1}},
{CAN_PORT_DESC_INITIALIZER,
.CAN = CAN2,
.can_pins = {{GPIOB, 5, GPIO_AF9_CAN2}, {GPIOB, 6, GPIO_AF9_CAN2}},
.enable_pin = {GPIOB, 4, 1},
.gmlan_support = false,
},
{CAN_PORT_DESC_INITIALIZER,
.CAN = CAN1,
.can_pins = {{GPIOB, 8, GPIO_AF9_CAN1}, {GPIOB, 9, GPIO_AF9_CAN1}},
.enable_pin = {GPIOB, 3, 1},
.gmlan_support = false,
}
};
#endif
@@ -80,24 +79,75 @@ int push(can_ring *q, CAN_FIFOMailBox_TypeDef *elem) {
// ********************* CAN Functions *********************
void can_init(uint8_t canid) {
int i;
uint32_t bitrate;
CAN_TypeDef *CAN;
uint8_t quanta;
uint16_t prescaler;
uint8_t seq1, seq2;
can_port_desc *port;
gpio_alt_setting *disable_pins;
gpio_alt_setting *enable_pins;
puts("Can init: ");
puth(canid);
puts("\n");
if(canid >= CAN_MAX) return;
port = &can_ports[canid];
bitrate = can_ports[canid].bitrate;
CAN = can_ports[canid].CAN;
//////////// Set MCU pin modes
if (port->gmlan_support) {
disable_pins = port->gmlan ? port->can_pins : port->gmlan_pins;
enable_pins = port->gmlan ? port->gmlan_pins : port->can_pins;
} else {
disable_pins = 0;
enable_pins = port->can_pins;
}
//MAX 1 Megabaud
if(bitrate > 1000000)
bitrate = 1000000;
// Disable output on either CAN or GMLAN pins
if (disable_pins) {
set_gpio_mode(disable_pins[0].port, disable_pins[0].num, MODE_INPUT);
set_gpio_mode(disable_pins[1].port, disable_pins[1].num, MODE_INPUT);
}
// Enable output on either CAN or GMLAN pins
if (enable_pins) {
set_gpio_alternate(enable_pins[0].port, enable_pins[0].num, enable_pins[0].setting);
set_gpio_alternate(enable_pins[1].port, enable_pins[1].num, enable_pins[1].setting);
}
/* GMLAN mode pins:
M0(B15) M1(B14) mode
=======================
0 0 sleep
1 0 100kbit
0 1 high voltage wakeup
1 1 33kbit (normal)
*/
if (port->gmlan) {
set_gpio_output(GPIOB, 14, 1);
set_gpio_output(GPIOB, 15, 1);
} else {
for (i = 0; i < CAN_MAX; i++)
if (can_ports[i].gmlan)
break;
if (i == CAN_MAX){
set_gpio_output(GPIOB, 14, 0);
set_gpio_output(GPIOB, 15, 0);
puts("Disabling GMLAN output\n");
}
}
//////////// Calculate and set CAN bitrate
if (port->gmlan) {
bitrate = (port->gmlan_bitrate) < 58333 ? 33333 : 83333;
} else {
bitrate = port->bitrate;
if(bitrate > 1000000) //MAX 1 Megabaud
bitrate = 1000000;
}
//puts(" Speed req: ");
//puth(bitrate);
@@ -121,18 +171,33 @@ void can_init(uint8_t canid) {
if(prescaler > 0x3FF)
prescaler = 0x3FF;
can_ports[canid].bitrate = FREQ/quanta/prescaler;
bitrate = FREQ/quanta/prescaler;
if (port->gmlan) {
port->gmlan_bitrate = bitrate;
} else {
port->bitrate = bitrate;
}
puts(" Speed: ");
puth(can_ports[canid].bitrate);
puth(bitrate);
puts("\n");
if (port->gmlan)
puts(" Type GMLAN\n");
else
puts(" Type CAN\n");
//////////////// Enable CAN port
if (controls_allowed)
puts(" Output Enabled\n");
else
puts(" Output Disabled\n");
//TODO: Eddie, check if disabling output causes correct behavior.
//set_can_enable(canid, controls_allowed);
set_can_enable(canid, 1);
CAN = port->CAN;
// Move CAN to initialization mode and sync.
CAN->MCR = CAN_MCR_TTCM | CAN_MCR_INRQ;
while((CAN->MSR & CAN_MSR_INAK) != CAN_MSR_INAK);
@@ -181,6 +246,22 @@ void can_init(uint8_t canid) {
//CAN->IER = CAN_IER_TMEIE | CAN_IER_FMPIE0 | CAN_IER_FMPIE1;
}
void set_can_mode(int canid, int use_gmlan) {
int i;
if (canid >= CAN_MAX) return;
if (use_gmlan)
for (i = 0; i < CAN_MAX; i++)
if (can_ports[i].gmlan)
set_can_mode(i, 0);
if (!can_ports[canid].gmlan_support) use_gmlan = 0;
can_ports[canid].gmlan = use_gmlan;
can_init(canid);
}
// CAN error
void can_sce(CAN_TypeDef *CAN) {
#ifdef DEBUG

21
board/can.h
View File

@@ -4,20 +4,37 @@
#include <stdbool.h>
#define CAN_TIMEOUT 1000000
#define CAN_PORT_DESC_INITIALIZER \
.forwarding=-1, \
.bitrate=CAN_DEFAULT_BITRATE, \
.bitrate=CAN_DEFAULT_BITRATE, \
.gmlan=false, \
.gmlan_bitrate=GMLAN_DEFAULT_BITRATE, \
.safety_mode=0
typedef struct {
GPIO_TypeDef* port;
uint8_t num;
bool high_val;
} gpio_pin;
typedef struct {
GPIO_TypeDef* port;
uint8_t num;
uint32_t setting;
} gpio_alt_setting;
typedef struct {
CAN_TypeDef *CAN;
int8_t forwarding;
uint32_t bitrate;
bool gmlan;
bool gmlan_support;
uint32_t gmlan_bitrate;
uint8_t safety_mode;
gpio_pin pin;
gpio_pin enable_pin;
gpio_alt_setting can_pins[2];
gpio_alt_setting gmlan_pins[2];
} can_port_desc;
extern can_port_desc can_ports[];
@@ -51,6 +68,8 @@ int push(can_ring *q, CAN_FIFOMailBox_TypeDef *elem);
void can_init(uint8_t canid);
void set_can_mode(int can, int use_gmlan);
// CAN error
void can_sce(CAN_TypeDef *CAN);

34
board/config.h
View File

@@ -1,48 +1,22 @@
#ifndef PANDA_CONFIG_H
#define PANDA_CONFIG_H
#include "rev.h"
//#define DEBUG
//#define DEBUG_USB
//#define CAN_LOOPBACK_MODE
#ifdef STM32F4
#define PANDA
#include "stm32f4xx.h"
#else
#include "stm32f2xx.h"
#endif
#ifdef PANDA
#define ENABLE_CURRENT_SENSOR
#define ENABLE_SPI
#endif
#ifdef PANDA
#define LED_RED 9
#define LED_GREEN 7
#define LED_BLUE 6
#else
#define LED_RED 10
#define LED_GREEN 11
#define LED_BLUE -1
#endif
#define USB_VID 0xbbaa
#define USB_PID 0xddcc
#define FREQ 24000000
// 500 khz
#define CAN_DEFAULT_BITRATE 500000
#define GMLAN_DEFAULT_BITRATE 33333
#define CAN_DEFAULT_BITRATE 500000 // 500 khz
#define GMLAN_DEFAULT_BITRATE 33333 // 33.333 khz
#define FIFO_SIZE 0x100
#define NULL ((void*)0)
#define PANDA_REV_AB 0
#define PANDA_REV_C 1
#define PANDA_SAFETY
#endif

7
board/early.c
View File

@@ -2,10 +2,11 @@
#include "early.h"
#include "llgpio.h"
#include "uart.h"
#include "rev.h"
int has_external_debug_serial = 0;
int is_giant_panda = 0;
int revision = PANDA_REV_AB;
enum rev revision = REV_A;
void *g_pfnVectors;
// must call again from main because BSS is zeroed
@@ -33,7 +34,9 @@ void detect() {
set_gpio_pullup(GPIOA, 13, PULL_DOWN);
for (i=0;i<PULL_EFFECTIVE_DELAY;i++);
if(get_gpio_input(GPIOA, 13))
revision = PANDA_REV_C;
revision = REV_C;
else
revision = REV_B;
// RESET pull up/down
set_gpio_pullup(GPIOA, 13, PULL_NONE);

9
board/early.h
View File

@@ -1,3 +1,8 @@
#ifndef PANDA_EARLY_H
#define PANDA_EARLY_H
#include "rev.h"
#define ENTER_BOOTLOADER_MAGIC 0xdeadbeef
#define POST_BOOTLOADER_MAGIC 0xdeadb111
#define PULL_EFFECTIVE_DELAY 10
@@ -7,8 +12,10 @@ extern void *_app_start[];
extern void *g_pfnVectors;
extern int has_external_debug_serial;
extern int is_giant_panda;
extern int revision;
extern enum rev revision;
void spi_flasher();
void detect();
void early();
#endif

127
board/gpio.c
View File

@@ -1,25 +1,9 @@
#ifdef STM32F4
#include "stm32f4xx_hal_gpio_ex.h"
#else
#include "stm32f2xx_hal_gpio_ex.h"
#endif
#include "config.h"
#include "gpio.h"
#include "llgpio.h"
#include "early.h"
#include "can.h"
void set_can_enable(uint8_t canid, int enabled) {
// enable CAN busses
gpio_pin *pin = &can_ports[canid].pin;
//enable, high_val = 1; 1 xnor 1 = 1
//enable, ~high_val = 0; 1 xnor 0 = 0
//~enable, high_val = 0; 0 xnor 1 = 0
//~enable, ~high_val = 1; 0 xnor 0 = 1
set_gpio_output(pin->port, pin->num, !(enabled ^ pin->high_val));
}
#include "rev.h"
void set_led(int led_num, int on) {
if (led_num == -1) return;
@@ -31,6 +15,20 @@ void set_led(int led_num, int on) {
#endif
}
/* In REVC, this should always be enabled under normal
* operation. Otherwise, the CAN transceiver chip will try to pull the
* pus lines to ground and anger other CAN devices. Eddie is looking
* into if this is useful or not. */
void set_can_enable(uint8_t canid, int enabled) {
// enable CAN busses
gpio_pin *pin = &can_ports[canid].enable_pin;
//enable, high_val = 1; 1 xnor 1 = 1
//enable, ~high_val = 0; 1 xnor 0 = 0
//~enable, high_val = 0; 0 xnor 1 = 0
//~enable, ~high_val = 1; 0 xnor 0 = 1
set_gpio_output(pin->port, pin->num, !(enabled ^ pin->high_val));
}
// TODO: does this belong here?
void periph_init() {
@@ -64,77 +62,6 @@ void periph_init() {
RCC->APB2ENR |= RCC_APB2ENR_SYSCFGEN;
}
void set_can_mode(int canid, int use_gmlan) {
if(canid >= CAN_MAX) return;
if(!can_ports[canid].gmlan_support) return;
can_ports[canid].gmlan = use_gmlan;
/* GMLAN mode pins:
M0(B15) M1(B14) mode
=======================
0 0 sleep
1 0 100kbit
0 1 high voltage wakeup
1 1 33kbit (normal)
*/
// connects to CAN2 xcvr or GMLAN xcvr
if (use_gmlan) {
if (canid == 1) {
// B5,B6: disable normal mode
set_gpio_mode(GPIOB, 5, MODE_INPUT);
set_gpio_mode(GPIOB, 6, MODE_INPUT);
// B12,B13: gmlan mode
set_gpio_alternate(GPIOB, 12, GPIO_AF9_CAN2);
set_gpio_alternate(GPIOB, 13, GPIO_AF9_CAN2);
} else if (revision == PANDA_REV_C && canid == 2) {
#ifdef CAN3
// A8,A15: disable normal mode
set_gpio_mode(GPIOA, 8, MODE_INPUT);
set_gpio_mode(GPIOA, 15, MODE_INPUT);
// B3,B4: enable gmlan mode
set_gpio_alternate(GPIOB, 3, GPIO_AF11_CAN3);
set_gpio_alternate(GPIOB, 4, GPIO_AF11_CAN3);
#endif
}
can_ports[canid].bitrate = GMLAN_DEFAULT_BITRATE;
} else {
if (canid == 1) {
// B12,B13: disable gmlan mode
set_gpio_mode(GPIOB, 12, MODE_INPUT);
set_gpio_mode(GPIOB, 13, MODE_INPUT);
// B5,B6: normal mode
set_gpio_alternate(GPIOB, 5, GPIO_AF9_CAN2);
set_gpio_alternate(GPIOB, 6, GPIO_AF9_CAN2);
} else if (canid == 2) {
#ifdef CAN3
if(revision == PANDA_REV_C){
// B3,B4: disable gmlan mode
set_gpio_mode(GPIOB, 3, MODE_INPUT);
set_gpio_mode(GPIOB, 4, MODE_INPUT);
}
// A8,A15: normal mode
set_gpio_alternate(GPIOA, 8, GPIO_AF11_CAN3);
set_gpio_alternate(GPIOA, 15, GPIO_AF11_CAN3);
#endif
}
can_ports[canid].bitrate = CAN_DEFAULT_BITRATE;
}
set_gpio_output(GPIOB, 14, use_gmlan);
set_gpio_output(GPIOB, 15, use_gmlan);
can_init(canid);
}
// board specific
void gpio_init() {
// pull low to hold ESP in reset??
@@ -185,29 +112,9 @@ void gpio_init() {
set_gpio_alternate(GPIOA, 7, GPIO_AF5_SPI1);
#endif
// B8,B9: CAN 1
set_can_enable(0, 0);
#ifdef STM32F4
set_gpio_alternate(GPIOB, 8, GPIO_AF8_CAN1);
set_gpio_alternate(GPIOB, 9, GPIO_AF8_CAN1);
#else
set_gpio_alternate(GPIOB, 8, GPIO_AF9_CAN1);
set_gpio_alternate(GPIOB, 9, GPIO_AF9_CAN1);
#endif
// B5,B6: CAN 2
set_can_enable(1, 0);
set_can_mode(1, 0);
// A8,A15: CAN3
#ifdef CAN3
set_can_enable(2, 0);
set_can_mode(2, 0);
#endif
#ifdef PANDA
// K-line enable moved from B4->B7 to make room for GMLAN on CAN3
if(revision == PANDA_REV_C)
if(revision == REV_C)
set_gpio_output(GPIOB, 7, 1); // REV C
else
set_gpio_output(GPIOB, 4, 1); // REV AB
@@ -226,7 +133,7 @@ void gpio_init() {
set_gpio_pullup(GPIOC, 11, PULL_UP);
#endif
if(revision == PANDA_REV_C) {
if(revision == REV_C) {
// B2,A13: set DCP mode on the charger (breaks USB!)
//set_gpio_output(GPIOB, 2, 0);
//set_gpio_output(GPIOA, 13, 0);

2
board/gpio.h
View File

@@ -5,7 +5,5 @@ void set_led(int led_num, int on);
// TODO: does this belong here?
void periph_init();
void set_can_mode(int can, int use_gmlan);
// board specific
void gpio_init();

55
board/main.c
View File

@@ -361,7 +361,10 @@ void usb_cb_ep0_out(uint8_t *usbdata, int len, int hardwired) {
uint32_t bitrate = *(int*)usbdata;
uint16_t canb_id = setup.b.wValue.w;
can_ports[canb_id].bitrate = bitrate;
if (can_ports[canb_id].gmlan)
can_ports[canb_id].gmlan_bitrate = bitrate;
else
can_ports[canb_id].bitrate = bitrate;
can_init(canb_id);
}
}
@@ -513,6 +516,7 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, int hardwired) {
break;
case 0xdb: // toggle GMLAN
puts("Toggle GMLAN canid: ");
puth(setup->b.wValue.w);
uint16_t canid = setup->b.wValue.w;
bool gmlan_enable = setup->b.wIndex.w;
@@ -523,42 +527,39 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, int hardwired) {
puts("\n");
if (canid >= CAN_MAX) {
puts(" Out of range!\n");
puts(" !!Out of range!!\n");
return -1;
}
can_port_desc *port = &can_ports[canid];
//puts(" gmlan_support ");
//puth(port->gmlan_support);
//puts(" mode ");
//puth(gmlan_enable);
//puts("\n");
//Fail if canid doesn't support gmlan
if (!port->gmlan_support)
if (!port->gmlan_support) {
puts(" !!Unsupported!!\n");
return -1;
}
//ACK the USB pipe but don't do anything; nothing to do.
if (port->gmlan == gmlan_enable) {
puts("The CAN bus is already in the requested gmlan config.\n");
puts(" ~~Nochange~~.\n");
break;
}
// Check to see if anyther canid is acting as gmlan, disable it.
if (gmlan_enable) {
for (i = 0; i < CAN_MAX; i++) {
if (can_ports[i].gmlan) {
puts("Disable old gmlan mode\n");
set_can_mode(i, 0);
}
}
}
set_can_mode(canid, gmlan_enable);
puts(" Done\n");
break;
case 0xdc: // set controls allowed
controls_allowed = setup->b.wValue.w == 0x1337;
// take CAN out of SILM, careful with speed!
can_init(0);
can_init(1);
#ifdef CAN3
can_init(2);
#endif
for(i=0; i < CAN_MAX; i++)
can_init(i);
break;
case 0xdd: // enable can forwarding
if (setup->b.wValue.w < CAN_MAX) { //Set forwarding
@@ -574,7 +575,11 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, int hardwired) {
break;
case 0xdf: // Get Can bitrate
if (setup->b.wValue.w < CAN_MAX) {
memcpy(resp, (void *)&can_ports[setup->b.wValue.w].bitrate, 4);
if(can_ports[setup->b.wValue.w].gmlan){
memcpy(resp, (void *)&can_ports[setup->b.wValue.w].gmlan_bitrate, 4);
}else{
memcpy(resp, (void *)&can_ports[setup->b.wValue.w].bitrate, 4);
}
resp_len = 4;
break;
}
@@ -762,6 +767,8 @@ void __initialize_hardware_early() {
}
int main() {
int i;
// init devices
clock_init();
periph_init();
@@ -784,18 +791,15 @@ int main() {
// enable USB
usb_init();
// default to silent mode to prevent issues with Ford
// enable CAN
#ifdef PANDA_SAFETY
controls_allowed = 0;
#else
controls_allowed = 1;
#endif
can_init(0);
can_init(1);
#ifdef CAN3
can_init(2);
#endif
for(i=0; i < CAN_MAX; i++)
can_init(i);
adc_init();
@@ -818,7 +822,6 @@ int main() {
// set PWM
set_fan_speed(65535);
puts("**** INTERRUPTS ON ****\n");
__disable_irq();

39
board/rev.h Normal file
View File

@@ -0,0 +1,39 @@
#ifndef PANDA_REV_H
#define PANDA_REV_H
enum rev {
REV_A,
REV_B,
REV_C
};
#ifdef STM32F4
#define PANDA
#endif
#ifdef PANDA
#include "stm32f4xx.h"
#include "stm32f4xx_hal_gpio_ex.h"
#else
#include "stm32f2xx.h"
#include "stm32f2xx_hal_gpio_ex.h"
#endif
#ifdef PANDA
#define ENABLE_CURRENT_SENSOR
#define ENABLE_SPI
#endif
#ifdef PANDA
#define LED_RED 9
#define LED_GREEN 7
#define LED_BLUE 6
#else
#define LED_RED 10
#define LED_GREEN 11
#define LED_BLUE -1
#endif
#define FREQ 24000000 // 24 mhz
#endif

52
board/usb.h
View File

@@ -1,5 +1,7 @@
// **** supporting defines ****
#include "config.h"
typedef struct
{
__IO uint32_t HPRT;
@@ -241,6 +243,14 @@ void USB_WritePacket(const uint8_t *src, uint16_t len, uint32_t ep) {
}
}
void USB_Stall_EP0(){
//TODO: Handle stalling both in and out requests.
//Check why INEP works for both in and out requests.
USBx_INEP(0)->DIEPCTL |= (USB_OTG_DIEPCTL_STALL | USB_OTG_DIEPCTL_EPENA);
//USBx_OUTEP(0)->DOEPCTL |= (USB_OTG_DOEPCTL_STALL | USB_OTG_DOEPCTL_EPENA);
}
void usb_reset() {
// unmask endpoint interrupts, so many sets
USBx_DEVICE->DAINT = 0xFFFFFFFF;
@@ -407,17 +417,19 @@ void usb_setup() {
USB_WritePacket(0, 0, 0);
USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
//USBx_INEP(0)->DIEPINT = USBx_INEP(0)->DIEPINT
#ifdef DEBUG_USB
puts("Setting Interface Alt: ");
puth(current_int0_alt_setting);
puts("\n");
#endif
break;
default:
resp_len = usb_cb_control_msg(&setup, resp, 1);
if(resp_len == -1){
USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_STALL;
USB_Stall_EP0();
}else{
USB_WritePacket(resp, min(resp_len, setup.b.wLength.w), 0);
USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
USB_WritePacket(resp, min(resp_len, setup.b.wLength.w), 0);
USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
}
}
}
@@ -493,7 +505,6 @@ void usb_init() {
}
// ***************************** USB port *****************************
int dumb = 0;
void usb_irqhandler(void) {
//USBx->GINTMSK = 0;
@@ -503,14 +514,15 @@ void usb_irqhandler(void) {
// gintsts SUSPEND? 04008428
#ifdef DEBUG_USB
puth(gintsts);
puts(" ");
/*puth(USBx->GCCFG);
puts(" ");*/
puth(gotgint);
puts(" ep ");
puts("USB interrupt (DAINT[EP]:");
puth(daint);
puts(" USB interrupt!\n");
puts(" GINTSTS:");
puth(gintsts);
//puts(" GCCFG:");
//puth(USBx->GCCFG);
//puts(" GOTGINT:");
//puth(gotgint);
puts(")\n");
#endif
if (gintsts & USB_OTG_GINTSTS_CIDSCHG) {
@@ -542,7 +554,7 @@ void usb_irqhandler(void) {
//USBx->GOTGINT = USBx->GOTGINT;
}
// RX FIFO first
// RX FIFO Has Data (OUT TRANSFER)
if (gintsts & USB_OTG_GINTSTS_RXFLVL) {
// 1. Read the Receive status pop register
volatile unsigned int rxst = USBx->GRXSTSP;
@@ -557,7 +569,7 @@ void usb_irqhandler(void) {
puts("\n");
#endif
if (((rxst & USB_OTG_GRXSTSP_PKTSTS) >> 17) == STS_DATA_UPDT) {
if (((rxst & USB_OTG_GRXSTSP_PKTSTS) >> 17) == STS_DATA_UPDT) { //OUT DATA PKT RECEIVED
int endpoint = (rxst & USB_OTG_GRXSTSP_EPNUM);
int len = (rxst & USB_OTG_GRXSTSP_BCNT) >> 4;
USB_ReadPacket(&usbdata, len);
@@ -569,7 +581,7 @@ void usb_irqhandler(void) {
#endif
if(endpoint == 0){
usb_cb_ep0_out(usbdata, len, 1);
usb_cb_ep0_out(usbdata, len, 1);
}
if (endpoint == 2) {
@@ -669,6 +681,9 @@ void usb_irqhandler(void) {
// respond to setup packets
if (USBx_OUTEP(0)->DOEPINT & USB_OTG_DOEPINT_STUP) {
#ifdef DEBUG_USB
puts("Processing SETUP\n");
#endif
usb_setup();
}
@@ -704,11 +719,10 @@ void usb_irqhandler(void) {
case 0: ////// Bulk config
// *** IN token received when TxFIFO is empty
if (USBx_INEP(1)->DIEPINT & USB_OTG_DIEPMSK_ITTXFEMSK) {
puth(dumb++);
if (can_rx_q.w_ptr != can_rx_q.r_ptr)
puts("Rx CAN bulk: There is CAN data to send.\n");
else
puts("Rx CAN bulk: No can data\n");
if (can_rx_q.w_ptr != can_rx_q.r_ptr)
puts("Rx CAN bulk: There is CAN data to send.\n");
else
puts("Rx CAN bulk: No can data\n");
#ifdef DEBUG_USB
puts(" IN PACKET QUEUE\n");