257 lines
8.0 KiB
C
257 lines
8.0 KiB
C
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#include <stdint.h>
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#include <string.h>
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#include "osi_api.h"
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#include "ql_api_osi.h"
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#include "ql_api_spi.h"
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#include "mcp2515.h"
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// #include "hw.h"
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// #include "cfg.h"
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#include "../EC600U_t2n/include/t2n.h"
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#include "ql_log.h"
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#define LOGD(msg, ...) QL_LOG(QL_LOG_LEVEL_DEBUG, "can", msg, ##__VA_ARGS__)
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#define LOGI(msg, ...) QL_LOG(QL_LOG_LEVEL_INFO, "can", msg, ##__VA_ARGS__)
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#define LOGW(msg, ...) QL_LOG(QL_LOG_LEVEL_WARN, "can", msg, ##__VA_ARGS__)
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#define LOGE(msg, ...) QL_LOG(QL_LOG_LEVEL_ERROR, "can", msg, ##__VA_ARGS__)
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#define QL_SPI_WAIT_NONE 0
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#define QL_SPI_WAIT_WRITE 1
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#define QL_SPI_WAIT_READ 2
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osiThread_t *can_task_handle = NULL;
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extern uint16_t gWordVar[];
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struct can_status *can_status[2] = {(struct can_status *)&gWordVar[512], (struct can_status *)&gWordVar[520]};
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// struct can_dev_cfg *can_dev_cfg = (struct can_dev_cfg *)&gWordVar[0x1000];
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// ql_sem_t spi_write_semaphore;
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// ql_sem_t spi_read_semaphore;
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// static int spi_wait_write_read;
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// static void spi_cb_handler(ql_spi_irq_s cause)
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// {
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// if (cause.rx_dma_done == 1 && spi_wait_write_read == QL_SPI_WAIT_READ)
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// {
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// spi_wait_write_read = 0;
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// ql_rtos_semaphore_release(spi_read_semaphore);
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// }
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// if (cause.tx_dma_done == 1 && spi_wait_write_read == QL_SPI_WAIT_WRITE)
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// {
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// spi_wait_write_read = 0;
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// ql_rtos_semaphore_release(spi_write_semaphore);
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// }
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// // LOGD("spi_cb_handler rx_dma_done=%d tx_dma_done=%d\r\n", cause.rx_dma_done, cause.tx_dma_done);
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// }
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int spi_write(int fd, uint8_t *outbuf, int len)
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{
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int ret;
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// spi_wait_write_read = QL_SPI_WAIT_WRITE;
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// ql_spi_request_sys_clk(fd);
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ret = ql_spi_write(fd, outbuf, len);
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// ql_rtos_semaphore_wait(spi_write_semaphore, 10);
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// LOGD("spi_write inbuf=%p,len=%d,ret=%x", outbuf, len, ret);
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return ret;
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}
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int spi_write_read(int fd, uint8_t *outbuf, uint8_t *inbuf, int len)
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{
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int ret;
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// spi_wait_write_read = QL_SPI_WAIT_READ;
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ret = ql_spi_write_read(fd, inbuf, outbuf, len);
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// ql_rtos_semaphore_wait(spi_read_semaphore, 10);
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// LOGD("spi_write_read inbuf=%p,outbuf=%p,len=%d,ret=%x", inbuf, outbuf, len, ret);
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return ret;
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}
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static void gpio_mcp_int_cb(void *ctx)
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{
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ql_event_t event;
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event.id = 1000;
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if (can_task_handle)
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{
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ql_rtos_event_send(can_task_handle, &event);
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}
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// LOGI("gpio_mcp_int_cb");
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}
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osiTimer_t *can_led_timer = NULL;
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void can_led_timer_cb(void *param)
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{
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ql_event_t event;
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event.id = 1001;
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if (can_task_handle)
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{
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ql_rtos_event_send(can_task_handle, &event);
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}
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}
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void can_task(void *data)
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{
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int ret;
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// ret = ql_pin_set_func(QL_CUR_SPI2_CS_PIN, QUEC_PIN_SPI2_FUNC);
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// if (ret != QL_GPIO_SUCCESS)
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// {
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// LOGE("set pin err");
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// }
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// ret = ql_pin_set_func(QL_CUR_SPI2_CLK_PIN, QUEC_PIN_SPI2_FUNC);
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// if (ret != QL_GPIO_SUCCESS)
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// {
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// LOGE("set pin err");
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// }
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// ret = ql_pin_set_func(QL_CUR_SPI2_DO_PIN, QUEC_PIN_SPI2_FUNC);
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// if (ret != QL_GPIO_SUCCESS)
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// {
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// LOGE("set pin err");
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// }
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// ret = ql_pin_set_func(QL_CUR_SPI2_DI_PIN, QUEC_PIN_SPI2_FUNC);
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// if (ret != QL_GPIO_SUCCESS)
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// {
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// LOGE("set pin err");
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// }
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// ret = ql_pin_set_func(GPIO_10, 0); // set pin4 sp1_cs to gpio fun
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// if (ret != QL_GPIO_SUCCESS)
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// {
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// LOGE("set pin err");
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// }
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// ql_gpio_deinit(GPIO_10);
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// ql_gpio_init(GPIO_10, GPIO_INPUT, PULL_UP, LVL_HIGH);
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ql_spi_config_s spi_config = {0};
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int spi_no = QL_SPI_PORT2;
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spi_config.port = spi_no;
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spi_config.spiclk = QL_SPI_CLK_6_25MHZ;
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spi_config.framesize = 8;
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spi_config.input_mode = QL_SPI_INPUT_TRUE;
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spi_config.cs_polarity0 = QL_SPI_CS_ACTIVE_LOW;
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spi_config.cs_polarity1 = QL_SPI_CS_ACTIVE_LOW;
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spi_config.cpol = QL_SPI_CPOL_LOW;
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spi_config.cpha = QL_SPI_CPHA_1Edge;
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spi_config.input_sel = QL_SPI_DI_1;
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spi_config.transmode = QL_SPI_DIRECT_POLLING;
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spi_config.cs = QL_SPI_CS0;
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spi_config.clk_delay = QL_SPI_CLK_DELAY_0;
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ql_spi_init_ext(spi_config);
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ql_spi_cs_auto(spi_no);
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// ql_rtos_semaphore_create(&spi_read_semaphore, 0);
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// ql_rtos_semaphore_create(&spi_write_semaphore, 0);
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// ql_spi_irq_s mask = {
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// .rx_dma_done = 1,
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// .tx_dma_done = 1,
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// };
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// ql_spi_set_irq(spi_no, mask, spi_cb_handler);
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can_config_t can_cfg;
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memset(&can_cfg, 0, sizeof(can_cfg));
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can_cfg.baud_rate = 500000;
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can_cfg.can_mode = MODE_NORMAL;
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can_cfg.rx_ctrl[0] = RXB_RX_ANY;
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can_cfg.rx_ctrl[1] = RXB_RX_ANY;
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can_cfg.rx_mask[0] = 0x1fffffff | CAN_EFF_FLAG;
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can_cfg.rx_mask[1] = 0x1fffffff | CAN_EFF_FLAG;
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can_cfg.rx_filter[0] = 0x18FEEE00 | CAN_EFF_FLAG;
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can_cfg.rx_filter[1] = 0x18FEEF00 | CAN_EFF_FLAG;
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can_cfg.rx_filter[2] = 0X18FEE500 | CAN_EFF_FLAG;
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ret = mcp_can_init(spi_no, &can_cfg);
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if (ret != 0)
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{
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LOGE("mcp_can_init fail ret=%d\n", ret);
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}
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// ql_rtos_task_get_current_ref(&can_task_handle);
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can_task_handle = osiThreadCurrent();
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// ql_pin_set_func(15, 4); // set GPIO22
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ql_int_register(GPIO_22, EDGE_TRIGGER, DEBOUNCE_DIS, EDGE_FALLING, PULL_UP, gpio_mcp_int_cb, NULL);
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ql_int_enable(GPIO_22);
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int tx_led_status = 0;
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int rx_led_status = 0;
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// can_led_timer = osiTimerCreate(can_task_handle, can_led_timer_cb, NULL); // 创建定时器
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// if (NULL == can_led_timer)
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// {
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// LOGE("can_led_timer create failed\n");
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// osiThreadExit();
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// }
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// ret = osiTimerStart(can_led_timer, 100);
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// if (ret != TRUE)
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// {
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// LOGE("can_led_timer start failed\n");
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// }
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while (1)
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{
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ql_event_t event;
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ql_LvlMode int_value;
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if (ql_event_wait(&event, 100) != 0) // 中断有时会丢失，所以超时也读取接收缓冲区
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{
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event.id = 1000;
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ql_gpio_get_level(GPIO_22, &int_value);
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}
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else
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{
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int_value = 0;
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}
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switch (event.id)
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{
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case 1000: {
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if (int_value == 0)
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{
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LED0_ON(spi_no);
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rx_led_status = 1;
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do
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{
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CanRxMsg RxMsg;
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if (can_read_rxbuf(spi_no, &RxMsg))
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{
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// LOGI("CAN0: Id=0x%x,IDE=%d,DLC=%d,Data=[%02x,%02x,%02x,%02x,%02x,%02x,%02x,%02x]", RxMsg.Id, RxMsg.IDE, RxMsg.DLC, RxMsg.Data[0], RxMsg.Data[1], RxMsg.Data[2], RxMsg.Data[3], RxMsg.Data[4], RxMsg.Data[5], RxMsg.Data[6], RxMsg.Data[7]);
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// if (can_ops[0] != NULL && can_ops[0]->parse)
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// {
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// can_status[0]->rx_cnt++;
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// can_ops[0]->parse(&RxMsg);
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// }
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}
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ql_gpio_get_level(GPIO_22, &int_value);
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} while (int_value == 0);
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LED0_OFF(spi_no);
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}
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break;
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}
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break;
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// case 1001:
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// if (rx_led_status == 1)
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// {
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// LED0_OFF(spi_no);
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// rx_led_status = 2;
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// }
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// else if(rx_led_status == 2)
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// {
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// rx_led_status = 0;
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// }
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// if (tx_led_status == 1)
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// {
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// LED1_OFF(spi_no);
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// tx_led_status = 2;
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// }
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// else if(rx_led_status == 2)
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// {
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// rx_led_status = 0;
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// }
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// osiTimerStart(can_led_timer, 100);
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// break;
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case 0: {
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CanTxMsg TxPack = {
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.Id = 0x182,
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.IDE = CAN_ID_STD,
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.DLC = 8,
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.Data = {0x01, 0x02, 0x03, 0x04, 0x05, 0x06}};
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LED1_ON(spi_no);
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tx_led_status = 1;
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can_tx_pack(spi_no, &TxPack);
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can_status[0]->bus_status = get_mcp_status(spi_no);
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}
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break;
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}
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}
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}
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