bool init()
{
if(io_Init() == false) return false;
// set ADC Base Address
sb_Write(0xBC, sb_Read(0xBC) & (~(1L<<28))); // active adc
sb1_Write16(0xDE, sb1_Read16(0xDE) | 0x02); // not Available for 8051A Access ADC
sb1_Write(0xE0, 0x00500000UL | ADC_BASEADDR); // baseaddr = 0xfe00, disable irq
return true;
}
RBAPI(bool) spi_Init2(unsigned baseaddr, int clkmode) {
int i;
if(spi_InUse() == true)
{
err_SetMsg(ERROR_SPI_INUSE, "SPI was already opened");
return false;
}
if ((SPI_ioSection = io_Init()) == -1) return false;
//NOTE: base address should be selected carefully to avoid conflicts with other devices!
if (baseaddr != 0xffff)
spi_SetBaseAddress(baseaddr);
else
{
baseaddr = spi_SetDefaultBaseAddress();
if ((baseaddr == 0x0000) || (baseaddr == 0xffff)) spi_SetBaseAddress(0xfc00);
}
spidx_DisableCS();
spi_ClearErrors();
// enable FIFO and set clock divisor
//if (spi_SetControlREG(0x10 + SPI_CLKMODE[clkmode]) == false)
if (spi_SetControlREG(0x10 + get_spidivisor(clkmode)) == false)
{
spi_Close();
err_SetMsg(ERROR_SPI_INITFAIL, "fail to write SPI Control Register");
return false;
}
// clear the input buffer if it is not empty
for (i=0; i<20; i++)
{
if (spi_InputReady() == false) break;
if (spidx_Read() == 0xffff)
{
spi_Close();
err_SetMsg(ERROR_SPI_INITFAIL, "fail to clear SPI input buffer");
return false;
}
}
// switch GPIO3[3:0] to external SPI interface
OLD_SPIGPIO3FLAG = read_sb_reg(SB_MULTIFUNC_REG);
write_sb_reg(SB_MULTIFUNC_REG, OLD_SPIGPIO3FLAG | 1L);
OLD_SPIGPIO3FLAG = OLD_SPIGPIO3FLAG & 1L;
return true;
}
RBAPI(bool) i2c_InitSW2(unsigned devs, int i2c0mode, unsigned long i2c0clkdelay, int i2c1mode, unsigned long i2c1clkdelay) {
int i;
if (I2C_ioSection != -1)
{
err_SetMsg(ERROR_I2C_INUSE, "I2C lib was already opened");
return false;
}
if ((I2C_ioSection = io_Init()) == -1) return false;
#ifdef ROBOIO
switch (roboio_GetRBVer())
{
case RB_100b1:
case RB_100b2:
case RB_100b3:
case RB_100:
case RB_100RD:
case RB_110:
case RB_050:
devs = devs & I2C_USEMODULE0;
break;
default:
devs = 0;
break;
}
#endif
I2C_swMode[0] = i2c0mode; I2CSW_delay[0] = i2c0clkdelay;
I2C_swMode[1] = i2c1mode; I2CSW_delay[1] = i2c1clkdelay;
I2C_action[0] = I2C_action[1] = I2CACT_DISABLE;
for (i=0; i<2; i++)
{
if ((i == 0) && ((devs & I2C_USEMODULE0) == 0)) continue;
if ((i == 1) && ((devs & I2C_USEMODULE1) == 0)) continue;
I2C_action[i] = I2CACT_IDLE;
// switch GPIO/I2C pins into GPIO pins
OLD_I2CGPIO3FLAG[i] = read_sb_reg(SB_IPFCTRL3_REG) & OLD_I2CGPIO3MASK[i]; // backup GPIO/I2C switch flag
write_sb_reg(SB_IPFCTRL3_REG, read_sb_reg(SB_IPFCTRL3_REG) & (~OLD_I2CGPIO3MASK[i]));
OLD_I2CGPIO3DIR[i] = io_inpb(GPIO3_DIR) & (0x03 << (i*2+4)); // backup GPIO3 DIR
OLD_I2CGPIO3VAL[i] = io_inpb(GPIO3_DATA) & (0x03 << (i*2+4)); // backup GPIO3 VAL
// set GPIO pins as INPUT state (equiv. to OUT 1 of I2C lines)
io_outpb(GPIO3_DIR, io_inpb(GPIO3_DIR) & ~(0x03 << (i*2+4)));
}
return true;
}
void WIFI_SPIClass::begin() {
void *pciDev = NULL;
if(io_Init() == false)
return;
// Get SPI device base address
pciDev = pci_Alloc(0x00, 0x10, 0x01); // PCI SPI configuration space
if(pciDev == NULL) {printf("WiFi-SPI device don't exist\n"); return;}
WIFI_SPI_IOaddr = (unsigned)(pci_In16(pciDev, 0x10) & 0xFFFFFFF0L); // get SPI base address
#if defined WIFI_DEBUG_MODE
printf("WiFi-SPI base address = %04X\n", WIFI_SPI_IOaddr);
#endif
pci_Free(pciDev);
WIFI_WriteCTRR(WIFI_FULLDUPEX + WIFI_SPI_MODE0 + WIFI_RESET);
io_outpb(WIFI_SPI_IOaddr + 7, WIFI_FULLDUPEX); // full-dupex
io_outpb(WIFI_SPI_IOaddr + 7, io_inpb(WIFI_SPI_IOaddr + 7) & 0xF1 | WIFI_SPI_MODE0); // set mode
io_outpb(WIFI_SPI_IOaddr + 0x0b, 0x08); // delay clk between two transfers
//SOURCE clock/(2 * SPI_CLOCK_DIV)
setClockDivider(WIFI_SPI_CLOCK_DIV800); // 125k Hz
WIFI_useFIFO();
detachInterrupt();
io_outpb(WIFI_SPI_IOaddr + 4, 0x01); // set CS = high
// Set SS to high so a connected chip will be "deselected" by default
digitalWrite(SS, HIGH);
// When the SS pin is set as OUTPUT, it can be used as
// a general purpose output port (it doesn't influence
// SPI operations).
//pinMode(SS, OUTPUT);
// Warning: if the SS pin ever becomes a LOW INPUT then SPI
// automatically switches to Slave, so the data direction of
// the SS pin MUST be kept as OUTPUT.
//SPCR |= _BV(MSTR);
//SPCR |= _BV(SPE);
// Set direction register for SCK and MOSI pin.
// MISO pin automatically overrides to INPUT.
// By doing this AFTER enabling SPI, we avoid accidentally
// clocking in a single bit since the lines go directly
// from "input" to SPI control.
// http://code.google.com/p/arduino/issues/detail?id=888
//pinMode(SCK, OUTPUT);
//pinMode(MOSI, OUTPUT);
}
uint8_t *EthernetClass::localMAC()
{
int i;
void *mac_io;
if (io_Init() == false)
;
else if ((mac_io = io_Alloc(IO_USE_MMIO, 0xFFFFFFB0UL, 0x06UL)) == NULL)
io_Close();
else {
for (i = 0; i < 6; i++) MAC_address[i] = io_In8(mac_io, i);
io_Free(mac_io);
io_Close();
}
return &MAC_address[0];
}
static bool set_gpio_config_addr(unsigned short addr)
{
if (io_Init() == false) {
err_print((char*)"%s: Init IO lib error!!\n", __FUNCTION__);
return false;
}
if ((gpio_config_addr = sb_Read16(0x62) & 0xfffe) == 0x0000)
sb_Write16(0x62, sb_Read16(0x62) | (gpio_config_addr = GPIO_CONFIG_ADDR));
sb_Write16(0x62, sb_Read16(0x62) | 0x0001);
// io_outpdw(GPIO_CONFIG_ADDR + 0x00, io_inpdw(GPIO_CONFIG_ADDR + 0x00) | 0x00000004L);
if (io_Close() == false) err_print((char*)"%s: Close IO lib error!!\n", __FUNCTION__);
return true;
}
bool cm_init(void)
{
if (io_Init() == false)
return false;
sb_Write(0xc0, sb_Read(0xc0) & 0x7fffffffL | ((unsigned long)1UL << 31));
io_Close();
//com_SetUSBPins(2, 0, 2, 1);
if ((Serial = com_Init(COM4)) == NULL)
return false;
com_SetTimeOut(Serial, 0);
com_SetBPS(Serial, COM_UARTBAUD_1000000BPS);
com_SetFormat(Serial, BYTESIZE8 + STOPBIT1 + NOPARITY);
com_SetFlowControl(Serial, NO_CONTROL);
com_EnableFIFO(Serial, FIFO_032);
return true;
}
/**
* \brief Steuerung initialisieren.
*/
void cntrl_open( void )
{
cntrl_cnt = 0;
cntrl_TaskFlag_cnt = 0;
cntrl_Heartbeat = 0x00;
cntrl_Stoerungslampe = 0x00;
Debug = 0;
KBUSOPEN();
KBUSUPDATE();
sleep(1);
MUTEX_lock {
io_Init();
err_Init( &cntrl_err );
cntrl_err.i.common_errcnt += param_Init();
zeit_Init( &cntrl_zeit_absenkung, &cntrl_zeit_event );
if( io_Normal != io_ReadT( &io_ALL_Tau_MW ) ) cntrl_err.i.tempsens_errcnt --;
task_Init( &cntrl_tau, io_ALL_Tau_MW.messwert );
sol_Init( &cntrl_sol );
fb_Init( &cntrl_fb );
hk_Init( &cntrl_hk );
ww_Init( &cntrl_ww, io_get_WW_WZ_MW() );
kes_Init( &cntrl_kes );
/*----- Module aktivieren ----*/
cntrl_mdl_aktiv.sol_aktiv = SET;
cntrl_mdl_aktiv.fb_aktiv = SET;
cntrl_mdl_aktiv.hk_aktiv = SET;
cntrl_mdl_aktiv.ww_aktiv = SET;
cntrl_mdl_aktiv.kes_aktiv = SET;
cntrl_mdl_aktiv.err_aktiv = RESET; /* Default erst einmal AUS! */
cntrl_mdl_aktiv.inp_sol_aktiv = SET;
cntrl_mdl_aktiv.inp_fb_aktiv = SET;
cntrl_mdl_aktiv.inp_hk_aktiv = SET;
cntrl_mdl_aktiv.inp_ww_aktiv = SET;
cntrl_mdl_aktiv.inp_kes_aktiv = SET;
cntrl_mdl_aktiv.inp_err_aktiv = SET;
} MUTEX_unlock();
KBUSUPDATE();
sleep(1);
}
bool init() {
int i;
if(io_Init() == false) return false;
//set corssbar Base Address
sb_Write16(0x64,0x0A01);
//printf("SB C0~C3 REG: 0x%08X\n", sb_Read(0xc0));
sb_Write(0xc0, sb_Read(0xc0) | 0x8000C000L);
//printf("SB C0~C3 REG: 0x%08X\n", sb_Read(0xc0));
//set GPIO Base Address
sb_Write16(0x62,0xf101);
// GPIO enable
io_outpdw(0xf100,0x00ff);
//set GPIO P0~9 dircetion & data Address
//io_outpdw(0xf100,0x03ff);
for(i=0;i<8;i++) {
io_outpdw(0xf100 + (i+1)*4,((0xf202 + i*4)<<16) + 0xf200 + i*4);
//io_outpb((sb_Read16(0x64)&0xfffe)+i,0x00);
}
//setADC Base Address
sb_Write(0xbc, sb_Read(0xbc) & (~(1L<<28))); // active adc
sb1_Write16(0xde, sb1_Read16(0xde) | 0x02); // not Available for 8051A Access ADC
sb1_Write(0xe0, 0x0010fe00L); // baseaddr = 0xfe00, disable irq
//CDC
USBDEV = CreateUSBDevice();
if(USBDEV == NULL)
{
printf("init error\n");
return false;
}
usb_SetUSBPins(USBDEV, 7, 0, 7, 1);
if(usb_Init(USBDEV) == false)
{
printf("init2 error\n");
return false;
}
//io_Close();
return true;
}
RBAPI(bool) spi_InitSW(int mode, unsigned long clkdelay) {
if(spi_InUse() == true)
{
err_SetMsg(ERROR_SPI_INUSE, "SPI was already opened");
return false;
}
if ((SPI_ioSection = io_Init()) == -1) return false;
SPISW_mode = mode;
SPISW_delay = clkdelay;
// set the initial state of SPI GPIO pins
OLD_SPIGPIODIR = io_inpb(GPIO3_DIR);
OLD_SPIGPIODATA = io_inpb(GPIO3_DATA);
io_outpb(GPIO3_DIR, (OLD_SPIGPIODIR & 0xf0) | 0x07);
if ((SPISW_mode & SPIMODE_CPOL1) != 0)
io_outpb(GPIO3_DATA, (OLD_SPIGPIODATA & 0xf0) + 0x03); // SPI_CLK = 1, SPI_CS = 1
else
io_outpb(GPIO3_DATA, (OLD_SPIGPIODATA & 0xf0) + 0x01); // SPI_CLK = 0, SPI_CS = 1
OLD_SPIGPIODIR = OLD_SPIGPIODIR & 0x0f;
OLD_SPIGPIODATA = OLD_SPIGPIODATA & 0x0f;
// switch to GPIO interface
OLD_SPIGPIO3FLAG = read_sb_reg(SB_MULTIFUNC_REG);
write_sb_reg(SB_MULTIFUNC_REG, OLD_SPIGPIO3FLAG & 0xfffffffeL);
OLD_SPIGPIO3FLAG = OLD_SPIGPIO3FLAG & 1L;
SPISW_active = true;
return true;
}
DMPAPI(void *) CreateUART(int com)
{
SerialPort *port;
if (io_Init() == false)
{
err_print((char*)"%s: Init IO lib error!!\n", __FUNCTION__);
return NULL;
}
if ((port = (SerialPort *)ker_Malloc(sizeof(SerialPort))) == NULL)
{
io_Close();
return NULL;
}
port->com = com;
port->addr = vx86_uart_GetBaseAddr(com);
port->nIRQ = vx86_uart_GetIRQ(com);
if (port->addr == 0x00 || port->nIRQ == 0)
{
err_print((char*)"%s: COM%d is null. [Base address: 0x%04x, IRQ: %d]\n", __FUNCTION__, com+1, port->addr, port->nIRQ);
ker_Mfree((void*)port);
io_Close();
return NULL;
}
port->nBuad = 115200L;
port->nData = BYTESIZE8;
port->nStop = STOPBIT1;
port->nParity = NOPARITY;
port->control = NO_CONTROL;
port->InUse = 0;
port->INT_InUse = 0;
port->rts = 0;
port->cts = CTS_OFF;
port->xonxoff_rcvd = XOFF_RCVD;
port->xonxoff_xmit = XOFF_XMIT;
port->xon = 0;
port->xoff = 0;
port->old_lsb = port->lsb = 0;
port->old_msb = port->msb = 0;
port->old_ier = port->ier = 0;
port->old_lcr = port->lcr = 0;
port->old_mcr = port->mcr = 0;
port->old_TimeOut = port->TimeOut = UART_NO_TIMEOUT;
port->fcr = 0;
port->RFIFO_Size = 0;
port->WFIFO_Size = 0;
if ((port->rcvd = CreateQueue(RX_QUEUE_SIZE)) == NULL) goto CREATE_RX_QUEUE_FAIL;
if ((port->xmit = CreateQueue(TX_QUEUE_SIZE)) == NULL) goto CREATE_TX_QUEUE_FAIL;
port->msr_handler = NULL;
port->lsr_handler = NULL;
port->TXDB = port->addr + 0;
port->RXDB = port->addr + 0;
port->DLLSB = port->addr + 0;
port->DLMSB = port->addr + 1;
port->IER = port->addr + 1;
port->IIR = port->addr + 2;
port->FCR = port->addr + 2;
port->LCR = port->addr + 3;
port->MCR = port->addr + 4;
port->LSR = port->addr + 5;
port->MSR = port->addr + 6;
port->SCR = port->addr + 7;
return (void *)port;
CREATE_TX_QUEUE_FAIL:
DestoryQueue(port->rcvd);
CREATE_RX_QUEUE_FAIL:
ker_Mfree((void*)port);
io_Close();
return NULL;
}
RBAPI(bool) i2c_Init2(unsigned baseaddr, unsigned devs, int i2c0irq, int i2c1irq) {
int i;
if (I2C_ioSection != -1)
{
err_SetMsg(ERROR_I2C_INUSE, "I2C lib was already opened");
return false;
}
if ((I2C_ioSection = io_Init()) == -1) return false;
//NOTE: base address should be selected carefully to avoid conflicts with other devices!
if (baseaddr != 0xffff)
i2c_SetBaseAddress(baseaddr);
else
{
if (i2c_SetDefaultBaseAddress() == 0x0000) i2c_SetBaseAddress(0xfb00);
}
#ifdef ROBOIO
switch (roboio_GetRBVer())
{
case RB_100b1:
case RB_100b2:
case RB_100b3:
case RB_100:
case RB_100RD:
case RB_110:
case RB_050:
devs = devs & I2C_USEMODULE0;
i2c1irq = I2CIRQ_DISABLE;
break;
default:
devs = 0;
i2c0irq = i2c1irq = I2CIRQ_DISABLE;
break;
}
#endif
i2c_SetIRQ(i2c0irq, i2c1irq);
I2C_swMode[0] = I2C_swMode[1] = I2CSW_DISABLE;
I2C_action[0] = I2C_action[1] = I2CACT_DISABLE;
for (i=0; i<2; i++)
{
if ((i == 0) && ((devs & I2C_USEMODULE0) == 0)) continue;
if ((i == 1) && ((devs & I2C_USEMODULE1) == 0)) continue;
I2C_action[i] = I2CACT_IDLE;
//switch GPIO/I2C pins into GPIO pins
OLD_I2CGPIO3FLAG[i] = read_sb_reg(SB_IPFCTRL3_REG) & OLD_I2CGPIO3MASK[i]; //backup GPIO/I2C switch flag
write_sb_reg(SB_IPFCTRL3_REG, read_sb_reg(SB_IPFCTRL3_REG) & (~OLD_I2CGPIO3MASK[i]));
//send START & STOP signal to reset I2C devices
OLD_I2CGPIO3DIR[i] = io_inpb(GPIO3_DIR) & (0x03 << (i*2+4)); //backup GPIO3 DIR
OLD_I2CGPIO3VAL[i] = io_inpb(GPIO3_DATA) & (0x03 << (i*2+4)); //backup GPIO3 VAL
//set_pins(i, 1, 1); delay_ms(1); //SCL = 1, SDA = 1; START
//set_pins(i, 1, 0); delay_ms(1); //SCL = 1, SDA = 0
//set_pins(i, 0, 0); delay_ms(1); //SCL = 0, SDA = 0
//Note: if we send the above START, some I2C sensors, such as ADI ADXL345, may fail to respond
//set_pins(i, 0, 0); delay_ms(1); //SCL = 0, SDA = 0; STOP
//Note: if we perform the line above, some I2C sensors, such as MEMSIC MXC6202, may fail to respond
//set_pins(i, 1, 0); delay_ms(1); //SCL = 1, SDA = 0
//set_pins(i, 1, 1); delay_ms(1); //SCL = 1, SDA = 1
//Note: the above lines work for all sensors we tested, but we disable them to avoid unexpected sensor behaviors
if (i2c_Reset(i) == false) // assume the status of GPIO/I2C pins are GPIO "IN" or "OUT 1"
{
i2c_Close();
err_SetMsg(ERROR_I2C_INITFAIL, "can't reset the I2C modules");
return false;
}
i2c_DisableINT(i, I2CINT_ALL);
i2c_ClearSTAT(i, I2CSTAT_ALL);
//Remarks: for DX ver.2, we must disable the noise filter to ensure that 3.3Mbps works in high-speed mode
i2c_DisableNoiseFilter(i);
//i2c_EnableNoiseFilter(i);
i2c_DisableStandardHSM(i); //SCL open-drain in high-speed mode
//i2c_EnableStandardHSM(i);
i2c_SetSpeed(i, I2CMODE_AUTO, 100000L); //default 100Kbps
i2cslave_SetAddr(i, 0x7f); //set slave address 0x7F by default (change this if it collide with external I2C devices)
i2cslave_EnableACK(i);
//switch GPIO pins into I2C SCL,SDA pins
//Remarks: Vortex86DX's H/W I2C has an issue here; if you call i2c_Reset() in case GPIO/SCL pin = GPIO out 0,
// then, whenever you switch GPIO/SCL pin to SCL pin, the SCL pin always first send the 10 reset dummy clocks
write_sb_reg(SB_IPFCTRL3_REG, read_sb_reg(SB_IPFCTRL3_REG) | OLD_I2CGPIO3MASK[i]);
}
return true;
}
RBAPI(bool) com_Init(int com, int duplex) {
if (com_InUse(com) == true)
{
err_SetMsg(ERROR_COM_INUSE, "COM%d was already opened", com);
return false;
}
#ifdef ROBOIO
duplex = (duplex == COM_ADUPLEX)? COM_FDUPLEX : duplex;
switch (roboio_GetRBVer())
{
case RB_100b1:
switch (com)
{
case COM_PORT1: COM_duplex[com] = (duplex != COM_HDUPLEX_TXDEN)? duplex : COM_HDUPLEX; break;
case COM_PORT2: COM_duplex[com] = COM_HDUPLEX_TXDEN; break;
case COM_PORT3: COM_duplex[com] = (duplex == COM_FDUPLEX)? duplex : COM_HDUPLEX; break;
case COM_PORT4: COM_duplex[com] = COM_HDUPLEX_RTS; break;
}
break;
case RB_100b2:
switch (com)
{
case COM_PORT1: COM_duplex[com] = COM_FDUPLEX; break;
case COM_PORT2: COM_duplex[com] = COM_HDUPLEX_TXDEN; break;
case COM_PORT3: COM_duplex[com] = (duplex == COM_FDUPLEX)? duplex : COM_HDUPLEX; break;
case COM_PORT4: COM_duplex[com] = COM_HDUPLEX_RTS; break;
}
break;
case RB_100b3:
switch (com)
{
case COM_PORT1: COM_duplex[com] = (duplex != COM_HDUPLEX_TXDEN)? duplex : COM_HDUPLEX; break;
case COM_PORT2: COM_duplex[com] = COM_HDUPLEX_TXDEN; break;
case COM_PORT3: COM_duplex[com] = (duplex == COM_FDUPLEX)? duplex : COM_HDUPLEX; break;
case COM_PORT4: COM_duplex[com] = COM_HDUPLEX; break;
}
break;
case RB_100:
case RB_100RD:
switch (com)
{
case COM_PORT1: COM_duplex[com] = COM_FDUPLEX; break;
case COM_PORT2: COM_duplex[com] = COM_HDUPLEX_TXDEN; break;
case COM_PORT3: COM_duplex[com] = (duplex == COM_FDUPLEX)? duplex : COM_HDUPLEX; break;
case COM_PORT4: COM_duplex[com] = COM_HDUPLEX; break;
}
break;
case RB_110:
case RB_050:
switch (com)
{
case COM_PORT1: COM_duplex[com] = COM_FDUPLEX; break;
case COM_PORT2: COM_duplex[com] = COM_HDUPLEX_TXDEN; break;
case COM_PORT3: COM_duplex[com] = (duplex == COM_FDUPLEX)? duplex : COM_HDUPLEX; break;
case COM_PORT4: COM_duplex[com] = (duplex == COM_FDUPLEX)? duplex : COM_HDUPLEX; break;
}
break;
default:
err_SetMsg(ERROR_RBVER_UNKNOWN, "unrecognized RoBoard");
return false;
}
#else
COM_duplex[com] = duplex;
#endif
if((COM_ioSection[com] = io_Init()) == -1) return false;
if(uart_isenabled(com) == false)
{
err_SetMsg(ERROR_COM_INVALID, "COM%d isn't enabled in BIOS", com);
goto COMINIT_FAIL;
}
COM_baseaddr[com] = uart_getbaseaddr(com);
COM_oldTMode[com] = com_IsTurboMode(com);
COM_oldFMode[com] = com_IsFIFO32Mode(com);
#if defined(RB_MSVC_WIN32) || defined(RB_MSVC_WINCE)
{
#ifdef RB_MSVC_WINCE
int idx = com;
#else
int i, idx;
// find the device name of the COM port
for (idx=0, i=0; i<com; i++) if (uart_isenabled(i) == true) idx++;
#endif
COM_info[com].fp = CreateFile(
COM_portname[idx], // device name of COM port
GENERIC_READ | GENERIC_WRITE, // access mode
0, // share mode
0, // security attributes
OPEN_EXISTING, // opens a device only if it exists
0, // non-overlapped
NULL); // NULL when opening an existing file
if (COM_info[com].fp == INVALID_HANDLE_VALUE)
{
err_SetMsg(ERROR_COM_FAIL, "cannot open COM%d device driver", com);
goto COMINIT_FAIL;
}
// backup the old DCB
if (GetCommState(COM_info[com].fp, &(COM_info[com].oldstate)) == FALSE)
{
err_SetMsg(ERROR_COM_FAIL, "fail to get DCB settings");
goto COMINIT_FAIL2;
}
memcpy(&(COM_info[com].newstate), &(COM_info[com].oldstate), sizeof(DCB));
// set new DCB
COM_info[com].newstate.fBinary = TRUE; // binary mode
COM_info[com].newstate.fOutxCtsFlow = FALSE; // no CTS output control
COM_info[com].newstate.fOutxDsrFlow = FALSE; // no DSR output control
COM_info[com].newstate.fDtrControl = DTR_CONTROL_DISABLE; // no DRT control
COM_info[com].newstate.fDsrSensitivity = FALSE; // no sensitive to DSR
COM_info[com].newstate.fOutX = FALSE; // no S/W output flow control
COM_info[com].newstate.fInX = FALSE; // no S/W input flow control
COM_info[com].newstate.fErrorChar = FALSE; // no replace parity-error byte
COM_info[com].newstate.fNull = FALSE; // no discard NULL byte
COM_info[com].newstate.fRtsControl = RTS_CONTROL_DISABLE; // no S/W input flow control
COM_info[com].newstate.fAbortOnError = FALSE; // no terminate on errors
if (SetCommState(COM_info[com].fp, &(COM_info[com].newstate)) == FALSE)
{
err_SetMsg(ERROR_COM_FAIL, "fail to set DCB settings");
goto COMINIT_FAIL2;
}
// get old timeout parameters
if (GetCommTimeouts(COM_info[com].fp, &(COM_info[com].oldtimeouts)) == FALSE)
{
err_SetMsg(ERROR_COM_FAIL, "fail to get TIMEOUTS settings");
goto COMINIT_FAIL3;
}
// set timeout parameters (no waiting on read/write)
COM_info[com].newtimeouts.ReadIntervalTimeout = MAXDWORD;
COM_info[com].newtimeouts.ReadTotalTimeoutConstant = 0;
COM_info[com].newtimeouts.ReadTotalTimeoutMultiplier = 0;
COM_info[com].newtimeouts.WriteTotalTimeoutConstant = 0;
COM_info[com].newtimeouts.WriteTotalTimeoutMultiplier = 0;
if (SetCommTimeouts(COM_info[com].fp, &(COM_info[com].newtimeouts)) == FALSE)
{
err_SetMsg(ERROR_COM_FAIL, "fail to set TIMEOUT parameters");
goto COMINIT_FAIL3;
}
ClearCommBreak(COM_info[com].fp);
ClearCommError(COM_info[com].fp, NULL, NULL); // clear all communication errors
SetupComm(COM_info[com].fp, 8192, 8192); // set read/write FIFO to 8KB
PurgeComm(COM_info[com].fp, PURGE_RXABORT | PURGE_RXCLEAR | PURGE_TXABORT | PURGE_TXCLEAR); // clear all communication buffers
}
#elif defined(RB_LINUX)
if ((COM_info[com].fp = open(COM_portname[com], O_RDWR | O_NOCTTY | O_NONBLOCK)) < 0)
{
err_SetMsg(ERROR_COM_FAIL, "cannot open COM%d device driver", com);
goto COMINIT_FAIL;
}
// backup the old termios settings
if (tcgetattr(COM_info[com].fp, &(COM_info[com].oldstate)) < 0)
{
err_SetMsg(ERROR_COM_FAIL, "fail to get termios settings");
goto COMINIT_FAIL2;
}
memcpy(&(COM_info[com].newstate), &(COM_info[com].oldstate), sizeof(termios));
// set new termios settings
COM_info[com].newstate.c_cflag |= CLOCAL | CREAD;
COM_info[com].newstate.c_cflag &= ~CRTSCTS; // disable H/W flow control
COM_info[com].newstate.c_lflag &= ~(ICANON | // raw mode
ISIG | // disable SIGxxxx signals
IEXTEN | // disable extended functions
ECHO | ECHOE); // disable all auto-echo functions
COM_info[com].newstate.c_iflag &= ~(IXON | IXOFF | IXANY); // disable S/W flow control
COM_info[com].newstate.c_oflag &= ~OPOST; // raw output
COM_info[com].newstate.c_cc[VTIME] = 0; // no waiting to read
COM_info[com].newstate.c_cc[VMIN] = 0;
if(tcsetattr(COM_info[com].fp, TCSANOW, &(COM_info[com].newstate)) < 0)
{
err_SetMsg(ERROR_COM_FAIL, "fail to set termios settings");
goto COMINIT_FAIL2;
}
// clear input/output buffers
tcflush(COM_info[com].fp, TCIOFLUSH);
#else
// TODO ...
err_SetMsg(ERROR_COM_INVALID, "unsupported platform");
goto COMINIT_FAIL;
#endif
if (COM_duplex[com] == COM_HDUPLEX_RTS) clear_rts(com); // set COM direction as input
com_SetFormat(com, COM_BYTESIZE8, COM_STOPBIT1, COM_NOPARITY); // default data format: 8 bits, 1 stop bit, no parity
com_SetBaud(com, COMBAUD_115200BPS); // default baudrate: 115200 bps
com_EnableFIFO32(com); // set Vortex86DX's UART FIFO as 32 bytes
return true;
#if defined(RB_MSVC_WIN32) || defined(RB_MSVC_WINCE)
COMINIT_FAIL3:
SetCommState(COM_info[com].fp, &(COM_info[com].oldstate));
COMINIT_FAIL2:
CloseHandle(COM_info[com].fp);
#elif defined(RB_LINUX)
COMINIT_FAIL2:
close(COM_info[com].fp);
#endif
COMINIT_FAIL:
io_Close(COM_ioSection[com]);
COM_ioSection[com] = -1;
return false;
}
RBAPI(bool) i2c_Initialize2(unsigned devs, int i2c0irq, int i2c1irq) {
int i;
if (I2C_ioSection != -1)
{
err_SetMsg(ERROR_I2C_INUSE, "I2C lib was already opened");
return false;
}
if ((I2C_ioSection = io_Init()) == -1) return false;
if (i2c_SetDefaultBaseAddress() == 0x0000) i2c_SetBaseAddress(0xfb00);
i2c_SetIRQ(i2c0irq, i2c1irq);
I2C_action[0] = I2C_action[1] = I2CACT_DISABLE;
for (i=0; i<2; i++)
{
if ((i == 0) && ((devs & I2C_USEMODULE0) == 0)) continue;
if ((i == 1) && ((devs & I2C_USEMODULE1) == 0)) continue;
I2C_action[i] = I2CACT_IDLE;
//switch GPIO/I2C pins into GPIO pins
OLD_I2CGPIO3FLAG[i] = read_sb_reg(SB_IPFCTRL3_REG) & OLD_I2CGPIO3MASK[i]; //backup GPIO/I2C switch flag
write_sb_reg(SB_IPFCTRL3_REG, read_sb_reg(SB_IPFCTRL3_REG) & (~OLD_I2CGPIO3MASK[i]));
//send START & STOP signal to reset I2C devices
OLD_I2CGPIO3DIR[i] = io_inpb(0x9b) & (0x03 << (i*2+4)); //backup GPIO3 DIR
OLD_I2CGPIO3VAL[i] = io_inpb(0x7b) & (0x03 << (i*2+4)); //backup GPIO3 VAL
//set_pins(i, 1, 1); delay_ms(1); //SCL = 1, SDA = 1; START
//set_pins(i, 1, 0); delay_ms(1); //SCL = 1, SDA = 0
//set_pins(i, 0, 0); delay_ms(1); //SCL = 0, SDA = 0
//Note: if we send the above START, some I2C sensors, such as ADI ADXL345, may fail to respond
//set_pins(i, 0, 0); delay_ms(1); //SCL = 0, SDA = 0; STOP
//Note: if we perform the line above, some I2C sensors, such as MEMSIC MXC6202, may fail to respond
set_pins(i, 1, 0); delay_ms(1); //SCL = 1, SDA = 0
set_pins(i, 1, 1); delay_ms(1); //SCL = 1, SDA = 1
if (i2c_Reset(i) == false)
{
i2c_Close();
err_SetMsg(ERROR_I2C_INITFAIL, "can't reset the I2C modules");
return false;
}
i2c_DisableINT(i, I2CINT_ALL);
i2c_ClearSTAT(i, I2CSTAT_ALL);
//Remarks: for DX ver.2, we must disable the noise filter to ensure that 3.3Mbps works in high-speed mode
i2c_DisableNoiseFilter(i);
//i2c_EnableNoiseFilter(i);
i2c_DisableStandardHSM(i); //SCL open-drain in high-speed mode
//i2c_EnableStandardHSM(i);
i2c_SetSpeed(i, I2CMODE_AUTO, 100000L); //default 100Kbps
i2cslave_SetAddr(i, 0x7f); //set slave address 0x7F by default (change this if it collide with external I2C devices)
i2cslave_EnableACK(i);
//switch GPIO pins into I2C SCL,SDA pins
//Remarks: Vortex86DX's H/W I2C has an issue here; if you call i2c_Reset() in case GPIO/SCL pin = GPIO out 0,
// then, whenever you switch GPIO/SCL pin to SCL pin, the SCL pin always first send the 10 reset dummy clocks
write_sb_reg(SB_IPFCTRL3_REG, read_sb_reg(SB_IPFCTRL3_REG) | OLD_I2CGPIO3MASK[i]);
}
return true;
}
bool init() {
int i, crossbarBase, gpioBase;
if(io_Init() == false) return false;
timer_NowTime(); // initialize timer
CLOCKS_PER_MICROSEC = vx86_CpuCLK();
VORTEX86EX_CLOCKS_PER_MS = CLOCKS_PER_MICROSEC*1000UL;
// Set IRQ4 as level-trigger
io_outpb(0x4D0, io_inpb(0x4D0) | 0x10);
//set corssbar Base Address
crossbarBase = sb_Read16(SB_CROSSBASE) & 0xfffe;
if(crossbarBase == 0 || crossbarBase == 0xfffe)
sb_Write16(SB_CROSSBASE, CROSSBARBASE | 0x01);
// Force set HIGH speed ISA on SB
sb_Write(SB_FCREG, sb_Read(SB_FCREG) | 0x8000C000L);
//set SB GPIO Base Address
gpioBase = sb_Read16(SB_GPIOBASE) & 0xfffe;
if(gpioBase == 0 || gpioBase == 0xfffe)
{
sb_Write16(SB_GPIOBASE, GPIOCTRLBASE | 0x01);
gpioBase = GPIOCTRLBASE;
}
// Enable GPIO 0 ~ 7
io_outpdw(gpioBase, 0x00ff);
// set GPIO Port 0~7 dircetion & data Address
for(i=0;i<8;i++)
io_outpdw(gpioBase + (i+1)*4,((GPIODIRBASE + i*4)<<16) + GPIODATABASE + i*4);
// set ADC Base Address
sb_Write(0xbc, sb_Read(0xbc) & (~(1L<<28))); // active adc
sb1_Write16(0xde, sb1_Read16(0xde) | 0x02); // not Available for 8051A Access ADC
sb1_Write(0xe0, 0x0050fe00L); // baseaddr = 0xfe00, disable irq
// set MCM Base Address
set_MMIO();
mc_setbaseaddr();
for(i=0; i<4; i++)
mc_SetMode(i, MCMODE_PWM_SIFB);
if(Global_irq_Init == false)
{
// set MCM IRQ
if(irq_Init() == false)
{
printf("MCM IRQ init fail\n"); return false;
}
if(irq_Setting(GetMCIRQ(), IRQ_LEVEL_TRIGGER + IRQ_DISABLE_INTR) == false)
{
printf("MCM IRQ Setting fail\n"); return false;
}
Set_MCIRQ(GetMCIRQ());
Global_irq_Init = true;
}
//CDC
USBDEV = CreateUSBDevice();
if(USBDEV == NULL)
{
printf("init error\n");
return false;
}
usb_SetUSBPins(USBDEV, 7, 0, 7, 1);
usb_SetTimeOut(USBDEV, 0L, 500L); // USB RX timerout is 0ms and TX timeout is 500ms
if(usb_Init(USBDEV) == false)
{
printf("init2 error\n");
return false;
}
//io_Close();
return true;
}
DMPAPI(void *) CreateUSBDevice(void)
{
USB_Device *usb = NULL;
if ((usb = (USB_Device *)ker_Malloc(sizeof(USB_Device))) == NULL) return NULL;
if (io_Init() == false) {
err_print((char*)"%s: Init IO lib error!!\n", __FUNCTION__);
ker_Mfree((void *)usb);
return NULL;
}
usb->addr = vx86_GetUSBDevAddr();
usb->nIRQ = vx86_GetUSBDevIRQ();
if (usb->addr == 0x0000 || usb->nIRQ == 0)
{
io_Close();
ker_Mfree((void *)usb);
return NULL;
}
usb->DevAddr = 0x00;
usb->ReadySetAddr = false;
usb->state = USB_DEV_NOT_ATTACHED;
usb->stall = false;
usb->InUse = 0;
usb->IsSet = 0;
usb->setup_in_handled = false;
usb->setup_out_handled = false;
usb->bulk_in_transmitting = false;
usb->TimeOut = USB_NO_TIMEOUT;
usb->InDataPtr = NULL;
usb->OutDataPtr = NULL;
usb->InDataSize = 0;
usb->OutDataSize = 0;
if ((usb->rcvd = CreateQueue(RX_QUEUE_SIZE)) == NULL) goto CREATE_RX_QUEUE_FAIL;
if ((usb->xmit = CreateQueue(TX_QUEUE_SIZE)) == NULL) goto CREATE_TX_QUEUE_FAIL;
usb->Setup.bmRequestType = 0;
usb->Setup.bRequest = 0;
usb->Setup.wValue.Value = 0;
usb->Setup.wIndex.Value = 0;
usb->Setup.wLength = 0;
usb->ling_coding.dwDTERate = 0;
usb->ling_coding.bCharFormat = 0;
usb->ling_coding.bParityType = 0;
usb->ling_coding.bDataBits = 0;
usb->control_line_state = 0;
usb->serial_state = 0;
usb->DAR = usb->addr + 0x00;
usb->CFR = usb->addr + 0x02;
usb->FNR = usb->addr + 0x06;
usb->IER = usb->addr + 0x08;
usb->ISR = usb->addr + 0x0C;
usb->TMR = usb->addr + 0x68;
memset((Endpoint *)usb->EP, 0, sizeof(usb->EP));
usb->EP[0].CtrlTR = usb->addr + 0x10;
usb->EP[1].OutTR = usb->addr + 0x12;
usb->EP[1].InTR = usb->addr + 0x14;
usb->EP[2].OutTR = usb->addr + 0x16;
usb->EP[2].InTR = usb->addr + 0x18;
usb->EP[3].OutTR = usb->addr + 0x1A;
usb->EP[3].InTR = usb->addr + 0x1C;
usb->EP[0].SetupDLR = usb->addr + 0x20;
usb->EP[0].OutDLR = usb->addr + 0x24;
usb->EP[0].InDLR = usb->addr + 0x28;
usb->EP[1].OutDLR = usb->addr + 0x2C;
usb->EP[1].InDLR = usb->addr + 0x30;
usb->EP[2].OutDLR = usb->addr + 0x34;
usb->EP[2].InDLR = usb->addr + 0x38;
usb->EP[3].OutDLR = usb->addr + 0x3C;
usb->EP[3].InDLR = usb->addr + 0x40;
usb->EP[0].SetupDSR = usb->addr + 0x44;
usb->EP[0].OutDSR = usb->addr + 0x48;
usb->EP[0].InDSR = usb->addr + 0x4C;
usb->EP[1].OutDSR = usb->addr + 0x50;
usb->EP[1].InDSR = usb->addr + 0x54;
usb->EP[2].OutDSR = usb->addr + 0x58;
usb->EP[2].InDSR = usb->addr + 0x5C;
usb->EP[3].OutDSR = usb->addr + 0x60;
usb->EP[3].InDSR = usb->addr + 0x64;
#ifdef DMP_86DUINO_MODE
set_gpio_config_addr(GPIO_CONFIG_ADDR); // for 86duino
set_tx_led(7, 2);
set_rx_led(7, 3);
TX_LED_OFF();
RX_LED_OFF();
#endif
return (void *)usb;
CREATE_TX_QUEUE_FAIL:
DestoryQueue(usb->rcvd);
CREATE_RX_QUEUE_FAIL:
io_Close();
ker_Mfree((void *)usb);
return NULL;
}