int board_nand_init(struct nand_chip *nand)
{
u_int32_t cfg;
u_int8_t tacls, twrph0, twrph1;
S3C24X0_CLOCK_POWER * const clk_power = S3C24X0_GetBase_CLOCK_POWER();
DEBUGN("board_nand_init()\n");
clk_power->CLKCON |= (1 << 4);
/* initialize hardware */
twrph0 = 3; twrph1 = 0; tacls = 0;
cfg = S3C2440_NFCONF_TACLS(tacls);
cfg |= S3C2440_NFCONF_TWRPH0(twrph0);
cfg |= S3C2440_NFCONF_TWRPH1(twrph1);
//S3C2440_NFCONT |= S3C2440_NFCONT_ENABLE;
//S3C2440_NFCONF = cfg;
S3C2440_NFCONT = 0x1;
S3C2440_NFCONF = 0x2440;
/* initialize nand_chip data structure */
nand->IO_ADDR_R = nand->IO_ADDR_W = (void *)0x4e000010;
/* read_buf and write_buf are default */
/* read_byte and write_byte are default */
/* hwcontrol always must be implemented */
nand->cmd_ctrl = s3c2440_hwcontrol;
nand->dev_ready = s3c2440_dev_ready;
#ifdef CONFIG_S3C2440_NAND_HWECC
nand->ecc.hwctl = s3c2440_nand_enable_hwecc;
nand->ecc.calculate = s3c2440_nand_calculate_ecc;
nand->ecc.correct = s3c2440_nand_correct_data;
nand->ecc.mode = NAND_ECC_HW3_512;
#else
nand->ecc.mode = NAND_ECC_SOFT;
#endif
#ifdef CONFIG_S3C2440_NAND_BBT
nand->options = NAND_USE_FLASH_BBT;
#else
nand->options = 0;
#endif
DEBUGN("board_nand_init() in cpu/arm920t/s3c24x0/nand.c\n");
DEBUGN("end of nand_init\n");
return 0;
}
static void s3c2440_hwcontrol(struct mtd_info *mtd, int cmd, unsigned int ctrl)
{
struct nand_chip *chip = mtd->priv;
DEBUGN("hwcontrol(): 0x%02x 0x%02x\n", cmd, ctrl);
if (ctrl & NAND_CTRL_CHANGE) {
ulong IO_ADDR_W = 0x4E000000;
if (!(ctrl & NAND_CLE))
IO_ADDR_W |= S3C2440_ADDR_NCLE;
if (!(ctrl & NAND_ALE))
IO_ADDR_W |= S3C2440_ADDR_NALE;
chip->IO_ADDR_W = (void *)IO_ADDR_W;
if (ctrl & NAND_NCE)
S3C2440_NFCONT &= ~S3C2440_NFCONT_nFCE;
else
S3C2440_NFCONT |= S3C2440_NFCONT_nFCE;
}
if (cmd != NAND_CMD_NONE)
writeb(cmd, chip->IO_ADDR_W);
}
void sendspeed(int leftSpeed, int rightSpeed)
{
char buffer[20];
static int errorCount;
#define DEBUGROBOTEQ //Print Speed Commands
#ifdef DEBUGROBOTEQ
DEBUG(leftSpeed); DEBUGN(rightSpeed);
#endif
if (roboteqHandle == INVALID_HANDLE_VALUE) {
// Either the port was not opened or there was a failure
// Try and open the robotEq again hope it works
initRoboteq();
}
if(ABS(leftSpeed) > 1000) leftSpeed = SIGN(leftSpeed) * 1000;
if(ABS(rightSpeed) > 1000) rightSpeed = SIGN(rightSpeed) * 1000;
sprintf(buffer, "!G %01d %04d\r!G %01d %04d\r",
leftChannelNum, leftSpeed, rightChannelNum,rightSpeed);
if (roboteqHandle != INVALID_HANDLE_VALUE) {
SerialPuts(roboteqHandle, buffer);
FlushRx(roboteqHandle);
FlushTx(roboteqHandle);
} else {
if (++errorCount % 100 == 0) // Print every 100 times this happens
fprintf(stderr, "Invalid roboteqPort. Did you open the port?\n");
}
}
static int s3c2440_nand_calculate_ecc(struct mtd_info *mtd, const u_char *dat,
u_char *ecc_code)
{
ecc_code[0] = NFMECC0;
ecc_code[1] = NFMECC0>>8;
ecc_code[2] = NFMECC0>>16;
DEBUGN("s3c2440_nand_calculate_hwecc(%p,): 0x%02x 0x%02x 0x%02x\n",
mtd , ecc_code[0], ecc_code[1], ecc_code[2]);
return 0;
}
int open_serial(char *port, int baud, int nbits, int parity)
{
int fd;
struct termios options;
DEBUG(baud);
DEBUG(nbits);
DEBUGN(parity);
fd = open(port, O_RDWR | O_NOCTTY | O_NONBLOCK | O_NDELAY);
if (fd == -1) {
fprintf(stderr, "Open failure\n");
return fd;
}
if (tcgetattr(fd, &options) == -1) {
close(fd);
fprintf(stderr, "Open failure\n");
return -1;
}
cfsetispeed(&options, 9600);
cfsetospeed(&options, baud);
options.c_cflag &= ~(CRTSCTS | CSTOPB | CSIZE);
options.c_cflag |= (nbits == 8 ? CS8 : CS7);
if (parity == 0)
options.c_cflag &= ~PARENB;
else
options.c_cflag |= PARENB;
if (parity == 2)
options.c_cflag &= ~PARODD;
else
options.c_cflag |= PARODD;
options.c_oflag &= ~OPOST;
options.c_oflag &= ~(NLDLY | CRDLY | TABDLY | BSDLY | VTDLY | FFDLY);
fcntl(fd, F_SETFL, O_NONBLOCK);
// fcntl(fd, F_SETFL, FASYNC);
if (tcsetattr(fd, TCSANOW, &options) == -1) {
close(fd);
fprintf(stderr, "Open failure\n");
return -1;
}
return fd;
}
//------------------------------------------------------------------------------
HANDLE SerialInit(int PortNum, int BaudRate, int dataBit, int parity,
int cts, int rts, int dsr, int dtr)
{
HANDLE hCom;
char serfilename[512];
BOOL bPortReady; // Not used except for debugging
DCB dcb;
COMMTIMEOUTS CommTimeouts;
sprintf(serfilename, "%s%d", "\\\\.\\com", PortNum);
hCom = CreateFile(serfilename, GENERIC_READ | GENERIC_WRITE, 0, NULL, OPEN_EXISTING, FILE_ATTRIBUTE_NORMAL, //FILE_FLAG_OVERLAPPED,
0);
// DEBUG(hCom);
if (hCom == INVALID_HANDLE_VALUE) {
// fprintf(stderr, "Error: COM%d(%s):%d\n", PortNum, serfilename, GetLastError());
// if (GetLastError() == ERROR_FILE_NOT_FOUND)
// printf("Serial port %d does not exist \n", PortNum);
return hCom;
}
bPortReady = SetupComm(hCom, 128, 128); // set buffer sizes
DEBUGN(bPortReady);// verify action completed successfully
bPortReady = GetCommState(hCom, &dcb);
DEBUGN(bPortReady);// verify action completed successfully
dcb.BaudRate = BaudRate;
dcb.ByteSize = dataBit;
dcb.StopBits = ONESTOPBIT;
if (parity == 0)
dcb.Parity = NOPARITY;
else if (parity == 1)
dcb.Parity = ODDPARITY;
else if (parity == 2)
dcb.Parity = EVENPARITY;
else if (parity == 3)
dcb.Parity = MARKPARITY;
else
dcb.Parity = NOPARITY; //default
dcb.fAbortOnError = TRUE;
/**set XON/XOFF**/
dcb.fOutX = FALSE; // XON/XOFF off for transmit
dcb.fInX = FALSE; // XON/XOFF off for receive
/**set RTSCTS**/
if (cts == 1)
dcb.fOutxCtsFlow = TRUE;
else
dcb.fOutxCtsFlow = FALSE; //default is FALSE
//dcb.fOutxCtsFlow = FALSE; // turn off CTS flow control
if (rts == 0)
dcb.fRtsControl = FALSE;
else if (rts == 1)
dcb.fRtsControl = TRUE;
else if (rts == 2)
dcb.fRtsControl = RTS_CONTROL_HANDSHAKE;
else
dcb.fRtsControl = RTS_CONTROL_HANDSHAKE; //default is HANDSHAKE
//dcb.fRtsControl = RTS_CONTROL_ENABLE;//
/** set DSRDTR**/
if (dsr == 1)
dcb.fOutxDsrFlow = TRUE;
else
dcb.fOutxDsrFlow = FALSE; //default is FALSE
//dcb.fOutxDsrFlow = FALSE; // turn off DSR flow control
if (dtr == 0)
dcb.fDtrControl = DTR_CONTROL_DISABLE; //
else if (dtr == 1)
dcb.fDtrControl = DTR_CONTROL_ENABLE; //
else if (dtr == 2)
dcb.fDtrControl = DTR_CONTROL_HANDSHAKE; //
else
dcb.fDtrControl = DTR_CONTROL_DISABLE; //default DISABLE
bPortReady = SetCommState(hCom, &dcb);
DEBUGN(bPortReady);// verify action completed successfully
// Communication timeouts are optional
bPortReady = GetCommTimeouts(hCom, &CommTimeouts);
DEBUGN(bPortReady);// verify action completed successfully
CommTimeouts.ReadIntervalTimeout = Read_Timeout; //Was 5000;
CommTimeouts.ReadTotalTimeoutConstant = Read_Timeout; //Was 5000;
CommTimeouts.ReadTotalTimeoutMultiplier = Read_Timeout / 5; //Was 1000;
CommTimeouts.WriteTotalTimeoutConstant = 5000;
CommTimeouts.WriteTotalTimeoutMultiplier = 1000;
bPortReady = SetCommTimeouts(hCom, &CommTimeouts);
DEBUGN(bPortReady);// verify action completed successfully
return hCom;
}
void s3c2440_nand_enable_hwecc(struct mtd_info *mtd, int mode)
{
DEBUGN("s3c2440_nand_enable_hwecc(%p, %d)\n", mtd, mode);
NFCONT |= S3C2440_NFCONT_INITECC;
}
static int s3c2440_dev_ready(struct mtd_info *mtd)
{
DEBUGN("dev_ready\n");
return (S3C2440_NFSTAT & S3C2440_NFSTAT_READY);
}
