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support can and add test case for xidatong-riscv64 on nuttx

This commit is contained in:
wgzAIIT 2022-11-10 14:37:54 +08:00
parent 2bc1de068c
commit 5d6aa56f29
12 changed files with 277 additions and 24 deletions
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6
Ubiquitous/Nuttx_Fusion_XiUOS/aiit_board/xidatong-riscv64/Kconfig
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@ -39,6 +39,12 @@ menuconfig BSP_USING_TOUCH
bool "Using touch device"
default n
menuconfig BSP_USING_CAN
select K210_16550_UART
select K210_16550_UART1
bool "Using CAN device"
default n
menuconfig BSP_USING_CH438
bool "Using CH438 device"
default n

73
Ubiquitous/Nuttx_Fusion_XiUOS/aiit_board/xidatong-riscv64/configs/cannsh/defconfig Normal file
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@ -0,0 +1,73 @@
#
# This file is autogenerated: PLEASE DO NOT EDIT IT.
#
# You can use "make menuconfig" to make any modifications to the installed .config file.
# You can then do "make savedefconfig" to generate a new defconfig file that includes your
# modifications.
#
# CONFIG_NSH_DISABLE_LOSMART is not set
# CONFIG_STANDARD_SERIAL is not set
CONFIG_ADD_NUTTX_FETURES=y
CONFIG_ARCH="risc-v"
CONFIG_ARCH_BOARD="xidatong-riscv64"
CONFIG_ARCH_BOARD_XIDATONG_RISCV64=y
CONFIG_ARCH_CHIP="k210"
CONFIG_ARCH_CHIP_K210=y
CONFIG_ARCH_INTERRUPTSTACK=2048
CONFIG_ARCH_RISCV=y
CONFIG_ARCH_STACKDUMP=y
CONFIG_BINFMT_DISABLE=y
CONFIG_BOARD_LOOPSPERMSEC=46000
CONFIG_BUILTIN=y
CONFIG_DEBUG_FULLOPT=y
CONFIG_DEBUG_SYMBOLS=y
CONFIG_EXAMPLES_HELLO=y
CONFIG_IDLETHREAD_STACKSIZE=2048
CONFIG_INIT_ENTRYPOINT="nsh_main"
CONFIG_INIT_STACKSIZE=3072
CONFIG_INTELHEX_BINARY=y
CONFIG_LIBC_PERROR_STDOUT=y
CONFIG_LIBC_STRERROR=y
CONFIG_NSH_ARCHINIT=y
CONFIG_NSH_BUILTIN_APPS=y
CONFIG_NSH_DISABLE_IFUPDOWN=y
CONFIG_NSH_DISABLE_MKDIR=y
CONFIG_NSH_DISABLE_RM=y
CONFIG_NSH_DISABLE_RMDIR=y
CONFIG_NSH_DISABLE_UMOUNT=y
CONFIG_NSH_READLINE=y
CONFIG_NSH_STRERROR=y
CONFIG_PREALLOC_TIMERS=4
CONFIG_RAM_SIZE=2097152
CONFIG_RAM_START=0x80400000
CONFIG_RAW_BINARY=y
CONFIG_READLINE_CMD_HISTORY=y
CONFIG_READLINE_CMD_HISTORY_LEN=100
CONFIG_READLINE_CMD_HISTORY_LINELEN=120
CONFIG_RR_INTERVAL=200
CONFIG_SCHED_WAITPID=y
CONFIG_STACK_COLORATION=y
CONFIG_START_DAY=28
CONFIG_START_MONTH=12
CONFIG_START_YEAR=2019
CONFIG_SYSTEM_NSH=y
CONFIG_TASK_NAME_SIZE=20
CONFIG_TESTING_GETPRIME=y
CONFIG_UART0_SERIAL_CONSOLE=y
CONFIG_READLINE_TABCOMPLETION=y
CONFIG_SCHED_HPWORK=y
CONFIG_DEV_GPIO=y
CONFIG_BOARDCTL_RESET=y
CONFIG_K210_16550_UART=y
CONFIG_K210_16550_UART1=y
CONFIG_K210_16550_UART1_BASE=0x50210000
CONFIG_K210_16550_UART1_CLOCK=195000000
CONFIG_K210_16550_UART1_IRQ=38
CONFIG_K210_16550_UART1_BAUD=115200
CONFIG_K210_16550_UART1_PARITY=0
CONFIG_K210_16550_UART1_BITS=8
CONFIG_K210_16550_UART1_2STOP=0
CONFIG_K210_16550_UART1_RXBUFSIZE=128
CONFIG_K210_16550_UART1_TXBUFSIZE=128
CONFIG_BSP_USING_CAN=y
CONFIG_SERIAL_TERMIOS=y

7
Ubiquitous/Nuttx_Fusion_XiUOS/aiit_board/xidatong-riscv64/include/board.h
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@ -78,8 +78,6 @@ extern "C"
#endif
/*************************** GPIO define ***************************/
/* Connected to red led */
#define BOARD_LED_PAD 14
/* UART IO */
#define GPIO_WIFI_RXD 7
@ -88,6 +86,8 @@ extern "C"
#define GPIO_EC200T_TXD 20
#define GPIO_CH376T_RXD 22
#define GPIO_CH376T_TXD 23
#define GPIO_CAN_RXD 18
#define GPIO_CAN_TXD 19
/* ch438 IO */
#define CH438_ALE_PIN 24
@ -128,12 +128,12 @@ extern "C"
#define GPIO_E220_M1 45
#define GPIO_E18_MODE 46
#define GPIO_WIFI_EN 8
#define GPIO_CAN_CFG 43
/************************** end GPIO define **************************/
/*************************** FPIOA define ***************************/
#define BOARD_LED_IO 0
/* UART FPOA */
#define FPOA_USART1_RX K210_IO_FUNC_UART1_RX
@ -182,6 +182,7 @@ extern "C"
#define FPIOA_E220_M1 2
#define FPIOA_E18_MODE 3
#define FPIOA_WIFI_EN 4
#define FPIOA_CAN_NCFG 5
/************************** end FPIOA define **************************/

4
Ubiquitous/Nuttx_Fusion_XiUOS/aiit_board/xidatong-riscv64/src/Makefile
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@ -58,4 +58,8 @@ ifeq ($(CONFIG_BSP_USING_TOUCH),y)
CSRCS += k210_touch.c
endif
ifeq ($(CONFIG_BSP_USING_CAN),y)
CSRCS += can_demo.c
endif
include $(TOPDIR)/boards/Board.mk

147
Ubiquitous/Nuttx_Fusion_XiUOS/aiit_board/xidatong-riscv64/src/can_demo.c Normal file
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@ -0,0 +1,147 @@
/*
* Copyright (c) 2020 AIIT XUOS Lab
* XiUOS is licensed under Mulan PSL v2.
* You can use this software according to the terms and conditions of the Mulan PSL v2.
* You may obtain a copy of Mulan PSL v2 at:
* http://license.coscl.org.cn/MulanPSL2
* THIS SOFTWARE IS PROVIDED ON AN "AS IS" BASIS, WITHOUT WARRANTIES OF ANY KIND,
* EITHER EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO NON-INFRINGEMENT,
* MERCHANTABILITY OR FIT FOR A PARTICULAR PURPOSE.
* See the Mulan PSL v2 for more details.
*/
/**
* @file can_demo.c
* @brief xidatong-riscv64 can_demo.c
* @version 1.0
* @author AIIT XUOS Lab
* @date 2022.11.10
*/
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <nuttx/pthread.h>
#include <sys/ioctl.h>
#include <nuttx/time.h>
#include <nuttx/fs/fs.h>
#include <nuttx/fs/ioctl.h>
#include <nuttx/arch.h>
#include <nuttx/board.h>
#include <arch/board/board.h>
#include <stdint.h>
#include <stdio.h>
#include <unistd.h>
#include <stdbool.h>
#include "time.h"
#include <debug.h>
#include <assert.h>
#include <fcntl.h>
#include <termios.h>
#include <nuttx/ioexpander/gpio.h>
#include "k210_uart_16550.h"
#include "k210_fpioa.h"
#include "k210_gpiohs.h"
#include "k210_gpio_common.h"
static int fd, flag=0;
static void serial_thread_entry(void)
{
uint8_t ch;
while(read(fd, &ch, 1) == 1)
{
printf("%02x ",ch);
}
}
static void start_thread(void)
{
int ret;
pthread_t thread;
pthread_attr_t attr = PTHREAD_ATTR_INITIALIZER;
attr.priority = 20;
attr.stacksize = 2048;
ret = pthread_create(&thread, &attr, (void*)serial_thread_entry, NULL);
if (ret != 0)
{
printf("task create failed, status=%d\n", ret);
}
flag = 1;
}
static void set_baud(unsigned long speed)
{
struct termios cfg;
tcgetattr(fd, &cfg);
cfsetspeed(&cfg, speed);
tcsetattr(fd, TCSANOW, &cfg);
}
static void can_cfg_start(void)
{
uint8_t cmd[8];
set_baud(9600);
up_mdelay(1000);
k210_gpiohs_set_direction(FPIOA_CAN_NCFG, GPIO_DM_OUTPUT);
k210_gpiohs_set_value(FPIOA_CAN_NCFG, GPIO_PV_LOW);
up_mdelay(200);
cmd[0] = 0xAA;
cmd[1] = 0x55;
cmd[2] = 0xFD;
cmd[3] = 0x32;
cmd[4] = 0x01;
cmd[5] = 0x0B;
cmd[6] = 0xc4;
cmd[7] = 0x29;
write(fd, cmd, 8);
}
static void can_cfg_end(void)
{
k210_gpiohs_set_direction(FPIOA_CAN_NCFG, GPIO_DM_OUTPUT);
k210_gpiohs_set_value(FPIOA_CAN_NCFG, GPIO_PV_HIGH);
set_baud(115200);
}
void can_test(void)
{
uint8_t msg[8];
uint8_t i;
fd = open("/dev/ttyS1", O_RDWR);
if (flag == 0)
{
/* 1、start thread */
start_thread();
up_mdelay(20);
/* 2、config can prama */
can_cfg_start();
up_mdelay(20);
/* 3、exit config */
can_cfg_end();
up_mdelay(20);;
}
/* 4、send data */
for(i=0;i<10;i++)
{
msg[0] = 0x11;
msg[1] = 0x22;
msg[2] = 0x33;
msg[3] = 0x44;
msg[4] = 0x55;
msg[5] = 0x66;
msg[6] = 0x77;
msg[7] = 0x99;
write(fd, msg, 8);
up_mdelay(20);
}
}

26
Ubiquitous/Nuttx_Fusion_XiUOS/aiit_board/xidatong-riscv64/src/k210_bringup.c
View File

@ -95,30 +95,42 @@ int k210_bringup(void)
board_touch_initialize();
#endif
#ifdef CONFIG_K210_16550_UART1
#ifdef CONFIG_ADAPTER_ESP8285_WIFI
sysctl_clock_enable(SYSCTL_CLOCK_UART1);
sysctl_reset(SYSCTL_RESET_UART1);
fpioa_set_function(GPIO_WIFI_TXD, FPOA_USART1_RX);
fpioa_set_function(GPIO_WIFI_RXD, FPOA_USART1_TX);
fpioa_set_function(GPIO_WIFI_EN, K210_IO_FUNC_GPIOHS0 + GPIO_WIFI_EN);
k210_gpiohs_set_direction(GPIO_WIFI_EN, GPIO_DM_OUTPUT);
k210_gpiohs_set_value(GPIO_WIFI_EN, GPIO_PV_LOW);
fpioa_set_function(GPIO_WIFI_EN, K210_IO_FUNC_GPIOHS0 + FPIOA_WIFI_EN);
k210_gpiohs_set_direction(FPIOA_WIFI_EN, GPIO_DM_OUTPUT);
k210_gpiohs_set_value(FPIOA_WIFI_EN, GPIO_PV_LOW);
up_mdelay(50);
k210_gpiohs_set_value(GPIO_WIFI_EN, GPIO_PV_HIGH);
k210_gpiohs_set_value(FPIOA_WIFI_EN, GPIO_PV_HIGH);
#endif
#ifdef CONFIG_K210_16550_UART2
#ifdef CONFIG_BSP_USING_CAN
sysctl_clock_enable(SYSCTL_CLOCK_UART1);
sysctl_reset(SYSCTL_RESET_UART1);
fpioa_set_function(GPIO_CAN_TXD, FPOA_USART1_TX);
fpioa_set_function(GPIO_CAN_RXD, FPOA_USART1_RX);
k210_fpioa_config(GPIO_CAN_CFG, HS_GPIO(FPIOA_CAN_NCFG) | K210_IOFLAG_GPIOHS);
#endif
#ifdef CONFIG_ADAPTER_EC200T
sysctl_clock_enable(SYSCTL_CLOCK_UART2);
sysctl_reset(SYSCTL_RESET_UART2);
fpioa_set_function(GPIO_EC200T_RXD, FPOA_USART2_RX);
fpioa_set_function(GPIO_EC200T_TXD, FPOA_USART2_TX);
#endif
#ifdef CONFIG_K210_16550_UART3
#ifdef CONFIG_BSP_USING_CH376
sysctl_clock_enable(SYSCTL_CLOCK_UART3);
sysctl_reset(SYSCTL_RESET_UART3);
fpioa_set_function(GPIO_CH376T_RXD, FPOA_USART3_RX);
fpioa_set_function(GPIO_CH376T_TXD, FPOA_USART3_TX);
#endif

6
Ubiquitous/Nuttx_Fusion_XiUOS/aiit_board/xidatong-riscv64/src/k210_ch438.h
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@ -18,8 +18,8 @@
* @date 2022.04.26
*/
#ifndef __BOARDS_ARM_IMXRT_XIDATONG_SRC_IMXRT_CH438_H
#define __BOARDS_ARM_IMXRT_XIDATONG_SRC_IMXRT_CH438_H
#ifndef __BOARDS_XIDATONG_SRC_RISCV64_CH438_H
#define __BOARDS_XIDATONG_SRC_RISCV64_CH438_H
/****************************************************************************
* Included Files
@ -322,5 +322,5 @@
void board_ch438_initialize(void);
#endif
#endif /* __BOARDS_ARM_IMXRT_XIDATONG_SRC_IMXRT_CH438_H */
#endif /* __BOARDS_XIDATONG_SRC_RISCV64_CH438_H */

11
Ubiquitous/Nuttx_Fusion_XiUOS/aiit_board/xidatong-riscv64/src/k210_leds.c
View File

@ -36,23 +36,12 @@
void board_autoled_initialize(void)
{
k210_fpioa_config(BOARD_LED_PAD, BOARD_LED_IO_FUNC | K210_IOFLAG_GPIOHS);
k210_gpiohs_set_direction(BOARD_LED_IO, GPIO_DM_OUTPUT);
k210_gpiohs_set_value(BOARD_LED_IO, true); /* LED off */
}
void board_autoled_on(int led)
{
if (led == LED_PANIC)
{
k210_gpiohs_set_value(BOARD_LED_IO, false);
}
}
void board_autoled_off(int led)
{
if (led == LED_PANIC)
{
k210_gpiohs_set_value(BOARD_LED_IO, true);
}
}

4
Ubiquitous/Nuttx_Fusion_XiUOS/app_match_nuttx/apps/nshlib/Kconfig
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@ -671,6 +671,10 @@ config NSH_DISABLE_MUSL_TEST
bool "Disable the musl test."
default n
config NSH_NSH_DISABLE_CAN_TEST
bool "Disable the can test."
default n
endmenu
if MMCSD

3
Ubiquitous/Nuttx_Fusion_XiUOS/app_match_nuttx/apps/nshlib/nsh.h
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@ -1591,6 +1591,9 @@ int nsh_foreach_var(FAR struct nsh_vtbl_s *vtbl, nsh_foreach_var_t cb,
int cmd_musl(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv);
#endif
#if defined(CONFIG_BSP_USING_CAN) && !defined(CONFIG_NSH_DISABLE_CAN_TEST)
int cmd_cantest(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv);
#endif
#if defined(__cplusplus)
}
#endif

10
Ubiquitous/Nuttx_Fusion_XiUOS/app_match_nuttx/apps/nshlib/nsh_Applicationscmd.c
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@ -509,4 +509,14 @@ int cmd_musl(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv)
Testmusl();
return OK;
}
#endif
#if defined(CONFIG_BSP_USING_CAN) && !defined(CONFIG_NSH_DISABLE_CAN_TEST)
extern void can_test(void);
int cmd_cantest(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv)
{
nsh_output(vtbl, "Hello, world!\n");
can_test();
return OK;
}
#endif

4
Ubiquitous/Nuttx_Fusion_XiUOS/app_match_nuttx/apps/nshlib/nsh_command.c
View File

@ -736,6 +736,10 @@ static const struct cmdmap_s g_cmdmap[] =
{ "testmusl", cmd_musl, 1, 1, "[test musl function.]" },
#endif
#if defined(CONFIG_BSP_USING_CAN) && !defined(CONFIG_NSH_DISABLE_CAN_TEST)
{ "cantest", cmd_cantest, 1, 1, "[test can function.]" },
#endif
{ NULL, NULL, 1, 1, NULL }
};