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

Ubiquitous/Nuttx_Fusion_XiUOS/aiit_board/xidatong-riscv64/Kconfig

@@ -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

Ubiquitous/Nuttx_Fusion_XiUOS/aiit_board/xidatong-riscv64/configs/cannsh/defconfig

@@ -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

Ubiquitous/Nuttx_Fusion_XiUOS/aiit_board/xidatong-riscv64/include/board.h

@@ -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 **************************/
 

Ubiquitous/Nuttx_Fusion_XiUOS/aiit_board/xidatong-riscv64/src/Makefile

@@ -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

Ubiquitous/Nuttx_Fusion_XiUOS/aiit_board/xidatong-riscv64/src/can_demo.c

@@ -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);
+    }
+}

Ubiquitous/Nuttx_Fusion_XiUOS/aiit_board/xidatong-riscv64/src/k210_bringup.c

@@ -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);
+  fpioa_set_function(GPIO_WIFI_EN, K210_IO_FUNC_GPIOHS0 + FPIOA_WIFI_EN);
-  k210_gpiohs_set_direction(GPIO_WIFI_EN, GPIO_DM_OUTPUT);
+  k210_gpiohs_set_direction(FPIOA_WIFI_EN, GPIO_DM_OUTPUT);
-  k210_gpiohs_set_value(GPIO_WIFI_EN, GPIO_PV_LOW);
+  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

Ubiquitous/Nuttx_Fusion_XiUOS/aiit_board/xidatong-riscv64/src/k210_ch438.h

@@ -18,8 +18,8 @@
  * @date 2022.04.26
  */
 
-#ifndef __BOARDS_ARM_IMXRT_XIDATONG_SRC_IMXRT_CH438_H
+#ifndef __BOARDS_XIDATONG_SRC_RISCV64_CH438_H
-#define __BOARDS_ARM_IMXRT_XIDATONG_SRC_IMXRT_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 */
 

Ubiquitous/Nuttx_Fusion_XiUOS/aiit_board/xidatong-riscv64/src/k210_leds.c

@@ -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);
-    }
 }

Ubiquitous/Nuttx_Fusion_XiUOS/app_match_nuttx/apps/nshlib/Kconfig

@@ -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

Ubiquitous/Nuttx_Fusion_XiUOS/app_match_nuttx/apps/nshlib/nsh.h

@@ -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

Ubiquitous/Nuttx_Fusion_XiUOS/app_match_nuttx/apps/nshlib/nsh_Applicationscmd.c

@@ -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

Ubiquitous/Nuttx_Fusion_XiUOS/app_match_nuttx/apps/nshlib/nsh_command.c

@@ -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 }
 };