From 5d6aa56f29f49d445217a4d995fcefe1e3d17584 Mon Sep 17 00:00:00 2001 From: wgzAIIT <820906721@qq.com> Date: Thu, 10 Nov 2022 14:37:54 +0800 Subject: [PATCH] support can and add test case for xidatong-riscv64 on nuttx --- .../aiit_board/xidatong-riscv64/Kconfig | 6 + .../xidatong-riscv64/configs/cannsh/defconfig | 73 +++++++++ .../xidatong-riscv64/include/board.h | 7 +- .../aiit_board/xidatong-riscv64/src/Makefile | 4 + .../xidatong-riscv64/src/can_demo.c | 147 ++++++++++++++++++ .../xidatong-riscv64/src/k210_bringup.c | 26 +++- .../xidatong-riscv64/src/k210_ch438.h | 6 +- .../xidatong-riscv64/src/k210_leds.c | 11 -- .../app_match_nuttx/apps/nshlib/Kconfig | 4 + .../app_match_nuttx/apps/nshlib/nsh.h | 3 + .../apps/nshlib/nsh_Applicationscmd.c | 10 ++ .../app_match_nuttx/apps/nshlib/nsh_command.c | 4 + 12 files changed, 277 insertions(+), 24 deletions(-) create mode 100644 Ubiquitous/Nuttx_Fusion_XiUOS/aiit_board/xidatong-riscv64/configs/cannsh/defconfig create mode 100644 Ubiquitous/Nuttx_Fusion_XiUOS/aiit_board/xidatong-riscv64/src/can_demo.c diff --git a/Ubiquitous/Nuttx_Fusion_XiUOS/aiit_board/xidatong-riscv64/Kconfig b/Ubiquitous/Nuttx_Fusion_XiUOS/aiit_board/xidatong-riscv64/Kconfig index a4a4dac80..1c4b20310 100644 --- a/Ubiquitous/Nuttx_Fusion_XiUOS/aiit_board/xidatong-riscv64/Kconfig +++ b/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 diff --git a/Ubiquitous/Nuttx_Fusion_XiUOS/aiit_board/xidatong-riscv64/configs/cannsh/defconfig b/Ubiquitous/Nuttx_Fusion_XiUOS/aiit_board/xidatong-riscv64/configs/cannsh/defconfig new file mode 100644 index 000000000..cedd3946d --- /dev/null +++ b/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 diff --git a/Ubiquitous/Nuttx_Fusion_XiUOS/aiit_board/xidatong-riscv64/include/board.h b/Ubiquitous/Nuttx_Fusion_XiUOS/aiit_board/xidatong-riscv64/include/board.h index d429da72a..9828984d6 100644 --- a/Ubiquitous/Nuttx_Fusion_XiUOS/aiit_board/xidatong-riscv64/include/board.h +++ b/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 **************************/ diff --git a/Ubiquitous/Nuttx_Fusion_XiUOS/aiit_board/xidatong-riscv64/src/Makefile b/Ubiquitous/Nuttx_Fusion_XiUOS/aiit_board/xidatong-riscv64/src/Makefile index 7ac890b57..c5c32c0ae 100644 --- a/Ubiquitous/Nuttx_Fusion_XiUOS/aiit_board/xidatong-riscv64/src/Makefile +++ b/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 diff --git a/Ubiquitous/Nuttx_Fusion_XiUOS/aiit_board/xidatong-riscv64/src/can_demo.c b/Ubiquitous/Nuttx_Fusion_XiUOS/aiit_board/xidatong-riscv64/src/can_demo.c new file mode 100644 index 000000000..9a98e1446 --- /dev/null +++ b/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 +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include "time.h" +#include +#include +#include +#include +#include +#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); + } +} \ No newline at end of file diff --git a/Ubiquitous/Nuttx_Fusion_XiUOS/aiit_board/xidatong-riscv64/src/k210_bringup.c b/Ubiquitous/Nuttx_Fusion_XiUOS/aiit_board/xidatong-riscv64/src/k210_bringup.c index e1daeb61e..e9ffa417a 100644 --- a/Ubiquitous/Nuttx_Fusion_XiUOS/aiit_board/xidatong-riscv64/src/k210_bringup.c +++ b/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); - 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 diff --git a/Ubiquitous/Nuttx_Fusion_XiUOS/aiit_board/xidatong-riscv64/src/k210_ch438.h b/Ubiquitous/Nuttx_Fusion_XiUOS/aiit_board/xidatong-riscv64/src/k210_ch438.h index 510e5757b..d51b4ac9a 100644 --- a/Ubiquitous/Nuttx_Fusion_XiUOS/aiit_board/xidatong-riscv64/src/k210_ch438.h +++ b/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 -#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 */ diff --git a/Ubiquitous/Nuttx_Fusion_XiUOS/aiit_board/xidatong-riscv64/src/k210_leds.c b/Ubiquitous/Nuttx_Fusion_XiUOS/aiit_board/xidatong-riscv64/src/k210_leds.c index 5d255a6f4..c9cdfee0c 100644 --- a/Ubiquitous/Nuttx_Fusion_XiUOS/aiit_board/xidatong-riscv64/src/k210_leds.c +++ b/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); - } } diff --git a/Ubiquitous/Nuttx_Fusion_XiUOS/app_match_nuttx/apps/nshlib/Kconfig b/Ubiquitous/Nuttx_Fusion_XiUOS/app_match_nuttx/apps/nshlib/Kconfig index 70bed4716..11a5d1fdc 100644 --- a/Ubiquitous/Nuttx_Fusion_XiUOS/app_match_nuttx/apps/nshlib/Kconfig +++ b/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 diff --git a/Ubiquitous/Nuttx_Fusion_XiUOS/app_match_nuttx/apps/nshlib/nsh.h b/Ubiquitous/Nuttx_Fusion_XiUOS/app_match_nuttx/apps/nshlib/nsh.h index 0720a68cb..0e738d443 100644 --- a/Ubiquitous/Nuttx_Fusion_XiUOS/app_match_nuttx/apps/nshlib/nsh.h +++ b/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 diff --git a/Ubiquitous/Nuttx_Fusion_XiUOS/app_match_nuttx/apps/nshlib/nsh_Applicationscmd.c b/Ubiquitous/Nuttx_Fusion_XiUOS/app_match_nuttx/apps/nshlib/nsh_Applicationscmd.c index 8f9095d76..538de55d7 100644 --- a/Ubiquitous/Nuttx_Fusion_XiUOS/app_match_nuttx/apps/nshlib/nsh_Applicationscmd.c +++ b/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 \ No newline at end of file diff --git a/Ubiquitous/Nuttx_Fusion_XiUOS/app_match_nuttx/apps/nshlib/nsh_command.c b/Ubiquitous/Nuttx_Fusion_XiUOS/app_match_nuttx/apps/nshlib/nsh_command.c index 21a733522..9366dce5b 100644 --- a/Ubiquitous/Nuttx_Fusion_XiUOS/app_match_nuttx/apps/nshlib/nsh_command.c +++ b/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 } };