BusPal.h

/*
 * Copyright (c) 2013-14, Freescale Semiconductor, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without modification,
 * are permitted provided that the following conditions are met:
 *
 * o Redistributions of source code must retain the above copyright notice, this list
 *   of conditions and the following disclaimer.
 *
 * o Redistributions in binary form must reproduce the above copyright notice, this
 *   list of conditions and the following disclaimer in the documentation and/or
 *   other materials provided with the distribution.
 *
 * o Neither the name of Freescale Semiconductor, Inc. nor the names of its
 *   contributors may be used to endorse or promote products derived from this
 *   software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
 * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR
 * ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
 * ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */

#ifndef _BusPal_h_
#define _BusPal_h_

#include "host_types.h"


namespace blfwk
{
class BusPal
{
public:
    enum
    {
        kResetCount = 20,               
        kResponseOk = 0x01,             
        kBulkTransferMax = 4096,        
        kMaxResponse = kBulkTransferMax 
    };

    enum bus_pal_function_t
    {
        kBusPalFunction_None,
        kBusPalFunction_SPI,
        kBusPalFunction_I2C,
        kBusPalFunction_CAN,
        kBusPalFunction_GPIO_CONFIG,
        kBusPalFunction_GPIO_SET,
        kBusPalFunction_FPGA_CLOCK_SET
    };

    enum spi_clock_polarity_t
    {
        kSpiClockPolarity_ActiveHigh = 0, 
        kSpiClockPolarity_ActiveLow = 1   
    };

    enum spi_clock_phase_t
    {
        kSpiClockPhase_FirstEdge =
            0, 
        kSpiClockPhase_SecondEdge =
            1 
    };

    enum spi_shift_direction_t
    {
        kSpiMsbFirst = 0, 
        kSpiLsbFirst = 1  
    };

    static const uint8_t kBusPalDefaultI2cSlaveAddress = 0x10; // I2C Slave 7-bit address

public:
    struct BusPalConfigData
    {
        bus_pal_function_t function;
        uint32_t spiSpeedKHz;
        spi_clock_polarity_t spiPolarity;
        spi_clock_phase_t spiPhase;
        spi_shift_direction_t spiDirection;
        uint8_t i2cAddress;
        uint32_t i2cSpeedKHz;
        uint32_t canSpeed;
        uint32_t canTxid;
        uint32_t canRxid;
        uint8_t gpioPort;
        uint8_t gpioPinNum;
        uint8_t gpioLevel;
        uint8_t gpioMux;
        uint32_t fpgaClockMhz;

        BusPalConfigData(bus_pal_function_t bus = BusPal::kBusPalFunction_None)
            : function(bus)
        {
            spiSpeedKHz = 100;
            spiPolarity = BusPal::kSpiClockPolarity_ActiveLow;
            spiPhase = BusPal::kSpiClockPhase_SecondEdge;
            spiDirection = BusPal::kSpiMsbFirst;
            i2cAddress = BusPal::kBusPalDefaultI2cSlaveAddress;
            i2cSpeedKHz = 100;
            canSpeed = 4; // 4: 1M
            canTxid = 0x321;
            canRxid = 0x123;
            gpioPort = 0;
            gpioPinNum = 0;
            gpioLevel = 0;
            gpioMux = 0;
            fpgaClockMhz = 0;
        }
    };

    BusPal(int fileDescriptor);

    virtual ~BusPal(){};

    static bool parse(const string_vector_t &params, BusPal::BusPalConfigData &config);

    virtual bool reset();

    virtual bool resetHardware();

    virtual bool enterBitBangMode();

    virtual bool enterSpiMode();

    virtual bool enterCanMode();

    virtual bool enterI2cMode();

    virtual bool enterUartMode() { return false; }
    virtual bool enter1WireMode() { return false; }
    virtual bool enterRawWireMode() { return false; }
    virtual bool rawConfigurePins(uint8_t port, uint8_t pin, uint8_t muxVal);

    virtual bool rawSetPins(uint8_t port, uint8_t pin, uint8_t level);

    virtual bool configurePins(uint8_t config = 0) { return true; }
    virtual uint8_t readPins() { return 0; }
    virtual bool setFPGAClock(uint32_t clock);

    virtual bool setSpiSpeed(unsigned int speed);

    virtual bool setSpiConfig(spi_clock_polarity_t polarity, spi_clock_phase_t phase, spi_shift_direction_t direction);

    virtual bool setI2cAddress(uint8_t address);

    virtual bool setI2cSpeed(uint32_t speed);

    virtual bool setCanSpeed(unsigned int speed);

    virtual bool setCanTxid(unsigned int txid);

    virtual bool setCanRxid(unsigned int rxid);

    virtual uint8_t *response(size_t byteCount = 1);

    virtual bool write(const uint8_t *data, size_t byteCount = 1);

    virtual int read(uint8_t *data, size_t byteCount);

protected:
    virtual bool writeCommand(uint8_t commandByte, const char *expectedResponse);

    virtual uint8_t writeCommand(uint8_t commandByte);

    virtual uint8_t writeCommand(uint8_t *command, unsigned int length);

    virtual bool writeSpi(const uint8_t *data, size_t byteCount = 1);

    virtual bool writeI2c(const uint8_t *data, size_t byteCount = 1);

    virtual bool writeCan(const uint8_t *data, size_t byteCount = 1);

    virtual int readSpi(uint8_t *data, size_t byteCount);

    virtual int readCan(uint8_t *data, size_t byteCount);

    int readSpiActual(uint8_t *data, size_t byteCount);

    virtual int readI2c(uint8_t *data, size_t byteCount);

    int buspal_serial_read(uint8_t *buf, int size, bool isCommandData = false);

    int buspal_serial_write(uint8_t *buf, int size, bool isCommandData = false);

    void flushRX();

protected:
    enum bus_pal_mode_t
    {
        kBusPalModeBitBang,
        kBusPalModeSpi,
        kBusPalModeI2c,
        kBusPalModeCan
    };
    int m_fileDescriptor;                   
    uint8_t m_responseBuffer[kMaxResponse]; 
    bus_pal_mode_t m_mode;
    unsigned int m_spiWriteByteCount;
    unsigned int m_canWriteByteCount;
    unsigned int m_canFirstReadDelay;
};

} // namespace blfwk


#endif // _BusPal_h_

// EOF