added LIN firmware support

dragonlock2 · dragonlock2 · commit 29d20481d4d3 · 2022-08-22T01:05:23.000-07:00
diff --git a/README.md b/README.md
@@ -13,6 +13,7 @@ Microcontroller peripherals are made available over each interface via a custom
 
 - Metadata
 - CAN FD
+- LIN
 - SPI controller
 - I2C controller
 - UART
diff --git a/firmware/Kconfig b/firmware/Kconfig
@@ -12,6 +12,12 @@ config JABI_CAN_BUFFER_SIZE
     help
         must be >0
 
+config JABI_LIN_BUFFER_SIZE
+    int "LIN buffer size"
+    default 64
+    help
+        must be >0
+
 config JABI_REQ_PAYLOAD_MAX_SIZE
     int "interface request payload maximum size"
     default 128
diff --git a/firmware/boards/jabican_usb_pro.conf b/firmware/boards/jabican_usb_pro.conf
@@ -19,11 +19,8 @@ CONFIG_USB_DEVICE_PRODUCT="JABICAN-USB Pro"
 CONFIG_USB_SELF_POWERED=n
 CONFIG_USB_MAX_POWER=250
 
-CONFIG_UART_INTERRUPT_DRIVEN=y
-
 # Peripheral settings
 CONFIG_CAN=y
 CONFIG_CAN_AUTO_BUS_OFF_RECOVERY=y
+CONFIG_LIN=y
 CONFIG_GPIO=y
-
-CONFIG_JABI_UART_RX_BUFFER_SIZE=4096
diff --git a/firmware/boards/jabican_usb_pro.overlay b/firmware/boards/jabican_usb_pro.overlay
@@ -7,9 +7,10 @@
 
     peripherals {
         compatible = "jabi,peripherals";
-        uart = <&uart2>; // TODO replace with LIN once driver written
         can = <&flexcan0>;
-        gpio = <&led_red &led_green &led_blue &lin_cmdr_en &lin_pwr_en &can_pwr_en>;
+        lin = <&lin0>;
+        gpio = <&led_red &led_green &led_blue &btn0 &btn1 &btn2
+                &lin_cmdr_en &lin_pwr_en &can_pwr_en>;
     };
 };
 
diff --git a/firmware/boards/k66f_breakout.conf b/firmware/boards/k66f_breakout.conf
@@ -3,8 +3,6 @@ CONFIG_DEBUG_THREAD_INFO=y
 CONFIG_JABI_SERIAL="k66f breakout 69420"
 
 CONFIG_LOG=n
-CONFIG_LOG_DEFAULT_LEVEL=2
-CONFIG_LOG_MODE_IMMEDIATE=y
 
 # Interface settings
 CONFIG_JABI_REQ_PAYLOAD_MAX_SIZE=8192
@@ -19,7 +17,6 @@ CONFIG_USB_DEVICE_PRODUCT="K66F Breakout"
 CONFIG_USB_SELF_POWERED=n
 CONFIG_USB_MAX_POWER=250
 
-CONFIG_USB_CDC_ACM_LOG_LEVEL_ERR=y
 CONFIG_UART_INTERRUPT_DRIVEN=y
 
 # Peripheral settings
diff --git a/firmware/boards/leveler.conf b/firmware/boards/leveler.conf
@@ -1,16 +1,13 @@
 CONFIG_JABI_SERIAL="leveler 69420"
 
 CONFIG_LOG=n
-CONFIG_LOG_DEFAULT_LEVEL=2
-CONFIG_LOG_MODE_IMMEDIATE=y
 
 # Interface settings
 CONFIG_JABI_REQ_PAYLOAD_MAX_SIZE=16384
 CONFIG_JABI_RESP_PAYLOAD_MAX_SIZE=16384
 CONFIG_JABI_THREAD_STACK_SIZE=65536
 
 CONFIG_USB_DEVICE_STACK=y
-CONFIG_USB_CDC_ACM_LOG_LEVEL_ERR=y
 CONFIG_UART_INTERRUPT_DRIVEN=y
 
 # Peripheral settings
diff --git a/firmware/boards/nogusb.conf b/firmware/boards/nogusb.conf
@@ -8,8 +8,6 @@ CONFIG_CONSOLE=n
 CONFIG_UART_CONSOLE=n
 
 CONFIG_LOG=n
-CONFIG_LOG_DEFAULT_LEVEL=2
-CONFIG_LOG_MODE_IMMEDIATE=y
 
 # Interface settings
 CONFIG_JABI_REQ_PAYLOAD_MAX_SIZE=4096
@@ -24,7 +22,6 @@ CONFIG_USB_DEVICE_PRODUCT="NOGUSB"
 CONFIG_USB_SELF_POWERED=n
 CONFIG_USB_MAX_POWER=250
 
-CONFIG_USB_CDC_ACM_LOG_LEVEL_ERR=y
 CONFIG_UART_INTERRUPT_DRIVEN=y
 
 # Peripheral settings
diff --git a/firmware/dts/bindings/jabi,peripherals.yaml b/firmware/dts/bindings/jabi,peripherals.yaml
@@ -22,3 +22,6 @@ properties:
 
   uart:
     type: phandles
+
+  lin:
+    type: phandles
diff --git a/firmware/src/peripherals/can.c b/firmware/src/peripherals/can.c
@@ -102,7 +102,7 @@ PERIPH_FUNC_DEF(can_set_filter) {
     }
     can->ext_id = can_add_rx_filter_msgq(can->dev, can->msgq, &can->filter_ext);
     if (can->std_id == -ENOSPC || can->ext_id == -ENOSPC) {
-        LOG_ERR("failed to change filters for can%d", idx);
+        LOG_ERR("failed to change filters for can%d, old filter also removed", idx);
         return JABI_PERIPHERAL_ERR;
     }
 
diff --git a/firmware/src/peripherals/common.c b/firmware/src/peripherals/common.c
@@ -9,6 +9,7 @@ extern const struct periph_api_t adc_periph_api;
 extern const struct periph_api_t dac_periph_api;
 extern const struct periph_api_t spi_periph_api;
 extern const struct periph_api_t uart_periph_api;
+extern const struct periph_api_t lin_periph_api;
 
 const struct periph_api_t *peripherals[] = {
     &metadata_periph_api,
@@ -20,4 +21,5 @@ const struct periph_api_t *peripherals[] = {
     &dac_periph_api,
     &spi_periph_api,
     &uart_periph_api,
+    &lin_periph_api,
 };
diff --git a/firmware/src/peripherals/lin.c b/firmware/src/peripherals/lin.c
diff --git a/firmware/src/peripherals/uart.c b/firmware/src/peripherals/uart.c
diff --git a/include/jabi/peripherals.h b/include/jabi/peripherals.h
diff --git a/include/jabi/peripherals/lin.h b/include/jabi/peripherals/lin.h
diff --git a/west.yml b/west.yml

Original file line number	Diff line number	Diff line change
`@@ -102,7 +102,7 @@ PERIPH_FUNC_DEF(can_set_filter) {`
`102`	`102`	`}`
`103`	`103`	`can->ext_id = can_add_rx_filter_msgq(can->dev, can->msgq, &can->filter_ext);`
`104`	`104`	`if (can->std_id == -ENOSPC \|\| can->ext_id == -ENOSPC) {`
`105`		`- LOG_ERR("failed to change filters for can%d", idx);`
	`105`	`+ LOG_ERR("failed to change filters for can%d, old filter also removed", idx);`
`106`	`106`	`return JABI_PERIPHERAL_ERR;`
`107`	`107`	`}`
`108`	`108`