From 16a51a4912998450ec072baaa3ad05e656be1315 Mon Sep 17 00:00:00 2001 From: "r9andy.lee" Date: Tue, 22 Oct 2024 16:10:27 +0900 Subject: [PATCH] update --- a.txt | 0 src/Xilinx.spec | 2 + src/ctrl_module.c | 474 ++++++++++++++++++++++++++++++++++++++++++ src/ctrl_module.h | 58 ++++++ src/define.h | 230 ++++++++++++++++++++ src/eeprom.c | 200 ++++++++++++++++++ src/eeprom.h | 19 ++ src/lscript.ld | 289 +++++++++++++++++++++++++ src/main.c | 277 ++++++++++++++++++++++++ src/main.h | 17 ++ src/platform.c | 179 ++++++++++++++++ src/platform.h | 40 ++++ src/platform_config.h | 10 + src/platform_zynq.c | 233 +++++++++++++++++++++ src/tcp_client.c | 288 +++++++++++++++++++++++++ src/tcp_client.h | 45 ++++ src/tcpipcomm.c | 290 ++++++++++++++++++++++++++ src/tcpipcomm.h | 21 ++ src/udp_client.c | 293 ++++++++++++++++++++++++++ src/udp_client.h | 46 ++++ 20 files changed, 3011 insertions(+) delete mode 100644 a.txt create mode 100644 src/Xilinx.spec create mode 100644 src/ctrl_module.c create mode 100644 src/ctrl_module.h create mode 100644 src/define.h create mode 100644 src/eeprom.c create mode 100644 src/eeprom.h create mode 100644 src/lscript.ld create mode 100644 src/main.c create mode 100644 src/main.h create mode 100644 src/platform.c create mode 100644 src/platform.h create mode 100644 src/platform_config.h create mode 100644 src/platform_zynq.c create mode 100644 src/tcp_client.c create mode 100644 src/tcp_client.h create mode 100644 src/tcpipcomm.c create mode 100644 src/tcpipcomm.h create mode 100644 src/udp_client.c create mode 100644 src/udp_client.h diff --git a/a.txt b/a.txt deleted file mode 100644 index e69de29..0000000 diff --git a/src/Xilinx.spec b/src/Xilinx.spec new file mode 100644 index 0000000..8eea377 --- /dev/null +++ b/src/Xilinx.spec @@ -0,0 +1,2 @@ +*startfile: +crti%O%s crtbegin%O%s diff --git a/src/ctrl_module.c b/src/ctrl_module.c new file mode 100644 index 0000000..0b3d015 --- /dev/null +++ b/src/ctrl_module.c @@ -0,0 +1,474 @@ +#include "bldc.h" +#include "ctrl_module.h" + +// 레지스터 BIT값 가져오기 +static u8_t GetBit(u8_t nIdx, u8_t cMask, u8_t cShift) +{ + u8_t cRetVal = 0; + + /* MISRA C Dir 4.14 : 레지스터 유효범 위 확인 */ + if(nIdx > NUM_INDEX) + { +#if DEBUG_COVER + cRetVal = ERR_INDEX; + xil_printf("Ctrl_Module: Values greater than register range 13\r\n"); +#endif + } + else + { + cRetVal = (u8_t)BLDC_mReadReg(BASE_ADDR, BLDC_S00_AXI_SLV_REG0_OFFSET + (nIdx * 4u)); // 레지스터값 읽고 + cRetVal = (cRetVal & cMask) >> cShift; // 0 혹은 1 설정 + } + + return cRetVal; +} + +// 레지스터 BIT값 설정하기 +static void SetBit(u8_t nIdx, u8_t cMask, u8_t cShift) +{ + u32_t cVal = 0, cVal2 = 0, cVal3 = 0x01; + + /* MISRA C Dir 4.14 : 레지스터 유효범 위 확인 */ + if(nIdx <= NUM_INDEX) + { + cVal = (u32_t)BLDC_mReadReg(BASE_ADDR, BLDC_S00_AXI_SLV_REG0_OFFSET + (nIdx * 4u)); // 레지스터값 읽고 + + if(cMask == 0x01u) + { + cVal2 = (u32_t)(cVal3 << cShift); // 1 설정 + cVal |= cVal2; + } + else + { + cVal2 = (u32_t)(cVal3 << cShift); // 0 설정 + cVal2 = ~cVal2; + cVal &= cVal2; + } + + BLDC_mWriteReg(BASE_ADDR, (BLDC_S00_AXI_SLV_REG0_OFFSET + (nIdx * 4u)), (u32)cVal); + } +} + +// 레지스터 byte값 가져오기 +static u32_t GetByte(u8_t nIdx) +{ + u32_t cRetVal = 0; + + if(nIdx <= NUM_INDEX) + { + cRetVal = BLDC_mReadReg(BASE_ADDR, BLDC_S00_AXI_SLV_REG0_OFFSET + (nIdx * 4u)); + } + else + { +#if DEBUG_COVER + cRetVal = ERR_INDEX; +#endif + } + + return cRetVal; +} + +// 레지스터 Byte값 설정하기 +static void SetByte(u8_t nIdx, u8_t cData) +{ + BLDC_mWriteReg(BASE_ADDR, (BLDC_S00_AXI_SLV_REG0_OFFSET + (nIdx * 4u)), (u32)cData); +} + +// 리모컨 연결 상태 확인 +static void CheckOverCurrent(void) +{ + if(g_cOverCurrFlag == 0u) // 과전류 알람 발생하면 레지스터값 가져오기 중지, 마스트 상승/하강 시점에 g_cOverCurrFlag = 0 설정하고 가져오기 재시작 + { + g_cOverCurrFlag = (u8_t)GetBit(REG_IDX_4, REG_MASK_OVER_CURR, SHIFT_OVER_CURR); + } + else + { + if((g_cOverCurrFlag == 1u) && (g_cMastRcvCmd != 0x00u)) // 과전류 발생 후 마스트 상태가 정지가 아닌 경우만 (1회 진입용) + { + SetBit(REG_IDX_7, 0x01, SHIFT_MAST_OVER_CURR); // 01. 모터 과전류 클리어, Register8, High, bit3 + + g_cMastRcvCmd = 0x00u; // 02. 마스트 정지 + SetMotor(g_cMastRcvCmd); // Motor Up/Down/Stop 구동 제어 + + SetBit(REG_IDX_7, 0x00, SHIFT_MAST_OVER_CURR); // 03. 모터 과전류 클리어, Register8, Low, bit3 + } + } +} + +// 엔코더 값 일치 확인 +static void CheckEncoder(void) +{ + g_cEncoderErrFlag = (u8_t)GetBit(REG_IDX_4, REG_MASK_ENCODER_ERR, SHIFT_ENCODER_ERR); + + g_cEncoderHWResetFlag = (u8_t)GetBit(REG_IDX_4, REG_MASK_ENCODER_HW_RESET, SHIFT_ENCODER_HW_RESET); // 높이값 H/W 리셋 입력 검사 + + if(g_cEncoderHWResetFlag == 1u) + { + SetBit(REG_IDX_7, 0x01, SHIFT_ENCODER_HW_RESET_CLEAR); // 엔코더 H/W Reset Clear Set, Register7 + + g_cEncoderHWResetFlag = 0; + g_nEncoderMT = 0; + g_nMastCurrHeight = 0; + SaveEncoderMT((u32)g_nEncoderMT); // 엔코더 멀티턴값 쓰기 + + SetBit(REG_IDX_7, 0x00, SHIFT_ENCODER_HW_RESET_CLEAR); // 엔코더 H/W Reset Clear Reset, Register7 + } +} + +// Bit 3 : 모터과전류 g_cOverCurrFlag +// Bit 2 : 높이값 표시용 엔코더 체크 g_cEncoderErrFlag +// Bit 1 : 마스트 구동 체크 0 +// Bit 0 : 안테나마스트-임무통제기 통신 수신 g_cBitDetailHBErr +// BIT 상태 확인 +static void CheckBitDetailInfo(void) +{ + u8_t cData = 0u; + + cData = 0x01u; + if(g_cBitDetailHBErr == 1u) // 안테나마스트-임무통제기 통신 수신, Bit: 0 + { + g_cBitDetail |= cData; + } + else + { + cData = ~cData; + g_cBitDetail &= cData; + } + + cData = 0x02; + if((g_cBitDetailHBErr == 1u) || (g_cEncoderErrFlag == 1u) || (g_cOverCurrFlag == 1u)) // 마스트 구동체크(통신 or 엔코더 or 과전류) 체크, Bit: 1 24.09.25 BIT 사양 재정의 + { + g_cBitDetail |= cData; + } + else + { + cData = ~cData; + g_cBitDetail &= cData; + } + + cData = 0x04; + if(g_cEncoderErrFlag == 1u) // 높이값 표시용 엔코더 체크, Bit: 2 + { + g_cBitDetail |= cData; + } + else + { + cData = ~cData; + g_cBitDetail &= cData; + } + + cData = 0x08; + if(g_cOverCurrFlag == 1u) // 모터과전류, Bit: 3 + { + g_cBitDetail |= cData; + } + else + { + cData = ~cData; + g_cBitDetail &= cData; + } +} + +// 현재높이값 확인 +static void CheckCurrHeight(void) +{ + u32_t nRetVal = 0, nVal, nData; + float32 fUpper, fLower, fData; + + nRetVal = BLDC_mReadReg(BASE_ADDR, BLDC_S00_AXI_SLV_REG6_OFFSET); // Encoder값 가져오기 + g_nEncoderMT = nRetVal; + /* Encoder값 계산 */ + nData = nRetVal & SINGLE_CYCLE_MAST; + fLower = (float32)nData; // 단회전 값 결정(소수점 제외) 0 ~ 1023: 0 ~ 32.0mm(0.0 ~ 31.97) + fLower = fLower * (float32)SINGLE_BASE_SCALE; + + nData = nRetVal & MULTI_CYCLE_MAST; + nData = nData >> 10u; + fUpper = (float32)(nData); // 다회전 값 결정 + + fData = fUpper * (float32)SINGLE_CYCLE_SCALE; + fData = fData + fLower; + nVal = (u32_t)fData; + + /* MISRA C Dir 4.14 : 마스트 높이 최대값 초과 시 예외처리 */ + if(nVal > ANT_MAST_HEIGHT_MAX) + { + g_nMastCurrHeight = ANT_MAST_HEIGHT_MAX; + } + else + { + g_nMastCurrHeight = nVal; + } + + /* 최대/최소값 도달 시 멈춤 처리 */ + if(g_cMastRcvCmd == (u8_t)CMD_MOTOR_CTN_UP) // 상승 중 + { + if(g_nMastCurrHeight >= ANT_MAST_HEIGHT_MAX) // 최대값 도달 + { + g_cMastRcvCmd = (u8_t)CMD_MOTOR_STOP; // 마스트 통신 커맨드 변경 + SetMotor(g_cMastRcvCmd); // 마스트 Stop + } + } + + if(g_cMastRcvCmd == (u8_t)CMD_MOTOR_CTN_DOWN) // 하강 중 + { + if(g_nMastCurrHeight <= ANT_MAST_HEIGHT_MIN) // 최소값 도달 + { + g_cMastRcvCmd = (u8_t)CMD_MOTOR_STOP; // 마스트 통신 커맨드 변경 + SetMotor(g_cMastRcvCmd); // 마스트 Stop + } + } + + if(g_cMastRcvCmd == (u8_t)CMD_MOTOR_USER_INPUT) // 유저 입력값 동작 중 + { + if(g_cMastAction == (u8_t)DIR_MOTOR_UP) // 상승 중 + { + if(g_nMastCurrHeight >= (g_nSetMastHeight - 30u)) // 마스트 속도 감안한 offset값 + { + g_cMastRcvCmd = (u8_t)CMD_MOTOR_STOP; // 마스트 통신 커맨드 변경 + SetMotor(g_cMastRcvCmd); // 마스트 Stop + } + } + if(g_cMastAction == (u8_t)DIR_MOTOR_DOWN) // 하강 중 + { + if(g_nMastCurrHeight <= (g_nSetMastHeight + 30u)) + { + g_cMastRcvCmd = (u8_t)CMD_MOTOR_STOP; // 마스트 통신 커맨드 변경 + SetMotor(g_cMastRcvCmd); // 마스트 Stop + } + } + } + +#if DEBUG_CTRL_MODULE + xil_printf("g_nMastCurrHeight:%d, g_nSetMastHeight:%d, nRetVal:%d, fLower:%d, fUpper:%d, g_cMastRcvCmd:%d, g_cMastAction:%d\r\n", + (u32_t)g_nMastCurrHeight, (u32_t)g_nSetMastHeight, (u32_t)nRetVal, (u32_t)fLower, (u32_t)fUpper, (u32_t)g_cMastRcvCmd, (u32_t)g_cMastAction); +#endif +} + +// 마스트 구동 제어(Stop, Up, Down: 0x00, 0x01, 0x02) +// ControlItem(1) 0xC0: 사용자 입력, 0x80: 연속 상승, 0x40: 연속 하강, 0x00: 중지 +// 상승/하강 중 역방향 동작 명령 수신 시 정지하는 사양 추가 24.04.07 +// 정지 명령 제외하고 DevicePowerRequest값에 따라 동작 차단 조건 추가 24.05.10 +void SetMotor(u8_t cCmd) +{ + if(cCmd == (u8_t)CMD_MOTOR_STOP) // 01. 0x00 멈춤 + { + if(g_cMastAction == DIR_MOTOR_UP) // 1-1 현재 상태 상승 중 + { + g_cMastAction = (u8_t)DIR_MOTOR_STOP_FOR_UP; // 상승의 정지 + } + else // 1-2 현재 상태 하강 중 + { + g_cMastAction = (u8_t)DIR_MOTOR_STOP_FOR_DOWN; // 하강의 정지 + } + g_nEcdeepromCnt = 0; // 저장 판정용 카운터 초기화 + g_cEncoderSaveFlag = 1; // 엔코더 멀티턴값 eeprom 기록 판정 + } + if((cCmd == (u8_t)CMD_MOTOR_CTN_UP) && (g_cCmdPowerOff == 0u)) // 02. 0x80 상승, DevicePowerRequest값 확인 + { + if(g_cMastAction == (u8_t)DIR_MOTOR_DOWN) // 2-1 현재 상태 하강 중 + { + g_cMastAction = (u8_t)DIR_MOTOR_STOP_FOR_DOWN; // 하강의 정지 + g_nEcdeepromCnt = 0; // 저장 판정용 카운터 초기화 + g_cEncoderSaveFlag = 1; // 엔코더 멀티턴값 eeprom 기록 판정 + + g_cMastRcvCmd = 0x00u; // 안테나마스트 대기 중 + } + else // 2-2 그 외 + { + g_cMastAction = (u8_t)DIR_MOTOR_UP; // 상승 + } + } + if((cCmd == (u8_t)CMD_MOTOR_CTN_DOWN) && (g_cCmdPowerOff == 0u)) // 03. 0x40 하강, DevicePowerRequest값 확인 + { + if(g_cMastAction == (u8_t)DIR_MOTOR_UP) // 3-1 현재 상태 상승 중 + { + g_cMastAction = (u8_t)DIR_MOTOR_STOP_FOR_UP; // 상승의 정지 + g_nEcdeepromCnt = 0; // 저장 판정용 카운터 초기화 + g_cEncoderSaveFlag = 1; // 엔코더 멀티턴값 eeprom 기록 판정 + + g_cMastRcvCmd = 0x00u; // 안테나마스트 대기 중 + } + else // 3-2 그 외 + { + g_cMastAction = (u8_t)DIR_MOTOR_DOWN; // 하강 + } + } + if((cCmd == (u8_t)CMD_MOTOR_USER_INPUT) && (g_cCmdPowerOff == 0u)) // 04. 0xC0 사용자 입력, DevicePowerRequest값 확인 + { + if(g_nMastCurrHeight < g_nSetMastHeight) // 4-1 현재 높이가 목표 높이보다 낮으면 상승 + { + if(g_cMastAction == (u8_t)DIR_MOTOR_DOWN) // 4-1-1 현재 상태 하강 중 + { + g_cMastAction = (u8_t)DIR_MOTOR_STOP_FOR_DOWN; // 하강의 정지 + g_nEcdeepromCnt = 0; // 저장 판정용 카운터 초기화 + g_cEncoderSaveFlag = 1; // 엔코더 멀티턴값 eeprom 기록 판정 + + g_cMastRcvCmd = 0x00u; // 안테나마스트 대기 중 + } + else // 4-1-2 그 외 + { + g_cMastAction = (u8_t)DIR_MOTOR_UP; // 상승 + } + } + else // 4-2 현재 높이가 목표 높이보다 높거나 같으면 하강 + { + if(g_cMastAction == (u8_t)DIR_MOTOR_UP) // 4-2-1 현재 상태 상승 중 + { + g_cMastAction = (u8_t)DIR_MOTOR_STOP_FOR_UP; // 상승의 정지 + g_nEcdeepromCnt = 0; // 저장 판정용 카운터 초기화 + g_cEncoderSaveFlag = 1; // 엔코더 멀티턴값 eeprom 기록 판정 + + g_cMastRcvCmd = 0x00u; // 안테나마스트 대기 중 + } + else // 4-2-2 그 외 + { + g_cMastAction = (u8_t)DIR_MOTOR_DOWN; // 하강 + } + } + } + + if((g_cMastAction == (u8_t)DIR_MOTOR_UP) || (g_cMastAction == (u8_t)DIR_MOTOR_STOP_FOR_UP) + || (g_cMastAction == (u8_t)DIR_MOTOR_DOWN) || (g_cMastAction == (u8_t)DIR_MOTOR_STOP_FOR_DOWN)) // 유효한 명령만 수행 + { + BLDC_mWriteReg(BASE_ADDR, BLDC_S00_AXI_SLV_REG2_OFFSET, (u32)g_cMastAction); // 마스트 동작 결정 + } + +#if DEBUG_CTRL_MODULE + xil_printf("SetMotor: cCmd:%d, g_cMastAction:%d\r\n", (u32_t)cCmd, (u32_t)g_cMastAction); +#endif +} + +// LED 제어 (알람, 마스트 구동) +static void SetLEDControl(void) +{ + u32_t cData = 0u, cMotor = 0u; + + cData = GetByte(REG_IDX_7); // LED 제어 레지스터값 가져오기 + + if((g_cBitDetail & BIT_DETAIL_STATUS_OVER_CURR) == BIT_DETAIL_STATUS_OVER_CURR) // 과전류 알람, 250mSec 주기 동작으로 500mSec 마다 깜빡임 처리 + { + switch (g_cMotorLedFlickerCnt) + { + case 0: cMotor = LED_MOTOR_ON; break; + case 1: cMotor = LED_MOTOR_OFF; break; + default: cMotor = LED_MOTOR_OFF; break; + } + + if(g_cMotorLedFlickerCnt < 1u) + { + g_cMotorLedFlickerCnt++; + } + else + { + g_cMotorLedFlickerCnt = 0u; + } + } + else // 모터 구동 + { + if((g_cMastAction == DIR_MOTOR_UP) || (g_cMastAction == DIR_MOTOR_DOWN)) + { + cMotor = LED_MOTOR_ON; + } + else + { + cMotor = LED_MOTOR_OFF; + } + } + + if(cMotor == 1u) + { + cData |= (1u << 0u); // 0: 자리수 + } + else + { + cData &= ~(1u << 0u); + } + + SetByte(REG_IDX_7, (u8_t)cData); // 두가지 상태 적용 후 LED 처리 +} + +// 마스트 엔코더 멀티턴값 세팅 +static void SetEncoderMT(void) +{ + BLDC_mWriteReg(BASE_ADDR, (BLDC_S00_AXI_SLV_REG0_OFFSET + (5u * 4u)), (u32)g_nEncoderMT); + + SetBit(REG_IDX_5, 0x01, SHIFT_ENCODER_WRITE); // Encoder값 Register에 기록 Flag +} + +// 제어부 모듈 초기 설정 +void InitCtrlModule(void) +{ + u32 cData; + g_cMastRcvCmd = (u8_t)CMD_MOTOR_STOP; + g_cMastAction = (u8_t)DIR_MOTOR_STOP_FOR_UP; + g_cCMProcessIdx = 0; + g_cCmdPreparePowerOff = 0; + g_cCmdPowerOff = 0; + g_cMotorLedFlickerCnt = 0; // 모터 LED 깜빡임 카운터 + + g_cBitDetailHBErr = 0; // Heart Beat 수신 Off 판정 + g_cOverCurrFlag = 0; // 과전류 발생 여부 + g_cEncoderHWResetFlag = 0; + + SetEncoderMT(); // 마스트 엔코더 멀티턴값 세팅, eeprom에서 읽은값을 register에 기록 +} + +// 제어부 모듈 동작 처리 +void CtrlModuleProcess(void) +{ + if(g_nCnt2 > TIMER_MSEC250) + { + g_nCnt2 = 0; + CheckCurrHeight(); // 현재높이값 확인 + switch(g_cCMProcessIdx) // 분산 처리 + { + case 0: SetLEDControl(); break; // LED 제어 (알람, 마스트 구동) + case 1: CheckOverCurrent(); break; // 과전류 상태 확인 + case 2: CheckEncoder(); break; // 엔코더 값 일치 확인 + case 3: CheckBitDetailInfo(); break; // BIT 상태 확인 + default: break; + } + + g_cCMProcessIdx++; + if(g_cCMProcessIdx > 3u) + { + g_cCMProcessIdx = 0; + } + } + + if(g_cEncoderSaveFlag == 0u) // eeprom 저장 조건이 아니면 카운터 초기화 + { + g_nEcdeepromCnt = 0u; + } + else // eeprom 저장 조건 만족 + { + if(g_nEcdeepromCnt > TIMER_SEC3) + { + g_cEncoderSaveFlag = 0u; // 재진입 방지 + g_nEcdeepromCnt = 0u; + SaveEncoderMT((u32)g_nEncoderMT); // 엔코더 멀티턴값 쓰기 + } + } +} + + + + + + + + + + + + + + + + + + + + + diff --git a/src/ctrl_module.h b/src/ctrl_module.h new file mode 100644 index 0000000..ad7bbb2 --- /dev/null +++ b/src/ctrl_module.h @@ -0,0 +1,58 @@ +#ifndef CTRL_MODULE_H +#define CTRL_MODULE_H + +#include "xil_io.h" +#include "define.h" +#include "main.h" +#include "tcp_client.h" + + + +static u32_t g_cCMProcessIdx; // CtrlModuleProcess 순차 진행 처리용 인덱스 + +u32_t g_nMastCurrHeight; // 마스트 현재 높이(0 ~ 570cm) +u8_t g_cMastRcvCmd; // 모터 제어 수신 명령(Bit0:멈춤, Bit1:연속하강, Bit2:연속상승, Bit3:최대수축, Bit4: 최대확장, Bit5:사용자 입력) +static u8_t g_cMastAction; // FPGA에 사용할 마스트 현재 구동 상태(Stop, Up, Down: 0x00, 0x01, 0x02) +u8_t g_cBitDetail; // BIT Detail 정보 + +u32_t g_nSetMastHeight; // 마스트 목표 높이 +static u8_t g_cRmtConn; // 리모컨 연결 여부 + +u8_t g_cMastPeriodSendCmd; // DeviceStart_Request 수신 커맨드, 이용처: AntMastStatus_Report(UDP), AntMastCBIT_Report, 정기 보고 활성/비활성 +u8_t g_cDeviceErase; // DeviceErase 설정값 +static u8_t g_cMastPowerCtrlRcvCmd; // DevicePower_Reqeust 수신 커맨드, 0x05:전원 Off 준비, 0x06: 전원 Off, 0x01: 전원 Off 취소, 0x07: 전원 On +u8_t g_cCmdPreparePowerOff; // DevicePower_Request 관련 변수, 1: Set, 0: Reset 0x05: 전원 Off 준비, 0x01: 전원 Off 취소 +u8_t g_cCmdPowerOff; // DevicePower_Request 관련 변수, 1: Set, 0: Reset 0x06: 전원 Off, 0x07: 전원 On +u32_t g_nEncoderMT; // 엔코더 멀티턴값 X, 엔코더 전체값(24.09.10) +static u8_t g_cEncoderSaveFlag; // 엔코더 멀티턴값 기록 여부 판정 0: 대기, 1: 기록 +u8_t g_cMotorLedFlickerCnt; // 모터 LED 깜빡임 카운터 + +u32_t g_nCnt2; // 제어부 모듈 동작 처리용 카운터 +u32_t g_nEcdeepromCnt; // 엔코더 멀티턴 eeprom 기록용 카운터 + +u32_t g_nBitDetailHBCnt; // 임무처리에서 Heart Beat 수신되는지 판단하는 카운터(BIT Detail의 임무처리와의 통신 상태값 결정) +u8_t g_cBitDetailHBErr; // Heart Beat 수신 Off 판정 +u8_t g_cOverCurrFlag; // 과전류 발생 여부 +u8_t g_cEncoderErrFlag; // 엔코더 값 불일치 여부 +u8_t g_cEncoderHWResetFlag; // 엔코더 영점 설정 여부(PBA 상 Set Origin) + +static u8_t GetBit(u8_t nIdx, u8_t cMask, u8_t cShift); // 레지스터 BIT값 가져오기 +static void SetBit(u8_t nIdx, u8_t cMask, u8_t cShift); // 레지스터 BIT값 설정하기 +static u32_t GetByte(u8_t nIdx); // 레지스터 byte값 가져오기 +static void SetByte(u8_t nIdx, u8_t cData); // 레지스터 byte값 설정하기 + +static void CheckOverCurrent(void); // 과전류 상태 확인 +static void CheckEncoder(void); // 엔코더 값 일치 확인 +static void CheckBitDetailInfo(void); // BIT Detail 상태 확인 +static void CheckCurrHeight(void); // 현재높이값 확인 + +void SetMotor(u8_t cCmd); // 마스트 구동 제어(Stop, Up, Down: 0x00, 0x01, 0x02) +static void SetLEDControl(void); // LED 제어 (알람, 마스트 구동) + +static void SetEncoderMT(void); // 마스트 엔코더 멀티턴값 세팅 + +void InitCtrlModule(void); // 제어부 모듈 초기 설정 +void CtrlModuleProcess(void); // 제어부 모듈 동작 처리 + + +#endif // CTRL_MODULE_H diff --git a/src/define.h b/src/define.h new file mode 100644 index 0000000..10bb566 --- /dev/null +++ b/src/define.h @@ -0,0 +1,230 @@ +#ifndef DEFINE_H +#define DEFINE_H + +#define VER_VERSION 1u +#define VER_UPDATE 0u +#define VER_TEST 7u +#define VER_COMPILE 0u + +#define TEST_LOG_ON 1u +#define TEST_LOG_ON_UDP 0u +#define DEBUG_CTRL_MODULE 0u +#define DEBUG_COVER 0u + + +typedef float float32; +//--------------------------------------------------------------------------------------------- +//-----------------------------------------ctrl_module----------------------------------------- +#define BASE_ADDR 0x43C00000u +#define NUM_INDEX 13u // 0 ~ 8, 9 ~ 12(EEPROM 역할) +#define ERR_INDEX 0u + +#define ARR_BUF_MARGIN 4u + +#define TIMER_BASE 30000u +#define TIMER_MSEC250 27u +#define TIMER_MSEC333 35u +#define TIMER_MSEC500 53u +#define TIMER_SEC1 105u +#define TIMER_SEC2 210u +#define TIMER_SEC3 315u +#define TIMER_SEC5 525u +#define TIMER_SEC10 1050u + + +// Motor 명령 +#define CMD_MOTOR_USER_INPUT 0xC0u +#define CMD_MOTOR_CTN_UP 0x80u +#define CMD_MOTOR_CTN_DOWN 0x40u +#define CMD_MOTOR_STOP 0x00u + +// Motor 방향 +#define DIR_MOTOR_STOP_FOR_UP 0x00u +#define DIR_MOTOR_UP 0x01u +#define DIR_MOTOR_DOWN 0x02u +#define DIR_MOTOR_STOP_FOR_DOWN 0x03u +//#define BIT_MOTOR_STOP 0x00 + +// Diagnostic 상태 +#define NUM_DIAG_MEMBER 5u // Power On(7), Current Mon, Ethernet, Motor Init, Motor Pos(3) +#define BIT_MOTOR_POS 0x08u // Motor Position +#define BIT_MOTOR_INIT 0x10u // Motor Initialization +#define BIT_ETHERNET 0x20u +#define BIT_CURR_MON 0x40u +#define BIT_POWER_ON 0x80u + +// Motor 상태 +#define NUM_MOTOR_MEMBER 4u // Motor Up, Down, Min Height Arrive, Max Height Arrive +#define BIT_MOTOR_UP 0x01u // Register Index 3 +#define BIT_MOTOR_DOWN 0x02u +#define BIT_MOTOR_MIN_ARRIVE 0x04u +#define BIT_MOTOR_MAX_ARRIVE 0x10u + +// BIT DETAIL 상태 +#define NUM_BIT_DETAIL_MEMBER 4u +#define BIT_DETAIL_STATUS_ENCODER 0x04u +#define BIT_DETAIL_STATUS_OVER_CURR 0x08u + +// BIT 상태 +#define REG_MASK_OVER_CURR 0x04u // REG_IDX_4 +#define REG_MASK_ENCODER_ERR 0x40u +#define REG_MASK_ENCODER_HW_RESET 0x80u + +// 제어 +#define REG_MASK_ENCODER_HW_CLEAR 0x10u // REG_IDX_7 + +// 모터 높이 +//#define SINGLE_CYCLE_SCALE 21u // 0 ~ 1023: 0 ~ 32mm +#define SINGLE_CYCLE_SCALE 21.476 // 0 ~ 1023: 0 ~ 21.51mm +#define SINGLE_BASE_SCALE 0.021 +#define SINGLE_CYCLE_MAST 0x000003FFu // 유효bit: 10bit(0 ~ 1023) +#define MULTI_CYCLE_MAST 0x007FFC00u // 유효bit: 12bit(0 ~ 4095) +#define ANT_MAST_HEIGHT_MAX 5700u // 5700mm +#define ANT_MAST_HEIGHT_MIN 0u // 0mm + +// 유선조정기, 전원제어, 소거제어 +#define SHIFT_REMOCON_ON 00u // bit 이동 +//#define SHIFT_POWER_CTRL 0x01u +#define SHIFT_DELETE_CTRL 02u + +#define SHIFT_ENCODER_WRITE 24u // 24 번째 bit + +#define BIT_REMOCON_ON 0x01u // bit 위치 +//#define BIT_POWER_CTRL 0x02u +#define BIT_DELETE_CTRL 0x04u + +// LED 상태 설정 +//#define LED_ALARM_ON 0x04u +#define LED_MOTOR_ON 0x01u +#define LED_MOTOR_OFF 0x00u +#define LED_ALL_OFF 0x00u + +// Mast 영점 설정 +#define SHIFT_MAST_ORIGIN 0x02u + +// 과전류 클리어 +#define SHIFT_MAST_OVER_CURR 0x03u + +// 과전류 알람 +#define SHIFT_OVER_CURR 0x02u + +// 엔코더 값 불일치 알람 +#define SHIFT_ENCODER_ERR 0x06u + +// 엔코더 H/W 리셋 +#define SHIFT_ENCODER_HW_RESET 7u + +// 엔코더 HW 리셋 클리어 +#define SHIFT_ENCODER_HW_RESET_CLEAR 4u + +// UDP 통신 커맨드 +#define TCP_CMD_PERIOD_REPORT_STOP 0x00u +#define TCP_CMD_PERIOD_REPORT_START 0x40u + + +// TCP/IP 통신 +// TCP MSG - TYPE +#define IDC_CMD_TYPE_DEVICE_PBIT 0x98u +#define IDC_CMD_TYPE_BIT_DETAIL 0x9Au +#define IDC_CMD_TYPE_MAST_CONTROL 0x9Bu +#define IDC_CMD_TYPE_DEVICE_ERASE 0x91u +#define IDC_CMD_TYPE_DEVICE_POWER 0x91u + + +// UDP MSG TYPE +#define IDC_CMD_TYPE_STATUS_REPORT 0x90u +#define IDC_CMD_TYPE_HEART_BEAT 0x92u +#define IDC_CMD_TYPE_CBIT_REPORT 0x99u + +// ICD Sour/Dest Unit +#define ICD_CMD_UNIT_MP 0x61u +#define ICD_CMD_UNIT_MAST 0x40u + +// ICD TM +#define ICD_CMD_TM_TCP 0x24u +#define IDC_CMD_TM_UDP 0x04u + +// Simmulation Alarm +#define ICD_CMD_SIM_ALARM_RESET 0x00u // 알람 실제 모드 +#define ICD_CMD_SIM_ALARM_SET 0x01u // 알람 가상 모드 +//--------------------------------------------------------------------------------------------- +//--------------------------------------------------------------------------------------------- + +//--------------------------------------------------------------------------------------------- +//----------------------------------------tcp/ip setting--------------------------------------- +//main.c에 define된 DEFAULT_IP_ADDRESS, DEFAULT_IP_MASK, DEFAULT_GW_ADDRESS를 함께 변경 +#define MY_IP_ADDR1 172u +#define MY_IP_ADDR2 16u +#define MY_IP_ADDR3 0u +#define MY_IP_ADDR4 50u + +#define IPINFO_SIZE 6u + +#define CHAR_SOUR 0x61u + +//----------------------------------------TCP Server------------------------------------------- +#define NUM_TCP_CLIENT 2u +#define NUM_RECV_BUF 400u + +#define MIN_TCP_SER_RCV_LEN 10u // 유효한 최소 패킷 사이즈 +#define LEN_COMPARE 3u // 유효 패킷 검사 사이즈 +#define LEN_ANT_MAST_START_REQ 10u // DeviceStart_Request Length +#define LEN_DEVICE_PBIT_REQ 10u // DevicePBIT_Request Length +#define LEN_DEVICE_BIT_DETAIL_REQ 11u // DeviceBITdetail_Request Length +#define LEN_ANT_MAST_CONTROL_REQ 11u // AntMastControl_Request Length, 가변, 8 ~ 12(코드에서 처리) +#define LEN_DEVICE_ERASE_REQ 11u // DeviceErase_Request Length +#define LEN_DEVICE_POWER_REQ 11u // DevicePower_Request Length + +#define LEN_SIM_ALARM_SET_REQ 12u // SimAlarmSet_Request Length +#define LEN_MAST_ORIGIN_SET_REQ 10u // MastOrigin_Set_Request Length + +//----------------------------------------TCP Client------------------------------------------- +#define TCP_CLIENT_MY_PORT 61501u // TCP Client 사용 24.06.27 + +#define TCP_MP_IP_ADDR1 172u // 임무통제기 내부 IP Address +#define TCP_MP_IP_ADDR2 16u +#define TCP_MP_IP_ADDR3 0u +#define TCP_MP_IP_ADDR4 20u +#define TCP_MP_PORT 61202U // 임무통제기 내부 Port + +//----------------------------------------UDP Client------------------------------------------- +#define UDP_SERVER_IP_ADDRESS "172.16.0.20" // 172.16.x.x +#define UDP_SERVER_IP_ADDR1 172u +#define UDP_SERVER_IP_ADDR2 16u +#define UDP_SERVER_IP_ADDR3 0u +#define UDP_SERVER_IP_ADDR4 20u +#define UDP_SERVER_PORT 60202u // 변경 24.06.27 +#define UDP_MY_PORT 61501u + +#define LEN_ANT_MAST_STATUS_REPORT 15u +#define LEN_ANT_MAST_CBIT_REPORT 12u +#define LEN_HEART_BEAT_DATA 11u +//--------------------------------------------------------------------------------------------- +//--------------------------------------------------------------------------------------------- + +// REGISTER INDEX +#define REG_IDX_0 0u +#define REG_IDX_1 1u +#define REG_IDX_2 2u +#define REG_IDX_3 3u +#define REG_IDX_4 4u +#define REG_IDX_5 5u +#define REG_IDX_6 6u +#define REG_IDX_7 7u +#define REG_IDX_8 8u +#define REG_IDX_9 9u +#define REG_IDX_10 10u +#define REG_IDX_11 11u +#define REG_IDX_12 12u + + + +#define IIC_SCLK_RATE 100000u +#define TEST_BUFFER_SIZE 8u // EEPROM 읽기/쓰기 버퍼 사이즈 +#define EEPROM_ADDR 0x50u // AT24C08C의 기본 I2C 주소, A2, A1, A0 모두 0일 경우 + + +#endif // DEFINE_H + + + diff --git a/src/eeprom.c b/src/eeprom.c new file mode 100644 index 0000000..8dff95a --- /dev/null +++ b/src/eeprom.c @@ -0,0 +1,200 @@ +#include "eeprom.h" +#include "ctrl_module.h" +#include "sleep.h" + +u8 g_szIpInfo[IPINFO_SIZE] = { 0, }; // IP Address, Port + +// EEPROM 초기화 +void InitEeprom(void) +{ + XIicPs_Config *ConfigPtr; + s32_t Status; + u32_t nData; + u32_t nRet; + u8 cEepromBuf[10] = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 }; + + xil_printf("InitEeprom Start\n"); + + ConfigPtr = XIicPs_LookupConfig(XPAR_XIICPS_0_DEVICE_ID); + if (NULL == ConfigPtr) + { +#if DEBUG_COVER + xil_printf("No config found for %d\n", XPAR_XIICPS_0_DEVICE_ID); +#endif + } + else + { + Status = XIicPs_CfgInitialize(&Iic, ConfigPtr, ConfigPtr->BaseAddress); + if (Status != XST_SUCCESS) + { +#if DEBUG_COVER + xil_printf("Initialization failed\n"); +#endif + } + else + { + (void)XIicPs_SetSClk(&Iic, IIC_SCLK_RATE); + + LoadEepromInfo(cEepromBuf); // Eeprom 정보 전체 읽기 + + if(cEepromBuf[1] == 0xFFu) // 공장초기화값이면 0 설정 + { + g_cDeviceErase = 0u; + } + else // 정상값이면 0 또는 1 + { +#if DEBUG_COVER + g_cDeviceErase = cEepromBuf[1]; +#endif + } + xil_printf("Init Eeprom g_cDeviceErase:%d\n\n", (u32_t)g_cDeviceErase); + + nData = cEepromBuf[2]; + g_nEncoderMT = nData << 16; + nData = cEepromBuf[3]; + g_nEncoderMT += nData << 8; + g_nEncoderMT += cEepromBuf[4]; + + xil_printf("Init Eeprom g_nEncoderMT:%06X\n", g_nEncoderMT); + + xil_printf("InitEeprom End\n"); + } + } +} + + +static s32 EepromWriteByte(XIicPs *IicInstance, u8 Address, u8 Data) +{ + s32_t Status, nRet = XST_SUCCESS; + u8 Buffer[2]; + + Buffer[0] = Address; // 1바이트 주소 // 주소 및 데이터 버퍼 설정 + Buffer[1] = Data; // 데이터 + + Status = XIicPs_MasterSendPolled(IicInstance, Buffer, 2, EEPROM_ADDR); // I2C를 통한 데이터 쓰기 + if (Status != XST_SUCCESS) + { +#if DEBUG_COVER + nRet = Status; +#endif + } + else + { + while (XIicPs_BusIsBusy(IicInstance) == 1) + { + ; // I2C 트랜잭션이 완료될 때까지 대기 + } + + (void)usleep(10000); // 쓰기 지연 대기 (최대 10ms, EEPROM 데이터 시트 참조) + } + + return nRet; +} + + +static s32 EepromReadByte(XIicPs *IicInstance, u8 Address, u8 *Data) +{ + s32_t Status, nRet = XST_SUCCESS; + + + Status = XIicPs_MasterSendPolled(IicInstance, &Address, 1, EEPROM_ADDR); // 주소 전송 + if (Status != XST_SUCCESS) + { +#if DEBUG_COVER + nRet = Status; +#endif + } + else + { + while (XIicPs_BusIsBusy(IicInstance) == 1) + { + ; // I2C 트랜잭션이 완료될 때까지 대기 + } + + Status = XIicPs_MasterRecvPolled(IicInstance, Data, 1, EEPROM_ADDR); // 데이터 읽기 + if (Status != XST_SUCCESS) + { +#if DEBUG_COVER + nRet = Status; +#endif + } + } + + return nRet; +} + +// 엔코더 멀티턴값 쓰기 +void SaveEncoderMT(u32 cVal) +{ + s32 Status = 0; + u8 cAddr = 0x02; + + Status = EepromWriteByte(&Iic, cAddr, (u8_t)(cVal >> 16)); // bit23 ~ 16 기록 // EEPROM에 데이터 쓰기 + if (Status != XST_SUCCESS) + { +#if DEBUG_COVER + xil_printf("EEPROM write failed\n"); +#endif + } + else + { + xil_printf("encoder multiturn 1st write succeded:%X\n", (u32_t)(cVal >> 16)); + } + + (void)usleep(10000); + + Status = EepromWriteByte(&Iic, (u8_t)(cAddr + 1u), (u8_t)(cVal >> 8)); // bit15 ~ 8 기록 // EEPROM에 데이터 쓰기 + if (Status != XST_SUCCESS) + { +#if DEBUG_COVER + xil_printf("EEPROM write failed\n"); +#endif + } + else + { + xil_printf("encoder multiturn 2nd write succeded:%X\n", (u32_t)(cVal >> 8)); + } + + (void)usleep(10000); + + Status = EepromWriteByte(&Iic, (u8_t)(cAddr + 2u), (u8_t)cVal); // bit7 ~ 0 기록 + if (Status != XST_SUCCESS) + { +#if DEBUG_COVER + xil_printf("EEPROM write failed\n"); +#endif + } + else + { + xil_printf("encoder multiturn 3rd write succeded:%X\n", (u32_t)cVal); + } + + return Status; +} + +// Eeprom 정보 전체 읽기 +// Eeprom Read 시 Address 제어가 지정대로 동작되지 않는 경우 +// 발생하여 일정 범위 읽어서 처리하도록 변경함 +static void LoadEepromInfo(u8* cVal) +{ + u8 i = 1u; // Start Address + s32_t Status; + u8 cData = 0u; + + for(i = 0u; i < 5u; i++) + { + Status = EepromReadByte(&Iic, i, &cData); + if (Status != XST_SUCCESS) + { +#if DEBUG_COVER + xil_printf("EEPROM read failed\n"); +#endif + } + else + { + xil_printf("read addr:%d, cData:%X\r\n", (u32_t)i, (u32_t)cData); + } + cVal[i] = cData; // 값 가져가기 + } +} + diff --git a/src/eeprom.h b/src/eeprom.h new file mode 100644 index 0000000..f9bddc5 --- /dev/null +++ b/src/eeprom.h @@ -0,0 +1,19 @@ +#ifndef EEPROM_H +#define EEPROM_H + +#include "xiicps.h" +#include "define.h" + +extern u8 g_szIpInfo[IPINFO_SIZE]; // IP Address, Port + +XIicPs Iic; // I2C 인스턴스 + + +void InitEeprom(void); // EEPROM 초기화 +static s32 EepromWriteByte(XIicPs *IicInstance, u8 Address, u8 Data); +static s32 EepromReadByte(XIicPs *IicInstance, u8 Address, u8 *Data); + +void SaveEncoderMT(u32 cVal); // 엔코더 멀티턴값 쓰기 +static void LoadEepromInfo(u8* cVal); // Eeprom 정보 전체 읽기 + +#endif diff --git a/src/lscript.ld b/src/lscript.ld new file mode 100644 index 0000000..1ac4087 --- /dev/null +++ b/src/lscript.ld @@ -0,0 +1,289 @@ +/*******************************************************************/ +/* */ +/* This file is automatically generated by linker script generator.*/ +/* */ +/* Version: 2019.2 */ +/* */ +/* Copyright (c) 2010-2019 Xilinx, Inc. All rights reserved. */ +/* */ +/* Description : Cortex-A9 Linker Script */ +/* */ +/*******************************************************************/ + +_STACK_SIZE = DEFINED(_STACK_SIZE) ? _STACK_SIZE : 0xA000; +_HEAP_SIZE = DEFINED(_HEAP_SIZE) ? _HEAP_SIZE : 0xA000; + +_ABORT_STACK_SIZE = DEFINED(_ABORT_STACK_SIZE) ? _ABORT_STACK_SIZE : 1024; +_SUPERVISOR_STACK_SIZE = DEFINED(_SUPERVISOR_STACK_SIZE) ? _SUPERVISOR_STACK_SIZE : 2048; +_IRQ_STACK_SIZE = DEFINED(_IRQ_STACK_SIZE) ? _IRQ_STACK_SIZE : 1024; +_FIQ_STACK_SIZE = DEFINED(_FIQ_STACK_SIZE) ? _FIQ_STACK_SIZE : 1024; +_UNDEF_STACK_SIZE = DEFINED(_UNDEF_STACK_SIZE) ? _UNDEF_STACK_SIZE : 1024; + +/* Define Memories in the system */ + +MEMORY +{ + axi_bram_ctrl_0_Mem0 : ORIGIN = 0x40000000, LENGTH = 0x2000 + ps7_ddr_0 : ORIGIN = 0x100000, LENGTH = 0x1FF00000 + ps7_qspi_linear_0 : ORIGIN = 0xFC000000, LENGTH = 0x1000000 + ps7_ram_0 : ORIGIN = 0x0, LENGTH = 0x30000 + ps7_ram_1 : ORIGIN = 0xFFFF0000, LENGTH = 0xFE00 +} + +/* Specify the default entry point to the program */ + +ENTRY(_vector_table) + +/* Define the sections, and where they are mapped in memory */ + +SECTIONS +{ +.text : { + KEEP (*(.vectors)) + *(.boot) + *(.text) + *(.text.*) + *(.gnu.linkonce.t.*) + *(.plt) + *(.gnu_warning) + *(.gcc_execpt_table) + *(.glue_7) + *(.glue_7t) + *(.vfp11_veneer) + *(.ARM.extab) + *(.gnu.linkonce.armextab.*) +} > ps7_ddr_0 + +.init : { + KEEP (*(.init)) +} > ps7_ddr_0 + +.fini : { + KEEP (*(.fini)) +} > ps7_ddr_0 + +.rodata : { + __rodata_start = .; + *(.rodata) + *(.rodata.*) + *(.gnu.linkonce.r.*) + __rodata_end = .; +} > ps7_ddr_0 + +.rodata1 : { + __rodata1_start = .; + *(.rodata1) + *(.rodata1.*) + __rodata1_end = .; +} > ps7_ddr_0 + +.sdata2 : { + __sdata2_start = .; + *(.sdata2) + *(.sdata2.*) + *(.gnu.linkonce.s2.*) + __sdata2_end = .; +} > ps7_ddr_0 + +.sbss2 : { + __sbss2_start = .; + *(.sbss2) + *(.sbss2.*) + *(.gnu.linkonce.sb2.*) + __sbss2_end = .; +} > ps7_ddr_0 + +.data : { + __data_start = .; + *(.data) + *(.data.*) + *(.gnu.linkonce.d.*) + *(.jcr) + *(.got) + *(.got.plt) + __data_end = .; +} > ps7_ddr_0 + +.data1 : { + __data1_start = .; + *(.data1) + *(.data1.*) + __data1_end = .; +} > ps7_ddr_0 + +.got : { + *(.got) +} > ps7_ddr_0 + +.ctors : { + __CTOR_LIST__ = .; + ___CTORS_LIST___ = .; + KEEP (*crtbegin.o(.ctors)) + KEEP (*(EXCLUDE_FILE(*crtend.o) .ctors)) + KEEP (*(SORT(.ctors.*))) + KEEP (*(.ctors)) + __CTOR_END__ = .; + ___CTORS_END___ = .; +} > ps7_ddr_0 + +.dtors : { + __DTOR_LIST__ = .; + ___DTORS_LIST___ = .; + KEEP (*crtbegin.o(.dtors)) + KEEP (*(EXCLUDE_FILE(*crtend.o) .dtors)) + KEEP (*(SORT(.dtors.*))) + KEEP (*(.dtors)) + __DTOR_END__ = .; + ___DTORS_END___ = .; +} > ps7_ddr_0 + +.fixup : { + __fixup_start = .; + *(.fixup) + __fixup_end = .; +} > ps7_ddr_0 + +.eh_frame : { + *(.eh_frame) +} > ps7_ddr_0 + +.eh_framehdr : { + __eh_framehdr_start = .; + *(.eh_framehdr) + __eh_framehdr_end = .; +} > ps7_ddr_0 + +.gcc_except_table : { + *(.gcc_except_table) +} > ps7_ddr_0 + +.mmu_tbl (ALIGN(16384)) : { + __mmu_tbl_start = .; + *(.mmu_tbl) + __mmu_tbl_end = .; +} > ps7_ddr_0 + +.ARM.exidx : { + __exidx_start = .; + *(.ARM.exidx*) + *(.gnu.linkonce.armexidix.*.*) + __exidx_end = .; +} > ps7_ddr_0 + +.preinit_array : { + __preinit_array_start = .; + KEEP (*(SORT(.preinit_array.*))) + KEEP (*(.preinit_array)) + __preinit_array_end = .; +} > ps7_ddr_0 + +.init_array : { + __init_array_start = .; + KEEP (*(SORT(.init_array.*))) + KEEP (*(.init_array)) + __init_array_end = .; +} > ps7_ddr_0 + +.fini_array : { + __fini_array_start = .; + KEEP (*(SORT(.fini_array.*))) + KEEP (*(.fini_array)) + __fini_array_end = .; +} > ps7_ddr_0 + +.ARM.attributes : { + __ARM.attributes_start = .; + *(.ARM.attributes) + __ARM.attributes_end = .; +} > ps7_ddr_0 + +.sdata : { + __sdata_start = .; + *(.sdata) + *(.sdata.*) + *(.gnu.linkonce.s.*) + __sdata_end = .; +} > ps7_ddr_0 + +.sbss (NOLOAD) : { + __sbss_start = .; + *(.sbss) + *(.sbss.*) + *(.gnu.linkonce.sb.*) + __sbss_end = .; +} > ps7_ddr_0 + +.tdata : { + __tdata_start = .; + *(.tdata) + *(.tdata.*) + *(.gnu.linkonce.td.*) + __tdata_end = .; +} > ps7_ddr_0 + +.tbss : { + __tbss_start = .; + *(.tbss) + *(.tbss.*) + *(.gnu.linkonce.tb.*) + __tbss_end = .; +} > ps7_ddr_0 + +.bss (NOLOAD) : { + __bss_start = .; + *(.bss) + *(.bss.*) + *(.gnu.linkonce.b.*) + *(COMMON) + __bss_end = .; +} > ps7_ddr_0 + +_SDA_BASE_ = __sdata_start + ((__sbss_end - __sdata_start) / 2 ); + +_SDA2_BASE_ = __sdata2_start + ((__sbss2_end - __sdata2_start) / 2 ); + +/* Generate Stack and Heap definitions */ + +.heap (NOLOAD) : { + . = ALIGN(16); + _heap = .; + HeapBase = .; + _heap_start = .; + . += _HEAP_SIZE; + _heap_end = .; + HeapLimit = .; +} > ps7_ddr_0 + +.stack (NOLOAD) : { + . = ALIGN(16); + _stack_end = .; + . += _STACK_SIZE; + . = ALIGN(16); + _stack = .; + __stack = _stack; + . = ALIGN(16); + _irq_stack_end = .; + . += _IRQ_STACK_SIZE; + . = ALIGN(16); + __irq_stack = .; + _supervisor_stack_end = .; + . += _SUPERVISOR_STACK_SIZE; + . = ALIGN(16); + __supervisor_stack = .; + _abort_stack_end = .; + . += _ABORT_STACK_SIZE; + . = ALIGN(16); + __abort_stack = .; + _fiq_stack_end = .; + . += _FIQ_STACK_SIZE; + . = ALIGN(16); + __fiq_stack = .; + _undef_stack_end = .; + . += _UNDEF_STACK_SIZE; + . = ALIGN(16); + __undef_stack = .; +} > ps7_ddr_0 + +_end = .; +} + diff --git a/src/main.c b/src/main.c new file mode 100644 index 0000000..e721a25 --- /dev/null +++ b/src/main.c @@ -0,0 +1,277 @@ +#include "xparameters.h" +#include "netif/xadapter.h" +#include "platform.h" +#include "platform_config.h" +#include "lwipopts.h" +#include "xil_printf.h" +#include "sleep.h" +#include "lwip/priv/tcp_priv.h" +#include "lwip/init.h" +#include "lwip/inet.h" +#include "lwip/tcp.h" +#include "xil_cache.h" + +#include "define.h" +#include "main.h" +#include "ctrl_module.h" +#include "tcpipcomm.h" +#include "tcp_client.h" +#include "udp_client.h" +#include "eeprom.h" + +#if LWIP_IPV6==1 +#include "lwip/ip6_addr.h" +#include "lwip/ip6.h" +#else + +#if LWIP_DHCP==1 +#include "lwip/dhcp.h" +extern volatile u32_t dhcp_timoutcntr; +#endif +#define DEFAULT_IP_ADDRESS "172.16.0.50" +#define DEFAULT_IP_MASK "255.255.255.0" +#define DEFAULT_GW_ADDRESS "172.16.0.1" +#endif /* LWIP_IPV6 */ + +extern volatile u32_t TcpFastTmrFlag; +extern volatile u32_t TcpSlowTmrFlag; + +struct netif server_netif; + +#if defined (__arm__) && !defined (ARMR5) +#if XPAR_GIGE_PCS_PMA_SGMII_CORE_PRESENT == 1 || \ + XPAR_GIGE_PCS_PMA_1000BASEX_CORE_PRESENT == 1 +u32_t ProgramSi5324(void); +u32_t ProgramSfpPhy(void); +#endif +#endif + +#ifdef XPS_BOARD_ZCU102 +#ifdef XPAR_XIICPS_0_DEVICE_ID +u32_t IicPhyReset(void); +#endif +#endif + + +#if LWIP_IPV6==1 +static void print_ipv6(u32_t *msg, ip_addr_t *ip) +{ + print(msg); + xil_printf(" %s\n\r", inet6_ntoa(*ip)); +} +#else +static void print_ip(const char8 *msg, const ip_addr_t *ip) +{ + print(msg); + xil_printf("%d.%d.%d.%d\r\n", (u32_t)ip4_addr1(ip), (u32_t)ip4_addr2(ip), + (u32_t)ip4_addr3(ip), (u32_t)ip4_addr4(ip)); +} + +static void print_ip_settings(const ip_addr_t *ip, const ip_addr_t *mask, const ip_addr_t *gw) +{ + print_ip("Board IP: ", ip); + print_ip("Netmask : ", mask); + print_ip("Gateway : ", gw); +} + +static void assign_default_ip(const ip_addr_t *ip, const ip_addr_t *mask, const ip_addr_t *gw) +{ + u32_t err; + + xil_printf("Configuring default IP %s \r\n", DEFAULT_IP_ADDRESS); + + err = (u32_t)inet_aton(DEFAULT_IP_ADDRESS, ip); + if (err == 0u) + { +#if DEBUG_COVER + xil_printf("Invalid default IP address: %d\r\n", (u32_t)err); +#endif + } + + err = (u32_t)inet_aton(DEFAULT_IP_MASK, mask); + if (err == 0u) + { +#if DEBUG_COVER + xil_printf("Invalid default IP MASK: %d\r\n", (u32_t)err); +#endif + } + + err = (u32_t)inet_aton(DEFAULT_GW_ADDRESS, gw); + if (err == 0u) + { +#if DEBUG_COVER + xil_printf("Invalid default gateway address: %d\r\n", (u32_t)err); +#endif + } +} +#endif /* LWIP_IPV6 */ + + +static void MakeTiming(void) +{ + + if(++g_nCnt1 > TIMER_BASE) + { + g_nCnt1 = 0; + g_nCnt2++; // ctrl_module.c CtrlModuleProcess() + g_nEcdeepromCnt++; // ctrl_module.c SetMotor() + g_nTcpCliConCnt++; // tcp_client.c ConnectToTcpServer() + g_nReportCnt++; // udp_client.c UdpCommPeriod() + + if(g_stTcpClientMy.cConnected == TRUE) // client가 임무처리 S/W(Server)에 연결된 상태에서만 카운터 + { + g_nBitDetailHBCnt++; // udp_client.c UdpCommProcess() + g_nTcpDisconnectCnt++; // udp_client.c + } + } +} + +static void TcpipProcChk(struct netif* nif) +{ + if (TcpFastTmrFlag != 0u) { + tcp_fasttmr(); + TcpFastTmrFlag = 0u; + } + if (TcpSlowTmrFlag != 0u) { + tcp_slowtmr(); + TcpSlowTmrFlag = 0u; + } + (void)xemacif_input(nif); +} + +u32_t main(void) +{ + struct netif *netif; + u8_t mac_ethernet_address[] = { 0x48, 0x21, 0x0B, 0x5A, 0x37, 0xA7 }; /* the mac address of the board. this should be unique per board */ + u16_t nData = 0; + u32_t nData32 = 0; + + netif = &server_netif; + + static ip_addr_t ipaddr, netmask, gw; + +#if defined (__arm__) && !defined (ARMR5) +#if XPAR_GIGE_PCS_PMA_SGMII_CORE_PRESENT == 1 || \ + XPAR_GIGE_PCS_PMA_1000BASEX_CORE_PRESENT == 1 + ProgramSi5324(); + ProgramSfpPhy(); +#endif +#endif + + /* Define this board specific macro in order perform PHY reset + * on ZCU102 + */ +#ifdef XPS_BOARD_ZCU102 + IicPhyReset(); +#endif + + init_platform(); + + xil_printf("\r\n\r\n"); + xil_printf("=====================================================\n\r"); + xil_printf("-----\tAntMastPh2 Control Module V%d.%d.%d.%d\t-----\n\r", (u32_t)VER_VERSION, (u32_t)VER_UPDATE, (u32_t)VER_TEST, (u32_t)VER_COMPILE); + +#if TEST_LOG_ON + xil_printf("-----\tCompiled by HKC\t[Debug]\t\t\t-----\n\r"); +#else + xil_printf("-----\tCompiled by HKC\t[Release]\t\t-----\n\r"); +#endif + xil_printf("=====================================================\n\r"); + + g_szIpInfo[0] = MY_IP_ADDR1; + g_szIpInfo[1] = MY_IP_ADDR2; + g_szIpInfo[2] = MY_IP_ADDR3; + g_szIpInfo[3] = MY_IP_ADDR4; + + IP4_ADDR(&ipaddr, g_szIpInfo[0], g_szIpInfo[1], g_szIpInfo[2], g_szIpInfo[3]); + IP4_ADDR(&netmask, 255, 255, 255, 0); // 24.06.27 변경 + IP4_ADDR(&gw, g_szIpInfo[0], g_szIpInfo[1], g_szIpInfo[2], 1); // 24.06.27 변경 + + lwip_init(); /* initialize lwIP */ + + //if (!xemac_add(netif, NULL, NULL, NULL, mac_ethernet_address, + /* Add network interface to the netif_list, and set it as default */ + if (!xemac_add((struct netif*)netif, (ip_addr_t*)&ipaddr, (ip_addr_t*)&netmask, (ip_addr_t*)&gw, (u8_t*)mac_ethernet_address, (u32_t)PLATFORM_EMAC_BASEADDR)) + { +#if DEBUG_COVER + xil_printf("Error adding N/W interface\r\n"); +#endif + } + else + { +#if LWIP_IPV6==1 + netif->ip6_autoconfig_enabled = 1; + netif_create_ip6_linklocal_address(netif, 1); + netif_ip6_addr_set_state(netif, 0, IP6_ADDR_VALID); + print_ipv6("\n\rlink local IPv6 address is:", &netif->ip6_addr[0]); +#endif /* LWIP_IPV6 */ + + netif_set_default(netif); + + /* now enable interrupts */ + platform_enable_interrupts(); + + /* specify that the network if is up */ + netif_set_up(netif); + +#if (LWIP_IPV6==0) +#if (LWIP_DHCP==1) + /* Create a new DHCP client for this interface. + * Note: you must call dhcp_fine_tmr() and dhcp_coarse_tmr() at + * the predefined regular intervals after starting the client. + */ + dhcp_start(netif); + dhcp_timoutcntr = 24; + while (((netif->ip_addr.addr) == 0) && (dhcp_timoutcntr > 0)) + xemacif_input(netif); + + if (dhcp_timoutcntr <= 0) { + if ((netif->ip_addr.addr) == 0) { + xil_printf("ERROR: DHCP request timed out\r\n"); + assign_default_ip(&(netif->ip_addr), &(netif->netmask), &(netif->gw)); + } + } + + /* print IP address, netmask and gateway */ +#else + assign_default_ip((const ip_addr_t*)&(netif->ip_addr), (const ip_addr_t*)&(netif->netmask), (const ip_addr_t*)&(netif->gw)); +#endif + print_ip_settings((const ip_addr_t*)&(netif->ip_addr), (const ip_addr_t*)&(netif->netmask), (const ip_addr_t*)&(netif->gw)); +#endif /* LWIP_IPV6 */ + + g_cSn = 0; // 응답패킷 송신 카운터 + + InitEeprom(); // eeprom 초기화 + InitCtrlModule(); // 제어부 모듈 초기 설정 //InitTcpServer(); // TCP 서버 초기화 + + InitTcpClient(); // TCP Client 초기화 + InitUdpServer(); // UDP Server 초기화 //InitUdpClient(); // UDP Client 초기화 + + InitCompareMember(); // 문자열 비교 초기화 + while (1) + { + if(g_cDeviceErase == 0u) // Device Erase가 설정되지 않으면 정상 동작, 적용하면 전체 오류발생 24.03.05 + { + MakeTiming(); + + CtrlModuleProcess(); // 제어부 모듈 동작 처리 //TcpServCommProcess(); // 서버에 연결된 TCP 클라이언트 수신 및 송신 처리 + + TcpClientCommProceess(); // TCP Client 수신 및 송신 처리 + ConnectToTcpServer(); // TCP 서버 반복 접속 관리 + UdpCommProcess(); // UDP 통신 처리 + + TcpipProcChk(netif); + + } + } + } + + return 0; +} + + + + + + + diff --git a/src/main.h b/src/main.h new file mode 100644 index 0000000..650b426 --- /dev/null +++ b/src/main.h @@ -0,0 +1,17 @@ +#ifndef MAIN_H +#define MAIN_H + +#include "xtime_l.h" +#include "tcp_client.h" + + +static XTime g_nStartTime; +static XTime g_nCurTime; + +static uint32_t g_nCnt1; + + +static void MakeTiming(void); +static void TcpipProcChk(struct netif* nif); + +#endif // MAIN_H diff --git a/src/platform.c b/src/platform.c new file mode 100644 index 0000000..0a886d6 --- /dev/null +++ b/src/platform.c @@ -0,0 +1,179 @@ +/* + * Copyright (C) 2009 - 2019 Xilinx, 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: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * 2. 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. + * 3. The name of the author may not be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``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 AUTHOR 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. + * + */ +#if __MICROBLAZE__ +#include "arch/cc.h" +#include "platform.h" +#include "platform_config.h" +#include "xil_cache.h" +#include "xparameters.h" +#include "xintc.h" +#include "xil_exception.h" +#include "lwip/tcp.h" +#ifdef STDOUT_IS_16550 +#include "xuartns550_l.h" +#endif + +#include "lwip/tcp.h" + +#if LWIP_DHCP==1 +volatile int dhcp_timoutcntr = 24; +void dhcp_fine_tmr(); +void dhcp_coarse_tmr(); +#endif + +volatile int TcpFastTmrFlag = 0; +volatile int TcpSlowTmrFlag = 0; + +volatile u64_t tickcntr = 0; +void +timer_callback() +{ + /* we need to call tcp_fasttmr & tcp_slowtmr at intervals specified + * by lwIP. + * It is not important that the timing is absoluetly accurate. + */ + static int odd = 1; +#if LWIP_DHCP==1 + static int dhcp_timer = 0; +#endif + tickcntr++; + if(tickcntr % 25 == 0){ + TcpFastTmrFlag = 1; + + odd = !odd; + if (odd) { + TcpSlowTmrFlag = 1; +#if LWIP_DHCP==1 + dhcp_timer++; + dhcp_timoutcntr--; + dhcp_fine_tmr(); + if (dhcp_timer >= 120) { + dhcp_coarse_tmr(); + dhcp_timer = 0; + } +#endif + } + } +} + +static XIntc intc; + +void platform_setup_interrupts() +{ + XIntc *intcp; + intcp = &intc; + + XIntc_Initialize(intcp, XPAR_INTC_0_DEVICE_ID); + XIntc_Start(intcp, XIN_REAL_MODE); + + /* Start the interrupt controller */ + XIntc_MasterEnable(XPAR_INTC_0_BASEADDR); + +#ifdef __MICROBLAZE__ + microblaze_register_handler((XInterruptHandler)XIntc_InterruptHandler, intcp); +#endif + + platform_setup_timer(); + +#ifdef XPAR_ETHERNET_MAC_IP2INTC_IRPT_MASK + /* Enable timer and EMAC interrupts in the interrupt controller */ + XIntc_EnableIntr(XPAR_INTC_0_BASEADDR, +#ifdef __MICROBLAZE__ + PLATFORM_TIMER_INTERRUPT_MASK | +#endif + XPAR_ETHERNET_MAC_IP2INTC_IRPT_MASK); +#endif + + +#ifdef XPAR_INTC_0_LLTEMAC_0_VEC_ID +#ifdef __MICROBLAZE__ + XIntc_Enable(intcp, PLATFORM_TIMER_INTERRUPT_INTR); +#endif + XIntc_Enable(intcp, XPAR_INTC_0_LLTEMAC_0_VEC_ID); +#endif + + +#ifdef XPAR_INTC_0_AXIETHERNET_0_VEC_ID + XIntc_Enable(intcp, PLATFORM_TIMER_INTERRUPT_INTR); + XIntc_Enable(intcp, XPAR_INTC_0_AXIETHERNET_0_VEC_ID); +#endif + + +#ifdef XPAR_INTC_0_EMACLITE_0_VEC_ID +#ifdef __MICROBLAZE__ + XIntc_Enable(intcp, PLATFORM_TIMER_INTERRUPT_INTR); +#endif + XIntc_Enable(intcp, XPAR_INTC_0_EMACLITE_0_VEC_ID); +#endif + + +} + +void +enable_caches() +{ +#ifdef __MICROBLAZE__ +#ifdef XPAR_MICROBLAZE_USE_ICACHE + Xil_ICacheEnable(); +#endif +#ifdef XPAR_MICROBLAZE_USE_DCACHE + Xil_DCacheEnable(); +#endif +#endif +} + +void +disable_caches() +{ + Xil_DCacheDisable(); + Xil_ICacheDisable(); +} + +void init_platform() +{ + enable_caches(); + +#ifdef STDOUT_IS_16550 + XUartNs550_SetBaud(STDOUT_BASEADDR, XPAR_XUARTNS550_CLOCK_HZ, 9600); + XUartNs550_SetLineControlReg(STDOUT_BASEADDR, XUN_LCR_8_DATA_BITS); +#endif + + platform_setup_interrupts(); +} + +void cleanup_platform() +{ + disable_caches(); +} + +u64_t get_time_ms() +{ + return tickcntr * 10; +} + +#endif diff --git a/src/platform.h b/src/platform.h new file mode 100644 index 0000000..010b34c --- /dev/null +++ b/src/platform.h @@ -0,0 +1,40 @@ +/* + * Copyright (C) 2009 - 2019 Xilinx, 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: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * 2. 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. + * 3. The name of the author may not be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``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 AUTHOR 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 __PLATFORM_H_ +#define __PLATFORM_H_ + +void init_platform(); +void cleanup_platform(); +#ifdef __MICROBLAZE__ +void timer_callback(); +#endif +void platform_setup_timer(); +void platform_enable_interrupts(); +u64_t get_time_ms(); +#endif diff --git a/src/platform_config.h b/src/platform_config.h new file mode 100644 index 0000000..e515d30 --- /dev/null +++ b/src/platform_config.h @@ -0,0 +1,10 @@ +#ifndef __PLATFORM_CONFIG_H_ +#define __PLATFORM_CONFIG_H_ + + +#define PLATFORM_EMAC_BASEADDR XPAR_XEMACPS_0_BASEADDR + +#define PLATFORM_ZYNQ + + +#endif diff --git a/src/platform_zynq.c b/src/platform_zynq.c new file mode 100644 index 0000000..e7d6942 --- /dev/null +++ b/src/platform_zynq.c @@ -0,0 +1,233 @@ +/* + * Copyright (C) 2010 - 2019 Xilinx, 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: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * 2. 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. + * 3. The name of the author may not be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``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 AUTHOR 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. + * + */ +/* +* platform_zynq.c +* +* Zynq platform specific functions. +* +* 02/29/2012: UART initialization is removed. Timer initializations are +* removed. All unnecessary include files and hash defines are removed. +* 03/01/2013: Timer initialization is added back. Support for SI #692601 is +* added in the timer callback. The SI #692601 refers to the following issue. +* +* The EmacPs has a HW bug on the Rx path for heavy Rx traffic. +* Under heavy Rx traffic because of the HW bug there are times when the Rx path +* becomes unresponsive. The workaround for it is to check for the Rx path for +* traffic (by reading the stats registers regularly). If the stats register +* does not increment for sometime (proving no Rx traffic), the function resets +* the Rx data path. +* +* + */ + +#ifdef __arm__ + +#include "platform_config.h" +#ifdef PLATFORM_ZYNQ +#include "xparameters.h" +#include "xparameters_ps.h" /* defines XPAR values */ +#include "xil_cache.h" +#include "xscugic.h" +#include "lwip/tcp.h" +#include "xil_printf.h" +#include "netif/xadapter.h" +#include "xscutimer.h" +#include "xtime_l.h" + +#define INTC_DEVICE_ID XPAR_SCUGIC_SINGLE_DEVICE_ID +#define TIMER_DEVICE_ID XPAR_SCUTIMER_DEVICE_ID +#define INTC_BASE_ADDR XPAR_SCUGIC_0_CPU_BASEADDR +#define INTC_DIST_BASE_ADDR XPAR_SCUGIC_0_DIST_BASEADDR +#define TIMER_IRPT_INTR XPAR_SCUTIMER_INTR + +#define RESET_RX_CNTR_LIMIT 400 + +void tcp_fasttmr(void); +void tcp_slowtmr(void); + +static XScuTimer TimerInstance; + +#ifndef USE_SOFTETH_ON_ZYNQ +static int ResetRxCntr = 0; +extern struct netif server_netif; +#endif + +volatile int TcpFastTmrFlag = 0; +volatile int TcpSlowTmrFlag = 0; + +#if LWIP_DHCP==1 +volatile int dhcp_timoutcntr = 24; +void dhcp_fine_tmr(); +void dhcp_coarse_tmr(); +#endif + +void +timer_callback(XScuTimer * TimerInstance) +{ + /* we need to call tcp_fasttmr & tcp_slowtmr at intervals specified + * by lwIP. It is not important that the timing is absoluetly accurate. + */ + static int odd = 1; +#if LWIP_DHCP==1 + static int dhcp_timer = 0; +#endif + TcpFastTmrFlag = 1; + + odd = !odd; +#ifndef USE_SOFTETH_ON_ZYNQ + ResetRxCntr++; +#endif + if (odd) { + TcpSlowTmrFlag = 1; +#if LWIP_DHCP==1 + dhcp_timer++; + dhcp_timoutcntr--; + dhcp_fine_tmr(); + if (dhcp_timer >= 120) { + dhcp_coarse_tmr(); + dhcp_timer = 0; + } +#endif + } + + /* For providing an SW alternative for the SI #692601. Under heavy + * Rx traffic if at some point the Rx path becomes unresponsive, the + * following API call will ensures a SW reset of the Rx path. The + * API xemacpsif_resetrx_on_no_rxdata is called every 100 milliseconds. + * This ensures that if the above HW bug is hit, in the worst case, + * the Rx path cannot become unresponsive for more than 100 + * milliseconds. + */ +#ifndef USE_SOFTETH_ON_ZYNQ + if (ResetRxCntr >= RESET_RX_CNTR_LIMIT) { + xemacpsif_resetrx_on_no_rxdata(&server_netif); + ResetRxCntr = 0; + } +#endif + XScuTimer_ClearInterruptStatus(TimerInstance); +} + +void platform_setup_timer(void) +{ + int Status = XST_SUCCESS; + XScuTimer_Config *ConfigPtr; + int TimerLoadValue = 0; + + ConfigPtr = XScuTimer_LookupConfig(TIMER_DEVICE_ID); + Status = XScuTimer_CfgInitialize(&TimerInstance, ConfigPtr, + ConfigPtr->BaseAddr); + if (Status != XST_SUCCESS) { + + xil_printf("In %s: Scutimer Cfg initialization failed...\r\n", + __func__); + return; + } + + Status = XScuTimer_SelfTest(&TimerInstance); + if (Status != XST_SUCCESS) { + xil_printf("In %s: Scutimer Self test failed...\r\n", + __func__); + return; + + } + + XScuTimer_EnableAutoReload(&TimerInstance); + /* + * Set for 250 milli seconds timeout. + */ + TimerLoadValue = XPAR_CPU_CORTEXA9_0_CPU_CLK_FREQ_HZ / 8; + + XScuTimer_LoadTimer(&TimerInstance, TimerLoadValue); + return; +} + +void platform_setup_interrupts(void) +{ + Xil_ExceptionInit(); + + XScuGic_DeviceInitialize(INTC_DEVICE_ID); + + /* + * Connect the interrupt controller interrupt handler to the hardware + * interrupt handling logic in the processor. + */ + Xil_ExceptionRegisterHandler(XIL_EXCEPTION_ID_IRQ_INT, + (Xil_ExceptionHandler)XScuGic_DeviceInterruptHandler, + (void *)INTC_DEVICE_ID); + /* + * Connect the device driver handler that will be called when an + * interrupt for the device occurs, the handler defined above performs + * the specific interrupt processing for the device. + */ + XScuGic_RegisterHandler(INTC_BASE_ADDR, TIMER_IRPT_INTR, + (Xil_ExceptionHandler)timer_callback, + (void *)&TimerInstance); + /* + * Enable the interrupt for scu timer. + */ + XScuGic_EnableIntr(INTC_DIST_BASE_ADDR, TIMER_IRPT_INTR); + + return; +} + +void platform_enable_interrupts() +{ + /* + * Enable non-critical exceptions. + */ + Xil_ExceptionEnableMask(XIL_EXCEPTION_IRQ); + XScuTimer_EnableInterrupt(&TimerInstance); + XScuTimer_Start(&TimerInstance); + return; +} + +void init_platform() +{ + platform_setup_timer(); + platform_setup_interrupts(); + + return; +} + +void cleanup_platform() +{ + Xil_ICacheDisable(); + Xil_DCacheDisable(); + return; +} + +u64_t get_time_ms() +{ +#define COUNTS_PER_MILLI_SECOND (COUNTS_PER_SECOND/1000) + XTime tCur = 0; + XTime_GetTime(&tCur); + return (tCur/COUNTS_PER_MILLI_SECOND); +} + +#endif +#endif diff --git a/src/tcp_client.c b/src/tcp_client.c new file mode 100644 index 0000000..c166857 --- /dev/null +++ b/src/tcp_client.c @@ -0,0 +1,288 @@ +#include "tcp_client.h" + +// TCP Client 초기화 +void InitTcpClient(void) +{ + IP_ADDR4(&g_ipaddrMP, TCP_MP_IP_ADDR1, TCP_MP_IP_ADDR2, TCP_MP_IP_ADDR3, TCP_MP_IP_ADDR4); // 임무 IP + + g_stTcpClientMy.cConnected = FALSE; + (void)memset((void *)g_stTcpClientMy.szRecvData, (s32_t)0, (s32_t)(NUM_RECV_BUF * sizeof(u8_t))); + g_stTcpClientMy.nRecvLen = 0; + g_stTcpClientMy.cRecvFlag = FALSE; + g_stTcpClientMy.cIsConnecting = FALSE; + + m_nConnectCnt = 0; + g_nTcpDisconnectChk = 1u; // 접속 후 임무처리S/W의 Heart Beat 미 수신이 5초 이상 유지되면 접속해제 + + tcp_client_connect(); // TCP 서버 접속 +} + +// TCP 서버 접속 +static void tcp_client_connect(void) +{ + struct tcp_pcb *pcb; + err_t err = 0; + + pcb = tcp_new(); + if(pcb != NULL) + { + xil_printf("TCP Client: tcp_new() ok.\n"); + ip_set_option(pcb, SOF_REUSEADDR); // sockoption ip, port 재사용 옵션 추가 + err = tcp_bind(pcb, IP_ADDR_ANY, TCP_CLIENT_MY_PORT); + g_stTcpClientMy.cIsConnecting = TRUE; + if(err == (err_t)ERR_OK) + { + xil_printf("TCP Client: binding ok.\n"); + xil_printf("connecting to Server..\n"); + + (void)tcp_connect(pcb, &g_ipaddrMP, TCP_MP_PORT, tcp_client_connected); + } + else + { +#if DEBUG_COVER + xil_printf("TCP Client: bind error.\n"); +#endif + } + } + else + { +#if DEBUG_COVER + xil_printf("TCP Client: Error creating PCB.\n"); +#endif + } +} + +// TCP 서버 반복 접속 관리 +void ConnectToTcpServer(void) +{ + if(g_nTcpCliConCnt > TIMER_SEC1) + { + g_nTcpCliConCnt = 0u; + + if(g_stTcpClientMy.cConnected == FALSE) + { + m_nConDelayCnt++; + + if(m_nConDelayCnt > 5u) // 5초 경과 후 접속 시도 + { + m_nConDelayCnt = 0u; + if(g_stTcpClientMy.cIsConnecting == TRUE) + { + m_nConnectCnt++; + xil_printf("\n\nConnect Count:%d\n\n", m_nConnectCnt); + + xil_printf("TCP Client: Close Client Socket\n"); + tcp_client_connection_close(g_stTcpClientMy.pcb); + g_stTcpClientMy.cIsConnecting = FALSE; + } + else + { + xil_printf("TCP Client: Start Connecting to Server\n"); + tcp_client_connect(); // TCP 서버 접속 + } + } + else + { + if(g_stTcpClientMy.cIsConnecting == TRUE) + { + xil_printf("TCP Client: Waiting Connection...%d\n", (u32_t)m_nConDelayCnt); + } + else + { + xil_printf("TCP Client: Stay...%d\n", (u32_t)m_nConDelayCnt); + } + } + } + } +} + +// connect 콜백 함수 +static err_t tcp_client_connected(void *arg, struct tcp_pcb *tpcb, err_t err) +{ + u32_t i; + err_t ret_err = 0; + u32_t ipaddr; + void* Dummy; + struct tcp_pcb *pPcb = NULL; + + Dummy = arg; + +#if TEST_LOG_ON + xil_printf("tcp_client_connected()\n\r"); +#endif + + if(err == (err_t)ERR_OK) + { + if ((err != (err_t)ERR_OK) || (tpcb == NULL)) { + ret_err = ERR_VAL; + } + + ipaddr = tpcb->remote_ip.addr; + xil_printf("accept() - %d.%d.%d.%d:%05d\r\n", (u32_t)(ipaddr & 0xFFu), (u32_t)((ipaddr >> 8) & 0xFFu), (u32_t)((ipaddr >> 16) & 0xFFu), (u32_t)((ipaddr >> 24) & 0xFFu), (u32_t)tpcb->remote_port); + + tcp_setprio(tpcb, TCP_PRIO_MIN); // set priority + + pPcb = (struct tcp_pcb*)mem_malloc(sizeof(struct tcp_pcb)); + if(pPcb != NULL) + { + pPcb = tpcb; + + tcp_arg((struct tcp_pcb*)tpcb, (void*)pPcb); + tcp_recv((struct tcp_pcb*)tpcb, tcp_client_recv); + tcp_sent((struct tcp_pcb*)tpcb, tcp_client_sent); + tcp_poll((struct tcp_pcb*)tpcb, tcp_client_poll, 1); + + g_stTcpClientMy.cConnected = TRUE; + g_stTcpClientMy.pcb = pPcb; + g_stTcpClientMy.nRecvLen = 0; + g_stTcpClientMy.cRecvFlag = FALSE; + g_stTcpClientMy.cIsConnecting = FALSE; // 접속 시도 중 여부, 해제 + + g_nTcpDisconnectChk = 1; // 접속 후 임무처리S/W의 Heart Beat 미 수신이 5초 이상 유지되면 접속해제 + + ret_err = (err_t)ERR_OK; + } + else + { + tcp_client_connection_close(tpcb); + ret_err = ERR_MEM; + + } + } + else + { + ret_err = (err_t)ERR_OK; + } + + return ret_err; + +} + +// 수신 콜백 함수 +static err_t tcp_client_recv(void *arg, struct tcp_pcb *tpcb, struct pbuf *p, err_t err) +{ + err_t ret_err; + u32_t ipaddr; + void* Dummy; + + Dummy = arg; + + if(p == NULL) + { +#if TEST_LOG_ON + xil_printf("tcp_client_recv() - p == NULL\r\n"); +#endif + + ipaddr = tpcb->remote_ip.addr; + xil_printf("tcp_client_recv() - p == NULL() - %d.%d.%d.%d:%05d\r\n", (u32_t)(ipaddr & 0xFFu), (u32_t)((ipaddr >> 8) & 0xFFu), (u32_t)((ipaddr >> 16) & 0xFFu), (u32_t)((ipaddr >> 24) & 0xFFu), (u32_t)tpcb->remote_port); + + tcp_client_connection_close(tpcb); + + ret_err = (err_t)ERR_OK; + } + else if(err != (err_t)ERR_OK) + { +#if TEST_LOG_ON + xil_printf("tcp_client_recv() - ERR\r\n"); +#endif + if(p != NULL) + { + (void)pbuf_free(p); + } + + ret_err = err; + } + else + { + g_stTcpClientMy.cRecvFlag = TRUE; + if(p->len < (u32_t)NUM_RECV_BUF) + { + (void)memcpy((void*)&g_stTcpClientMy.szRecvData[0], (const void*)p->payload, (size_t)p->len); + } + g_stTcpClientMy.nRecvLen = p->len; + + ret_err = (err_t)ERR_OK; + } + + return (err_t)ret_err; +} + +// ACK 수신 콜백 함수 +static err_t tcp_client_sent(void *arg, struct tcp_pcb *tpcb, u16_t len) +{ + u16_t nLenDummy = len; + u32_t ipaddr; + const struct tcp_pcb *pcbDummy = tpcb; + void *Dummy; + + Dummy= arg; + + ipaddr = tpcb->remote_ip.addr; + ipaddr += 1u; + + return (err_t)ERR_OK; +} + +// poll 콜백 함수 +static err_t tcp_client_poll(void *arg, struct tcp_pcb *tpcb) +{ + err_t ret_err = (err_t)ERR_OK; + u32_t ipaddr; + void *Dummy; + + Dummy= arg; + + ipaddr = tpcb->remote_ip.addr; + ipaddr += 1u; + + LWIP_UNUSED_ARG(arg); + + u8_t i = 0u; + + struct tcp_pcb *pcbDummy = tpcb; + + return (err_t)ret_err; +} + +// client socket 종료 처리 +void tcp_client_connection_close(struct tcp_pcb* tpcb) +{ + err_t err; + u32_t ipaddr; + + m_nConDelayCnt = 0u; // 재접속 판단 카운터 초기화 + g_nBitDetailHBCnt = 0u; + g_nTcpDisconnectChk = 0u; // 접속 후 임무처리S/W의 Heart Beat 미 수신이 5초 이상 유지되면 접속해제 + + ipaddr = tpcb->remote_ip.addr; + xil_printf("tcp_client_connection_close() - %d.%d.%d.%d:%05d\r\n", (u32_t)(ipaddr & 0xFFu), (u32_t)((ipaddr >> 8) & 0xFFu), (u32_t)((ipaddr >> 16) & 0xFFu), (u32_t)((ipaddr >> 24) & 0xFFu), (u32_t)tpcb->remote_port); + + g_stTcpClientMy.cConnected = FALSE; + (void)memset((void *)g_stTcpClientMy.szRecvData, (s32_t)0, (s32_t)(NUM_RECV_BUF * sizeof(u8_t))); + g_stTcpClientMy.nRecvLen = 0u; + g_stTcpClientMy.cRecvFlag = FALSE; + g_stTcpClientMy.cIsConnecting = FALSE; + + tcp_arg(tpcb, NULL); // callback 해제 + tcp_recv(tpcb, NULL); + tcp_sent(tpcb, NULL); + tcp_poll(tpcb, NULL, 0u); + + err = tcp_close(tpcb); + if (err != (err_t)ERR_OK) + { + tcp_abort(tpcb); // Free memory with abort + } +} + + + + + + + + + + + + diff --git a/src/tcp_client.h b/src/tcp_client.h new file mode 100644 index 0000000..a1222dd --- /dev/null +++ b/src/tcp_client.h @@ -0,0 +1,45 @@ +#ifndef TCP_CLIENT_H +#define TCP_CLIENT_H + +#include "lwipopts.h" +#include "lwip/ip_addr.h" +#include "lwip/err.h" +#include "lwip/tcp.h" +#include "lwip/inet.h" +#include "xil_printf.h" +#include "eeprom.h" +#include "define.h" +#include "main.h" +#include "ctrl_module.h" + +struct TcpCliConnectPcb +{ + u8_t cConnected; // 접속 상태 확인, false일 때 재접속 시도 + struct tcp_pcb *pcb; // tcp_pcb + u8_t szRecvData[NUM_RECV_BUF]; // 수신 버퍼 + u32_t nRecvLen; // 수신 버퍼 사이즈 + u8_t cRecvFlag; // 수신 플래그 + u8_t cIsConnecting; // 접속 시도 중 여부 +}; + + +struct TcpCliConnectPcb g_stTcpClientMy; // 서버 접속용 클라이언트 +static ip_addr_t g_ipaddrMP; // 임무처리기 TCP Server IP +static u8_t m_nConDelayCnt; + +static u32_t m_nConnectCnt; +u32_t g_nTcpCliConCnt; // TCP Client가 서버에 미접속 상태일 때 접속 시도용 카운터 + +u32_t g_nTcpDisconnectCnt; // 접속 후 임무처리 S/W의 Heart Beat 미수신 5초 이상 발생 확인용 카운터 +u32_t g_nTcpDisconnectChk; // 접속 후 임무처리S/W의 Heart Beat 미 수신이 5초 이상 유지되면 접속해제 + +void InitTcpClient(void); // TCP Client 초기화 +static void tcp_client_connect(void); // TCP 서버 접속 +void ConnectToTcpServer(void); // TCP 서버 반복 접속 관리 +static err_t tcp_client_connected(void *arg, struct tcp_pcb *tpcb, err_t err); // connect 콜백 함수 +static err_t tcp_client_recv(void *arg, struct tcp_pcb *tpcb, struct pbuf *p, err_t err); // 수신 콜백 함수 +static err_t tcp_client_sent(void *arg, struct tcp_pcb *tpcb, u16_t len); // ACK 수신 콜백 함수 +static err_t tcp_client_poll(void *arg, struct tcp_pcb *tpcb); // poll 콜백 함수 +void tcp_client_connection_close(struct tcp_pcb* tpcb); // client socket 종료 처리 + +#endif diff --git a/src/tcpipcomm.c b/src/tcpipcomm.c new file mode 100644 index 0000000..0670dd6 --- /dev/null +++ b/src/tcpipcomm.c @@ -0,0 +1,290 @@ +#include "tcpipcomm.h" +#include "ctrl_module.h" + + +// 문자열 비교(strncmp에서 null 문자 시 종료되는 부분 비활성) +static u8_t strCompare(const u8_t *str1, const u8_t *str2, u8_t str2Len) +{ + u8_t i, cVal = 1; + + if(str2Len < 10u) + { + for(i = 0u ; i < str2Len ; i++) + { + if(str1[i] != str2[i]) + { + cVal = 0; // 불일치 판정 + } + } + } + + return cVal; // 일치 +} + +// 문자열 비교 초기화 운용처리기 유효한 패킷 식별 +void InitCompareMember(void) +{ + szCase[0][0] = IDC_CMD_TYPE_DEVICE_PBIT; szCase[0][1] = 0x20u; szCase[0][2] = 0x40u; // DevicePBIT_Request PBIT 요청 + szCase[1][0] = IDC_CMD_TYPE_BIT_DETAIL; szCase[1][1] = 0x20u; szCase[1][2] = 0x40u; // DeviceBITdetail_Request 장치별 세부 BIT 요청 + szCase[2][0] = IDC_CMD_TYPE_MAST_CONTROL; szCase[2][1] = 0x23u; szCase[2][2] = 0x40u; // AntMastControl_Request 안테나마스트 설정 및 제어 요청 + szCase[3][0] = IDC_CMD_TYPE_DEVICE_ERASE; szCase[3][1] = 0x20u; szCase[3][2] = 0x40u; // DeviceErase_Request 장치별 소거 요청 + szCase[4][0] = IDC_CMD_TYPE_DEVICE_POWER; szCase[4][1] = 0x21u; szCase[4][2] = 0x40u; // DevicePower_Request 장치별 전원차단 요청 + szCase[5][0] = 0xFFu; szCase[5][1] = 0xFEu; szCase[5][2] = 0x40u; // SimAlarm_Set 가상 알림 설정 + szCase[6][0] = 0xFFu; szCase[6][1] = 0xFDu; szCase[6][2] = 0x40u; // MastOrigin_Set 가상 알림 설정 + +} + +// TCP Client 수신 및 송신 처리 +void TcpClientCommProceess(void) +{ + u32_t j, nLen = 0; + + if((g_stTcpClientMy.cConnected == TRUE) && (g_stTcpClientMy.cRecvFlag == TRUE)) // 접속된 pcb와 수신 패킷 존재 여부 확인 + { + g_stTcpClientMy.cRecvFlag = FALSE; // 수신 플래그 해제 + +#if TEST_LOG_ON + + xil_printf("rec msg:"); + for(j = 0 ; j < g_stTcpClientMy.nRecvLen ; j++) + { + xil_printf("%02X", (u32_t)g_stTcpClientMy.szRecvData[j]); + } + xil_printf(" [%d]\r\n", g_stTcpClientMy.nRecvLen); +#endif + + while(g_stTcpClientMy.nRecvLen >= (u32_t)MIN_TCP_SER_RCV_LEN) // 완성된 패킷 최소 사이즈보다 크거나 같을 경우 수신 처리 + { + if(strCompare((const u8_t*)szCase[0], (const u8_t*)g_stTcpClientMy.szRecvData, (u8_t)LEN_COMPARE) == 1u) // 01. DevicePBIT_Request 장치별 PBIT 요청 + { + nLen = LEN_DEVICE_PBIT_REQ; + g_cMastPeriodSendCmd = TCP_CMD_PERIOD_REPORT_START; // 1회 수신 시 전송 시작(전송 중지 없음) + + FuncAntMastPBITRes((const u8_t *)g_stTcpClientMy.szRecvData); // 01. AntMastPBIT_Response 응답 처리 + } + else if(strCompare((const u8_t*)szCase[1], (const u8_t*)g_stTcpClientMy.szRecvData, (u8_t)LEN_COMPARE) == 1u) // 02. DeviceBITdetail_Request 장치별 세부 BIT 요청 + { + nLen = LEN_DEVICE_BIT_DETAIL_REQ; + + if((g_stTcpClientMy.szRecvData[11] == 0x40u) && (g_stTcpClientMy.szRecvData[12] == 0x00u)) // 장치 확인 0x0040(B/E) → 0x4000(L/E) Device(2Byte) 0x0040(Bit6 High) + { + FuncAntMastBITdetailRes((const u8_t *)g_stTcpClientMy.szRecvData); // 02. AntMastBITdetail_Response 응답 처리 + } + } + else if(strCompare((const u8_t*)szCase[2], (const u8_t*)g_stTcpClientMy.szRecvData, (u8_t)LEN_COMPARE) == 1u) // 03. AntMastControl_Request 안테나마스트 설정 및 제어 요청 + { + nLen = LEN_ANT_MAST_CONTROL_REQ; + + g_cOverCurrFlag = 0u; + + g_cMastRcvCmd = g_stTcpClientMy.szRecvData[10]; // Control(1) 0x11: 사용자 입력, 0x10: 연속 상승, 0x01: 연속 하강, 0x00: 중지 + + if(g_cMastRcvCmd == (u8_t)CMD_MOTOR_USER_INPUT) // 유저 입력값이 있는 경우 + { + nLen += (u32_t)4; // 수신길이 증가 + g_nSetMastHeight = (u32_t)g_stTcpClientMy.szRecvData[14] << 24; // Little Endian 을 Big Endian로 + g_nSetMastHeight += (u32_t)g_stTcpClientMy.szRecvData[13] << 16; + g_nSetMastHeight += (u32_t)g_stTcpClientMy.szRecvData[12] << 8; + g_nSetMastHeight += g_stTcpClientMy.szRecvData[11]; // 목표 높이값 적용 +#if DEBUG_CTRL_MODULE + xil_printf("g_nSetMastHeight:%d\r\n", (u32_t)g_nSetMastHeight); +#endif + } + else + { + g_nSetMastHeight = 0; + } + + SetMotor(g_cMastRcvCmd); // Motor Up/Down/Stop 구동 제어 + + FuncAntMastControlRes((const u8_t *)g_stTcpClientMy.szRecvData); // 03. AntMastControl_Response 응답 처리 + } + else if(strCompare((const u8_t*)szCase[4], (const u8_t*)g_stTcpClientMy.szRecvData, (u8_t)LEN_COMPARE) == 1u) // 05. DevicePower_Request 장치별 전원차단 요청 + { + nLen = LEN_DEVICE_POWER_REQ; + + if(g_stTcpClientMy.szRecvData[11] == 0xA0u) // Unit 확인, 0xA0:안테나마스트 + { + FuncAntMastPowerRes((const u8_t *)g_stTcpClientMy.szRecvData); // 05. AntMastPower_Response 응답 처리 + } + } + else + { + g_stTcpClientMy.nRecvLen = 0; // while loop 빠져나가기 위한 처리 + } + + if(nLen > 0u) + { + g_stTcpClientMy.nRecvLen -= nLen; // 사용한 길이 제거 + (void)memcpy((void*)&g_stTcpClientMy.szRecvData[0], (const void*)(&g_stTcpClientMy.szRecvData[nLen]), (size_t)g_stTcpClientMy.nRecvLen); // 사용한 패킷 제거 + } + nLen = 0; + } + + (void)memset((void *)g_stTcpClientMy.szRecvData, (s32_t)0, (s32_t)NUM_RECV_BUF); // 남은 패킷이 있다면 제거 + g_stTcpClientMy.nRecvLen = 0; + } +} + +// 01.AntMastPBIT_Response 응답 처리 +static void FuncAntMastPBITRes(const uint8_t *pszData) +{ + u32_t i = 0, j; + u8_t szBuf[LEN_DEVICE_PBIT_REQ + 2 + ARR_BUF_MARGIN]; + u8_t cData = 0; + + (void)memset((void *)szBuf, (s32_t)0, (s32_t)(sizeof(szBuf))); + + szBuf[i++] = IDC_CMD_TYPE_DEVICE_PBIT; // Type + szBuf[i++] = 0x35u; // ID + szBuf[i++] = ICD_CMD_UNIT_MP; // Sour + szBuf[i++] = ICD_CMD_UNIT_MAST; // Dest + szBuf[i++] = (u8_t)g_cSn; // SN + g_cSn += (u8_t)1; + szBuf[i++] = ICD_CMD_TM_TCP; // TM + szBuf[i++] = 0x02u; // Length + szBuf[i++] = 0x00u; // Length + szBuf[i++] = 0x00u; // Length + szBuf[i++] = 0x00u; // Length + + if(g_cEncoderErrFlag == 1u) // 엔코더 상태 + { + szBuf[i++] = 0x0Au; // Function 안테나마스트 확장/수축 0x02, 운용참조 0x08 = 00001010b = 0x0A + szBuf[i++] = 0x05u; // Device 안테나마스트 Bit0: 1, 통신 Bit1: 0, 하부참조 Bit2: 1 = 0x05 + } + else + { + szBuf[i++] = 0x00u; + szBuf[i++] = 0x00u; + } + + struct pbuf *p = NULL; + p = pbuf_alloc(PBUF_TRANSPORT, (u16_t)i, PBUF_POOL); + if(p != NULL) + { + p->payload = szBuf; + p->len = (u16_t)i; + (void)tcp_write((struct tcp_pcb*)g_stTcpClientMy.pcb, (const void*)p->payload, (u16_t)p->len, (u8_t)1); + (void)pbuf_free(p); + } + szBuf[0] = pszData[0]; +} + +// 02.AntMastBITdetail_Response 응답 처리 +static void FuncAntMastBITdetailRes(const uint8_t *pszData) +{ + u32_t i = 0, j; + u8_t szBuf[LEN_DEVICE_BIT_DETAIL_REQ + 1 + ARR_BUF_MARGIN]; + + (void)memset((void *)szBuf, (s32_t)0, (s32_t)(sizeof(szBuf))); + + szBuf[i++] = IDC_CMD_TYPE_BIT_DETAIL; // Type + szBuf[i++] = 0x35u; // ID + szBuf[i++] = ICD_CMD_UNIT_MP; // Sour + szBuf[i++] = ICD_CMD_UNIT_MAST; // Dest + szBuf[i++] = (u8_t)g_cSn; // SN + g_cSn += (u8_t)1; + szBuf[i++] = ICD_CMD_TM_TCP; // TM + szBuf[i++] = 0x02u; // Length + szBuf[i++] = 0x00u; // Length + szBuf[i++] = 0x00u; // Length + szBuf[i++] = 0x00u; // Length + + szBuf[i++] = pszData[10]; // 0x00(PBIT), 0x40(CBIT) + + szBuf[i++] = g_cBitDetail; // BIT Detail Bit 3 : 모터과전류 Bit 2 : 높이값 표시용 엔코더 체크, Bit 1 : 마스트 구동 체크, Bit 0 : 안테나마스트-임무통제기 통신 수신 미발생(0)/발생(1) + + struct pbuf *p = NULL; + p = pbuf_alloc(PBUF_TRANSPORT, (u16_t)i, PBUF_POOL); + if(p != NULL) + { + p->payload = szBuf; + p->len = (u16_t)i; + (void)tcp_write((struct tcp_pcb*)g_stTcpClientMy.pcb, (const void*)p->payload, (u16_t)p->len, (u8_t)1); + (void)pbuf_free(p); + } + szBuf[0] = pszData[0]; +} + +// 03.AntMastControl_Response 응답 처리 +static void FuncAntMastControlRes(const uint8_t *pszData) +{ + u32_t i = 0, j; + u8_t szBuf[LEN_ANT_MAST_CONTROL_REQ + 4 + ARR_BUF_MARGIN]; + + (void)memset((void *)szBuf, (s32_t)0, (s32_t)(sizeof(szBuf))); + + szBuf[i++] = IDC_CMD_TYPE_MAST_CONTROL; // Type + szBuf[i++] = 0x33u; // ID + szBuf[i++] = ICD_CMD_UNIT_MP; // Sour + szBuf[i++] = ICD_CMD_UNIT_MAST; // Dest + szBuf[i++] = (u8_t)g_cSn; // SN + g_cSn += (u8_t)1; + szBuf[i++] = ICD_CMD_TM_TCP; // TM + if(g_cMastRcvCmd != (u8_t)CMD_MOTOR_USER_INPUT) // 유저 입력값이 없는 경우 + { + szBuf[i++] = 0x01u; // Length + szBuf[i++] = 0x00u; // Length + szBuf[i++] = 0x00u; // Length + szBuf[i++] = 0x00u; // Length + szBuf[i++] = g_cMastRcvCmd; // Control(1) 0xC0: 사용자 입력, 0x80: 연속 상승, 0x40: 연속 하강, 0x00: 중지 + } + else + { + szBuf[i++] = 0x05u; // Length + szBuf[i++] = 0x00u; // Length + szBuf[i++] = 0x00u; // Length + szBuf[i++] = 0x00u; // Length + szBuf[i++] = g_cMastRcvCmd; // Control(1) 0xC0: 사용자 입력, 0x80: 연속 상승, 0x40: 연속 하강, 0x00: 중지 + + szBuf[i++] = (u8_t)g_nSetMastHeight & 0xFFu; // Little Endian 처리, 설정 높이값 입력 + szBuf[i++] = (u8_t)(g_nSetMastHeight >> 8) & 0xFFu; + szBuf[i++] = (u8_t)(g_nSetMastHeight >> 16) & 0xFFu; + szBuf[i++] = (u8_t)(g_nSetMastHeight >> 24) & 0xFFu; + } + + struct pbuf *p = NULL; + p = pbuf_alloc(PBUF_TRANSPORT, (u16_t)i, PBUF_POOL); + /* MISRA C Dir 4.11 : 송신 버퍼 유효성 검사*/ + if(p != NULL) + { + p->payload = szBuf; + p->len = (u16_t)i; + (void)tcp_write((struct tcp_pcb*)g_stTcpClientMy.pcb, (const void*)p->payload, (u16_t)p->len, (u8_t)1); + (void)pbuf_free(p); + } + szBuf[0] = pszData[0]; +} + +// 05. AntMastPower_Response 응답 처리 +static void FuncAntMastPowerRes(const uint8_t *pszData) +{ + u32_t i = 0, j; + u8_t szBuf[LEN_DEVICE_POWER_REQ + ARR_BUF_MARGIN]; + + (void)memset((void *)szBuf, (s32_t)0, (s32_t)(sizeof(szBuf))); + + szBuf[i++] = IDC_CMD_TYPE_DEVICE_POWER; // Type + szBuf[i++] = 0x31u; // ID + szBuf[i++] = ICD_CMD_UNIT_MP; // Sour + szBuf[i++] = ICD_CMD_UNIT_MAST; // Dest + szBuf[i++] = (u8_t)g_cSn; // SN + g_cSn += (u8_t)1; + szBuf[i++] = ICD_CMD_TM_TCP; // TM + szBuf[i++] = 0x01u; // Length + szBuf[i++] = 0x00u; // Length + szBuf[i++] = 0x00u; // Length + szBuf[i++] = 0x00u; // Length + szBuf[i++] = pszData[10]; // Control 1Byte + + struct pbuf *p = NULL; + p = pbuf_alloc(PBUF_TRANSPORT, (u16_t)i, PBUF_POOL); + if(p != NULL) + { + p->payload = (void*)szBuf; + p->len = (u16_t)i; + (void)tcp_write((struct tcp_pcb*)g_stTcpClientMy.pcb, (const void*)p->payload, (u16_t)p->len, (u8_t)1u); + (void)pbuf_free(p); + } + szBuf[0] = pszData[0]; +} diff --git a/src/tcpipcomm.h b/src/tcpipcomm.h new file mode 100644 index 0000000..1a6397f --- /dev/null +++ b/src/tcpipcomm.h @@ -0,0 +1,21 @@ +#ifndef TCPIP_COMM_H +#define TCPIP_COMM_H + +#include "define.h" +#include "tcp_client.h" + + +static u8_t g_cSn; // 응답패킷 송신 카운터 +u8_t szCase[7][3]; // 문자열 비교 배열 + +static u8_t strCompare(const uint8_t *str1, const uint8_t *str2, uint8_t str2Len); // 문자열 비교(strncmp에서 null 문자 시 종료되는 부분 비활성) +void InitCompareMember(void); // 문자열 비교 초기화 +void TcpClientCommProceess(void); // TCP Client 수신 및 송신 처리 + +// TCP 서버의 Client 응답 +static void FuncAntMastPBITRes(const uint8_t *pszData); // 01. AntMastPBIT_Response 응답 처리 +static void FuncAntMastBITdetailRes(const uint8_t *pszData); // 02. AntMastBITdetail_Response 응답 처리 +static void FuncAntMastControlRes(const uint8_t *pszData); // 03. AntMastControl_Response 응답 처리 +static void FuncAntMastPowerRes(const uint8_t *pszData); // 05. AntMastPower_Response 응답 처리 + +#endif // TCPIP_COMM_H diff --git a/src/udp_client.c b/src/udp_client.c new file mode 100644 index 0000000..cf220eb --- /dev/null +++ b/src/udp_client.c @@ -0,0 +1,293 @@ +#include "udp_client.h" + +// UDP Server 초기화 +void InitUdpServer(void) +{ + s8_t err; + ip_addr_t addr; + + + InitUdpClientMember(); // UDP Client 구조체 초기화 + + /* Create Client PCB */ + g_stUdpCliPcb.pcb = udp_new(); + if(g_stUdpCliPcb.pcb != NULL) + { + err = udp_bind(g_stUdpCliPcb.pcb, IP_ADDR_ANY, UDP_MY_PORT); + + if(err == (s8_t)ERR_OK) + { + xil_printf("udp server binding ok\n"); + udp_recv(g_stUdpCliPcb.pcb, udp_server_receive_callback, NULL); + + IP_ADDR4(&addr, UDP_SERVER_IP_ADDR1, UDP_SERVER_IP_ADDR2, UDP_SERVER_IP_ADDR3, UDP_SERVER_IP_ADDR4); // 임무 IP + g_stUdpCliPcb.pcb->remote_ip.addr = addr.addr; // 송신처 정보 확인 + g_stUdpCliPcb.pcb->remote_port = 61202; // 51271 + } + else + { +#if DEBUG_COVER + xil_printf("udp server binding error\n"); +#endif + } + } +} + +static void udp_server_receive_callback(void *arg, struct udp_pcb *upcb, struct pbuf *p, ip_addr_t *addr, u16_t port) +{ + uint8_t i; + u8_t szBuff[100]; + void *Dummy; + struct udp_pcb* pDummyPcb; + ip_addr_t* pDummyAddr; + u16_t DummyPort; + + Dummy = arg; + pDummyPcb = upcb; + pDummyAddr = addr; + DummyPort = port; + DummyPort++; + + +#if TEST_LOG_ON_UDP + xil_printf("udp recv:%s:%d\r\n", ip4addr_ntoa((const ip_addr_t *)addr), port); +#endif + + if(p->len < 100u) + { + (void)memcpy((void*)szBuff, (const void*)(p->payload), (size_t)p->len); + + if((szBuff[0] == 0x92u) && (szBuff[1] == 0x10u) && (szBuff[2] == 0x40u) && (szBuff[3] == 0x61u)) // 임무처리기 Heart Beat 수신 여부 검사 + { + m_cRecvHBFromMP = 1; + + g_nBitDetailHBCnt = 0; // 카운터 초기화 + g_cBitDetailHBErr = 0; // Heart Beat 수신 On 판정(정상) + + g_nTcpDisconnectCnt = 0; // 카운터 초기화, 접속 후 임무처리 S/W의 Heart Beat 미수신 5초 이상 발생 확인용 카운터 + g_nTcpDisconnectChk = 1; // 접속 유지, 접속 후 임무처리S/W의 Heart Beat 미 수신이 5초 이상 유지되면 접속해제 + } + } + + (void)pbuf_free(p); /* Free the p buffer */ +} + +// UDP Client 구조체 초기화 +static void InitUdpClientMember(void) +{ + m_cRecvHBFromMP = 1; + g_cBitDetailHBErr = 0; + + g_unUdpServerPort = UDP_SERVER_PORT; + + g_stUdpCliPcb.nRecvLen = 0; + (void)memset((void*)g_stUdpCliPcb.szRecvData, (s32_t)0, (size_t)(NUM_RECV_BUF * sizeof(u8_t))); + g_stUdpCliPcb.cRecvFlag = FALSE; +} + +// UDP 통신 처리 +void UdpCommProcess(void) +{ + UdpCommPeriod(); // UDP 주기적인 통신 처리 + + if(g_nBitDetailHBCnt > TIMER_SEC3) + { + g_nBitDetailHBCnt = 0; // 카운터 초기화 + g_cBitDetailHBErr = 1; // Heart Beat 수신 오류 판정 + } + if(g_nTcpDisconnectCnt > TIMER_SEC10) + { + g_nTcpDisconnectCnt = 0; + g_nTcpDisconnectChk = 0; // 접속 해제, 접속 후 임무처리S/W의 Heart Beat 미 수신이 5초 이상 유지되면 접속해제 + + if(g_stTcpClientMy.cConnected == TRUE) + { + tcp_client_connection_close(g_stTcpClientMy.pcb); + } + } +} + +// UDP 주기적인 통신 처리 +static void UdpCommPeriod(void) +{ + if(g_nReportCnt > TIMER_MSEC333) // main() - makeTiming() + { + g_nReportCnt = 0u; + + if(m_cReportIdx == 0u) + { + m_cReportIdx++; + if(m_cRecvHBFromMP == 1u) // 임무처리기 Heart Beat 수신되면 응답 시작 + { + if(g_cMastPeriodSendCmd == TCP_CMD_PERIOD_REPORT_START) + { + FuncAntMastStatusReport(); // 안테나 마스트 상태 보고 송신 + } + } + } + else if(m_cReportIdx == 1u) + { + m_cReportIdx++; + if(m_cRecvHBFromMP == 1u) // 임무처리기 Heart Beat 수신되면 응답 시작 + { + if(g_cMastPeriodSendCmd == TCP_CMD_PERIOD_REPORT_START) + { + FuncAntMastCBitReport(); // 안테나 마스트 CBIT 보고 송신 + } + } + } + else// if(m_cReportIdx == 2u) // 전원 공급 시 상시 전송 + { + m_cReportIdx = 0u; + FuncHeartBeatData(); // LAN 연결성 확인 데이터 + } + } +} + +// 안테나 마스트 상태 보고 송신 +static void FuncAntMastStatusReport(void) +{ + u32_t i = 0; + u8_t szBuf[LEN_ANT_MAST_STATUS_REPORT + ARR_BUF_MARGIN]; + struct pbuf *p = NULL; + + (void)memset((void*)szBuf, (s32_t)0, (size_t)(sizeof(szBuf))); + + szBuf[i++] = IDC_CMD_TYPE_STATUS_REPORT; // Type + szBuf[i++] = 0x04u; // ID + szBuf[i++] = ICD_CMD_UNIT_MP; // Sour + szBuf[i++] = ICD_CMD_UNIT_MAST; // Dest + szBuf[i++] = (u8_t)g_cSn; // SN + g_cSn += (u8_t)1; + szBuf[i++] = IDC_CMD_TM_UDP; // TM + szBuf[i++] = 0x05u; // Length + szBuf[i++] = 0x00u; // Length + szBuf[i++] = 0x00u; // Length + szBuf[i++] = 0x00u; // Length + + if(g_cMastRcvCmd == 0x00u) + { + szBuf[i++] = 0x00u; // 안테나마스트 대기 중 + } + else + { + szBuf[i++] = 0x40u; // 안테나마스트 동작 중 + } + + szBuf[i++] = (u8_t)g_nMastCurrHeight & 0xFFu; // 현재 높이값 입력 + szBuf[i++] = (u8_t)(g_nMastCurrHeight >> 8) & 0xFFu; // 현재 높이값 입력 + szBuf[i++] = (u8_t)(g_nMastCurrHeight >> 16) & 0xFFu; // 현재 높이값 입력 + szBuf[i++] = (u8_t)(g_nMastCurrHeight >> 24) & 0xFFu; // 현재 높이값 입력 + + p = pbuf_alloc(PBUF_TRANSPORT, (u16_t)i, PBUF_POOL); + if(p != NULL) + { + (void)pbuf_take((struct pbuf*)p, (const void*)(u8_t*)szBuf, (u16_t)i); + (void)udp_sendto((struct udp_pcb*)g_stUdpCliPcb.pcb, (struct pbuf*)p, (const ip_addr_t*)&g_stUdpCliPcb.pcb->remote_ip, (u16_t)g_stUdpCliPcb.pcb->remote_port); + (void)pbuf_free(p); + } + else + { +#if DEBUG_COVER + xil_printf("error allocating pbuf to send\r\n"); +#endif + } +} + +// 안테나 마스트 CBIT 보고 송신 +static void FuncAntMastCBitReport(void) +{ + u32_t i = 0; + u8_t szBuf[LEN_ANT_MAST_CBIT_REPORT + ARR_BUF_MARGIN]; + u8_t cData = 0; + struct pbuf *p = NULL; + + (void)memset((void*)szBuf, (s32_t)0, (size_t)(sizeof(szBuf))); + + szBuf[i++] = IDC_CMD_TYPE_CBIT_REPORT; // Type + szBuf[i++] = 0x05u; // ID + szBuf[i++] = ICD_CMD_UNIT_MP; // Sour + szBuf[i++] = ICD_CMD_UNIT_MAST; // Dest + szBuf[i++] = (u8_t)g_cSn; // SN + g_cSn += (u8_t)1; + szBuf[i++] = IDC_CMD_TM_UDP; // TM + szBuf[i++] = 0x02u; // Length + szBuf[i++] = 0x00u; // Length + szBuf[i++] = 0x00u; // Length + szBuf[i++] = 0x00u; // Length + + if((g_cBitDetailHBErr == 1u) || (g_cEncoderErrFlag == 1u)) // 최우선 조건: 통신 에러 또는 엔코더 에러 + { + szBuf[i++] = 0x0Au; // Function 안테나마스트 확장/수축 0x02, 운용참조 0x08 = 00001010b = 0x0A + + if(g_cBitDetailHBErr == 1u) // 통신 에러 + { + szBuf[i++] = 0x07u; // Device 안테나마스트 Bit0: 1, 통신 Bit1: 1, 하부참조 Bit2: 1 = 0x05 + } + else + { + szBuf[i++] = 0x05u; // Device 안테나마스트 Bit0: 1, 통신 Bit1: 0, 하부참조 Bit2: 1 = 0x05 + } + } + else if(g_cOverCurrFlag == 1u) + { + szBuf[i++] = 0x05u; // Function 안테나마스트 확장/수축 0x02, 운용참조 0x08 = 00001010b = 0x0A + szBuf[i++] = 0x05u; // Device 안테나마스트 Bit0: 1, 통신 Bit1: 0, 하부참조 Bit2: 1 = 0x05 + } + else + { + szBuf[i++] = 0x00u; + szBuf[i++] = 0x00u; + } + + p = pbuf_alloc(PBUF_TRANSPORT, (u16_t)i, PBUF_POOL); + if(p != NULL) + { + (void)pbuf_take((struct pbuf*)p, (const void*)(u8_t*)szBuf, (u16_t)i); + (void)udp_sendto((struct udp_pcb*)g_stUdpCliPcb.pcb, (struct pbuf*)p, (const ip_addr_t*)&g_stUdpCliPcb.pcb->remote_ip, (u16_t)g_stUdpCliPcb.pcb->remote_port); + (void)pbuf_free(p); + } + else + { +#if DEBUG_COVER + xil_printf("error allocating pbuf to send\r\n"); +#endif + } +} + +// LAN 연결성 확인 데이터 +static void FuncHeartBeatData(void) +{ + u32_t i = 0; + u8_t szBuf[LEN_HEART_BEAT_DATA + ARR_BUF_MARGIN]; + struct pbuf *p = NULL; + + (void)memset((void*)szBuf, (s32_t)0, (size_t)(sizeof(szBuf))); + + szBuf[i++] = IDC_CMD_TYPE_HEART_BEAT; // Type + szBuf[i++] = 0x10u; // ID + szBuf[i++] = ICD_CMD_UNIT_MP; // Sour + szBuf[i++] = ICD_CMD_UNIT_MAST; // Dest + szBuf[i++] = (u8_t)g_cSn; // SN + g_cSn += (u8_t)1; + szBuf[i++] = IDC_CMD_TM_UDP; // TM + szBuf[i++] = 0x01u; // Length + szBuf[i++] = 0x00u; // Length + szBuf[i++] = 0x00u; // Length + szBuf[i++] = 0x00u; // Length + szBuf[i++] = 0x00u; // Reserved + + p = pbuf_alloc(PBUF_TRANSPORT, (u16_t)i, PBUF_POOL); + if(p != NULL) + { + (void)pbuf_take((struct pbuf*)p, (const void*)(u8_t*)szBuf, (u16_t)i); + (void)udp_sendto((struct udp_pcb*)g_stUdpCliPcb.pcb, (struct pbuf*)p, (const ip_addr_t*)&g_stUdpCliPcb.pcb->remote_ip, (u16_t)g_stUdpCliPcb.pcb->remote_port); + (void)pbuf_free(p); + } + else + { +#if DEBUG_COVER + xil_printf("error allocating pbuf to send\r\n"); +#endif + } +} diff --git a/src/udp_client.h b/src/udp_client.h new file mode 100644 index 0000000..9cc593d --- /dev/null +++ b/src/udp_client.h @@ -0,0 +1,46 @@ +#ifndef UDP_CLIENT_H +#define UDP_CLIENT_H + +#include "lwipopts.h" +#include "xlwipconfig.h" +#include "lwip/ip_addr.h" +#include "lwip/err.h" +#include "lwip/udp.h" +#include "lwip/inet.h" +#include "xil_printf.h" +#include "platform.h" +#include +#include "ctrl_module.h" +#include "tcpipcomm.h" + +#include "define.h" + +struct ClientUdpPcb +{ + struct udp_pcb *pcb; // udp_pcb + u8_t szRecvData[NUM_RECV_BUF]; // 수신 버퍼 + u32_t nRecvLen; // 수신 버퍼 사이즈 + u8_t cRecvFlag; // 수신 플래그 +} ; + +static struct ClientUdpPcb g_stUdpCliPcb; // UDP서버에 접속하는 클라이언트 처리 + +u32_t g_nReportCnt; // udp_client에서 사용, static 선언하면 안됨 + +static u16_t g_unUdpServerPort; // UDP Server Port +static u8_t m_cReportIdx = 0; // Report 2개 교차 송신용 +static u8_t m_cRecvHBFromMP = 0; // 임무처리기로부터 Heart Beat 수신 여부 + + +void InitUdpServer(void); +static void udp_server_receive_callback(void *arg, struct udp_pcb *upcb, struct pbuf *p, ip_addr_t *addr, u16_t port); + +static void InitUdpClientMember(void); // UDP Client 구조체 초기화 +void UdpCommProcess(void); // UDP 통신 처리 +static void UdpCommPeriod(void); // UDP 주기적인 통신 처리 + +static void FuncAntMastStatusReport(void); // 안테나 마스트 상태 보고 송신 +static void FuncAntMastCBitReport(void); // 안테나 마스트 CBIT 보고 송신 +static void FuncHeartBeatData(void); // LAN 연결성 확인 데이터 + +#endif // UDP_CLIENT_H