Fixes to PIC32 USB driver and LPC17xx CAN driver

git-svn-id: https://nuttx.svn.sourceforge.net/svnroot/nuttx/trunk@4316 7fd9a85b-ad96-42d3-883c-3090e2eb8679

nuttx/arch/arm/src/lpc17xx/lpc17_can.c

@@ -151,7 +151,7 @@
 #  define CONFIG_CAN_TSEG2 7
 #endif
 
-#define CAN_BIT_QUANTA (CONFIG_CAN_TSEG1 + CONFIG_CAN_TSEG2 + 3)
+#define CAN_BIT_QUANTA (CONFIG_CAN_TSEG1 + CONFIG_CAN_TSEG2 + 1)
 
 /* Debug ********************************************************************/
 /* Non-standard debug that may be enabled just for testing CAN */
@@ -1070,7 +1070,7 @@ static int can12_interrupt(int irq, void *context)
  *
  *  |<----------------- NOMINAL BIT TIME ----------------->|
  *  |<- SYNC_SEG ->|<------ BS1 ------>|<------ BS2 ------>|
- *  |<--- 3*Tq --->|<----- Tbs1 ------>|<----- Tbs2 ------>|
+ *  |<---- Tq ---->|<----- Tbs1 ------>|<----- Tbs2 ------>|
  *
  * Where
  *   Tbs1 is the duration of the BS1 segment
@@ -1080,7 +1080,7 @@ static int can12_interrupt(int irq, void *context)
  * Relationships:
  *
  *   baud = 1 / bit_time
- *   bit_time = 3*Tq + Tbs1 + Tbs2
+ *   bit_time = Tq + Tbs1 + Tbs2
  *   Tbs1 = Tq * ts1
  *   Tbs2 = Tq * ts2
  *   Tq = brp * Tcan
@@ -1108,14 +1108,14 @@ static int can_bittiming(struct up_dev_s *priv)
   canllvdbg("CAN%d PCLK: %d baud: %d\n", priv->port,
             CAN_CLOCK_FREQUENCY(priv->divisor), priv->baud);
 
-  /* Try to get CAN_BIT_QUANTA  quanta in one bit_time.
+  /* Try to get CAN_BIT_QUANTA quanta in one bit_time.
    *
-   *   bit_time = Tq*(3 + ts1 + ts2)
+   *   bit_time = Tq*(ts1 + ts2 + 1)
    *   nquanta  = bit_time/Tq
    *   Tq       = brp * Tcan
-   *   nquanta  = (3 + ts1 + ts2)
+   *   nquanta  = (ts1 + ts2 + 1)
    *
-   *   bit_time = brp * Tcan * (3 + ts1 + ts2)
+   *   bit_time = brp * Tcan * (ts1 + ts2 + 1)
    *   nquanta  = bit_time / brp / Tcan
    *   brp      = Fcan / baud / nquanta;
    *
@@ -1135,7 +1135,7 @@ static int can_bittiming(struct up_dev_s *priv)
       /* In this case, we have to guess a good value for ts1 and ts2 */
 
       ts1 = (nclks - 1) >> 1;
-      ts2 = nclks - ts1 - 3;
+      ts2 = nclks - ts1 - 1;
       if (ts1 == ts2 && ts1 > 1 && ts2 < CAN_BTR_TSEG2_MAX)
         {
           ts1--;

nuttx/arch/mips/src/pic32mx/pic32mx-usbdev.c

@@ -338,6 +338,7 @@ union wb_u
 struct pic32mx_req_s
 {
   struct usbdev_req_s   req;           /* Standard USB request */
+  uint16_t              inflight;      /* The number of bytes "in-flight" */
   struct pic32mx_req_s *flink;         /* Supports a singly linked list */
 };
 
@@ -422,7 +423,11 @@ static inline void
                 struct pic32mx_req_s *privreq, int16_t result);
 static void   pic32mx_reqcomplete(struct pic32mx_ep_s *privep, int16_t result);
 static void   pic32mx_epwrite(struct pic32mx_ep_s *privep,
-                const uint8_t *src, uint32_t nbytes);
+                const uint8_t *src, uint32_t nbytes, bool toggle);
+static void   pic32mx_wrcomplete(struct pic32mx_usbdev_s *priv,
+                struct pic32mx_ep_s *privep);
+static void   pic32mx_wrrestart(struct pic32mx_usbdev_s *priv,
+                struct pic32mx_ep_s *privep);
 static int    pic32mx_wrrequest(struct pic32mx_usbdev_s *priv,
                 struct pic32mx_ep_s *privep);
 static int    pic32mx_rdcomplete(struct pic32mx_usbdev_s *priv,
@@ -732,8 +737,8 @@ static void pic32mx_reqcomplete(struct pic32mx_ep_s *privep, int16_t result)
  * Name: pic32mx_epwrite
  ****************************************************************************/
 
-static void pic32mx_epwrite(struct pic32mx_ep_s *privep,
-                            const uint8_t *src, uint32_t nbytes)
+static void pic32mx_epwrite(struct pic32mx_ep_s *privep, const uint8_t *src,
+                            uint32_t nbytes, bool toggle)
 {
   volatile struct usbotg_bdtentry_s *bdt = privep->bdtin;
   uint32_t status;
@@ -742,9 +747,23 @@ static void pic32mx_epwrite(struct pic32mx_ep_s *privep,
 
   /* Clear status and toggle the DTS bit if required */
 
+#ifdef CONFIG_USB_PINGPONG
+  /*  Clear all bits in the status but preserve the data toggle bit */
+
   status = bdt->status & USB_BDT_DATA01;
-#ifndef CONFIG_USB_PINGPONG
-  status ^= USB_BDT_DATA01;
+#else
+  if (toggle)
+    {
+      /* Clear all bits in the status but toggle DATA0/1 */
+
+      status = (bdt->status & USB_BDT_DATA01) ^ USB_BDT_DATA01;
+    }
+  else
+    {
+      /* Clear all bits in the status but set DATA1 */
+
+      status = USB_BDT_DATA1;
+    }
 #endif
   bdt->status = status;
 
@@ -780,6 +799,85 @@ static void pic32mx_epwrite(struct pic32mx_ep_s *privep,
   privep->txbusy = true;
 }
 
+/****************************************************************************
+ * Name: pic32mx_wrcomplete
+ ****************************************************************************/
+
+static void pic32mx_wrcomplete(struct pic32mx_usbdev_s *priv,
+                               struct pic32mx_ep_s *privep)
+{
+  struct pic32mx_req_s *privreq;
+  int bytesleft;
+
+  /* Check the request from the head of the endpoint request queue.  Since
+   * we got here from a write completion event, the request queue should
+   * be non-NULL.
+   */
+
+  privreq = pic32mx_rqpeek(privep);
+  if (privreq != NULL)
+    {
+      /* An outgoing IN packet has completed. Update the number of bytes
+       * transferred.
+       */
+   
+      privreq->req.xfrd += privreq->inflight;
+      privreq->inflight  = 0;
+      bytesleft          = privreq->req.len - privreq->req.xfrd;
+
+      /* If all of the bytes were sent (bytesleft == 0) and no NULL packet is
+       * needed (!txnullpkt), then we are finished with the transfer
+       */
+
+      if (bytesleft == 0 && !privep->txnullpkt)
+        {
+
+          /* The transfer is complete.  Give the completed request back to
+           * the class driver.
+          */
+
+          usbtrace(TRACE_COMPLETE(USB_EPNO(privep->ep.eplog)), privreq->req.xfrd);
+          pic32mx_reqcomplete(privep, OK);
+
+          /* Special case writes to endpoint zero.  If there is no transfer in
+           * progress, then we need to configure to received the next SETUP packet.
+          */
+
+          if (USB_EPNO(privep->ep.eplog) == 0)
+            {
+              priv->ctrlstate = CTRLSTATE_WAITSETUP;
+            }
+        }
+    }
+}
+
+/****************************************************************************
+ * Name: pic32mx_wrrestart
+ ****************************************************************************/
+
+static void pic32mx_wrrestart(struct pic32mx_usbdev_s *priv,
+                              struct pic32mx_ep_s *privep)
+{
+  struct pic32mx_req_s *privreq;
+
+  /* Reset some endpoint state variables */
+
+  privep->txnullpkt = false;
+  privep->txbusy    = false;
+
+  /* Check the request from the head of the endpoint request queue */
+
+  privreq = pic32mx_rqpeek(privep);
+  if (!privreq)
+    {
+      /* Restart transmission after we have recovered from a stall */
+
+      privreq->req.xfrd = 0;
+      privreq->inflight = 0;
+      (void)pic32mx_wrrequest(priv, privep);
+    }
+}
+
 /****************************************************************************
  * Name: pic32mx_wrrequest
  ****************************************************************************/
@@ -829,8 +927,8 @@ static int pic32mx_wrrequest(struct pic32mx_usbdev_s *priv, struct pic32mx_ep_s
 
   /* Get the number of bytes left to be sent in the packet */
 
-  bytesleft         = privreq->req.len - privreq->req.xfrd;
-  nbytes            = bytesleft;
+  bytesleft = privreq->req.len - privreq->req.xfrd;
+  nbytes    = bytesleft;
 
   /* Send the next packet */
 
@@ -864,7 +962,7 @@ static int pic32mx_wrrequest(struct pic32mx_usbdev_s *priv, struct pic32mx_ep_s
 
   /* Setup the writes to the endpoints */
 
-  pic32mx_epwrite(privep, buf, nbytes);
+  pic32mx_epwrite(privep, buf, nbytes, privreq->req.xfrd > 0);
 
   /* Special case endpoint 0 state information.  The write request is in
    * progress.
@@ -877,29 +975,7 @@ static int pic32mx_wrrequest(struct pic32mx_usbdev_s *priv, struct pic32mx_ep_s
 
   /* Update for the next data IN interrupt */
 
-  privreq->req.xfrd += nbytes;
-  bytesleft          = privreq->req.len - privreq->req.xfrd;
-
-  /* If all of the bytes were sent (including any final null packet)
-   * then we are finished with the transfer
-   */
-
-  if (bytesleft == 0 && !privep->txnullpkt)
-    {
-      usbtrace(TRACE_COMPLETE(USB_EPNO(privep->ep.eplog)), privreq->req.xfrd);
-      privep->txnullpkt = 0;
-      pic32mx_reqcomplete(privep, OK);
-
-      /* Special case writes to endpoint zero.  If there is no transfer in
-       * progress, then we need to configure to received the next SETUP packet.
-       */
-
-      if (epno == 0)
-        {
-          priv->ctrlstate = CTRLSTATE_WAITSETUP;
-        }
-    }
-
+  privreq->inflight = nbytes;
   return OK;
 }
 
@@ -1225,7 +1301,13 @@ static void pic32mx_eptransfer(struct pic32mx_usbdev_s *priv, uint8_t epno,
 
       usbtrace(TRACE_INTDECODE(PIC32MX_TRACEINTID_EPINDONE), status);
 
-      /* Handle write requests */
+      /* An outgoing IN packet has completed.  Update the number of bytes transferred
+       * and check for completion of the transfer.
+       */
+
+      pic32mx_wrcomplete(priv, privep);
+
+      /* Handle additional queued write requests */
 
       pic32mx_wrrequest(priv, privep);
     }
@@ -1863,7 +1945,7 @@ resume_packet_processing:
 
       /* Send the EP0 SETUP response (might be a zero-length packet) */
 
-      pic32mx_epwrite(&priv->eplist[EP0], response.b, nbytes);
+      pic32mx_epwrite(&priv->eplist[EP0], response.b, nbytes, false);
       priv->ctrlstate = CTRLSTATE_WAITSETUP;
     }
 
@@ -1915,6 +1997,12 @@ static void pic32mx_ep0in(struct pic32mx_usbdev_s *priv)
 
   if (priv->ctrlstate == CTRLSTATE_WRREQUEST)
     {
+      /* An outgoing EP0 transfer has completed.  Update the byte count and
+       * check for the completion of the transfer.
+       */
+
+      pic32mx_wrcomplete(priv, &priv->eplist[EP0]);
+
       /* Handle the next queue IN transfer */
 
       ret = pic32mx_wrrequest(priv, &priv->eplist[EP0]);
@@ -2872,10 +2960,11 @@ static int pic32mx_epsubmit(struct usbdev_ep_s *ep, struct usbdev_req_s *req)
 
   /* Handle the request from the class driver */
 
-  epno        = USB_EPNO(ep->eplog);
-  req->result = -EINPROGRESS;
-  req->xfrd   = 0;
-  flags       = irqsave();
+  epno              = USB_EPNO(ep->eplog);
+  req->result       = -EINPROGRESS;
+  req->xfrd         = 0;
+  privreq->inflight = 0;
+  flags             = irqsave();
 
   /* If we are stalled, then drop all requests on the floor */
 
@@ -2998,9 +3087,9 @@ static int pic32mx_epbdtstall(struct usbdev_ep_s *ep,
 
           status = bdt->status;
 
-#ifdef CONFIG_USB_PINGPONG
           /* Toggle over the to the next buffer */
 
+#ifdef CONFIG_USB_PINGPONG
           status ^= USB_NEXT_PINGPONG;
 #endif
           status |= (USB_BDT_UOWN | USB_BDT_DATA1);
@@ -3013,7 +3102,7 @@ static int pic32mx_epbdtstall(struct usbdev_ep_s *ep,
 
           /* Restart any queued write requests */
 
-          (void)pic32mx_wrrequest(priv, privep);
+          pic32mx_wrrestart(priv, privep);
         }
       else
         {
@@ -3026,9 +3115,9 @@ static int pic32mx_epbdtstall(struct usbdev_ep_s *ep,
 
           status = bdt->status;
 
-#ifdef CONFIG_USB_PINGPONG
           /* Toggle over the to the next buffer */
 
+#ifdef CONFIG_USB_PINGPONG
           status ^= USB_NEXT_PINGPONG;
 #endif
           status  |= (USB_BDT_UOWN | USB_BDT_DATA1 | USB_BDT_DTS);

nuttx/configs/sure-pic32mx/nsh/defconfig

@@ -67,18 +67,6 @@
 #   relationship to interrupt vectors. In such cases, CONFIG_ARCH_VECNOTIRQ
 #   must defined so that the OS logic will know not to assume it can use
 #   a vector number to enable or disable interrupts.
-# CONFIG_ARCH_NOINTC - define if the architecture does not
-#   support an interrupt controller or otherwise cannot support
-#   APIs like up_enable_irq() and up_disable_irq().
-# CONFIG_ARCH_VECNOTIRQ - Usually the interrupt vector number provided
-#   to interfaces like irq_attach() and irq_detach are the same as IRQ
-#   numbers that are provied to IRQ management functions like
-#   up_enable_irq() and up_disable_irq().  But that is not true for all
-#   interrupt controller implementations.  For example, the PIC32MX
-#   interrupt controller manages interrupt sources that have a many-to-one
-#   relationship to interrupt vectors. In such cases, CONFIG_ARCH_VECNOTIRQ
-#   must defined so that the OS logic will know not to assume it can use
-#   a vector number to enable or disable interrupts.
 # CONFIG_ARCH_IRQPRIO - The PIC32MX supports interrupt prioritization
 # CONFIG_ARCH_INTERRUPTSTACK - This architecture supports an interrupt
 #   stack. If defined, this symbol is the size of the interrupt