bring up ZLG CAN and test it with mpc56xx

.gitignore

@@ -330,3 +330,5 @@ Rte_*.h
 tensorflow
 board.mpc56xx
 board.any
+SeedToKey.py
+kerneldlls

com/as.application/board.any/mpc563xm_nxp_autosar/SConscript

@@ -26,7 +26,8 @@ MODULES = ['ECUM','SCHM','MCU',
            'CLIB_STDIO_PRINTF',
            'ASKAR','SHELL','CLIB_STRTOK_R',
            'PORT','DIO','ADC',
-           'CAN','CANIF','PDUR','COM','COMM',
+           'CAN','CANIF','PDUR','COM','COMM','CANTP',
+           'DCM','CANNM','CANSM','NM','OSEKNM','XCP',
            'MPC5634M_MLQB80'
            ]
 

com/as.application/board.mpc56xx/SConscript

@@ -9,9 +9,10 @@ ASROOT = asenv['ASROOT']
 MODULES = ['ECUM','SCHM','MCU',
            'DET',
            'CLIB_STDIO_PRINTF',
-           'ASKAR','SHELL',
+           'ASKAR','SHELL','CLIB_STRTOK_R',
            'MPC5634M_MLQB80',
-           'CAN','CANIF','PDUR','COM','COMM',
+           'CAN','CANIF','PDUR','COM','COMM','CANTP',
+           'DCM','CANNM','CANSM','NM','OSEKNM','XCP',
            'PORT','DIO'
            ]
 

com/as.application/board.mpc56xx/common/Can_Cfg.h

@@ -29,15 +29,15 @@
 #define CAN_WAKEUP_SUPPORT				STD_OFF  // Not supported
 #define CAN_HW_TRANSMIT_CANCELLATION	STD_OFF  // Not supported
 
-#define INDEX_OF_CAN_CTRL_1 0
+#define INDEX_OF_CAN_CTRL_0 0
 
-#define CAN_CTRL_A CAN_CTRL_1
-#define CAN_CTRL_C CAN_CTRL_0
+#define CAN_CTRL_A CAN_CTRL_0
+#define CAN_CTRL_C CAN_CTRL_1
 
 #define FLEXCAN_A CAN_CTRL_A
 typedef enum {
-	CAN_CTRL_1 = 0,
-	CAN_CTRL_0 = 1,
+	CAN_CTRL_0 = 0,
+	CAN_CTRL_1 = 1,
 	CAN_CONTROLLER_CNT = 2
 }CanControllerIdType;
 
@@ -59,13 +59,13 @@ typedef enum {
 	CAN_ARC_HANDLE_TYPE_FULL
 } Can_Arc_HohType;
 
-#define Can1Hth CanAHth
+#define Can0Hth CanAHth
 typedef enum {
 	CanAHth,
 	NUM_OF_HTHS
 } Can_Arc_HTHType;
 
-#define Can1Hrh CanAHrh
+#define Can0Hrh CanAHrh
 typedef enum {
 	CanAHrh,
 	NUM_OF_HRHS

com/as.infrastructure/include/Can.h

@@ -61,32 +61,6 @@
 #define CAN_CBK_CHECKWAKEUP_SERVICE_ID              0x0b
 //@}
 
-
-#if defined(CFG_PPC)
-
-/* HOH flags */
-#define CAN_HOH_FIFO_MASK           (1UL<<0)
-//#define CAN_HOH_EOL_MASK            (1<<9)
-
-/* Controller flags */
-#define CAN_CTRL_RX_PROCESSING_INTERRUPT        (1UL<<0)
-#define CAN_CTRL_RX_PROCESSING_POLLING          0
-#define CAN_CTRL_TX_PROCESSING_INTERRUPT        (1UL<<1)
-#define CAN_CTRL_TX_PROCESSING_POLLING          0
-#define CAN_CTRL_WAKEUP_PROCESSING_INTERRUPT    (1UL<<2)
-#define CAN_CTRL_WAKEUP_PROCESSING_POLLING      0
-#define CAN_CTRL_BUSOFF_PROCESSING_INTERRUPT    (1UL<<3)
-#define CAN_CTRL_BUSOFF_PROCESSING_POLLING      0
-#define CAN_CTRL_ACTIVATION                     (1UL<<4)
-
-#define CAN_CTRL_LOOPBACK                       (1UL<<5)
-#define CAN_CTRL_FIFO                           (1UL<<6)
-
-#define CAN_CTRL_ERROR_PROCESSING_INTERRUPT    (1UL<<7)
-#define CAN_CTRL_ERROR_PROCESSING_POLLING      0
-
-#endif
-
 #include "Std_Types.h"
 #include "CanIf_Types.h"
 #include "ComStack_Types.h"
@@ -103,14 +77,6 @@ typedef struct {
 	uint32 fifoWarning;
 } Can_Arc_StatisticsType;
 
-
-#if defined(CFG_CAN_TEST)
-typedef struct {
-	uint64_t mbMaskTx;
-	uint64_t mbMaskRx;
-} Can_TestType;
-#endif
-
 // uint16: if only Standard IDs are used
 // uint32: if also Extended IDs are used
 typedef uint32 Can_IdType;

com/as.tool/config.infrastructure.system/building.py

@@ -210,9 +210,9 @@ def PrepareBuilding(env):
         menuconfig(env)
 
     if(0 != os.system('%s --version'%(env['pkgconfig']))):
-        raise Exception('no pkg-config installed, fix the path maybe!')
+        print('WARNING: no pkg-config installed, fix the path maybe, or run command to install GTK\n\tpacman -S mingw-w64-x86_64-glib2 mingw-w64-x86_64-gtk3')
     if(0 != os.system('%s --version'%(env['CC']))):
-        raise Exception('no C Compiler installed, fix the path maybe!')
+        print('WARNING: no C Compiler installed, fix the path maybe, or run command to install GCC\n\tpacman -S mingw-w64-x86_64-gcc')
 
 def mk_rtconfig(filename):
     try:

com/as.tool/lua/can/zlg_can.c

@@ -26,6 +26,8 @@
 #include "asdebug.h"
 /* ============================ [ MACROS    ] ====================================================== */
 #define Kbps *1000
+
+#define AS_LOG_ZLG 1
 /* ============================ [ TYPES     ] ====================================================== */
 struct Can_ZLGHandle_s
 {
@@ -58,16 +60,16 @@ const Can_DeviceOpsType can_zlg_ops =
 };
 static struct Can_ZLGHandleList_s* zlgH = NULL;
 static uint32_t zlg_bauds[][2] = {
-	{1000 Kbps,0x060003	},
-	{800  Kbps,0x060004	},
-	{500  Kbps,0x060007	},
-	{250  Kbps,0x1C0008	},
-	{125  Kbps,0x1C0011	},
-	{100  Kbps,0x160023	},
-	{50   Kbps,0x1C002C	},
-	{20   Kbps,0x1600B3	},
-	{10   Kbps,0x1C00E0	},
-	{5    Kbps,0x1C01C1	}
+	{1000 Kbps,0x0014	},
+	{800  Kbps,0x0016	},
+	{500  Kbps,0x001C	},
+	{250  Kbps,0x011C	},
+	{125  Kbps,0x031C	},
+	{100  Kbps,0x041C	},
+	{50   Kbps,0x091C	},
+	{20   Kbps,0x181C	},
+	{10   Kbps,0x311C	},
+	{5    Kbps,0xBFFF	}
 };
 /* ============================ [ LOCALS    ] ====================================================== */
 static struct Can_ZLGHandle_s* getHandle(uint32_t port)
@@ -93,23 +95,20 @@ static boolean get_zlg_param(uint32_t port,uint32_t* DeviceType,uint32_t* CANInd
 	uint32_t i;
 	boolean rv = TRUE;
 
-	printf("CAN ZLG support list:\n");
-	printf("\tport 0 --> VCI_USBCAN_2E_U CAN0\n");
-	printf("\tport 1 --> VCI_USBCAN_2E_U CAN1\n");
-	printf("\tport 3 --> VCI_USBCAN_E_U  CAN0\n");
-	if(port < 2)
+	char* pVCI_USBCAN = getenv("VCI_USBCAN");
+
+	if(NULL != pVCI_USBCAN)
 	{
-		*DeviceType = VCI_USBCAN_2E_U;
+		*DeviceType = strtoul(pVCI_USBCAN, NULL, 10);
 		*CANInd  = port;
-	}
-	else if(port < 3)
-	{
-		*DeviceType = VCI_USBCAN_E_U;
-		*CANInd  = port - 2;
+		ASLOG(ZLG, "open VCI_USBCAN %d port %d\n", *DeviceType, *CANInd);
 	}
 	else
 	{
-		ASWARNING("CAN ZLG port=%d is not in the support list!\n",port);
+		ASWARNING("please set env VCI_USBCAN according to the device type value specified in ConttrolCAN.h!\n"
+				"  set VCI_USBCAN=4 REM for VCI_USBCAN2\n"
+				"  set VCI_USBCAN=21 REM for VCI_USBCAN_2E_U\n"
+				);
 		rv = FALSE;
 	}
 
@@ -156,7 +155,6 @@ static boolean zlg_probe(uint32_t busid,uint32_t port,uint32_t baudrate,can_devi
 		uint32_t CANInd;
 		uint32_t baud = baudrate;
 		VCI_INIT_CONFIG init_config;
-		init_config.Mode=0; /* normal mode */
 		uint32_t status;
 
 		rv = get_zlg_param(port, &DeviceType, &CANInd,&baud);
@@ -168,22 +166,20 @@ static boolean zlg_probe(uint32_t busid,uint32_t port,uint32_t baudrate,can_devi
 			if(STATUS_OK != status)
 			{
 				ASWARNING("CAN ZLG port=%d is not able to be opened,error=%X!\n",port,status);
+				ASWARNING("maybe you forgot about the ControlCAN\64\kerneldlls to be copied to local directory!\n");
 				rv = FALSE;
 			}
 		}
 
 		if(rv)
 		{
-			status = VCI_SetReference(DeviceType,0,CANInd,0,&baud);
-			if(STATUS_OK != status)
-			{
-				ASWARNING("CAN ZLG port=%d is not able to set baudrate,error=%X!\n",port,status);
-				rv = FALSE;
-			}
-		}
+			init_config.AccCode=0x00000000;
+			init_config.AccMask=0xFFFFFFFF;
+			init_config.Filter=0;
+			init_config.Mode=0;  /* normal mode */
+			init_config.Timing0=(UCHAR)(baud>>8)&0xFF;
+			init_config.Timing1=(UCHAR)baud&0xFF;
 
-		if(rv)
-		{
 			status = VCI_InitCAN(DeviceType,0,CANInd,&init_config);
 			if(STATUS_OK != status)
 			{

release/aslua/Makefile

@@ -230,6 +230,9 @@ endif
 aszlg:$(download)/ControlCAN
 ifeq ($(host),Linux)
 else
+	@(echo ">>>> maybe the ControlCAN has been updated,")
+	@(echo ">>>> please manually make things working by make sure")
+	@(echo ">>>> that there is path $(download)/ControlCAN/64/ControlCAN.dll")
 ifeq ($(msys2),yes)
 	@(cp -fv $(download)/ControlCAN/64/ControlCAN.dll $(prj-dir)/com/as.tool/as.one.py)
 else