embedded: reintroduce missing emulated bus initialization for UL_USB1 board.
[lincan.git] / embedded / app / usbcan / main.c
index 6053645..14fbe28 100644 (file)
 
 //#include "./can/ul_usb1.h"
 
-//#include "./can/setup.h"
+#include "./can/setup.h"
 
 #include "./usb/usb_defs.h"
 #include "./usb/usb_vend.h"
 
-// DEBUG CAN
-#include "can/lpc17xx_can.h"
-// DEBUG CAN - end
+extern int can_lmc1_register(struct hwspecops_t *hwspecops);
+extern int ul_usb1_register(struct hwspecops_t *hwspecops);
 
 #define MASK_EP1RX  0x01
 #define MASK_EP1TX  0x02
@@ -110,7 +109,6 @@ typedef void (*FNC)(); //function ptr
  * global variables
  ***********************************************************************/
 
-
 usb_device_t usb_device;
 
 usb_ep_t eps[NUM_ENDPOINTS];
@@ -159,19 +157,6 @@ int sys_err(){
 }
 
 /***********************************************************************
- * Microsecond delay routine
- ***********************************************************************/
-/*
-void udelay(long time)
-{
-  volatile long ticks=(time * CCLK) / 2000000;
-  do{
-    ticks--;
-  } while(ticks>0);
-}
-*/
-
-/***********************************************************************
  * Routine for visible LED blinking (on USB transmission)
  ***********************************************************************/
 
@@ -210,7 +195,6 @@ int main(void)
        int i,size,m=0;
 
        CANMSG("Starting USBCAN module firmware...\n");
-       
 
 //     volatile int i=0;
        bootloader_run=0;
@@ -229,17 +213,11 @@ int main(void)
                sys_err();
        }
 
-// !!! DEBUG - first version, only transmitting CAN messages with usage of queue system from LinCAN
 
-
-       //***********************************************************************
+       // ***********************************************************************
        // * CAN device initialization - device side (adapted from LinCAN setup.c)
        // ***********************************************************************
 
-       // DEBUG
-       //can_init(); // only for successful compiling (defined in can_lpcbusemu.c)
-
-
        DEBUGMSG("Initiating CAN device initialization\n");
        baudrate[0]=1000;
 
@@ -268,12 +246,12 @@ int main(void)
 
        
 
-       // DEBUG
-       //ul_usb1_register(candev->hwspecops);  // only for successful compiling (defined in ul_usb1.c)
-       // register for another board
+#ifdef CONFIG_OC_LINCAN_CARD_ul_usb1
+       ul_usb1_register(candev->hwspecops);
+#endif
+#ifdef CONFIG_OC_LINCAN_CARD_can_lmc1
        can_lmc1_register(candev->hwspecops);
-
-       
+#endif
 
        bd=baudrate[0];
        if (candev->hwspecops->init_hw_data(candev)){
@@ -306,13 +284,17 @@ int main(void)
        }
 
 
-       if (candev->hwspecops->request_io(candev))
+       if (candev->hwspecops->request_io(candev)) {
+               CANMSG("Error to request IO\n");
                sys_err();
+       }
        candev->flags|=CANDEV_IO_RESERVED;
 
 
-       if (candev->hwspecops->reset(candev))
+       if (candev->hwspecops->reset(candev)) {
+               CANMSG("Error to reset chip\n");
                sys_err();
+       }
 
 
        for(chipnr=0; chipnr<candev->nr_all_chips; chipnr++) {
@@ -326,11 +308,12 @@ int main(void)
 
                chip->flags |= CHIP_ATTACHED;
 
-// Interrupts from chip are served in main cycle
-//             if(can_chip_setup_irq(chip)<0) {
-//                     CANMSG("Error to setup chip IRQ\n");
-//                     sys_err();
-//             }
+               // used with lpc17xx:
+               if(can_chip_setup_irq(chip)<0) {
+                       CANMSG("Error to setup chip IRQ\n");
+                       sys_err();
+               }
+
        }
 
        if (candev->flags & CANDEV_PROGRAMMABLE_IRQ)
@@ -433,9 +416,11 @@ int main(void)
                usb_check_events(&usb_device);
                usb_control_response(&usb_device);
 
-// DEBUG
-//             if (!(IO0PIN&P0_SJA1000_INT_PIN)) //INT PIN is inverted
-//                     chip->chipspecops->irq_handler(0,chip);
+#ifdef CONFIG_OC_LINCAN_CARD_ul_usb1
+               /* polled IRQ mode for ul_usb1 board*/
+               if (!(IO0PIN&P0_SJA1000_INT_PIN)) /* INT PIN is inverted */
+                       chip->chipspecops->irq_handler(0,chip);
+#endif
 
                if (usb_device.ep_events & MASK_EP1RX) {  //EP1RX - data waiting to receive
                        
@@ -470,7 +455,7 @@ int main(void)
                        
                                        slot->msg=canmsg;
                                        canque_put_inslot(qends, qedge, slot);
-                                       //CAN_send(&canmsg);
+
                                }
                                else
                                        canque_abort_inslot(qends,qedge,slot);
@@ -502,8 +487,7 @@ int main(void)
                        }*/
                }
 
-               // DEBUG - only transmitting CAN messages, no reading (yet)
-               /*
+               
                if(usb_device.ep_events & MASK_EP1TX){ //EP1TX - data transmitted
                        if(canque_test_outslot(qends, &qedge, &slot)>=0){
                                DEBUGMSG("CAN message ready to send over usb\n");
@@ -534,9 +518,12 @@ int main(void)
                                timer_tx_off=50;                //rozsviceni diod pri vysilani
                                CLR_OUT_PIN(LED_PORT,LED1_BIT);
                                usb_device.ep_events &= ~MASK_EP1TX;
+
                        }
+                       
+
                }
-               */
+               
 
                //if (usb_can_send && )