+/**************************************************************************/
+/* File: main.c - setup and main loop of USB<->CAN converter */
+/* */
+/* LinCAN - (Not only) Linux CAN bus driver */
+/* Copyright (C) 2002-2011 DCE FEE CTU Prague <http://dce.felk.cvut.cz> */
+/* Copyright (C) 2008 Jan Kriz email:johen@post.cz */
+/* */
+/* LinCAN is free software; you can redistribute it and/or modify it */
+/* under terms of the GNU General Public License as published by the */
+/* Free Software Foundation; either version 2, or (at your option) any */
+/* later version. LinCAN is distributed in the hope that it will be */
+/* useful, but WITHOUT ANY WARRANTY; without even the implied warranty */
+/* of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU */
+/* General Public License for more details. You should have received a */
+/* copy of the GNU General Public License along with LinCAN; see file */
+/* COPYING. If not, write to the Free Software Foundation, 675 Mass Ave, */
+/* Cambridge, MA 02139, USA. */
+/* */
+/* To allow use of LinCAN in the compact embedded systems firmware */
+/* and RT-executives (RTEMS for example), main authors agree with next */
+/* special exception: */
+/* */
+/* Including LinCAN header files in a file, instantiating LinCAN generics */
+/* or templates, or linking other files with LinCAN objects to produce */
+/* an application image/executable, does not by itself cause the */
+/* resulting application image/executable to be covered by */
+/* the GNU General Public License. */
+/* This exception does not however invalidate any other reasons */
+/* why the executable file might be covered by the GNU Public License. */
+/* Publication of enhanced or derived LinCAN files is required although. */
+/**************************************************************************/
+
#include <stdio.h>
#include <string.h>
#include <cpu_def.h>
#include "./can/modparms.h"
#include "./can/devcommon.h"
-#include "./can/ul_usb1.h"
-//#include "./can/setup.h"
+//#include "./can/ul_usb1.h"
+
+#include "./can/setup.h"
#include "./usb/usb_defs.h"
#include "./usb/usb_vend.h"
+
+#include "can/lpc17xx_can.h"
+
#define MASK_EP1RX 0x01
#define MASK_EP1TX 0x02
* global variables
***********************************************************************/
-
usb_device_t usb_device;
usb_ep_t eps[NUM_ENDPOINTS];
***********************************************************************/
int sys_err(){
+
unsigned char i=0;
while(1) {
}
}
+/***********************************************************************
+ * 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)
***********************************************************************/
else SET_OUT_PIN(LED_PORT,LED1_BIT);
if (timer_rx_off!=0) timer_rx_off--;
else SET_OUT_PIN(LED_PORT,LED2_BIT);
+
/* if (timer_configured!=0) timer_configured--;
else {
timer_configured=20;
// volatile int i=0;
bootloader_run=0;
/***********************************/
+
lt_10msec_init();
lt_100msec_init();
lt_2sec_init();
- SET_OUT_PIN(LED_PORT,LED_ERR);
- CLR_OUT_PIN(LED_PORT,LED_GP);
+ // DEBUG
+ //SET_OUT_PIN(LED_PORT,LED_ERR);
+ //CLR_OUT_PIN(LED_PORT,LED_GP);
if (USB_MAX_PACKET<16){
CANMSG("Maximum packet size less than 16B (is %dB)\n",USB_MAX_PACKET);
sys_err();
}
- /***********************************************************************
- * CAN device initialization - device side (adapted from LinCAN setup.c)
- ***********************************************************************/
- can_init();
+ //***********************************************************************
+ // * CAN device initialization - device side (adapted from LinCAN setup.c)
+ // ***********************************************************************
+
+// useless with lpc17xx (defined in can_lpcbusemu.c)
+// can_init();
+
DEBUGMSG("Initiating CAN device initialization\n");
baudrate[0]=1000;
}
memset(candev->hwspecops, 0, sizeof(struct hwspecops_t));
- ul_usb1_register(candev->hwspecops);
+
+
+ // DEBUG
+ //ul_usb1_register(candev->hwspecops); //(defined in ul_usb1.c)
+ // register for another board:
+ can_lmc1_register(candev->hwspecops);
+
+
bd=baudrate[0];
if (candev->hwspecops->init_hw_data(candev)){
CANMSG("HW data could not be initialized\n");
sys_err();
}
- /* Alocate and initialize the chip structures */
+
+ // Alocate and initialize the chip structures
for (chipnr=0; chipnr < candev->nr_all_chips; chipnr++) {
-/* if(chipnr<irqnum)
- irqsig=irq[*irq_param_idx_p+chipnr];*/
+// if(chipnr<irqnum)
+// irqsig=irq[*irq_param_idx_p+chipnr];
if (init_chip_struct(candev, chipnr, 0, bd*1000)){
CANMSG("Chip structure could not be initialized\n");
sys_err();
}
}
+
+
+
for (chipnr=0; chipnr < candev->nr_all_chips; chipnr++) {
struct canchip_t *chip=candev->chip[chipnr];
int objnr;
if(m>=0) m++;
}
}
+
+
if (candev->hwspecops->request_io(candev))
sys_err();
candev->flags|=CANDEV_IO_RESERVED;
+
+
if (candev->hwspecops->reset(candev))
sys_err();
+
+
for(chipnr=0; chipnr<candev->nr_all_chips; chipnr++) {
if((chip=candev->chip[chipnr])==NULL)
continue;
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");
+ // 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)
sys_err();
}
- /***********************************************************************
- * CAN device initialization - client side (adapted from LinCAN open.c)
- ***********************************************************************/
+ //***********************************************************************
+ // * CAN device initialization - client side (adapted from LinCAN open.c)
+ // ***********************************************************************
+
chip=candev->chip[0];
obj=chip->msgobj[0];
if (chip->chipspecops->pre_read_config(chip,obj)<0)
CANMSG("Error initializing chip for receiving\n");
- } /* End of chip configuration */
+ } // End of chip configuration
+
canuser = (struct canuser_t *)malloc(sizeof(struct canuser_t));
if(canuser == NULL) sys_err();
canqueue_ends_init_kern(qends);
canuser->qends = qends;
- /*required to synchronize with RT-Linux context*/
+ //required to synchronize with RT-Linux context
can_spin_lock_irqsave(&canuser_manipulation_lock, iflags);
list_add(&canuser->peers, &obj->obj_users);
can_spin_unlock_irqrestore(&canuser_manipulation_lock, iflags);
if(canqueue_connect_edge(canuser->rx_edge0=canque_new_edge_kern(MAX_BUF_LENGTH),
obj->qends, canuser->qends)<0) sys_err();
- /*FIXME: more generic model should be used there*/
+ //FIXME: more generic model should be used there
canque_edge_decref(canuser->rx_edge0);
canque_edge_decref(edge);
+
/***********************************************************************
* USB Init
***********************************************************************/
***********************************************************************/
timer_rx_off=timer_tx_off=timer_str=timer_configured=0;
+
+
+ printf("Main loop\n");
+
while (1) {
usb_check_events(&usb_device);
usb_control_response(&usb_device);
- if (!(IO0PIN&P0_SJA1000_INT_PIN)) //INT PIN is inverted
- chip->chipspecops->irq_handler(0,chip);
+// useless with lpc17xx:
+// if (!(IO0PIN&P0_SJA1000_INT_PIN)) //INT PIN is inverted
+// chip->chipspecops->irq_handler(0,chip);
if (usb_device.ep_events & MASK_EP1RX) { //EP1RX - data waiting to receive
+
if (canque_get_inslot(qends, &qedge, &slot, 0)>=0){ //Free slot obtained
+
size=usb_udev_read_endpoint(&eps[0],ep1_rx_buff,16);
if (size==16){
uint16_t msgflags;
/* Automatic selection of extended format if ID>2047 */
if (canmsg.id & ~0x7ffl & MSG_ID_MASK ) canmsg.flags |= MSG_EXT;
/* has been dependent on "extended" option */
+
slot->msg=canmsg;
canque_put_inslot(qends, qedge, slot);
+
}
else
canque_abort_inslot(qends,qedge,slot);
+
+
timer_rx_off=50; //rosviceni diody pri prijmu
CLR_OUT_PIN(LED_PORT,LED2_BIT);
usb_device.ep_events &= ~MASK_EP1RX;
+
+
}
-
+
/* if (size==2){
uint8_t val;
}*/
}
+
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");
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 && )
projects / lincan.git / blobdiff