X-Git-Url: http://rtime.felk.cvut.cz/gitweb/lincan.git/blobdiff_plain/060d6f042deb8d82aaeb9de8701cd3405bb4c066..7c28d4d63c2ccd9945d1b0bb11dd3caff4c382b3:/embedded/app/usbcan/main.c

diff --git a/embedded/app/usbcan/main.c b/embedded/app/usbcan/main.c
index 6053645..14fbe28 100644
--- a/embedded/app/usbcan/main.c
+++ b/embedded/app/usbcan/main.c
@@ -62,14 +62,13 @@
 
 //#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];
@@ -158,19 +156,6 @@ 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 && )