X-Git-Url: http://rtime.felk.cvut.cz/gitweb/lincan.git/blobdiff_plain/3c6d0376edd06bad63e861415974556259f593cd..f6c113a5fb217e7495b93053cf29fa6966923445:/embedded/app/usbcan/can.c

diff --git a/embedded/app/usbcan/can.c b/embedded/app/usbcan/can.c
index ae9d530..25d7f34 100644
--- a/embedded/app/usbcan/can.c
+++ b/embedded/app/usbcan/can.c
@@ -35,13 +35,12 @@ void can_comm_init()
 
 	SET_OUT_PIN(IO0,P0_SJA1000_CS_PIN);
 	CLR_OUT_PIN(IO1,P1_SJA1000_RST_PIN);
-	for (slowdown=0;slowdown<20*SJA1000_SCLK;slowdown++);
+	SJA1000_INIT_DELAY();
 	SET_OUT_PIN(IO0,P0_SJA1000_CS_PIN);
 	// Due to change in design there is CS_PIN connected with ALE_PIN and ALE_PIN connection to LPC is interrupted
 	//	CLR_OUT_PIN(IO0,P0_SJA1000_ALE_PIN);
 	SET_OUT_PIN(IO1,P1_SJA1000_RST_PIN);
-	for (slowdown=0;slowdown<20*SJA1000_SCLK;slowdown++);
-
+	SJA1000_INIT_DELAY();
 }
 
 int can_write(uint8_t address,uint8_t* data)
@@ -52,25 +51,25 @@ int can_write(uint8_t address,uint8_t* data)
 	SET_OUT_PIN(IO0,P0_SJA1000_RD_PIN);	// Stays high on write
 	SET_OUT_PIN(IO0,P0_SJA1000_WR_PIN); // Stays high on address write
 	SET_OUT_PIN(IO0,P0_SJA1000_CS_PIN); // Sets output buffers to third state
-	for (slowdown=0;slowdown<SJA1000_SCLK;slowdown++);
+	SJA1000_DELAY();
 	//SET_OUT_PIN(IO0,P0_SJA1000_ALE_PIN); // Start command
 
 	// Set memory address
 	IO1SET=__val2mfld(0x00FF0000,address); // Shift data to SJA pins and output them
-	for (slowdown=0;slowdown<SJA1000_SCLK;slowdown++);
+	SJA1000_DELAY();
 	//CLR_OUT_PIN(IO0,P0_SJA1000_ALE_PIN); // Makes address active
 	CLR_OUT_PIN(IO0,P0_SJA1000_CS_PIN);
-	for (slowdown=0;slowdown<SJA1000_SCLK;slowdown++);
+	SJA1000_DELAY();
 
 	// Setting data
 	CLR_OUT_PIN(IO0,P0_SJA1000_WR_PIN);
 
 	IO1CLR=0x00FF0000;
 	IO1SET=__val2mfld(0x00FF0000,*data);
-	for (slowdown=0;slowdown<SJA1000_SCLK;slowdown++);
+	SJA1000_DELAY();
 	SET_OUT_PIN(IO0,P0_SJA1000_WR_PIN); // Data should be accepted by now
 	SET_OUT_PIN(IO0,P0_SJA1000_CS_PIN);
-	for (slowdown=0;slowdown<SJA1000_SCLK;slowdown++);
+	SJA1000_DELAY();
 	return 0;
 }
 
@@ -82,12 +81,12 @@ int can_read(const uint8_t address,uint8_t* data)
 	SET_OUT_PIN(IO0,P0_SJA1000_WR_PIN); // Stays high on read
 	SET_OUT_PIN(IO0,P0_SJA1000_RD_PIN); // Stays high while entering address
 	SET_OUT_PIN(IO0,P0_SJA1000_CS_PIN);
-	for (slowdown=0;slowdown<SJA1000_SCLK;slowdown++);
+	SJA1000_DELAY();
 	//SET_OUT_PIN(IO0,P0_SJA1000_ALE_PIN);
 
 	// Request memory address
 	IO1SET=__val2mfld(0x00FF0000,address);
-	for (slowdown=0;slowdown<SJA1000_SCLK;slowdown++);
+	SJA1000_DELAY();
 	//CLR_OUT_PIN(IO0,P0_SJA1000_ALE_PIN);
 	CLR_OUT_PIN(IO0,P0_SJA1000_CS_PIN);
 
@@ -95,11 +94,11 @@ int can_read(const uint8_t address,uint8_t* data)
 
 	IO1DIR&=~0x00FF0000; // Sets port as input
 	CLR_OUT_PIN(IO0,P0_SJA1000_RD_PIN);
-	for (slowdown=0;slowdown<SJA1000_SCLK;slowdown++);
+	SJA1000_DELAY();
 	*data=__mfld2val(0x00FF0000,IO1PIN);
 	SET_OUT_PIN(IO0,P0_SJA1000_RD_PIN);
 	SET_OUT_PIN(IO0,P0_SJA1000_CS_PIN);
-	for (slowdown=0;slowdown<SJA1000_SCLK;slowdown++);
+	SJA1000_DELAY();
 	return 0;
 }
 
@@ -135,138 +134,3 @@ int can_init(){
 
 	return 0;
 }
-
-int can_autobaud(int tries){
-	uint8_t data=0;
-	int i=0,j,baudset=0;
-	// Single acceptance filter, reset mode, listen mode for baud determination
-	data=sjaMOD_LOM|sjaMOD_AFM|sjaMOD_RM;
-	can_write((uint8_t)SJAMOD,(uint8_t*)&data);
-	do {
-		canbaud.baudrate=sja1000_freqs[i][0]*1000;
-		canbaud.sjw=(sja1000_freqs[i][1]&0x3F)|(sja1000_freqs[i][2]&0xC0);
-		canbaud.sample_pt=(sja1000_freqs[i][3]&0x0F)|(sja1000_freqs[i][4]&0x70);
-		can_write(SJABTR0,(uint8_t *)(&canbaud.sjw));
-		can_write(SJABTR1,(uint8_t *)(&canbaud.sample_pt));
-		uint8_t intstor,temp;
-		can_read(SJAIER,&intstor);
-		temp=sjaIER_RIE|sjaIER_BEIE;
-		can_write(SJAIER,&temp);
-
-		/// Leave reset mode
-		can_read(SJAMOD,&temp);
-		temp&=~sjaMOD_RM;
-		can_write(SJAMOD,&temp);
-		j=0;
-		do{
-			can_read(SJAMOD,&temp);
-			if (j++>20)
-				return -1;
-		} while (temp&sjaMOD_RM);
-
-		/// Wait for successfull packet receive or receive error
-		j=0;
-		while (!(IO0PIN & P0_SJA1000_INT_PIN)){
-		}
-
-		can_read(SJAIR,&temp);
-		if (temp & sjaIR_RI)
-			baudset=1;
-
-		/// Back to reset
-		can_read(SJAMOD,&temp);
-		temp|=sjaMOD_RM;
-		can_write(SJAMOD,&temp);
-		j=0;
-		do{
-			can_read(SJAMOD,&temp);
-			if (j++>20)
-				return -1;
-		} while (!(temp&sjaMOD_RM));
-
-		if (++i==sja1000_freq_cnt)
-			return -1;
-	} while (baudset==0);
-	return 0;
-}
-
-int can_poll(){
-
-	return 0;
-}
-
-int can_transmit_direct(uint8_t *data){
-	int len=0,ext=0,i;
-	uint8_t *ptr=data,tmitptr,temp;
-	ext=(*ptr)& sjaFRM_FF;
-	len=(*ptr)& 0xFF;
-
-	// check if transmit buffer is free
-	do {
-		if (can_poll()==-1)
-			return -1;
-		can_read(SJASR,&temp);
-		temp&=sjaSR_TBS;
-	} while (!temp);
-
-	tmitptr=SJAFRM;
-	can_write(tmitptr++,data++); // Header
-	can_write(tmitptr++,data++); // Ident 1
-	can_write(tmitptr++,data++); // Ident 2
-	if (ext){
-		can_write(tmitptr++,data++); // Ident 3
-		can_write(tmitptr++,data++); // Ident 4
-	}
-	for (i=0;i<len;i++)
-		can_write(tmitptr++,data++); // Data i;
-
-	// Set TR bit
-	temp=sjaCMR_TR;
-	can_write(SJACMR,&temp);
-
-	return 0;
-}
-
-int can_transmit(int ext_header,int rtr,uint8_t *mask,int numbytes,uint8_t *data){
-	uint8_t tmitptr,temp;
-	int i=0;
-
-	if (numbytes<0)
-		numbytes=0;
-
-	if (mask==NULL)
-	;	// use internal mask
-
-	// check if transmit buffer is free
-	do {
-		if (can_poll()==-1)
-			return -1;
-		can_read(SJASR,&temp);
-		temp&=sjaSR_TBS;
-	} while (!temp);
-
-	tmitptr=SJAFRM;
-	temp=(ext_header?sjaFRM_FF:0)|(rtr?sjaFRM_RTR:0)|(numbytes>8?0x08:numbytes);
-	can_write(tmitptr++,&temp); // Header
-
-	can_write(tmitptr++,mask++); // Ident 1
-	can_write(tmitptr++,mask++); // Ident 2
-	if (ext_header){
-		can_write(tmitptr++,mask++); // Ident 3
-		can_write(tmitptr++,mask++); // Ident 4
-	}
-	for (i=0;i<(numbytes>8?0x08:numbytes);i++)
-		can_write(tmitptr++,data++); // Data i;
-
-	// Set TR bit
-	temp=sjaCMR_TR;
-	can_write(SJACMR,&temp);
-
-	return 0;
-}
-
-int can_receive(uint8_t len,uint8_t *data){
-
-
-	return 0;
-}