X-Git-Url: http://rtime.felk.cvut.cz/gitweb/lincan.git/blobdiff_plain/8bb61362e6640738a252b1d7cdf325617fd80926..6b854a1ee07ddd8638beebf0076c866df50881eb:/embedded/app/usbcan/main.c

diff --git a/embedded/app/usbcan/main.c b/embedded/app/usbcan/main.c
index d28cc13..205ae35 100644
--- a/embedded/app/usbcan/main.c
+++ b/embedded/app/usbcan/main.c
@@ -15,8 +15,16 @@
 #include <lpciap.h>
 #include <lpciap_kvpb.h>
 
-#include "can/can.h"
-#include "can/sja1000p.h"
+#include "./can/can.h"
+#include "./can/sja1000p.h"
+#include "./can/main.h"
+
+#include "./can/can_sysdep.h"
+#include "./can/modparms.h"
+#include "./can/devcommon.h"
+
+#include "./can/ul_usb1.h"
+//#include "./can/setup.h"
 
 #define MASK_EP1RX  0x01
 #define MASK_EP1TX  0x02
@@ -53,6 +61,13 @@ volatile uint8_t bootloader_run;
 
 int processlocal;
 
+int baudrate[MAX_TOT_CHIPS];
+struct canhardware_t canhardware;
+struct canhardware_t *hardware_p=&canhardware;
+struct canchip_t *chips_p[MAX_TOT_CHIPS];
+struct msgobj_t *objects_p[MAX_TOT_MSGOBJS];
+
+
 /**
 	SOMETHING BAD HAPPENED
 */
@@ -96,6 +111,10 @@ void timer_10ms(void)
 /***********************************/
 int main(void)
 {
+	struct candevice_t *candev;
+	struct canchip_t *chip;
+	int chipnr,bd;
+
 //	volatile int i=0;
 	bootloader_run=0;
 	/***********************************/
@@ -106,12 +125,79 @@ int main(void)
 	SET_OUT_PIN(LED_PORT,LED_ERR);
 	CLR_OUT_PIN(LED_PORT,LED_GP);
 
-  //********************
-  // USB init
-  memset( &usb_device, 0, sizeof( usb_device));
-  usb_device.id = 1;
-  usb_device.init = usb_lpc_init;
-  usb_debug_set_level(DEBUG_LEVEL_NONE);
+	/// *************************
+	/// CAN device initialization
+
+	baudrate[0]=1000;
+
+	canqueue_kern_initialize();
+
+	hardware_p->nr_boards=1;
+
+	candev=(struct candevice_t *)malloc(sizeof(struct candevice_t));
+		if (candev==NULL) sys_err();
+		memset(candev, 0, sizeof(struct candevice_t));
+
+	hardware_p->candevice[0]=candev;
+	candev->candev_idx=0;
+	candev->io_addr=0;
+	candev->dev_base_addr=0;
+
+	candev->hwspecops=(struct hwspecops_t *)malloc(sizeof(struct hwspecops_t));
+		if (candev->hwspecops==NULL) sys_err();
+		memset(candev->hwspecops, 0, sizeof(struct hwspecops_t));
+
+	ul_usb1_register(candev->hwspecops);
+
+	bd=baudrate[0];
+	if (candev->hwspecops->init_hw_data(candev)) sys_err();
+	/* 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 (init_chip_struct(candev, chipnr, 0, bd*1000)) sys_err();
+	}
+	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;
+
+		if(chip->chipspecops->attach_to_chip(chip)<0) {
+// 			CANMSG("Initial attach to the chip HW failed\n");
+			sys_err();
+		}
+
+		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();
+		}*/
+	}
+
+	if (candev->flags & CANDEV_PROGRAMMABLE_IRQ)
+		if (candev->hwspecops->program_irq(candev)){
+// 			CANMSG("Error to program board interrupt\n");
+			sys_err();
+		}
+
+
+
+	/// ***************************************
+	/// CAN device initialization - client side
+
+	///*********
+	/// USB init
+
+	memset( &usb_device, 0, sizeof( usb_device));
+	usb_device.id = 1;
+	usb_device.init = usb_lpc_init;
+	usb_debug_set_level(DEBUG_LEVEL_NONE);
 	usb_device.cntep = 3;
 	usb_device.ep = eps;
 
@@ -126,8 +212,8 @@ int main(void)
 
 //  usb_device.vendor_fnc=usb_loader;
 
-  usb_init(&usb_device);
-  usb_connect(&usb_device);
+	usb_init(&usb_device);
+	usb_connect(&usb_device);
 
 	can_init();
 	usb_can_send=1;