X-Git-Url: http://rtime.felk.cvut.cz/gitweb/lincan.git/blobdiff_plain/a73d6ffea8948a9abc9bfb32728bb255cec18317..7d282b5f3c17776f056dbe3f1530403c829de17b:/embedded/app/usbcan/lpc17xx_can.c

diff --git a/embedded/app/usbcan/lpc17xx_can.c b/embedded/app/usbcan/lpc17xx_can.c
index e8ca58e..9157dcf 100644
--- a/embedded/app/usbcan/lpc17xx_can.c
+++ b/embedded/app/usbcan/lpc17xx_can.c
@@ -1,42 +1,6 @@
 #include "can/lpc17xx_can.h"
 
 static void CAN_configPin();
-static void CAN_setBusTiming(struct canchip_t *chip);
-
-#define MAX_TRANSMIT_WAIT_LOOPS 20
-
-/*
- * CAN harware-dependent bit-timing constant
- *
- * Used for calculating and checking bit-timing parameters
- */
-
-struct can_bittiming_const {
-	char name[16];          /* Name of the CAN controller hardware */
-	uint32_t tseg1_min;        /* Time segement 1 = prop_seg + phase_seg1 */
-	uint32_t tseg1_max;
-	uint32_t tseg2_min;        /* Time segement 2 = phase_seg2 */
-	uint32_t tseg2_max;
-	uint32_t sjw_max;          /* Synchronisation jump width */
-	uint32_t brp_min;          /* Bit-rate prescaler */
-	uint32_t brp_max;
-	uint32_t brp_inc;
-};
-
-static struct can_bittiming_const lpc17xx_can_bittiming_const = {
-	.name = "lpc17xx_can",
-	.tseg1_min = 1,
-	.tseg1_max = 16,
-	.tseg2_min = 1,
-	.tseg2_max = 8,
-	.sjw_max = 4,
-	.brp_min = 1,
-	.brp_max = 1024,
-	.brp_inc = 1,
-};
-
-//---------------------------------------------------------------------------------
-//---------------------------------------------------------------------------------
 
 
 // board can-lmc1 specific functions:
@@ -68,8 +32,12 @@ int can_lmc1_init_hw_data(struct candevice_t *candev){
 
 int can_lmc1_init_chip_data(struct candevice_t *candev, int chipnr){
 
+	struct can_bittiming_const *btc;
+	struct can_lmc1_chip_data *chip_data;
+
 	// used CAN1 peripherial -> CAN1 registers base	
 	candev->chip[chipnr]->chip_base_addr = CAN1_REGS_BASE;
+	// clock for CAN
 	candev->chip[chipnr]->clock = system_frequency / 4;
 
 	lpc17xx_fill_chipspecops(candev->chip[chipnr]);
@@ -78,6 +46,21 @@ int can_lmc1_init_chip_data(struct candevice_t *candev, int chipnr){
 	if (candev->chip[chipnr]->chip_data==NULL)
 		return -ENOMEM;
 
+
+	chip_data = (struct can_lmc1_chip_data*) candev->chip[chipnr]->chip_data;
+
+	btc = &chip_data->btc;
+
+	// set bittiming constants
+	btc->tseg1_min = 1;
+	btc->tseg1_max = 16;
+	btc->tseg2_min = 1;
+	btc->tseg2_max = 8;
+	btc->sjw_max = 4;
+	btc->brp_min = 1;
+	btc->brp_max = 1024;
+	btc->brp_inc = 1;
+
 	return 0;
 }
 
@@ -130,10 +113,9 @@ int lpc17xx_baud_rate(struct canchip_t *chip, int rate, int clock, int sjw,
 	int best_tseg=0, best_brp=0, best_rate=0, brp=0;
 	int tseg=0, tseg1=0, tseg2=0;
 
-	struct can_bittiming_const *btc = &lpc17xx_can_bittiming_const;
+	struct can_lmc1_chip_data *chip_data = (struct can_lmc1_chip_data*) chip->chip_data;
 
-	// right ?
-	//clock /=2;
+	struct can_bittiming_const *btc = &chip_data->btc;
 
 	/* tseg even = round down, odd = round up */
 	for (tseg=(0+0+2)*2; tseg<=(btc->tseg2_max+btc->tseg1_max+2)*2+1; tseg++) {
@@ -174,8 +156,8 @@ int lpc17xx_baud_rate(struct canchip_t *chip, int rate, int clock, int sjw,
 					(100*(best_tseg-tseg2)/(best_tseg+1)));
 
 
-	CAN_set_bittiming(chip, best_brp, sjw, tseg1, tseg2);
-
+	if(chip->chipspecops->set_bittiming(chip, ++best_brp, ++sjw, ++tseg1, ++tseg2) < 0)	
+		return -EINVAL;
 
 	return 0;
 }
@@ -189,8 +171,6 @@ int lpc17xx_chip_config(struct canchip_t *chip){
 	if (!chip->baudrate)
 		chip->baudrate=1000000;
 
-	printf("CAN CHIP INIT, baudrate: %d\n", (int) chip->baudrate);
-
 	if (lpc17xx_baud_rate(chip,chip->baudrate,chip->clock,0,75,0))
 		return -ENODEV;
 
@@ -357,6 +337,42 @@ void lpc17xx_read(struct canchip_t *chip, struct msgobj_t *obj) {
 
 }
 
+int lpc17xx_set_bittiming(struct canchip_t *chip, int brp, int sjw, int tseg1, int tseg2){
+
+	uint8_t SAM = 0; // 0 = the bus is sampled once
+
+	if((--brp)<0)
+		return -EINVAL;
+
+	if((--sjw)<0)
+		return -EINVAL;
+
+	if((--tseg1)<0)
+		return -EINVAL;
+
+	if((--tseg2)<0)
+		return -EINVAL;
+	
+
+	//debug print
+	printf("BRP: %d, SJW: %d, TSEG1: %d, TSEG2: %d \n", brp+1, sjw+1, tseg1+1, tseg2+1);
+
+	can_disable_irq(chip->chip_irq);
+
+	// enter reset mode
+	can_write_reg(chip, 1, CAN_MOD_o);
+
+	// set bittiming register
+	can_write_reg(chip, ((SAM<<23)|(tseg2<<20)|(tseg1<<16)|(sjw<<14)|(brp<<0)), CAN_BTR_o);
+
+	// return to normal operating 
+	can_write_reg(chip, 0, CAN_MOD_o);
+
+	can_enable_irq(chip->chip_irq);
+	
+	return 0;
+}
+
 int lpc17xx_fill_chipspecops(struct canchip_t *chip){
 
 	chip->max_objects=1;
@@ -379,6 +395,8 @@ int lpc17xx_register(struct chipspecops_t *chipspecops){
 	chipspecops->wakeup_tx = lpc17xx_wakeup_tx;
 	chipspecops->irq_handler = lpc17xx_irq_handler;
 
+	chipspecops->set_bittiming = lpc17xx_set_bittiming;
+
 	return 0;	
 
 }
@@ -533,28 +551,6 @@ void CAN_send(struct canchip_t *chip, canmsg_t* msg){
 
 }
 
-void CAN_set_bittiming(struct canchip_t *chip, uint32_t brp, uint32_t sjw, uint32_t tseg1, uint32_t tseg2){
-
-	uint8_t SAM = 0; // 0 = the bus is sampled once
-
-	//debug print
-	printf("BRP: %d, SJW: %d, TSEG1: %d, TSEG2: %d \n", brp+1, sjw+1, tseg1+1, tseg2+1);
-
-	can_disable_irq(chip->chip_irq);
-	// enter reset mode
-	can_write_reg(chip, 1, CAN_MOD_o);
-
-
-	can_write_reg(chip, ((SAM<<23)|(tseg2<<20)|(tseg1<<16)|(sjw<<14)|(brp<<0)), CAN_BTR_o);
-
-
-	// return to normal operating 
-	can_write_reg(chip, 0, CAN_MOD_o);
-
-	can_enable_irq(chip->chip_irq);
-}
-
-
 void CAN_init(struct canchip_t *chip){
 
 	uint32_t tmp;