X-Git-Url: http://rtime.felk.cvut.cz/gitweb/lincan.git/blobdiff_plain/a9296605ae899d82c9e8f682eafe63d999c4a57b..6728e464dbd9929725b8394ca423690873677d9c:/embedded/app/usbcan/lpc17xx_can.c

diff --git a/embedded/app/usbcan/lpc17xx_can.c b/embedded/app/usbcan/lpc17xx_can.c
index 8b3a773..fd09804 100644
--- a/embedded/app/usbcan/lpc17xx_can.c
+++ b/embedded/app/usbcan/lpc17xx_can.c
@@ -406,6 +406,29 @@ 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
+
+	brp--;
+	sjw--;
+	tseg1--;
+	tseg2--;
+
+	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_setBusTiming(struct canchip_t *chip){
 
 	uint32_t PCLK_CAN;