X-Git-Url: http://rtime.felk.cvut.cz/gitweb/lincan.git/blobdiff_plain/ad1d46af5c8562e90a3f8564cf511213ff1f1745..a9296605ae899d82c9e8f682eafe63d999c4a57b:/embedded/app/usbcan/main.c

diff --git a/embedded/app/usbcan/main.c b/embedded/app/usbcan/main.c
index 4b91631..71fb5e7 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
 
 #define MASK_EP1RX  0x01
 #define MASK_EP1TX  0x02
@@ -106,12 +105,10 @@ LT_TIMER_IMP(lt_2sec)
 
 typedef void (*FNC)(); //function ptr
 
-
 /***********************************************************************
  * global variables
  ***********************************************************************/
 
-
 usb_device_t usb_device;
 
 usb_ep_t eps[NUM_ENDPOINTS];
@@ -211,7 +208,6 @@ int main(void)
 	int i,size,m=0;
 
 	CANMSG("Starting USBCAN module firmware...\n");
-	
 
 //	volatile int i=0;
 	bootloader_run=0;
@@ -230,22 +226,13 @@ int main(void)
 		sys_err();
 	}
 
-// !!! DEBUG - first version, only transmitting CAN messages withnout usage of queue system from LinCAN
-
-	// CAN
-	CAN_init(1000000);
-	// CAN end
-
-/*
 
 	//***********************************************************************
 	// * CAN device initialization - device side (adapted from LinCAN setup.c)
 	// ***********************************************************************
 
-	// DEBUG
-	//can_init(); // only for successful compiling (defined in can_lpcbusemu.c)
-	
-
+//	useless with lpc17xx (defined in can_lpcbusemu.c)
+//	can_init();
 
 
 	DEBUGMSG("Initiating CAN device initialization\n");
@@ -274,8 +261,13 @@ int main(void)
 	}
 	memset(candev->hwspecops, 0, sizeof(struct hwspecops_t));
 
+	
+
 	// DEBUG
-	//ul_usb1_register(candev->hwspecops);  // only for successful compiling (defined in ul_usb1.c)
+	//ul_usb1_register(candev->hwspecops);  //(defined in ul_usb1.c)
+	// register for another board:
+	can_lmc1_register(candev->hwspecops);
+
 	
 
 	bd=baudrate[0];
@@ -283,6 +275,7 @@ int main(void)
 		CANMSG("HW data could not be initialized\n");
 		sys_err();
 	}
+
 	// Alocate and initialize the chip structures
 	for (chipnr=0; chipnr < candev->nr_all_chips; chipnr++) {
 //		if(chipnr<irqnum)
@@ -292,6 +285,9 @@ int main(void)
 			sys_err();
 		}
 	}
+
+
+
 	for (chipnr=0; chipnr < candev->nr_all_chips; chipnr++) {
 		struct canchip_t *chip=candev->chip[chipnr];
 		int objnr;
@@ -303,11 +299,17 @@ int main(void)
 			if(m>=0) m++;
 		}
 	}
+
+
 	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;
@@ -319,11 +321,12 @@ 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)
@@ -336,6 +339,7 @@ int main(void)
 	// * CAN device initialization - client side (adapted from LinCAN open.c)
 	// ***********************************************************************
 
+
 	chip=candev->chip[0];
 	obj=chip->msgobj[0];
 	atomic_inc(&obj->obj_used);
@@ -354,6 +358,7 @@ int main(void)
 
 	} // End of chip configuration
 
+
 	canuser = (struct canuser_t *)malloc(sizeof(struct canuser_t));
 	if(canuser == NULL) sys_err();
 	canuser->flags=0;
@@ -381,7 +386,7 @@ int main(void)
 	canque_edge_decref(canuser->rx_edge0);
 	canque_edge_decref(edge);
 
-*/
+
 
 	/***********************************************************************
 	 * USB Init
@@ -424,14 +429,13 @@ int main(void)
 		usb_check_events(&usb_device);
 		usb_control_response(&usb_device);
 
-// DEBUG
+// useless with lpc17xx:
 //		if (!(IO0PIN&P0_SJA1000_INT_PIN)) //INT PIN is inverted
 //			chip->chipspecops->irq_handler(0,chip);
 
 		if (usb_device.ep_events & MASK_EP1RX) {  //EP1RX - data waiting to receive
 			
-			// DEBUG - unused queue system (yet)
-			//if (canque_get_inslot(qends, &qedge, &slot, 0)>=0){ //Free slot obtained
+			if (canque_get_inslot(qends, &qedge, &slot, 0)>=0){ //Free slot obtained
 
 				size=usb_udev_read_endpoint(&eps[0],ep1_rx_buff,16);
 				if (size==16){
@@ -459,24 +463,22 @@ int main(void)
 					/* Automatic selection of extended format if ID>2047 */
 					if (canmsg.id & ~0x7ffl & MSG_ID_MASK ) canmsg.flags |= MSG_EXT;
 					/* has been dependent on "extended" option */
+			
+					slot->msg=canmsg;
+					canque_put_inslot(qends, qedge, slot);
 
-					// DEBUG - unused queue system (yet)				
-					//slot->msg=canmsg;
-					//canque_put_inslot(qends, qedge, slot);
-					CAN_send(&canmsg);
 				}
-
-				// DEBUG - unused queue system (yet)
-				//else
-				//	canque_abort_inslot(qends,qedge,slot);
+				else
+					canque_abort_inslot(qends,qedge,slot);
+					
 
 				timer_rx_off=50;        //rosviceni diody pri prijmu
 				CLR_OUT_PIN(LED_PORT,LED2_BIT);
 				usb_device.ep_events &= ~MASK_EP1RX;
 			
-			// DEBUG			
-			//}
-
+					
+			}
+			
 
 /*			if (size==2){
 				uint8_t val;
@@ -496,8 +498,7 @@ 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");
@@ -528,9 +529,11 @@ 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 && )