Added functionality for bittiming setting by the OS driver

diff --git a/embedded/app/usbcan/can/lpc17xx_can.h b/embedded/app/usbcan/can/lpc17xx_can.h
index 0e137a991ba489691e7c3c92a965fa5265781aac..d920ffd16423294212984943dd9f3354c4e531fd 100644 (file)
--- a/embedded/app/usbcan/can/lpc17xx_can.h
+++ b/embedded/app/usbcan/can/lpc17xx_can.h
@@ -150,6 +150,7 @@ void CAN_init(struct canchip_t *chip);
 void CAN_send(struct canchip_t *chip, canmsg_t* msg);
 void CAN_recv(struct canchip_t *chip, canmsg_t* msg);
 void CAN_IRQHandler(void);
+void CAN_set_bittiming(struct canchip_t *chip, uint32_t brp, uint32_t sjw, uint32_t tseg1, uint32_t tseg2);
 
 //----------------------------------
 
@@ -158,6 +159,8 @@ struct can_lmc1_chip_data
        int flags;
 };
 
+#define CAN_LMC1_CHIP_CANBTR_SET       (1<<1)
+
 // board can-lmc1 specific functions:
 int can_lmc1_register(struct hwspecops_t *hwspecops);
 int can_lmc1_init_hw_data(struct candevice_t *candev);

diff --git a/embedded/app/usbcan/lpc17xx_can.c b/embedded/app/usbcan/lpc17xx_can.c
index 8b3a773839fdc7319df5cd02af899997050107ca..fd0980485bc95141a30d2d1c0ed2aa1c55692b01 100644 (file)
--- 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;

diff --git a/embedded/app/usbcan/usb/usb_vend.h b/embedded/app/usbcan/usb/usb_vend.h
index 30835d0c5527276ef8e13244285efbb262df6c49..8be57547e10b7aba531558faa6dda9de472bec07 100644 (file)
--- a/embedded/app/usbcan/usb/usb_vend.h
+++ b/embedded/app/usbcan/usb/usb_vend.h
@@ -12,6 +12,9 @@
 #define USBCAN_VENDOR_EXT_MASK_SET     (7)
 #define USBCAN_VENDOR_EXT_MASK_STATUS  (8)
 
+//lpc17xx debug
+#define USBCAN_VENDOR_SET_CANBTR       (9)
+
 int usbcan_vendor(usb_device_t *udev);
 
 int set_ext_mask_complete_fnc(struct usb_ep_t *ep, int status);

diff --git a/embedded/app/usbcan/usb_vend.c b/embedded/app/usbcan/usb_vend.c
index 29cea435169a032ff4c206272411422e918008ac..3f0afc9e8f278df17afdb45fbf75fbd5dca3e41d 100644 (file)
--- a/embedded/app/usbcan/usb_vend.c
+++ b/embedded/app/usbcan/usb_vend.c
@@ -14,6 +14,10 @@
   #include <byteswap.h>
 #endif
 
+// lpc17xx debug
+#include "./can/lpc17xx_can.h"
+// lpc17xx debug - end
+
 extern struct canuser_t *canuser;
 extern uint8_t vendor_ret;
 
@@ -97,6 +101,52 @@ nodata:
        return -1;
 }
 
+int set_canbtr_complete_fnc(struct usb_ep_t *ep, int status){
+  int dest_chip;
+
+//     int32_t rate,sjw,sampl_pt,flags;
+       uint32_t brp, sjw, tseg1, tseg2;
+
+       struct can_lmc1_chip_data *chip_data=NULL;
+
+       usb_device_t *udev=ep->udev;
+       unsigned char *data=ep->ptr - ep->actual;
+
+       if (udev->request.bRequest==USBCAN_VENDOR_SET_CANBTR){
+               dest_chip=(udev->request.wIndex);
+               if ((dest_chip>=MAX_TOT_CHIPS)||(dest_chip<0))
+                       goto error;
+               if (!chips_p[dest_chip])
+                       goto error;
+               if ((chip_data=((struct can_lmc1_chip_data*)(chips_p[dest_chip]->chip_data)))==NULL)
+                       goto nodata;
+
+               brp=*(uint32_t *)(data);
+               sjw=*(uint32_t *)(data+4);
+               tseg1=*(uint32_t *)(data+8);
+               tseg2=*(uint32_t *)(data+12);
+               #if __BYTE_ORDER == __BIG_ENDIAN
+               brp  = bswap_32(brp);
+               sjw  = bswap_32(sjw);
+               tseg1  = bswap_32(tseg1);
+               tseg2  = bswap_32(tseg2);
+               #endif
+
+                               
+               printf("BRP: %d, SJW: %d, TSEG1: %d, TSEG2: %d \n", brp, sjw, tseg1, tseg2);
+               CAN_set_bittiming(chips_p[dest_chip], brp, sjw, tseg1, tseg2);  
+
+//             if (chips_p[dest_chip]->chipspecops->baud_rate(chips_p[dest_chip], rate, chips_p[dest_chip]->clock, sjw, sampl_pt, flags)<0)
+//                     goto error;
+               chip_data->flags |= CAN_LMC1_CHIP_CANBTR_SET;
+       }
+       return 0;
+error:
+       chip_data->flags &= ~CAN_LMC1_CHIP_CANBTR_SET;
+nodata:
+       return -1;
+}
+
 int usbcan_vendor(usb_device_t *udev)
 {
   // wIndex, wValue, bRequest, wLength
@@ -110,6 +160,13 @@ int usbcan_vendor(usb_device_t *udev)
        return -1; // Should look like ok (0) or stall (-1)?
 
   switch ( udev->request.bRequest) {
+               
+               //lpc17xx debug 
+               case USBCAN_VENDOR_SET_CANBTR:
+                       udev->ep0.complete_fnc=set_canbtr_complete_fnc;
+                       return 1;
+               //lpc17xx debug - end
+
                case USBCAN_VENDOR_EXT_MASK_SET:
                        udev->ep0.complete_fnc=set_ext_mask_complete_fnc;
                        return 1;