fix CAN support, add menuconfig options

can/borg_can.c

@@ -2,7 +2,7 @@
 #include "lap.h"
 #include "borg_can.h"
 #include "spi.h"
-#include "blinken.h"
+#include "../borg_hw/borg_hw.h"
 
 #include <avr/pgmspace.h>
 #include <setjmp.h>
@@ -28,7 +28,7 @@ void bcan_init()
 	msg->cmd      = FKT_BORG_INFO;
 	msg->data[0]  = NUM_ROWS;
 	msg->data[1]  = NUM_COLS;
-	msg->data[2]  = NUM_PLANES;
+	msg->data[2]  = NUMPLANE;
 
 	can_transmit((can_message *)msg);
 }

can/can.c

@@ -355,11 +355,11 @@ void can_init(){
 	// 0x03 : 125kbit/16MHz
 	// 0x04 : 125kbit/20MHz
 	
-#if F_MCP == 16000000
+#if FREQ == 16000000
 #define CNF1_T 0x03
-#elif F_MCP == 8000000
+#elif FREQ == 8000000
 #define CNF1_T 0x01
-#elif F_MCP == 20000000
+#elif FREQ == 20000000
 #define CNF1_T 0x04
 #else
 #error Can Baudrate is only defined for 8, 16 and 20 MHz

can/config.in

@@ -0,0 +1,74 @@
+dep_bool_menu "CAN bus support" CAN_SUPPORT y
+
+choice 'SPI Port'			\
+   "PORTA  0 \
+    PORTB  1 \
+    PORTC  2 \
+    PORTD  3" \
+   'PORTB' SPI_PORTIDX
+
+choice 'Bit MOSI'			\
+   "Bit0 0 \
+    Bit1 1 \
+    Bit2 2 \
+    Bit3 3 \
+    Bit4 4 \
+    Bit5 5 \
+    Bit6 6 \
+    Bit7 7" \
+   'Bit5' SPI_PIN_MOSI
+
+choice 'Bit MISO'			\
+   "Bit0 0 \
+    Bit1 1 \
+    Bit2 2 \
+    Bit3 3 \
+    Bit4 4 \
+    Bit5 5 \
+    Bit6 6 \
+    Bit7 7" \
+   'Bit6' SPI_PIN_MISO
+
+choice 'Bit SCK'			\
+   "Bit0 0 \
+    Bit1 1 \
+    Bit2 2 \
+    Bit3 3 \
+    Bit4 4 \
+    Bit5 5 \
+    Bit6 6 \
+    Bit7 7" \
+   'Bit7' SPI_PIN_SCK
+
+choice 'Bit SS'			\
+   "Bit0 0 \
+    Bit1 1 \
+    Bit2 2 \
+    Bit3 3 \
+    Bit4 4 \
+    Bit5 5 \
+    Bit6 6 \
+    Bit7 7" \
+   'Bit4' SPI_PIN_SS
+
+bool "Use interrupt" CAN_INTERRUPT
+
+choice 'Interrupt Port'			\
+   "PINA  PINA \
+    PINB  PINB \
+    PINC  PINC \
+    PIND  PIND" \
+   'PIND' SPI_REG_PIN_MCP_INT
+
+choice 'Interrupt Bit'			\
+   "Bit0 0 \
+    Bit1 1 \
+    Bit2 2 \
+    Bit3 3 \
+    Bit4 4 \
+    Bit5 5 \
+    Bit6 6 \
+    Bit7 7" \
+   'Bit2' SPI_PIN_MCP_INT
+
+endmenu

can/lap.c

@@ -0,0 +1,123 @@
+#include <stdio.h>
+#include <string.h>
+
+#include "can.h"
+#include "lap.h"
+
+/****************************************************************************
+ * STUBS: LAP Core Services 
+ */
+
+// send ping to dst
+void lap_ping( can_addr dst )
+{
+	pdo_message *msg = (pdo_message *)can_buffer_get();
+
+	msg->addr_src = 0;
+	msg->addr_dst = dst;
+	msg->port_src = PORT_MGT;
+	msg->port_dst = PORT_MGT;
+	msg->dlc      = 1;
+	msg->cmd      = FKT_MGT_PING;
+
+	can_transmit( (can_message *)msg );
+}
+
+// send reset request to dst
+void lap_reset( can_addr dst )
+{
+	pdo_message *msg = (pdo_message *)can_buffer_get();
+
+	msg->addr_src = 0;
+	msg->addr_dst = dst;
+	msg->port_src = PORT_MGT;
+	msg->port_dst = PORT_MGT;
+	msg->dlc      = 1;
+	msg->cmd      = FKT_MGT_RESET;
+
+	can_transmit( (can_message *)msg );
+}
+
+
+
+
+
+
+
+
+
+
+
+
+/*
+char *sdo_readbuf(lap_message *first_msg, 
+		unsigned char int length, unsigned char &reallength)
+{
+	unsigned char len = first_message->data[0];
+	char *buf = malloc(length);
+	char *cur = buf;
+
+	reallength = 0;
+	while( reallength < length ) {
+		can_message *msg = can_get();
+		
+		if ( msg->addr_src  != first_msg->addr_src  ||
+		     msg->addr_dest != fisrt_msg->addr_dest ||
+		     msg->port_src  != fisrt_msg->port_src  ||
+		     msg->port_dest != fisrt_msg->port_dest )
+		{
+			return buf;
+		}
+
+		memcpy(cur, msg->data, msg->dlc);
+		reallength+=msg->dlc;
+		msg->flags = 0x00;
+	}
+
+	return buf;
+}
+
+// unsigned char sdo_sendpacket(lap_message *msg)
+// {
+// }
+// 
+// unsigned char sdo_sendpacket_nb(lap_message *msg)
+// {
+// }
+
+unsigned char sdo_sendbuf(lap_message *fst_msg, unsigned char *buf, unsigned char len)
+{
+	while(len > 0) {
+		can_message *msg = can_buffer_get();
+		msg->addr_src  = fst_msg->addr_src;
+		msg->addr_dest = fst_msg->addr_dest;
+		msg->port_src  = fst_msg->port_src;
+		msg->port_dest = fst_msg->port_dest;
+
+		msg->dlc = len > 8 ? 8 : len;
+		memcpy(msg->data, buf, msg->dlc);
+		msg->flags = 0x01;
+		can_transmit();
+	}
+	// XXX wait for ACK
+}
+
+
+unsigned char sdo_sendbuf_nb(lap_message *fst_msg, unsigned char *buf, unsigned char len)
+{
+	while(len > 0) {
+		can_message *msg = can_buffer_get();
+		msg->addr_src  = fst_msg->addr_src;
+		msg->addr_dest = fst_msg->addr_dest;
+		msg->port_src  = fst_msg->port_src;
+		msg->port_dest = fst_msg->port_dest;
+
+		msg->dlc = len > 8 ? 8 : len;
+		memcpy(msg->data, buf, msg->dlc);
+		msg->flags = 0x01;
+		can_transmit();
+	}
+	// XXX wait for ACK
+
+}
+*/

can/lap.h

@@ -0,0 +1,120 @@
+#ifndef LAP_H
+#define LAP_H
+
+/****************************************************************************
+ * Labor Automation Protocol
+ *
+ */
+
+#include <inttypes.h>
+
+
+/****************************************************************************
+ * Types
+ */
+
+// "inherits" from can_message 
+typedef struct {
+	can_addr addr_src;
+	can_addr addr_dst;
+	can_port port_src;
+	can_port port_dst;
+	unsigned char dlc;
+	unsigned char cmd; 
+	uint16_t index;
+	uint16_t size;
+	uint16_t address;
+} sdo_message;
+
+// "inherits" from can_message 
+typedef struct{
+	can_addr addr_src;
+	can_addr addr_dst;
+	can_port port_src;
+	can_port port_dst;
+	unsigned char dlc;
+	unsigned char cmd; 
+	unsigned char data[7];	
+} pdo_message;
+
+/****************************************************************************
+ * Known ports and services
+ */
+
+typedef enum { PORT_MGT=0x30, PORT_LAMPE=0x20, PORT_SDO=0x15, PORT_SDO_DATA=0x16, PORT_LAPD=0x18,
+		PORT_BORG=0x23, PORT_MOOD=0x17, PORT_REMOTE=0x21, PORT_GATE=0x22, PORT_CHUCK=0x26 }  ports;
+
+typedef enum { FKT_MGT_PING=0x00, FKT_MGT_PONG=0x01, 
+		FKT_MGT_RESET=0x02, FKT_MGT_AWAKE=0x03, FKT_MGT_TIMEREQUEST=0x04, FKT_MGT_TIMEREPLY=0x05 }	lap_mgt_fkts;
+		
+typedef enum { FKT_LAMPE_SET=0x00, FKT_LAMPE_SETMASK=0x01, 
+		FKT_LAMPE_SETDELAY=0x02, FKT_LAMPE_ADD=0x03 }			lap_lampe_fkts;
+
+typedef enum { FKT_BORG_INFO=0x00, FKT_BORG_MODE=0x01, FKT_BORG_SCROLLTEXT_RESET=0x02, 
+		FKT_BORG_SCROLLTEXT_APPEND=0x03 } lap_borg_fkts;
+
+typedef enum { FKT_ONOFF_INFO=0, FKT_ONOFF_SET=1, FKT_ONOFF_GET=2,
+        } lap_lapd_fkts;
+
+typedef enum { FKT_MOOD_INFO=0x00, FKT_MOOD_GET=0x01, FKT_MOOD_SET=0x02, FKT_MOOD_ONOFF=0x03} lap_mood_fkts;
+#define SDO_CMD_READ 		0x20
+#define SDO_CMD_REPLY 		0x21
+#define SDO_CMD_INFO 		0x22
+#define SDO_CMD_READ_BLK	0x40
+#define SDO_CMD_READ_BLK_ACK	0x41
+#define SDO_CMD_WRITE_BLK	0x48
+#define SDO_CMD_WRITE_BLK_ACK	0x49
+
+
+#define SDO_CMD_ERROR_INDEX 	0x80
+
+#define SDO_TYPE_UINT8_RO	 0x00
+#define SDO_TYPE_UINT8_RW	 0x01
+#define SDO_TYPE_UINT16_RO 	 0x04
+#define SDO_TYPE_UINT16_RW 	 0x05
+#define SDO_TYPE_UINT32_RO 	 0x08
+#define SDO_TYPE_UINT32_RW  	 0x09
+#define SDO_TYPE_STRING_RO	 0x80
+#define SDO_TYPE_STRING_RW	 0x81
+#define SDO_TYPE_STRING_WO	 0x82
+
+
+/****************************************************************************
+ * STUBS: LAP Core Services 
+ */
+
+// send ping to dst
+void lap_ping( can_addr dst );
+
+// send reset request to dst
+void lap_reset( can_addr dst );
+
+/**
+ * ServiceDataObject routinen
+ *
+unsigned char *sdo_readbuf(sdo_message *first_message, 
+		unsigned char length, unsigned char *actuallength);
+
+unsigned char sdo_sendbuf(sdo_message *fst_msg, unsigned char *buf, unsigned char len);
+unsigned char sdo_sendbuf_nb(sdo_message *fst_msg, unsigned char *buf, unsigned char len);
+
+*/
+/////////////////////////////////////////////////////////////////////////////
+/* Usage
+
+while(1) {
+	lap_message msg = lap_rcvpacket();
+	switch( msg->fkt_id ) {
+	case FKT_BLA:
+		unsigned char length = data[0]
+
+		data
+
+		char *buf = lap_read(msg, length);
+		if ( !buf ) continue;
+
+		// interpret buffer 
+}
+*/
+
+#endif

can/spi.h

@@ -1,7 +1,7 @@
 #ifndef SPI_H
 #define SPI_H
 
-#include "config.h"
+#include "../config.h"
 
 /**
  * this enables the use of Hardware SPI on ATMEGA 

config.h

@@ -12,30 +12,34 @@
 
 #define SNAKE_DELAY 100
 
-/*
+#ifdef CAN_SUPPORT
-#define BORG_CAN
 
+#define BORG_CAN
 // spi.[ch] defines
 #define SPI_HARDWARE
-#define SPI_PORT PORTB		//for slave select
+
-#define SPI_PIN PINB		//for slave select
+#if SPI_PORTIDX == 0
+#define SPI_PORT PORTA
+#define SPI_DDR DDRA
+#define SPI_PIN PINA
+#elif SPI_PORTIDX == 1
+#define SPI_PORT PORTB
 #define SPI_DDR DDRB
-
+#define SPI_PIN PINB
-#define SPI_PIN_MOSI PB5
+#elif SPI_PORTIDX == 2
-#define SPI_PIN_MISO PB6
+#define SPI_PORT PORTC
-#define SPI_PIN_SCK PB7
+#define SPI_DDR DDRC
-#define SPI_PIN_SS PB4		// for slave select
+#define SPI_PIN PINC
-
+#elif SPI_PORTIDX == 3
-//interrupt pin of MCP2515 for non interrupt driven can
+#define SPI_PORT PORTD
-#define SPI_REG_PIN_MCP_INT PIND
+#define SPI_DDR DDRD
-#define SPI_PIN_MCP_INT PD2
+#define SPI_PIN PIND
+#endif
 
 // can.[ch] defines
-#undef  CAN_INTERRUPT		//set this to enable interrupt driven and buffering version
 #define CAN_RX_BUFFER_SIZE 2	//only used for Interrupt
 #define CAN_TX_BUFFER_SIZE 2	//only used for Interrupt
-#define F_MCP F_CPU
+#endif
-*/
 
 #define INIT_EEPROM
 

config.in

@@ -45,8 +45,14 @@ source scrolltext/config.in
 source joystick/config.in
 ###############################################################################
 
+############################ CAN Menu #########################################
+source can/config.in
+###############################################################################
+
 dep_bool "menu support" MENU_SUPPORT $JOYSTICK_SUPPORT
 
+
+
 ############################ Game Menu ########################################
 source games/config.in
 ###############################################################################