[Krobot-commits] [SCM] krobot branch, master, updated. 79416ac728228e9789e2603a6697289572013d9a

[Xavier L. <Ba...@us...>]

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- Log -----------------------------------------------------------------
commit 79416ac728228e9789e2603a6697289572013d9a
Author: Xavier Lagorce <Xav...@cr...>
Date:   Fri Mar 18 21:06:48 2011 +0100

    [USB_CAN] Add timestamp generation when transmitting packets via USB

commit 56e572001b4b5f43faead756f19f644fbe509f75
Author: Xavier Lagorce <Xav...@cr...>
Date:   Fri Mar 18 21:05:46 2011 +0100

    [USB_CAN] Use toolchain in PATH

-----------------------------------------------------------------------

Changes:
diff --git a/elec/boards/USB_CAN/Firmware/usb_can/main.c b/elec/boards/USB_CAN/Firmware/usb_can/main.c
index a6ac284..01442bf 100644
--- a/elec/boards/USB_CAN/Firmware/usb_can/main.c
+++ b/elec/boards/USB_CAN/Firmware/usb_can/main.c
@@ -143,10 +143,12 @@ static void NORETURN can_receive_process(void) {
 
     can_rx_frame frame;
     int retval;
+    int32_t timestamp;
 
     for (;;) {
         can_receive(CAND1, &frame, ms_to_ticks(100));
-        retval = usb_can_emit(CAND1, &ser, &frame);
+        timestamp = ticks_to_ms(timer_clock()) % 60000;
+        retval = usb_can_emit(CAND1, &ser, &frame, (uint16_t)timestamp);
         kprintf("received something... %d %08lx %08lx\n", frame.ide ? frame.eid:frame.sid, frame.data32[0], frame.data32[1]);
     }
 }
diff --git a/elec/boards/USB_CAN/Firmware/usb_can/usb_can.c b/elec/boards/USB_CAN/Firmware/usb_can/usb_can.c
index 237bcaa..f345178 100644
--- a/elec/boards/USB_CAN/Firmware/usb_can/usb_can.c
+++ b/elec/boards/USB_CAN/Firmware/usb_can/usb_can.c
@@ -5,7 +5,7 @@ int usb_can_execute_command(UNUSED_ARG(can_driver *, candrv), UNUSED_ARG(struct
     return 0;
 }
 
-int usb_can_emit(UNUSED_ARG(can_driver *, candrv), struct Serial *serial, can_rx_frame *frame) {
+int usb_can_emit(UNUSED_ARG(can_driver *, candrv), struct Serial *serial, can_rx_frame *frame, uint16_t timestamp) {
 
     char buffer[32] = "";
     int i = 0, j = 0;
@@ -29,6 +29,9 @@ int usb_can_emit(UNUSED_ARG(can_driver *, candrv), struct Serial *serial, can_rx
     for(j = 0; j < frame->dlc; i+=2, j++)
         sprintf(&buffer[i], "%02x", frame->data8[j]);
 
+    sprintf(&buffer[i], "%04x", timestamp);
+    i+=2;
+
     buffer[i] = '\r';
     i++;
 
diff --git a/elec/boards/USB_CAN/Firmware/usb_can/usb_can.h b/elec/boards/USB_CAN/Firmware/usb_can/usb_can.h
index efc7d0c..5a8c1ee 100644
--- a/elec/boards/USB_CAN/Firmware/usb_can/usb_can.h
+++ b/elec/boards/USB_CAN/Firmware/usb_can/usb_can.h
@@ -16,6 +16,6 @@
 
 int usb_can_execute_command(can_driver *candrv, struct Serial *serial, char *command);
 
-int usb_can_emit(can_driver *candrv, struct Serial *serial, can_rx_frame *frame);
+int usb_can_emit(can_driver *candrv, struct Serial *serial, can_rx_frame *frame, uint16_t timestamp);
 
 #endif /* !USB_CAN_H */
diff --git a/elec/boards/USB_CAN/Firmware/usb_can/usb_can.mk b/elec/boards/USB_CAN/Firmware/usb_can/usb_can.mk
index a9cc4d2..999adbe 100644
--- a/elec/boards/USB_CAN/Firmware/usb_can/usb_can.mk
+++ b/elec/boards/USB_CAN/Firmware/usb_can/usb_can.mk
@@ -9,7 +9,7 @@ Firmware_DEBUG = 1
 # Our target application
 TRG += usb_can
 
-usb_can_PREFIX = "/home/nicolasd/opt/arm/bin/arm-none-eabi-"
+usb_can_PREFIX = "arm-none-eabi-"
 
 usb_can_SUFFIX = ""
 


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