#include "./can/sja1000p.h"
#include "./can/main.h"
-#include "./can/can_sysdep.h"
+// #include "./can/can_sysdep.h"
#include "./can/modparms.h"
#include "./can/devcommon.h"
#include "./can/ul_usb1.h"
//#include "./can/setup.h"
+#include "./usb/usb_defs.h"
#include "./usb/usb_vend.h"
#define MASK_EP1RX 0x01
#define MASK_EP1TX 0x02
-#ifdef USB_MAX_PACKET
- #undef USB_MAX_PACKET
- #define USB_MAX_PACKET 16
-#endif
-
#define CAN_OP_MASK 0x80
#define CAN_OP_READ 0x80
#define CAN_OP_WRITE 0x00
+#ifdef USB_MAX_PACKET
+ #undef USB_MAX_PACKET
+ #define USB_MAX_PACKET 16
+#endif
/***********************************************************************
* Note:
* Comparing to LinCAN, there is no need to sleep for processes
/***********************************************************************
* Note:
* Code is wittingly complex in order to ease future changes in hardware
- *Â configuration and to make it as much similar as the code of LinCAN
+ * configuration and to make it as much similar as the code of LinCAN
***********************************************************************/
LT_TIMER_DEC(lt_10msec)
typedef void (*FNC)(); //function ptr
/***********************************************************************
- * global variables
- ***********************************************************************/
+ * global variables
+ ***********************************************************************/
usb_device_t usb_device;
-usb_ep_t eps[2];
+usb_ep_t eps[NUM_ENDPOINTS];
unsigned char ep1_rx_buff[USB_MAX_PACKET];
unsigned char ep1_tx_buff[USB_MAX_PACKET];
uint8_t timer_str,timer_rx_off,timer_tx_off,timer_configured;
volatile uint8_t bootloader_run;
+uint8_t vendor_ret;
+
int processlocal;
int baudrate[MAX_TOT_CHIPS];
struct canuser_t *canuser;
+extern int init_chip_struct(struct candevice_t *candev, int chipnr, int irq, long baudrate);
+extern int register_chip_struct(struct canchip_t *chip, int minorbase);
+extern int register_obj_struct(struct msgobj_t *obj, int minorbase);
/***********************************************************************
- * SOMETHING BAD HAPPENED
+ * IF SOMETHING BAD HAPPENED
***********************************************************************/
int sys_err(){
can_spin_irqflags_t iflags;
int chipnr,bd;
- int i,size;
+ int i,size,m=0;
+
+ CANMSG("Starting USBCAN module firmware...\n");
// volatile int i=0;
bootloader_run=0;
SET_OUT_PIN(LED_PORT,LED_ERR);
CLR_OUT_PIN(LED_PORT,LED_GP);
+ if (USB_MAX_PACKET<16){
+ CANMSG("Maximum packet size less than 16B (is %dB)\n",USB_MAX_PACKET);
+ sys_err();
+ }
+
/***********************************************************************
* CAN device initialization - device side (adapted from LinCAN setup.c)
***********************************************************************/
+ can_init();
+ DEBUGMSG("Initiating CAN device initialization\n");
baudrate[0]=1000;
canqueue_kern_initialize();
hardware_p->nr_boards=1;
candev=(struct candevice_t *)malloc(sizeof(struct candevice_t));
- if (candev==NULL) sys_err();
- memset(candev, 0, sizeof(struct candevice_t));
+ if (!candev){
+ CANMSG("No space left in memory\n");
+ sys_err();
+ }
+ memset(candev, 0, sizeof(struct candevice_t));
hardware_p->candevice[0]=candev;
candev->candev_idx=0;
candev->dev_base_addr=0;
candev->hwspecops=(struct hwspecops_t *)malloc(sizeof(struct hwspecops_t));
- if (candev->hwspecops==NULL) sys_err();
- memset(candev->hwspecops, 0, sizeof(struct hwspecops_t));
+ if (!candev->hwspecops){
+ CANMSG("No space left in memory\n");
+ sys_err();
+ }
+ memset(candev->hwspecops, 0, sizeof(struct hwspecops_t));
ul_usb1_register(candev->hwspecops);
bd=baudrate[0];
- if (candev->hwspecops->init_hw_data(candev)) sys_err();
+ if (candev->hwspecops->init_hw_data(candev)){
+ 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)
irqsig=irq[*irq_param_idx_p+chipnr];*/
- if (init_chip_struct(candev, chipnr, 0, bd*1000)) sys_err();
+ if (init_chip_struct(candev, chipnr, 0, bd*1000)){
+ CANMSG("Chip structure could not be initialized\n");
+ sys_err();
+ }
+ }
+ for (chipnr=0; chipnr < candev->nr_all_chips; chipnr++) {
+ struct canchip_t *chip=candev->chip[chipnr];
+ int objnr;
+
+ register_chip_struct(chip, m);
+
+ for (objnr=0; objnr<chip->max_objects; objnr++) {
+ register_obj_struct(chip->msgobj[objnr], m);
+ if(m>=0) m++;
+ }
}
if (candev->hwspecops->request_io(candev))
sys_err();
memset( &usb_device, 0, sizeof( usb_device));
usb_device.id = 1;
+ usb_device.devdes_table = &usb_devdes_table;
usb_device.init = usb_lpc_init;
usb_debug_set_level(DEBUG_LEVEL_NONE);
- usb_device.cntep = 3;
+ usb_device.cntep = NUM_ENDPOINTS;
usb_device.ep = eps;
eps[0].max_packet_size = USB_MAX_PACKET;
eps[0].udev = &usb_device;
eps[1].udev = &usb_device;
-// usb_device.vendor_fnc=usb_loader;
+ usb_device.vendor_fnc=usbcan_vendor;
usb_init(&usb_device);
usb_connect(&usb_device);
-
- can_init();
+ usb_device.ep_events |= MASK_EP1TX;
/***********************************************************************
* Start
***********************************************************************/
- timer_rx_off=timer_tx_off=timer_str=timer_configured=0;
+ timer_rx_off=timer_tx_off=timer_str=timer_configured=0;
while (1) {
usb_check_events(&usb_device);
usb_control_response(&usb_device);
- if (!(IO0PIN&P0_SJA1000_INT_PIN))
+ 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
uint8_t val;
if (canque_get_inslot(qends, &qedge, &slot, 0)>=0){ //Free slot obtained
- size=usb_udev_read_endpoint(&eps[0],ep1_rx_buff,USB_MAX_PACKET);
+ size=usb_udev_read_endpoint(&eps[0],ep1_rx_buff,16);
if (size==16){
uint16_t msgflags;
uint32_t msgid;
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");
uint16_t msgflags;
uint32_t msgid;
for (;i<CAN_MSG_LENGTH;i++){
*(uint8_t *)(ep1_tx_buff+8+i)=0;
}
- usb_udev_write_endpoint(&eps[1],ep1_tx_buff,USB_MAX_PACKET);
+ usb_udev_write_endpoint(&eps[1],ep1_tx_buff,16);
canque_free_outslot(qends, qedge, slot);
timer_tx_off=50; //rozsviceni diod pri vysilani
projects / lincan.git / blobdiff