X-Git-Url: http://rtime.felk.cvut.cz/gitweb/lincan.git/blobdiff_plain/26fbfa454cdb986c0e18b41bda3a0e8ec54128ba..f9522530e37184c3dcfb818a35f55ec3f177406f:/embedded/app/usbcan/main.c

diff --git a/embedded/app/usbcan/main.c b/embedded/app/usbcan/main.c
index 97d9785..b9271e3 100644
--- a/embedded/app/usbcan/main.c
+++ b/embedded/app/usbcan/main.c
@@ -15,6 +15,11 @@
 #include <lpciap.h>
 #include <lpciap_kvpb.h>
 
+#include <endian.h>
+#if __BYTE_ORDER == __BIG_ENDIAN
+  #include <byteswap.h>
+#endif
+
 #include "./can/can.h"
 #include "./can/sja1000p.h"
 #include "./can/main.h"
@@ -26,6 +31,8 @@
 #include "./can/ul_usb1.h"
 //#include "./can/setup.h"
 
+#include "./usb/usb_vend.h"
+
 #define MASK_EP1RX  0x01
 #define MASK_EP1TX  0x02
 
@@ -83,6 +90,8 @@ struct canhardware_t *hardware_p=&canhardware;
 struct canchip_t *chips_p[MAX_TOT_CHIPS];
 struct msgobj_t *objects_p[MAX_TOT_MSGOBJS];
 
+struct canuser_t *canuser;
+
 
 /***********************************************************************
  * SOMETHING BAD HAPPENED
@@ -134,7 +143,6 @@ int main(void)
 	struct candevice_t *candev;
 	struct canchip_t *chip=NULL;
 	struct msgobj_t *obj;
-	struct canuser_t *canuser;
 	struct canque_ends_t *qends;
 	struct canque_edge_t *edge,*qedge;
 	struct canque_slot_t *slot;
@@ -312,12 +320,26 @@ int main(void)
 			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);
 				if (size==16){
+					uint16_t msgflags;
+					uint32_t msgid;
 					canmsg.cob=0;
-					canmsg.id=*((uint32_t*)ep1_rx_buff);
-					canmsg.flags=(*((uint32_t*)(ep1_rx_buff+4)))>>8;
-					canmsg.length=(*((uint16_t*)(ep1_rx_buff+6)))&0x00FF;
-					for (i=0;i<CAN_MSG_LENGTH;i++){
-						canmsg.data[i]=*((unsigned char*)(ep1_rx_buff+8+i));
+					canmsg.length=*(uint8_t *)(ep1_rx_buff+1);
+					if (canmsg.length > CAN_MSG_LENGTH)
+						canmsg.length=CAN_MSG_LENGTH;
+					msgflags=*(uint16_t *)(ep1_rx_buff+2);
+					msgid=*(uint32_t *)(ep1_rx_buff+4);
+					#if __BYTE_ORDER == __BIG_ENDIAN
+						msgflags  = bswap_16( msgflags);
+						msgid  = bswap_32( msgid);
+					#endif
+					canmsg.flags=msgflags;
+					canmsg.id=msgid;
+
+					for (i=0;i<canmsg.length;i++){
+						canmsg.data[i]=*(unsigned char*)(ep1_rx_buff+8+i);
+					}
+					for (;i<CAN_MSG_LENGTH;i++){
+						canmsg.data[i]=0;
 					}
 					/* Automatic selection of extended format if ID>2047 */
 					if (canmsg.id & ~0x7ffl & MSG_ID_MASK ) canmsg.flags |= MSG_EXT;
@@ -352,10 +374,26 @@ int main(void)
 
 		if(usb_device.ep_events & MASK_EP1TX){ //EP1TX - data transmitted
 			if(canque_test_outslot(qends, &qedge, &slot)>=0){
-				(*((uint32_t*)ep1_tx_buff))=slot->msg.id;
-				(*((uint32_t*)(ep1_tx_buff+4)))=slot->msg.flags<<8 | (slot->msg.length&0xFF);
-				for (i=0;i<CAN_MSG_LENGTH;i++){
-					(*((uint32_t*)(ep1_tx_buff+8+i)))=slot->msg.data[i];
+				uint16_t msgflags;
+				uint32_t msgid;
+
+				*(uint8_t *)(ep1_tx_buff)=0;
+				*(uint8_t *)(ep1_tx_buff+1)=slot->msg.length;
+
+				msgflags=slot->msg.flags;
+				msgid=slot->msg.id;
+				#if __BYTE_ORDER == __BIG_ENDIAN
+					msgflags  = bswap_16( msgflags);
+					msgid  = bswap_32( msgid);
+				#endif
+
+				*(uint16_t *)(ep1_tx_buff+2)=msgflags;
+				*(uint32_t *)(ep1_tx_buff+4)=msgid;
+				for (i=0;i<slot->msg.length;i++){
+					*(uint8_t *)(ep1_tx_buff+8+i)=slot->msg.data[i];
+				}
+				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);