X-Git-Url: http://rtime.felk.cvut.cz/gitweb/lincan.git/blobdiff_plain/3c6d0376edd06bad63e861415974556259f593cd..f6c113a5fb217e7495b93053cf29fa6966923445:/embedded/app/usbcan/main.c

diff --git a/embedded/app/usbcan/main.c b/embedded/app/usbcan/main.c
index b9271e3..fd12f59 100644
--- a/embedded/app/usbcan/main.c
+++ b/embedded/app/usbcan/main.c
@@ -24,7 +24,7 @@
 #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"
 
@@ -36,15 +36,14 @@
 #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
@@ -82,6 +81,8 @@ 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];
@@ -92,9 +93,12 @@ struct msgobj_t *objects_p[MAX_TOT_MSGOBJS];
 
 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(){
@@ -150,7 +154,9 @@ int main(void)
 	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;
@@ -162,11 +168,18 @@ int main(void)
 	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();
@@ -174,8 +187,11 @@ int main(void)
 	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;
@@ -183,18 +199,38 @@ int main(void)
 	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();
@@ -295,12 +331,11 @@ int main(void)
 	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
@@ -312,13 +347,13 @@ int main(void)
 		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;
@@ -374,6 +409,7 @@ int main(void)
 
 		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;
 
@@ -395,7 +431,7 @@ int main(void)
 				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