X-Git-Url: http://rtime.felk.cvut.cz/gitweb/lincan.git/blobdiff_plain/799073b4fb7461253f6dddb667e4a71d51859246..f9522530e37184c3dcfb818a35f55ec3f177406f:/lincan/src/usbcan.c

diff --git a/lincan/src/usbcan.c b/lincan/src/usbcan.c
index 1f9c926..a18f862 100644
--- a/lincan/src/usbcan.c
+++ b/lincan/src/usbcan.c
@@ -269,17 +269,17 @@ int usbcan_extended_mask(struct canchip_t *chip, unsigned long code, unsigned  l
 	int retval;
 	struct usbcan_usb *dev=(struct usbcan_usb*)chip->hostdevice->sysdevptr.anydev;
 
-	struct usbcan_mask_t usbmask = {
-		.code=code,
-		.mask=mask,
-	};
+	__u8 usbbuf[16];
+
+	*(uint32_t *)(usbbuf)=cpu_to_le32(mask);
+	*(uint32_t *)(usbbuf+4)=cpu_to_le32(code);
 
 	retval=usb_control_msg(dev->udev,
 		usb_sndctrlpipe(dev->udev, dev->ctl_out_endpointAddr),
 		USBCAN_VENDOR_EXT_MASK_SET,
 		USB_TYPE_VENDOR,
 		0, chip->chip_idx,
-		&usbmask, sizeof(struct usbcan_mask_t),
+		&usbbuf, 16,
 		10000);
 	if (retval<0)
 		return -ENODEV;
@@ -289,11 +289,11 @@ int usbcan_extended_mask(struct canchip_t *chip, unsigned long code, unsigned  l
 		USBCAN_VENDOR_EXT_MASK_STATUS,
 		USB_TYPE_VENDOR,
 		0, chip->chip_idx,
-		dev->ctl_in_buffer, dev->ctl_in_size,
+		&usbbuf, 16,
 		10000);
 
-	if (retval==1){
-		if(dev->ctl_in_buffer[0]==1){
+	if (retval==16){
+		if(usbbuf[0]==1){
 			DEBUGMSG("Setting acceptance code to 0x%lx\n",(unsigned long)code);
 			DEBUGMSG("Setting acceptance mask to 0x%lx\n",(unsigned long)mask);
 			return 0;
@@ -322,21 +322,19 @@ int usbcan_baud_rate(struct canchip_t *chip, int rate, int clock, int sjw,
 	int retval;
 	struct usbcan_usb *dev=(struct usbcan_usb*)chip->hostdevice->sysdevptr.anydev;
 
-	// Data too big to use single receive control message
-	struct can_baudparams_t baud={
-		.flags=flags,
-		.baudrate=rate,
-		.sjw=sjw,
-		.sample_pt=sampl_pt,
-	};
+	__u8 usbbuf[16];
 
+	*(int32_t *)(usbbuf)=cpu_to_le32(rate);
+	*(int32_t *)(usbbuf+4)=cpu_to_le32(sjw);
+	*(int32_t *)(usbbuf+8)=cpu_to_le32(sampl_pt);
+	*(int32_t *)(usbbuf+12)=cpu_to_le32(flags);
 
 	retval=usb_control_msg(dev->udev,
 		usb_sndctrlpipe(dev->udev, dev->ctl_out_endpointAddr),
 		USBCAN_VENDOR_BAUD_RATE_SET,
 		USB_TYPE_VENDOR,
 		0, chip->chip_idx,
-		&baud, sizeof(struct can_baudparams_t),
+		&usbbuf, 16,
 		10000);
 	if (retval<0)
 		return -ENODEV;
@@ -346,11 +344,11 @@ int usbcan_baud_rate(struct canchip_t *chip, int rate, int clock, int sjw,
 		USBCAN_VENDOR_BAUD_RATE_STATUS,
 		USB_TYPE_VENDOR,
 		0, chip->chip_idx,
-		dev->ctl_in_buffer, dev->ctl_in_size,
+		usbbuf, 16,
 		10000);
 
-	if (retval==1){
-		if(dev->ctl_in_buffer[0]==1)
+	if (retval==16){
+		if(usbbuf[0]==1)
 			return 0;
 	}
 
@@ -393,6 +391,7 @@ int usbcan_pre_write_config(struct canchip_t *chip, struct msgobj_t *obj,
 	struct usbcan_usb *dev=(struct usbcan_usb*)chip->hostdevice->sysdevptr.anydev;
 	int i=0;
 	int len;
+	__u8 *ptr;
 
 	/* Wait until Transmit Buffer Status is released */
 	while ( usbcan_chip_queue_status(chip) &&
@@ -404,29 +403,20 @@ int usbcan_pre_write_config(struct canchip_t *chip, struct msgobj_t *obj,
 		return -EIO;
 	}
 
-	dev->tx_msg.chip_id=(__u8)chip->chip_idx;
+	*(uint8_t *)(dev->tx_msg)=chip->chip_idx & 0xFF;
 
 	len = msg->length;
 	if(len > CAN_MSG_LENGTH) len = CAN_MSG_LENGTH;
-	dev->tx_msg.length=(__u8)len;
-	dev->tx_msg.flags=(__u16)msg->flags;
-
-	if(msg->flags&MSG_EXT) {
-		dev->tx_msg.id[0]=(msg->id) & 0xff;
-		dev->tx_msg.id[1]=(msg->id>>8) & 0xff;
-		dev->tx_msg.id[2]=(msg->id>>16) & 0xff;
-		dev->tx_msg.id[3]=(msg->id>>24) & 0xff;
-	} else {
-		dev->tx_msg.id[0]=(msg->id) & 0xff;
-		dev->tx_msg.id[1]=(msg->id>>8) & 0xff;
-		dev->tx_msg.id[2]=0;
-		dev->tx_msg.id[3]=0;
-	}
-	for(i=0; i < len; i++) {
-		dev->tx_msg.data[i]=(__u8) msg->data[i];
+
+	*(uint8_t *)(dev->tx_msg+1)=len & 0xFF;
+	*(uint16_t *)(dev->tx_msg+2)=cpu_to_le16(msg->flags);
+	*(uint32_t *)(dev->tx_msg+4)=cpu_to_le32(msg->id);
+
+	for(ptr=dev->tx_msg+8,i=0; i < len; ptr++,i++) {
+		*ptr=msg->data[i] & 0xFF;
 	}
-	for(i; i < 8; i++) {
-		dev->tx_msg.data[i]=0;
+	for(; i < 8; ptr++,i++) {
+		*ptr=0;
 	}
 	return 0;
 }
@@ -451,7 +441,7 @@ int usbcan_send_msg(struct canchip_t *chip, struct msgobj_t *obj,
 	set_bit(USBCAN_TX_PENDING,&dev->flags);
 	retval=usb_bulk_msg(dev->udev,
 			usb_sndbulkpipe(dev->udev, dev->bulk_out_endpointAddr),
-			&dev->tx_msg, sizeof(struct usbcan_canmsg_t),
+			&dev->tx_msg, 16,
 			&len,10000);
 	clear_bit(USBCAN_TX_PENDING,&dev->flags);
 	if (retval){
@@ -496,12 +486,13 @@ int usbcan_set_btregs(struct canchip_t *chip, unsigned short btr0,
 {
 	int retval;
 	struct usbcan_usb *dev=(struct usbcan_usb*)chip->hostdevice->sysdevptr.anydev;
+	uint16_t value=(btr1&0xFF)<<8 | (btr0&0xFF);
 
 	retval = usb_control_msg(dev->udev,
 	usb_rcvctrlpipe(dev->udev, dev->ctl_in_endpointAddr),
 	USBCAN_VENDOR_SET_BTREGS,
 	USB_TYPE_VENDOR,
-	btr1<<8 | btr0, chip->chip_idx,
+	cpu_to_le16(value), chip->chip_idx,
 	dev->ctl_in_buffer, dev->ctl_in_size,
 	10000);
 
@@ -563,9 +554,9 @@ int usbcan_chip_queue_status(struct canchip_t *chip)
 
 	if (retval==1){
 		if(dev->ctl_in_buffer[0]==1)
-			return 1;
-		if(dev->ctl_in_buffer[0]==0)
 			return 0;
+		if(dev->ctl_in_buffer[0]==0)
+			return 1;
 	}
 	return -ENODEV;
 }
@@ -1019,7 +1010,7 @@ void usbcan_read_kthread(kthread_t *kthread)
 	dev->rcv->dev = dev->udev;
 	usb_fill_bulk_urb(dev->rcv, dev->udev,
 			 usb_rcvbulkpipe(dev->udev, dev->bulk_in_endpointAddr),
-			 &dev->rcv_msg, sizeof(struct usbcan_canmsg_t),
+			 &dev->rcv_msg, 16,
 			 usbcan_rcv, dev);
 
   /* an endless loop in which we are doing our work */
@@ -1058,27 +1049,22 @@ void usbcan_read_kthread(kthread_t *kthread)
 				int i, len;
 				clear_bit(USBCAN_DATA_READ,&dev->flags);
 
-				if ((dev->candev->chip[dev->rcv_msg.chip_id])&&
-					(dev->candev->chip[dev->rcv_msg.chip_id]->flags & CHIP_CONFIGURED)){
-
-					obj=dev->candev->chip[dev->rcv_msg.chip_id]->msgobj[0];
-					if (dev->rcv_msg.flags & MSG_EXT) {
-						obj->rx_msg.id =
-							(dev->rcv_msg.id[0]) +
-							(dev->rcv_msg.id[1]<<8) +
-							(dev->rcv_msg.id[2]<<16) +
-							(dev->rcv_msg.id[3]<<24);
-					} else {
-						obj->rx_msg.id =
-							(dev->rcv_msg.id[0]) +
-							(dev->rcv_msg.id[1]<<8);
-					}
-					obj->rx_msg.flags = dev->rcv_msg.flags;
-					len=dev->rcv_msg.length;
+				if ((dev->candev->chip[dev->rcv_msg[0]])&&
+					(dev->candev->chip[dev->rcv_msg[0]]->flags & CHIP_CONFIGURED)
+				){
+					__u8 *ptr;
+
+					obj=dev->candev->chip[dev->rcv_msg[0]]->msgobj[0];
+
+					len=*(uint8_t *)(dev->rcv_msg+1);
 					if(len > CAN_MSG_LENGTH) len = CAN_MSG_LENGTH;
 					obj->rx_msg.length = len;
-					for(i=0; i< len; i++) {
-						obj->rx_msg.data[i]=obj->rx_msg.data[i];
+
+					obj->rx_msg.flags=le16_to_cpu(*(uint16_t *)(dev->rcv_msg+2));
+					obj->rx_msg.id=le32_to_cpu((*(uint32_t *)(dev->rcv_msg+4)));
+
+					for(ptr=dev->rcv_msg+8,i=0; i < len; ptr++,i++) {
+						obj->rx_msg.data[i]=*ptr;
 					}
 
 					// fill CAN message timestamp