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usbd_gs_can: embed can_data_t in USBD_GS_CAN_HandleTypeDef

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As USBD_GS_CAN_HandleTypeDef describes the whole device, place the
data structure describing the channels directly into it.
This commit is contained in:
Marc Kleine-Budde 2022-11-09 22:55:28 +01:00 committed by fenugrec
parent 1c9f2e7384
commit 6123dbd115
3 changed files with 15 additions and 25 deletions
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3
include/usbd_gs_can.h
View File

@ -59,7 +59,7 @@ typedef struct {
struct gs_host_frame *from_host_buf;
can_data_t *channels[NUM_CAN_CHANNEL];
can_data_t channels[NUM_CAN_CHANNEL];
led_data_t *leds;
bool dfu_detach_requested;
@ -84,7 +84,6 @@ typedef struct {
#endif
uint8_t USBD_GS_CAN_Init(USBD_GS_CAN_HandleTypeDef *hcan, USBD_HandleTypeDef *pdev, queue_t *q_frame_pool, queue_t *q_from_host, led_data_t *leds);
void USBD_GS_CAN_SetChannel(USBD_HandleTypeDef *pdev, uint8_t channel, can_data_t* handle);
void USBD_GS_CAN_SuspendCallback(USBD_HandleTypeDef *pdev);
void USBD_GS_CAN_ResumeCallback(USBD_HandleTypeDef *pdev);
bool USBD_GS_CAN_TxReady(USBD_HandleTypeDef *pdev);

17
src/main.c
View File

@ -49,7 +49,6 @@ static void SystemClock_Config(void);
static bool send_to_host_or_enqueue(struct gs_host_frame *frame);
static void send_to_host(void);
static can_data_t hCAN = {0};
static USBD_GS_CAN_HandleTypeDef hGS_CAN;
static USBD_HandleTypeDef hUSB = {0};
static led_data_t hLED = {0};
@ -60,6 +59,7 @@ static queue_t *q_to_host = NULL;
int main(void)
{
can_data_t *channel = &hGS_CAN.channels[0];
uint32_t last_can_error_status = 0;
HAL_Init();
@ -80,8 +80,8 @@ int main(void)
led_set_mode(&hLED, led_mode_off);
timer_init();
can_init(&hCAN, CAN_INTERFACE);
can_disable(&hCAN);
can_init(channel, CAN_INTERFACE);
can_disable(channel);
q_frame_pool = queue_create(CAN_QUEUE_SIZE);
@ -99,7 +99,6 @@ int main(void)
USBD_Init(&hUSB, (USBD_DescriptorsTypeDef*)&FS_Desc, DEVICE_FS);
USBD_RegisterClass(&hUSB, &USBD_GS_CAN);
USBD_GS_CAN_Init(&hGS_CAN, &hUSB, q_frame_pool, q_from_host, &hLED);
USBD_GS_CAN_SetChannel(&hUSB, 0, &hCAN);
USBD_Start(&hUSB);
#ifdef CAN_S_GPIO_Port
@ -109,7 +108,7 @@ int main(void)
while (1) {
struct gs_host_frame *frame = queue_pop_front(q_from_host);
if (frame != 0) { // send can message from host
if (can_send(&hCAN, frame)) {
if (can_send(channel, frame)) {
// Echo sent frame back to host
frame->flags = 0x0;
frame->reserved = 0x0;
@ -126,11 +125,11 @@ int main(void)
send_to_host();
}
if (can_is_rx_pending(&hCAN)) {
if (can_is_rx_pending(channel)) {
struct gs_host_frame *frame = queue_pop_front(q_frame_pool);
if (frame != 0)
{
if (can_receive(&hCAN, frame)) {
if (can_receive(channel, frame)) {
frame->timestamp_us = timer_get();
frame->echo_id = 0xFFFFFFFF; // not a echo frame
@ -152,11 +151,11 @@ int main(void)
// received frame", so wait until we get there. LEC will hold some error
// to report even if multiple pass by.
} else {
uint32_t can_err = can_get_error_status(&hCAN);
uint32_t can_err = can_get_error_status(channel);
struct gs_host_frame *frame = queue_pop_front(q_frame_pool);
if (frame != 0) {
frame->timestamp_us = timer_get();
if (can_parse_error_status(can_err, last_can_error_status, &hCAN, frame)) {
if (can_parse_error_status(can_err, last_can_error_status, channel, frame)) {
send_to_host_or_enqueue(frame);
last_can_error_status = can_err;
} else {

20
src/usbd_gs_can.c
View File

@ -323,15 +323,6 @@ static uint8_t USBD_GS_CAN_SOF(struct _USBD_HandleTypeDef *pdev)
return USBD_OK;
}
void USBD_GS_CAN_SetChannel(USBD_HandleTypeDef *pdev, uint8_t channel, can_data_t* handle) {
USBD_GS_CAN_HandleTypeDef *hcan = (USBD_GS_CAN_HandleTypeDef*) pdev->pClassData;
assert_basic(hcan);
assert_basic(channel < NUM_CAN_CHANNEL);
hcan->channels[channel] = handle;
return;
}
static const led_seq_step_t led_identify_seq[] = {
{ .state = 0x01, .time_in_10ms = 10 },
{ .state = 0x02, .time_in_10ms = 10 },
@ -368,7 +359,7 @@ static uint8_t USBD_GS_CAN_EP0_RxReady(USBD_HandleTypeDef *pdev) {
if (param_u32) {
led_run_sequence(hcan->leds, led_identify_seq, -1);
} else {
ch = hcan->channels[req->wValue]; // TODO verify wValue input data (implement getChannelData() ?)
ch = &hcan->channels[req->wValue]; // TODO verify wValue input data (implement getChannelData() ?)
led_set_mode(hcan->leds, can_is_enabled(ch) ? led_mode_normal : led_mode_off);
}
break;
@ -386,7 +377,7 @@ static uint8_t USBD_GS_CAN_EP0_RxReady(USBD_HandleTypeDef *pdev) {
if (req->wValue < NUM_CAN_CHANNEL) {
mode = (struct gs_device_mode*)hcan->ep0_buf;
ch = hcan->channels[req->wValue];
ch = &hcan->channels[req->wValue];
if (mode->mode == GS_CAN_MODE_RESET) {
@ -414,7 +405,7 @@ static uint8_t USBD_GS_CAN_EP0_RxReady(USBD_HandleTypeDef *pdev) {
timing = (struct gs_device_bittiming*)hcan->ep0_buf;
if (req->wValue < NUM_CAN_CHANNEL) {
can_set_bittiming(
hcan->channels[req->wValue],
&hcan->channels[req->wValue],
timing->brp,
timing->prop_seg + timing->phase_seg1,
timing->phase_seg2,
@ -725,8 +716,9 @@ void USBD_GS_CAN_SuspendCallback(USBD_HandleTypeDef *pdev)
{
for (uint32_t i=0; i<NUM_CAN_CHANNEL; i++)
{
if (hcan->channels[i] != NULL)
can_disable(hcan->channels[i]);
can_data_t *channel = &hcan->channels[i];
can_disable(channel);
}
}