int csp_init(unsigned char address) {
int ret;
/* Initialize CSP */
csp_set_address(address);
ret = csp_conn_init();
if (ret != CSP_ERR_NONE)
return ret;
ret = csp_port_init();
if (ret != CSP_ERR_NONE)
return ret;
ret = csp_qfifo_init();
if (ret != CSP_ERR_NONE)
return ret;
/* Loopback */
csp_iflist_add(&csp_if_lo);
/* Register loopback route */
csp_route_set(csp_get_address(), &csp_if_lo, CSP_NODE_MAC);
/* Also register loopback as default, until user redefines default route */
csp_route_set(CSP_DEFAULT_ROUTE, &csp_if_lo, CSP_NODE_MAC);
return CSP_ERR_NONE;
}
int csp_can_init(uint8_t mode, struct csp_can_config *conf) {
int ret;
uint32_t mask;
/* Initialize packet buffer */
if (pbuf_init() != 0) {
csp_log_error("Failed to initialize CAN packet buffers");
return CSP_ERR_NOMEM;
}
/* Initialize CFP identifier */
if (id_init() != 0) {
csp_log_error("Failed to initialize CAN identification number");
return CSP_ERR_NOMEM;
}
if (mode == CSP_CAN_MASKED) {
mask = CFP_MAKE_DST((1 << CFP_HOST_SIZE) - 1);
} else if (mode == CSP_CAN_PROMISC) {
mask = 0;
csp_if_can.promisc = 1;
} else {
csp_log_error("Unknown CAN mode");
return CSP_ERR_INVAL;
}
can_rx_queue = csp_queue_create(CSP_CAN_RX_QUEUE_SIZE, sizeof(can_frame_t));
if (can_rx_queue == NULL) {
csp_log_error("Failed to create CAN RX queue");
return CSP_ERR_NOMEM;
}
ret = csp_thread_create(csp_can_rx_task, (signed char *) "CAN", 6000/sizeof(int), NULL, 3, &can_rx_task);
if (ret != 0) {
csp_log_error("Failed to init CAN RX task");
return CSP_ERR_NOMEM;
}
/* Initialize CAN driver */
if (can_init(CFP_MAKE_DST(my_address), mask, csp_tx_callback, csp_rx_callback, conf) != 0) {
csp_log_error("Failed to initialize CAN driver");
return CSP_ERR_DRIVER;
}
/* Regsiter interface */
csp_iflist_add(&csp_if_can);
return CSP_ERR_NONE;
}
