int csp_tx_callback(can_id_t canid, can_error_t error, CSP_BASE_TYPE *task_woken) {
int bytes;
uint8_t dest;
/* Match buffer element */
pbuf_element_t *buf = pbuf_find(canid, CFP_ID_CONN_MASK, task_woken);
if (buf == NULL) {
csp_log_info("Failed to match buffer element in tx callback\r\n");
csp_if_can.tx_error++;
return CSP_ERR_INVAL;
}
if (buf->packet == NULL) {
csp_log_warn("Buffer packet was NULL\r\n");
csp_if_can.tx_error++;
pbuf_free(buf, task_woken);
return CSP_ERR_INVAL;
}
/* Free packet buffer if send failed */
if (error != CAN_NO_ERROR) {
csp_log_warn("Error in transmit callback\r\n");
csp_if_can.tx_error++;
pbuf_free(buf, task_woken);
return CSP_ERR_DRIVER;
}
/* Send next frame if not complete */
if (buf->tx_count < buf->packet->length) {
/* Calculate frame data bytes */
bytes = (buf->packet->length - buf->tx_count >= 8) ? 8 : buf->packet->length - buf->tx_count;
/* Insert destination node mac address into the CFP destination field */
dest = csp_route_get_nexthop_mac(buf->packet->id.dst);
if (dest == CSP_NODE_MAC)
dest = buf->packet->id.dst;
/* Prepare identifier */
can_id_t id = 0;
id |= CFP_MAKE_SRC(buf->packet->id.src);
id |= CFP_MAKE_DST(dest);
id |= CFP_MAKE_ID(CFP_ID(canid));
id |= CFP_MAKE_TYPE(CFP_MORE);
id |= CFP_MAKE_REMAIN((buf->packet->length - buf->tx_count - bytes + 7) / 8);
/* Increment tx counter */
buf->tx_count += bytes;
/* Send frame */
if (can_send(id, buf->packet->data + buf->tx_count - bytes, bytes, task_woken) != 0) {
csp_log_info("Failed to send CAN frame in Tx callback\r\n");
csp_if_can.tx_error++;
pbuf_free(buf, task_woken);
return CSP_ERR_DRIVER;
}
} else {
/* Free packet buffer */
pbuf_free(buf, task_woken);
/* Post semaphore if blocking mode is enabled */
if (task_woken != NULL) {
csp_bin_sem_post_isr(&buf->tx_sem, task_woken);
} else {
csp_bin_sem_post(&buf->tx_sem);
}
}
return CSP_ERR_NONE;
}
int csp_can_tx(csp_iface_t * interface, csp_packet_t *packet, uint32_t timeout) {
uint8_t bytes, overhead, avail, dest;
uint8_t frame_buf[8];
/* Get CFP identification number */
int ident = id_get();
if (ident < 0) {
csp_log_warn("Failed to get CFP identification number\r\n");
return CSP_ERR_INVAL;
}
/* Calculate overhead */
overhead = sizeof(csp_id_t) + sizeof(uint16_t);
/* Insert destination node mac address into the CFP destination field */
dest = csp_route_get_nexthop_mac(packet->id.dst);
if (dest == CSP_NODE_MAC)
dest = packet->id.dst;
/* Create CAN identifier */
can_id_t id = 0;
id |= CFP_MAKE_SRC(packet->id.src);
id |= CFP_MAKE_DST(dest);
id |= CFP_MAKE_ID(ident);
id |= CFP_MAKE_TYPE(CFP_BEGIN);
id |= CFP_MAKE_REMAIN((packet->length + overhead - 1) / 8);
/* Get packet buffer */
pbuf_element_t *buf = pbuf_new(id, NULL);
if (buf == NULL) {
csp_log_warn("Failed to get packet buffer for CAN\r\n");
return CSP_ERR_NOMEM;
}
/* Set packet */
buf->packet = packet;
/* Calculate first frame data bytes */
avail = 8 - overhead;
bytes = (packet->length <= avail) ? packet->length : avail;
/* Copy CSP headers and data */
uint32_t csp_id_be = csp_hton32(packet->id.ext);
uint16_t csp_length_be = csp_hton16(packet->length);
memcpy(frame_buf, &csp_id_be, sizeof(csp_id_be));
memcpy(frame_buf + sizeof(csp_id_be), &csp_length_be, sizeof(csp_length_be));
memcpy(frame_buf + overhead, packet->data, bytes);
/* Increment tx counter */
buf->tx_count += bytes;
/* Take semaphore so driver can post it later */
csp_bin_sem_wait(&buf->tx_sem, 0);
/* Send frame */
if (can_send(id, frame_buf, overhead + bytes, NULL) != 0) {
csp_log_info("Failed to send CAN frame in csp_tx_can\r\n");
return CSP_ERR_DRIVER;
}
/* Non blocking mode */
if (timeout == 0)
return CSP_ERR_NONE;
/* Blocking mode */
if (csp_bin_sem_wait(&buf->tx_sem, timeout) != CSP_SEMAPHORE_OK) {
csp_bin_sem_post(&buf->tx_sem);
return CSP_ERR_TIMEDOUT;
} else {
csp_bin_sem_post(&buf->tx_sem);
return CSP_ERR_NONE;
}
}
int csp_can_tx(csp_iface_t * interface, csp_packet_t *packet, uint32_t timeout) {
uint8_t bytes, overhead, avail, dest;
uint8_t frame_buf[8];
/* Get CFP identification number */
int ident = id_get();
if (ident < 0) {
csp_log_warn("Failed to get CFP identification number");
return CSP_ERR_INVAL;
}
/* Calculate overhead */
overhead = sizeof(csp_id_t) + sizeof(uint16_t);
/* Insert destination node mac address into the CFP destination field */
dest = csp_rtable_find_mac(packet->id.dst);
if (dest == CSP_NODE_MAC)
dest = packet->id.dst;
/* Create CAN identifier */
can_id_t id = 0;
id |= CFP_MAKE_SRC(packet->id.src);
id |= CFP_MAKE_DST(dest);
id |= CFP_MAKE_ID(ident);
id |= CFP_MAKE_TYPE(CFP_BEGIN);
id |= CFP_MAKE_REMAIN((packet->length + overhead - 1) / 8);
/* Get packet buffer */
pbuf_element_t *buf = pbuf_new(id, NULL);
if (buf == NULL) {
csp_log_warn("Failed to get packet buffer for CAN");
return CSP_ERR_NOMEM;
}
/* Set packet */
buf->packet = packet;
/* Calculate first frame data bytes */
avail = 8 - overhead;
bytes = (packet->length <= avail) ? packet->length : avail;
/* Copy CSP headers and data */
uint32_t csp_id_be = csp_hton32(packet->id.ext);
uint16_t csp_length_be = csp_hton16(packet->length);
memcpy(frame_buf, &csp_id_be, sizeof(csp_id_be));
memcpy(frame_buf + sizeof(csp_id_be), &csp_length_be, sizeof(csp_length_be));
memcpy(frame_buf + overhead, packet->data, bytes);
/* Increment tx counter */
buf->tx_count += bytes;
/* Take semaphore so driver can post it later */
if (csp_bin_sem_wait(&buf->tx_sem, 0) != CSP_SEMAPHORE_OK) {
csp_log_error("Failed to take CAN pbuf TX sem!");
pbuf_free(buf, NULL, false);
return CSP_ERR_DRIVER;
}
/* Send frame. We must free packet buffer is this fails,
* but the packet itself should be freed by the caller */
if (can_send(id, frame_buf, overhead + bytes, NULL) != 0) {
csp_log_warn("Failed to send CAN frame in csp_tx_can");
csp_bin_sem_post(&buf->tx_sem);
pbuf_free(buf, NULL, false);
return CSP_ERR_DRIVER;
}
/* NOTE: The transmit packet is now owned by the transmission MOB and
* must NOT be freed by the calling thread. */
/* Non blocking mode */
if (timeout == 0)
return CSP_ERR_NONE;
/* Blocking mode */
if (csp_bin_sem_wait(&buf->tx_sem, timeout) != CSP_SEMAPHORE_OK) {
/* tx_sem is posted by transmission callback. The packet
* could still be in use by the transmission MOB, so
* we can not return CSP_ERR_TIMEOUT and risk that the
* calling thread frees the packet. */
return CSP_ERR_NONE;
} else {
csp_bin_sem_post(&buf->tx_sem);
return CSP_ERR_NONE;
}
}