int csp_route_set(uint8_t node, csp_iface_t *ifc, uint8_t nexthop_mac_addr) {
/* Don't add nothing */
if (ifc == NULL)
return CSP_ERR_INVAL;
/**
* Check if the interface has been added.
*
* NOTE: For future implementations, interfaces should call
* csp_route_add_if in its csp_if_<name>_init function, instead
* of registering at first route_set, in order to make the interface
* available to network based (CMP) route configuration.
*/
csp_route_add_if(ifc);
/* Set route */
if (node <= CSP_DEFAULT_ROUTE) {
routes[node].interface = ifc;
routes[node].nexthop_mac_addr = nexthop_mac_addr;
} else {
csp_log_error("Failed to set route: invalid node id %u\r\n", node);
return CSP_ERR_INVAL;
}
return CSP_ERR_NONE;
}
void csp_tiradio_init (csp_iface_t *csp_iface,
csp_tiradio_driver_handle_t *csp_tiradio_handle,
const char *name) {
csp_iface->driver = csp_tiradio_handle;
csp_iface->mtu = TIRADIO_PACKET_MTU;
csp_iface->nexthop = csp_tiradio_tx;
csp_iface->name = name;
/* Register interface */
csp_route_add_if(csp_iface);
}
int csp_i2c_init(uint8_t addr, int handle) {
/* Create i2c_handle */
csp_i2c_handle = handle;
if (i2c_init(csp_i2c_handle, I2C_MASTER, addr, CSP_I2C_SPEED, 5, 5, csp_i2c_rx) != E_NO_ERR)
return CSP_ERR_DRIVER;
/* Regsiter interface */
csp_route_add_if(&csp_if_i2c);
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\r\n");
return CSP_ERR_NOMEM;
}
/* Initialize CFP identifier */
if (id_init() != 0) {
csp_log_error("Failed to initialize CAN identification number\r\n");
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\r\n");
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\r\n");
return CSP_ERR_NOMEM;
}
ret = csp_thread_create(csp_can_rx_task, (signed char *) "CANRX",2048, NULL, 3, &can_rx_task);
if (ret != 0) {
csp_log_error("Failed to init CAN RX task\r\n");
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\r\n");
return CSP_ERR_DRIVER;
}
/* Regsiter interface */
csp_route_add_if(&csp_if_can);
return CSP_ERR_NONE;
}
