void can_configure_mobs(void) {
int mob;
/* Initialize MOBs */
for (mob = 0; mob < CAN_MOBS; mob++) {
/* Set MOB */
CAN_SET_MOB(mob);
CAN_CLEAR_MOB();
/* Only RX mobs require special initialization */
if (mob >= CAN_TX_MOBS) {
/* Set id and mask */
CAN_SET_EXT_ID(can_id);
CAN_SET_EXT_MSK(can_mask);
/* Accept extended frames */
CAN_CLEAR_IDEMSK();
CAN_CONFIG_RX();
}
}
}
static void post_cmd(can_cmd_t * cmd) {
uint8_t mob_handle;
uint8_t i;
if(cmd == NULL) return;
mob_handle = can_get_mob_free();
// add command to wait queue if there are no free mobs
if(mob_handle == NO_MOB) {
cmd->status = MOB_NOT_COMPLETED;
list_add(can_cmd_list, cmd);
}
// add command to table of pending command otherwise
else {
can_mob[mob_handle] = cmd;
cmd->status = MOB_PENDING;
CAN_SET_MOB(mob_handle);
CAN_CLEAR_MOB();
switch(cmd->type) {
case TX:
if(cmd->frame->inf.ide) {
CAN_SET_EXT_ID(cmd->frame->inf.id);
} else {
CAN_SET_STD_ID(cmd->frame->inf.id);
}
for(i = 0; i < cmd->frame->data.len; ++i) {
CANMSG = cmd->frame->data.itself[i];
}
if(cmd->frame->inf.rtr) {
CAN_SET_RTR();
} else {
CAN_CLEAR_RTR();
}
CAN_SET_DLC(cmd->frame->data.len);
CAN_CONFIG_TX();
break;
case RX:
if (cmd->frame->inf.ide) {
CAN_SET_EXT_ID(can_masked_id);
CAN_SET_IDEMSK();
CAN_SET_EXT_MSK(can_mask);
} else {
CAN_SET_STD_ID(can_masked_id);
CAN_CLEAR_IDEMSK();
CAN_SET_STD_MSK(can_mask);
}
CAN_SET_DLC(cmd->frame->data.len);
CAN_CLEAR_RTRMSK();
CAN_CONFIG_RX();
break;
default:
cmd->status = STATUS_CLEARED;
break;
}
}
}
