int can_send(can_id_t id, uint8_t data[], uint8_t dlc, CSP_BASE_TYPE * task_woken) {
int i, m = -1;
/* Disable CAN interrupt while looping MOBs */
CAN_CLEAR_INTERRUPT();
/* Disable interrupts while looping mailboxes */
if (task_woken == NULL) {
portENTER_CRITICAL();
}
/* Search free MOB from 0 -> CAN_TX_MOBs */
for(i = 0; i < CAN_TX_MOBS; i++) {
if (mbox[i] == MBOX_FREE && !(CANEN2 & (1 << i))) {
mbox[i] = MBOX_USED;
m = i;
break;
}
}
/* Enable interrupts */
if (task_woken == NULL) {
portEXIT_CRITICAL();
}
/* Enable CAN interrupt */
CAN_SET_INTERRUPT();
/* Return if no available MOB was found */
if (m < 0) {
csp_log_warn("TX overflow, no available MOB\r\n");
return -1;
}
/* Select and clear mob */
CAN_SET_MOB(m);
CAN_MOB_ABORT();
CAN_CLEAR_STATUS_MOB();
/* Set identifier */
CAN_SET_EXT_ID(id);
/* Set data - CANMSG is auto incrementing */
for (i = 0; i < dlc; i++)
CANMSG = data[i];
/* Set DLC */
CAN_CLEAR_DLC();
CAN_SET_DLC(dlc);
/* Start TX */
CAN_CONFIG_TX();
return 0;
}
PROCESS_THREAD(can_drv_process, ev, data) {
static can_cmd_t * cmd;
static uint8_t mob_handle;
uint8_t do_create_recv_buf = 0;
PROCESS_BEGIN();
for(;;) {
// wait on polling or timer event
PROCESS_WAIT_EVENT();
// Post event about completed commands and free the mob
for(mob_handle = 0; mob_handle < NB_MOB; ++mob_handle) {
cmd = can_mob[mob_handle];
do_create_recv_buf = 0;
if(cmd != NULL) {
if(cmd->status != MOB_PENDING) {
if(cmd->status & MOB_TX_COMPLETED) {
ftimer_unregister_func(cmd->ftimer_id);
can_send_callback(CAN_DRV_RC_NORM, cmd->frame, cmd->context);
} else if(cmd->status & MOB_RX_COMPLETED) {
can_recv_callback(cmd->frame);
do_create_recv_buf = 1;
}
can_mob[mob_handle] = NULL;
free(cmd);
CAN_SET_MOB(mob_handle);
CAN_MOB_ABORT();
}
}
if(do_create_recv_buf) {
create_recv_buf();
}
}
// If waiting queue not empty, try to schedule waiting commands
while( list_head(can_cmd_list) != 0 ) {
if(can_get_mob_free() != NO_MOB) {
cmd = list_pop(can_cmd_list);
post_cmd(cmd);
} else {
break;
}
}
}
PROCESS_END();
}
static void abort_cmd(can_cmd_t * cmd) {
uint8_t cpt;
if(cmd == NULL) return;
if(cmd->next != NULL) {
// remove command from waiting queue
list_remove(can_cmd_list, cmd);
} else {
// remove from pending table
for(cpt = 0; cpt < NB_MOB; ++cpt) {
if(cmd == can_mob[cpt]) {
can_mob[cpt] = NULL;
CAN_SET_MOB(cpt);
CAN_MOB_ABORT();
break;
}
}
}
}
