DMP_INLINE(void) can_RoundRobin(CAN_Bus *can)
{
CANFrame temp;
if (QueueEmpty(can->xmit))
return;
io_DisableINT();
if (!(io_In32(can->ioHandle, can->REQ) & (0x01L << (can->round*2))))
{
PopBufQueue(can->xmit, (void*)&temp);
io_Out32(can->ioHandle, can->TX[can->round].TYPE , (unsigned long)temp.type | ((unsigned long)temp.length << 4));
io_Out32(can->ioHandle, can->TX[can->round].IDR , temp.identifier);
io_Out32(can->ioHandle, can->TX[can->round].DATAL, temp.Data.dword[0]);
io_Out32(can->ioHandle, can->TX[can->round].DATAH, temp.Data.dword[1]);
io_Out32(can->ioHandle, can->REQ, io_In32(can->ioHandle, can->REQ) | (0x01UL << (can->round*2)));
can->round++;
if (can->round == 3)
can->round = 0;
}
io_RestoreINT();
}
DMPAPI(unsigned int) PopQueue(Queue *queue)
{
unsigned char ch;
if (PopBufQueue(queue, (void *)&ch) == false)
return 0xffff;
return (unsigned int)ch;
}
DMP_INLINE(void) can_RoundRobin(CAN_Bus *can)
{
if (QueueEmpty(can->xmit)) return;
io_DisableINT();
{
if (!(io_In32(can->handle, can->REQ) & (0x01L << (round*2))))
{
PopBufQueue(can->xmit, (void*)&can->tx_temp);
io_Out32(can->handle, can->TX[round].TYPE , (unsigned long)can->tx_temp.type);
io_Out32(can->handle, can->TX[round].IDR , can->tx_temp.id);
io_Out32(can->handle, can->TX[round].DATAL, can->tx_temp.ldata);
io_Out32(can->handle, can->TX[round].DATAH, can->tx_temp.hdata);
io_Out32(can->handle, can->REQ, io_In32(can->handle, can->REQ) | (0x01L << (round*2)));
round++;
if (round == 3) round = 0;
}
}
io_RestoreINT();
}
