int CAN_device_tx_msg(uint8_t channel, CAN_msg * msg, unsigned int timeoutMs)
{
CanTxMsg TxMessage;
/* Transmit Structure preparation */
if (msg->isExtendedAddress) {
TxMessage.ExtId = msg->addressValue;
TxMessage.IDE = CAN_ID_EXT;
} else {
TxMessage.StdId = msg->addressValue;
TxMessage.IDE = CAN_ID_STD;
}
TxMessage.RTR = CAN_RTR_DATA;
TxMessage.DLC = msg->dataLength;
memcpy(TxMessage.Data, msg->data, msg->dataLength);
CAN_TypeDef* chan = channel == 0 ? CAN1 : CAN2;
const uint8_t mailbox = CAN_Transmit(chan, &TxMessage);
/*
* Then they don't want to wait. Ok. Let caller know if they
* got a mailbox then. If not, message was unable to be sent.
*/
if (0 == timeoutMs)
return mailbox != CAN_TxStatus_NoMailBox;
/* Using ticks avoids a race-condition */
size_t ticks = getCurrentTicks();
const size_t trigger = ticks + msToTicks(timeoutMs);
uint8_t status = CAN_TxStatus_Failed;
while(ticks <= trigger) {
status = CAN_TransmitStatus(chan, mailbox);
if (CAN_TxStatus_Pending != status)
break;
/*
* Not using yield here as it will cause lower priority tasks
* to starve. Yield only allows tasks of equal or greater
* priority to run.
*/
delayTicks(1);
ticks = getCurrentTicks();
}
if (CAN_TxStatus_Pending == status)
CAN_CancelTransmit(chan, mailbox);
return status == CAN_TxStatus_Ok;
}
void AndroidLog::logTime() {
if(prevTick_ == static_cast<uint64_t>(0)){
/*
* init counter, bypass the first one
*/
prevTick_ = getCurrentTicks();
return;
}
uint64_t curTick = getCurrentTicks();
uint64_t delta = curTick - prevTick_;
log("%" PRIu64 " %" PRIu64 "\n", curTick, delta);
prevTick_ = curTick;
}
void Board::enableFlashErase(void)
{
uint32_t delayTicks = BOARD_BUTTON_DELAY_TICKS;
// Calculate timeout
delayTicks += getCurrentTicks();
// Wait until timeout
while (!isExpiredTicks(delayTicks));
// Set the callback and enable interrupt
button_user.setCallback(&flashEraseCallback_);
button_user.enableInterrupts();
}
LoggerMessage create_logger_message(const enum LoggerMessageType t,
struct sample *s)
{
const size_t ticks = getCurrentTicks();
LoggerMessage msg;
msg.type = t;
msg.ticks = ticks;
msg.sample = s;
/* Set matching timestamps. Needed for validation */
if (s)
s->ticks = ticks;
return msg;
}
unsigned int Timer::getElapsedMicroseconds() const {
return static_cast<unsigned int>(getCurrentTicks() - m_ticks);
}
void Timer::start() {
m_ticks = getCurrentTicks();
}
long double getElapsedTime(const long double &startTicks) {
return (getCurrentTicks() - startTicks)/Resolution;
}