/*
* Attach a CanObserver. Can frames which match the id/mask will be forwarded to the observer
* via the method handleCanFrame(RX_CAN_FRAME).
* Sets up a can bus mailbox if necessary.
*
* \param observer - the observer object to register (must implement CanObserver class)
* \param id - the id of the can frame to listen to
* \param mask - the mask to be applied to the frames
* \param extended - set if extended frames must be supported
*/
void CanHandler::attach(CanObserver* observer, uint32_t id, uint32_t mask, bool extended) {
int8_t pos = findFreeObserverData();
if (pos == -1) {
Logger::error("no free space in CanHandler::observerData, increase its size via CFG_CAN_NUM_OBSERVERS");
return;
}
int8_t mailbox = findFreeMailbox();
if (mailbox == -1) {
Logger::error("no free CAN mailbox on bus %d", canBusNode);
return;
}
observerData[pos].id = id;
observerData[pos].mask = mask;
observerData[pos].extended = extended;
observerData[pos].mailbox = mailbox;
observerData[pos].observer = observer;
bus->mailbox_set_mode(mailbox, CAN_MB_RX_MODE);
bus->mailbox_set_accept_mask(mailbox, mask, extended);
bus->mailbox_set_id(mailbox, id, extended);
bus->enable_interrupt(getMailboxIer(mailbox));
Logger::debug("attached CanObserver (%X) for id=%X, mask=%X, mailbox=%d", observer, id, mask, mailbox);
}
/*
* Attach a CanObserver. Can frames which match the id/mask will be forwarded to the observer
* via the method handleCanFrame(RX_CAN_FRAME).
* Sets up a can bus mailbox if necessary.
*
* \param observer - the observer object to register (must implement CanObserver class)
* \param id - the id of the can frame to listen to
* \param mask - the mask to be applied to the frames
* \param extended - set if extended frames must be supported
*/
void CanHandler::attach(CanObserver* observer, uint32_t id, uint32_t mask, bool extended)
{
int8_t pos = findFreeObserverData();
if (pos == -1) {
Logger::error("no free space in CanHandler::observerData, increase its size via CFG_CAN_NUM_OBSERVERS");
return;
}
int mailbox = bus->findFreeRXMailbox();
if (mailbox == -1) {
Logger::error("no free CAN mailbox on bus %d", canBusNode);
return;
}
observerData[pos].id = id;
observerData[pos].mask = mask;
observerData[pos].extended = extended;
observerData[pos].mailbox = mailbox;
observerData[pos].observer = observer;
bus->setRXFilter((uint8_t) mailbox, id, mask, extended);
Logger::debug("attached CanObserver (%X) for id=%X, mask=%X, mailbox=%d", observer, id, mask, mailbox);
}
