void can_flush(void)
{
int busy;
time_t deadline = time_get(10); //max wait 10 ms
do {
busy = 0;
busy += (CAN_TransmitStatus(CAN1, 0) == CANTXPENDING);
busy += (CAN_TransmitStatus(CAN1, 1) == CANTXPENDING);
busy += (CAN_TransmitStatus(CAN1, 2) == CANTXPENDING);
if(!busy)
break;
} while(time_left(deadline) > 0);
CAN_CancelTransmit(CAN1, 0);
CAN_CancelTransmit(CAN1, 1);
CAN_CancelTransmit(CAN1, 2);
CAN_FIFORelease(CAN1, CAN_FIFO0);
#ifndef CONFIG_CAN_ENHANCED
CAN_FIFORelease(CAN1, CAN_FIFO1);
#endif
#if ENABLE_CAN_INT
circle_header = 0;
circle_tailer = 0;
circle_number = 0;
#endif
}
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 can_flush_tx(void)
{
CAN_CancelTransmit(CAN1, 0);
CAN_CancelTransmit(CAN1, 1);
CAN_CancelTransmit(CAN1, 2);
}
