//------------------------------------------------------------------------------
// @fn can_cmd
//!
//! This function takes a CAN descriptor, analyses the action to do:
//! transmit, receive or abort.
//! This function returns a status (CAN_CMD_ACCEPTED or CAN_CMD_REFUSED) if
//! a MOb for Rx or Tx has been found. If no MOB has been found, the
//! application must be retry at a later date.
//! This function also updates the CAN descriptor status (MOB_PENDING or
//! MOB_NOT_REACHED) if a MOb for Rx or Tx has been found. If aborting
//! is performed, the CAN descriptor status will be set to STATUS_CLEARED.
//!
//! @param st_cmd_t* - Can_descriptor pointer on CAN descriptor structure
//! to select the action to do.
//!
//! @return CAN_CMD_ACCEPTED - command is accepted
//! CAN_CMD_REFUSED - command is refused
//!
//------------------------------------------------------------------------------
U8 can_cmd(st_cmd_t* cmd)
{
U8 mob_handle, cpt;
U32 u32_temp;
if (cmd->cmd == CMD_ABORT)
{
if (cmd->status == MOB_PENDING)
{
// Rx or Tx not yet performed
Can_set_mob(cmd->handle);
Can_mob_abort();
Can_clear_status_mob(); // To be sure !
cmd->handle = 0;
}
cmd->status = STATUS_CLEARED;
}
else
{
mob_handle = can_get_mob_free();
if (mob_handle!= NO_MOB)
{
cmd->status = MOB_PENDING;
cmd->handle = mob_handle;
Can_set_mob(mob_handle);
Can_clear_mob();
switch (cmd->cmd)
{
//------------
case CMD_TX:
if (cmd->ctrl.ide){ Can_set_ext_id(cmd->id.ext);}
else { Can_set_std_id(cmd->id.std);}
for (cpt=0;cpt<cmd->dlc;cpt++) CANMSG = *(cmd->pt_data + cpt);
if (cmd->ctrl.rtr) Can_set_rtr();
else Can_clear_rtr();
Can_set_dlc(cmd->dlc);
Can_config_tx();
break;
//------------
case CMD_TX_DATA:
if (cmd->ctrl.ide){ Can_set_ext_id(cmd->id.ext);}
else { Can_set_std_id(cmd->id.std);}
for (cpt=0;cpt<cmd->dlc;cpt++) CANMSG = *(cmd->pt_data + cpt);
cmd->ctrl.rtr=0; Can_clear_rtr();
Can_set_dlc(cmd->dlc);
Can_config_tx();
break;
//------------
case CMD_TX_REMOTE:
if (cmd->ctrl.ide){ Can_set_ext_id(cmd->id.ext);}
else { Can_set_std_id(cmd->id.std);}
cmd->ctrl.rtr=1; Can_set_rtr();
Can_set_dlc(cmd->dlc);
Can_config_tx();
break;
//------------
case CMD_RX:
u32_temp=~0; Can_set_ext_msk(u32_temp); // Änderung durch Muri Christian
//u32_temp=0; Can_set_ext_msk(u32_temp); //origianl
Can_set_dlc(cmd->dlc);
Can_clear_rtrmsk();
Can_clear_idemsk();
Can_config_rx();
break;
//------------
case CMD_RX_DATA:
if (cmd->ctrl.ide){ Can_set_ext_id(cmd->id.ext);}
else { Can_set_std_id(cmd->id.std);}
u32_temp = ~0x00; //Änderung durch Muri Christian
Can_set_ext_msk(u32_temp); //
//u32_temp=~0; Can_set_ext_msk(u32_temp); //original
Can_set_dlc(cmd->dlc);
cmd->ctrl.rtr=0; Can_set_rtrmsk(); Can_clear_rtr();
Can_set_idemsk();
Can_config_rx()
break;
//------------
case CMD_RX_REMOTE:
u32_temp=~0; Can_set_ext_msk(u32_temp); // Änderung durch Muri Christian
//u32_temp=0; Can_set_ext_msk(u32_temp); //orginal
Can_set_dlc(cmd->dlc);
cmd->ctrl.rtr=1; Can_set_rtrmsk(); Can_set_rtr();
Can_clear_rplv();
Can_clear_idemsk();
Can_config_rx();
break;
//------------
case CMD_RX_MASKED:
if (cmd->ctrl.ide){ Can_set_ext_id(cmd->id.ext);}
else { Can_set_std_id(cmd->id.std);}
u32_temp = get_idmask(cmd); //Änderung durch Muri Christian
Can_set_ext_msk(u32_temp);
//u32_temp=~0; Can_set_ext_msk(u32_temp); //origianl
Can_set_dlc(cmd->dlc);
Can_clear_rtrmsk();
Can_set_idemsk();
Can_config_rx();
break;
//------------
case CMD_RX_DATA_MASKED:
if (cmd->ctrl.ide){ Can_set_ext_id(cmd->id.ext);}
else { Can_set_std_id(cmd->id.std);}
u32_temp = get_idmask(cmd); //Änderung durch Muri Christian
Can_set_ext_msk(u32_temp); //
//u32_temp=~0; Can_set_ext_msk(u32_temp); //original
Can_set_dlc(cmd->dlc);
cmd->ctrl.rtr=0; Can_set_rtrmsk(); Can_clear_rtr();
Can_set_idemsk();
Can_config_rx();
break;
//------------
case CMD_RX_REMOTE_MASKED:
if (cmd->ctrl.ide){ Can_set_ext_id(cmd->id.ext);}
else { Can_set_std_id(cmd->id.std);}
u32_temp = get_idmask(cmd); //Änderung durch Muri Christian
Can_set_ext_msk(u32_temp);
//u32_temp=~0; Can_set_ext_msk(u32_temp); //original
Can_set_dlc(cmd->dlc);
cmd->ctrl.rtr=1; Can_set_rtrmsk(); Can_set_rtr();
Can_clear_rplv();
Can_set_idemsk();
Can_config_rx();
break;
//------------
case CMD_REPLY:
for (cpt=0;cpt<cmd->dlc;cpt++) CANMSG = *(cmd->pt_data + cpt);
u32_temp=~0; Can_set_ext_msk(u32_temp); // Änderung durch Muri Christian
//u32_temp=0; Can_set_ext_msk(u32_temp); //origianl
Can_set_dlc(cmd->dlc);
cmd->ctrl.rtr=1; Can_set_rtrmsk(); Can_set_rtr();
Can_set_rplv();
Can_clear_idemsk();
Can_config_rx();
break;
//------------
case CMD_REPLY_MASKED:
if (cmd->ctrl.ide){ Can_set_ext_id(cmd->id.ext);}
else { Can_set_std_id(cmd->id.std);}
for (cpt=0;cpt<cmd->dlc;cpt++) CANMSG = *(cmd->pt_data + cpt);
u32_temp = get_idmask(cmd); //Änderung durch Muri Christian
Can_set_ext_msk(u32_temp);
//u32_temp=~0; Can_set_ext_msk(u32_temp); //original
Can_set_dlc(cmd->dlc);
cmd->ctrl.rtr=1; Can_set_rtrmsk(); Can_set_rtr();
Can_set_rplv();
Can_set_idemsk();
Can_config_rx();
break;
//------------
default:
// case CMD_NONE or not implemented command
cmd->status = STATUS_CLEARED;
break;
//------------
} // switch (cmd ...
} // if (mob_handle ...
else
{
//------------------------------------------------------------------------------
// @fn can_cmd
//!
//! This function takes a CAN descriptor, analyses the action to do:
//! transmit, receive or abort.
//! This function returns a status (CAN_CMD_ACCEPTED or CAN_CMD_REFUSED) if
//! a MOb for Rx or Tx has been found. If no MOB has been found, the
//! application must be retry at a later date.
//! This function also updates the CAN descriptor status (MOB_PENDING or
//! MOB_NOT_REACHED) if a MOb for Rx or Tx has been found. If aborting
//! is performed, the CAN descriptor status will be set to STATUS_CLEARED.
//!
//! @param st_cmd_t* - Can_descriptor pointer on CAN descriptor structure
//! to select the action to do.
//!
//! @return CAN_CMD_ACCEPTED - command is accepted
//! CAN_CMD_REFUSED - command is refused
//!
//------------------------------------------------------------------------------
U8 can_cmd(st_cmd_t* cmd)
{
U8 mob_handle, cpt;
U32 u32_temp;
U16 tmp;
if (cmd->cmd == CMD_ABORT)
{
if (cmd->status == MOB_PENDING)
{
// Rx or Tx not yet performed
Can_set_mob(cmd->handle);
Can_mob_abort();
Can_clear_status_mob(); // To be sure !
cmd->handle = 0;
}
cmd->status = STATUS_CLEARED;
}
else
{
mob_handle = can_get_mob_free();
if (mob_handle!= NO_MOB)
{
cmd->status = MOB_PENDING;
cmd->handle = mob_handle;
Can_set_mob(mob_handle);
Can_clear_mob();
switch (cmd->cmd)
{
//------------
case CMD_TX:
if (cmd->ctrl.ide){ Can_set_ext_id(cmd->id.ext);}
else { Can_set_std_id(cmd->id.std);}
for (cpt=0;cpt<cmd->dlc;cpt++) CANMSG = *(cmd->pt_data + cpt);
if (cmd->ctrl.rtr) Can_set_rtr();
else Can_clear_rtr();
Can_set_dlc(cmd->dlc);
Can_config_tx();
break;
//------------
case CMD_TX_DATA:
if (cmd->ctrl.ide){ Can_set_ext_id(cmd->id.ext);}
else { Can_set_std_id(cmd->id.std);}
for (cpt=0;cpt<cmd->dlc;cpt++) CANMSG = *(cmd->pt_data + cpt);
cmd->ctrl.rtr=0; Can_clear_rtr();
Can_set_dlc(cmd->dlc);
Can_config_tx();
if(!cmd->blocking){ /* Enable interrupt */
Can_set_mob_int(mob_handle) /* Ser ud til at virke */
tIntReg = (CANIE1<<8) + CANIE2; /* test var */
}
break;
//------------
case CMD_TX_REMOTE:
if (cmd->ctrl.ide){ Can_set_ext_id(cmd->id.ext);}
else { Can_set_std_id(cmd->id.std);}
cmd->ctrl.rtr=1; Can_set_rtr();
Can_set_dlc(cmd->dlc);
Can_config_tx();
break;
//------------
case CMD_RX:
u32_temp=0; Can_set_ext_msk(u32_temp);
Can_set_dlc(cmd->dlc);
Can_clear_rtrmsk();
Can_clear_idemsk();
Can_config_rx();
break;
//------------
case CMD_RX_DATA:
u32_temp=0; Can_set_ext_msk(u32_temp);
Can_set_dlc(cmd->dlc);
cmd->ctrl.rtr=0; Can_set_rtrmsk(); Can_clear_rtr();
Can_clear_idemsk();
Can_config_rx();
break;
//------------
case CMD_RX_REMOTE:
u32_temp=0; Can_set_ext_msk(u32_temp);
Can_set_dlc(cmd->dlc);
cmd->ctrl.rtr=1; Can_set_rtrmsk(); Can_set_rtr();
Can_clear_rplv();
Can_clear_idemsk();
Can_config_rx();
break;
//------------
case CMD_RX_MASKED:
if (cmd->ctrl.ide){ Can_set_ext_id(cmd->id.ext);}
else { Can_set_std_id(cmd->id.std);}
u32_temp=~0; Can_set_ext_msk(u32_temp);
Can_set_dlc(cmd->dlc);
Can_clear_rtrmsk();
Can_set_idemsk();
Can_config_rx();
break;
//------------
case CMD_RX_DATA_MASKED:
if (cmd->ctrl.ide){ Can_set_ext_id(cmd->id.ext);}
else { Can_set_std_id(cmd->id.std);}
u32_temp=~0; Can_set_ext_msk(u32_temp);
Can_set_dlc(cmd->dlc);
cmd->ctrl.rtr=0; Can_set_rtrmsk(); Can_clear_rtr();
Can_set_idemsk();
Can_config_rx();
Can_set_mob_int(mob_handle) /* Ser ud til at virke */
break;
//------------
case CMD_RX_REMOTE_MASKED:
if (cmd->ctrl.ide){ Can_set_ext_id(cmd->id.ext);}
else { Can_set_std_id(cmd->id.std);}
u32_temp=~0; Can_set_ext_msk(u32_temp);
Can_set_dlc(cmd->dlc);
cmd->ctrl.rtr=1; Can_set_rtrmsk(); Can_set_rtr();
Can_clear_rplv();
Can_set_idemsk();
Can_config_rx();
break;
//------------
case CMD_REPLY:
for (cpt=0;cpt<cmd->dlc;cpt++) CANMSG = *(cmd->pt_data + cpt);
u32_temp=0; Can_set_ext_msk(u32_temp);
Can_set_dlc(cmd->dlc);
cmd->ctrl.rtr=1; Can_set_rtrmsk(); Can_set_rtr();
Can_set_rplv();
Can_clear_idemsk();
Can_config_rx();
break;
//------------
case CMD_REPLY_MASKED:
if (cmd->ctrl.ide){ Can_set_ext_id(cmd->id.ext);}
else { Can_set_std_id(cmd->id.std);}
for (cpt=0;cpt<cmd->dlc;cpt++) CANMSG = *(cmd->pt_data + cpt);
u32_temp=~0; Can_set_ext_msk(u32_temp);
Can_set_dlc(cmd->dlc);
cmd->ctrl.rtr=1; Can_set_rtrmsk(); Can_set_rtr();
Can_set_rplv();
Can_set_idemsk();
Can_config_rx();
break;
//------------
default:
// case CMD_NONE or not implemented command
cmd->status = STATUS_CLEARED;
break;
//------------
} // switch (cmd ...
} // if (mob_handle ...
else
{
//------------------------------------------------------------------------------
// @fn can_cmd
//!
//! This function takes a CAN descriptor, analyses the action to do:
//! transmit, receive or abort.
//! This function returns a status (CAN_CMD_ACCEPTED or CAN_CMD_REFUSED) if
//! a MOb for Rx or Tx has been found. If no MOB has been found, the
//! application must be retry at a later date.
//! This function also updates the CAN descriptor status (MOB_PENDING or
//! MOB_NOT_REACHED) if a MOb for Rx or Tx has been found. If aborting
//! is performed, the CAN descriptor status will be set to STATUS_CLEARED.
//!
//! @param st_cmd_t* - Can_descriptor pointer on CAN descriptor structure
//! to select the action to do.
//!
//! @return CAN_CMD_ACCEPTED - command is accepted
//! CAN_CMD_REFUSED - command is refused
//!
//------------------------------------------------------------------------------
U8 can_cmd(st_cmd_t* cmd)
{
U8 mob_handle, cpt;
U32 u32_temp;
if (cmd->cmd == CMD_ABORT)
{
if (cmd->status == MOB_PENDING)
{
// Rx or Tx not yet performed
Can_set_mob(cmd->handle);
Can_mob_abort();
Can_clear_status_mob(); // To be sure !
cmd->handle = 0;
}
cmd->status = STATUS_CLEARED;
}
else
{
mob_handle = can_get_mob_free();
if (mob_handle!= NO_MOB)
{
cmd->status = MOB_PENDING;
cmd->handle = mob_handle;
Can_set_mob(mob_handle);
Can_clear_mob();
switch (cmd->cmd)
{
//------------
case CMD_TX_DATA:
if (cmd->ctrl.ide){ Can_set_ext_id(cmd->id.ext);}
else { Can_set_std_id(cmd->id.std);}
for (cpt=0;cpt<cmd->dlc;cpt++) CANMSG = *(cmd->pt_data + cpt);
cmd->ctrl.rtr=0; Can_clear_rtr();
Can_set_dlc(cmd->dlc);
Can_config_tx();
break;
//------------
case CMD_RX_DATA_DEFINED_MASK://To use different masks. Added by Laszlo Kis
if (cmd->ctrl.ide){
Can_set_ext_id(cmd->id.ext);
u32_temp=cmd->id_mask.ext;
Can_set_ext_msk(u32_temp);
}
else{
Can_set_std_id(cmd->id.std);
u32_temp=cmd->id_mask.std;
Can_set_std_msk(u32_temp);
}
Can_set_dlc(cmd->dlc);
cmd->ctrl.rtr=0; Can_set_rtrmsk(); Can_clear_rtr();
Can_set_idemsk();
Can_config_rx();
break;
//------------
case CMD_TX:
if (cmd->ctrl.ide){ Can_set_ext_id(cmd->id.ext);}
else { Can_set_std_id(cmd->id.std);}
for (cpt=0;cpt<cmd->dlc;cpt++) CANMSG = *(cmd->pt_data + cpt);
if (cmd->ctrl.rtr) Can_set_rtr();
else Can_clear_rtr();
Can_set_dlc(cmd->dlc);
Can_config_tx();
break;
//------------
case CMD_TX_REMOTE:
if (cmd->ctrl.ide){ Can_set_ext_id(cmd->id.ext);}
else { Can_set_std_id(cmd->id.std);}
cmd->ctrl.rtr=1; Can_set_rtr();
Can_set_dlc(cmd->dlc);
Can_config_tx();
break;
//------------
case CMD_RX:
u32_temp=0; Can_set_ext_msk(u32_temp);
Can_set_dlc(cmd->dlc);
Can_clear_rtrmsk();
Can_clear_idemsk();
Can_config_rx();
break;
//------------
case CMD_RX_DATA:
u32_temp=0; Can_set_ext_msk(u32_temp);
Can_set_dlc(cmd->dlc);
cmd->ctrl.rtr=0; Can_set_rtrmsk(); Can_clear_rtr();
Can_clear_idemsk();
Can_config_rx();
break;
//------------
case CMD_RX_REMOTE:
u32_temp=0; Can_set_ext_msk(u32_temp);
Can_set_dlc(cmd->dlc);
cmd->ctrl.rtr=1; Can_set_rtrmsk(); Can_set_rtr();
Can_clear_rplv();
Can_clear_idemsk();
Can_config_rx();
break;
//------------
case CMD_RX_MASKED:
if (cmd->ctrl.ide){ Can_set_ext_id(cmd->id.ext);}
else { Can_set_std_id(cmd->id.std);}
u32_temp=~0; Can_set_ext_msk(u32_temp);
Can_set_dlc(cmd->dlc);
Can_clear_rtrmsk();
Can_set_idemsk();
Can_config_rx();
break;
//------------
case CMD_RX_DATA_MASKED:
if (cmd->ctrl.ide){ Can_set_ext_id(cmd->id.ext);}
else { Can_set_std_id(cmd->id.std);}
u32_temp=~0; Can_set_ext_msk(u32_temp);
Can_set_dlc(cmd->dlc);
cmd->ctrl.rtr=0; Can_set_rtrmsk(); Can_clear_rtr();
Can_set_idemsk();
Can_config_rx();
break;
//------------
case CMD_RX_REMOTE_MASKED:
if (cmd->ctrl.ide){ Can_set_ext_id(cmd->id.ext);}
else { Can_set_std_id(cmd->id.std);}
u32_temp=~0; Can_set_ext_msk(u32_temp);
Can_set_dlc(cmd->dlc);
cmd->ctrl.rtr=1; Can_set_rtrmsk(); Can_set_rtr();
Can_clear_rplv();
Can_set_idemsk();
Can_config_rx();
break;
//------------
case CMD_REPLY:
for (cpt=0;cpt<cmd->dlc;cpt++) CANMSG = *(cmd->pt_data + cpt);
u32_temp=0; Can_set_ext_msk(u32_temp);
Can_set_dlc(cmd->dlc);
cmd->ctrl.rtr=1; Can_set_rtrmsk(); Can_set_rtr();
Can_set_rplv();
Can_clear_idemsk();
Can_config_rx();
break;
//------------
case CMD_REPLY_MASKED:
if (cmd->ctrl.ide){ Can_set_ext_id(cmd->id.ext);}
else { Can_set_std_id(cmd->id.std);}
for (cpt=0;cpt<cmd->dlc;cpt++) CANMSG = *(cmd->pt_data + cpt);
u32_temp=~0; Can_set_ext_msk(u32_temp);
Can_set_dlc(cmd->dlc);
cmd->ctrl.rtr=1; Can_set_rtrmsk(); Can_set_rtr();
Can_set_rplv();
Can_set_idemsk();
Can_config_rx();
break;
//------------
default:
// case CMD_NONE or not implemented command
cmd->status = STATUS_CLEARED;
break;
//------------
} // switch (cmd ...
} // if (mob_handle ...
else
{
cmd->status = MOB_NOT_REACHED;
return CAN_CMD_REFUSED;
}
} // else of no CMD_ABORT
return CAN_CMD_ACCEPTED;
}
