void CANController::handleInterrupt()
{
uint32_t cause = MAP_CANIntStatus(_base, CAN_INT_STS_CAUSE);
if (cause == CAN_INT_INTID_STATUS) // status interrupt. error occurred?
{
uint32_t status = getControlRegister(); // also clears the interrupt
} else if ( (cause >= 1) && (cause <= 32) ) // mailbox event
{
//CANIntClear(_base, cause);
//_isrToThreadQueue.sendToBackFromISR(cause-1);
uint8_t mobId;
if (_freeSwMobs.receiveFromISR(&mobId)) {
tCANMsgObject *msgobj = &_swmobs[mobId];
MAP_CANMessageGet(_base, cause, msgobj, 1);
if (cause < 16+1) {
// RX MOB
_usedSwMobs.sendToBackFromISR(mobId);
}
else{
// TX MOB
_freeSwMobs.sendToBackFromISR(mobId);
}
}
else {
CANIntClear(_base, cause);
}
}
}
int platform_can_recv( unsigned id, u32 *canid, u8 *idtype, u8 *len, u8 *data )
{
// wait for a message
if( can_rx_flag != 0 )
{
can_msg_rx.pucMsgData = data;
MAP_CANMessageGet(CAN0_BASE, CAN_MSG_OBJ_RX, &can_msg_rx, 0);
can_rx_flag = 0;
*canid = ( u32 )can_msg_rx.ulMsgID;
*idtype = ( can_msg_rx.ulFlags & MSG_OBJ_EXTENDED_ID )? ELUA_CAN_ID_EXT : ELUA_CAN_ID_STD;
*len = can_msg_rx.ulMsgLen;
return PLATFORM_OK;
}
else
return PLATFORM_UNDERFLOW;
}
