static msg_t can_rx(void *p) {
struct can_instance *cip = p;
EventListener el;
CANRxFrame rxmsg;
(void)p;
chRegSetThreadName("receiver");
chEvtRegister(&cip->canp->rxfull_event, &el, 0);
#if SPC5_CAN_USE_FILTERS
rxFlag = chEvtGetAndClearFlagsI(&el);
#endif
while(!chThdShouldTerminate()) {
if (chEvtWaitAnyTimeout(ALL_EVENTS, MS2ST(100)) == 0)
continue;
#if !SPC5_CAN_USE_FILTERS
while (canReceive(cip->canp, CAN_ANY_MAILBOX,
&rxmsg, TIME_IMMEDIATE) == RDY_OK) {
/* Process message.*/
palTogglePad(PORT_D, cip->led);
}
#else
while (canReceive(cip->canp, rxFlag,
&rxmsg, TIME_IMMEDIATE) == RDY_OK) {
/* Process message.*/
palTogglePad(PORT_D, cip->led);
}
#endif
}
chEvtUnregister(&CAND1.rxfull_event, &el);
return 0;
}
flagsmask_t EvtListener::getAndClearFlagsI(void) {
return chEvtGetAndClearFlagsI(&ev_listener);
}
/**
* @brief Reads a whole line from the input channel.
*
* @param[in] chp pointer to a @p BaseChannel object
* @param[in] line pointer to the line buffer
* @param[in] size buffer maximum length
* @return The operation status.
* @retval TRUE the channel was reset or CTRL-D pressed.
* @retval FALSE operation successful.
*/
static bool getConsoleLine(BaseSequentialStream *chp, char *line, unsigned size) {
char *p = line;
while (true) {
if (!isCommandLineConsoleReady()) {
// we better do not read from USB serial before it is ready
chThdSleepMilliseconds(10);
continue;
}
short c = (short) streamGet(chp);
onDataArrived();
#if defined(EFI_CONSOLE_UART_DEVICE) || defined(__DOXYGEN__)
if (isCommandLineConsoleOverTTL()) {
uint32_t flags;
chSysLock()
;
flags = chEvtGetAndClearFlagsI(&consoleEventListener);
chSysUnlock()
;
if (flags & SD_OVERRUN_ERROR) {
// firmwareError(OBD_PCM_Processor_Fault, "serial overrun");
}
}
#endif
#if EFI_UART_ECHO_TEST_MODE
/**
* That's test code - let's test connectivity
*/
consolePutChar((uint8_t) c);
continue;
#endif
if (c < 0 || c == 4) {
return true;
}
if (c == 8) {
if (p != line) {
// backspace
consolePutChar((uint8_t) c);
consolePutChar(0x20);
consolePutChar((uint8_t) c);
p--;
}
continue;
}
if (c == '\r') {
consolePutChar('\r');
consolePutChar('\n');
*p = 0;
return false;
}
if (c == '\n') {
consolePutChar('\n');
*p = 0;
return false;
}
if (c < 0x20) {
continue;
}
if (p < line + size - 1) {
consolePutChar((uint8_t) c);
*p++ = (char) c;
}
}
}
