int can_send(can_id_t id, uint8_t data[], uint8_t dlc, CSP_BASE_TYPE * task_woken) {
int i, m = -1;
/* Disable CAN interrupt while looping MOBs */
CAN_CLEAR_INTERRUPT();
/* Disable interrupts while looping mailboxes */
if (task_woken == NULL) {
portENTER_CRITICAL();
}
/* Search free MOB from 0 -> CAN_TX_MOBs */
for(i = 0; i < CAN_TX_MOBS; i++) {
if (mbox[i] == MBOX_FREE && !(CANEN2 & (1 << i))) {
mbox[i] = MBOX_USED;
m = i;
break;
}
}
/* Enable interrupts */
if (task_woken == NULL) {
portEXIT_CRITICAL();
}
/* Enable CAN interrupt */
CAN_SET_INTERRUPT();
/* Return if no available MOB was found */
if (m < 0) {
csp_log_warn("TX overflow, no available MOB\r\n");
return -1;
}
/* Select and clear mob */
CAN_SET_MOB(m);
CAN_MOB_ABORT();
CAN_CLEAR_STATUS_MOB();
/* Set identifier */
CAN_SET_EXT_ID(id);
/* Set data - CANMSG is auto incrementing */
for (i = 0; i < dlc; i++)
CANMSG = data[i];
/* Set DLC */
CAN_CLEAR_DLC();
CAN_SET_DLC(dlc);
/* Start TX */
CAN_CONFIG_TX();
return 0;
}
static void int_handler(uint16_t source) {
uint8_t mob_handle;
can_cmd_t * cmd;
mob_handle = 0;
while(source != 0) {
if(source & 1) {
cmd = can_mob[mob_handle];
if(cmd != NULL) {
CAN_SET_MOB(mob_handle);
cmd->status = CAN_GET_STATUS_MOB() ;
// RX operation finished
if(cmd->status & MOB_RX_COMPLETED_DLCW) {
cmd->frame->data.len = CAN_GET_DLC();
can_get_data(cmd->frame->data.itself);
cmd->frame->inf.rtr = CAN_GET_RTR();
if (CAN_GET_IDE()) {
cmd->frame->inf.ide = 1;
CAN_GET_EXT_ID(cmd->frame->inf.id);
} else {
cmd->frame->inf.ide = 0;
CAN_GET_STD_ID(cmd->frame->inf.id);
}
}
}
// reset MOb status
CAN_CLEAR_STATUS_MOB();
}
++mob_handle;
source >>= 1;
}
process_poll(&can_drv_process);
}
