// it runs with interrupts disabled, it is safe to set and use MOB
void DeviceCAN_AT90CAN::implTransmit(void)
{
if ((CANGSTA & _BV(TXBSY)) == 0)
{
Can_set_mob(NB_MOB_TX);
CANSTMOB |= _BV(TXOK); // trigger transmit interrupt
}
}
//------------------------------------------------------------------------------
// @fn can_get_status
//!
//! This function allows to return if the command has been performed or not.
//! In an reception case, all the CAN message is stored in the structure.
//! This function also updates the CAN descriptor status (MOB_TX_COMPLETED,
//! MOB_RX_COMPLETED, MOB_RX_COMPLETED_DLCW or MOB_???_ERROR).
//!
//! @param st_cmd_t* pointer on CAN descriptor structure.
//!
//! @return CAN_STATUS_COMPLETED - Rx or Tx is completed
//! CAN_STATUS_NOT_COMPLETED - Rx or Tx is not completed
//! CAN_STATUS_ERROR - Error in configuration or in the
//! CAN communication
//!
//------------------------------------------------------------------------------
U8 can_get_status (st_cmd_t* cmd)
{
U8 a_status;
U8 rtn_val;
a_status = cmd->status;
if ( (a_status==STATUS_CLEARED)||(a_status==MOB_NOT_REACHED)||(a_status==MOB_DISABLE) )
{
return CAN_STATUS_ERROR;
}
Can_set_mob(cmd->handle);
a_status = can_get_mob_status();
switch (a_status)
{
case MOB_NOT_COMPLETED:
// cmd->status not updated
rtn_val = CAN_STATUS_NOT_COMPLETED;
break;
//--------------- special for "reduced_can_lib.c"
case MOB_RX_COMPLETED:
case MOB_RX_COMPLETED_DLCW:
cmd->dlc = Can_get_dlc();
can_get_data(cmd->pt_data);
// Always standard frame
Can_get_std_id(cmd->id.std); //- Warning[Pa082]: undefined behavior: the order of volatile accesses is undefined in this statement
// Status field of descriptor: 0x20 if Rx completed
// Status field of descriptor: 0xA0 if Rx completed with DLCWarning
cmd->status = a_status;
Can_mob_abort(); // Freed the MOB
Can_clear_status_mob(); // and reset MOb status
rtn_val = CAN_STATUS_COMPLETED;
break;
//--------------- special for "reduced_can_lib.c"
case MOB_TX_COMPLETED:
// Status field of descriptor: 0x40 if Tx completed
cmd->status = a_status;
Can_mob_abort(); // Freed the MOB
Can_clear_status_mob(); // and reset MOb status
rtn_val = CAN_STATUS_COMPLETED;
break;
//---------------
default:
// Status field of descriptor: (bin)000b.scfa if MOb error
cmd->status = a_status;
Can_mob_abort(); // Freed the MOB
Can_clear_status_mob(); // and reset MOb status
rtn_val = CAN_STATUS_ERROR;
break;
}
return (rtn_val);
}
//------------------------------------------------------------------------------
// @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 cpt;
U8 rtn_val;
rtn_val = CAN_CMD_ACCEPTED;
cmd->status = MOB_PENDING;
// MH **************************************************************************************************************************************
//------------ special for "reduced_can_lib.c"
if ((cmd->cmd) == CMD_TX_DATA)
{
cmd->handle = MOB_4;
Can_set_mob(MOB_4);
// cmd->handle = MOB_14;
// Can_set_mob(MOB_14);
Can_clear_mob();
Can_clear_ide();
Can_set_std_id(cmd->id.std);
for (cpt=0; cpt<cmd->dlc; cpt++) CANMSG = *(cmd->pt_data + cpt);
Can_clear_rtr();
Can_set_dlc(cmd->dlc);
Can_config_tx();
}
//------------ special for "reduced_can_lib.c"
else if ((cmd->cmd) == CMD_RX_DATA_MASKED)
{
cmd->handle = MOB_0;
Can_set_mob(MOB_0);
Can_clear_mob();
Can_clear_ide();
Can_set_std_id(cmd->id.std);
Can_set_std_msk(cmd->msk.std);
Can_set_rtrmsk(); Can_clear_rtr();
Can_set_idemsk();
Can_config_rx();
}
// case CMD_NONE or not implemented command
else rtn_val= CAN_CMD_REFUSED;
return rtn_val;
}
void DeviceCAN_AT90CAN::implInit(unsigned char mode)
{
OSDeviceDebug::putString_P(PSTR("DeviceCAN_AT90CAN::implInit()"));
OSDeviceDebug::putNewLine();
transceiverInit();
Can_reset();
interruptInit(); // must be after reset()
/* CAN_KING setting */
/* 125K, 75%, Tq=0.5uS, Tbit=16*Tq=8uS */
/* Tprs=7*Tq, Tph1=4*Tq, Tph2=4*Tq, Tsjw=1*Tq */
CANBT1 = 0x0E; /* 125K@16MHz */
CANBT2 = 0x0C;
CANBT3 = 0x37;
can_clear_all_mob();
// enable reception on the reception mob
Can_set_mob(NB_MOB_RX);
Can_config_rx();
// enable both RX and TX mobs
CANEN2 = _BV(NB_MOB_RX) | _BV(NB_MOB_TX);
// enable interrupts for both RX and TX mobs
CANIE2 = _BV(NB_MOB_RX) | _BV(NB_MOB_TX);
mode = mode; // set to given mode
Can_enable();
transceiverHighSpeed();
//OSDebugLed2::init();
interruptEnable();
m_isConnected = true;
}
//------------------------------------------------------------------------------
// @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:
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
{
void DeviceCAN_AT90CAN::interruptServiceRoutine(void)
{
//OSDeviceDebug::putString(" IRQ ");
unsigned char c;
if ((CANGIT & _BV(CANIT)) != 0)
{
unsigned char c;
c = CANSIT2 & CANIE2;
// we currently use only two MOBs, one for TX and
// one for RX, no need to iterrate all
if ((c & _BV(NB_MOB_TX)) != 0)
{
// MOB0, transmit
Can_set_mob(NB_MOB_TX);
c = CANSTMOB;
if ((c & _BV(TXOK)) != 0)
{
// read-modify-write
CANSTMOB &= ~_BV(TXOK);
//OSDebugLed2::on();
if (!m_txBuf.isEmpty())
{
CANPacket packet;
m_txBuf.get((unsigned char*)&packet);
Can_clear_mob(); // previous status saved in c
{
Can_set_std_id(packet.id);
for (unsigned char cpt = 0; cpt < packet.len; cpt++)
CANMSG = packet.data[cpt];
Can_clear_rtr();
Can_set_dlc(packet.len);
}
Can_config_tx(); // already cleared
//OSDeviceDebug::putString(" tx ");
}
else
{
// nothing more to transmit
DISABLE_MOB();
// OSDeviceDebug::putString(" empty ");
}
if (m_txBuf.isBelowLowWM())
OSScheduler::eventNotify(getWriteEvent());
//OSDebugLed2::off();
}
else
{
// other interrupts...
OSDeviceDebug::putString_P(PSTR(" CANSTMOB0="));
OSDeviceDebug::putHex(c);
OSDeviceDebug::putChar(' ');
CANSTMOB = 0;
}
}
if ((c & _BV(NB_MOB_RX)) != 0)
{
// MOB1, receive
Can_set_mob(NB_MOB_RX);
c = CANSTMOB;
if ((c & _BV(RXOK)) != 0)
{
//OSDeviceDebug::putString(" rx ");
if ((c & _BV(IDE)) == 0)
{
// standard 11 bits ID; reply bit ignored
CANPacket can_packet;
can_packet.id = Can_get_std_id();
can_packet.len = Can_get_dlc();
can_get_data(can_packet.data);
#if 0
if (can_packet.id != 0)
{
can_packet.dump();
}
#endif
if (!m_rxBuf.isFull())
{
m_rxBuf.put((unsigned char*)&can_packet);
}
OSScheduler::eventNotify(getReadEvent());
}
// re-enable reception on this mob
Can_clear_mob();
// DISABLE_MOB();
Can_config_rx();
//CANSTMOB = c & ~_BV(RXOK);
}
else
{
// other interrupts...
OSDeviceDebug::putString_P(PSTR(" CANSTMOB1="));
OSDeviceDebug::putHex(c);
OSDeviceDebug::putChar(' ');
CANSTMOB = 0;
}
}
}
c = CANGIT & ~(_BV(CANIT) | _BV(OVRTIM));
if (c != 0)
{
// other interrupts...
OSDeviceDebug::putString_P(PSTR(" CANGIT="));
OSDeviceDebug::putHex(c);
OSDeviceDebug::putChar(' ');
// reset interrupt flag
CANGIT |= c;
}
}
//------------------------------------------------------------------------------
// @fn can_get_status
//!
//! This function allows to return if the command has been performed or not.
//! In an reception case, all the CAN message is stored in the structure.
//! This function also updates the CAN descriptor status (MOB_TX_COMPLETED,
//! MOB_RX_COMPLETED, MOB_RX_COMPLETED_DLCW or MOB_???_ERROR).
//!
//! @param st_cmd_t* pointer on CAN descriptor structure.
//!
//! @return CAN_STATUS_COMPLETED - Rx or Tx is completed
//! CAN_STATUS_NOT_COMPLETED - Rx or Tx is not completed
//! CAN_STATUS_ERROR - Error in configuration or in the
//! CAN communication
//!
//------------------------------------------------------------------------------
U8 can_get_status (st_cmd_t* cmd)
{
U8 a_status, rtn_val;
a_status = cmd->status;
if ((a_status==STATUS_CLEARED)||(a_status==MOB_NOT_REACHED)||(a_status==MOB_DISABLE))
{
return CAN_STATUS_ERROR;
}
Can_set_mob(cmd->handle);
a_status = can_get_mob_status();
switch (a_status)
{
case MOB_NOT_COMPLETED:
// cmd->status not updated
rtn_val = CAN_STATUS_NOT_COMPLETED;
break;
//---------------
case MOB_RX_COMPLETED:
case MOB_RX_COMPLETED_DLCW:
cmd->dlc = Can_get_dlc();
can_get_data(cmd->pt_data);
cmd->ctrl.rtr = Can_get_rtr();
if (Can_get_ide()) // if extended frame
{
cmd->ctrl.ide = 1; // extended frame
Can_get_ext_id(cmd->id.ext);
}
else // else standard frame
{
cmd->ctrl.ide = 0;
Can_get_std_id(cmd->id.std);
}
// Status field of descriptor: 0x20 if Rx completed
// Status field of descriptor: 0xA0 if Rx completed with DLCWarning
cmd->status = a_status;
Can_mob_abort(); // Freed the MOB
Can_clear_status_mob(); // and reset MOb status
rtn_val = CAN_STATUS_COMPLETED;
break;
//---------------
case MOB_TX_COMPLETED:
// Status field of descriptor: 0x40 if Tx completed
cmd->status = a_status;
Can_mob_abort(); // Freed the MOB
Can_clear_status_mob(); // and reset MOb status
rtn_val = CAN_STATUS_COMPLETED;
break;
//---------------
default:
// Status field of descriptor: (bin)000b.scfa if MOb error
cmd->status = a_status;
Can_mob_abort(); // Freed the MOB
Can_clear_status_mob(); // and reset MOb status
rtn_val = CAN_STATUS_ERROR;
break;
} // switch (a_status...
return (rtn_val);
}
//------------------------------------------------------------------------------
// @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;
}
