static void task_led(void *pvParameters) {
UNUSED(pvParameters);
// timeout = ((uint32_t)sys_now()) + (2000);
for (;;) {
// if(sys_now() >= timeout) {
// printf("timeout\r\n");
// timeout = ((uint32_t)sys_now()) + (2000);
// }
// pio_toggle_pin(MDM_ONOFF_IDX);
// pio_toggle_pin(MDM_ENABLE_IDX);
// pio_toggle_pin(MDM_RESET_IDX);
pio_toggle_pin(PIN_LED_0_IDX);
pio_toggle_pin(PIN_LED1);
pio_toggle_pin(PIN_LED2);
vTaskDelay(500);
}
}
/**
* \brief Responds to he command from CAN0 and sends to CAN1
**/
void command_in(void)
{
pio_toggle_pin(LED0_GPIO);
can_disable_interrupt(CAN0, CAN_IER_MB0);
NVIC_DisableIRQ(CAN0_IRQn);
can_reset_all_mailbox(CAN0);
can_reset_all_mailbox(CAN1);
/* Init CAN1 Mailbox 0 to Reception Mailbox. */
reset_mailbox_conf(&can0_mailbox);
can1_mailbox.ul_mb_idx = 1;
can1_mailbox.uc_obj_type = CAN_MB_RX_MODE;
can1_mailbox.ul_id_msk = CAN_MAM_MIDvA_Msk | CAN_MAM_MIDvB_Msk;
can1_mailbox.ul_id = CAN_MID_MIDvA(7);
can_mailbox_init(CAN1, &can1_mailbox);
/* Init CAN0 Mailbox 0 to Transmit Mailbox. */
reset_mailbox_conf(&can0_mailbox);
can0_mailbox.ul_mb_idx = 1;
can0_mailbox.uc_obj_type = CAN_MB_TX_MODE;
can0_mailbox.uc_tx_prio = 15;
can0_mailbox.uc_id_ver = 0;
can0_mailbox.ul_id_msk = 0;
can_mailbox_init(CAN0, &can0_mailbox);
/* Write transmit information into mailbox. */
can0_mailbox.ul_id = CAN_MID_MIDvA(7);
can0_mailbox.ul_datal = COMMAND_OUT;
can0_mailbox.ul_datah = CAN_MSG_DUMMY_DATA;
can0_mailbox.uc_length = MAX_CAN_FRAME_DATA_LEN;
can_mailbox_write(CAN0, &can0_mailbox);
/* Enable CAN1 mailbox 0 interrupt. */
can_enable_interrupt(CAN1, CAN_IER_MB1);
/* Send out the information in the mailbox. */
can_global_send_transfer_cmd(CAN0, CAN_TCR_MB1);
/* potentially @non-terminating@ */
while (!g_ul_recv_status) {
}
}
/**
* \brief Decodes the CAN message and performs a prescribed action depending on
* the message received.
* @param *controller: CAN sending controller
* @param *p_mailbox: CAN mailbox structure of sending controller
*/
void decode_can_msg(can_mb_conf_t *p_mailbox, Can* controller)
{
//assert(g_ul_recv_status); // Only decode if a message was received. ***Asserts here.
//assert(controller); // CAN0 or CAN1 are nonzero.
uint32_t ul_data_incom = p_mailbox->ul_datal;
if(controller == CAN0)
pio_toggle_pin(LED0_GPIO);
if(controller == CAN1)
pio_toggle_pin(LED1_GPIO);
if (ul_data_incom == COMMAND_OUT)
pio_toggle_pin(LED0_GPIO);
if (ul_data_incom == COMMAND_IN)
pio_toggle_pin(LED1_GPIO);
if (ul_data_incom == DUMMY_COMMAND)
pio_toggle_pin(LED1_GPIO);
if (ul_data_incom == MSG_ACK)
pio_toggle_pin(LED1_GPIO);
if ((ul_data_incom == COMMAND_IN) & (controller == CAN0))
{
// Command has been received, respond.
pio_toggle_pin(LED0_GPIO);
command_in();
}
if ((ul_data_incom == COMMAND_OUT) & (controller == CAN1))
{
pio_toggle_pin(LED2_GPIO); // LED2 indicates the response to the command
} // has been received.
if ((ul_data_incom == HK_TRANSMIT) & (controller == CAN1))
{
pio_toggle_pin(LED3_GPIO); // LED3 indicates housekeeping has been received.
}
if ((ul_data_incom == DUMMY_COMMAND) & (controller == CAN1))
{
pio_toggle_pin(LED3_GPIO); // LED3 indicates housekeeping has been received.
}
if ((ul_data_incom == MSG_ACK) & (controller == CAN1))
{
pio_toggle_pin(LED3_GPIO); // LED3 indicates the reception of a return message.
}
if ((ul_data_incom == HK_RETURNED) & (controller == CAN0))
{
pio_toggle_pin(LED2_GPIO); // LED3 indicates the reception of housekeeping.
}
return;
}
void process_deca_irq(uint32_t id, uint32_t mask) {
pio_toggle_pin(LED_STATUS1_IDX);
// instance_process_irq(0);
irq_set = 0x01;
}
