void vQueueOverwritePeriodicISRDemo( void )
{
static uint32_t ulCallCount = 0;
const uint32_t ulTx1 = 10UL, ulTx2 = 20UL, ulNumberOfSwitchCases = 3UL;
uint32_t ulRx;
/* This function should be called from an interrupt, such as the tick hook
function vApplicationTickHook(). */
configASSERT( xISRQueue );
switch( ulCallCount )
{
case 0:
/* The queue is empty. Write ulTx1 to the queue. In this demo the
last parameter is not used because there are no tasks blocked on
this queue. */
xQueueOverwriteFromISR( xISRQueue, &ulTx1, NULL );
/* Peek the queue to check it holds the expected value. */
xQueuePeekFromISR( xISRQueue, &ulRx );
if( ulRx != ulTx1 )
{
xISRTestStatus = pdFAIL;
}
break;
case 1:
/* The queue already holds ulTx1. Overwrite the value in the queue
with ulTx2. */
xQueueOverwriteFromISR( xISRQueue, &ulTx2, NULL );
break;
case 2:
/* Read from the queue to empty the queue again. The value read
should be ulTx2. */
xQueueReceiveFromISR( xISRQueue, &ulRx, NULL );
if( ulRx != ulTx2 )
{
xISRTestStatus = pdFAIL;
}
break;
}
/* Run the next case in the switch statement above next time this function
is called. */
ulCallCount++;
if( ulCallCount >= ulNumberOfSwitchCases )
{
/* Go back to the start. */
ulCallCount = 0;
}
}
/* Call Back called by can_drv, channel 1 */
void can_out_callback_channel1(U8 handle, U8 event){
if (handle == mob_rx_speed_sens_fl.handle) {
mob_rx_speed_sens_fl.can_msg->data.u64 = can_get_mob_data(CAN_BUS_1, handle).u64;
mob_rx_speed_sens_fl.can_msg->id = can_get_mob_id(CAN_BUS_1, handle);
mob_rx_speed_sens_fl.dlc = can_get_mob_dlc(CAN_BUS_1, handle);
mob_rx_speed_sens_fl.status = event;
xQueueOverwriteFromISR(queue_wheel_fl, &mob_rx_speed_sens_fl.can_msg->data.u16[0], NULL);
/* Empty message field */
mob_rx_speed_sens_fl.can_msg->data.u64 = 0x0LL;
/* Prepare message reception */
can_rx(CAN_BUS_1,
mob_rx_speed_sens_fl.handle,
mob_rx_speed_sens_fl.req_type,
mob_rx_speed_sens_fl.can_msg);
} else if (handle == mob_rx_speed_sens_fr.handle) {
mob_rx_speed_sens_fr.can_msg->data.u64 = can_get_mob_data(CAN_BUS_1, handle).u64;
mob_rx_speed_sens_fr.can_msg->id = can_get_mob_id(CAN_BUS_1, handle);
mob_rx_speed_sens_fr.dlc = can_get_mob_dlc(CAN_BUS_1, handle);
mob_rx_speed_sens_fr.status = event;
xQueueOverwriteFromISR(queue_wheel_fr, &mob_rx_speed_sens_fr.can_msg->data.u16[0], NULL);
/* Empty message field */
mob_rx_speed_sens_fr.can_msg->data.u64 = 0x0LL;
/* Prepare message reception */
can_rx(CAN_BUS_1,
mob_rx_speed_sens_fr.handle,
mob_rx_speed_sens_fr.req_type,
mob_rx_speed_sens_fr.can_msg);
} else if (handle == mob_rx_speed_sens_rl.handle) {
mob_rx_speed_sens_rl.can_msg->data.u64 = can_get_mob_data(CAN_BUS_1, handle).u64;
mob_rx_speed_sens_rl.can_msg->id = can_get_mob_id(CAN_BUS_1, handle);
mob_rx_speed_sens_rl.dlc = can_get_mob_dlc(CAN_BUS_1, handle);
mob_rx_speed_sens_rl.status = event;
xQueueOverwriteFromISR(queue_wheel_rl, &mob_rx_speed_sens_rl.can_msg->data.u16[0], NULL);
/* Empty message field */
mob_rx_speed_sens_rl.can_msg->data.u64 = 0x0LL;
/* Prepare message reception */
can_rx(CAN_BUS_1,
mob_rx_speed_sens_rl.handle,
mob_rx_speed_sens_rl.req_type,
mob_rx_speed_sens_rl.can_msg);
} else if (handle == mob_rx_speed_sens_rr.handle) {
mob_rx_speed_sens_rr.can_msg->data.u64 = can_get_mob_data(CAN_BUS_1, handle).u64;
mob_rx_speed_sens_rr.can_msg->id = can_get_mob_id(CAN_BUS_1, handle);
mob_rx_speed_sens_rr.dlc = can_get_mob_dlc(CAN_BUS_1, handle);
mob_rx_speed_sens_rr.status = event;
xQueueOverwriteFromISR(queue_wheel_rr, &mob_rx_speed_sens_rr.can_msg->data.u16[0], NULL);
/* Empty message field */
mob_rx_speed_sens_rr.can_msg->data.u64 = 0x0LL;
/* Prepare message reception */
can_rx(CAN_BUS_1,
mob_rx_speed_sens_rr.handle,
mob_rx_speed_sens_rr.req_type,
mob_rx_speed_sens_rr.can_msg);
} else if (handle == mob_rx_trq_sens1.handle) {
mob_rx_trq_sens1.can_msg->data.u64 = can_get_mob_data(CAN_BUS_1, handle).u64;
mob_rx_trq_sens1.can_msg->id = can_get_mob_id(CAN_BUS_1, handle);
mob_rx_trq_sens1.dlc = can_get_mob_dlc(CAN_BUS_1, handle);
mob_rx_trq_sens1.status = event;
xQueueOverwriteFromISR(queue_trq_sens1, &mob_rx_trq_sens1.can_msg->data.s16[0], NULL);
xQueueOverwriteFromISR(queue_trq_sens1_err, &mob_rx_trq_sens1.can_msg->data.u8[2], NULL);
asm("nop");
/* Empty message field */
mob_rx_trq_sens1.can_msg->data.u64 = 0x0LL;
/* Prepare message reception */
can_rx(CAN_BUS_1,
mob_rx_trq_sens1.handle,
mob_rx_trq_sens1.req_type,
mob_rx_trq_sens1.can_msg);
} else if (handle == mob_rx_bms_precharge.handle) {
mob_rx_bms_precharge.can_msg->data.u64 = can_get_mob_data(CAN_BUS_1, handle).u64;
mob_rx_bms_precharge.can_msg->id = can_get_mob_id(CAN_BUS_1, handle);
mob_rx_bms_precharge.dlc = can_get_mob_dlc(CAN_BUS_1, handle);
mob_rx_bms_precharge.status = event;
bms_can_msg_t bms_can_msg;
bms_can_msg.data.u64 = mob_rx_bms_precharge.can_msg->data.u64;
bms_can_msg.id = mob_rx_bms_precharge.can_msg->id;
xQueueSendToBackFromISR(queue_bms_rx, &bms_can_msg, NULL);
/* Empty message field */
mob_rx_bms_precharge.can_msg->data.u64 = 0x0LL;
/* Prepare message reception */
can_rx(CAN_BUS_1,
mob_rx_bms_precharge.handle,
mob_rx_bms_precharge.req_type,
mob_rx_bms_precharge.can_msg);
} else if (handle == mob_rx_bms_battvolt.handle) {
mob_rx_bms_battvolt.can_msg->data.u64 = can_get_mob_data(CAN_BUS_1, handle).u64;
mob_rx_bms_battvolt.can_msg->id = can_get_mob_id(CAN_BUS_1, handle);
mob_rx_bms_battvolt.dlc = can_get_mob_dlc(CAN_BUS_1, handle);
mob_rx_bms_battvolt.status = event;
bms_can_msg_t bms_can_msg;
bms_can_msg.data.u64 = mob_rx_bms_battvolt.can_msg->data.u64;
bms_can_msg.id = mob_rx_bms_battvolt.can_msg->id;
xQueueSendToBackFromISR(queue_bms_rx, &bms_can_msg, NULL);
/* Empty message field */
mob_rx_bms_battvolt.can_msg->data.u64 = 0x0LL;
/* Prepare message reception */
can_rx(CAN_BUS_1,
mob_rx_bms_battvolt.handle,
mob_rx_bms_battvolt.req_type,
mob_rx_bms_battvolt.can_msg);
} else if (handle == mob_brk.handle) {
mob_brk.can_msg->data.u64 = can_get_mob_data(CAN_BUS_1, handle).u64;
mob_brk.can_msg->id = can_get_mob_id(CAN_BUS_1, handle);
mob_brk.dlc = can_get_mob_dlc(CAN_BUS_1, handle);
mob_brk.status = event;
if (mob_brk.can_msg->id == (CANR_FCN_DATA_ID | CANR_GRP_SENS_BRK_ID | CANR_MODULE_ID0_ID)) {
xQueueSendToBackFromISR( queue_brake_front, &mob_brk.can_msg->data.u16[0], NULL );
} else {
xQueueSendToBackFromISR( queue_brake_rear, &mob_brk.can_msg->data.u16[0], NULL );
}
/* Empty message field */
mob_brk.can_msg->data.u64 = 0x0LL;
/* Prepare message reception */
can_rx(CAN_BUS_1,
mob_brk.handle,
mob_brk.req_type,
mob_brk.can_msg);
}
}
void can_out_callback_channel0(U8 handle, U8 event){
if (handle == mob_rx_dash_pri.handle) {
mob_rx_dash_pri.can_msg->data.u64 = can_get_mob_data(CAN_BUS_0, handle).u64;
mob_rx_dash_pri.can_msg->id = can_get_mob_id(CAN_BUS_0, handle);
mob_rx_dash_pri.dlc = can_get_mob_dlc(CAN_BUS_0, handle);
mob_rx_dash_pri.status = event;
dash_can_msg_t dash_can_msg;
dash_can_msg.data.u64 = mob_rx_dash_pri.can_msg->data.u64;
dash_can_msg.id = mob_rx_dash_pri.can_msg->id;
xQueueSendToBackFromISR(queue_dash_msg, &dash_can_msg, NULL);
/* Empty message field */
mob_rx_dash_pri.can_msg->data.u64 = 0x0LL;
/* Prepare message reception */
can_rx(CAN_BUS_0,
mob_rx_dash_pri.handle,
mob_rx_dash_pri.req_type,
mob_rx_dash_pri.can_msg);
} else if (handle == mob_rx_dash_data.handle) {
mob_rx_dash_data.can_msg->data.u64 = can_get_mob_data(CAN_BUS_0, handle).u64;
mob_rx_dash_data.can_msg->id = can_get_mob_id(CAN_BUS_0, handle);
mob_rx_dash_data.dlc = can_get_mob_dlc(CAN_BUS_0, handle);
mob_rx_dash_data.status = event;
dash_can_msg_t dash_can_msg;
dash_can_msg.data.u64 = mob_rx_dash_data.can_msg->data.u64;
dash_can_msg.id = mob_rx_dash_data.can_msg->id;
xQueueSendToBackFromISR(queue_dash_msg, &dash_can_msg, NULL);
/* Empty message field */
mob_rx_dash_data.can_msg->data.u64 = 0x0LL;
/* Prepare message reception */
can_rx(CAN_BUS_0,
mob_rx_dash_data.handle,
mob_rx_dash_data.req_type,
mob_rx_dash_data.can_msg);
} else if (handle == mob_rx_trq_sens0.handle) {
mob_rx_trq_sens0.can_msg->data.u64 = can_get_mob_data(CAN_BUS_0, handle).u64;
mob_rx_trq_sens0.can_msg->id = can_get_mob_id(CAN_BUS_0, handle);
mob_rx_trq_sens0.dlc = can_get_mob_dlc(CAN_BUS_0, handle);
mob_rx_trq_sens0.status = event;
xQueueOverwriteFromISR(queue_trq_sens0, &mob_rx_trq_sens0.can_msg->data.s16[0], NULL);
xQueueOverwriteFromISR(queue_trq_sens0_err, &mob_rx_trq_sens0.can_msg->data.u8[2], NULL);
asm("nop");
/* Empty message field */
mob_rx_trq_sens0.can_msg->data.u64 = 0x0LL;
/* Prepare message reception */
can_rx(CAN_BUS_0,
mob_rx_trq_sens0.handle,
mob_rx_trq_sens0.req_type,
mob_rx_trq_sens0.can_msg);
} else if (handle == mob_rx_bspd.handle) {
mob_rx_bspd.can_msg->data.u64 = can_get_mob_data(CAN_BUS_0, handle).u64;
mob_rx_bspd.can_msg->id = can_get_mob_id(CAN_BUS_0, handle);
mob_rx_bspd.dlc = can_get_mob_dlc(CAN_BUS_0, handle);
mob_rx_bspd.status = event;
xQueueOverwriteFromISR( queue_bspd, &mob_rx_bspd.can_msg->data.u8[0], NULL );
/* Empty message field */
mob_rx_bspd.can_msg->data.u64 = 0x0LL;
/* Prepare message reception */
can_rx(CAN_BUS_0,
mob_rx_bspd.handle,
mob_rx_bspd.req_type,
mob_rx_bspd.can_msg);
}
}