// ----------------------------------------------------------------------------
// Low level function to receive a message from mailbox.
// Called by Rx Interrupt or by getMessage.
static void
readMailbox(xpcc::can::Message& message, uint32_t mailboxId)
{
CAN_FIFOMailBox_TypeDef* mailbox = &CAN2->sFIFOMailBox[mailboxId];
uint32_t rir = mailbox->RIR;
if (rir & CAN_RI0R_IDE) {
message.identifier = rir >> 3;
message.setExtended();
}
/* Low level function:
* Called by interrupt or by getMessage to receive a message */
static void
readMessageObject(xpcc::can::Message & message, uint8_t messageObjectId)
{
// NXP's data structure for sending CAN messages
CAN_MSG_OBJ msg_obj;
// Which Message Object to receive
msg_obj.msgobj = messageObjectId;
// Read Message Object from CAN controller
(*xpcc::lpc::Can::rom)->pCAND->can_receive(&msg_obj);
// Is extended Identifier?
if (msg_obj.mode_id & CAN_MSGOBJ_EXT) {
message.setExtended();
// The lower 29 bits are the extended identifier
message.identifier = msg_obj.mode_id & 0x1fffffff;
}
else {
message.setExtended(false);
// The lower 11 bits are the standard identifier
message.identifier = msg_obj.mode_id & 0x7ff;
}
// Is RTR ?
message.setRemoteTransmitRequest( (msg_obj.mode_id & CAN_MSGOBJ_RTR) );
// Get DLC
message.length = msg_obj.dlc;
// Copy Data
// TODO Use memcpy or reinterpret_cast
for (uint8_t ii = 0; ii < message.length; ++ii)
{
message.data[ii] = msg_obj.data[ii];
}
}