/**
* \brief Sends STCAN_MSG structure from the client dwClientID.
* \param[in] dwClientID is the client ID
* \param[in] sMessage is the application specific CAN message structure
* \return S_OK for success, S_FALSE for failure
*/
HRESULT CDIL_CAN_MHS::CAN_SendMsg(DWORD dwClientID, const STCAN_MSG& sMessage)
{
struct TCanMsg msg;
static SACK_MAP sAckMap;
HRESULT hResult;
VALIDATE_VALUE_RETURN_VAL(sg_bCurrState, STATE_CONNECTED, ERR_IMPROPER_STATE);
hResult = S_FALSE;
if (bClientIdExist(dwClientID))
{
if (sMessage.m_ucChannel <= sg_nNoOfChannels)
{
// msg Variable Initialisieren
msg.MsgFlags = 0L; // Alle Flags löschen, Stanadrt Frame Format,
// keine RTR, Datenlänge auf 0
if (sMessage.m_ucEXTENDED == 1)
{
msg.MsgEFF = 1; // Nachricht im EFF (Ext. Frame Format) versenden
}
if (sMessage.m_ucRTR == 1)
{
msg.MsgRTR = 1; // Nachricht als RTR Frame versenden
}
msg.Id = sMessage.m_unMsgID;
msg.MsgLen = sMessage.m_ucDataLen;
memcpy(msg.MsgData, &sMessage.m_ucData, msg.MsgLen);
sAckMap.m_ClientID = dwClientID;
sAckMap.m_Channel = sMessage.m_ucChannel;
sAckMap.m_MsgID = msg.Id;
vMarkEntryIntoMap(sAckMap);
if (CanTransmit(0, &msg, 1) >= 0)
{
hResult = S_OK;
}
else
{
hResult = S_FALSE;
sg_pIlog->vLogAMessage(A2T(__FILE__), __LINE__, _T(_("could not write can data into bus")));
}
}
else
{
hResult = ERR_INVALID_CHANNEL;
}
}
else
{
hResult = ERR_NO_CLIENT_EXIST;
}
return(hResult);
}
/**
* Note, this doesn't implement ulFlags specific options yet!
**/
static BT_ERROR canWrite(BT_HANDLE hCan, BT_CAN_MESSAGE *pCanMessage) {
volatile LPC17xx_CAN_REGS *pRegs = hCan->pRegs;
BT_CAN_MESSAGE oMessage;
BT_ERROR Error = BT_ERR_NONE;
switch(hCan->eMode) {
case BT_CAN_MODE_POLLED:
{
BT_u32 ulIndex;
while ((ulIndex = canFindFreeBuffer(hCan)) == LPC17xx_CAN_NO_FREE_BUFFER) {
BT_ThreadYield();
}
CanTransmit(hCan, pCanMessage);
break;
}
case BT_CAN_MODE_BUFFERED:
{
BT_FifoWrite(hCan->hTxFifo, 1, pCanMessage, &Error);
while (!BT_FifoIsEmpty(hCan->hTxFifo, &Error) && (canFindFreeBuffer(hCan) != LPC17xx_CAN_NO_FREE_BUFFER)) {
BT_FifoRead(hCan->hTxFifo, 1, &oMessage, &Error);
CanTransmit(hCan, &oMessage);
}
pRegs->CANIER |= LPC17xx_CAN_IER_TIE; // Enable the interrupt
break;
}
default:
break;
}
return Error;
}
void ApplCanInitPowerOn(void)
{
/* CAN driver */
CanInitPowerOn();
/* IL */
CanOnline(CANChannel_0_XCP);
CanTransmit(CanTxTxXCP);
IlInitPowerOn();
IlRxStart(CANChannel_0_XCP);
IlTxStart(CANChannel_0_XCP);
IlRxStart(CANChannel_1_PrivateCAN);
IlTxStart(CANChannel_1_PrivateCAN);
}
void isr_CAN(BT_HANDLE hCan) {
volatile LPC17xx_CAN_REGS *pRegs = hCan->pRegs;
BT_ERROR Error;
BT_CAN_MESSAGE oMessage;
BT_u32 ulICR = pRegs->CANICR;
if (ulICR & LPC17xx_CAN_ICR_RI) {
CanReceive(g_CAN_HANDLES[0], &oMessage);
BT_FifoWrite(hCan->hRxFifo, 1, &oMessage, &Error);
}
if (ulICR & LPC17xx_CAN_ICR_TI) {
while (!BT_FifoIsEmpty(hCan->hTxFifo, &Error) && (canFindFreeBuffer(hCan) != LPC17xx_CAN_NO_FREE_BUFFER)) {
BT_FifoRead(hCan->hTxFifo, 1, &oMessage, &Error);
CanTransmit(hCan, &oMessage);
}
}
if (BT_FifoIsEmpty(hCan->hTxFifo, &Error)) {
pRegs->CANIER &= ~LPC17xx_CAN_IER_TIE; // Disable the interrupt
}
}