static int CAN_ISR(int irq, void *data)
{
unsigned long isr;
CAN_Bus *can = (CAN_Bus *)data;
if (((isr = io_In32(can->handle, can->ISR)) & 0x07FFL) != 0x00L)
{
if (isr & CAN_RXI)
{
io_DisableINT();
{
can->rx_temp.type = (unsigned char)io_In32(can->handle, can->RX.TYPE);
can->rx_temp.id = io_In32(can->handle, can->RX.IDR);
can->rx_temp.hdata = io_In32(can->handle, can->RX.DATAH);
can->rx_temp.ldata = io_In32(can->handle, can->RX.DATAL);
PushBufQueue(can->rcvd, (void*)&can->rx_temp);
}
io_RestoreINT();
io_Out32(can->handle, can->REQ, 0x0100L); // release the received message
io_Out32(can->handle, can->ISR, CAN_RXI);
}
if (isr & CAN_TX0I)
{
unsigned long stat;
stat = io_In32(can->handle, can->TX[0].STAT);
if (stat & 0x20L)
{
can->TX[0].Err_CNT++;
can->error = CAN_ERROR_TX0 + (unsigned char)((stat & 0x00070000L) >> 16);
if (can->ErrStoreEnable == true)
PushQueue(can->err, can->error);
if (can->error_handler != NULL) can->error_handler(can);
}
if ((stat & 0x07L) == 0x05L) can_RoundRobin(can);
io_Out32(can->handle, can->ISR, CAN_TX0I);
}
static int CAN_ISR(int irq, void *data)
{
unsigned long isr;
CAN_Bus *can = (CAN_Bus *)data;
if (((isr = io_In32(can->ioHandle, can->ISR)) & 0x07FFL) != 0x00L)
{
if (isr & CAN_RXI)
{
unsigned long temp;
CANFrame rx_temp;
io_DisableINT();
{
temp = io_In32(can->ioHandle, can->RX.TYPE);
rx_temp.type = (int)(temp & 0x03UL);
rx_temp.length = (int)((temp >> 4) & 0x0FUL);
rx_temp.identifier = io_In32(can->ioHandle, can->RX.IDR);
rx_temp.Data.dword[0] = io_In32(can->ioHandle, can->RX.DATAL);
rx_temp.Data.dword[1] = io_In32(can->ioHandle, can->RX.DATAH);
PushBufQueue(can->rcvd, (void*)&rx_temp);
}
io_RestoreINT();
io_Out32(can->ioHandle, can->REQ, 0x0100UL); // release the received message
io_Out32(can->ioHandle, can->ISR, CAN_RXI);
}
if (isr & CAN_TX0I)
{
unsigned long stat;
stat = io_In32(can->ioHandle, can->TX[0].STAT);
if (stat & 0x20UL)
{
can->LastError = CAN_ERROR_TX0 + (unsigned char)((stat & 0x00070000UL) >> 16);
if (can->StoreError)
PushQueue(can->Error, can->LastError);
}
DMPAPI(bool) PushQueue(Queue *queue, unsigned char ch)
{
return PushBufQueue(queue, (void *)&ch);
}
