void HAL_CAN_ErrorCallback(CAN_HandleTypeDef *hcan) {
if (hcan) {
EventQueue_Push(
EVENT_CAN,
newEvent(CAN_EVENT_ERROR, NULL, HAL_CAN_GetError(hcan)),
onEventDispose);
}
}
int Thread_Stop(Thread *t) {
void *pret;
t->stop = 1;
EventQueue_Push(t->eventq, Event_Create(ADMIN_THREAD_STOP, NULL, 0));
pthread_join(t->thread, &pret);
EventQueue_Free(t->eventq);
t->stop = 0;
t->isStarted = 0;
return 0;
}
void HAL_CAN_TxCpltCallback(CAN_HandleTypeDef* hcan) {
if (hcan && hcan->pTxMsg) {
CanMsg_t mgs = {
hcan->pTxMsg->IDE == CAN_ID_STD ? hcan->pTxMsg->StdId : hcan->pTxMsg->ExtId,
};
hcan->pTxMsg = NULL;
EventQueue_Push(
EVENT_CAN,
newEvent(CAN_EVENT_TX, &mgs, HAL_CAN_GetError(hcan)),
onEventDispose);
}
}
void HAL_CAN_RxCpltCallback(CAN_HandleTypeDef* hcan) {
if (hcan && hcan->pRxMsg) {
CanMsg_t mgs = {
hcan->pRxMsg->IDE == CAN_ID_STD ? hcan->pTxMsg->StdId : hcan->pTxMsg->ExtId,
hcan->pRxMsg->IDE == CAN_ID_EXT,
hcan->pTxMsg->RTR == CAN_RTR_REMOTE,
hcan->pTxMsg->RTR == CAN_RTR_DATA ? hcan->pTxMsg->DLC : 0,
};
memcpy(mgs.buff, hcan->pTxMsg->Data, mgs.size);
EventQueue_Push(
EVENT_CAN,
newEvent(CAN_EVENT_RX, &mgs, HAL_CAN_GetError(hcan)),
onEventDispose);
HAL_CAN_Receive_IT(hcan, CAN_FIFO0);
}
}
