//------------------------------------------------------------------------------
// @fn can_get_status
//!
//! This function allows to return if the command has been performed or not.
//! In an reception case, all the CAN message is stored in the structure.
//! This function also updates the CAN descriptor status (MOB_TX_COMPLETED,
//! MOB_RX_COMPLETED, MOB_RX_COMPLETED_DLCW or MOB_???_ERROR).
//!
//! @param st_cmd_t* pointer on CAN descriptor structure.
//!
//! @return CAN_STATUS_COMPLETED - Rx or Tx is completed
//! CAN_STATUS_NOT_COMPLETED - Rx or Tx is not completed
//! CAN_STATUS_ERROR - Error in configuration or in the
//! CAN communication
//!
//------------------------------------------------------------------------------
U8 can_get_status (st_cmd_t* cmd)
{
U8 a_status;
U8 rtn_val;
a_status = cmd->status;
if ( (a_status==STATUS_CLEARED)||(a_status==MOB_NOT_REACHED)||(a_status==MOB_DISABLE) )
{
return CAN_STATUS_ERROR;
}
Can_set_mob(cmd->handle);
a_status = can_get_mob_status();
switch (a_status)
{
case MOB_NOT_COMPLETED:
// cmd->status not updated
rtn_val = CAN_STATUS_NOT_COMPLETED;
break;
//--------------- special for "reduced_can_lib.c"
case MOB_RX_COMPLETED:
case MOB_RX_COMPLETED_DLCW:
cmd->dlc = Can_get_dlc();
can_get_data(cmd->pt_data);
// Always standard frame
Can_get_std_id(cmd->id.std); //- Warning[Pa082]: undefined behavior: the order of volatile accesses is undefined in this statement
// Status field of descriptor: 0x20 if Rx completed
// Status field of descriptor: 0xA0 if Rx completed with DLCWarning
cmd->status = a_status;
Can_mob_abort(); // Freed the MOB
Can_clear_status_mob(); // and reset MOb status
rtn_val = CAN_STATUS_COMPLETED;
break;
//--------------- special for "reduced_can_lib.c"
case MOB_TX_COMPLETED:
// Status field of descriptor: 0x40 if Tx completed
cmd->status = a_status;
Can_mob_abort(); // Freed the MOB
Can_clear_status_mob(); // and reset MOb status
rtn_val = CAN_STATUS_COMPLETED;
break;
//---------------
default:
// Status field of descriptor: (bin)000b.scfa if MOb error
cmd->status = a_status;
Can_mob_abort(); // Freed the MOB
Can_clear_status_mob(); // and reset MOb status
rtn_val = CAN_STATUS_ERROR;
break;
}
return (rtn_val);
}
void DeviceCAN_AT90CAN::interruptServiceRoutine(void)
{
//OSDeviceDebug::putString(" IRQ ");
unsigned char c;
if ((CANGIT & _BV(CANIT)) != 0)
{
unsigned char c;
c = CANSIT2 & CANIE2;
// we currently use only two MOBs, one for TX and
// one for RX, no need to iterrate all
if ((c & _BV(NB_MOB_TX)) != 0)
{
// MOB0, transmit
Can_set_mob(NB_MOB_TX);
c = CANSTMOB;
if ((c & _BV(TXOK)) != 0)
{
// read-modify-write
CANSTMOB &= ~_BV(TXOK);
//OSDebugLed2::on();
if (!m_txBuf.isEmpty())
{
CANPacket packet;
m_txBuf.get((unsigned char*)&packet);
Can_clear_mob(); // previous status saved in c
{
Can_set_std_id(packet.id);
for (unsigned char cpt = 0; cpt < packet.len; cpt++)
CANMSG = packet.data[cpt];
Can_clear_rtr();
Can_set_dlc(packet.len);
}
Can_config_tx(); // already cleared
//OSDeviceDebug::putString(" tx ");
}
else
{
// nothing more to transmit
DISABLE_MOB();
// OSDeviceDebug::putString(" empty ");
}
if (m_txBuf.isBelowLowWM())
OSScheduler::eventNotify(getWriteEvent());
//OSDebugLed2::off();
}
else
{
// other interrupts...
OSDeviceDebug::putString_P(PSTR(" CANSTMOB0="));
OSDeviceDebug::putHex(c);
OSDeviceDebug::putChar(' ');
CANSTMOB = 0;
}
}
if ((c & _BV(NB_MOB_RX)) != 0)
{
// MOB1, receive
Can_set_mob(NB_MOB_RX);
c = CANSTMOB;
if ((c & _BV(RXOK)) != 0)
{
//OSDeviceDebug::putString(" rx ");
if ((c & _BV(IDE)) == 0)
{
// standard 11 bits ID; reply bit ignored
CANPacket can_packet;
can_packet.id = Can_get_std_id();
can_packet.len = Can_get_dlc();
can_get_data(can_packet.data);
#if 0
if (can_packet.id != 0)
{
can_packet.dump();
}
#endif
if (!m_rxBuf.isFull())
{
m_rxBuf.put((unsigned char*)&can_packet);
}
OSScheduler::eventNotify(getReadEvent());
}
// re-enable reception on this mob
Can_clear_mob();
// DISABLE_MOB();
Can_config_rx();
//CANSTMOB = c & ~_BV(RXOK);
}
else
{
// other interrupts...
OSDeviceDebug::putString_P(PSTR(" CANSTMOB1="));
OSDeviceDebug::putHex(c);
OSDeviceDebug::putChar(' ');
CANSTMOB = 0;
}
}
}
c = CANGIT & ~(_BV(CANIT) | _BV(OVRTIM));
if (c != 0)
{
// other interrupts...
OSDeviceDebug::putString_P(PSTR(" CANGIT="));
OSDeviceDebug::putHex(c);
OSDeviceDebug::putChar(' ');
// reset interrupt flag
CANGIT |= c;
}
}
//------------------------------------------------------------------------------
// @fn can_get_status
//!
//! This function allows to return if the command has been performed or not.
//! In an reception case, all the CAN message is stored in the structure.
//! This function also updates the CAN descriptor status (MOB_TX_COMPLETED,
//! MOB_RX_COMPLETED, MOB_RX_COMPLETED_DLCW or MOB_???_ERROR).
//!
//! @param st_cmd_t* pointer on CAN descriptor structure.
//!
//! @return CAN_STATUS_COMPLETED - Rx or Tx is completed
//! CAN_STATUS_NOT_COMPLETED - Rx or Tx is not completed
//! CAN_STATUS_ERROR - Error in configuration or in the
//! CAN communication
//!
//------------------------------------------------------------------------------
U8 can_get_status (st_cmd_t* cmd)
{
U8 a_status, rtn_val;
a_status = cmd->status;
if ((a_status==STATUS_CLEARED)||(a_status==MOB_NOT_REACHED)||(a_status==MOB_DISABLE))
{
return CAN_STATUS_ERROR;
}
Can_set_mob(cmd->handle);
a_status = can_get_mob_status();
switch (a_status)
{
case MOB_NOT_COMPLETED:
// cmd->status not updated
rtn_val = CAN_STATUS_NOT_COMPLETED;
break;
//---------------
case MOB_RX_COMPLETED:
case MOB_RX_COMPLETED_DLCW:
cmd->dlc = Can_get_dlc();
can_get_data(cmd->pt_data);
cmd->ctrl.rtr = Can_get_rtr();
if (Can_get_ide()) // if extended frame
{
cmd->ctrl.ide = 1; // extended frame
Can_get_ext_id(cmd->id.ext);
}
else // else standard frame
{
cmd->ctrl.ide = 0;
Can_get_std_id(cmd->id.std);
}
// Status field of descriptor: 0x20 if Rx completed
// Status field of descriptor: 0xA0 if Rx completed with DLCWarning
cmd->status = a_status;
Can_mob_abort(); // Freed the MOB
Can_clear_status_mob(); // and reset MOb status
rtn_val = CAN_STATUS_COMPLETED;
break;
//---------------
case MOB_TX_COMPLETED:
// Status field of descriptor: 0x40 if Tx completed
cmd->status = a_status;
Can_mob_abort(); // Freed the MOB
Can_clear_status_mob(); // and reset MOb status
rtn_val = CAN_STATUS_COMPLETED;
break;
//---------------
default:
// Status field of descriptor: (bin)000b.scfa if MOb error
cmd->status = a_status;
Can_mob_abort(); // Freed the MOB
Can_clear_status_mob(); // and reset MOb status
rtn_val = CAN_STATUS_ERROR;
break;
} // switch (a_status...
return (rtn_val);
}
