/**
* @brief Can frame transmission.
* @details The specified frame is queued for transmission, if the hardware
* queue is full then the invoking thread is queued.
* @note Trying to transmit while in sleep mode simply enqueues the thread.
*
* @param[in] canp pointer to the @p CANDriver object
* @param[in] mailbox mailbox number, @p CAN_ANY_MAILBOX for any mailbox
* @param[in] ctfp pointer to the CAN frame to be transmitted
* @param[in] timeout the number of ticks before the operation timeouts,
* the following special values are allowed:
* - @a TIME_IMMEDIATE immediate timeout.
* - @a TIME_INFINITE no timeout.
* .
* @return The operation result.
* @retval MSG_OK the frame has been queued for transmission.
* @retval MSG_TIMEOUT The operation has timed out.
* @retval MSG_RESET The driver has been stopped while waiting.
*
* @api
*/
msg_t canTransmitTimeout(CANDriver *canp,
canmbx_t mailbox,
const CANTxFrame *ctfp,
systime_t timeout) {
osalDbgCheck((canp != NULL) && (ctfp != NULL) &&
(mailbox <= (canmbx_t)CAN_TX_MAILBOXES));
osalSysLock();
osalDbgAssert((canp->state == CAN_READY) || (canp->state == CAN_SLEEP),
"invalid state");
/*lint -save -e9007 [13.5] Right side is supposed to be pure.*/
while ((canp->state == CAN_SLEEP) || !can_lld_is_tx_empty(canp, mailbox)) {
/*lint -restore*/
msg_t msg = osalThreadEnqueueTimeoutS(&canp->txqueue, timeout);
if (msg != MSG_OK) {
osalSysUnlock();
return msg;
}
}
can_lld_transmit(canp, mailbox, ctfp);
osalSysUnlock();
return MSG_OK;
}
/**
* @brief Can frame transmission attempt.
* @details The specified frame is queued for transmission, if the hardware
* queue is full then the function fails.
*
* @param[in] canp pointer to the @p CANDriver object
* @param[in] mailbox mailbox number, @p CAN_ANY_MAILBOX for any mailbox
* @param[in] ctfp pointer to the CAN frame to be transmitted
* @return The operation result.
* @retval false Frame transmitted.
* @retval true Mailbox full.
*
* @iclass
*/
bool canTryTransmitI(CANDriver *canp,
canmbx_t mailbox,
const CANTxFrame *ctfp) {
osalDbgCheckClassI();
osalDbgCheck((canp != NULL) && (ctfp != NULL) &&
(mailbox <= (canmbx_t)CAN_TX_MAILBOXES));
osalDbgAssert((canp->state == CAN_READY) || (canp->state == CAN_SLEEP),
"invalid state");
/* If the RX mailbox is full then the function fails.*/
if (!can_lld_is_tx_empty(canp, mailbox)) {
return true;
}
/* Transmitting frame.*/
can_lld_transmit(canp, mailbox, ctfp);
return false;
}
/**
* @brief Can frame transmission.
* @details The specified frame is queued for transmission, if the hardware
* queue is full then the invoking thread is queued.
* @note Trying to transmit while in sleep mode simply enqueues the thread.
*
* @param[in] canp pointer to the @p CANDriver object
* @param[in] mailbox mailbox number, @p CAN_ANY_MAILBOX for any mailbox
* @param[in] ctfp pointer to the CAN frame to be transmitted
* @param[in] timeout the number of ticks before the operation timeouts,
* the following special values are allowed:
* - @a TIME_IMMEDIATE immediate timeout.
* - @a TIME_INFINITE no timeout.
* .
* @return The operation result.
* @retval MSG_OK the frame has been queued for transmission.
* @retval MSG_TIMEOUT The operation has timed out.
* @retval MSG_RESET The driver has been stopped while waiting.
*
* @api
*/
msg_t canTransmit(CANDriver *canp,
canmbx_t mailbox,
const CANTxFrame *ctfp,
systime_t timeout) {
osalDbgCheck((canp != NULL) && (ctfp != NULL) &&
(mailbox <= CAN_TX_MAILBOXES));
osalSysLock();
osalDbgAssert((canp->state == CAN_READY) || (canp->state == CAN_SLEEP),
"invalid state");
while ((canp->state == CAN_SLEEP) || !can_lld_is_tx_empty(canp, mailbox)) {
msg_t msg = osalThreadEnqueueTimeoutS(&canp->txqueue, timeout);
if (msg != MSG_OK) {
osalSysUnlock();
return msg;
}
}
can_lld_transmit(canp, mailbox, ctfp);
osalSysUnlock();
return MSG_OK;
}
