/**
* Dispatches the incoming packets, based on the matched filter number.
* The code must be consistent with CAN masks and filters.
* @param event KERNEL__EVENT__TX1_COMPLETE, KERNEL__EVENT__TX2_COMPLETE or matched filter number.
* @param message_type message type of incoming packet.
*/
void comm_service__handle(const uint8_t event, const uint8_t message_type) {
if (event < UCAN_FILTER__SYSTEM) {
// Received frame into RXB0
const uint8_t report = UCAN_PORT_BITS(kernel__frame.header.id);
if (report == UCAN__PID__COMM__BITS) {
if (message_type == UCAN_MSG_TYPE_GET)
comm__bits__0__broadcast();
}
else if (report == UCAN__PID__MECHATRONICS__LINEAR_ACTUATOR_CURRENT_VALUE) {
if (message_type == UCAN_MSG_TYPE_GET)
mechatronics__linear_actuator_current_value__0__broadcast();
else if (message_type == UCAN_MSG_TYPE_POST)
mechatronics__linear_actuator_current_value__0__handle_post();
}
else if (report == UCAN__PID__MECHATRONICS__LINEAR_ACTUATOR_TARGET_VALUE) {
if (message_type == UCAN_MSG_TYPE_GET)
mechatronics__linear_actuator_target_value__0__broadcast();
else if (message_type == UCAN_MSG_TYPE_POST)
mechatronics__linear_actuator_target_value__0__handle_post();
}
else if (report == UCAN__PID__MECHATRONICS__LINEAR_ACTUATOR_MODE) {
if (message_type == UCAN_MSG_TYPE_GET)
mechatronics__linear_actuator_mode__0__broadcast();
else if (message_type == UCAN_MSG_TYPE_POST)
mechatronics__linear_actuator_mode__0__handle_post();
}
else if (report == UCAN__PID__MECHATRONICS__LINEAR_ACTUATOR_PRECISION) {
if (message_type == UCAN_MSG_TYPE_GET)
mechatronics__linear_actuator_precision__0__broadcast();
else if (message_type == UCAN_MSG_TYPE_POST)
mechatronics__linear_actuator_precision__0__handle_post();
}
}
#if defined(mcp2515__tx__txb1__available__HOST) && defined(mcp2515__tx__txb1__available__BIT)
else if (event == KERNEL__EVENT__TX1_COMPLETE) {
mcp2515__tx__txb1__available__set(1);
}
#endif
#if defined(mcp2515__tx__txb2__available__HOST) && defined(mcp2515__tx__txb2__available__BIT)
else if (event == KERNEL__EVENT__TX2_COMPLETE) {
mcp2515__tx__txb2__available__set(1);
}
#endif
}
INLINE void mcp251x__tx__start(void) {
mcp2515__tx__txb0__available__set(1);
mcp2515__tx__txb1__available__set(1);
mcp2515__tx__txb2__available__set(1);
}
