void transmit_iso(iso_m *m)
{
// byte i;
do {
CANTBSEL = CANTFLG;
} while (CANTBSEL == 0);
/* CANTIDR0 = m->priority<<5 | m->edp<<4 | m->dp<<3 | (m->pf)>>5;
CANTIDR1 = 0x18 | (m->pf<<1 & 0x6) | (m->pf<<3 & 0xE0) | m->ps>>7;
CANTIDR2 = m->ps<<1 | source_address>>7;
CANTIDR3 = source_address<<1; // note rtr bit is always 0 (data frame)*/
m->bits.sa = source_address;
CANTIDR = m->dw_id;
/*for (i=0;i<m->bits.length;i++) {
CANTDSR_ARR[i] = m->bits.data[i];
} */
_memcpy_8bitCount((void *)CANTDSR_ARR, m->bits.data, m->bits.length);
CANTDLR = m->bits.length;
if (!loopback_mode)
print_to_serial(&CANTIDR0);
#if !LISTEN_ONLY_MODE
// transmit the message
CANTFLG = CANTBSEL;
#endif
}
/*
Function will print positive and negative integers up to 4 digits
*/
void print_int(int i)
{
char arr[5] = {'0','0','0','0','0'};
if(i < 0)
{
arr[0] = '-';
i = -i;
}
arr[4] = '0' + (i % 10);
i /=10;
arr[3] = '0' + (i % 10);
i /=10;
arr[2] = '0' + (i % 10);
i /=10;
arr[1] = '0' + (i % 10);
print_to_serial(arr, 5);
}
//#define HEX_OUT
__interrupt VectorNumber_Vcanrx void receive_isr()
{
if (!loopback_mode) {
// if address claim message and not loopback, process message
switch (CANIDAC_IDHIT) {
case ISO_PDU1_HIT: iso_pdu1_rx(&CANRIDR0); break; //TODO fix this
}
}
print_to_serial(&CANRIDR0);
// send message to main()
//mainFlags |= F_CAN_RX;
// clear interrupt flag
CANRFLG_RXF = 1;
}