int can_send(can_id_t id, uint8_t data[], uint8_t dlc, CSP_BASE_TYPE * task_woken) {
int i, m = -1;
/* Disable CAN interrupt while looping MOBs */
CAN_CLEAR_INTERRUPT();
/* Disable interrupts while looping mailboxes */
if (task_woken == NULL) {
portENTER_CRITICAL();
}
/* Search free MOB from 0 -> CAN_TX_MOBs */
for(i = 0; i < CAN_TX_MOBS; i++) {
if (mbox[i] == MBOX_FREE && !(CANEN2 & (1 << i))) {
mbox[i] = MBOX_USED;
m = i;
break;
}
}
/* Enable interrupts */
if (task_woken == NULL) {
portEXIT_CRITICAL();
}
/* Enable CAN interrupt */
CAN_SET_INTERRUPT();
/* Return if no available MOB was found */
if (m < 0) {
csp_log_warn("TX overflow, no available MOB\r\n");
return -1;
}
/* Select and clear mob */
CAN_SET_MOB(m);
CAN_MOB_ABORT();
CAN_CLEAR_STATUS_MOB();
/* Set identifier */
CAN_SET_EXT_ID(id);
/* Set data - CANMSG is auto incrementing */
for (i = 0; i < dlc; i++)
CANMSG = data[i];
/* Set DLC */
CAN_CLEAR_DLC();
CAN_SET_DLC(dlc);
/* Start TX */
CAN_CONFIG_TX();
return 0;
}
static void post_cmd(can_cmd_t * cmd) {
uint8_t mob_handle;
uint8_t i;
if(cmd == NULL) return;
mob_handle = can_get_mob_free();
// add command to wait queue if there are no free mobs
if(mob_handle == NO_MOB) {
cmd->status = MOB_NOT_COMPLETED;
list_add(can_cmd_list, cmd);
}
// add command to table of pending command otherwise
else {
can_mob[mob_handle] = cmd;
cmd->status = MOB_PENDING;
CAN_SET_MOB(mob_handle);
CAN_CLEAR_MOB();
switch(cmd->type) {
case TX:
if(cmd->frame->inf.ide) {
CAN_SET_EXT_ID(cmd->frame->inf.id);
} else {
CAN_SET_STD_ID(cmd->frame->inf.id);
}
for(i = 0; i < cmd->frame->data.len; ++i) {
CANMSG = cmd->frame->data.itself[i];
}
if(cmd->frame->inf.rtr) {
CAN_SET_RTR();
} else {
CAN_CLEAR_RTR();
}
CAN_SET_DLC(cmd->frame->data.len);
CAN_CONFIG_TX();
break;
case RX:
if (cmd->frame->inf.ide) {
CAN_SET_EXT_ID(can_masked_id);
CAN_SET_IDEMSK();
CAN_SET_EXT_MSK(can_mask);
} else {
CAN_SET_STD_ID(can_masked_id);
CAN_CLEAR_IDEMSK();
CAN_SET_STD_MSK(can_mask);
}
CAN_SET_DLC(cmd->frame->data.len);
CAN_CLEAR_RTRMSK();
CAN_CONFIG_RX();
break;
default:
cmd->status = STATUS_CLEARED;
break;
}
}
}
