float64
int32_to_float64 (int32 a)
{
flag zSign;
uint32 absA;
int8 shiftCount;
bits64 zSig;
if (a == 0)
return 0;
zSign = (a < 0);
absA = zSign ? -a : a;
shiftCount = countLeadingZeros32 (absA) + 21;
zSig = absA;
return packFloat64 (zSign, 0x432 - shiftCount, zSig << shiftCount);
}
/*----------------------------------------------------------------------------*/
static void sendMessage(struct Can *interface,
const struct CanMessage *message, uint32_t *status)
{
assert(message->length <= 8);
uint32_t command = interface->mode != MODE_LOOPBACK ? CMR_TR : CMR_SRR;
uint32_t information = TFI_DLC(message->length);
if (message->flags & CAN_EXT_ID)
{
assert(message->id < (1UL << 29));
information |= TFI_FF;
}
else
{
assert(message->id < (1UL << 11));
}
LPC_CAN_Type * const reg = interface->base.reg;
const unsigned int position = countLeadingZeros32(reverseBits32(*status));
const unsigned int index = SR_TBS_VALUE_TO_CHANNEL(position);
if (!(message->flags & CAN_RTR))
{
uint32_t data[2];
memcpy(data, message->data, sizeof(data));
reg->TX[index].TDA = data[0];
reg->TX[index].TDB = data[1];
}
else
{
information |= TFI_RTR;
}
reg->TX[index].TFI = information | TFI_PRIO(interface->sequence);
reg->TX[index].TID = message->id;
reg->CMR = command | CMR_STB(index);
*status &= ~BIT(position);
++interface->sequence;
}
