void CANController::handleInterrupt()
{
uint32_t cause = MAP_CANIntStatus(_base, CAN_INT_STS_CAUSE);
if (cause == CAN_INT_INTID_STATUS) // status interrupt. error occurred?
{
uint32_t status = getControlRegister(); // also clears the interrupt
} else if ( (cause >= 1) && (cause <= 32) ) // mailbox event
{
//CANIntClear(_base, cause);
//_isrToThreadQueue.sendToBackFromISR(cause-1);
uint8_t mobId;
if (_freeSwMobs.receiveFromISR(&mobId)) {
tCANMsgObject *msgobj = &_swmobs[mobId];
MAP_CANMessageGet(_base, cause, msgobj, 1);
if (cause < 16+1) {
// RX MOB
_usedSwMobs.sendToBackFromISR(mobId);
}
else{
// TX MOB
_freeSwMobs.sendToBackFromISR(mobId);
}
}
else {
CANIntClear(_base, cause);
}
}
}
bool CvCaptureCAM_DC1394_v2_CPP::getVidereCalibrationInfo( char* buf, int bufSize )
{
int pos;
for( pos = 0; pos < bufSize - 4; pos += 4 )
{
uint32_t quad = getControlRegister(dcCam, 0xF0800 + pos);
if( quad == 0 || quad == 0xffffffff )
break;
buf[pos] = (uchar)(quad >> 24);
buf[pos+1] = (uchar)(quad >> 16);
buf[pos+2] = (uchar)(quad >> 8);
buf[pos+3] = (uchar)(quad);
}
if( pos == 0 )
return false;
buf[pos] = '\0';
return true;
}
void CANController::execute()
{
while(1) {
uint8_t num;
while (_usedSwMobs.receive(&num, 0)) {
tCANMsgObject *msgobj = &_swmobs[num];
_lastMessageReceivedTimestamp = getTime();
notifyObservers(msgobj);
_freeSwMobs.sendToBack(num);
}
uint32_t timeToWait = sendCyclicCANMessages();
if (timeToWait>100) timeToWait = 100;
_usedSwMobs.peek(&num, timeToWait);
/*
_isrToThreadQueue.peek(&num, timeToWait);
uint32_t status = getControlRegister(); // also clears the interrupt
if (status & 0xE0) { // bus off, error warning level or error passive
MAP_CANDisable(_base);
delay_ms(10);
MAP_CANInit(_base);
setBitrate(_bitrate);
enableInterrupts(CAN_INT_MASTER | CAN_INT_ERROR | CAN_INT_STATUS);
for (int i=0; i<32; i++)
{
CANMessageObject *o = getMessageObject(i);
o->id = 0;
o->mask = 0;
o->dlc = 8;
o->setRxIntEnabled(i<10);
o->setPartOfFIFO(i<9);
o->setUseIdFilter(i<10);
o->set(CAN::message_type_rx);
}
MAP_CANEnable(_base);
}
*/
uint32_t status = getControlRegister(); // also clears the interrupt
if (status & 0xA0) { // bus off, error warning level or error passive
bool s = _silent;
_silent = true;
MAP_CANDisable(_base);
delay_ms(10);
MAP_CANInit(_base);
setBitrate(_bitrate);
enableInterrupts(CAN_INT_MASTER | CAN_INT_ERROR | CAN_INT_STATUS);
for (int i=0; i<16; i++)
{
tCANMsgObject msgobj;
msgobj.ulMsgID = 0;
msgobj.ulMsgIDMask = 0;
msgobj.ulMsgLen = 8;
msgobj.pucMsgData = 0;
msgobj.ulFlags = MSG_OBJ_RX_INT_ENABLE | MSG_OBJ_USE_ID_FILTER | ((i<15)?MSG_OBJ_FIFO:0);
MAP_CANMessageSet(_base, i+1, &msgobj, MSG_OBJ_TYPE_RX);
}
MAP_CANEnable(_base);
delay_ms(10);
_silent = s;
}
}
}
