MUST_CHECK s32
nu__Can__tx(const struct nu__Can *c, CAN_CHANNEL chn, enum nu__Can__id_type id_type,
u16 sid, u32 eid, u32 rtr, const void *data, size_t n)
{
s32 err;
CANTxMessageBuffer *message = CANGetTxMessageBuffer(c->module, chn);
if (n > 8)
return -EINVAL;
if ((err = go_normal_mode(c)) < 0)
return err;
/* clear message data */
memset(message, 0, sizeof(CANTxMessageBuffer));
/* insert SID/EID information */
message->msgEID.IDE = (NU_CAN_EXTENDED_ID == id_type);
message->msgSID.SID = BITFIELD_CAST(sid, 11); /* 11 bits */
message->msgEID.DLC = BITFIELD_CAST(n, 4); /* 4 bits */
message->msgEID.RTR = BITFIELD_CAST(rtr, 1); /* 1 bit; 1 = remote transmission request enabled */
if (NU_CAN_EXTENDED_ID == id_type) /* EID is indicated by IDTypeExtended = 1 */
message->msgEID.EID = BITFIELD_CAST(eid, 18); /* 18 bits */
if (n)
memcpy(message->data, (const byte *)data, n);
CANUpdateChannel(c->module, chn);
CANFlushTxChannel(c->module, chn);
return 0;
}
void CAN1TxSendLEDMsg(BYTE data0)
{
/* This function will send a message to
* CAN2 with SID 202. The data payload
* size is 1 byte. The value of the LED5Status
* will be toggled and then sent as
* the payload. CAN1 Channel 0 is used
* to send the message*/
CANTxMessageBuffer * message;
/* Get a pointer to the next buffer in the channel
* check if the returned value is null. */
message = CANGetTxMessageBuffer(CAN1,CAN_CHANNEL0);
if(message != NULL)
{
/* Form a Standard ID CAN message.
* Start by clearing the buffer.
* Send message to CAN2.
* IDE = 0 means Standard ID message.
* Send one byte of data.
* This is the payload. */
message->messageWord[0] = 0;
message->messageWord[1] = 0;
message->messageWord[2] = 0;
message->messageWord[3] = 0;
message->msgSID.SID = 0x202;
message->msgEID.IDE = 0;
message->msgEID.DLC = 1;
message->data[0] = data0;
/* This function lets the CAN module
* know that the message processing is done
* and message is ready to be processed. */
CANUpdateChannel(CAN1,CAN_CHANNEL0);
/* Direct the CAN module to flush the
* TX channel. This will send any pending
* message in the TX channel. */
CANFlushTxChannel(CAN1,CAN_CHANNEL0);
}
}
