amiro-os / core / src / aos_rtcan.c @ 2538f3de
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1 | d2931db9 | Julian L | /*
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2 | AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
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3 | Copyright (C) 2016..2018 Thomas Schöpping et al.
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4 | |||
5 | This program is free software: you can redistribute it and/or modify
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6 | it under the terms of the GNU General Public License as published by
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7 | the Free Software Foundation, either version 3 of the License, or
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8 | (at your option) any later version.
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9 | |||
10 | This program is distributed in the hope that it will be useful,
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11 | but WITHOUT ANY WARRANTY; without even the implied warranty of
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12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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13 | GNU General Public License for more details.
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14 | |||
15 | You should have received a copy of the GNU General Public License
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16 | along with this program. If not, see <http://www.gnu.org/licenses/>.
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17 | */
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18 | |||
19 | #include <hal.h> |
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20 | #include <hal_can.h> |
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21 | #include <hal_can_lld.h> |
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22 | #include <aos_rtcan.h> |
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23 | e7131d09 | Julian Leichert | #include <aos_thread.h> |
24 | #include <chthreads.h> |
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25 | ece66d59 | Julian Leichert | #include <chtime.h> |
26 | #include <ch.h> |
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27 | 7f37b11b | Julian Leichert | #include <stdbool.h> |
28 | d2931db9 | Julian L | #define True 1 |
29 | #define False 0 |
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30 | 7f37b11b | Julian Leichert | #define HRTMSG 00 |
31 | #define SRTMSG 01 |
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32 | #define NRTMSG 11 |
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33 | d2931db9 | Julian L | |
34 | ece66d59 | Julian Leichert | static THD_WORKING_AREA(myThreadWorkingArea, 128); |
35 | |||
36 | msgqueue_t hrtQueue; |
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37 | msgqueue_t srtQueue; |
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38 | msgqueue_t nrtQueue; |
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39 | |||
40 | e7131d09 | Julian Leichert | /*
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41 | * @brief transmit Message over CAN
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42 | */
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43 | d2931db9 | Julian L | msg_t rtcan_transmit(CANDriver *canp, canmbx_t mailbox, const CANTxFrame *ctfp){
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44 | // call cantransmit, needed params driver, mailbox and tx frame
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45 | |||
46 | msg_t transmit = canTransmitTimeout(canp,mailbox,ctfp,TIME_IMMEDIATE); |
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47 | return transmit;
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48 | } |
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49 | |||
50 | e7131d09 | Julian Leichert | /*
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51 | * @brief receive Message over CAN
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52 | */
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53 | d2931db9 | Julian L | msg_t rtcan_receive(CANDriver *canp, canmbx_t mailbox,CANRxFrame *crfp){ |
54 | // call lld cantransmit, needed params driver, mailbox and rx frame
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55 | return canReceiveTimeout(canp,mailbox,crfp,TIME_IMMEDIATE);
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56 | } |
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57 | |||
58 | e7131d09 | Julian Leichert | bool pushRTCanMsgSorted(rtcan_msg_t *msg,msgqueue_t* msgqueue){
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59 | ece66d59 | Julian Leichert | |
60 | rtcan_msg_t * prevElem = msgqueue->head; |
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61 | rtcan_msg_t * compareElem = prevElem->next; |
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62 | |||
63 | while(ST2MS(msg->deadline) >= ST2MS(compareElem->deadline)){
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64 | if(compareElem->next != NULL){ |
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65 | prevElem = compareElem; |
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66 | compareElem = compareElem->next; |
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67 | }else{
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68 | prevElem->next = msg; |
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69 | msgqueue->tail = msg; |
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70 | return true; |
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71 | } |
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72 | } |
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73 | if(compareElem!= NULL){ |
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74 | msg->next = compareElem; |
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75 | } |
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76 | e7131d09 | Julian Leichert | return false; |
77 | d2931db9 | Julian L | } |
78 | |||
79 | e7131d09 | Julian Leichert | /*
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80 | * @brief push Message to its Queue, based on type of Message
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81 | */
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82 | 7f37b11b | Julian Leichert | bool pushRTCanMsg(rtcan_msg_t *msg,msgqueue_t* msgqueue){
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83 | e7131d09 | Julian Leichert | if(msg != NULL){ |
84 | if(msgqueueEmpty(msgqueue)){
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85 | b85b6b26 | Julian Leichert | queueInit(msg,msgqueue); |
86 | 7f37b11b | Julian Leichert | return true; |
87 | e7131d09 | Julian Leichert | } |
88 | msgqueue->tail->next = msg; |
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89 | 5766017b | Julian Leichert | msg->next = NULL;
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90 | e7131d09 | Julian Leichert | msgqueue->tail = msg; |
91 | msgqueue->size++; |
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92 | 7f37b11b | Julian Leichert | return true; |
93 | d2931db9 | Julian L | } |
94 | 7f37b11b | Julian Leichert | return false; |
95 | d2931db9 | Julian L | } |
96 | |||
97 | e7131d09 | Julian Leichert | /*
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98 | * @brief dequeue Message from Queue
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99 | */
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100 | rtcan_msg_t* popRTCanMsg(msgqueue_t* msgqueue){ |
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101 | 7f37b11b | Julian Leichert | //todo special case head = tail
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102 | ece66d59 | Julian Leichert | if(!msgqueueEmpty(msgqueue)){
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103 | rtcan_msg_t *elem = msgqueue->head; |
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104 | msgqueue->head = elem->next; |
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105 | return elem;
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106 | } |
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107 | return NULL; |
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108 | } |
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109 | |||
110 | /*
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111 | * @brief init Message Queue
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112 | */
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113 | b85b6b26 | Julian Leichert | void queueInit(rtcan_msg_t *head,msgqueue_t* msgqueue){
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114 | msgqueue->size = 0;
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115 | msgqueue->head = head; |
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116 | msgqueue->tail = head; |
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117 | head->next = NULL;
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118 | msgqueue->size++; |
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119 | d2931db9 | Julian L | } |
120 | |||
121 | 7f37b11b | Julian Leichert | // Handling Message Queues
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122 | |||
123 | bool enqueueMsg(uint8_t *payload, uint8_t msgType, systime_t deadline){
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124 | 6d56ad8d | Julian Leichert | static rtcan_msg_t msg;
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125 | 7f37b11b | Julian Leichert | msg.payload = payload; |
126 | msg.msgType = msgType; |
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127 | msg.deadline = deadline; |
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128 | if(msgType == HRTMSG){
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129 | return pushRTCanMsg(&msg,&hrtQueue);
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130 | }else if(msgType == SRTMSG){ |
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131 | return pushRTCanMsgSorted(&msg,&srtQueue);
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132 | }else if(msgType == NRTMSG){ |
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133 | return pushRTCanMsg(&msg,&nrtQueue);
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134 | } |
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135 | return false; |
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136 | } |
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137 | |||
138 | |||
139 | e7131d09 | Julian Leichert | /**
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140 | * @brief schedule rtcan messages into mailboxes
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141 | */
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142 | d2931db9 | Julian L | |
143 | ece66d59 | Julian Leichert | static msg_t Thread(void *arg){ |
144 | (void)arg;
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145 | chRegSetThreadName("RTCAN Timer");
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146 | 2538f3de | Julian Leichert | int nextSlot; // set by while loop from calendar |
147 | ece66d59 | Julian Leichert | |
148 | 7f37b11b | Julian Leichert | while (true){ |
149 | 2538f3de | Julian Leichert | // iterate over calendar(bitmask)
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150 | rtcan_msg_t *nextMsg; |
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151 | ece66d59 | Julian Leichert | chThdSleepMilliseconds( 20 );
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152 | 2538f3de | Julian Leichert | if(nextSlot == 1){ |
153 | nextMsg = popRTCanMsg(&hrtQueue); |
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154 | }else{
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155 | if(!msgqueueEmpty(srtQueue)){
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156 | nextMsg = popRTCanMsg(&srtQueue); |
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157 | }else{
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158 | nextMsg = popRTCanMsg(&nrtQueue); |
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159 | } |
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160 | } |
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161 | ece66d59 | Julian Leichert | // Take next element from queue
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162 | 2538f3de | Julian Leichert | // create frame
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163 | ece66d59 | Julian Leichert | // place it in buffer to be sent in next time slot
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164 | chThdSleepMilliseconds( 20 );
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165 | } |
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166 | d2931db9 | Julian L | |
167 | ece66d59 | Julian Leichert | return 0; |
168 | } |
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169 | d2931db9 | Julian L | /** empty or clear?*/
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170 | int msgqueueEmpty(msgqueue_t* mqueue){
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171 | if(mqueue == NULL){ |
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172 | 7f37b11b | Julian Leichert | return true; |
173 | d2931db9 | Julian L | } |
174 | 7f37b11b | Julian Leichert | return false; |
175 | d2931db9 | Julian L | } |
176 | //TODO: ISR
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177 | //TODO: Params |