Revision 341cc329 core/src/aos_rtcan.c
| core/src/aos_rtcan.c | ||
|---|---|---|
| 30 | 30 |
#define HRTMSG 00 |
| 31 | 31 |
#define SRTMSG 01 |
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#define NRTMSG 11 |
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#define SLEEPTIME 20 |
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static THD_WORKING_AREA(myThreadWorkingArea, 128); |
| 35 | 36 |
|
| ... | ... | |
| 67 | 68 |
}else{
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prevElem->next = msg; |
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msgqueue->tail = msg; |
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msgqueue->size++; |
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return true; |
| 71 | 73 |
} |
| 72 | 74 |
} |
| ... | ... | |
| 102 | 104 |
if(!msgqueueEmpty(msgqueue)){
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rtcan_msg_t *elem = msgqueue->head; |
| 104 | 106 |
msgqueue->head = elem->next; |
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msgqueue->size--; |
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return elem; |
| 106 | 109 |
} |
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return NULL; |
| ... | ... | |
| 120 | 123 |
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// Handling Message Queues |
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bool enqueueMsg(uint8_t *payload, uint8_t msgType, systime_t deadline){
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bool enqueueMsg(uint8_t *payload, uint8_t msgType, aos_timestamp_t deadline){
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static rtcan_msg_t msg; |
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msg.payload = payload; |
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msg.msgType = msgType; |
| ... | ... | |
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return false; |
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} |
| 137 | 140 |
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u_int32_t createId(rtcan_msg_t *msg, uint8_t msgType){
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// first 6 bit laxity |
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// 6-21 id |
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// 21-29 fragment |
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u_int32_t id = 0; |
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aos_timestamp_t uptime; |
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aosSysGetUptime(&uptime); |
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uint32_t uptimeMcs = (uint32_t)(uptime / MICROSECONDS_PER_DAY); |
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} |
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/** |
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* @brief schedule rtcan messages into mailboxes |
| ... | ... | |
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int nextSlot; // set by while loop from calendar |
| 147 | 163 |
|
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while (true){
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// send Frame of Timeslot |
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// iterate over calendar(bitmask) |
| 150 | 167 |
rtcan_msg_t *nextMsg; |
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chThdSleepMilliseconds( 20 );
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chThdSleepMilliseconds( SLEEPTIME );
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|
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if(nextSlot == 1){
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nextMsg = popRTCanMsg(&hrtQueue); |
| 154 | 171 |
}else{
|
| ... | ... | |
| 158 | 175 |
nextMsg = popRTCanMsg(&nrtQueue); |
| 159 | 176 |
} |
| 160 | 177 |
} |
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// Take next element from queue |
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// create frame |
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// place it in buffer to be sent in next time slot |
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chThdSleepMilliseconds( 20 ); |
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if(nextMsg != NULL){
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// create frame |
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// frame needs id, payload(later) and ___ |
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// place it in Mailbox to be sent in next time slot |
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} |
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// maybe send empty message if no message to reduce jitter???? |
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chThdSleepMilliseconds( SLEEPTIME ); |
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} |
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return 0; |
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