amiro-os / core / src / aos_rtcan.c @ 5034a2a5
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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 | d2931db9 | Julian L | |
26 | #define True 1 |
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27 | #define False 0 |
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28 | |||
29 | e7131d09 | Julian Leichert | /*
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30 | * @brief transmit Message over CAN
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31 | */
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32 | d2931db9 | Julian L | msg_t rtcan_transmit(CANDriver *canp, canmbx_t mailbox, const CANTxFrame *ctfp){
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33 | // call cantransmit, needed params driver, mailbox and tx frame
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34 | |||
35 | msg_t transmit = canTransmitTimeout(canp,mailbox,ctfp,TIME_IMMEDIATE); |
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36 | return transmit;
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37 | } |
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38 | |||
39 | e7131d09 | Julian Leichert | /*
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40 | * @brief receive Message over CAN
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41 | */
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42 | d2931db9 | Julian L | msg_t rtcan_receive(CANDriver *canp, canmbx_t mailbox,CANRxFrame *crfp){ |
43 | // call lld cantransmit, needed params driver, mailbox and rx frame
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44 | return canReceiveTimeout(canp,mailbox,crfp,TIME_IMMEDIATE);
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45 | } |
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46 | |||
47 | e7131d09 | Julian Leichert | // Handling Message Queues
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48 | d2931db9 | Julian L | |
49 | e7131d09 | Julian Leichert | bool enqueueMsg(uint8_t *payload, uint8_t msgType, systime_t deadline){
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50 | return false; |
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51 | d2931db9 | Julian L | } |
52 | |||
53 | e7131d09 | Julian Leichert | bool pushRTCanMsgSorted(rtcan_msg_t *msg,msgqueue_t* msgqueue){
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54 | return false; |
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55 | d2931db9 | Julian L | } |
56 | |||
57 | e7131d09 | Julian Leichert | /*
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58 | * @brief push Message to its Queue, based on type of Message
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59 | */
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60 | void pushRTCanMsg(rtcan_msg_t *msg,msgqueue_t* msgqueue){
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61 | if(msg != NULL){ |
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62 | if(msgqueueEmpty(msgqueue)){
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63 | msgqueue->head = msg; |
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64 | msgqueue->tail= msg; |
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65 | 5766017b | Julian Leichert | msg->next = NULL;
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66 | e7131d09 | Julian Leichert | return;
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67 | } |
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68 | //todo special case handling
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69 | if(msgqueue->tail != NULL){ |
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70 | if(msg->msgType == 10){ |
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71 | if(pushRTCanMsgSorted(msg,msgqueue) == true){ |
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72 | return;
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73 | }; |
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74 | } |
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75 | msgqueue->tail->next = msg; |
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76 | 5766017b | Julian Leichert | msg->next = NULL;
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77 | e7131d09 | Julian Leichert | msgqueue->tail = msg; |
78 | msgqueue->size++; |
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79 | d2931db9 | Julian L | } |
80 | e7131d09 | Julian Leichert | } |
81 | d2931db9 | Julian L | } |
82 | |||
83 | e7131d09 | Julian Leichert | /*
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84 | * @brief dequeue Message from Queue
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85 | */
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86 | rtcan_msg_t* popRTCanMsg(msgqueue_t* msgqueue){ |
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87 | if(!msgqueueEmpty(msgqueue)){
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88 | 5034a2a5 | Julian Leichert | rtcan_msg_t *elem = msgqueue->head; |
89 | 5766017b | Julian Leichert | msgqueue->head = elem->next; |
90 | return elem;
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91 | d2931db9 | Julian L | } |
92 | return NULL; |
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93 | } |
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94 | |||
95 | e7131d09 | Julian Leichert | /**
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96 | * @brief schedule rtcan messages into mailboxes
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97 | */
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98 | void schedule(){
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99 | d2931db9 | Julian L | |
100 | e7131d09 | Julian Leichert | } |
101 | d2931db9 | Julian L | |
102 | /** empty or clear?*/
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103 | int msgqueueEmpty(msgqueue_t* mqueue){
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104 | if(mqueue == NULL){ |
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105 | return True;
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106 | } |
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107 | return False;
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108 | } |
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109 | //TODO: ISR
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110 | //TODO: Params |