AMiRo-OS

 * @brief   Helper function to serialize data.

 *

 * @param[out]  dst   Pointer to the output buffer.

 * @param[in]   src   Data to be serialized.

 * @param[in]   n     Number of bytes to serialize.

 */

inline void _serialize(uint8_t* dst, const uint64_t src, const uint8_t n)

{

  aosDbgCheck(dst != NULL);

  aosDbgCheck(n > 0 && n <= 8);

  for (uint8_t byte = 0; byte < n; ++byte) {

    dst[byte] = (uint8_t)((src >> (byte * 8)) & 0xFF);

  }

  return;

}

/**

 * @brief   Helper function to deserialize data.

 *

 * @param[in] src   Pointer to the buffer of data to be deserialzed.

 * @param[in] n     Number of bytes to deserialize.

 *

 * @return    The deserialized 32 bit data.

 */

inline uint64_t _deserialize(uint8_t* src, const uint8_t n)

{

  aosDbgCheck(src != NULL);

  aosDbgCheck(n > 0 && n <= 8);

  uint64_t result = 0;

  for (uint8_t byte = 0; byte < n; ++byte) {

    result |= ((uint64_t)src[byte]) << (byte * 8);

  }

  return result;

}

/**

    CANTxFrame ctfp;

    ctfp.RTR = CAN_RTR_DATA;

    ctfp.IDE = CAN_IDE_STD;

    ctfp.DLC = 0;

    ctfp.SID = 0x003;

    aos_timestamp_t stamp;

    aosSysGetUptime(&stamp);

    _serialize(ctfp.data8,stamp,4);

    msg = rtcan_transmit(&MODULE_HAL_CAN,CAN_ANY_MAILBOX,&ctfp);

    aosUtInfoMsg(stream,"trying to receive msg");

    CANRxFrame crfp;

    crfp.RTR = CAN_RTR_DATA;

    crfp.IDE = CAN_IDE_STD;

    crfp.DLC = 0;

    crfp.SID = 0x003;

    int empty = can_lld_is_rx_nonempty(&MODULE_HAL_CAN,CAN_ANY_MAILBOX);

    if (empty){

        aosUtInfoMsg(stream,"RX is Empty");

    }

    msg = rtcan_receive(&MODULE_HAL_CAN,CAN_ANY_MAILBOX,&crfp);

    uint64_t recv = _deserialize(crfp.data8,4);

    aosUtInfoMsg(stream,"Received Message has the payload:  %d",recv);

    aosUtPassedMsg(stream,&result,"Message sucessfull transmitted");

    aosUtFailedMsg(stream,&result,"Timeout while waiting for message transmission");