AMiRo-OS

#include <amiroos.h>

#include <string.h>

#if ((AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MSI == true)) || defined(__DOXYGEN__)

/* some local definitions */

// maximum number of bytes per CAN frame

#define CAN_BYTES_PER_FRAME                     8

// identifier (as dominant as possible)

#define MSI_BCBMSG_CANID                        0

aos_ssspbcbstatus_t moduleSsspBcbTransmit(const uint8_t* buffer, size_t length)

{

  aosDbgCheck(buffer != NULL);

  aosDbgCheck(length > 0 && length <= CAN_BYTES_PER_FRAME);

  // local variables

  CANTxFrame frame;

  // setup the common parts of the message frame

  frame.DLC = (uint8_t)length;

  frame.RTR = CAN_RTR_DATA;

  frame.IDE = CAN_IDE_STD;

  frame.SID = MSI_BCBMSG_CANID;

  memcpy(frame.data8, buffer, length);

  // sent the frame and return

  return (canTransmitTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &frame, TIME_IMMEDIATE) == MSG_OK) ? AOS_SSSP_BCB_SUCCESS : AOS_SSSP_BCB_ERROR;

}

aos_ssspbcbstatus_t moduleSsspBcbReceive(uint8_t* buffer, size_t length)

{

  aosDbgCheck(buffer != NULL);

  aosDbgCheck(length > 0 && length <= CAN_BYTES_PER_FRAME);

  // local variables

  CANRxFrame frame;

  // receive a frame and check for errors

  if (canReceiveTimeout(&MODULE_HAL_CAN, CAN_ANY_MAILBOX, &frame, TIME_IMMEDIATE) == MSG_OK) {

    // a correct frame was received

    if (frame.DLC == length &&

        frame.RTR == CAN_RTR_DATA &&

        frame.IDE == CAN_IDE_STD &&

        frame.SID == MSI_BCBMSG_CANID) {

      // success: fetch the data and return

      memcpy(buffer, frame.data8, length);

      return AOS_SSSP_BCB_SUCCESS;

    }

    // an unexpected frame was received

    else {

      return AOS_SSSP_BCB_INVALIDMSG;

    }

  } else {

    // failure: return with error

    return AOS_SSSP_BCB_ERROR;

  }

}

#undef MSI_BCBMSG_CANID

#undef CAN_BYTES_PER_FRAME

#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) && (AMIROOS_CFG_SSSP_MSI == true) */