Revision e7131d09 core/src/aos_rtcan.c
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#include <hal_can.h> |
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#include <hal_can_lld.h> |
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#include <aos_rtcan.h> |
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#include <aos_thread.h> |
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#include <chthreads.h> |
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#define True 1 |
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#define False 0 |
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#define NRT 1111111 |
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#define HRT 0000000 |
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/* |
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* @brief transmit Message over CAN |
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*/ |
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msg_t rtcan_transmit(CANDriver *canp, canmbx_t mailbox, const CANTxFrame *ctfp){
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// call cantransmit, needed params driver, mailbox and tx frame |
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return transmit; |
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} |
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/* |
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* @brief receive Message over CAN |
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*/ |
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msg_t rtcan_receive(CANDriver *canp, canmbx_t mailbox,CANRxFrame *crfp){
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// call lld cantransmit, needed params driver, mailbox and rx frame |
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return canReceiveTimeout(canp,mailbox,crfp,TIME_IMMEDIATE); |
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} |
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/** Initialize rtcan |
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void rtcanInit(){
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//necessary? |
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} |
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/** Start rtcan * |
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void rtcanStart(CANDriver *canp, const CANConfig *config){
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can_lld_Start(canp,config); |
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} |
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// Handling Message Queues |
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/** Stop rtcan * |
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void rtcanStop(CANDriver *canp){
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can_lld_Stop(canp); |
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bool enqueueMsg(uint8_t *payload, uint8_t msgType, systime_t deadline){
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return false; |
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} |
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/** Stop rtcan reset param and start again * |
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void rtcanReset(){}
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* |
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msgqueue_t msgqueueInit(rtcan_msg_t* msg){
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struct msgqueue_t queue; |
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queue->head = msg; |
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queue->tail = msg; |
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return queue; |
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bool pushRTCanMsgSorted(rtcan_msg_t *msg,msgqueue_t* msgqueue){
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return false; |
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} |
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/** enqueue rtcanmsg_t * |
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void msgqueueEnqueue(msgqueue_t* mqueue,rtcan_msg_t* msg){
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if(!msgqueueEmpty(mqueue)){
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// HRT message most imminent so enqueued at head |
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msgqueue_t* curMsg = mqueue->tail; |
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while(curMsg->prev != mqueue->head){
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if(msg->laxity < curMsg->laxity){
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break; |
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} |
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curMsg = curMsg->prev; |
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} |
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//what about the tail? |
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msg->prev = curMsg->prev; |
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curMsg->prev = msg; |
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}else{
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msgqueueInit(msg); |
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/* |
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* @brief push Message to its Queue, based on type of Message |
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*/ |
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void pushRTCanMsg(rtcan_msg_t *msg,msgqueue_t* msgqueue){
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if(msg != NULL){
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if(msgqueueEmpty(msgqueue)){
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msgqueue->head = msg; |
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msgqueue->tail= msg; |
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msg->next = msg; |
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return; |
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} |
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//todo special case handling |
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if(msgqueue->tail != NULL){
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if(msg->msgType == 10){
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if(pushRTCanMsgSorted(msg,msgqueue) == true){
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return; |
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}; |
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} |
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msgqueue->tail->next = msg; |
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msg->next = msg; |
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msgqueue->tail = msg; |
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msgqueue->size++; |
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} |
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} |
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} |
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/** dequeue rtcanmsg * |
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rtcan_msg_t* msgqueueDequeue(msgqueue_t* mqueue){
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if(!msgqueueEmpty(mqueue)){
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rtcan_msg_t dq = mqueue->head; |
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mqueue->head = dq->prev; |
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return dq; |
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/* |
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* @brief dequeue Message from Queue |
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*/ |
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rtcan_msg_t* popRTCanMsg(msgqueue_t* msgqueue){
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if(!msgqueueEmpty(msgqueue)){
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return msgqueue->head; |
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} |
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return NULL; |
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} |
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/** |
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* @brief schedule rtcan messages into mailboxes |
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*/ |
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void schedule(){
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} |
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/** empty or clear?*/ |
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int msgqueueEmpty(msgqueue_t* mqueue){
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