amiro-os / core / src / aos_rtcan.c @ e7131d09
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/*
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AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
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Copyright (C) 2016..2018 Thomas Schöpping et al.
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <hal.h> |
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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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msg_t transmit = canTransmitTimeout(canp,mailbox,ctfp,TIME_IMMEDIATE); |
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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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// Handling Message Queues
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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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bool pushRTCanMsgSorted(rtcan_msg_t *msg,msgqueue_t* msgqueue){
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return false; |
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} |
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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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/*
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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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if(mqueue == NULL){ |
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return True;
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} |
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return False;
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} |
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//TODO: ISR
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//TODO: Params
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