amiro-os / core / src / aos_rtcan.c @ ece66d59
History | View | Annotate | Download (3.647 KB)
1 |
/*
|
---|---|
2 |
AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
|
3 |
Copyright (C) 2016..2018 Thomas Schöpping et al.
|
4 |
|
5 |
This program is free software: you can redistribute it and/or modify
|
6 |
it under the terms of the GNU General Public License as published by
|
7 |
the Free Software Foundation, either version 3 of the License, or
|
8 |
(at your option) any later version.
|
9 |
|
10 |
This program is distributed in the hope that it will be useful,
|
11 |
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
12 |
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
13 |
GNU General Public License for more details.
|
14 |
|
15 |
You should have received a copy of the GNU General Public License
|
16 |
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
17 |
*/
|
18 |
|
19 |
#include <hal.h> |
20 |
#include <hal_can.h> |
21 |
#include <hal_can_lld.h> |
22 |
#include <aos_rtcan.h> |
23 |
#include <aos_thread.h> |
24 |
#include <chthreads.h> |
25 |
#include <chtime.h> |
26 |
#include <ch.h> |
27 |
#define True 1 |
28 |
#define False 0 |
29 |
|
30 |
static THD_WORKING_AREA(myThreadWorkingArea, 128); |
31 |
|
32 |
msgqueue_t hrtQueue; |
33 |
msgqueue_t srtQueue; |
34 |
msgqueue_t nrtQueue; |
35 |
|
36 |
/*
|
37 |
* @brief transmit Message over CAN
|
38 |
*/
|
39 |
msg_t rtcan_transmit(CANDriver *canp, canmbx_t mailbox, const CANTxFrame *ctfp){
|
40 |
// call cantransmit, needed params driver, mailbox and tx frame
|
41 |
|
42 |
msg_t transmit = canTransmitTimeout(canp,mailbox,ctfp,TIME_IMMEDIATE); |
43 |
return transmit;
|
44 |
} |
45 |
|
46 |
/*
|
47 |
* @brief receive Message over CAN
|
48 |
*/
|
49 |
msg_t rtcan_receive(CANDriver *canp, canmbx_t mailbox,CANRxFrame *crfp){ |
50 |
// call lld cantransmit, needed params driver, mailbox and rx frame
|
51 |
return canReceiveTimeout(canp,mailbox,crfp,TIME_IMMEDIATE);
|
52 |
} |
53 |
|
54 |
|
55 |
// Handling Message Queues
|
56 |
|
57 |
bool enqueueMsg(uint8_t *payload, uint8_t msgType, systime_t deadline){
|
58 |
return false; |
59 |
} |
60 |
|
61 |
bool pushRTCanMsgSorted(rtcan_msg_t *msg,msgqueue_t* msgqueue){
|
62 |
|
63 |
rtcan_msg_t * prevElem = msgqueue->head; |
64 |
rtcan_msg_t * compareElem = prevElem->next; |
65 |
|
66 |
while(ST2MS(msg->deadline) >= ST2MS(compareElem->deadline)){
|
67 |
if(compareElem->next != NULL){ |
68 |
prevElem = compareElem; |
69 |
compareElem = compareElem->next; |
70 |
}else{
|
71 |
prevElem->next = msg; |
72 |
msgqueue->tail = msg; |
73 |
return true; |
74 |
} |
75 |
} |
76 |
if(compareElem!= NULL){ |
77 |
msg->next = compareElem; |
78 |
|
79 |
} |
80 |
|
81 |
return false; |
82 |
} |
83 |
|
84 |
/*
|
85 |
* @brief push Message to its Queue, based on type of Message
|
86 |
*/
|
87 |
void pushRTCanMsg(rtcan_msg_t *msg,msgqueue_t* msgqueue){
|
88 |
if(msg != NULL){ |
89 |
if(msgqueueEmpty(msgqueue)){
|
90 |
msgqueue->head = msg; |
91 |
msgqueue->tail= msg; |
92 |
msg->next = NULL;
|
93 |
return;
|
94 |
} |
95 |
//todo special case handling
|
96 |
if(msgqueue->tail != NULL){ |
97 |
if(msg->msgType == 10){ |
98 |
if(pushRTCanMsgSorted(msg,msgqueue) == true){ |
99 |
return;
|
100 |
}; |
101 |
} |
102 |
msgqueue->tail->next = msg; |
103 |
msg->next = NULL;
|
104 |
msgqueue->tail = msg; |
105 |
msgqueue->size++; |
106 |
} |
107 |
} |
108 |
} |
109 |
|
110 |
/*
|
111 |
* @brief dequeue Message from Queue
|
112 |
*/
|
113 |
rtcan_msg_t* popRTCanMsg(msgqueue_t* msgqueue){ |
114 |
if(!msgqueueEmpty(msgqueue)){
|
115 |
rtcan_msg_t *elem = msgqueue->head; |
116 |
msgqueue->head = elem->next; |
117 |
return elem;
|
118 |
} |
119 |
return NULL; |
120 |
} |
121 |
|
122 |
/*
|
123 |
* @brief init Message Queue
|
124 |
*/
|
125 |
void queueInit(rtcan_msg_t *head){
|
126 |
head->next = head; |
127 |
} |
128 |
|
129 |
/**
|
130 |
* @brief schedule rtcan messages into mailboxes
|
131 |
*/
|
132 |
|
133 |
static msg_t Thread(void *arg){ |
134 |
(void)arg;
|
135 |
chRegSetThreadName("RTCAN Timer");
|
136 |
|
137 |
while (TRUE){
|
138 |
chThdSleepMilliseconds( 20 );
|
139 |
// Take next element from queue
|
140 |
// place it in buffer to be sent in next time slot
|
141 |
chThdSleepMilliseconds( 20 );
|
142 |
} |
143 |
|
144 |
return 0; |
145 |
} |
146 |
/** empty or clear?*/
|
147 |
int msgqueueEmpty(msgqueue_t* mqueue){
|
148 |
if(mqueue == NULL){ |
149 |
return True;
|
150 |
} |
151 |
return False;
|
152 |
} |
153 |
//TODO: ISR
|
154 |
//TODO: Params
|