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108 lines
2.7 KiB
C++
108 lines
2.7 KiB
C++
#include "CAN.h"
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#include <cstddef>
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namespace canSpace {
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void CAN::transmitMsg(Uint16 boxNumber, const CANMessage& message){
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Uint32 mboxControl(0);
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mboxControl = 1ul << boxNumber;
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volatile MBOX* p_MailBox(NULL);
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p_MailBox = &(p_CanMBoxes_->MBOX0) + boxNumber;
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p_MailBox->MDH.all = 0x0;
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p_MailBox->MDL.all = 0x0;
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p_MailBox->MSGCTRL.bit.DLC = message.msgctrl.bit.DLC;
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p_MailBox->MDH.all = message.mdh.all;
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p_MailBox->MDL.all = message.mdl.all;
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CanShadow_.CANTRS.all = 0;
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CanShadow_.CANTRS.all |= mboxControl; // Set TRS for mailbox under test
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p_CanRegs_->CANTRS.all = CanShadow_.CANTRS.all;
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do { CanShadow_.CANTA.all = p_CanRegs_->CANTA.all; } // TODO add tx error somewhere here
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while((CanShadow_.CANTA.all & mboxControl) == 0 );// Wait for TA1 bit to be set
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CanShadow_.CANTA.all = 0;
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CanShadow_.CANTA.all |= mboxControl; // Clear TA1
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p_CanRegs_->CANTA.all = CanShadow_.CANTA.all;
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}
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bool CAN::isNewMessage(){
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return static_cast<bool>(p_CanRegs_->CANRMP.all);
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}
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bool CAN::isNewMessage(Uint16 boxNumber){
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Uint32 mboxControl(0);
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mboxControl = 1ul << boxNumber;
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bool isNewMessageInBox = p_CanRegs_->CANRMP.all & mboxControl;
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return isNewMessageInBox;
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}
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bool CAN::receiveMsg(Uint16 boxNumber, CANMessage& rxMessage){ // TODO faults just return -1
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Uint32 mboxControl(0);
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mboxControl = 1ul << boxNumber;
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volatile MBOX* p_MailBox(NULL);
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p_MailBox = &(p_CanMBoxes_->MBOX0) + boxNumber;
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bool isNewMessageInBox = p_CanRegs_->CANRMP.all & mboxControl;
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if(!isNewMessageInBox) return -1;
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p_CanRegs_->CANRMP.all &= mboxControl;
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rxMessage.msgctrl.all = p_MailBox->MSGCTRL.all;
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rxMessage.mdl.all = p_MailBox->MDL.all;
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rxMessage.mdh.all = p_MailBox->MDH.all;
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bool newMessage;
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bool lostMessage;
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newMessage = p_CanRegs_->CANRMP.all & mboxControl;
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lostMessage = p_CanRegs_->CANRML.all & mboxControl;
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if(newMessage || lostMessage) {
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return -1;
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// set_fault();
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}
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return 0;
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}
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/* CANMessage CAN::receiveMsg(Uint16 boxNumber){
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Uint32 mboxControl(0);
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mboxControl = 1ul << boxNumber;
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volatile MBOX* p_MailBox(NULL);
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p_MailBox = &(p_CanMBoxes_->MBOX0) + boxNumber;
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CANMessage rxMessage;
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p_CanRegs_->CANRMP.all &= mboxControl;
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rxMessage.MSGCTRL.all = p_MailBox->MSGCTRL.all;
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rxMessage.MDL.all = p_MailBox->MDL.all;
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rxMessage.MDH.all = p_MailBox->MDH.all;
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bool newMessage;
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bool lostMessage;
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newMessage = p_CanRegs_->CANRMP.all & mboxControl;
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lostMessage = p_CanRegs_->CANRML.all & mboxControl;
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if(newMessage || lostMessage) {
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counter_fault_rx++; // TODO delete after debug
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// set_fault();
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}
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return rxMessage;
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} */
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} // canSpace
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