Skip to content

Commit

Permalink
Fixed data length size so that it actually uses the size parameter
Browse files Browse the repository at this point in the history
  • Loading branch information
@roeyb1
roeyb1 committed Nov 26, 2022
1 parent 7eb2f16 commit 5f6ba69
Show file tree
Hide file tree
Showing 3 changed files with 35 additions and 27 deletions.
44 changes: 19 additions & 25 deletions lib/CAN/Can.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -241,7 +241,7 @@ uint32_t CANBus::getAvailableForWrite()
return free_mailboxes;
}

Status CANBus::write(uint16_t message_id, const uint8_t data[], uint32_t size)
Status CANBus::write(const Message& message)
{
if (state != CANBus::State::Ready)
{
Expand All @@ -254,20 +254,20 @@ Status CANBus::write(uint16_t message_id, const uint8_t data[], uint32_t size)
// mask for the first open transmission mailbox
const uint32_t transmit_mailbox = (hcan->TSR & (0b11ul << CAN_TSR_CODE)) >> 24;

hcan->sTxMailBox[transmit_mailbox].TIR = (message_id << CAN_TI0R_STID) | CAN_RTR_DATA;
hcan->sTxMailBox[transmit_mailbox].TDTR = 8; // always only transmit 8 bytes for simplicity
hcan->sTxMailBox[transmit_mailbox].TIR = (message.id << CAN_TI0R_STID) | CAN_RTR_DATA;
hcan->sTxMailBox[transmit_mailbox].TDTR = message.size; // always only transmit 8 bytes for simplicity
// #todo: set TDTR time bit?

hcan->sTxMailBox[transmit_mailbox].TDHR =
(uint32_t)((uint32_t)data[7] << CAN_TDH0R_DATA7_Pos) |
(uint32_t)((uint32_t)data[6] << CAN_TDH0R_DATA6_Pos) |
(uint32_t)((uint32_t)data[5] << CAN_TDH0R_DATA5_Pos) |
(uint32_t)((uint32_t)data[4] << CAN_TDH0R_DATA4_Pos);
(uint32_t)((uint32_t)message.data_8[7] << CAN_TDH0R_DATA7_Pos) |
(uint32_t)((uint32_t)message.data_8[6] << CAN_TDH0R_DATA6_Pos) |
(uint32_t)((uint32_t)message.data_8[5] << CAN_TDH0R_DATA5_Pos) |
(uint32_t)((uint32_t)message.data_8[4] << CAN_TDH0R_DATA4_Pos);
hcan->sTxMailBox[transmit_mailbox].TDLR =
(uint32_t)((uint32_t)data[3] << CAN_TDL0R_DATA3_Pos) |
(uint32_t)((uint32_t)data[2] << CAN_TDL0R_DATA2_Pos) |
(uint32_t)((uint32_t)data[1] << CAN_TDL0R_DATA1_Pos) |
(uint32_t)((uint32_t)data[0] << CAN_TDL0R_DATA0_Pos);
(uint32_t)((uint32_t)message.data_8[3] << CAN_TDL0R_DATA3_Pos) |
(uint32_t)((uint32_t)message.data_8[2] << CAN_TDL0R_DATA2_Pos) |
(uint32_t)((uint32_t)message.data_8[1] << CAN_TDL0R_DATA1_Pos) |
(uint32_t)((uint32_t)message.data_8[0] << CAN_TDL0R_DATA0_Pos);

SET_BIT(hcan->sTxMailBox[transmit_mailbox].TIR, CAN_TI0R_TXRQ);
return Status::Error;
Expand All @@ -281,12 +281,6 @@ Status CANBus::write(uint16_t message_id, const uint8_t data[], uint32_t size)
okay();
}

Status CANBus::write(const Message& message)
{
return write(message.id, message.data, message.size);
}


uint32_t CANBus::getAvailableForRead(uint32_t rx_fifo)
{
if (state != CANBus::State::Ready)
Expand Down Expand Up @@ -332,14 +326,14 @@ Status CANBus::read(Message& message_out, uint32_t rx_fifo)
warn("No mailboxes with available messages");
}

message_out.data[0] = (uint8_t)((CAN_RDL0R_DATA0 & hcan->sFIFOMailBox[rx_fifo].RDLR) >> CAN_RDL0R_DATA0_Pos);
message_out.data[1] = (uint8_t)((CAN_RDL0R_DATA1 & hcan->sFIFOMailBox[rx_fifo].RDLR) >> CAN_RDL0R_DATA1_Pos);
message_out.data[2] = (uint8_t)((CAN_RDL0R_DATA2 & hcan->sFIFOMailBox[rx_fifo].RDLR) >> CAN_RDL0R_DATA2_Pos);
message_out.data[3] = (uint8_t)((CAN_RDL0R_DATA3 & hcan->sFIFOMailBox[rx_fifo].RDLR) >> CAN_RDL0R_DATA3_Pos);
message_out.data[4] = (uint8_t)((CAN_RDH0R_DATA4 & hcan->sFIFOMailBox[rx_fifo].RDHR) >> CAN_RDH0R_DATA4_Pos);
message_out.data[5] = (uint8_t)((CAN_RDH0R_DATA5 & hcan->sFIFOMailBox[rx_fifo].RDHR) >> CAN_RDH0R_DATA5_Pos);
message_out.data[6] = (uint8_t)((CAN_RDH0R_DATA6 & hcan->sFIFOMailBox[rx_fifo].RDHR) >> CAN_RDH0R_DATA6_Pos);
message_out.data[7] = (uint8_t)((CAN_RDH0R_DATA7 & hcan->sFIFOMailBox[rx_fifo].RDHR) >> CAN_RDH0R_DATA7_Pos);
message_out.data_8[0] = (uint8_t)((CAN_RDL0R_DATA0 & hcan->sFIFOMailBox[rx_fifo].RDLR) >> CAN_RDL0R_DATA0_Pos);
message_out.data_8[1] = (uint8_t)((CAN_RDL0R_DATA1 & hcan->sFIFOMailBox[rx_fifo].RDLR) >> CAN_RDL0R_DATA1_Pos);
message_out.data_8[2] = (uint8_t)((CAN_RDL0R_DATA2 & hcan->sFIFOMailBox[rx_fifo].RDLR) >> CAN_RDL0R_DATA2_Pos);
message_out.data_8[3] = (uint8_t)((CAN_RDL0R_DATA3 & hcan->sFIFOMailBox[rx_fifo].RDLR) >> CAN_RDL0R_DATA3_Pos);
message_out.data_8[4] = (uint8_t)((CAN_RDH0R_DATA4 & hcan->sFIFOMailBox[rx_fifo].RDHR) >> CAN_RDH0R_DATA4_Pos);
message_out.data_8[5] = (uint8_t)((CAN_RDH0R_DATA5 & hcan->sFIFOMailBox[rx_fifo].RDHR) >> CAN_RDH0R_DATA5_Pos);
message_out.data_8[6] = (uint8_t)((CAN_RDH0R_DATA6 & hcan->sFIFOMailBox[rx_fifo].RDHR) >> CAN_RDH0R_DATA6_Pos);
message_out.data_8[7] = (uint8_t)((CAN_RDH0R_DATA7 & hcan->sFIFOMailBox[rx_fifo].RDHR) >> CAN_RDH0R_DATA7_Pos);

message_out.id = CAN_RI0R_STID & hcan->sFIFOMailBox[rx_fifo].RIR >> CAN_RI0R_STID_Pos;

Expand Down
11 changes: 9 additions & 2 deletions lib/CAN/Can.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -66,7 +66,14 @@ class CANBus
public:
uint32_t id = 0;
uint32_t size = 0;
uint8_t data[8] = {0};

union
{
uint64_t data_64;
uint32_t data_32[2];
uint16_t data_16[4];
uint8_t data_8[8];
};
};

/**
Expand All @@ -75,7 +82,6 @@ class CANBus
* @param size number of bytes to write.
* @returns Okay if the message was successfully posted to a mailbox. If Error, must retry when `getAvailableForWrite()` returns > 0
*/
static Status write(uint16_t message_id, const uint8_t data[], uint32_t size);
static Status write(const Message& message);

/**
Expand All @@ -94,6 +100,7 @@ class CANBus

static void register_msg_received_callback(MessageReceivedCallbackType callback);
private:

enum State
{
None,
Expand Down
7 changes: 7 additions & 0 deletions lib/CAN/README.md
View file
Original file line number Diff line number Diff line change
Expand Up @@ -39,6 +39,13 @@ void loop(){
// do something with the message...
// ...
}
// checks if there are spaces available to transmit
if (CANBus::getAvailableForWrite() > 0)
{
CANBus::write({.id = 0xde, .size = 8, .data_32 = {1, 2}});
}
delay(100);
}
Expand Down

0 comments on commit 5f6ba69

Please sign in to comment.