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LPC11C24: CAN transmission

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This commit is contained in:
Pavel Kirienko
2014-04-15 17:15:49 +04:00
parent 03ab77b02f
commit 841c581991
2 changed files with 28 additions and 9 deletions
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libuavcan_drivers/lpc11c24/driver/src/can.cpp
+20 -8
View File
@@ -28,7 +28,7 @@ namespace
/**
* Hardware message objects are allocated as follows:
* - 0..NumTxMsgObjects - TX objects
* - NumRxMsgObjects..32 - RX objects, where only the last one is used by default (accepts everything)
* - NumRxMsgObjects..32 - RX objects
*/
const unsigned NumMsgObjects = 32;
const unsigned NumTxMsgObjects = 3;
@@ -226,7 +226,7 @@ uavcan::int16_t CanDriver::send(const uavcan::CanFrame& frame, uavcan::Monotonic
}
/*
* Message conversion
* Frame conversion
*/
CCAN_MSG_OBJ_T msgobj = CCAN_MSG_OBJ_T();
msgobj.mode_id = frame.id & uavcan::CanFrame::MaskExtID;
@@ -241,9 +241,24 @@ uavcan::int16_t CanDriver::send(const uavcan::CanFrame& frame, uavcan::Monotonic
msgobj.dlc = frame.dlc;
std::copy(frame.data, frame.data + frame.dlc, msgobj.data);
/*
* Transmission
*/
(void)tx_deadline; // TX timeouts are not supported by this driver yet.
CriticalSectionLocker locker;
(void)tx_deadline;
return -1;
for (unsigned i = 0; i < NumTxMsgObjects; i++)
{
if (tx_msgobj_free_mask & (1 << i))
{
tx_msgobj_free_mask &= ~(1U << i); // Mark as pending - will be released in TX callback
msgobj.msgobj = i + 1;
LPC_CCAN_API->can_transmit(&msgobj);
return 1;
}
}
return 0;
}
uavcan::int16_t CanDriver::receive(uavcan::CanFrame& out_frame, uavcan::MonotonicTime& out_ts_monotonic,
@@ -281,7 +296,7 @@ uavcan::int16_t CanDriver::configureFilters(const uavcan::CanFilterConfig* filte
uavcan::uint64_t CanDriver::getErrorCount() const
{
CriticalSectionLocker locker;
return error_cnt + rx_queue.getOverflowCount();
return uint64_t(error_cnt) + uint64_t(rx_queue.getOverflowCount());
}
uavcan::uint16_t CanDriver::getNumFilters() const
@@ -341,9 +356,6 @@ void canRxCallback(uint8_t msg_obj_num)
void canTxCallback(uint8_t msg_obj_num)
{
while (msg_obj_num > uavcan_lpc11c24::NumMsgObjects || msg_obj_num < 1) // Validation
{
}
uavcan_lpc11c24::tx_msgobj_free_mask |= 1U << (msg_obj_num - 1);
}
libuavcan_drivers/lpc11c24/test_olimex_lpc_p11c24/src/main.cpp
+8 -1
View File
@@ -6,6 +6,11 @@
#include <chip.h>
#include <uavcan_lpc11c24/can.hpp>
#define ENFORCE(x) \
if ((x) == 0) { \
while (true) { } \
}
int main()
{
if (uavcan_lpc11c24::CanDriver::instance().init(1000000) < 0)
@@ -26,8 +31,10 @@ int main()
uavcan::UtcTime utc;
uavcan::MonotonicTime mono;
uavcan::CanIOFlags flags;
uavcan_lpc11c24::CanDriver::instance().receive(frm, mono, utc, flags);
ENFORCE(1 == uavcan_lpc11c24::CanDriver::instance().receive(frm, mono, utc, flags));
asm volatile ("nop");
ENFORCE(1 == uavcan_lpc11c24::CanDriver::instance().send(frm, mono, 0));
}
else
{