Freego_MC_BOOT/Core/can_tp/MCU_CAN.c

#include "MCU_CAN.h"
#include "i15765.h"

/* receive and transmit buffer sizes */
#define CAN_BUF_RX_SIZE       10
#define CAN_BUF_TX_SIZE        8

/* total number of channels */
#define CAN_PORTS              2

/* used for FIFO buffers */
can_t can_buf_rx[ CAN_PORTS ][ CAN_BUF_RX_SIZE ];
can_t can_buf_tx[ CAN_PORTS ][ CAN_BUF_TX_SIZE ];

uint8_t volatile can_buf_rx_head[ CAN_PORTS ];
uint8_t volatile can_buf_rx_cnt[ CAN_PORTS ];
uint8_t volatile can_buf_tx_tail[ CAN_PORTS ];
uint8_t volatile can_buf_tx_cnt[ CAN_PORTS ];

uint8_t can_buf_rx_tail[ CAN_PORTS ];
uint8_t can_buf_tx_head[ CAN_PORTS ];
uint8_t can_tx_is_active[ CAN_PORTS ];

/*
** Called by application layer to receive a CAN message.
** RETURN 0: for success
**        1: for failure
*/
uint8_t can_rx(uint8_t p, can_t *frame)
{
	uint8_t ret = 1;

	/* since the below global memory is shared with the rx isr, disable isrs */
//	CAN_LOCK();

	/* if there is something in the buffer, return it */
	if(can_buf_rx_cnt[p])
	{

		/* update buffer size */
		can_buf_rx_cnt[p]--;

		/* copy over the new can frame from current buffer location */
		*frame = can_buf_rx[p][can_buf_rx_tail[p]];

		/* move on to next index in buffer */
		if(++can_buf_rx_tail[p] >= CAN_BUF_RX_SIZE)
			can_buf_rx_tail[p] = 0;

		ret = 0;
	}

//	CAN_UNLOCK();

	return ret;
}

/*
** Internal transmit interrupt.
*/
void can_tx_isr_i(uint8_t p)
{

	/* if there is nothing to transmit, then exit */
	if(can_buf_tx_cnt[p])
	{

		/* we will have one less */
		can_buf_tx_cnt[p]--;

		/* load the mailbox */
//		can_mbox_write(p, &can_buf_tx[p][can_buf_tx_tail[p]]);

		/* move on to next index in buffer */
		if(++can_buf_tx_tail[p] >= CAN_BUF_TX_SIZE)
			can_buf_tx_tail[p] = 0;

	}
	else
	{

		/* the buffer is empty, so we're not transmission is no longer active */
		can_tx_is_active[p] = 0;
	}
}


/*
** Internal receive interrupt.
*/

void can_rx_isr_i(uint8_t p,uint32_t msgId,uint8_t * data, uint8_t len)
{
	can_t *frame;
	can_t tmp_frame;

	/* is there room in the buffer and is it extended? */
	if(can_buf_rx_cnt[p] < CAN_BUF_RX_SIZE)
	{

		/* mark we have one more in the buffer */
		can_buf_rx_cnt[p]++;

		/* get pointer to the next open index */
		frame = (can_t *)&can_buf_rx[p][ can_buf_rx_head[p] ];

		/* move on to next index in buffer */
		if(++can_buf_rx_head[p] >= CAN_BUF_RX_SIZE)
			can_buf_rx_head[p] = 0;

	}
	else
	{
		/* point to empty location because our rx buffer is full (always do a read) */
		frame = (can_t *)&tmp_frame;
	}

	//qiaoxu  Get ID �� data lenth  and  data
	//ID
	frame->id = msgId;

	/* get dlc */
	frame->buf_len = len;

	/*
		*   @return The function will return:
		*           - 0: When RX message box hasn't received new data
		*           - 1: When RX data are stored in the data buffer
		*           - 3: When RX data are stored in the data buffer and a message was lost
	*/
	if(frame->buf_len > 0)
	{
		frame->buf[0] = data[0];
		frame->buf[1] = data[1];
		frame->buf[2] = data[2];
		frame->buf[3] = data[3];

		frame->buf[4] = data[4];
		frame->buf[5] = data[5];
		frame->buf[6] = data[6];
		frame->buf[7] = data[7];
	}

}