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Remove wait for CAN TX

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Dmitry
2016-01-04 20:25:24 +03:00
parent 75a299f28f
commit de232fcbbe
2 changed files with 14 additions and 42 deletions
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mcp_can.cpp
+14 -40
View File
@@ -451,31 +451,6 @@ void MCP_CAN::mcp2515_write_id( const INT8U mcp_addr, const bool ext, const INT3
mcp2515_setRegisterS( mcp_addr, tbufdata, 4 );
}
/*********************************************************************************************************
** Function name: sendMsg
** Descriptions: send message
*********************************************************************************************************/
INT8U MCP_CAN::mcp2515_getNextFreeTXBuf(INT8U *txbuf_n) /* get Next free txbuf */
{
INT8U res, i, ctrlval;
INT8U ctrlregs[MCP_N_TXBUFFERS] = { MCP_TXB0CTRL, MCP_TXB1CTRL, MCP_TXB2CTRL };
res = MCP_ALLTXBUSY;
*txbuf_n = 0x00;
/* check all 3 TX-Buffers */
for (i=0; i<MCP_N_TXBUFFERS; i++) {
ctrlval = mcp2515_readRegister( ctrlregs[i] );
if ( (ctrlval & MCP_TXB_TXREQ_M) == 0 ) {
*txbuf_n = ctrlregs[i]+1; /* return SIDH-address of Buffe */
/* r */
res = MCP2515_OK;
return res; /* ! function exit */
}
}
return res;
}
/*********************************************************************************************************
** Function name: set CS
** Descriptions: init CS pin and set UNSELECTED
@@ -628,35 +603,34 @@ INT8U MCP_CAN::init_Filt(INT8U num, bool ext, INT32U ulData)
*********************************************************************************************************/
INT8U MCP_CAN::sendMessage(const INT32U id, const bool ext, const bool rtr, const INT8U len, const INT8U *buf)
{
INT8U res1, txbuf_n;
INT8U res = mcp2515_getNextFreeTXBuf(&txbuf_n); /* info = addr. */
if (res != MCP2515_OK) {
INT8U txbuf_n = 0;
INT8U ctrlregs[MCP_N_TXBUFFERS] = { MCP_TXB0CTRL, MCP_TXB1CTRL, MCP_TXB2CTRL };
for (int i=0; i<MCP_N_TXBUFFERS; i++) {
INT8U ctrlval = mcp2515_readRegister( ctrlregs[i] );
if ( (ctrlval & MCP_TXB_TXREQ_M) == 0 ) {
txbuf_n = ctrlregs[i]+1;
break;
}
}
if (txbuf_n == 0) {
return CAN_GETTXBFTIMEOUT; /* get tx buff time out */
}
mcp2515_setRegisterS(txbuf_n+5, buf, len); /* write data bytes */
INT8U dlc = len;
if (rtr) { /* if RTR set bit in byte */
dlc |= MCP_RTR_MASK;
}
mcp2515_setRegister((txbuf_n+4), dlc ); /* write the RTR and DLC */
mcp2515_setRegister(txbuf_n+4, dlc ); /* write the RTR and DLC */
mcp2515_write_id(txbuf_n, ext, id); /* write CAN id */
mcp2515_modifyRegister( txbuf_n-1 , MCP_TXB_TXREQ_M, MCP_TXB_TXREQ_M );
uint16_t uiTimeOut = 0;
do {
uiTimeOut++;
res1 = mcp2515_readRegister(txbuf_n-1 /* the ctrl reg is located at txbuf_n-1 */); /* read send buff ctrl reg */
res1 = res1 & 0x08;
} while(res1 && (uiTimeOut < TIMEOUTVALUE));
if (uiTimeOut == TIMEOUTVALUE) /* send msg timeout */
{
return CAN_SENDMSGTIMEOUT;
}
return CAN_OK;
}
mcp_can.h
-2
View File
@@ -66,8 +66,6 @@ private:
const bool ext,
const INT32U id );
INT8U mcp2515_getNextFreeTXBuf(INT8U *txbuf_n); /* get Next free txbuf */
void startSPI();
void endSPI();