can: some improvements

- make debug conditional
- read status from MCP2515
- put RX packets in struct

1 files changed, 44 insertions, 5 deletions

diff --git a/can.c b/can.c
index 739ae68..143d311 100644
--- a/can.c
+++ b/can.c
@@ -73,6 +73,7 @@ static void spi_performpgm(const uint8_t * PROGMEM cmds, uint8_t len)
 #define MCP2515_WRTXB_TXB0	0x00
 #define MCP2515_WRTXB_TXB1	0x02
 #define MCP2515_WRTXB_TXB2	0x04
+#define MCP2515_RDSTAT	0xa0
 
 #define A_CNF3		0x28
 #define A_CANINTF	0x2c
@@ -150,12 +151,32 @@ static void can_send(uint32_t daddr, uint8_t len, const uint8_t *data)
 	can_irq_sei();
 }
 
+static bool can_tx_busy(void)
+{
+	uint8_t status;
+
+	can_irq_cli();
+	spi_ss(0);
+	spi_wrrd(MCP2515_RDSTAT);
+	status = spi_wrrd(0xff);
+	spi_ss(1);
+	can_irq_sei();
+
+	return status & 0x04;
+}
+
 #ifndef R0KET
-union {
-	uint8_t b[4];
-	uint32_t u;
-} can_rx_addr;
-uint8_t can_rx_dlc, can_rx_data[8];
+struct can {
+	union can_rxa {
+		uint8_t b[4];
+		uint32_t u;
+	} rx_addr;
+	uint8_t rx_dlc;
+	uint8_t rx_data[8];
+} can;
+#define can_rx_addr can.rx_addr
+#define can_rx_dlc  can.rx_dlc
+#define can_rx_data can.rx_data
 
 #define can_rx_avail()		(can_rx_addr.u)
 #define can_rx_pop()		do { can_rx_addr.u = 0; } while (0)
@@ -164,10 +185,12 @@ static void can_rxh(uint8_t buffer)
 {
 	uint8_t c, byte;
 
+#ifdef CAN_DBG_IN_IRQ
 	if (buffer)
 		uart_puts("can: RX1IF\n");
 	else
 		uart_puts("can: RX0IF\n");
+#endif
 	spi_ss(0);
 	spi_wrrd(0x90 + 0x04 * buffer);
 
@@ -179,12 +202,17 @@ static void can_rxh(uint8_t buffer)
 	};
 
 	c = 0;
+#ifdef CAN_DBG_IN_IRQ
 #define rdaddr() byte = spi_wrrd(0xff); uart_puthex(byte); can_rx_addr.b[c++] = byte
+#else
+#define rdaddr() byte = spi_wrrd(0xff); can_rx_addr.b[c++] = byte
+#endif
 	rdaddr();
 	rdaddr();
 	rdaddr();
 	rdaddr();
 	can_rx_dlc = spi_wrrd(0xff);
+#ifdef CAN_DBG_IN_IRQ
 	uart_puthex(can_rx_dlc);
 	uart_puts("\n");
 	for (c = 0; c < (can_rx_dlc & 0x0f); c++) {
@@ -193,18 +221,27 @@ static void can_rxh(uint8_t buffer)
 		uart_puthex(byte);
 	}
 	uart_puts("\n");
+#else
+	for (c = 0; c < (can_rx_dlc & 0x0f); c++)
+		can_rx_data[c] = spi_wrrd(0xff);
+#endif
 	spi_ss(1);
+#ifdef CAN_USER_IRQH
+	can_user_irqh();
+#endif
 }
 
 ISR(INT0_vect)
 {
 	uint8_t canintf, eflg, canstat;
 
+#ifdef CAN_DBG_IN_IRQ
 #ifdef HAVE_TICK
 	uart_puttick();
 #endif
 //	dbg_dump_ret();
 	uart_puts("can: irqh<");
+#endif
 
 	spi_ss(0);
 	spi_wrrd(MCP2515_READ);
@@ -214,10 +251,12 @@ ISR(INT0_vect)
 	canstat = spi_wrrd(0xff);
 	spi_ss(1);
 
+#ifdef CAN_DBG_IN_IRQ
 	uart_puthex(canintf);
 	uart_puthex(eflg);
 	uart_puthex(canstat);
 	uart_puts(">\n");
+#endif
 
 	if (canintf & 0x80 || canintf & 0x04) {
 		uint8_t txb0ctrl;