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-rw-r--r--can.c22
-rw-r--r--door.c4
-rw-r--r--lightctrl.c11
3 files changed, 18 insertions, 19 deletions
diff --git a/can.c b/can.c
index 6deff37..255cf14 100644
--- a/can.c
+++ b/can.c
@@ -24,13 +24,6 @@
#ifndef R0KET
#define spi_ss(x) PORTB = ((x) << B_SS) | 0x3;
-static volatile bool canint = false;
-
-ISR(INT0_vect)
-{
- canint = true;
-}
-
static uint8_t spi_wrrd(uint8_t out)
{
SPDR = out;
@@ -152,6 +145,9 @@ union {
} can_rx_addr;
uint8_t can_rx_dlc, can_rx_data[8];
+#define can_rx_avail() (can_rx_addr.u)
+#define can_rx_pop() do { can_rx_addr.u = 0; } while (0)
+
static void can_rxh(uint8_t buffer)
{
uint8_t c, byte;
@@ -162,6 +158,14 @@ static void can_rxh(uint8_t buffer)
uart_puts("can: RX0IF\n");
spi_ss(0);
spi_wrrd(0x90 + 0x04 * buffer);
+
+ if (can_rx_addr.u) {
+ spi_wrrd(0xff);
+ spi_ss(1);
+ uart_puts("-- CAN RX overrun\n");
+ return;
+ };
+
c = 0;
#define rdaddr() byte = spi_wrrd(0xff); uart_puthex(byte); can_rx_addr.b[c++] = byte
rdaddr();
@@ -180,7 +184,7 @@ static void can_rxh(uint8_t buffer)
spi_ss(1);
}
-static void can_int(void)
+ISR(INT0_vect)
{
uint8_t canintf, eflg, canstat;
@@ -230,6 +234,8 @@ static void can_int(void)
static void can_preinit(void)
{
+ can_rx_addr.u = 0;
+
spi_ss(1);
#ifndef R0KET
DDRB |= (1 << B_SCK) | (1 << B_MOSI) | (1 << B_SS);
diff --git a/door.c b/door.c
index 8780e81..561289f 100644
--- a/door.c
+++ b/door.c
@@ -107,10 +107,6 @@ int main(void)
TCCR1B = (1 << WGM12) | (1 << CS11);
while (1) {
- if (canint) {
- canint = false;
- can_int();
- }
_delay_ms(1);
}
}
diff --git a/lightctrl.c b/lightctrl.c
index 2a82ad3..e901714 100644
--- a/lightctrl.c
+++ b/lightctrl.c
@@ -223,15 +223,12 @@ int main(void)
while (1) {
wdt_reset();
- if (canint) {
- canint = false;
- can_int();
- if (can_rx_addr.b[0]) {
- can_rx_exec();
- can_rx_addr.u = 0;
- }
+ if (can_rx_avail()) {
+ can_rx_exec();
+ can_rx_pop();
}
+
_delay_ms(5);
do_tick();