diff options
| -rw-r--r-- | can.c | 49 |
1 files changed, 44 insertions, 5 deletions
@@ -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; |