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/**
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 * High level functions for bus communication and standard node behaviour.
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 *
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 * @author  Andreas Fritiofson
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 *
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 * @date    2007-10-24
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 */
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#include <config.h>
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#include "stdcan.h"
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#include "stdcan.h"
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#if defined(_AVRLIB_BIOS_)
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#if defined(_AVRLIB_BIOS_)
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#include <bios.h>
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#include <bios.h>
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#define Can_Send BIOS_CanSend
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#define Can_Send BIOS_CanSend
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#else
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#else
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 */
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 */
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StdCan_Msg_t TxQ[STDCAN_TX_QUEUE_SIZE];
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StdCan_Msg_t TxQ[STDCAN_TX_QUEUE_SIZE];
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unsigned char TxQ_Rd_idx; /**< Transmit queue read index. */
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unsigned char TxQ_Rd_idx; /**< Transmit queue read index. */
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unsigned char TxQ_Wr_idx; /**< Transmit queue write index. */
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unsigned char TxQ_Wr_idx; /**< Transmit queue write index. */
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unsigned char TxQ_Len; /**< Number of messages in transmit queue. */
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unsigned char TxQ_Len; /**< Number of messages in transmit queue. */
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#endif
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#if (STDCAN_FILTER)
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/**
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 * The message acceptance filters.
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 */
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typedef struct {
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    char Active; /**< True if this filter should be used. */
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    unsigned long Id; /**< Match if id matches the message id in all bit locations that are not masked. */
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    unsigned long Mask; /**< Each bit specifies if the corresponding id bit must match (mask[n] = 1) or is Don't Care (mask[n] = 0). */
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} StdCan_Filter_t;
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StdCan_Filter_t RxFilters[STDCAN_NUM_FILTERS];
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#endif
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#endif
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/**
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/**
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 * CAN message callback.
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 * CAN message callback.
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 * Callback for when a message is received from the lower
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 * Callback for when a message is received from the lower
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 * layer (BIOS or CAN driver).
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 * layer (BIOS or CAN driver).
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 */
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 */
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void Can_Process(Can_Message_t* msg)
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void Can_Process(Can_Message_t* msg)
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{
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{
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    unsigned char n;
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    unsigned char n;
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    /* Check if there is room on the queue. */
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    /* Check if there is room on the queue. */
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    if (RxQ_Len < STDCAN_RX_QUEUE_SIZE) {
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    if (RxQ_Len < STDCAN_RX_QUEUE_SIZE) {
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#if (STDCAN_FILTER)
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        /* Try to match each filter in turn. */
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        for (n = 0; n < STDCAN_NUM_FILTERS; n++) {
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            if (RxFilters[n].Active && !((msg->Id ^ RxFilters[n].Id) & RxFilters[n].Mask)) {
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                RxQ[RxQ_Wr_idx].Match = n;
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                break;
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            }
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        }
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        if (n == STDCAN_NUM_FILTERS) return; // No match found, discard message.
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#endif
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        /* Copy the message from lower layer into the queue. */
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        /* Copy the message from lower layer into the queue. */
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        RxQ[RxQ_Wr_idx].Id     = msg->Id;
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        RxQ[RxQ_Wr_idx].Id     = msg->Id;
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        RxQ[RxQ_Wr_idx].Length = msg->DataLength;
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        RxQ[RxQ_Wr_idx].Length = msg->DataLength;
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        //TODO: This should be guarded against invalid DataLength.
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        //TODO: This should be guarded against invalid DataLength.
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        for (n = 0; n < RxQ[RxQ_Wr_idx].Length; n++) {
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        for (n = 0; n < RxQ[RxQ_Wr_idx].Length; n++) {
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        RxQ_Len++;
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        RxQ_Len++;
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    } else {
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    } else {
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        /* Overflow, just drop the new message. In the future, some
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        /* Overflow, just drop the new message. In the future, some
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         * form of priority scheme could be used to drop another
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         * form of priority scheme could be used to drop another
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         * message in the queue.
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         * message in the queue.
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         */
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         */
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    }
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    }
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}
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}
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StdCan_Ret_t StdCan_Init(Node_Desc_t* node_desc)
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StdCan_Ret_t StdCan_Init(Node_Desc_t* node_desc)
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{
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{
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    StdCan_Ret_t retval;
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    StdCan_Ret_t retval;
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    /* Reset all queue variables. */
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    /* Reset all queue variables. */
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    RxQ_Rd_idx = 0;
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    RxQ_Rd_idx = 0;
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    RxQ_Wr_idx = 0;
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    RxQ_Wr_idx = 0;
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    RxQ_Len    = 0;
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    RxQ_Len    = 0;
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#if (STDCAN_TX_QUEUE_SIZE > 1)
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    TxQ_Rd_idx = 0;
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    TxQ_Rd_idx = 0;
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    TxQ_Wr_idx = 0;
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    TxQ_Wr_idx = 0;
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    TxQ_Len    = 0;
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    TxQ_Len    = 0;
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#endif
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#if defined(_AVRLIB_BIOS_)
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#if defined(_AVRLIB_BIOS_)
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    /* Initialize BIOS' interface for CAN. */
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    /* Initialize BIOS' interface for CAN. */
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    BIOS_CanCallback = Can_Process;
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    BIOS_CanCallback = Can_Process;
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    retval = StdCan_Ret_OK;
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    retval = StdCan_Ret_OK;
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StdCan_Ret_t StdCan_Put(StdCan_Msg_t* msg)
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StdCan_Ret_t StdCan_Put(StdCan_Msg_t* msg)
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{
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{
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    Can_Message_t Can_Msg;
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    Can_Message_t Can_Msg;
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    unsigned char n;
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    unsigned char n;
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    /* Validate message. */
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    /* Validate message. */
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    if ((unsigned)msg->Length > 8) return StdCan_Ret_DataErr;
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    if ((unsigned)msg->Length > 8) return StdCan_Ret_DataErr;
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    /* Copy message directly to lower layer until a proper
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    /* Copy message directly to lower layer until a proper
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     * queue has been implemented.
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     * queue has been implemented.
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                 | (NODE_ID << CAN_SHIFT_NMT_SID);
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                 | (NODE_ID << CAN_SHIFT_NMT_SID);
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    /* Try to send it. */
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    /* Try to send it. */
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    Can_Send(&Heartbeat);
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    Can_Send(&Heartbeat);
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}
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}
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#if (STDCAN_FILTER)
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StdCan_Ret_t StdCan_EnableFilter(unsigned char filter, unsigned long id, unsigned long mask)
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{
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    if (filter < STDCAN_NUM_FILTERS) {
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        RxFilters[filter].Id = id;
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        RxFilters[filter].Mask = mask;
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        RxFilters[filter].Active = 1;
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        return StdCan_Ret_OK;
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    } else {
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        return StdCan_Ret_DataErr;
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    }
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}
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StdCan_Ret_t StdCan_DisableFilter(unsigned char filter)
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{
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    if (filter < STDCAN_NUM_FILTERS) {
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        RxFilters[filter].Active = 0;
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        return StdCan_Ret_OK;
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    } else {
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        return StdCan_Ret_DataErr;
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    }
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}
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#endif