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Rev 693 Rev 789
Line 107... Line 107...
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    else
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    else
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        retval = StdCan_Ret_Fail;
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        retval = StdCan_Ret_Fail;
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#endif
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#endif
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    //TODO: Do something with the Node Descriptor.
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    //TODO: Do something with the Node Descriptor.
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    //(why have constats passed as parameters? they are defined at compiletime /arune)
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#if defined(_AVRLIB_BIOS_)
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    /* TODO: When a Tx queue is implemented, the startup message should
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     * be sent via StdCan_Put instead of directly to lower layer.
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     */
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    Can_Message_t Startup;
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    /* Set up Startup message format. */
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    Startup.ExtendedFlag = 1;
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    Startup.RemoteFlag = 0;
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    Startup.DataLength = 4;
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    Startup.Id = (CAN_NMT_APP_START << CAN_SHIFT_NMT_TYPE) | (NODE_ID << CAN_SHIFT_NMT_SID);
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    Startup.Data.bytes[1] = APP_TYPE&0xff;
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    Startup.Data.bytes[0] = (APP_TYPE>>8)&0xff;
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    Startup.Data.bytes[3] = APP_VERSION&0xff;
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    Startup.Data.bytes[2] = (APP_VERSION>>8)&0xff;
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    /* Try to send it. */
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    Can_Send(&Startup);
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#endif
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    return retval;
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    return retval;
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}
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}
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StdCan_Ret_t StdCan_Get(StdCan_Msg_t* msg)
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StdCan_Ret_t StdCan_Get(StdCan_Msg_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's a message waiting. */
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    /* Check if there's a message waiting. */
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    if (RxQ_Len) {
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    if (RxQ_Len) {
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        /* Copy message to user buffer. */
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        /* Copy message to user buffer. */
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        msg->Id     = RxQ[RxQ_Rd_idx].Id;
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        msg->Id     = RxQ[RxQ_Rd_idx].Id;
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        msg->Length = RxQ[RxQ_Rd_idx].Length;
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        msg->Length = RxQ[RxQ_Rd_idx].Length;
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        //TODO: Consider a mempcy() of the entire message.
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        //TODO: Consider a mempcy() of the entire message.
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        for (n = 0; n < RxQ[RxQ_Rd_idx].Length; n++) {
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        for (n = 0; n < RxQ[RxQ_Rd_idx].Length; n++) {
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            msg->Data[n] = RxQ[RxQ_Rd_idx].Data[n];
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            msg->Data[n] = RxQ[RxQ_Rd_idx].Data[n];
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        }
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        }
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        /* Increment read index and decrease queue length. */
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        /* Increment read index and decrease queue length. */
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        if (++RxQ_Rd_idx >= STDCAN_RX_QUEUE_SIZE) RxQ_Rd_idx = 0;
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        if (++RxQ_Rd_idx >= STDCAN_RX_QUEUE_SIZE) RxQ_Rd_idx = 0;
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        RxQ_Len--;
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        RxQ_Len--;
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        return StdCan_Ret_OK;
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        return StdCan_Ret_OK;
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    } else {
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    } else {
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        /* Queue is empty. */
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        /* Queue is empty. */
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        return StdCan_Ret_Empty;
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        return StdCan_Ret_Empty;
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    }
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    }
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}
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unsigned char StdCan_Get_Pending(void)
- 
 
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{
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    return RxQ_Len;
140 
}
 165 
}
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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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{
 168 
{
144 
    Can_Message_t Can_Msg;
 169 
    Can_Message_t Can_Msg;