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Line 80... Line 80...
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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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- 
 
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#ifdef MODULE_APPLICATION
- 
 
 86 
StdCan_Ret_t StdCan_Init(void)
- 
 
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{
- 
 
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#else
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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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#endif
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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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    //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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    //(why have constats passed as parameters? they are defined at compiletime /arune)
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#if defined(_AVRLIB_BIOS_)
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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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    /* 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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     * be sent via StdCan_Put instead of directly to lower layer.
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     */
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     */
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    Can_Message_t Startup;
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    Can_Message_t Startup;
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    /* Set up Startup message format. */
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    /* Set up Startup message format. */
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    Startup.ExtendedFlag = 1;
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    Startup.ExtendedFlag = 1;
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    Startup.RemoteFlag = 0;
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    Startup.RemoteFlag = 0;
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    Startup.DataLength = 4;
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    Startup.DataLength = 4;
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#ifdef MODULE_APPLICATION
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    Startup.Id = (CAN_NMT << CAN_SHIFT_CLASS) | (CAN_NMT_APP_START << CAN_SHIFT_NMT_TYPE);
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    Startup.Data.bytes[0] = NODE_HW_ID&0xff;
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    Startup.Data.bytes[1] = (NODE_HW_ID>>8)&0xff;
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    Startup.Data.bytes[2] = (NODE_HW_ID>>16)&0xff;
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    Startup.Data.bytes[3] = (NODE_HW_ID>>24)&0xff;
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#else
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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.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[1] = APP_TYPE&0xff;
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    Startup.Data.bytes[0] = (APP_TYPE>>8)&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[3] = APP_VERSION&0xff;
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    Startup.Data.bytes[2] = (APP_VERSION>>8)&0xff;
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    Startup.Data.bytes[2] = (APP_VERSION>>8)&0xff;
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#endif
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    /* Try to send it. */
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    /* Try to send it. */
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    Can_Send(&Startup);
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    Can_Send(&Startup);
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#endif
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#endif
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    return retval;
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    return retval;
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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;
 170 
        return StdCan_Ret_Empty;
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    }
 171 
    }
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}
 172 
}
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 173 
 
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unsigned char StdCan_Get_Pending(void)
 174 
unsigned char StdCan_Get_Pending(void)
163 
{
 175 
{
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    return RxQ_Len;
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    return RxQ_Len;
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}
 177 
}
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    Can_Msg.DataLength = msg->Length;
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    Can_Msg.DataLength = msg->Length;
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    for (n = 0; n < msg->Length; n++) {
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    for (n = 0; n < msg->Length; n++) {
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        Can_Msg.Data.bytes[n] = msg->Data[n];
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        Can_Msg.Data.bytes[n] = msg->Data[n];
186 
    }
 198 
    }
187 
   
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    if (Can_Send(&Can_Msg) == CAN_OK)
 200 
    if (Can_Send(&Can_Msg) == CAN_OK) {
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 201 
#ifdef MODULE_APPLICATION
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        Can_Process(&Can_Msg);
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 203 
#endif
189 
        return StdCan_Ret_OK;
 204 
        return StdCan_Ret_OK;
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 205 
    }
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    else
 206 
    else
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        return StdCan_Ret_Full;
 207 
        return StdCan_Ret_Full;
192 
}
 208 
}
193 
 
 209 
 
194 
void StdCan_SendHeartbeat(uint8_t n)
 210 
void StdCan_SendHeartbeat(uint8_t n)
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    Can_Message_t Heartbeat;
 215 
    Can_Message_t Heartbeat;
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 216 
   
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    /* Set up Heartbeat message format. */
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    /* Set up Heartbeat message format. */
202 
    Heartbeat.ExtendedFlag = 1;
 218 
    Heartbeat.ExtendedFlag = 1;
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    Heartbeat.RemoteFlag = 0;
 219 
    Heartbeat.RemoteFlag = 0;
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#ifdef MODULE_APPLICATION
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 221 
    Heartbeat.DataLength = 4;
- 
 
 222 
    Heartbeat.Id = (CAN_NMT << CAN_SHIFT_CLASS) | (CAN_NMT_HEARTBEAT << CAN_SHIFT_NMT_TYPE);
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    Heartbeat.Data.bytes[0] = NODE_HW_ID&0xff;
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 224 
    Heartbeat.Data.bytes[1] = (NODE_HW_ID>>8)&0xff;
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 225 
    Heartbeat.Data.bytes[2] = (NODE_HW_ID>>16)&0xff;
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 226 
    Heartbeat.Data.bytes[3] = (NODE_HW_ID>>24)&0xff;
- 
 
 227 
#else
- 
 
 228 
   
- 
 
 229 
   
204 
    Heartbeat.DataLength = 0;
 230 
    Heartbeat.DataLength = 0;
205 
    Heartbeat.Id = (CAN_NMT << CAN_SHIFT_CLASS)
 231 
    Heartbeat.Id = (CAN_NMT << CAN_SHIFT_CLASS)
206 
                 | (CAN_NMT_HEARTBEAT << CAN_SHIFT_NMT_TYPE)
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                 | (CAN_NMT_HEARTBEAT << CAN_SHIFT_NMT_TYPE)
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                 | (NODE_ID << CAN_SHIFT_NMT_SID);
 233 
                 | (NODE_ID << CAN_SHIFT_NMT_SID);
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 234 
#endif
208 
   
 235 
   
209 
    /* Try to send it. */
 236 
    /* Try to send it. */
210 
    Can_Send(&Heartbeat);
 237 
    Can_Send(&Heartbeat);
211 
}
 238 
}
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 239