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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 170 | jimmy | 1 | /** |
| 2 | * Communication services. |
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| 3 | * |
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| 4 | * @date 2006-10-29 |
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| 5 | * @author Jimmy Myhrman |
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| 6 | */ |
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| 7 | |||
| 8 | /*----------------------------------------------------------------------------- |
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| 9 | * Includes |
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| 10 | *---------------------------------------------------------------------------*/ |
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| 11 | #include <com.h> |
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| 12 | #include <can.h> |
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| 13 | #include <stdio.h> |
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| 14 | |||
| 15 | |||
| 16 | /*----------------------------------------------------------------------------- |
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| 17 | * Variables |
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| 18 | *---------------------------------------------------------------------------*/ |
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| 19 | |||
| 20 | |||
| 21 | /*----------------------------------------------------------------------------- |
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| 22 | * Private Function Prototypes |
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| 23 | *---------------------------------------------------------------------------*/ |
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| 24 | static void Com_ParseReceivedMessage(Can_Message_t *msg); |
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| 25 | |||
| 26 | |||
| 27 | /*----------------------------------------------------------------------------- |
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| 28 | * Public Functions |
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| 29 | *---------------------------------------------------------------------------*/ |
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| 30 | |||
| 31 | /** |
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| 32 | * Initializes the communication subsystem. |
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| 33 | */ |
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| 34 | void Com_Init() { |
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| 35 | //TODO |
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| 36 | } |
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| 37 | |||
| 38 | |||
| 39 | /** |
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| 40 | * Services the communication subsystems. |
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| 41 | */ |
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| 42 | void Com_Service() { |
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| 43 | Can_Message_t msgBuf; |
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| 44 | |||
| 45 | /* |
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| 46 | * Empty the CAN receive FIFO and parse the messages. |
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| 47 | * TODO: don't empty the whole FIFO. best flow is probably obtained if |
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| 48 | * we pull the same number of messages as the number of RX buffers |
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| 49 | * the used CC has. |
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| 50 | */ |
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| 51 | while (Can_Receive(&msgBuf)) { |
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| 52 | Com_ParseReceivedMessage(&msgBuf); |
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| 53 | } |
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| 54 | |||
| 55 | /* |
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| 56 | * Service the CAN drivers. Receive and transmit pending CAN messages. |
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| 57 | */ |
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| 58 | Can_Service(); |
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| 59 | } |
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| 60 | |||
| 61 | |||
| 62 | /*----------------------------------------------------------------------------- |
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| 63 | * Private Functions |
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| 64 | *---------------------------------------------------------------------------*/ |
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| 65 | |||
| 66 | /** |
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| 67 | * Parses a received CAN message in accordance with the protocol. |
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| 68 | * |
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| 69 | * @param msg |
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| 70 | * Pointer to the CAN message structure. |
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| 71 | */ |
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| 72 | static void Com_ParseReceivedMessage(Can_Message_t *msg) { |
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| 73 | #if 0 |
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| 74 | printf("Com_ParseReceivedMessage: {ID=%x, DLC=%u, EXT=%u, RTR=%u}\n\r", msg->Id, msg->DataLength, msg->ExtendedFlag, msg->RemoteFlag); |
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| 75 | #endif |
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| 76 | |||
| 77 | //TODO: pack |
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| 78 | |||
| 79 | } |