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Patch 2 #16

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ad94555
Updated to include reading and writing of RTR bit in CAN message
H4nky84 Sep 5, 2015
7398ce8
Update FlexCAN.cpp
H4nky84 Sep 5, 2015
99ddd59
Update FlexCAN.h
H4nky84 Sep 6, 2015
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18 changes: 15 additions & 3 deletions FlexCAN.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -142,6 +142,7 @@ int FlexCAN::read(CAN_message_t &msg)
// get identifier and dlc
msg.len = FLEXCAN_get_length(FLEXCAN0_MBn_CS(rxb));
msg.ext = (FLEXCAN0_MBn_CS(rxb) & FLEXCAN_MB_CS_IDE)? 1:0;
msg.rtr = (FLEXCAN0_MBn_CS(rxb) & FLEXCAN_MB_CS_RTR)? 1:0;
msg.id = (FLEXCAN0_MBn_ID(rxb) & FLEXCAN_MB_ID_EXT_MASK);
if(!msg.ext) {
msg.id >>= FLEXCAN_MB_ID_STD_BIT_NO;
Expand Down Expand Up @@ -213,12 +214,23 @@ int FlexCAN::write(const CAN_message_t &msg)
}
FLEXCAN0_MBn_WORD0(buffer) = (msg.buf[0]<<24)|(msg.buf[1]<<16)|(msg.buf[2]<<8)|msg.buf[3];
FLEXCAN0_MBn_WORD1(buffer) = (msg.buf[4]<<24)|(msg.buf[5]<<16)|(msg.buf[6]<<8)|msg.buf[7];

if(msg.ext) {
FLEXCAN0_MBn_CS(buffer) = FLEXCAN_MB_CS_CODE(FLEXCAN_MB_CODE_TX_ONCE)
| FLEXCAN_MB_CS_LENGTH(msg.len) | FLEXCAN_MB_CS_SRR | FLEXCAN_MB_CS_IDE;
if(msg.rtr) {
FLEXCAN0_MBn_CS(buffer) = FLEXCAN_MB_CS_CODE(FLEXCAN_MB_CODE_TX_ONCE)
| FLEXCAN_MB_CS_LENGTH(msg.len) | FLEXCAN_MB_CS_SRR | FLEXCAN_MB_CS_IDE | FLEXCAN_MB_CS_RTR;
} else {
FLEXCAN0_MBn_CS(buffer) = FLEXCAN_MB_CS_CODE(FLEXCAN_MB_CODE_TX_ONCE)
| FLEXCAN_MB_CS_LENGTH(msg.len) | FLEXCAN_MB_CS_SRR | FLEXCAN_MB_CS_IDE;
}
} else {
FLEXCAN0_MBn_CS(buffer) = FLEXCAN_MB_CS_CODE(FLEXCAN_MB_CODE_TX_ONCE)
if(msg.rtr){
FLEXCAN0_MBn_CS(buffer) = FLEXCAN_MB_CS_CODE(FLEXCAN_MB_CODE_TX_ONCE)
| FLEXCAN_MB_CS_LENGTH(msg.len)| FLEXCAN_MB_CS_RTR;
} else {
FLEXCAN0_MBn_CS(buffer) = FLEXCAN_MB_CS_CODE(FLEXCAN_MB_CODE_TX_ONCE)
| FLEXCAN_MB_CS_LENGTH(msg.len);
}
}

return 1;
Expand Down
1 change: 1 addition & 0 deletions FlexCAN.h
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Original file line number Diff line number Diff line change
Expand Up @@ -10,6 +10,7 @@
typedef struct CAN_message_t {
uint32_t id; // can identifier
uint8_t ext; // identifier is extended
uint8_t rtr; // remote transmission request packet type
uint8_t len; // length of data
uint16_t timeout; // milliseconds, zero will disable waiting
uint8_t buf[8];
Expand Down