Diskuzní fórum Elektro Bastlírny

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........
/*set the corresponding mobpage, reset byte index, allow autoincrement*/
        CANPAGE = CANHPMOB & 0xf0; 
        #asm("nop");
        mob_status = CANSTMOB;
        
        if(mob_status & CAN_ERR_MOB_ALL) /*in case of any error*/
        {  ....
......

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   435:                    CAN_SET_CUR_MOB_TO_TX;
000007CC  LDS R30,0x00EF      Load direct from data space 
000007CE  ANDI R30,0x3F      Logical AND with immediate 
000007CF  ORI R30,0x40      Logical OR with immediate 
000007D0  STS 0x00EF,R30      Store direct to data space 

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sregtmp=SREG;
        #asm("cli");
   txmob_free_list &= itmp;   /*negative mask here*/
        /*Put MSG into HW*/                      
        /*select MOb page*/
        CAN_SET_R_CANPAGE(ctmp);
        
        #warning remove the test
        if(!ctmp)  /*test only*/
        {
            ctmp++;
            ctmp--;
        }
        
        /*write data*/
        CAN_SET_R_DATAIDX_RESET_AINC;
        ctmp=msg->dlc;
        ctmp&=0x0f;
        //CANCDMOB = ctmp; /*prepare dlc to CANCDMOB register; mob temporarily set to disabled*/
        if(~itmp & rtrautomob_list) /*check if the mob has autoreply nature*/ 
        {
            /*prepare RPLV flag, should not matter that data aren't ready yet as mob isn't switched to rx*/
            CANCDMOB = CAN_CANCDMOB_RPLV_MASK | (CANCDMOB & ~(CAN_MOBCNF_FLAG_MODE_MASK | CAN_CANCDMOB_IDE_MASK) ); /*set to disabled, keep original dlc and ide, ext cleared*/
        }                                                                                       
        else CANCDMOB = ctmp; /*prepare dlc to CANCDMOB register; mob temporarily set to disabled, rplv and ext cleared*/
        
        #if CAN_RTR_MODE == CAN_RTR_MODE_RTR_NORMAL
        if(! (msg->flags & CAN_MSG_FLAG_RTR) ) /* this is no RTR message, data copying needed*/
        {
        #endif
            itmp = (unsigned int) (msg->data);
            while(ctmp)
            {
                CANMSG=*(char*)itmp;
                itmp++;
                ctmp--;
            }
        #if CAN_RTR_MODE == CAN_RTR_MODE_RTR_NORMAL
        }             
        else CANIDT4 = CAN_CANIDT_RTR_MASK;         
        #else
        CANIDT4=0;
        #endif 
        if(!(CANCDMOB & CAN_CANCDMOB_RPLV_MASK) ) /*indicates !(autoreply mob with new data to be sent)*/
        {        
            if(msg->flags & CAN_MSG_FLAG_EID) 
            {
                itmp=msg->id;
                ctmp=itmp>>8;
                itmp<<=3;
                CANIDT4|=(char)itmp;    /*low  of shifted id; RTR kept according flag; RB0, RB1 kept 0*/
                CANIDT3=itmp>>8; /*high of shifted id*/
                itmp=msg->ide;
                itmp<<=3;
                ctmp>>=5;        /*holds the carry bits between id and ide during the shift*/
                CANIDT2=(unsigned char)itmp | ctmp;
                CANIDT1= itmp>>8;
                //CAN_SET_CUR_MOB_TO_TXE;
                CAN_SET_CUR_MOB_EXT_FLAG_ONLY;
            }    
            else 
            {
                itmp=msg->id;
                itmp <<=5;
                //CANIDT4=0; treaten in RTR section, see above
                CANIDT2= itmp;
                CANIDT1= itmp>>8;
                //CAN_SET_CUR_MOB_TO_TX;
                //CAN_CLEAR_CUR_MOB_EXT_FLAG_ONLY; not needed, already cleared
            } 
        }

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 if(CANCDMOB & CAN_CANCDMOB_RPLV_MASK) /*is it rtr autoreply?*/
          {     /*yes - activate RX*/
              CAN_SET_CUR_MOB_TO_RX;
          }
          else /* no*/ 
          { 
           /* initiate transmission (if conditions are met)*/
           itmp = ~(txmob_free_list | ~txmob_list | txmob_txcmd_list); /* mask of mobs with are ready for tx command*/
           dptr = (unsigned char*)CAN_MOB_LAST_MASK; /*right moving mask, 0x4000 15mobs for at90CAN128/64/32, starting on bit 14*/
           local_canpage_backup = CANPAGE;  
           tmpc = (local_canpage_backup & 0x0f) | ((CAN_NUMBER_OF_MOBS-1)<<4); // 0xe0;
           while( (unsigned int)dptr & ~txmob_txcmd_list) 
           {
               if(itmp & (unsigned int)dptr) /* ready to send mob found*/
               {      
                   CANPAGE = tmpc;  /*no R-M-W operation here*/
                   CAN_SET_CUR_MOB_TO_TX;
                   txmob_txcmd_list |= (unsigned int)dptr; 
               }
               dptr  = (unsigned char*)((unsigned int)dptr>>1);
               tmpc -= 0x10;  /*doesn't affect low nibble*/
           } 
           CANPAGE = local_canpage_backup;
          } 
         }