borgware-2d/can/lap.c

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2.3 KiB
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#include <stdio.h>
#include <string.h>
#include "can.h"
#include "lap.h"
/****************************************************************************
* STUBS: LAP Core Services
*/
// send ping to dst
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void lap_ping(can_addr_t dst) {
pdo_message *msg = (pdo_message *) can_buffer_get();
msg->addr_src = 0;
msg->addr_dst = dst;
msg->port_src = PORT_MGT;
msg->port_dst = PORT_MGT;
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msg->dlc = 1;
msg->cmd = FKT_MGT_PING;
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can_transmit((can_message *) msg);
}
// send reset request to dst
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void lap_reset(can_addr_t dst) {
pdo_message *msg = (pdo_message *) can_buffer_get();
msg->addr_src = 0;
msg->addr_dst = dst;
msg->port_src = PORT_MGT;
msg->port_dst = PORT_MGT;
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msg->dlc = 1;
msg->cmd = FKT_MGT_RESET;
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can_transmit((can_message *) msg);
}
/*
char *sdo_readbuf(lap_message *first_msg,
unsigned char int length, unsigned char &reallength)
{
unsigned char len = first_message->data[0];
char *buf = malloc(length);
char *cur = buf;
reallength = 0;
while( reallength < length ) {
can_message *msg = can_get();
if ( msg->addr_src != first_msg->addr_src ||
msg->addr_dest != fisrt_msg->addr_dest ||
msg->port_src != fisrt_msg->port_src ||
msg->port_dest != fisrt_msg->port_dest )
{
return buf;
}
memcpy(cur, msg->data, msg->dlc);
reallength+=msg->dlc;
msg->flags = 0x00;
}
return buf;
}
// unsigned char sdo_sendpacket(lap_message *msg)
// {
// }
//
// unsigned char sdo_sendpacket_nb(lap_message *msg)
// {
// }
unsigned char sdo_sendbuf(lap_message *fst_msg, unsigned char *buf, unsigned char len)
{
while(len > 0) {
can_message *msg = can_buffer_get();
msg->addr_src = fst_msg->addr_src;
msg->addr_dest = fst_msg->addr_dest;
msg->port_src = fst_msg->port_src;
msg->port_dest = fst_msg->port_dest;
msg->dlc = len > 8 ? 8 : len;
memcpy(msg->data, buf, msg->dlc);
msg->flags = 0x01;
can_transmit();
}
// XXX wait for ACK
}
unsigned char sdo_sendbuf_nb(lap_message *fst_msg, unsigned char *buf, unsigned char len)
{
while(len > 0) {
can_message *msg = can_buffer_get();
msg->addr_src = fst_msg->addr_src;
msg->addr_dest = fst_msg->addr_dest;
msg->port_src = fst_msg->port_src;
msg->port_dest = fst_msg->port_dest;
msg->dlc = len > 8 ? 8 : len;
memcpy(msg->data, buf, msg->dlc);
msg->flags = 0x01;
can_transmit();
}
// XXX wait for ACK
}
*/