equal
deleted
inserted
replaced
123 // If status, return status if 29bit, return overrun |
123 // If status, return status if 29bit, return overrun |
124 //pthread_mutex_unlock (&PeakCan_mutex); |
124 //pthread_mutex_unlock (&PeakCan_mutex); |
125 return peakMsg.MSGTYPE == |
125 return peakMsg.MSGTYPE == |
126 MSGTYPE_STATUS ? peakMsg.DATA[2] : CAN_ERR_OVERRUN; |
126 MSGTYPE_STATUS ? peakMsg.DATA[2] : CAN_ERR_OVERRUN; |
127 } |
127 } |
128 m->cob_id.w = peakMsg.ID; |
128 m->cob_id = peakMsg.ID; |
129 |
129 |
130 if (peakMsg.MSGTYPE == CAN_INIT_TYPE_ST) /* bits of MSGTYPE_ */ |
130 if (peakMsg.MSGTYPE == CAN_INIT_TYPE_ST) /* bits of MSGTYPE_ */ |
131 m->rtr = 0; |
131 m->rtr = 0; |
132 else |
132 else |
133 m->rtr = 1; |
133 m->rtr = 1; |
159 UNS8 |
159 UNS8 |
160 canSend_driver (CAN_HANDLE fd0, Message * m) |
160 canSend_driver (CAN_HANDLE fd0, Message * m) |
161 { |
161 { |
162 UNS8 data; |
162 UNS8 data; |
163 TPCANMsg peakMsg; |
163 TPCANMsg peakMsg; |
164 peakMsg.ID = m->cob_id.w; /* 11/29 bit code */ |
164 peakMsg.ID = m->cob_id; /* 11/29 bit code */ |
165 if (m->rtr == 0) |
165 if (m->rtr == 0) |
166 peakMsg.MSGTYPE = CAN_INIT_TYPE_ST; /* bits of MSGTYPE_ */ |
166 peakMsg.MSGTYPE = CAN_INIT_TYPE_ST; /* bits of MSGTYPE_ */ |
167 else |
167 else |
168 { |
168 { |
169 peakMsg.MSGTYPE = CAN_INIT_TYPE_ST_RTR; /* bits of MSGTYPE_ */ |
169 peakMsg.MSGTYPE = CAN_INIT_TYPE_ST_RTR; /* bits of MSGTYPE_ */ |