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Patch 2 #14

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Patch 2 #14

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dc12bfd
speedup for CAN-RX task
worker2345234 Dec 4, 2017
0938077
use pxHigherPriorityTaskWoken of xQueueSendFromISR instead of the ret…
worker2345234 Dec 8, 2017
a0dd9fb
compiles now..
worker2345234 Dec 8, 2017
da4563a
better code
worker2345234 Dec 11, 2017
0bf3163
this commit shows why I prefer to use return values instead of args b…
worker2345234 Dec 11, 2017
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12 changes: 8 additions & 4 deletions components/can/CAN.c
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Original file line number Diff line number Diff line change
Expand Up @@ -42,12 +42,13 @@
#include "CAN_config.h"


static void CAN_read_frame();
static void CAN_read_frame(BaseType_t* pfYieldRequired);
static void CAN_isr(void *arg_p);


static void CAN_isr(void *arg_p){

BaseType_t fYieldRequired = pdFALSE;
//Interrupt flag buffer
__CAN_IRQ_t interrupt;

Expand All @@ -61,7 +62,7 @@ static void CAN_isr(void *arg_p){

// Handle RX frame available interrupt
if ((interrupt & __CAN_IRQ_RX) != 0)
CAN_read_frame();
CAN_read_frame(&fYieldRequired);

// Handle error interrupts.
if ((interrupt & (__CAN_IRQ_ERR //0x4
Expand All @@ -73,9 +74,11 @@ static void CAN_isr(void *arg_p){
)) != 0) {
/*handler*/
}
if (fYieldRequired == pdTRUE)
portYIELD_FROM_ISR();
}

static void CAN_read_frame(){
static void CAN_read_frame(BaseType_t* pfYieldRequired){

//byte iterator
uint8_t __byte_i;
Expand All @@ -87,6 +90,7 @@ static void CAN_read_frame(){
if (CAN_cfg.rx_queue == NULL){
// Let the hardware know the frame has been read.
MODULE_CAN->CMR.B.RRB=1;
*pfYieldRequired = pdFALSE;
return;
}

Expand Down Expand Up @@ -118,7 +122,7 @@ static void CAN_read_frame(){
}

//send frame to input queue
xQueueSendFromISR(CAN_cfg.rx_queue,&__frame,0);
xQueueSendFromISR(CAN_cfg.rx_queue,&__frame, pfYieldRequired);

//Let the hardware know the frame has been read.
MODULE_CAN->CMR.B.RRB=1;
Expand Down