diff options
Diffstat (limited to 'source/com_task.c')
| -rw-r--r-- | source/com_task.c | 15 |
1 files changed, 11 insertions, 4 deletions
diff --git a/source/com_task.c b/source/com_task.c index 348c3e1..457066c 100644 --- a/source/com_task.c +++ b/source/com_task.c @@ -1,15 +1,15 @@ #include "com_task.h" +#include "can_task.h" #include "gpio_ext.h" #include "adc_task.h" /* Put FW version at known address in binary. Make it 32-bit to have room for the future*/ const uint32_t __attribute__((section(".FwVersion"))) fw_version = APALIS_TK1_K20_FW_VER; -#define MAX_TRANSFER_SIZE 32U static dspi_slave_handle_t spi_handle; -static uint8_t slaveRxData[MAX_TRANSFER_SIZE] = {0U}; -static uint8_t slaveTxData[MAX_TRANSFER_SIZE] = {0U}; +static uint8_t slaveRxData[APALIS_TK1_K20_MAX_BULK] = {0U}; +static uint8_t slaveTxData[APALIS_TK1_K20_MAX_BULK] = {0U}; void generate_irq(uint8_t irq) { gen_regs.irq = gen_regs.irq | BIT(irq); @@ -67,7 +67,7 @@ void set_irq_reg(uint8_t value) } -int inline general_registers(uint8_t *rx_buf, uint8_t * tx_buf) { +inline int general_registers(uint8_t *rx_buf, uint8_t * tx_buf) { if (rx_buf[0] == APALIS_TK1_K20_READ_INST) { switch (rx_buf[1]) { @@ -173,6 +173,13 @@ void spi_task(void *pvParameters) { xSemaphoreTake(cb_msg.sem, portMAX_DELAY); if (slaveRxData[1] <= 0x05) { ret = general_registers(slaveRxData, &slaveTxData[1]); + } else if ((slaveRxData[1] >= APALIS_TK1_K20_CANREG + APALIS_TK1_K20_CAN_DEV_OFFSET(0)) + && (slaveRxData[1] <= APALIS_TK1_K20_CAN_OUT_FIF0_END + APALIS_TK1_K20_CAN_DEV_OFFSET(0))) { + ret = can0_registers(slaveRxData, &slaveTxData[1]); + + } else if ((slaveRxData[1] >= APALIS_TK1_K20_CANREG + APALIS_TK1_K20_CAN_DEV_OFFSET(1)) + && (slaveRxData[1] <= APALIS_TK1_K20_CAN_OUT_FIF0_END + APALIS_TK1_K20_CAN_DEV_OFFSET(1))) { + ret = can1_registers(slaveRxData, &slaveTxData[1]); #ifdef BOARD_USES_ADC } else if ((slaveRxData[1] >= APALIS_TK1_K20_ADCREG) && (slaveRxData[1] <= APALIS_TK1_K20_ADC_CH3H)) { ret = adc_registers(slaveRxData, &slaveTxData[1]); |