CAN: Reduce nesting level via code transformations.
This commit is contained in:
Uwe Hermann
parent
06d1a5ca80
commit
571c4d37d0
@ -150,26 +150,25 @@ void sys_tick_handler(void)
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static int temp32 = 0;
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static int temp32 = 0;
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static u8 data[8] = {0, 1, 2, 0, 0, 0, 0, 0};
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static u8 data[8] = {0, 1, 2, 0, 0, 0, 0, 0};
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temp32++;
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/* We call this handler every 1ms so 1000ms = 1s on/off. */
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/* We call this handler every 1ms so 1000ms = 1s on/off. */
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if (temp32 == 1000) {
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if (++temp32 != 1000)
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temp32 = 0;
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return;
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/* Transmit CAN frame. */
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temp32 = 0;
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data[0]++;
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if (can_transmit(CAN1,
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/* Transmit CAN frame. */
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0, /* (EX/ST)ID: CAN ID */
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data[0]++;
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false, /* IDE: CAN ID extended? */
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if (can_transmit(CAN1,
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false, /* RTR: Request transmit? */
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0, /* (EX/ST)ID: CAN ID */
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8, /* DLC: Data length */
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false, /* IDE: CAN ID extended? */
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data) == -1)
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false, /* RTR: Request transmit? */
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{
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8, /* DLC: Data length */
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gpio_set(GPIOA, GPIO6); /* LED0 off */
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data) == -1)
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gpio_set(GPIOA, GPIO7); /* LED1 off */
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{
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gpio_clear(GPIOB, GPIO0); /* LED2 on */
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gpio_set(GPIOA, GPIO6); /* LED0 off */
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gpio_set(GPIOB, GPIO1); /* LED3 off */
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gpio_set(GPIOA, GPIO7); /* LED1 off */
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}
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gpio_clear(GPIOB, GPIO0); /* LED2 on */
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gpio_set(GPIOB, GPIO1); /* LED3 off */
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}
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}
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}
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}
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153
lib/can.c
153
lib/can.c
@ -31,9 +31,8 @@ void can_reset(u32 canport)
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}
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}
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}
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}
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int can_init(u32 canport,
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int can_init(u32 canport, bool ttcm, bool abom, bool awum, bool nart,
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bool ttcm, bool abom, bool awum, bool nart, bool rflm, bool txfp,
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bool rflm, bool txfp, u32 sjw, u32 ts1, u32 ts2, u32 brp)
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u32 sjw, u32 ts1, u32 ts2, u32 brp)
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{
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{
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u32 wait_ack = 0x00000000;
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u32 wait_ack = 0x00000000;
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u32 can_msr_inak_timeout = 0x0000FFFF;
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u32 can_msr_inak_timeout = 0x0000FFFF;
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@ -52,58 +51,57 @@ int can_init(u32 canport,
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}
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}
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/* Check the acknowledge. */
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/* Check the acknowledge. */
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if ((CAN_MSR(canport) & CAN_MSR_INAK) != CAN_MSR_INAK) {
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if ((CAN_MSR(canport) & CAN_MSR_INAK) != CAN_MSR_INAK)
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ret = 1;
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return 1;
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} else {
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/* Set the automatic bus-off management. */
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if (ttcm)
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CAN_MCR(canport) |= CAN_MCR_TTCM;
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else
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CAN_MCR(canport) &= ~CAN_MCR_TTCM;
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if (abom)
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/* Set the automatic bus-off management. */
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CAN_MCR(canport) |= CAN_MCR_ABOM;
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if (ttcm)
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else
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CAN_MCR(canport) |= CAN_MCR_TTCM;
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CAN_MCR(canport) &= ~CAN_MCR_ABOM;
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else
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CAN_MCR(canport) &= ~CAN_MCR_TTCM;
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if (awum)
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if (abom)
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CAN_MCR(canport) |= CAN_MCR_AWUM;
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CAN_MCR(canport) |= CAN_MCR_ABOM;
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else
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else
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CAN_MCR(canport) &= ~CAN_MCR_AWUM;
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CAN_MCR(canport) &= ~CAN_MCR_ABOM;
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if (nart)
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if (awum)
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CAN_MCR(canport) |= CAN_MCR_NART;
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CAN_MCR(canport) |= CAN_MCR_AWUM;
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else
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else
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CAN_MCR(canport) &= ~CAN_MCR_NART;
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CAN_MCR(canport) &= ~CAN_MCR_AWUM;
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if (rflm)
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if (nart)
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CAN_MCR(canport) |= CAN_MCR_RFLM;
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CAN_MCR(canport) |= CAN_MCR_NART;
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else
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else
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CAN_MCR(canport) &= ~CAN_MCR_RFLM;
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CAN_MCR(canport) &= ~CAN_MCR_NART;
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if (txfp)
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if (rflm)
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CAN_MCR(canport) |= CAN_MCR_TXFP;
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CAN_MCR(canport) |= CAN_MCR_RFLM;
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else
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else
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CAN_MCR(canport) &= ~CAN_MCR_TXFP;
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CAN_MCR(canport) &= ~CAN_MCR_RFLM;
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/* Set bit timings. */
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if (txfp)
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CAN_BTR(canport) = sjw | ts2 | ts1 |
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CAN_MCR(canport) |= CAN_MCR_TXFP;
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(u32)(CAN_BTR_BRP_MASK & (brp - 1));
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else
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CAN_MCR(canport) &= ~CAN_MCR_TXFP;
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/* Request initialization "leave". */
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/* Set bit timings. */
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CAN_MCR(canport) &= ~CAN_MCR_INRQ;
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CAN_BTR(canport) = sjw | ts2 | ts1 |
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(u32)(CAN_BTR_BRP_MASK & (brp - 1));
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/* Wait for acknowledge. */
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/* Request initialization "leave". */
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wait_ack = 0x00000000;
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CAN_MCR(canport) &= ~CAN_MCR_INRQ;
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while ((wait_ack != can_msr_inak_timeout) &&
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((CAN_MSR(canport) & CAN_MSR_INAK) == CAN_MSR_INAK)) {
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wait_ack++;
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}
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if ((CAN_MSR(canport) & CAN_MSR_INAK) == CAN_MSR_INAK)
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/* Wait for acknowledge. */
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ret = 1;
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wait_ack = 0x00000000;
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while ((wait_ack != can_msr_inak_timeout) &&
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((CAN_MSR(canport) & CAN_MSR_INAK) == CAN_MSR_INAK)) {
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wait_ack++;
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}
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}
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if ((CAN_MSR(canport) & CAN_MSR_INAK) == CAN_MSR_INAK)
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ret = 1;
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return ret;
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return ret;
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}
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}
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@ -209,42 +207,43 @@ int can_transmit(u32 canport, u32 id, bool ext, bool rtr, u8 length, u8 *data)
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ret = -1;
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ret = -1;
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}
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}
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if (ret != -1) { /* Check if we have an empty mailbox. */
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/* Check if we have an empty mailbox. */
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if (ext) {
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if (ret == -1)
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/* Set extended ID. */
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return ret;
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CAN_TIxR(canport, mailbox) |= id << CAN_TIxR_EXID_SHIFT;
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/* Set extended ID indicator bit. */
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CAN_TIxR(canport, mailbox) |= CAN_TIxR_IDE;
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} else {
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/* Set standard ID. */
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CAN_TIxR(canport, mailbox) |= id << CAN_TIxR_STID_SHIFT;
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/* Unset extended ID indicator bit. */
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CAN_TIxR(canport, mailbox) &= ~CAN_TIxR_IDE;
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}
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/* Set/clear remote transmission request bit. */
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if (ext) {
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if (rtr)
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/* Set extended ID. */
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CAN_TIxR(canport, mailbox) |= CAN_TIxR_RTR; /* Set */
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CAN_TIxR(canport, mailbox) |= id << CAN_TIxR_EXID_SHIFT;
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else
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/* Set extended ID indicator bit. */
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CAN_TIxR(canport, mailbox) &= ~CAN_TIxR_RTR; /* Clear */
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CAN_TIxR(canport, mailbox) |= CAN_TIxR_IDE;
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} else {
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/* Set the DLC. */
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/* Set standard ID. */
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CAN_TDTxR(canport, mailbox) &= 0xFFFFFFFF0;
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CAN_TIxR(canport, mailbox) |= id << CAN_TIxR_STID_SHIFT;
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CAN_TDTxR(canport, mailbox) |= length & CAN_TDTxR_DLC_MASK;
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/* Unset extended ID indicator bit. */
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CAN_TIxR(canport, mailbox) &= ~CAN_TIxR_IDE;
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/* Set the data. */
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CAN_TDLxR(canport, mailbox) = 0;
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CAN_TDHxR(canport, mailbox) = 0;
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for (i = 0; (i < 4) && (i < length); i++)
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CAN_TDLxR(canport, mailbox) |= (u32)data[i] << (8 * i);
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for (i = 4; (i < 8) && (i < length); i++)
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CAN_TDHxR(canport, mailbox)
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|= (u32)data[i] << (8 * (i - 4));
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/* Request transmission. */
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CAN_TIxR(canport, mailbox) |= CAN_TIxR_TXRQ;
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}
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}
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/* Set/clear remote transmission request bit. */
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if (rtr)
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CAN_TIxR(canport, mailbox) |= CAN_TIxR_RTR; /* Set */
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else
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CAN_TIxR(canport, mailbox) &= ~CAN_TIxR_RTR; /* Clear */
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/* Set the DLC. */
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CAN_TDTxR(canport, mailbox) &= 0xFFFFFFFF0;
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CAN_TDTxR(canport, mailbox) |= length & CAN_TDTxR_DLC_MASK;
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/* Set the data. */
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CAN_TDLxR(canport, mailbox) = 0;
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CAN_TDHxR(canport, mailbox) = 0;
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for (i = 0; (i < 4) && (i < length); i++)
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CAN_TDLxR(canport, mailbox) |= (u32)data[i] << (8 * i);
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for (i = 4; (i < 8) && (i < length); i++)
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CAN_TDHxR(canport, mailbox) |= (u32)data[i] << (8 * (i - 4));
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/* Request transmission. */
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CAN_TIxR(canport, mailbox) |= CAN_TIxR_TXRQ;
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return ret;
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return ret;
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}
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}
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