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CAN: Reduce nesting level via code transformations.

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This commit is contained in:
Uwe Hermann 2010-12-26 00:34:14 +01:00
parent 06d1a5ca80
commit 571c4d37d0
2 changed files with 93 additions and 95 deletions
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7
examples/obldc/can/can.c
View File

@ -150,10 +150,10 @@ void sys_tick_handler(void)
static int temp32 = 0;
static u8 data[8] = {0, 1, 2, 0, 0, 0, 0, 0};
temp32++;
/* We call this handler every 1ms so 1000ms = 1s on/off. */
if (temp32 == 1000) {
if (++temp32 != 1000)
return;
temp32 = 0;
/* Transmit CAN frame. */
@ -171,7 +171,6 @@ void sys_tick_handler(void)
gpio_set(GPIOB, GPIO1); /* LED3 off */
}
}
}
void usb_lp_can_rx0_isr(void)
{

21
lib/can.c
View File

@ -31,9 +31,8 @@ void can_reset(u32 canport)
}
}
int can_init(u32 canport,
bool ttcm, bool abom, bool awum, bool nart, bool rflm, bool txfp,
u32 sjw, u32 ts1, u32 ts2, u32 brp)
int can_init(u32 canport, bool ttcm, bool abom, bool awum, bool nart,
bool rflm, bool txfp, u32 sjw, u32 ts1, u32 ts2, u32 brp)
{
u32 wait_ack = 0x00000000;
u32 can_msr_inak_timeout = 0x0000FFFF;
@ -52,9 +51,9 @@ int can_init(u32 canport,
}
/* Check the acknowledge. */
if ((CAN_MSR(canport) & CAN_MSR_INAK) != CAN_MSR_INAK) {
ret = 1;
} else {
if ((CAN_MSR(canport) & CAN_MSR_INAK) != CAN_MSR_INAK)
return 1;
/* Set the automatic bus-off management. */
if (ttcm)
CAN_MCR(canport) |= CAN_MCR_TTCM;
@ -102,7 +101,6 @@ int can_init(u32 canport,
if ((CAN_MSR(canport) & CAN_MSR_INAK) == CAN_MSR_INAK)
ret = 1;
}
return ret;
}
@ -209,7 +207,10 @@ int can_transmit(u32 canport, u32 id, bool ext, bool rtr, u8 length, u8 *data)
ret = -1;
}
if (ret != -1) { /* Check if we have an empty mailbox. */
/* Check if we have an empty mailbox. */
if (ret == -1)
return ret;
if (ext) {
/* Set extended ID. */
CAN_TIxR(canport, mailbox) |= id << CAN_TIxR_EXID_SHIFT;
@ -238,12 +239,10 @@ int can_transmit(u32 canport, u32 id, bool ext, bool rtr, u8 length, u8 *data)
for (i = 0; (i < 4) && (i < length); i++)
CAN_TDLxR(canport, mailbox) |= (u32)data[i] << (8 * i);
for (i = 4; (i < 8) && (i < length); i++)
CAN_TDHxR(canport, mailbox)
|= (u32)data[i] << (8 * (i - 4));
CAN_TDHxR(canport, mailbox) |= (u32)data[i] << (8 * (i - 4));
/* Request transmission. */
CAN_TIxR(canport, mailbox) |= CAN_TIxR_TXRQ;
}
return ret;
}