Function CO_LSSmaster_receive

305/CO_LSSmaster.c:72–95

* Read received message from CAN module. * * Function will be called (by CAN receive interrupt) every time, when CAN message with correct identifier * will be received. For more information and description of parameters see file CO_driver.h. */

 * will be received. For more information and description of parameters see file CO_driver.h.
 */
static void
CO_LSSmaster_receive(void* object, void* msg) {
    CO_LSSmaster_t* LSSmaster;
    uint8_t DLC = CO_CANrxMsg_readDLC(msg);
    const uint8_t* data = CO_CANrxMsg_readData(msg);

    LSSmaster = (CO_LSSmaster_t*)object; /* this is the correct pointer type of the first argument */

    /* verify message length and message overflow (previous message was not processed yet). */
    if ((DLC == 8U) && !CO_FLAG_READ(LSSmaster->CANrxNew) && (LSSmaster->command != CO_LSSmaster_COMMAND_WAITING)) {

        /* copy data and set 'new message' flag */
        (void)memcpy(LSSmaster->CANrxData, data, sizeof(LSSmaster->CANrxData));

        CO_FLAG_SET(LSSmaster->CANrxNew);

#if ((CO_CONFIG_LSS)&CO_CONFIG_FLAG_CALLBACK_PRE) != 0
        /* Optional signal to RTOS, which can resume task, which handles further processing. */
        if (LSSmaster->pFunctSignal != NULL) {
            LSSmaster->pFunctSignal(LSSmaster->functSignalObject);
        }
#endif
    }
}

/*
 * Check LSS timeout.