Diff: PeripheralCAN.cpp

Revision:

5:d1920eb1d63e

Parent:

4:0ed21bbd917b

--- a/PeripheralCAN.cpp	Sat May 05 13:46:16 2018 +0000
+++ b/PeripheralCAN.cpp	Sat Sep 12 12:36:45 2020 +0000
@@ -5,7 +5,7 @@
 INSTITUTION : IUT de CACHAN - 9 av. de la div. Leclerc - 94230 CACHAN                
                                                                                       
 VERSIONS    : v1 (03/07/2012) : FIFO organisation                             
-               v2 (18/02/2016) : Controller aand Peripheral organisation
+              v2 (18/02/2016) : Controller aand Peripheral organisation
 
 ****************************************************************************
 Copyright 2016 LARNAUDIE GARIVET
@@ -36,13 +36,22 @@
     IdsRead.push_back(Id);
 }
 
-void PeripheralCAN::writeOnCAN(unsigned short Id, const char *data, char len){
-    if (len != 0){
-        while(!controllerCAN->writeData(Id, data, len));
-    }
-    else{
-        while(!controllerCAN->writeRemote(Id));
-    }
+bool PeripheralCAN::writeOnCAN(unsigned short Id, const char *data, char len, unsigned int timeout){
+    uint32_t tickstart = 0;
+
+    /* Get start tick value */
+    tickstart = HAL_GetTick();
+    
+    do{
+        if (len != 0){
+            if(controllerCAN->writeData(Id, data, len)) return true;
+        }
+        else{
+            if(controllerCAN->writeRemote(Id)) return true;
+        }
+    } while((HAL_GetTick() - tickstart) < timeout);
+    
+    return false;
 }
 
 void PeripheralCAN::init(void){