Overload "trasmitMsg" method

Protocol/CAN.cpp

@@ -34,6 +34,69 @@ void CAN::transmitMsg(Uint16 boxNumber, const CANMessage& message){
 }
 
 
+void transmitMsg(Uint16 boxNumber, const Uint32& message){
+    if (boxNumber > 31) return;
+
+    Uint32 mboxControl(0);
+    mboxControl = 1ul << boxNumber;
+
+    volatile MBOX* p_MailBox(0);
+    p_MailBox = &(p_CanMBoxes_->MBOX0) + boxNumber;
+
+    p_MailBox->MDH.all = 0x0;
+    p_MailBox->MDL.all = 0x0;
+
+    p_MailBox->MDH.all = message >> 16;
+    p_MailBox->MDL.all = message;
+
+    // Set TRS for mailbox
+    CanShadow_.CANTRS.all = 0;
+    CanShadow_.CANTRS.all |= mboxControl;   
+    p_CanRegs_->CANTRS.all = CanShadow_.CANTRS.all;
+
+    // Wait for TA bit to be set
+    do { CanShadow_.CANTA.all = p_CanRegs_->CANTA.all; }
+    while((CanShadow_.CANTA.all & mboxControl) == 0 );
+
+    // Clear TA (transmit acknowledge bit)
+    CanShadow_.CANTA.all = 0;
+    CanShadow_.CANTA.all |= mboxControl;
+    p_CanRegs_->CANTA.all = CanShadow_.CANTA.all;
+}
+
+
+void transmitMsg(Uint16 boxNumber, const Uint32& message, const Uint16 dlc){
+    if (boxNumber > 31) return;
+
+    Uint32 mboxControl(0);
+    mboxControl = 1ul << boxNumber;
+
+    volatile MBOX* p_MailBox(0);
+    p_MailBox = &(p_CanMBoxes_->MBOX0) + boxNumber;
+
+    p_MailBox->MDH.all = 0x0;
+    p_MailBox->MDL.all = 0x0;
+
+    p_MailBox->MSGCTRL.bit.DLC = dlc;
+    p_MailBox->MDH.all = message >> 16;
+    p_MailBox->MDL.all = message;
+
+    // Set TRS for mailbox
+    CanShadow_.CANTRS.all = 0;
+    CanShadow_.CANTRS.all |= mboxControl;   
+    p_CanRegs_->CANTRS.all = CanShadow_.CANTRS.all;
+
+    // Wait for TA bit to be set
+    do { CanShadow_.CANTA.all = p_CanRegs_->CANTA.all; }
+    while((CanShadow_.CANTA.all & mboxControl) == 0 );
+
+    // Clear TA (transmit acknowledge bit)
+    CanShadow_.CANTA.all = 0;
+    CanShadow_.CANTA.all |= mboxControl;
+    p_CanRegs_->CANTA.all = CanShadow_.CANTA.all;
+}
+
+
 void CAN::updateTXMessage(Uint16 boxNumber, const CANMessage& message){ // TODO check trs bit and set it at the end if it was here. Once the TRS bit is set for a mailbox and then data is changed in the mailbox using the CDR
                                                                         // bit, the CAN module fails to transmit the new data and transmits the old data instead. To avoid this,
                                                                         // reset transmission in that mailbox using the TRRn bit and set the TRSn bit again. The new data is

Protocol/CAN.h

@@ -111,7 +111,9 @@ public:
     bool isNewMessage();
     bool isNewMessage(Uint16 boxNumber);
 
-    void transmitMsg(Uint16 boxNumber, const CANMessage& message);
+    void transmitMsg(Uint16 boxNumber, const CANMessage& message);  // TODO excessive method?
+    void transmitMsg(Uint16 boxNumber, const Uint32& message);
+    void transmitMsg(Uint16 boxNumber, const Uint32& message, const Uint16 dlc);
     void updateTXMessage(Uint16 boxNumber, const CANMessage& message);
     void sendRemoteRequest(Uint16 boxNumber);
     bool receiveMsg(Uint16 boxNumber, CANMessage& rxMessage);