CAN driver enhancements completed.

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@5303 35acf78f-673a-0410-8e92-d51de3d6d3f4

9 files changed, 160 insertions, 29 deletions

diff --git a/os/hal/include/can.h b/os/hal/include/can.h
index 1d8492d28..a62aba3da 100644
--- a/os/hal/include/can.h
+++ b/os/hal/include/can.h
@@ -62,9 +62,9 @@
 /** @} */

 

 /**

- * @brief   Special TX mailbox identifier.

+ * @brief   Special mailbox identifier.

  */

-#define CAN_ANY_TX_MAILBOX          0

+#define CAN_ANY_MAILBOX             0

 

 /*===========================================================================*/

 /* Driver pre-compile time settings.                                         */

diff --git a/os/hal/platforms/STM32/can_lld.c b/os/hal/platforms/STM32/can_lld.c
index 89d1b25ac..456e3e53a 100644
--- a/os/hal/platforms/STM32/can_lld.c
+++ b/os/hal/platforms/STM32/can_lld.c
@@ -172,16 +172,31 @@ static void can_lld_rx0_handler(CANDriver *canp) {
 

 /**

  * @brief   Common RX1 ISR handler.

- * @note    Not used, must not be invoked, defaulted to an halt.

  *

  * @param[in] canp      pointer to the @p CANDriver object

  *

  * @notapi

  */

 static void can_lld_rx1_handler(CANDriver *canp) {

+  uint32_t rf1r;

 

-  (void)canp;

-  chSysHalt();

+  rf1r = canp->can->RF1R;

+  if ((rf1r & CAN_RF1R_FMP1) > 0) {

+    /* No more receive events until the queue 0 has been emptied.*/

+    canp->can->IER &= ~CAN_IER_FMPIE1;

+    chSysLockFromIsr();

+    while (chSemGetCounterI(&canp->rxsem) < 0)

+      chSemSignalI(&canp->rxsem);

+    chEvtBroadcastFlagsI(&canp->rxfull_event, CAN_MAILBOX_TO_MASK(1));

+    chSysUnlockFromIsr();

+  }

+  if ((rf1r & CAN_RF1R_FOVR1) > 0) {

+    /* Overflow events handling.*/

+    canp->can->RF1R = CAN_RF1R_FOVR1;

+    chSysLockFromIsr();

+    chEvtBroadcastFlagsI(&canp->error_event, CAN_OVERFLOW_ERROR);

+    chSysUnlockFromIsr();

+  }

 }

 

 /**

@@ -467,7 +482,7 @@ void can_lld_stop(CANDriver *canp) {
  * @brief   Determines whether a frame can be transmitted.

  *

  * @param[in] canp      pointer to the @p CANDriver object

- * @param[in] mailbox   mailbox number, @p CAN_ANY_TX_MAILBOX for any mailbox

+ * @param[in] mailbox   mailbox number, @p CAN_ANY_MAILBOX for any mailbox

  *

  * @return              The queue space availability.

  * @retval FALSE        no space in the transmit queue.

@@ -478,7 +493,7 @@ void can_lld_stop(CANDriver *canp) {
 bool_t can_lld_is_tx_empty(CANDriver *canp, canmbx_t mailbox) {

 

   switch (mailbox) {

-  case CAN_ANY_TX_MAILBOX:

+  case CAN_ANY_MAILBOX:

     return (canp->can->TSR & CAN_TSR_TME) != 0;

   case 1:

     return (canp->can->TSR & CAN_TSR_TME0) != 0;

@@ -496,7 +511,7 @@ bool_t can_lld_is_tx_empty(CANDriver *canp, canmbx_t mailbox) {
  *

  * @param[in] canp      pointer to the @p CANDriver object

  * @param[in] ctfp      pointer to the CAN frame to be transmitted

- * @param[in] mailbox   mailbox number,  @p CAN_ANY_TX_MAILBOX for any mailbox

+ * @param[in] mailbox   mailbox number,  @p CAN_ANY_MAILBOX for any mailbox

  *

  * @notapi

  */

@@ -508,7 +523,7 @@ void can_lld_transmit(CANDriver *canp,
 

   /* Pointer to a free transmission mailbox.*/

   switch (mailbox) {

-  case CAN_ANY_TX_MAILBOX:

+  case CAN_ANY_MAILBOX:

     tmbp = &canp->can->sTxMailBox[(canp->can->TSR & CAN_TSR_CODE) >> 24];

     break;

   case 1:

@@ -540,7 +555,7 @@ void can_lld_transmit(CANDriver *canp,
  * @brief   Determines whether a frame has been received.

  *

  * @param[in] canp      pointer to the @p CANDriver object

- * @param[in] mailbox   mailbox number

+ * @param[in] mailbox   mailbox number, @p CAN_ANY_MAILBOX for any mailbox

  *

  * @return              The queue space availability.

  * @retval FALSE        no space in the transmit queue.

@@ -551,10 +566,12 @@ void can_lld_transmit(CANDriver *canp,
 bool_t can_lld_is_rx_nonempty(CANDriver *canp, canmbx_t mailbox) {

 

   switch (mailbox) {

+  case CAN_ANY_MAILBOX:

+    return (canp->can->RF0R & (CAN_RF0R_FMP0 | CAN_RF1R_FMP1)) != 0;

   case 1:

-    return (canp->can->RF0R & CAN_RF0R_FMP0) > 0;

+    return (canp->can->RF0R & CAN_RF0R_FMP0) != 0;

   case 2:

-    return (canp->can->RF1R & CAN_RF1R_FMP1) > 0;

+    return (canp->can->RF1R & CAN_RF1R_FMP1) != 0;

   default:

     return FALSE;

   }

@@ -564,8 +581,8 @@ bool_t can_lld_is_rx_nonempty(CANDriver *canp, canmbx_t mailbox) {
  * @brief   Receives a frame from the input queue.

  *

  * @param[in] canp      pointer to the @p CANDriver object

+ * @param[in] mailbox   mailbox number, @p CAN_ANY_MAILBOX for any mailbox

  * @param[out] crfp     pointer to the buffer where the CAN frame is copied

- * @param[in] mailbox   mailbox number

  *

  * @notapi

  */

@@ -574,6 +591,16 @@ void can_lld_receive(CANDriver *canp,
                      CANRxFrame *crfp) {

   uint32_t rir, rdtr;

 

+  if (mailbox == CAN_ANY_MAILBOX) {

+    if ((canp->can->RF0R & CAN_RF0R_FMP0) != 0)

+      mailbox = 1;

+    else if ((canp->can->RF1R & CAN_RF1R_FMP1) != 0)

+      mailbox = 2;

+    else {

+      /* Should not happen, do nothing.*/

+      return;

+    }

+  }

   switch (mailbox) {

   case 1:

     /* Fetches the message.*/

@@ -606,6 +633,7 @@ void can_lld_receive(CANDriver *canp,
       canp->can->IER |= CAN_IER_FMPIE1;

     break;

   default:

+    /* Should not happen, do nothing.*/

     return;

   }

 

diff --git a/os/hal/src/can.c b/os/hal/src/can.c
index e0d47d5c5..64aaa45c8 100644
--- a/os/hal/src/can.c
+++ b/os/hal/src/can.c
@@ -145,7 +145,7 @@ void canStop(CANDriver *canp) {
  * @note    Trying to transmit while in sleep mode simply enqueues the thread.

  *

  * @param[in] canp      pointer to the @p CANDriver object

- * @param[in] mailbox   mailbox number, @p CAN_ANY_TX_MAILBOX for any mailbox

+ * @param[in] mailbox   mailbox number, @p CAN_ANY_MAILBOX for any mailbox

  * @param[in] ctfp      pointer to the CAN frame to be transmitted

  * @param[in] timeout   the number of ticks before the operation timeouts,

  *                      the following special values are allowed:

@@ -164,8 +164,7 @@ msg_t canTransmit(CANDriver *canp,
                   const CANTxFrame *ctfp,

                   systime_t timeout) {

 

-  chDbgCheck((canp != NULL) && (ctfp != NULL) &&

-             (mailbox <= CAN_TX_MAILBOXES),

+  chDbgCheck((canp != NULL) && (ctfp != NULL) && (mailbox <= CAN_TX_MAILBOXES),

              "canTransmit");

 

   chSysLock();

@@ -189,7 +188,7 @@ msg_t canTransmit(CANDriver *canp,
  * @note    Trying to receive while in sleep mode simply enqueues the thread.

  *

  * @param[in] canp      pointer to the @p CANDriver object

- * @param[in] mailbox   mailbox number

+ * @param[in] mailbox   mailbox number, @p CAN_ANY_MAILBOX for any mailbox

  * @param[out] crfp     pointer to the buffer where the CAN frame is copied

  * @param[in] timeout   the number of ticks before the operation timeouts,

  *                      the following special values are allowed:

@@ -210,8 +209,7 @@ msg_t canReceive(CANDriver *canp,
                  CANRxFrame *crfp,

                  systime_t timeout) {

 

-  chDbgCheck((canp != NULL) && (crfp != NULL) &&

-             (mailbox >= 1) && (mailbox < CAN_RX_MAILBOXES),

+  chDbgCheck((canp != NULL) && (crfp != NULL) && (mailbox < CAN_RX_MAILBOXES),

              "canReceive");

 

   chSysLock();

diff --git a/readme.txt b/readme.txt
index 76c513c19..a41f50c19 100644
--- a/readme.txt
+++ b/readme.txt
@@ -117,6 +117,8 @@
   (backported to 2.4.3).

 - FIX: Fixed wrong SPI path in platform_f105_f107.mk (bug 3598151).

 - FIX: Fixed PHY powerdown issues not fixed (bug 3596911).

+- NEW: Enhanced CAN driver model, support for mailboxes has been added. STM32

+  driver implementation upgraded.

 - NEW: Added ADC and PWM drivers for the AT91SAM7 platform, both donated

   by Andrew Hannam.

 - NEW: Added kernel support for the SAM4L, an Atmel Studio 6 demo for the

diff --git a/testhal/STM32F1xx/CAN/main.c b/testhal/STM32F1xx/CAN/main.c
index 2ea6b7dec..3fbda37c8 100644
--- a/testhal/STM32F1xx/CAN/main.c
+++ b/testhal/STM32F1xx/CAN/main.c
@@ -29,9 +29,7 @@
 static const CANConfig cancfg = {

   CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP,

   CAN_BTR_LBKM | CAN_BTR_SJW(0) | CAN_BTR_TS2(1) |

-  CAN_BTR_TS1(8) | CAN_BTR_BRP(6),

-  0,

-  NULL

+  CAN_BTR_TS1(8) | CAN_BTR_BRP(6)

 };

 

 /*

@@ -48,7 +46,7 @@ static msg_t can_rx(void *p) {
   while(!chThdShouldTerminate()) {

     if (chEvtWaitAnyTimeout(ALL_EVENTS, MS2ST(100)) == 0)

       continue;

-    while (canReceive(&CAND1, &rxmsg, TIME_IMMEDIATE) == RDY_OK) {

+    while (canReceive(&CAND1, CAN_ANY_MAILBOX, &rxmsg, TIME_IMMEDIATE) == RDY_OK) {

       /* Process message.*/

       palTogglePad(IOPORT3, GPIOC_LED);

     }

@@ -74,7 +72,7 @@ static msg_t can_tx(void * p) {
   txmsg.data32[1] = 0x00FF00FF;

 

   while (!chThdShouldTerminate()) {

-    canTransmit(&CAND1, &txmsg, MS2ST(100));

+    canTransmit(&CAND1, CAN_ANY_MAILBOX, &txmsg, MS2ST(100));

     chThdSleepMilliseconds(500);

   }

   return 0;

diff --git a/testhal/STM32F30x/CAN/.project b/testhal/STM32F30x/CAN/.project
index a2e4698ac..a01f8a133 100644
--- a/testhal/STM32F30x/CAN/.project
+++ b/testhal/STM32F30x/CAN/.project
@@ -9,6 +9,58 @@
 			<name>org.eclipse.cdt.managedbuilder.core.genmakebuilder</name>

 			<triggers>clean,full,incremental,</triggers>

 			<arguments>

+				<dictionary>

+					<key>?name?</key>

+					<value></value>

+				</dictionary>

+				<dictionary>

+					<key>org.eclipse.cdt.make.core.append_environment</key>

+					<value>true</value>

+				</dictionary>

+				<dictionary>

+					<key>org.eclipse.cdt.make.core.autoBuildTarget</key>

+					<value>all</value>

+				</dictionary>

+				<dictionary>

+					<key>org.eclipse.cdt.make.core.buildArguments</key>

+					<value>-j1</value>

+				</dictionary>

+				<dictionary>

+					<key>org.eclipse.cdt.make.core.buildCommand</key>

+					<value>make</value>

+				</dictionary>

+				<dictionary>

+					<key>org.eclipse.cdt.make.core.cleanBuildTarget</key>

+					<value>clean</value>

+				</dictionary>

+				<dictionary>

+					<key>org.eclipse.cdt.make.core.contents</key>

+					<value>org.eclipse.cdt.make.core.activeConfigSettings</value>

+				</dictionary>

+				<dictionary>

+					<key>org.eclipse.cdt.make.core.enableAutoBuild</key>

+					<value>false</value>

+				</dictionary>

+				<dictionary>

+					<key>org.eclipse.cdt.make.core.enableCleanBuild</key>

+					<value>true</value>

+				</dictionary>

+				<dictionary>

+					<key>org.eclipse.cdt.make.core.enableFullBuild</key>

+					<value>true</value>

+				</dictionary>

+				<dictionary>

+					<key>org.eclipse.cdt.make.core.fullBuildTarget</key>

+					<value>all</value>

+				</dictionary>

+				<dictionary>

+					<key>org.eclipse.cdt.make.core.stopOnError</key>

+					<value>true</value>

+				</dictionary>

+				<dictionary>

+					<key>org.eclipse.cdt.make.core.useDefaultBuildCmd</key>

+					<value>true</value>

+				</dictionary>

 			</arguments>

 		</buildCommand>

 		<buildCommand>

diff --git a/testhal/STM32F30x/CAN/main.c b/testhal/STM32F30x/CAN/main.c
index 978c31c1b..59e0c99d7 100644
--- a/testhal/STM32F30x/CAN/main.c
+++ b/testhal/STM32F30x/CAN/main.c
@@ -45,7 +45,7 @@ static msg_t can_rx(void *p) {
   while(!chThdShouldTerminate()) {

     if (chEvtWaitAnyTimeout(ALL_EVENTS, MS2ST(100)) == 0)

       continue;

-    while (canReceive(&CAND1, 1, &rxmsg, TIME_IMMEDIATE) == RDY_OK) {

+    while (canReceive(&CAND1, CAN_ANY_MAILBOX, &rxmsg, TIME_IMMEDIATE) == RDY_OK) {

       /* Process message.*/

       palTogglePad(GPIOE, GPIOE_LED3_RED);

     }

@@ -71,7 +71,7 @@ static msg_t can_tx(void * p) {
   txmsg.data32[1] = 0x00FF00FF;

 

   while (!chThdShouldTerminate()) {

-    canTransmit(&CAND1, CAN_ANY_TX_MAILBOX, &txmsg, MS2ST(100));

+    canTransmit(&CAND1, CAN_ANY_MAILBOX, &txmsg, MS2ST(100));

     chThdSleepMilliseconds(500);

   }

   return 0;

diff --git a/testhal/STM32F4xx/CAN/.project b/testhal/STM32F4xx/CAN/.project
index 91c2aa2ca..3c1df9502 100644
--- a/testhal/STM32F4xx/CAN/.project
+++ b/testhal/STM32F4xx/CAN/.project
@@ -9,6 +9,58 @@
 			<name>org.eclipse.cdt.managedbuilder.core.genmakebuilder</name>

 			<triggers>clean,full,incremental,</triggers>

 			<arguments>

+				<dictionary>

+					<key>?name?</key>

+					<value></value>

+				</dictionary>

+				<dictionary>

+					<key>org.eclipse.cdt.make.core.append_environment</key>

+					<value>true</value>

+				</dictionary>

+				<dictionary>

+					<key>org.eclipse.cdt.make.core.autoBuildTarget</key>

+					<value>all</value>

+				</dictionary>

+				<dictionary>

+					<key>org.eclipse.cdt.make.core.buildArguments</key>

+					<value>-j1</value>

+				</dictionary>

+				<dictionary>

+					<key>org.eclipse.cdt.make.core.buildCommand</key>

+					<value>make</value>

+				</dictionary>

+				<dictionary>

+					<key>org.eclipse.cdt.make.core.cleanBuildTarget</key>

+					<value>clean</value>

+				</dictionary>

+				<dictionary>

+					<key>org.eclipse.cdt.make.core.contents</key>

+					<value>org.eclipse.cdt.make.core.activeConfigSettings</value>

+				</dictionary>

+				<dictionary>

+					<key>org.eclipse.cdt.make.core.enableAutoBuild</key>

+					<value>false</value>

+				</dictionary>

+				<dictionary>

+					<key>org.eclipse.cdt.make.core.enableCleanBuild</key>

+					<value>true</value>

+				</dictionary>

+				<dictionary>

+					<key>org.eclipse.cdt.make.core.enableFullBuild</key>

+					<value>true</value>

+				</dictionary>

+				<dictionary>

+					<key>org.eclipse.cdt.make.core.fullBuildTarget</key>

+					<value>all</value>

+				</dictionary>

+				<dictionary>

+					<key>org.eclipse.cdt.make.core.stopOnError</key>

+					<value>true</value>

+				</dictionary>

+				<dictionary>

+					<key>org.eclipse.cdt.make.core.useDefaultBuildCmd</key>

+					<value>true</value>

+				</dictionary>

 			</arguments>

 		</buildCommand>

 		<buildCommand>

diff --git a/testhal/STM32F4xx/CAN/main.c b/testhal/STM32F4xx/CAN/main.c
index e095da4d5..2ff2025e0 100644
--- a/testhal/STM32F4xx/CAN/main.c
+++ b/testhal/STM32F4xx/CAN/main.c
@@ -56,7 +56,8 @@ static msg_t can_rx(void *p) {
   while(!chThdShouldTerminate()) {

     if (chEvtWaitAnyTimeout(ALL_EVENTS, MS2ST(100)) == 0)

       continue;

-    while (canReceive(cip->canp, 1, &rxmsg, TIME_IMMEDIATE) == RDY_OK) {

+    while (canReceive(cip->canp, CAN_ANY_MAILBOX,

+                      &rxmsg, TIME_IMMEDIATE) == RDY_OK) {

       /* Process message.*/

       palTogglePad(GPIOD, cip->led);

     }

@@ -82,8 +83,8 @@ static msg_t can_tx(void * p) {
   txmsg.data32[1] = 0x00FF00FF;

 

   while (!chThdShouldTerminate()) {

-    canTransmit(&CAND1, CAN_ANY_TX_MAILBOX, &txmsg, MS2ST(100));

-    canTransmit(&CAND2, CAN_ANY_TX_MAILBOX, &txmsg, MS2ST(100));

+    canTransmit(&CAND1, CAN_ANY_MAILBOX, &txmsg, MS2ST(100));

+    canTransmit(&CAND2, CAN_ANY_MAILBOX, &txmsg, MS2ST(100));

     chThdSleepMilliseconds(500);

   }

   return 0;