CAN driver revision, work in progress.

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@5299 35acf78f-673a-0410-8e92-d51de3d6d3f4

5 files changed, 149 insertions, 53 deletions

diff --git a/os/hal/include/can.h b/os/hal/include/can.h
index 683f79a97..234981448 100644
--- a/os/hal/include/can.h
+++ b/os/hal/include/can.h
@@ -61,6 +61,11 @@
 #define CAN_OVERFLOW_ERROR          16

 /** @} */

 

+/**

+ * @brief   Special TX mailbox identifier.

+ */

+#define CAN_ANY_TX_MAILBOX          0

+

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

 /* Driver pre-compile time settings.                                         */

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

@@ -135,8 +140,14 @@ extern "C" {
   void canObjectInit(CANDriver *canp);

   void canStart(CANDriver *canp, const CANConfig *config);

   void canStop(CANDriver *canp);

-  msg_t canTransmit(CANDriver *canp, const CANTxFrame *ctfp, systime_t timeout);

-  msg_t canReceive(CANDriver *canp, CANRxFrame *crfp, systime_t timeout);

+  msg_t canTransmit(CANDriver *canp,

+                    canmbx_t mailbox,

+                    const CANTxFrame *ctfp,

+                    systime_t timeout);

+  msg_t canReceive(CANDriver *canp,

+                   canmbx_t mailbox,

+                   CANRxFrame *crfp,

+                   systime_t timeout);

 #if CAN_USE_SLEEP_MODE

   void canSleep(CANDriver *canp);

   void canWakeup(CANDriver *canp);

diff --git a/os/hal/platforms/STM32/can_lld.c b/os/hal/platforms/STM32/can_lld.c
index 6c12cc145..785ca3482 100644
--- a/os/hal/platforms/STM32/can_lld.c
+++ b/os/hal/platforms/STM32/can_lld.c
@@ -467,16 +467,28 @@ 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

  *

- * @return The queue space availability.

+ * @return              The queue space availability.

  * @retval FALSE        no space in the transmit queue.

  * @retval TRUE         transmit slot available.

  *

  * @notapi

  */

-bool_t can_lld_can_transmit(CANDriver *canp) {

-

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

+bool_t can_lld_is_tx_empty(CANDriver *canp, canmbx_t mailbox) {

+

+  switch (mailbox) {

+  case CAN_ANY_TX_MAILBOX:

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

+  case 1:

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

+  case 2:

+    return (canp->can->TSR & CAN_TSR_TME1) != 0;

+  case 3:

+    return (canp->can->TSR & CAN_TSR_TME2) != 0;

+  default:

+    return FALSE;

+  }

 }

 

 /**

@@ -484,15 +496,29 @@ bool_t can_lld_can_transmit(CANDriver *canp) {
  *

  * @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

  *

  * @notapi

  */

-void can_lld_transmit(CANDriver *canp, const CANTxFrame *ctfp) {

+void can_lld_transmit(CANDriver *canp,

+                      canmbx_t mailbox,

+                      const CANTxFrame *ctfp) {

   uint32_t tir;

   CAN_TxMailBox_TypeDef *tmbp;

 

   /* Pointer to a free transmission mailbox.*/

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

+  switch (mailbox) {

+  case CAN_ANY_TX_MAILBOX:

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

+  case 1:

+    tmbp = &canp->can->sTxMailBox[0];

+  case 2:

+    tmbp = &canp->can->sTxMailBox[1];

+  case 3:

+    tmbp = &canp->can->sTxMailBox[2];

+  default:

+    return;

+  }

 

   /* Preparing the message.*/

   if (ctfp->IDE)

@@ -510,16 +536,18 @@ void can_lld_transmit(CANDriver *canp, const CANTxFrame *ctfp) {
  * @brief   Determines whether a frame has been received.

  *

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

+ * @param[in] mailbox   mailbox number

  *

- * @return The queue space availability.

+ * @return              The queue space availability.

  * @retval FALSE        no space in the transmit queue.

  * @retval TRUE         transmit slot available.

  *

  * @notapi

  */

-bool_t can_lld_can_receive(CANDriver *canp) {

+bool_t can_lld_is_rx_nonempty(CANDriver *canp, canmbx_t mailbox) {

 

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

+  return mailbox == 0 ? (canp->can->RF0R & CAN_RF0R_FMP0) > 0 :

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

 }

 

 /**

@@ -527,34 +555,54 @@ bool_t can_lld_can_receive(CANDriver *canp) {
  *

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

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

+ * @param[in] mailbox   mailbox number

  *

  * @notapi

  */

-void can_lld_receive(CANDriver *canp, CANRxFrame *crfp) {

-  uint32_t r;

-

-  /* Fetches the message.*/

-  r = canp->can->sFIFOMailBox[0].RIR;

-  crfp->RTR = (r & CAN_RI0R_RTR) >> 1;

-  crfp->IDE = (r & CAN_RI0R_IDE) >> 2;

+void can_lld_receive(CANDriver *canp,

+                     canmbx_t mailbox,

+                     CANRxFrame *crfp) {

+  uint32_t rir, rdtr;

+

+  if (mailbox == 0) {

+    /* Fetches the message.*/

+    rir  = canp->can->sFIFOMailBox[0].RIR;

+    rdtr = canp->can->sFIFOMailBox[0].RDTR;

+    crfp->data32[0] = canp->can->sFIFOMailBox[0].RDLR;

+    crfp->data32[1] = canp->can->sFIFOMailBox[0].RDHR;

+

+    /* Releases the mailbox.*/

+    canp->can->RF0R = CAN_RF0R_RFOM0;

+

+    /* If the queue is empty re-enables the interrupt in order to generate

+       events again.*/

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

+      canp->can->IER |= CAN_IER_FMPIE0;

+  }

+  else {

+    /* Fetches the message.*/

+    rir  = canp->can->sFIFOMailBox[1].RIR;

+    rdtr = canp->can->sFIFOMailBox[1].RDTR;

+    crfp->data32[0] = canp->can->sFIFOMailBox[1].RDLR;

+    crfp->data32[1] = canp->can->sFIFOMailBox[1].RDHR;

+

+    /* Releases the mailbox.*/

+    canp->can->RF1R = CAN_RF1R_RFOM1;

+

+    /* If the queue is empty re-enables the interrupt in order to generate

+       events again.*/

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

+      canp->can->IER |= CAN_IER_FMPIE1;

+  }

+  crfp->RTR = (rir & CAN_RI0R_RTR) >> 1;

+  crfp->IDE = (rir & CAN_RI0R_IDE) >> 2;

   if (crfp->IDE)

-    crfp->EID = r >> 3;

+    crfp->EID = rir >> 3;

   else

-    crfp->SID = r >> 21;

-  r = canp->can->sFIFOMailBox[0].RDTR;

-  crfp->DLC = r & CAN_RDT0R_DLC;

-  crfp->FMI = (uint8_t)(r >> 8);

-  crfp->TIME = (uint16_t)(r >> 16);

-  crfp->data32[0] = canp->can->sFIFOMailBox[0].RDLR;

-  crfp->data32[1] = canp->can->sFIFOMailBox[0].RDHR;

-

-  /* Releases the mailbox.*/

-  canp->can->RF0R = CAN_RF0R_RFOM0;

-

-  /* If the queue is empty re-enables the interrupt in order to generate

-     events again.*/

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

-    canp->can->IER |= CAN_IER_FMPIE0;

+    crfp->SID = rir >> 21;

+  crfp->DLC = rdtr & CAN_RDT0R_DLC;

+  crfp->FMI = (uint8_t)(rdtr >> 8);

+  crfp->TIME = (uint16_t)(rdtr >> 16);

 }

 

 #if CAN_USE_SLEEP_MODE || defined(__DOXYGEN__)

diff --git a/os/hal/platforms/STM32/can_lld.h b/os/hal/platforms/STM32/can_lld.h
index 132cd207a..a15226f4a 100644
--- a/os/hal/platforms/STM32/can_lld.h
+++ b/os/hal/platforms/STM32/can_lld.h
@@ -51,6 +51,16 @@
 #define CAN_SUPPORTS_SLEEP          TRUE

 

 /**

+ * @brief   This implementation supports three transmit mailboxes.

+ */

+#define CAN_TX_MAILBOXES            3

+

+/**

+ * @brief   This implementation supports two receive mailboxes.

+ */

+#define CAN_RX_MAILBOXES            3

+

+/**

  * @name    CAN registers helper macros

  * @{

  */

@@ -131,6 +141,11 @@
 /*===========================================================================*/

 

 /**

+ * @brief   Type of a transmission mailbox index.

+ */

+typedef uint32_t canmbx_t;

+

+/**

  * @brief   CAN transmission frame.

  * @note    Accessing the frame data as word16 or word32 is not portable because

  *          machine data endianness, it can be still useful for a quick filling.

@@ -270,14 +285,21 @@ typedef struct {
    *          repeatedly invoking @p chReceive() when listening to this event.

    *          This behavior minimizes the interrupt served by the system

    *          because CAN traffic.

+   * @note    The flags associated to the listeners will indicate which

+   *          receive mailboxes become non-empty.

    */

   EventSource               rxfull_event;

   /**

-   * @brief   One or more transmission slots become available.

+   * @brief   One or more transmission mailbox become available.

+   * @note    The flags associated to the listeners will indicate which

+   *          transmit mailboxes become empty.

+   *

    */

   EventSource               txempty_event;

   /**

    * @brief   A CAN bus error happened.

+   * @note    The flags associated to the listeners will indicate the

+   *          error(s) that have occurred.

    */

   EventSource               error_event;

 #if CAN_USE_SLEEP_MODE || defined (__DOXYGEN__)

@@ -319,10 +341,16 @@ extern "C" {
   void can_lld_init(void);

   void can_lld_start(CANDriver *canp);

   void can_lld_stop(CANDriver *canp);

-  bool_t can_lld_can_transmit(CANDriver *canp);

-  void can_lld_transmit(CANDriver *canp, const CANTxFrame *crfp);

-  bool_t can_lld_can_receive(CANDriver *canp);

-  void can_lld_receive(CANDriver *canp, CANRxFrame *ctfp);

+  bool_t can_lld_is_tx_empty(CANDriver *canp,

+                             canmbx_t mailbox);

+  void can_lld_transmit(CANDriver *canp,

+                        canmbx_t mailbox,

+                        const CANTxFrame *crfp);

+  bool_t can_lld_is_rx_nonempty(CANDriver *canp,

+                                canmbx_t mailbox);

+  void can_lld_receive(CANDriver *canp,

+                       canmbx_t mailbox,

+                       CANRxFrame *ctfp);

 #if CAN_USE_SLEEP_MODE

   void can_lld_sleep(CANDriver *canp);

   void can_lld_wakeup(CANDriver *canp);

diff --git a/os/hal/src/can.c b/os/hal/src/can.c
index 18d7b302b..e0d47d5c5 100644
--- a/os/hal/src/can.c
+++ b/os/hal/src/can.c
@@ -145,6 +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] 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:

@@ -158,21 +159,26 @@ void canStop(CANDriver *canp) {
  *

  * @api

  */

-msg_t canTransmit(CANDriver *canp, const CANTxFrame *ctfp, systime_t timeout) {

+msg_t canTransmit(CANDriver *canp,

+                  canmbx_t mailbox,

+                  const CANTxFrame *ctfp,

+                  systime_t timeout) {

 

-  chDbgCheck((canp != NULL) && (ctfp != NULL), "canTransmit");

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

+             (mailbox <= CAN_TX_MAILBOXES),

+             "canTransmit");

 

   chSysLock();

   chDbgAssert((canp->state == CAN_READY) || (canp->state == CAN_SLEEP),

               "canTransmit(), #1", "invalid state");

-  while ((canp->state == CAN_SLEEP) || !can_lld_can_transmit(canp)) {

+  while ((canp->state == CAN_SLEEP) || !can_lld_is_tx_empty(canp, mailbox)) {

     msg_t msg = chSemWaitTimeoutS(&canp->txsem, timeout);

     if (msg != RDY_OK) {

       chSysUnlock();

       return msg;

     }

   }

-  can_lld_transmit(canp, ctfp);

+  can_lld_transmit(canp, mailbox, ctfp);

   chSysUnlock();

   return RDY_OK;

 }

@@ -183,6 +189,7 @@ msg_t canTransmit(CANDriver *canp, const CANTxFrame *ctfp, systime_t timeout) {
  * @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[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:

@@ -198,21 +205,26 @@ msg_t canTransmit(CANDriver *canp, const CANTxFrame *ctfp, systime_t timeout) {
  *

  * @api

  */

-msg_t canReceive(CANDriver *canp, CANRxFrame *crfp, systime_t timeout) {

+msg_t canReceive(CANDriver *canp,

+                 canmbx_t mailbox,

+                 CANRxFrame *crfp,

+                 systime_t timeout) {

 

-  chDbgCheck((canp != NULL) && (crfp != NULL), "canReceive");

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

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

+             "canReceive");

 

   chSysLock();

   chDbgAssert((canp->state == CAN_READY) || (canp->state == CAN_SLEEP),

               "canReceive(), #1", "invalid state");

-  while ((canp->state == CAN_SLEEP) || !can_lld_can_receive(canp)) {

+  while ((canp->state == CAN_SLEEP) || !can_lld_is_rx_nonempty(canp, mailbox)) {

     msg_t msg = chSemWaitTimeoutS(&canp->rxsem, timeout);

     if (msg != RDY_OK) {

       chSysUnlock();

       return msg;

     }

   }

-  can_lld_receive(canp, crfp);

+  can_lld_receive(canp, mailbox, crfp);

   chSysUnlock();

   return RDY_OK;

 }

diff --git a/testhal/STM32F30x/CAN/main.c b/testhal/STM32F30x/CAN/main.c
index a534b9dbf..978c31c1b 100644
--- a/testhal/STM32F30x/CAN/main.c
+++ b/testhal/STM32F30x/CAN/main.c
@@ -24,14 +24,11 @@
 /*

  * Internal loopback mode, 500KBaud, automatic wakeup, automatic recover

  * from abort mode.

- * See section 22.7.7 on the STM32 reference manual.

  */

 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 +45,7 @@ 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, 1, &rxmsg, TIME_IMMEDIATE) == RDY_OK) {

       /* Process message.*/

       palTogglePad(GPIOE, GPIOE_LED3_RED);

     }

@@ -74,7 +71,7 @@ static msg_t can_tx(void * p) {
   txmsg.data32[1] = 0x00FF00FF;

 

   while (!chThdShouldTerminate()) {

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

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

     chThdSleepMilliseconds(500);

   }

   return 0;