git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@2808 35acf78f-673a-0410-8e92-d51de3d6d3f4

1 files changed, 68 insertions, 68 deletions

diff --git a/os/hal/platforms/STM32/can_lld.c b/os/hal/platforms/STM32/can_lld.c
index 5dc7dc572..594471482 100644
--- a/os/hal/platforms/STM32/can_lld.c
+++ b/os/hal/platforms/STM32/can_lld.c
@@ -63,9 +63,9 @@ CH_IRQ_HANDLER(CAN1_TX_IRQHandler) {
   /* No more events until a message is transmitted.*/

   CAN1->TSR = CAN_TSR_RQCP0 | CAN_TSR_RQCP1 | CAN_TSR_RQCP2;

   chSysLockFromIsr();

-  while (chSemGetCounterI(&CAND1.cd_txsem) < 0)

-    chSemSignalI(&CAND1.cd_txsem);

-  chEvtBroadcastI(&CAND1.cd_txempty_event);

+  while (chSemGetCounterI(&CAND1.txsem) < 0)

+    chSemSignalI(&CAND1.txsem);

+  chEvtBroadcastI(&CAND1.txempty_event);

   chSysUnlockFromIsr();

 

   CH_IRQ_EPILOGUE();

@@ -86,9 +86,9 @@ CH_IRQ_HANDLER(CAN1_RX0_IRQHandler) {
     /* No more receive events until the queue 0 has been emptied.*/

     CAN1->IER &= ~CAN_IER_FMPIE0;

     chSysLockFromIsr();

-    while (chSemGetCounterI(&CAND1.cd_rxsem) < 0)

-      chSemSignalI(&CAND1.cd_rxsem);

-    chEvtBroadcastI(&CAND1.cd_rxfull_event);

+    while (chSemGetCounterI(&CAND1.rxsem) < 0)

+      chSemSignalI(&CAND1.rxsem);

+    chEvtBroadcastI(&CAND1.rxfull_event);

     chSysUnlockFromIsr();

   }

   if ((rf0r & CAN_RF0R_FOVR0) > 0) {

@@ -96,7 +96,7 @@ CH_IRQ_HANDLER(CAN1_RX0_IRQHandler) {
     CAN1->RF0R = CAN_RF0R_FOVR0;

     canAddFlagsI(&CAND1, CAN_OVERFLOW_ERROR);

     chSysLockFromIsr();

-    chEvtBroadcastI(&CAND1.cd_error_event);

+    chEvtBroadcastI(&CAND1.error_event);

     chSysUnlockFromIsr();

   }

 

@@ -132,7 +132,7 @@ CH_IRQ_HANDLER(CAN1_SCE_IRQHandler) {
   /* Wakeup event.*/

   if (msr & CAN_MSR_WKUI) {

     chSysLockFromIsr();

-    chEvtBroadcastI(&CAND1.cd_wakeup_event);

+    chEvtBroadcastI(&CAND1.wakeup_event);

     chSysUnlockFromIsr();

   }

   /* Error event.*/

@@ -146,7 +146,7 @@ CH_IRQ_HANDLER(CAN1_SCE_IRQHandler) {
       flags |= CAN_FRAMING_ERROR;

     chSysLockFromIsr();

     canAddFlagsI(&CAND1, flags | (canstatus_t)(flags < 16));

-    chEvtBroadcastI(&CAND1.cd_error_event);

+    chEvtBroadcastI(&CAND1.error_event);

     chSysUnlockFromIsr();

   }

 

@@ -167,7 +167,7 @@ void can_lld_init(void) {
 #if STM32_CAN_USE_CAN1

   /* Driver initialization.*/

   canObjectInit(&CAND1);

-  CAND1.cd_can = CAN1;

+  CAND1.can = CAN1;

 #endif

 }

 

@@ -196,37 +196,37 @@ void can_lld_start(CANDriver *canp) {
 #endif

 

   /* Entering initialization mode. */

-  canp->cd_state = CAN_STARTING;

-  canp->cd_can->MCR = CAN_MCR_INRQ;

-  while ((canp->cd_can->MSR & CAN_MSR_INAK) == 0)

+  canp->state = CAN_STARTING;

+  canp->can->MCR = CAN_MCR_INRQ;

+  while ((canp->can->MSR & CAN_MSR_INAK) == 0)

     chThdSleepS(1);

   /* BTR initialization.*/

-  canp->cd_can->BTR = canp->cd_config->cc_btr;

+  canp->can->BTR = canp->config->btr;

   /* MCR initialization.*/

-  canp->cd_can->MCR = canp->cd_config->cc_mcr;

+  canp->can->MCR = canp->config->mcr;

   /* Filters initialization.*/

-  canp->cd_can->FMR |= CAN_FMR_FINIT;

-  if (canp->cd_config->cc_num > 0) {

+  canp->can->FMR |= CAN_FMR_FINIT;

+  if (canp->config->num > 0) {

     uint32_t i, fmask;

     CAN_FilterRegister_TypeDef *cfp;

 

-    canp->cd_can->FA1R = 0;

-    canp->cd_can->FM1R = 0;

-    canp->cd_can->FS1R = 0;

-    canp->cd_can->FFA1R = 0;

-    cfp = canp->cd_can->sFilterRegister;

+    canp->can->FA1R = 0;

+    canp->can->FM1R = 0;

+    canp->can->FS1R = 0;

+    canp->can->FFA1R = 0;

+    cfp = canp->can->sFilterRegister;

     fmask = 1;

     for (i = 0; i < CAN_MAX_FILTERS; i++) {

-      if (i < canp->cd_config->cc_num) {

-        if (canp->cd_config->cc_filters[i].cf_mode)

-          canp->cd_can->FM1R |= fmask;

-        if (canp->cd_config->cc_filters[i].cf_scale)

-          canp->cd_can->FS1R |= fmask;

-        if (canp->cd_config->cc_filters[i].cf_assignment)

-          canp->cd_can->FFA1R |= fmask;

-        cfp->FR1 = canp->cd_config->cc_filters[i].cf_register1;

-        cfp->FR2 = canp->cd_config->cc_filters[i].cf_register2;

-        canp->cd_can->FA1R |= fmask;

+      if (i < canp->config->num) {

+        if (canp->config->filters[i].mode)

+          canp->can->FM1R |= fmask;

+        if (canp->config->filters[i].scale)

+          canp->can->FS1R |= fmask;

+        if (canp->config->filters[i].assignment)

+          canp->can->FFA1R |= fmask;

+        cfp->FR1 = canp->config->filters[i].register1;

+        cfp->FR2 = canp->config->filters[i].register2;

+        canp->can->FA1R |= fmask;

       }

       else {

         cfp->FR1 = 0;

@@ -241,16 +241,16 @@ void can_lld_start(CANDriver *canp) {
   }

   else {

     /* Setup a default filter.*/

-    canp->cd_can->sFilterRegister[0].FR1 = 0;

-    canp->cd_can->sFilterRegister[0].FR2 = 0;

-    canp->cd_can->FM1R = 0;

-    canp->cd_can->FFA1R = 0;

-    canp->cd_can->FS1R = 1;

-    canp->cd_can->FA1R = 1;

+    canp->can->sFilterRegister[0].FR1 = 0;

+    canp->can->sFilterRegister[0].FR2 = 0;

+    canp->can->FM1R = 0;

+    canp->can->FFA1R = 0;

+    canp->can->FS1R = 1;

+    canp->can->FA1R = 1;

   }

-  canp->cd_can->FMR &= ~CAN_FMR_FINIT;

+  canp->can->FMR &= ~CAN_FMR_FINIT;

   /* Interrupt sources initialization.*/

-  canp->cd_can->IER = CAN_IER_TMEIE  | CAN_IER_FMPIE0 | CAN_IER_FMPIE1 |

+  canp->can->IER = CAN_IER_TMEIE  | CAN_IER_FMPIE0 | CAN_IER_FMPIE1 |

                       CAN_IER_WKUIE  | CAN_IER_ERRIE  | CAN_IER_LECIE  |

                       CAN_IER_BOFIE  | CAN_IER_EPVIE  | CAN_IER_EWGIE  |

                       CAN_IER_FOVIE0 | CAN_IER_FOVIE1;

@@ -266,7 +266,7 @@ void can_lld_start(CANDriver *canp) {
 void can_lld_stop(CANDriver *canp) {

 

   /* If in ready state then disables the CAN peripheral.*/

-  if (canp->cd_state == CAN_READY) {

+  if (canp->state == CAN_READY) {

 #if STM32_CAN_USE_CAN1

     if (&CAND1 == canp) {

       CAN1->MCR = 0x00010002;                   /* Register reset value.    */

@@ -294,7 +294,7 @@ void can_lld_stop(CANDriver *canp) {
  */

 bool_t can_lld_can_transmit(CANDriver *canp) {

 

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

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

 }

 

 /**

@@ -310,18 +310,18 @@ void can_lld_transmit(CANDriver *canp, const CANTxFrame *ctfp) {
   CAN_TxMailBox_TypeDef *tmbp;

 

   /* Pointer to a free transmission mailbox.*/

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

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

 

   /* Preparing the message.*/

-  if (ctfp->cf_IDE)

-    tir = ((uint32_t)ctfp->cf_EID << 3) | ((uint32_t)ctfp->cf_RTR << 1) |

+  if (ctfp->IDE)

+    tir = ((uint32_t)ctfp->EID << 3) | ((uint32_t)ctfp->RTR << 1) |

           CAN_TI0R_IDE;

   else

-    tir = ((uint32_t)ctfp->cf_SID << 21) | ((uint32_t)ctfp->cf_RTR << 1);

-  tmbp->TDTR = ctfp->cf_DLC;

-  tmbp->TDLR = ctfp->cf_data32[0];

-  tmbp->TDHR = ctfp->cf_data32[1];

-  tmbp->TIR = tir | CAN_TI0R_TXRQ;

+    tir = ((uint32_t)ctfp->SID << 21) | ((uint32_t)ctfp->RTR << 1);

+  tmbp->TDTR = ctfp->DLC;

+  tmbp->TDLR = ctfp->data32[0];

+  tmbp->TDHR = ctfp->data32[1];

+  tmbp->TIR  = tir | CAN_TI0R_TXRQ;

 }

 

 /**

@@ -337,7 +337,7 @@ void can_lld_transmit(CANDriver *canp, const CANTxFrame *ctfp) {
  */

 bool_t can_lld_can_receive(CANDriver *canp) {

 

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

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

 }

 

 /**

@@ -352,27 +352,27 @@ void can_lld_receive(CANDriver *canp, CANRxFrame *crfp) {
   uint32_t r;

 

   /* Fetches the message.*/

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

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

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

-  if (crfp->cf_IDE)

-    crfp->cf_EID = r >> 3;

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

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

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

+  if (crfp->IDE)

+    crfp->EID = r >> 3;

   else

-    crfp->cf_SID = r >> 21;

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

-  crfp->cf_DLC = r & CAN_RDT0R_DLC;

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

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

-  crfp->cf_data32[0] = canp->cd_can->sFIFOMailBox[0].RDLR;

-  crfp->cf_data32[1] = canp->cd_can->sFIFOMailBox[0].RDHR;

+    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->cd_can->RF0R = CAN_RF0R_RFOM0;

+  canp->can->RF0R = CAN_RF0R_RFOM0;

 

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

      events again.*/

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

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

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

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

 }

 

 #if CAN_USE_SLEEP_MODE || defined(__DOXYGEN__)

@@ -385,7 +385,7 @@ void can_lld_receive(CANDriver *canp, CANRxFrame *crfp) {
  */

 void can_lld_sleep(CANDriver *canp) {

 

-  canp->cd_can->MCR |= CAN_MCR_SLEEP;

+  canp->can->MCR |= CAN_MCR_SLEEP;

 }

 

 /**

@@ -397,7 +397,7 @@ void can_lld_sleep(CANDriver *canp) {
  */

 void can_lld_wakeup(CANDriver *canp) {

 

-  canp->cd_can->MCR &= ~CAN_MCR_SLEEP;

+  canp->can->MCR &= ~CAN_MCR_SLEEP;

 }

 #endif /* CAN_USE_SLEEP_MODE */