git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@1369 35acf78f-673a-0410-8e92-d51de3d6d3f4

1 files changed, 78 insertions, 9 deletions

diff --git a/os/hal/platforms/STM32/can_lld.c b/os/hal/platforms/STM32/can_lld.c
index 30d270a37..2e3ed43df 100644
--- a/os/hal/platforms/STM32/can_lld.c
+++ b/os/hal/platforms/STM32/can_lld.c
@@ -68,12 +68,24 @@ CH_IRQ_HANDLER(Vector8C) {
  * CAN1 RX0 interrupt handler.

  */

 CH_IRQ_HANDLER(Vector90) {

+  uint32_t rf0r;

 

   CH_IRQ_PROLOGUE();

 

-  /* No more events until the incoming messages queues are emptied.*/

-  CAN1->IER &= ~(CAN_IER_FMPIE0 | CAN_IER_FMPIE1);

-  chEvtBroadcastI(&CAND1.cd_rxfull_event);

+  rf0r = CAN1->RF0R;

+  chSysLockFromIsr();

+  if ((rf0r & CAN_RF0R_FMP0) > 0) {

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

+    CAN1->IER &= ~CAN_IER_FMPIE0;

+    chEvtBroadcastI(&CAND1.cd_rxfull_event);

+  }

+  if ((rf0r & CAN_RF0R_FOVR0) > 0) {

+    /* Overflow events handling.*/

+    CAN1->RF0R = CAN_RF0R_FOVR0;

+    canAddFlagsI(&CAND1, CAN_OVERFLOW_ERROR);

+    chEvtBroadcastI(&CAND1.cd_error_event);

+  }

+  chSysUnlockFromIsr();

 

   CH_IRQ_EPILOGUE();

 }

@@ -85,9 +97,7 @@ CH_IRQ_HANDLER(Vector94) {
 

   CH_IRQ_PROLOGUE();

 

-  /* No more events until the incoming messages queues are emptied.*/

-  CAN1->IER &= ~(CAN_IER_FMPIE0 | CAN_IER_FMPIE1);

-  chEvtBroadcastI(&CAND1.cd_rxfull_event);

+  chSysHalt(); /* Not supported (yet).*/

 

   CH_IRQ_EPILOGUE();

 }

@@ -96,12 +106,32 @@ CH_IRQ_HANDLER(Vector94) {
  * CAN1 SCE interrupt handler.

  */

 CH_IRQ_HANDLER(Vector98) {

+  uint32_t msr;

 

   CH_IRQ_PROLOGUE();

 

-  canAddFlagsI(&CAND1, 1);

-  chEvtBroadcastI(&CAND1.cd_error_event);

-  CAN1->MSR = CAN_MSR_ERRI;

+  msr = CAN1->MSR;

+  CAN1->MSR = CAN_MSR_ERRI | CAN_MSR_WKUI | CAN_MSR_SLAKI;

+  /* Wakeup event.*/

+  if (msr & CAN_MSR_WKUI) {

+    chSysLockFromIsr();

+    chEvtBroadcastI(&CAND1.cd_wakeup_event);

+    chSysUnlockFromIsr();

+  }

+  /* Error event.*/

+  if (msr & CAN_MSR_ERRI) {

+    canstatus_t flags;

+    uint32_t esr = CAN1->ESR;

+

+    CAN1->ESR &= ~CAN_ESR_LEC;

+    flags = (canstatus_t)(esr & 7);

+    if ((esr & CAN_ESR_LEC) > 0)

+      flags |= CAN_FRAMING_ERROR;

+    chSysLockFromIsr();

+    canAddFlagsI(&CAND1, flags);

+    chEvtBroadcastI(&CAND1.cd_error_event);

+    chSysUnlockFromIsr();

+  }

 

   CH_IRQ_EPILOGUE();

 }

@@ -115,6 +145,15 @@ CH_IRQ_HANDLER(Vector98) {
  */

 void can_lld_init(void) {

 

+#if USE_STM32_CAN1

+  /* CAN reset, ensures reset state in order to avoid trouble with JTAGs.*/

+  RCC->APB1RSTR = RCC_APB1RSTR_CAN1RST;

+  RCC->APB1RSTR = 0;

+

+  /* Driver initialization.*/

+  canObjectInit(&CAND1);

+  CAND1.cd_can = CAN1;

+#endif

 }

 

 /**

@@ -126,8 +165,23 @@ void can_lld_start(CANDriver *canp) {
 

   if (canp->cd_state == CAN_STOP) {

     /* Clock activation.*/

+#if USE_STM32_CAN1

+    if (&CAND1 == canp) {

+      NVICEnableVector(USB_HP_CAN1_TX_IRQn, STM32_CAN1_IRQ_PRIORITY);

+      NVICEnableVector(USB_LP_CAN1_RX0_IRQn, STM32_CAN1_IRQ_PRIORITY);

+      NVICEnableVector(CAN1_RX1_IRQn, STM32_CAN1_IRQ_PRIORITY);

+      NVICEnableVector(CAN1_SCE_IRQn, STM32_CAN1_IRQ_PRIORITY);

+      RCC->APB1ENR |= RCC_APB1ENR_CAN1EN;

+    }

+#endif

   }

   /* Configuration.*/

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

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

+  canp->cd_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;

 }

 

 /**

@@ -137,6 +191,21 @@ void can_lld_start(CANDriver *canp) {
  */

 void can_lld_stop(CANDriver *canp) {

 

+  /* If in ready state then disables the CAN clock.*/

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

+#if USE_STM32_CAN1

+    if (&CAND1 == canp) {

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

+      CAN1->BTR = 0x01230000;                   /* Register reset value.    */

+      CAN1->IER = 0x00000000;                   /* All sources disabled.    */

+      NVICDisableVector(USB_HP_CAN1_TX_IRQn);

+      NVICDisableVector(USB_LP_CAN1_RX0_IRQn);

+      NVICDisableVector(CAN1_RX1_IRQn);

+      NVICDisableVector(CAN1_SCE_IRQn);

+      RCC->APB1ENR &= ~RCC_APB1ENR_CAN1EN;

+    }

+#endif

+  }

 }

 

 /**