git-svn-id: svn://svn.code.sf.net/p/chibios/svn/branches/kernel_3_dev@6242 35acf78f-673a-0410-8e92-d51de3d6d3f4

1 files changed, 0 insertions, 702 deletions

diff --git a/os/hal/platforms/STM32/can_lld.c b/os/hal/platforms/STM32/can_lld.c
deleted file mode 100644
index a53a8fe27..000000000
--- a/os/hal/platforms/STM32/can_lld.c
+++ /dev/null
@@ -1,702 +0,0 @@
-/*

-    ChibiOS/RT - Copyright (C) 2006-2013 Giovanni Di Sirio

-

-    Licensed under the Apache License, Version 2.0 (the "License");

-    you may not use this file except in compliance with the License.

-    You may obtain a copy of the License at

-

-        http://www.apache.org/licenses/LICENSE-2.0

-

-    Unless required by applicable law or agreed to in writing, software

-    distributed under the License is distributed on an "AS IS" BASIS,

-    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.

-    See the License for the specific language governing permissions and

-    limitations under the License.

-*/

-

-/**

- * @file    STM32/can_lld.c

- * @brief   STM32 CAN subsystem low level driver source.

- *

- * @addtogroup CAN

- * @{

- */

-

-#include "hal.h"

-

-#if HAL_USE_CAN || defined(__DOXYGEN__)

-

-/*===========================================================================*/

-/* Driver local definitions.                                                 */

-/*===========================================================================*/

-

-/*===========================================================================*/

-/* Driver exported variables.                                                */

-/*===========================================================================*/

-

-/** @brief CAN1 driver identifier.*/

-#if STM32_CAN_USE_CAN1 || defined(__DOXYGEN__)

-CANDriver CAND1;

-#endif

-

-/** @brief CAN2 driver identifier.*/

-#if STM32_CAN_USE_CAN2 || defined(__DOXYGEN__)

-CANDriver CAND2;

-#endif

-

-/*===========================================================================*/

-/* Driver local variables and types.                                         */

-/*===========================================================================*/

-

-/*===========================================================================*/

-/* Driver local functions.                                                   */

-/*===========================================================================*/

-

-/**

- * @brief   Programs the filters.

- *

- * @param[in] can2sb    number of the first filter assigned to CAN2

- * @param[in] num       number of entries in the filters array, if zero then

- *                      a default filter is programmed

- * @param[in] cfp       pointer to the filters array, can be @p NULL if

- *                      (num == 0)

- *

- * @notapi

- */

-static void can_lld_set_filters(uint32_t can2sb,

-                         uint32_t num,

-                         const CANFilter *cfp) {

-

-  /* Temporarily enabling CAN1 clock.*/

-  rccEnableCAN1(FALSE);

-

-  /* Filters initialization.*/

-  CAN1->FMR = (CAN1->FMR & 0xFFFF0000) | (can2sb << 8) | CAN_FMR_FINIT;

-  if (num > 0) {

-    uint32_t i, fmask;

-

-    /* All filters cleared.*/

-    CAN1->FA1R = 0;

-    CAN1->FM1R = 0;

-    CAN1->FS1R = 0;

-    CAN1->FFA1R = 0;

-    for (i = 0; i < STM32_CAN_MAX_FILTERS; i++) {

-      CAN1->sFilterRegister[i].FR1 = 0;

-      CAN1->sFilterRegister[i].FR2 = 0;

-    }

-

-    /* Scanning the filters array.*/

-    for (i = 0; i < num; i++) {

-      fmask = 1 << cfp->filter;

-      if (cfp->mode)

-        CAN1->FM1R |= fmask;

-      if (cfp->scale)

-        CAN1->FS1R |= fmask;

-      if (cfp->assignment)

-        CAN1->FFA1R |= fmask;

-      CAN1->sFilterRegister[cfp->filter].FR1 = cfp->register1;

-      CAN1->sFilterRegister[cfp->filter].FR2 = cfp->register2;

-      CAN1->FA1R |= fmask;

-      cfp++;

-    }

-  }

-  else {

-    /* Setting up a single default filter that enables everything for both

-       CANs.*/

-    CAN1->sFilterRegister[0].FR1 = 0;

-    CAN1->sFilterRegister[0].FR2 = 0;

-    CAN1->sFilterRegister[can2sb].FR1 = 0;

-    CAN1->sFilterRegister[can2sb].FR2 = 0;

-    CAN1->FM1R = 0;

-    CAN1->FFA1R = 0;

-    CAN1->FS1R = 1 | (1 << can2sb);

-    CAN1->FA1R = 1 | (1 << can2sb);

-  }

-  CAN1->FMR &= ~CAN_FMR_FINIT;

-

-  /* Clock disabled, it will be enabled again in can_lld_start().*/

-  rccDisableCAN1(FALSE);

-}

-

-/**

- * @brief   Common TX ISR handler.

- *

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

- *

- * @notapi

- */

-static void can_lld_tx_handler(CANDriver *canp) {

-

-  /* No more events until a message is transmitted.*/

-  canp->can->TSR = CAN_TSR_RQCP0 | CAN_TSR_RQCP1 | CAN_TSR_RQCP2;

-  osalSysLockFromISR();

-  osalQueueWakeupAllI(&canp->txqueue, MSG_OK);

-  osalEventBroadcastFlagsI(&canp->txempty_event, CAN_MAILBOX_TO_MASK(1));

-  osalSysUnlockFromISR();

-}

-

-/**

- * @brief   Common RX0 ISR handler.

- *

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

- *

- * @notapi

- */

-static void can_lld_rx0_handler(CANDriver *canp) {

-  uint32_t rf0r;

-

-  rf0r = canp->can->RF0R;

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

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

-    canp->can->IER &= ~CAN_IER_FMPIE0;

-    osalSysLockFromISR();

-    osalQueueWakeupAllI(&canp->rxqueue, MSG_OK);

-    osalEventBroadcastFlagsI(&canp->rxfull_event, CAN_MAILBOX_TO_MASK(1));

-    osalSysUnlockFromISR();

-  }

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

-    /* Overflow events handling.*/

-    canp->can->RF0R = CAN_RF0R_FOVR0;

-    osalSysLockFromISR();

-    osalEventBroadcastFlagsI(&canp->error_event, CAN_OVERFLOW_ERROR);

-    osalSysUnlockFromISR();

-  }

-}

-

-/**

- * @brief   Common RX1 ISR handler.

- *

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

- *

- * @notapi

- */

-static void can_lld_rx1_handler(CANDriver *canp) {

-  uint32_t rf1r;

-

-  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;

-    osalSysLockFromISR();

-    osalQueueWakeupAllI(&canp->rxqueue, MSG_OK);

-    osalEventBroadcastFlagsI(&canp->rxfull_event, CAN_MAILBOX_TO_MASK(2));

-    osalSysUnlockFromISR();

-  }

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

-    /* Overflow events handling.*/

-    canp->can->RF1R = CAN_RF1R_FOVR1;

-    osalSysLockFromISR();

-    osalEventBroadcastFlagsI(&canp->error_event, CAN_OVERFLOW_ERROR);

-    osalSysUnlockFromISR();

-  }

-}

-

-/**

- * @brief   Common SCE ISR handler.

- *

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

- *

- * @notapi

- */

-static void can_lld_sce_handler(CANDriver *canp) {

-  uint32_t msr;

-

-  msr = canp->can->MSR;

-  canp->can->MSR = CAN_MSR_ERRI | CAN_MSR_WKUI | CAN_MSR_SLAKI;

-  /* Wakeup event.*/

-#if CAN_USE_SLEEP_MODE

-  if (msr & CAN_MSR_WKUI) {

-    canp->state = CAN_READY;

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

-    osalSysLockFromISR();

-    osalEventBroadcastFlagsI(&canp->wakeup_event, 0);

-    osalSysUnlockFromISR();

-  }

-#endif /* CAN_USE_SLEEP_MODE */

-  /* Error event.*/

-  if (msr & CAN_MSR_ERRI) {

-    eventflags_t flags;

-    uint32_t esr = canp->can->ESR;

-

-    canp->can->ESR &= ~CAN_ESR_LEC;

-    flags = (eventflags_t)(esr & 7);

-    if ((esr & CAN_ESR_LEC) > 0)

-      flags |= CAN_FRAMING_ERROR;

-

-    osalSysLockFromISR();

-    /* The content of the ESR register is copied unchanged in the upper

-       half word of the listener flags mask.*/

-    osalEventBroadcastFlagsI(&canp->error_event, flags | (eventflags_t)(esr << 16));

-    osalSysUnlockFromISR();

-  }

-}

-

-/*===========================================================================*/

-/* Driver interrupt handlers.                                                */

-/*===========================================================================*/

-

-#if STM32_CAN_USE_CAN1 || defined(__DOXYGEN__)

-/**

- * @brief   CAN1 TX interrupt handler.

- *

- * @isr

- */

-OSAL_IRQ_HANDLER(STM32_CAN1_TX_HANDLER) {

-

-  OSAL_IRQ_PROLOGUE();

-

-  can_lld_tx_handler(&CAND1);

-

-  OSAL_IRQ_EPILOGUE();

-}

-

-/*

- * @brief   CAN1 RX0 interrupt handler.

- *

- * @isr

- */

-OSAL_IRQ_HANDLER(STM32_CAN1_RX0_HANDLER) {

-

-  OSAL_IRQ_PROLOGUE();

-

-  can_lld_rx0_handler(&CAND1);

-

-  OSAL_IRQ_EPILOGUE();

-}

-

-/**

- * @brief   CAN1 RX1 interrupt handler.

- *

- * @isr

- */

-OSAL_IRQ_HANDLER(STM32_CAN1_RX1_HANDLER) {

-

-  OSAL_IRQ_PROLOGUE();

-

-  can_lld_rx1_handler(&CAND1);

-

-  OSAL_IRQ_EPILOGUE();

-}

-

-/**

- * @brief   CAN1 SCE interrupt handler.

- *

- * @isr

- */

-OSAL_IRQ_HANDLER(STM32_CAN1_SCE_HANDLER) {

-

-  OSAL_IRQ_PROLOGUE();

-

-  can_lld_sce_handler(&CAND1);

-

-  OSAL_IRQ_EPILOGUE();

-}

-#endif /* STM32_CAN_USE_CAN1 */

-

-#if STM32_CAN_USE_CAN2 || defined(__DOXYGEN__)

-/**

- * @brief   CAN2 TX interrupt handler.

- *

- * @isr

- */

-OSAL_IRQ_HANDLER(STM32_CAN2_TX_HANDLER) {

-

-  OSAL_IRQ_PROLOGUE();

-

-  can_lld_tx_handler(&CAND2);

-

-  OSAL_IRQ_EPILOGUE();

-}

-

-/*

- * @brief   CAN2 RX0 interrupt handler.

- *

- * @isr

- */

-OSAL_IRQ_HANDLER(STM32_CAN2_RX0_HANDLER) {

-

-  OSAL_IRQ_PROLOGUE();

-

-  can_lld_rx0_handler(&CAND2);

-

-  OSAL_IRQ_EPILOGUE();

-}

-

-/**

- * @brief   CAN2 RX1 interrupt handler.

- *

- * @isr

- */

-OSAL_IRQ_HANDLER(STM32_CAN2_RX1_HANDLER) {

-

-  OSAL_IRQ_PROLOGUE();

-

-  can_lld_rx1_handler(&CAND2);

-

-  OSAL_IRQ_EPILOGUE();

-}

-

-/**

- * @brief   CAN2 SCE interrupt handler.

- *

- * @isr

- */

-OSAL_IRQ_HANDLER(STM32_CAN2_SCE_HANDLER) {

-

-  OSAL_IRQ_PROLOGUE();

-

-  can_lld_sce_handler(&CAND2);

-

-  OSAL_IRQ_EPILOGUE();

-}

-#endif /* STM32_CAN_USE_CAN2 */

-

-/*===========================================================================*/

-/* Driver exported functions.                                                */

-/*===========================================================================*/

-

-/**

- * @brief   Low level CAN driver initialization.

- *

- * @notapi

- */

-void can_lld_init(void) {

-

-#if STM32_CAN_USE_CAN1

-  /* Driver initialization.*/

-  canObjectInit(&CAND1);

-  CAND1.can = CAN1;

-#endif

-#if STM32_CAN_USE_CAN2

-  /* Driver initialization.*/

-  canObjectInit(&CAND2);

-  CAND2.can = CAN2;

-#endif

-

-  /* Filters initialization.*/

-#if STM32_HAS_CAN2

-  can_lld_set_filters(STM32_CAN_MAX_FILTERS / 2, 0, NULL);

-#else

-  can_lld_set_filters(STM32_CAN_MAX_FILTERS, 0, NULL);

-#endif

-

-}

-

-/**

- * @brief   Configures and activates the CAN peripheral.

- *

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

- *

- * @notapi

- */

-void can_lld_start(CANDriver *canp) {

-

-  /* Clock activation.*/

-#if STM32_CAN_USE_CAN1

-  if (&CAND1 == canp) {

-    nvicEnableVector(STM32_CAN1_TX_NUMBER, STM32_CAN_CAN1_IRQ_PRIORITY);

-    nvicEnableVector(STM32_CAN1_RX0_NUMBER, STM32_CAN_CAN1_IRQ_PRIORITY);

-    nvicEnableVector(STM32_CAN1_RX1_NUMBER, STM32_CAN_CAN1_IRQ_PRIORITY);

-    nvicEnableVector(STM32_CAN1_SCE_NUMBER, STM32_CAN_CAN1_IRQ_PRIORITY);

-    rccEnableCAN1(FALSE);

-  }

-#endif

-#if STM32_CAN_USE_CAN2

-  if (&CAND2 == canp) {

-

-    osalDbgAssert(CAND1.state != CAN_STOP, "CAN1 must be started");

-

-    nvicEnableVector(STM32_CAN2_TX_NUMBER, STM32_CAN_CAN2_IRQ_PRIORITY);

-    nvicEnableVector(STM32_CAN2_RX0_NUMBER, STM32_CAN_CAN2_IRQ_PRIORITY);

-    nvicEnableVector(STM32_CAN2_RX1_NUMBER, STM32_CAN_CAN2_IRQ_PRIORITY);

-    nvicEnableVector(STM32_CAN2_SCE_NUMBER, STM32_CAN_CAN2_IRQ_PRIORITY);

-    rccEnableCAN2(FALSE);

-  }

-#endif

-

-  /* Entering initialization mode. */

-  canp->state = CAN_STARTING;

-  canp->can->MCR = CAN_MCR_INRQ;

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

-    osalThreadSleepS(1);

-  /* BTR initialization.*/

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

-  /* MCR initialization.*/

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

-

-  /* Interrupt sources initialization.*/

-  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;

-}

-

-/**

- * @brief   Deactivates the CAN peripheral.

- *

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

- *

- * @notapi

- */

-void can_lld_stop(CANDriver *canp) {

-

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

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

-#if STM32_CAN_USE_CAN1

-    if (&CAND1 == canp) {

-

-#if STM32_CAN_USE_CAN2

-      osalDbgAssert(CAND2.state == CAN_STOP, "CAN2 must be stopped");

-#endif

-

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

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

-      nvicDisableVector(STM32_CAN1_TX_NUMBER);

-      nvicDisableVector(STM32_CAN1_RX0_NUMBER);

-      nvicDisableVector(STM32_CAN1_RX1_NUMBER);

-      nvicDisableVector(STM32_CAN1_SCE_NUMBER);

-      rccDisableCAN1(FALSE);

-    }

-#endif

-#if STM32_CAN_USE_CAN2

-    if (&CAND2 == canp) {

-      CAN2->MCR = 0x00010002;                   /* Register reset value.    */

-      CAN2->IER = 0x00000000;                   /* All sources disabled.    */

-      nvicDisableVector(STM32_CAN2_TX_NUMBER);

-      nvicDisableVector(STM32_CAN2_RX0_NUMBER);

-      nvicDisableVector(STM32_CAN2_RX1_NUMBER);

-      nvicDisableVector(STM32_CAN2_SCE_NUMBER);

-      rccDisableCAN2(FALSE);

-    }

-#endif

-  }

-}

-

-/**

- * @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_MAILBOX for any mailbox

- *

- * @return              The queue space availability.

- * @retval FALSE        no space in the transmit queue.

- * @retval TRUE         transmit slot available.

- *

- * @notapi

- */

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

-

-  switch (mailbox) {

-  case CAN_ANY_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;

-  }

-}

-

-/**

- * @brief   Inserts a frame into the transmit queue.

- *

- * @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_MAILBOX for any mailbox

- *

- * @notapi

- */

-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.*/

-  switch (mailbox) {

-  case CAN_ANY_MAILBOX:

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

-    break;

-  case 1:

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

-    break;

-  case 2:

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

-    break;

-  case 3:

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

-    break;

-  default:

-    return;

-  }

-

-  /* Preparing the message.*/

-  if (ctfp->IDE)

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

-          CAN_TI0R_IDE;

-  else

-    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;

-}

-

-/**

- * @brief   Determines whether a frame has been received.

- *

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

- * @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.

- * @retval TRUE         transmit slot available.

- *

- * @notapi

- */

-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) != 0 ||

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

-  case 1:

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

-  case 2:

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

-  default:

-    return FALSE;

-  }

-}

-

-/**

- * @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

- *

- * @notapi

- */

-void can_lld_receive(CANDriver *canp,

-                     canmbx_t mailbox,

-                     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.*/

-    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;

-    break;

-  case 2:

-    /* 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;

-    break;

-  default:

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

-    return;

-  }

-

-  /* Decodes the various fields in the RX frame.*/

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

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

-  if (crfp->IDE)

-    crfp->EID = rir >> 3;

-  else

-    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__)

-/**

- * @brief   Enters the sleep mode.

- *

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

- *

- * @notapi

- */

-void can_lld_sleep(CANDriver *canp) {

-

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

-}

-

-/**

- * @brief   Enforces leaving the sleep mode.

- *

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

- *

- * @notapi

- */

-void can_lld_wakeup(CANDriver *canp) {

-

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

-}

-#endif /* CAN_USE_SLEEP_MODE */

-

-/**

- * @brief   Programs the filters.

- * @note    This is an STM32-specific API.

- *

- * @param[in] can2sb    number of the first filter assigned to CAN2

- * @param[in] num       number of entries in the filters array, if zero then

- *                      a default filter is programmed

- * @param[in] cfp       pointer to the filters array, can be @p NULL if

- *                      (num == 0)

- *

- * @api

- */

-void canSTM32SetFilters(uint32_t can2sb, uint32_t num, const CANFilter *cfp) {

-

-  osalDbgCheck((can2sb > 1) && (can2sb < STM32_CAN_MAX_FILTERS) &&

-               (num < STM32_CAN_MAX_FILTERS));

-

-#if STM32_CAN_USE_CAN1

-  osalDbgAssert(CAND1.state == CAN_STOP, "invalid state");

-#endif

-#if STM32_CAN_USE_CAN2

-  osalDbgAssert(CAND2.state == CAN_STOP, "invalid state");

-#endif

-

-  can_lld_set_filters(can2sb, num, cfp);

-}

-

-#endif /* HAL_USE_CAN */

-

-/** @} */