git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@1373 35acf78f-673a-0410-8e92-d51de3d6d3f4

1 files changed, 69 insertions, 15 deletions

diff --git a/os/hal/platforms/STM32/can_lld.c b/os/hal/platforms/STM32/can_lld.c
index 86c8ecbf5..624f9028b 100644
--- a/os/hal/platforms/STM32/can_lld.c
+++ b/os/hal/platforms/STM32/can_lld.c
@@ -179,9 +179,53 @@ void can_lld_start(CANDriver *canp) {
   canp->cd_can->MCR = CAN_MCR_INRQ;

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

     chThdSleepS(1);

-  /* Initialization.*/

+  /* BTR initialization.*/

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

+  /* MCR initialization.*/

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

+  /* Filters initialization.*/

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

+  if (canp->cd_config->cc_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;

+    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;

+      }

+      else {

+        cfp->FR1 = 0;

+        cfp->FR2 = 0;

+      }

+      cfp++;

+      fmask <<= 1;

+    }

+  }

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

+  /* Interrupt sources initialization.*/

   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  |

@@ -222,7 +266,7 @@ void can_lld_stop(CANDriver *canp) {
  */

 bool_t can_lld_can_transmit(CANDriver *canp) {

 

-  return FALSE;

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

 }

 

 /**

@@ -230,13 +274,8 @@ bool_t can_lld_can_transmit(CANDriver *canp) {
  *
  * @param[in] canp      pointer to the @p CANDriver object

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

- *

- * @return The operation status.

- * @retval RDY_OK frame transmitted.
  */

-msg_t can_lld_transmit(CANDriver *canp, const CANFrame *cfp) {

-

-  return RDY_OK;

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

 }

 

 /**

@@ -250,7 +289,7 @@ msg_t can_lld_transmit(CANDriver *canp, const CANFrame *cfp) {
  */

 bool_t can_lld_can_receive(CANDriver *canp) {

 

-  return FALSE;

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

 }

 

 /**

@@ -258,13 +297,26 @@ bool_t can_lld_can_receive(CANDriver *canp) {
  *
  * @param[in] canp      pointer to the @p CANDriver object

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

- *

- * @return The operation status.

- * @retval RDY_OK frame received.

  */

-msg_t can_lld_receive(CANDriver *canp, CANFrame *cfp) {

-

-  return RDY_OK;

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

+  uint32_t r;

+

+  /* Fetches the message.*/

+  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);

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

+  crfp->cf_RTR = r & CAN_RI0R_RTR;

+  crfp->cf_IDE = r & CAN_RI0R_IDE;

+  if (crfp->cf_IDE)

+    crfp->cf_ID = r >> 3;

+  else

+    crfp->cf_ID = r >> 24;

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

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

+  /* Releases the mailbox.*/

+  canp->cd_can->RF0R |= CAN_RF0R_RFOM0;

 }

 

 #if CAN_USE_SLEEP_MODE || defined(__DOXYGEN__)

@@ -275,6 +327,7 @@ msg_t can_lld_receive(CANDriver *canp, CANFrame *cfp) {
  */

 void can_lld_sleep(CANDriver *canp) {

 

+  (void)canp;

 }

 

 /**

@@ -284,6 +337,7 @@ void can_lld_sleep(CANDriver *canp) {
  */

 void can_lld_wakeup(CANDriver *canp) {

 

+  (void)canp;

 }

 #endif /* CAN_USE_SLEEP_MODE */