CAN driver revision, work in progress.

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

1 files changed, 33 insertions, 5 deletions

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);