Added CAN2 support. Tested on the STM32F4xx only.

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@5105 35acf78f-673a-0410-8e92-d51de3d6d3f4

1 files changed, 64 insertions, 48 deletions

diff --git a/os/hal/platforms/STM32/can_lld.h b/os/hal/platforms/STM32/can_lld.h
index cc0c6e115..132cd207a 100644
--- a/os/hal/platforms/STM32/can_lld.h
+++ b/os/hal/platforms/STM32/can_lld.h
@@ -76,14 +76,21 @@
  */

 /**

  * @brief   CAN1 driver enable switch.

- * @details If set to @p TRUE the support for ADC1 is included.

- * @note    The default is @p TRUE.

+ * @details If set to @p TRUE the support for CAN1 is included.

  */

 #if !defined(STM32_CAN_USE_CAN1) || defined(__DOXYGEN__)

 #define STM32_CAN_USE_CAN1                  FALSE

 #endif

 

 /**

+ * @brief   CAN2 driver enable switch.

+ * @details If set to @p TRUE the support for CAN2 is included.

+ */

+#if !defined(STM32_CAN_USE_CAN2) || defined(__DOXYGEN__)

+#define STM32_CAN_USE_CAN2                  FALSE

+#endif

+

+/**

  * @brief   CAN1 interrupt priority level setting.

  */

 #if !defined(STM32_CAN_CAN1_IRQ_PRIORITY) || defined(__DOXYGEN__)

@@ -91,6 +98,14 @@
 #endif

 /** @} */

 

+/**

+ * @brief   CAN2 interrupt priority level setting.

+ */

+#if !defined(STM32_CAN_CAN2_IRQ_PRIORITY) || defined(__DOXYGEN__)

+#define STM32_CAN_CAN2_IRQ_PRIORITY         11

+#endif

+/** @} */

+

 /*===========================================================================*/

 /* Derived constants and error checks.                                       */

 /*===========================================================================*/

@@ -99,7 +114,11 @@
 #error "CAN1 not present in the selected device"

 #endif

 

-#if !STM32_CAN_USE_CAN1

+#if STM32_CAN_USE_CAN2 && !STM32_HAS_CAN2

+#error "CAN2 not present in the selected device"

+#endif

+

+#if !STM32_CAN_USE_CAN1 && !STM32_CAN_USE_CAN2

 #error "CAN driver activated but no CAN peripheral assigned"

 #endif

 

@@ -173,29 +192,33 @@ typedef struct {
  */

 typedef struct {

   /**

-   * @brief Filter mode.

-   * @note  This bit represent the CAN_FM1R register bit associated to this

-   *        filter (0=mask mode, 1=list mode).

+   * @brief   Number of the filter to be programmed.

+   */

+  uint32_t                  filter;

+  /**

+   * @brief   Filter mode.

+   * @note    This bit represent the CAN_FM1R register bit associated to this

+   *          filter (0=mask mode, 1=list mode).

    */

   uint32_t                  mode:1;

   /**

-   * @brief Filter scale.

-   * @note  This bit represent the CAN_FS1R register bit associated to this

-   *        filter (0=16 bits mode, 1=32 bits mode).

+   * @brief   Filter scale.

+   * @note    This bit represent the CAN_FS1R register bit associated to this

+   *          filter (0=16 bits mode, 1=32 bits mode).

    */

   uint32_t                  scale:1;

   /**

-   * @brief Filter mode.

-   * @note  This bit represent the CAN_FFA1R register bit associated to this

-   *        filter, must be set to zero in this version of the driver.

+   * @brief   Filter mode.

+   * @note    This bit represent the CAN_FFA1R register bit associated to this

+   *          filter, must be set to zero in this version of the driver.

    */

   uint32_t                  assignment:1;

   /**

-   * @brief Filter register 1 (identifier).

+   * @brief   Filter register 1 (identifier).

    */

   uint32_t                  register1;

   /**

-   * @brief Filter register 2 (mask/identifier depending on mode=0/1).

+   * @brief   Filter register 2 (mask/identifier depending on mode=0/1).

    */

   uint32_t                  register2;

 } CANFilter;

@@ -205,29 +228,17 @@ typedef struct {
  */

 typedef struct {

   /**

-   * @brief CAN MCR register initialization data.

-   * @note  Some bits in this register are enforced by the driver regardless

-   *        their status in this field.

+   * @brief   CAN MCR register initialization data.

+   * @note    Some bits in this register are enforced by the driver regardless

+   *          their status in this field.

    */

   uint32_t                  mcr;

   /**

-   * @brief CAN BTR register initialization data.

-   * @note  Some bits in this register are enforced by the driver regardless

-   *        their status in this field.

+   * @brief   CAN BTR register initialization data.

+   * @note    Some bits in this register are enforced by the driver regardless

+   *          their status in this field.

    */

   uint32_t                  btr;

-  /**

-   * @brief Number of elements into the filters array.

-   * @note  By setting this field to zero a default filter is enabled that

-   *        allows all frames, this should be adequate  for simple applications.

-   */

-  uint32_t                  num;

-  /**

-   * @brief Pointer to an array of @p CANFilter structures.

-   * @note  This field can be set to @p NULL if the field @p num is set to

-   *        zero.

-   */

-  const CANFilter           *filters;

 } CANConfig;

 

 /**

@@ -235,52 +246,53 @@ typedef struct {
  */

 typedef struct {

   /**

-   * @brief Driver state.

+   * @brief   Driver state.

    */

   canstate_t                state;

   /**

-   * @brief Current configuration data.

+   * @brief   Current configuration data.

    */

   const CANConfig           *config;

   /**

-   * @brief Transmission queue semaphore.

+   * @brief   Transmission queue semaphore.

    */

   Semaphore                 txsem;

   /**

-   * @brief Receive queue semaphore.

+   * @brief   Receive queue semaphore.

    */

   Semaphore                 rxsem;

   /**

-   * @brief One or more frames become available.

-   * @note  After broadcasting this event it will not be broadcasted again

-   *        until the received frames queue has been completely emptied. It

-   *        is <b>not</b> broadcasted for each received frame. It is

-   *        responsibility of the application to empty the queue by repeatedly

-   *        invoking @p chReceive() when listening to this event. This behavior

-   *        minimizes the interrupt served by the system because CAN traffic.

+   * @brief   One or more frames become available.

+   * @note    After broadcasting this event it will not be broadcasted again

+   *          until the received frames queue has been completely emptied. It

+   *          is <b>not</b> broadcasted for each received frame. It is

+   *          responsibility of the application to empty the queue by

+   *          repeatedly invoking @p chReceive() when listening to this event.

+   *          This behavior minimizes the interrupt served by the system

+   *          because CAN traffic.

    */

   EventSource               rxfull_event;

   /**

-   * @brief One or more transmission slots become available.

+   * @brief   One or more transmission slots become available.

    */

   EventSource               txempty_event;

   /**

-   * @brief A CAN bus error happened.

+   * @brief   A CAN bus error happened.

    */

   EventSource               error_event;

 #if CAN_USE_SLEEP_MODE || defined (__DOXYGEN__)

   /**

-   * @brief Entering sleep state event.

+   * @brief   Entering sleep state event.

    */

   EventSource               sleep_event;

   /**

-   * @brief Exiting sleep state event.

+   * @brief   Exiting sleep state event.

    */

   EventSource               wakeup_event;

 #endif /* CAN_USE_SLEEP_MODE */

   /* End of the mandatory fields.*/

   /**

-   * @brief Pointer to the CAN registers.

+   * @brief   Pointer to the CAN registers.

    */

   CAN_TypeDef               *can;

 } CANDriver;

@@ -297,6 +309,10 @@ typedef struct {
 extern CANDriver CAND1;

 #endif

 

+#if STM32_CAN_USE_CAN2 && !defined(__DOXYGEN__)

+extern CANDriver CAND2;

+#endif

+

 #ifdef __cplusplus

 extern "C" {

 #endif