CAN driver revision, work in progress.

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

2 files changed, 113 insertions, 37 deletions

diff --git a/os/hal/platforms/STM32/can_lld.c b/os/hal/platforms/STM32/can_lld.c
index 6c12cc145..785ca3482 100644
--- a/os/hal/platforms/STM32/can_lld.c
+++ b/os/hal/platforms/STM32/can_lld.c
@@ -467,16 +467,28 @@ void can_lld_stop(CANDriver *canp) {
  * @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_TX_MAILBOX for any mailbox

  *

- * @return The queue space availability.

+ * @return              The queue space availability.

  * @retval FALSE        no space in the transmit queue.

  * @retval TRUE         transmit slot available.

  *

  * @notapi

  */

-bool_t can_lld_can_transmit(CANDriver *canp) {

-

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

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

+

+  switch (mailbox) {

+  case CAN_ANY_TX_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;

+  }

 }

 

 /**

@@ -484,15 +496,29 @@ bool_t can_lld_can_transmit(CANDriver *canp) {
  *

  * @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_TX_MAILBOX for any mailbox

  *

  * @notapi

  */

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

+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.*/

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

+  switch (mailbox) {

+  case CAN_ANY_TX_MAILBOX:

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

+  case 1:

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

+  case 2:

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

+  case 3:

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

+  default:

+    return;

+  }

 

   /* Preparing the message.*/

   if (ctfp->IDE)

@@ -510,16 +536,18 @@ void can_lld_transmit(CANDriver *canp, const CANTxFrame *ctfp) {
  * @brief   Determines whether a frame has been received.

  *

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

+ * @param[in] mailbox   mailbox number

  *

- * @return The queue space availability.

+ * @return              The queue space availability.

  * @retval FALSE        no space in the transmit queue.

  * @retval TRUE         transmit slot available.

  *

  * @notapi

  */

-bool_t can_lld_can_receive(CANDriver *canp) {

+bool_t can_lld_is_rx_nonempty(CANDriver *canp, canmbx_t mailbox) {

 

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

+  return mailbox == 0 ? (canp->can->RF0R & CAN_RF0R_FMP0) > 0 :

+                        (canp->can->RF1R & CAN_RF1R_FMP1) > 0;

 }

 

 /**

@@ -527,34 +555,54 @@ bool_t can_lld_can_receive(CANDriver *canp) {
  *

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

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

+ * @param[in] mailbox   mailbox number

  *

  * @notapi

  */

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

-  uint32_t r;

-

-  /* Fetches the message.*/

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

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

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

+void can_lld_receive(CANDriver *canp,

+                     canmbx_t mailbox,

+                     CANRxFrame *crfp) {

+  uint32_t rir, rdtr;

+

+  if (mailbox == 0) {

+    /* 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;

+  }

+  else {

+    /* 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;

+  }

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

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

   if (crfp->IDE)

-    crfp->EID = r >> 3;

+    crfp->EID = rir >> 3;

   else

-    crfp->SID = r >> 21;

-  r = canp->can->sFIFOMailBox[0].RDTR;

-  crfp->DLC = r & CAN_RDT0R_DLC;

-  crfp->FMI = (uint8_t)(r >> 8);

-  crfp->TIME = (uint16_t)(r >> 16);

-  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;

+    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__)

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);