git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@1368 35acf78f-673a-0410-8e92-d51de3d6d3f4

4 files changed, 117 insertions, 13 deletions

diff --git a/os/hal/platforms/STM32/adc_lld.c b/os/hal/platforms/STM32/adc_lld.c
index e90448fa3..1213484e2 100644
--- a/os/hal/platforms/STM32/adc_lld.c
+++ b/os/hal/platforms/STM32/adc_lld.c
@@ -33,8 +33,8 @@
 /* Low Level Driver exported variables.                                      */

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

 

-#if USE_STM32_ADC1 || defined(__DOXYGEN__)

 /** @brief ADC1 driver identifier.*/

+#if USE_STM32_ADC1 || defined(__DOXYGEN__)

 ADCDriver ADCD1;

 #endif

 

diff --git a/os/hal/platforms/STM32/adc_lld.h b/os/hal/platforms/STM32/adc_lld.h
index 2b254d7af..f9950afd5 100644
--- a/os/hal/platforms/STM32/adc_lld.h
+++ b/os/hal/platforms/STM32/adc_lld.h
@@ -251,7 +251,7 @@ typedef struct {
 

 /** @cond never*/

 #if USE_STM32_ADC1

-ADCDriver ADCD1;

+extern ADCDriver ADCD1;

 #endif

 

 #ifdef __cplusplus

diff --git a/os/hal/platforms/STM32/can_lld.c b/os/hal/platforms/STM32/can_lld.c
index 91831cff1..30d270a37 100644
--- a/os/hal/platforms/STM32/can_lld.c
+++ b/os/hal/platforms/STM32/can_lld.c
@@ -33,6 +33,11 @@
 /* Low Level Driver exported variables.                                      */

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

 

+/** @brief ADC1 driver identifier.*/

+#if USE_STM32_CAN1 || defined(__DOXYGEN__)

+CANDriver CAND1;

+#endif

+

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

 /* Low Level Driver local variables.                                         */

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

@@ -45,6 +50,62 @@
 /* Low Level Driver interrupt handlers.                                      */

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

 

+/*

+ * CAN1 TX interrupt handler.

+ */

+CH_IRQ_HANDLER(Vector8C) {

+

+  CH_IRQ_PROLOGUE();

+

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

+  CAN1->IER &= ~CAN_IER_TMEIE;

+  chEvtBroadcastI(&CAND1.cd_txempty_event);

+

+  CH_IRQ_EPILOGUE();

+}

+

+/*

+ * CAN1 RX0 interrupt handler.

+ */

+CH_IRQ_HANDLER(Vector90) {

+

+  CH_IRQ_PROLOGUE();

+

+  /* No more events until the incoming messages queues are emptied.*/

+  CAN1->IER &= ~(CAN_IER_FMPIE0 | CAN_IER_FMPIE1);

+  chEvtBroadcastI(&CAND1.cd_rxfull_event);

+

+  CH_IRQ_EPILOGUE();

+}

+

+/*

+ * CAN1 RX1 interrupt handler.

+ */

+CH_IRQ_HANDLER(Vector94) {

+

+  CH_IRQ_PROLOGUE();

+

+  /* No more events until the incoming messages queues are emptied.*/

+  CAN1->IER &= ~(CAN_IER_FMPIE0 | CAN_IER_FMPIE1);

+  chEvtBroadcastI(&CAND1.cd_rxfull_event);

+

+  CH_IRQ_EPILOGUE();

+}

+

+/*

+ * CAN1 SCE interrupt handler.

+ */

+CH_IRQ_HANDLER(Vector98) {

+

+  CH_IRQ_PROLOGUE();

+

+  canAddFlagsI(&CAND1, 1);

+  chEvtBroadcastI(&CAND1.cd_error_event);

+  CAN1->MSR = CAN_MSR_ERRI;

+

+  CH_IRQ_EPILOGUE();

+}

+

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

 /* Low Level Driver exported functions.                                      */

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

@@ -63,7 +124,7 @@ void can_lld_init(void) {
  */

 void can_lld_start(CANDriver *canp) {

 

-  if (canp->can_state == CAN_STOP) {

+  if (canp->cd_state == CAN_STOP) {

     /* Clock activation.*/

   }

   /* Configuration.*/

diff --git a/os/hal/platforms/STM32/can_lld.h b/os/hal/platforms/STM32/can_lld.h
index 6b7cf3b6c..a02ce15fc 100644
--- a/os/hal/platforms/STM32/can_lld.h
+++ b/os/hal/platforms/STM32/can_lld.h
@@ -40,6 +40,15 @@
 /*===========================================================================*/

 

 /**

+ * @brief ADC1 driver enable switch.

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

+ * @note The default is @p TRUE.

+ */

+#if !defined(USE_STM32_CAN1) || defined(__DOXYGEN__)

+#define USE_STM32_CAN1              TRUE

+#endif

+

+/**

  * @brief Sleep mode related APIs inclusion switch.

  * @note This switch is enforced to @p FALSE if the driver implementation

  *       does not support the sleep mode.
@@ -61,6 +70,11 @@
 /*===========================================================================*/

 

 /**

+ * @brief CAN status flags.
+ */

+typedef uint32_t canstatus_t;

+

+/**

  * @brief CAN 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.
@@ -79,9 +93,20 @@ typedef struct {
 

 /**

  * @brief Driver configuration structure.

- * @note It could be empty on some architectures.

  */

 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.

+   */

+  uint32_t                  cc_mcr;

+  /**

+   * @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                  cc_btr;

 } CANConfig;

 

 /**

@@ -91,44 +116,61 @@ typedef struct {
   /**

    * @brief Driver state.

    */

-  canstate_t                can_state;

+  canstate_t                cd_state;

   /**

    * @brief Current configuration data.

    */

-  const CANConfig           *can_config;

+  const CANConfig           *cd_config;

   /**

    * @brief Transmission queue semaphore.
    */

-  Semaphore                 can_txsem;

+  Semaphore                 cd_txsem;

   /**

    * @brief Receive queue semaphore.

    */

-  Semaphore                 can_rxsem;

+  Semaphore                 cd_rxsem;

   /**

    * @brief One or more frames become available.
    */

-  EventSource               can_rxfull_event;

+  EventSource               cd_rxfull_event;

+  /**

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

+   */

+  EventSource               cd_txempty_event;

+  /**

+   * @brief A CAN bus error happened.

+   */

+  EventSource               cd_error_event;

   /**

-   * @brief One or more transmission slots become available.
+   * @brief Error flags set when an error event is broadcasted.
    */

-  EventSource               can_txempty_event;

+  canstatus_t               cd_status;

 #if CAN_USE_SLEEP_MODE || defined (__DOXYGEN__)

   /**

    * @brief Entering sleep state event.
    */

-  EventSource               can_sleep_event;

+  EventSource               cd_sleep_event;

   /**

    * @brief Exiting sleep state event.
    */

-  EventSource               can_wakeup_event;

+  EventSource               cd_wakeup_event;

 #endif /* CAN_USE_SLEEP_MODE */

   /* End of the mandatory fields.*/

+  /**

+   * @brief Pointer to the CAN registers.
+   */

+  CAN_TypeDef               *cd_canp;

 } CANDriver;

 

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

 /* External declarations.                                                    */

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

 

+/** @cond never*/

+#if USE_STM32_CAN1

+extern CANDriver CAND1;

+#endif

+

 #ifdef __cplusplus

 extern "C" {

 #endif

@@ -146,6 +188,7 @@ extern "C" {
 #ifdef __cplusplus

 }

 #endif

+/** @endcond*/

 

 #endif /* CH_HAL_USE_CAN */