Added callbacks capability to the CAN driver.

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@11213 35acf78f-673a-0410-8e92-d51de3d6d3f4

1 files changed, 33 insertions, 73 deletions

diff --git a/os/hal/ports/STM32/LLD/CANv1/hal_can_lld.c b/os/hal/ports/STM32/LLD/CANv1/hal_can_lld.c
index d0a25fb77..064e4d3b0 100644
--- a/os/hal/ports/STM32/LLD/CANv1/hal_can_lld.c
+++ b/os/hal/ports/STM32/LLD/CANv1/hal_can_lld.c
@@ -236,10 +236,7 @@ static void can_lld_tx_handler(CANDriver *canp) {
   }

 

   /* Signaling flags and waking up threads waiting for a transmission slot.*/

-  osalSysLockFromISR();

-  osalThreadDequeueAllI(&canp->txqueue, MSG_OK);

-  osalEventBroadcastFlagsI(&canp->txempty_event, flags);

-  osalSysUnlockFromISR();

+  _can_tx_empty_isr(canp, flags);

 }

 

 /**

@@ -256,17 +253,12 @@ static void can_lld_rx0_handler(CANDriver *canp) {
   if ((rf0r & CAN_RF0R_FMP0) > 0) {

     /* No more receive events until the queue 0 has been emptied.*/

     canp->can->IER &= ~CAN_IER_FMPIE0;

-    osalSysLockFromISR();

-    osalThreadDequeueAllI(&canp->rxqueue, MSG_OK);

-    osalEventBroadcastFlagsI(&canp->rxfull_event, CAN_MAILBOX_TO_MASK(1U));

-    osalSysUnlockFromISR();

+    _can_rx_full_isr(canp, CAN_MAILBOX_TO_MASK(1U));

   }

   if ((rf0r & CAN_RF0R_FOVR0) > 0) {

     /* Overflow events handling.*/

     canp->can->RF0R = CAN_RF0R_FOVR0;

-    osalSysLockFromISR();

-    osalEventBroadcastFlagsI(&canp->error_event, CAN_OVERFLOW_ERROR);

-    osalSysUnlockFromISR();

+    _can_error_isr(canp, CAN_OVERFLOW_ERROR);

   }

 }

 

@@ -284,17 +276,12 @@ static void can_lld_rx1_handler(CANDriver *canp) {
   if ((rf1r & CAN_RF1R_FMP1) > 0) {

     /* No more receive events until the queue 0 has been emptied.*/

     canp->can->IER &= ~CAN_IER_FMPIE1;

-    osalSysLockFromISR();

-    osalThreadDequeueAllI(&canp->rxqueue, MSG_OK);

-    osalEventBroadcastFlagsI(&canp->rxfull_event, CAN_MAILBOX_TO_MASK(2U));

-    osalSysUnlockFromISR();

+    _can_rx_full_isr(canp, CAN_MAILBOX_TO_MASK(2U));

   }

   if ((rf1r & CAN_RF1R_FOVR1) > 0) {

     /* Overflow events handling.*/

     canp->can->RF1R = CAN_RF1R_FOVR1;

-    osalSysLockFromISR();

-    osalEventBroadcastFlagsI(&canp->error_event, CAN_OVERFLOW_ERROR);

-    osalSysUnlockFromISR();

+    _can_error_isr(canp, CAN_OVERFLOW_ERROR);

   }

 }

 

@@ -317,9 +304,7 @@ static void can_lld_sce_handler(CANDriver *canp) {
   if (msr & CAN_MSR_WKUI) {

     canp->state = CAN_READY;

     canp->can->MCR &= ~CAN_MCR_SLEEP;

-    osalSysLockFromISR();

-    osalEventBroadcastFlagsI(&canp->wakeup_event, 0);

-    osalSysUnlockFromISR();

+    _can_wakeup_isr(canp);

   }

 #endif /* CAN_USE_SLEEP_MODE */

   /* Error event.*/

@@ -335,12 +320,9 @@ static void can_lld_sce_handler(CANDriver *canp) {
     flags = 0;

 #endif

 

-    osalSysLockFromISR();

     /* The content of the ESR register is copied unchanged in the upper

        half word of the listener flags mask.*/

-    osalEventBroadcastFlagsI(&canp->error_event,

-                             flags | (eventflags_t)(esr << 16U));

-    osalSysUnlockFromISR();

+    _can_error_isr(canp, flags | (eventflags_t)(esr << 16U));

   }

 }

 

@@ -636,16 +618,42 @@ void can_lld_init(void) {
   /* Driver initialization.*/

   canObjectInit(&CAND1);

   CAND1.can = CAN1;

+#if defined(STM32_CAN1_UNIFIED_NUMBER)

+    nvicEnableVector(STM32_CAN1_UNIFIED_NUMBER, STM32_CAN_CAN1_IRQ_PRIORITY);

+#else

+    nvicEnableVector(STM32_CAN1_TX_NUMBER, STM32_CAN_CAN1_IRQ_PRIORITY);

+    nvicEnableVector(STM32_CAN1_RX0_NUMBER, STM32_CAN_CAN1_IRQ_PRIORITY);

+    nvicEnableVector(STM32_CAN1_RX1_NUMBER, STM32_CAN_CAN1_IRQ_PRIORITY);

+    nvicEnableVector(STM32_CAN1_SCE_NUMBER, STM32_CAN_CAN1_IRQ_PRIORITY);

+#endif

 #endif

+

 #if STM32_CAN_USE_CAN2

   /* Driver initialization.*/

   canObjectInit(&CAND2);

   CAND2.can = CAN2;

+#if defined(STM32_CAN2_UNIFIED_NUMBER)

+    nvicEnableVector(STM32_CAN2_UNIFIED_NUMBER, STM32_CAN_CAN2_IRQ_PRIORITY);

+#else

+    nvicEnableVector(STM32_CAN2_TX_NUMBER, STM32_CAN_CAN2_IRQ_PRIORITY);

+    nvicEnableVector(STM32_CAN2_RX0_NUMBER, STM32_CAN_CAN2_IRQ_PRIORITY);

+    nvicEnableVector(STM32_CAN2_RX1_NUMBER, STM32_CAN_CAN2_IRQ_PRIORITY);

+    nvicEnableVector(STM32_CAN2_SCE_NUMBER, STM32_CAN_CAN2_IRQ_PRIORITY);

+#endif

 #endif

+

 #if STM32_CAN_USE_CAN3

   /* Driver initialization.*/

   canObjectInit(&CAND3);

   CAND3.can = CAN3;

+#if defined(STM32_CAN3_UNIFIED_NUMBER)

+    nvicEnableVector(STM32_CAN3_UNIFIED_NUMBER, STM32_CAN_CAN3_IRQ_PRIORITY);

+#else

+    nvicEnableVector(STM32_CAN3_TX_NUMBER, STM32_CAN_CAN3_IRQ_PRIORITY);

+    nvicEnableVector(STM32_CAN3_RX0_NUMBER, STM32_CAN_CAN3_IRQ_PRIORITY);

+    nvicEnableVector(STM32_CAN3_RX1_NUMBER, STM32_CAN_CAN3_IRQ_PRIORITY);

+    nvicEnableVector(STM32_CAN3_SCE_NUMBER, STM32_CAN_CAN3_IRQ_PRIORITY);

+#endif

 #endif

 

   /* Filters initialization.*/

@@ -674,14 +682,6 @@ void can_lld_start(CANDriver *canp) {
   /* Clock activation.*/

 #if STM32_CAN_USE_CAN1

   if (&CAND1 == canp) {

-#if defined(STM32_CAN1_UNIFIED_NUMBER)

-    nvicEnableVector(STM32_CAN1_UNIFIED_NUMBER, STM32_CAN_CAN1_IRQ_PRIORITY);

-#else

-    nvicEnableVector(STM32_CAN1_TX_NUMBER, STM32_CAN_CAN1_IRQ_PRIORITY);

-    nvicEnableVector(STM32_CAN1_RX0_NUMBER, STM32_CAN_CAN1_IRQ_PRIORITY);

-    nvicEnableVector(STM32_CAN1_RX1_NUMBER, STM32_CAN_CAN1_IRQ_PRIORITY);

-    nvicEnableVector(STM32_CAN1_SCE_NUMBER, STM32_CAN_CAN1_IRQ_PRIORITY);

-#endif

     rccEnableCAN1(FALSE);

   }

 #endif

@@ -691,28 +691,12 @@ void can_lld_start(CANDriver *canp) {
 

     osalDbgAssert(CAND1.state != CAN_STOP, "CAN1 must be started");

 

-#if defined(STM32_CAN2_UNIFIED_NUMBER)

-    nvicEnableVector(STM32_CAN2_UNIFIED_NUMBER, STM32_CAN_CAN2_IRQ_PRIORITY);

-#else

-    nvicEnableVector(STM32_CAN2_TX_NUMBER, STM32_CAN_CAN2_IRQ_PRIORITY);

-    nvicEnableVector(STM32_CAN2_RX0_NUMBER, STM32_CAN_CAN2_IRQ_PRIORITY);

-    nvicEnableVector(STM32_CAN2_RX1_NUMBER, STM32_CAN_CAN2_IRQ_PRIORITY);

-    nvicEnableVector(STM32_CAN2_SCE_NUMBER, STM32_CAN_CAN2_IRQ_PRIORITY);

-#endif

     rccEnableCAN2(FALSE);

   }

 #endif

 

 #if STM32_CAN_USE_CAN3

   if (&CAND3 == canp) {

-#if defined(STM32_CAN3_UNIFIED_NUMBER)

-    nvicEnableVector(STM32_CAN3_UNIFIED_NUMBER, STM32_CAN_CAN3_IRQ_PRIORITY);

-#else

-    nvicEnableVector(STM32_CAN3_TX_NUMBER, STM32_CAN_CAN3_IRQ_PRIORITY);

-    nvicEnableVector(STM32_CAN3_RX0_NUMBER, STM32_CAN_CAN3_IRQ_PRIORITY);

-    nvicEnableVector(STM32_CAN3_RX1_NUMBER, STM32_CAN_CAN3_IRQ_PRIORITY);

-    nvicEnableVector(STM32_CAN3_SCE_NUMBER, STM32_CAN_CAN3_IRQ_PRIORITY);

-#endif

     rccEnableCAN3(FALSE);

   }

 #endif

@@ -758,14 +742,6 @@ void can_lld_stop(CANDriver *canp) {
 

       CAN1->MCR = 0x00010002;                   /* Register reset value.    */

       CAN1->IER = 0x00000000;                   /* All sources disabled.    */

-#if defined(STM32_CAN1_UNIFIED_NUMBER)

-      nvicDisableVector(STM32_CAN1_UNIFIED_NUMBER);

-#else

-      nvicDisableVector(STM32_CAN1_TX_NUMBER);

-      nvicDisableVector(STM32_CAN1_RX0_NUMBER);

-      nvicDisableVector(STM32_CAN1_RX1_NUMBER);

-      nvicDisableVector(STM32_CAN1_SCE_NUMBER);

-#endif

       rccDisableCAN1(FALSE);

     }

 #endif

@@ -774,14 +750,6 @@ void can_lld_stop(CANDriver *canp) {
     if (&CAND2 == canp) {

       CAN2->MCR = 0x00010002;                   /* Register reset value.    */

       CAN2->IER = 0x00000000;                   /* All sources disabled.    */

-#if defined(STM32_CAN2_UNIFIED_NUMBER)

-      nvicDisableVector(STM32_CAN2_UNIFIED_NUMBER);

-#else

-      nvicDisableVector(STM32_CAN2_TX_NUMBER);

-      nvicDisableVector(STM32_CAN2_RX0_NUMBER);

-      nvicDisableVector(STM32_CAN2_RX1_NUMBER);

-      nvicDisableVector(STM32_CAN2_SCE_NUMBER);

-#endif

       rccDisableCAN2(FALSE);

     }

 #endif

@@ -790,14 +758,6 @@ void can_lld_stop(CANDriver *canp) {
     if (&CAND3 == canp) {

       CAN3->MCR = 0x00010002;                   /* Register reset value.    */

       CAN3->IER = 0x00000000;                   /* All sources disabled.    */

-#if defined(STM32_CAN3_UNIFIED_NUMBER)

-      nvicDisableVector(STM32_CAN3_UNIFIED_NUMBER);

-#else

-      nvicDisableVector(STM32_CAN3_TX_NUMBER);

-      nvicDisableVector(STM32_CAN3_RX0_NUMBER);

-      nvicDisableVector(STM32_CAN3_RX1_NUMBER);

-      nvicDisableVector(STM32_CAN3_SCE_NUMBER);

-#endif

       rccDisableCAN3(FALSE);

     }

 #endif