Added CAN transmission errors handling.

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@8613 35acf78f-673a-0410-8e92-d51de3d6d3f4

3 files changed, 58 insertions, 8 deletions

diff --git a/os/hal/ports/STM32/LLD/CANv1/can_lld.c b/os/hal/ports/STM32/LLD/CANv1/can_lld.c
index 7bca76d8e..485a08c79 100644
--- a/os/hal/ports/STM32/LLD/CANv1/can_lld.c
+++ b/os/hal/ports/STM32/LLD/CANv1/can_lld.c
@@ -142,12 +142,50 @@ static void can_lld_set_filters(uint32_t can2sb,
  * @notapi

  */

 static void can_lld_tx_handler(CANDriver *canp) {

+  uint32_t tsr;

+  eventflags_t flags;

 

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

-  canp->can->TSR = CAN_TSR_RQCP0 | CAN_TSR_RQCP1 | CAN_TSR_RQCP2;

+  /* Clearing IRQ sources.*/

+  tsr = canp->can->TSR;

+  canp->can->TSR = tsr;

+

+  /* Flags to be signaled through the TX event source.*/

+  flags = 0U;

+

+  /* Checking mailbox 0.*/

+  if ((tsr & CAN_TSR_RQCP0) != 0U) {

+    if ((tsr & (CAN_TSR_ALST0 | CAN_TSR_TERR0)) != 0U) {

+      flags |= CAN_MAILBOX_TO_MASK(1U) << 16U;

+    }

+    else {

+      flags |= CAN_MAILBOX_TO_MASK(1U);

+    }

+  }

+

+  /* Checking mailbox 1.*/

+  if ((tsr & CAN_TSR_RQCP1) != 0U) {

+    if ((tsr & (CAN_TSR_ALST1 | CAN_TSR_TERR1)) != 0U) {

+      flags |= CAN_MAILBOX_TO_MASK(2U) << 16U;

+    }

+    else {

+      flags |= CAN_MAILBOX_TO_MASK(2U);

+    }

+  }

+

+  /* Checking mailbox 2.*/

+  if ((tsr & CAN_TSR_RQCP2) != 0U) {

+    if ((tsr & (CAN_TSR_ALST2 | CAN_TSR_TERR2)) != 0U) {

+      flags |= CAN_MAILBOX_TO_MASK(3U) << 16U;

+    }

+    else {

+      flags |= CAN_MAILBOX_TO_MASK(3U);

+    }

+  }

+

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

   osalSysLockFromISR();

   osalThreadDequeueAllI(&canp->txqueue, MSG_OK);

-  osalEventBroadcastFlagsI(&canp->txempty_event, CAN_MAILBOX_TO_MASK(1));

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

   osalSysUnlockFromISR();

 }

 

@@ -167,7 +205,7 @@ static void can_lld_rx0_handler(CANDriver *canp) {
     canp->can->IER &= ~CAN_IER_FMPIE0;

     osalSysLockFromISR();

     osalThreadDequeueAllI(&canp->rxqueue, MSG_OK);

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

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

     osalSysUnlockFromISR();

   }

   if ((rf0r & CAN_RF0R_FOVR0) > 0) {

@@ -195,7 +233,7 @@ static void can_lld_rx1_handler(CANDriver *canp) {
     canp->can->IER &= ~CAN_IER_FMPIE1;

     osalSysLockFromISR();

     osalThreadDequeueAllI(&canp->rxqueue, MSG_OK);

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

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

     osalSysUnlockFromISR();

   }

   if ((rf1r & CAN_RF1R_FOVR1) > 0) {

diff --git a/os/hal/ports/STM32/LLD/CANv1/can_lld.h b/os/hal/ports/STM32/LLD/CANv1/can_lld.h
index 6297449c6..4a288cf3e 100644
--- a/os/hal/ports/STM32/LLD/CANv1/can_lld.h
+++ b/os/hal/ports/STM32/LLD/CANv1/can_lld.h
@@ -282,7 +282,7 @@ typedef struct {
    *          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.

+   *          repeatedly invoking @p canReceive() 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

@@ -293,13 +293,17 @@ typedef struct {
    * @brief   One or more transmission mailbox become available.

    * @note    The flags associated to the listeners will indicate which

    *          transmit mailboxes become empty.

+   * @note    The upper 16 bits are transmission error flags associated

+   *          to the transmit mailboxes.

    *

    */

   event_source_t            txempty_event;

   /**

    * @brief   A CAN bus error happened.

-   * @note    The flags associated to the listeners will indicate the

-   *          error(s) that have occurred.

+   * @note    The flags associated to the listeners will indicate that

+   *          receive error(s) have occurred.

+   * @note    In this implementation the upper 16 bits are filled with the

+   *          unprocessed content of the ESR register.

    */

   event_source_t            error_event;

 #if CAN_USE_SLEEP_MODE || defined (__DOXYGEN__)

diff --git a/os/hal/ports/STM32/STM32L4xx/stm32_registry.h b/os/hal/ports/STM32/STM32L4xx/stm32_registry.h
index 4c684760d..95bb46a10 100644
--- a/os/hal/ports/STM32/STM32L4xx/stm32_registry.h
+++ b/os/hal/ports/STM32/STM32L4xx/stm32_registry.h
@@ -61,6 +61,14 @@
 #define STM32_HAS_CAN1                      TRUE

 #define STM32_HAS_CAN2                      FALSE

 #define STM32_CAN_MAX_FILTERS               14

+#define STM32_CAN1_TX_HANDLER               Vector8C

+#define STM32_CAN1_RX0_HANDLER              Vector90

+#define STM32_CAN1_RX1_HANDLER              Vector94

+#define STM32_CAN1_SCE_HANDLER              Vector98

+#define STM32_CAN1_TX_NUMBER                19

+#define STM32_CAN1_RX0_NUMBER               20

+#define STM32_CAN1_RX1_NUMBER               21

+#define STM32_CAN1_SCE_NUMBER               22

 

 /* DAC attributes.*/

 #define STM32_HAS_DAC1_CH1                  TRUE