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

1 files changed, 44 insertions, 27 deletions

diff --git a/os/hal/src/can.c b/os/hal/src/can.c
index 387581d8c..698bcfbc4 100644
--- a/os/hal/src/can.c
+++ b/os/hal/src/can.c
@@ -44,15 +44,15 @@ void canInit(void) {
  */

 void canObjectInit(CANDriver *canp) {

 

-  canp->can_state    = CAN_STOP;

-  canp->can_config   = NULL;

-  chSemInit(&canp->can_txsem, 0);

-  chSemInit(&canp->can_rxsem, 0);

-  chEvtInit(&canp->can_rxfull_event);

-  chEvtInit(&canp->can_txempty_event);

+  canp->cd_state    = CAN_STOP;

+  canp->cd_config   = NULL;

+  chSemInit(&canp->cd_txsem, 0);

+  chSemInit(&canp->cd_rxsem, 0);

+  chEvtInit(&canp->cd_rxfull_event);

+  chEvtInit(&canp->cd_txempty_event);

 #if CAN_USE_SLEEP_MODE

-  chEvtInit(&canp->can_sleep_event);

-  chEvtInit(&canp->can_wakeup_event);

+  chEvtInit(&canp->cd_sleep_event);

+  chEvtInit(&canp->cd_wakeup_event);

 #endif /* CAN_USE_SLEEP_MODE */

 }

 

@@ -67,12 +67,12 @@ void canStart(CANDriver *canp, const CANConfig *config) {
   chDbgCheck((canp != NULL) && (config != NULL), "canStart");

 

   chSysLock();

-  chDbgAssert((canp->can_state == CAN_STOP) || (canp->can_state == CAN_READY),

+  chDbgAssert((canp->cd_state == CAN_STOP) || (canp->cd_state == CAN_READY),

               "canStart(), #1",

               "invalid state");

-  canp->can_config = config;

+  canp->cd_config = config;

   can_lld_start(canp);

-  canp->can_state = CAN_READY;

+  canp->cd_state = CAN_READY;

   chSysUnlock();

 }

 

@@ -86,11 +86,11 @@ void canStop(CANDriver *canp) {
   chDbgCheck(canp != NULL, "canStop");

 

   chSysLock();

-  chDbgAssert((canp->can_state == CAN_STOP) || (canp->can_state == CAN_READY),

+  chDbgAssert((canp->cd_state == CAN_STOP) || (canp->cd_state == CAN_READY),

               "canStop(), #1",

               "invalid state");

   can_lld_stop(canp);

-  canp->can_state = CAN_STOP;

+  canp->cd_state = CAN_STOP;

   chSysUnlock();

 }

 

@@ -118,11 +118,11 @@ msg_t canTransmit(CANDriver *canp, const CANFrame *cfp, systime_t timeout) {
   chDbgCheck((canp != NULL) && (cfp != NULL), "canTransmit");

 

   chSysLock();

-  chDbgAssert((canp->can_state == CAN_READY) || (canp->can_state == CAN_SLEEP),

+  chDbgAssert((canp->cd_state == CAN_READY) || (canp->cd_state == CAN_SLEEP),

               "canTransmit(), #1",

               "invalid state");

-  if ((canp->can_state == CAN_SLEEP) || !can_lld_can_transmit(canp)) {

-    msg = chSemWaitTimeoutS(&canp->can_txsem, timeout);

+  if ((canp->cd_state == CAN_SLEEP) || !can_lld_can_transmit(canp)) {

+    msg = chSemWaitTimeoutS(&canp->cd_txsem, timeout);

     if (msg != RDY_OK) {

       chSysUnlock();

       return msg;

@@ -156,11 +156,11 @@ msg_t canReceive(CANDriver *canp, CANFrame *cfp, systime_t timeout) {
   chDbgCheck((canp != NULL) && (cfp != NULL), "canReceive");

 

   chSysLock();

-  chDbgAssert((canp->can_state == CAN_READY) || (canp->can_state == CAN_SLEEP),

+  chDbgAssert((canp->cd_state == CAN_READY) || (canp->cd_state == CAN_SLEEP),

               "canReceive(), #1",

               "invalid state");

-  if ((canp->can_state == CAN_SLEEP) || !can_lld_can_receive(canp)) {

-    msg = chSemWaitTimeoutS(&canp->can_rxsem, timeout);

+  if ((canp->cd_state == CAN_SLEEP) || !can_lld_can_receive(canp)) {

+    msg = chSemWaitTimeoutS(&canp->cd_rxsem, timeout);

     if (msg != RDY_OK) {

       chSysUnlock();

       return msg;

@@ -171,6 +171,23 @@ msg_t canReceive(CANDriver *canp, CANFrame *cfp, systime_t timeout) {
   return msg;

 }

 

+/**

+ * @brief Returns the current status mask and clears it.
+ *

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

+ *

+ * @return The status flags mask.

+ */

+canstatus_t canGetAndClearFlags(CANDriver *canp) {

+  canstatus_t status;

+

+  chSysLock();

+  status = canp->cd_status;

+  canp->cd_status = 0;

+  chSysUnlock();

+  return status;

+}

+

 #if CAN_USE_SLEEP_MODE || defined(__DOXYGEN__)

 /**

  * @brief Enters the sleep mode.
@@ -182,13 +199,13 @@ void canSleep(CANDriver *canp) {
   chDbgCheck(canp != NULL, "canSleep");

 

   chSysLock();

-  chDbgAssert((canp->can_state == CAN_READY) || (canp->can_state == CAN_SLEEP),

+  chDbgAssert((canp->cd_state == CAN_READY) || (canp->cd_state == CAN_SLEEP),

               "canSleep(), #1",

               "invalid state");

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

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

     can_lld_sleep(canp);

-    canp->can_state = CAN_SLEEP;

-    chEvtBroadcastI(&canp->can_sleep_event);

+    canp->cd_state = CAN_SLEEP;

+    chEvtBroadcastI(&canp->cd_sleep_event);

     chSchRescheduleS();

   }

   chSysUnlock();

@@ -206,13 +223,13 @@ void canWakeup(CANDriver *canp) {
   chDbgCheck(canp != NULL, "canWakeup");

 

   chSysLock();

-  chDbgAssert((canp->can_state == CAN_READY) || (canp->can_state == CAN_SLEEP),

+  chDbgAssert((canp->cd_state == CAN_READY) || (canp->cd_state == CAN_SLEEP),

               "canWakeup(), #1",

               "invalid state");

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

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

     can_lld_wakeup(canp);

-    canp->can_state = CAN_READY;

-    chEvtBroadcastI(&canp->can_wakeup_event);

+    canp->cd_state = CAN_READY;

+    chEvtBroadcastI(&canp->cd_wakeup_event);

     chSchRescheduleS();

   }

   chSysUnlock();