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, 15 insertions, 2 deletions

diff --git a/os/hal/src/hal_can.c b/os/hal/src/hal_can.c
index 122e5eb76..6d174f7b6 100644
--- a/os/hal/src/hal_can.c
+++ b/os/hal/src/hal_can.c
@@ -67,10 +67,11 @@ void canInit(void) {
  */

 void canObjectInit(CANDriver *canp) {

 

-  canp->state    = CAN_STOP;

-  canp->config   = NULL;

+  canp->state       = CAN_STOP;

+  canp->config      = NULL;

   osalThreadQueueObjectInit(&canp->txqueue);

   osalThreadQueueObjectInit(&canp->rxqueue);

+#if !defined(CAN_ENFORCE_USE_CALLBACKS)

   osalEventObjectInit(&canp->rxfull_event);

   osalEventObjectInit(&canp->txempty_event);

   osalEventObjectInit(&canp->error_event);

@@ -78,6 +79,14 @@ void canObjectInit(CANDriver *canp) {
   osalEventObjectInit(&canp->sleep_event);

   osalEventObjectInit(&canp->wakeup_event);

 #endif

+#else /* defined(CAN_ENFORCE_USE_CALLBACKS) */

+  canp->rxfull_cb   = NULL;

+  canp->txempty_cb  = NULL;

+  canp->error_cb    = NULL;

+#if CAN_USE_SLEEP_MODE == TRUE

+  canp->wakeup_cb   = NULL;

+#endif

+#endif /* defined(CAN_ENFORCE_USE_CALLBACKS) */

 }

 

 /**

@@ -327,8 +336,10 @@ void canSleep(CANDriver *canp) {
   if (canp->state == CAN_READY) {

     can_lld_sleep(canp);

     canp->state = CAN_SLEEP;

+#if !defined(CAN_ENFORCE_USE_CALLBACKS)

     osalEventBroadcastFlagsI(&canp->sleep_event, (eventflags_t)0);

     osalOsRescheduleS();

+#endif

   }

   osalSysUnlock();

 }

@@ -350,8 +361,10 @@ void canWakeup(CANDriver *canp) {
   if (canp->state == CAN_SLEEP) {

     can_lld_wakeup(canp);

     canp->state = CAN_READY;

+#if !defined(CAN_ENFORCE_USE_CALLBACKS)

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

     osalOsRescheduleS();

+#endif

   }

   osalSysUnlock();

 }