git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@5309 35acf78f-673a-0410-8e92-d51de3d6d3f4

5 files changed, 175 insertions, 60 deletions

diff --git a/os/hal/templates/can_lld.c b/os/hal/templates/can_lld.c
index 152c14489..1496ea172 100644
--- a/os/hal/templates/can_lld.c
+++ b/os/hal/templates/can_lld.c
@@ -39,6 +39,11 @@
 /* Driver exported variables.                                                */

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

 

+/** @brief CAN1 driver identifier.*/

+#if PLATFORM_CAN_USE_CAN1 || defined(__DOXYGEN__)

+CANDriver CAND1;

+#endif

+

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

 /* Driver local variables.                                                   */

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

@@ -62,6 +67,10 @@
  */

 void can_lld_init(void) {

 

+#if PLATFORM_CAN_USE_CAN1

+  /* Driver initialization.*/

+  canObjectInit(&CAND1);

+#endif

 }

 

 /**

@@ -73,6 +82,14 @@ void can_lld_init(void) {
  */

 void can_lld_start(CANDriver *canp) {

 

+  /* Clock activation.*/

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

+#if PLATFORM_CAN_USE_CAN1

+    if (&CAND1 == canp) {

+

+    }

+#endif

+  }

 }

 

 /**

@@ -90,20 +107,32 @@ void can_lld_stop(CANDriver *canp) {
   }

 }

 

-

 /**

  * @brief   Determines whether a frame can be transmitted.

  *

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

+ * @param[in] mailbox   mailbox number, @p CAN_ANY_MAILBOX for any mailbox

+ *

  * @return              The queue space availability.

  * @retval FALSE        no space in the transmit queue.

  * @retval TRUE         transmit slot available.

  *

  * @notapi

  */

-bool_t can_lld_can_transmit(CANDriver *canp) {

-

-  return FALSE;

+bool_t can_lld_is_tx_empty(CANDriver *canp, canmbx_t mailbox) {

+

+  switch (mailbox) {

+  case CAN_ANY_MAILBOX:

+    return FALSE;

+  case 1:

+    return FALSE;

+  case 2:

+    return FALSE;

+  case 3:

+    return FALSE;

+  default:

+    return FALSE;

+  }

 }

 

 /**

@@ -111,10 +140,13 @@ bool_t can_lld_can_transmit(CANDriver *canp) {
  *

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

  * @param[in] ctfp      pointer to the CAN frame to be transmitted

+ * @param[in] mailbox   mailbox number,  @p CAN_ANY_MAILBOX for any mailbox

  *

  * @notapi

  */

-void can_lld_transmit(CANDriver *canp, const CANTxFrame *ctfp) {

+void can_lld_transmit(CANDriver *canp,

+                      canmbx_t mailbox,

+                      const CANTxFrame *ctfp) {

 

 }

 

@@ -122,26 +154,40 @@ void can_lld_transmit(CANDriver *canp, const CANTxFrame *ctfp) {
  * @brief   Determines whether a frame has been received.

  *

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

+ * @param[in] mailbox   mailbox number, @p CAN_ANY_MAILBOX for any mailbox

+ *

  * @return              The queue space availability.

  * @retval FALSE        no space in the transmit queue.

  * @retval TRUE         transmit slot available.

  *

  * @notapi

  */

-bool_t can_lld_can_receive(CANDriver *canp) {

-

-  return FALSE;

+bool_t can_lld_is_rx_nonempty(CANDriver *canp, canmbx_t mailbox) {

+

+  switch (mailbox) {

+  case CAN_ANY_MAILBOX:

+    return FALSE

+  case 1:

+    return FALSE

+  case 2:

+    return FALSE

+  default:

+    return FALSE;

+  }

 }

 

 /**

  * @brief   Receives a frame from the input queue.

  *

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

+ * @param[in] mailbox   mailbox number, @p CAN_ANY_MAILBOX for any mailbox

  * @param[out] crfp     pointer to the buffer where the CAN frame is copied

  *

  * @notapi

  */

-void can_lld_receive(CANDriver *canp, CANRxFrame *crfp) {

+void can_lld_receive(CANDriver *canp,

+                     canmbx_t mailbox,

+                     CANRxFrame *crfp) {

 

 }

 

diff --git a/os/hal/templates/can_lld.h b/os/hal/templates/can_lld.h
index 91a3ac4b9..c4bf67937 100644
--- a/os/hal/templates/can_lld.h
+++ b/os/hal/templates/can_lld.h
@@ -39,12 +39,34 @@
  * @brief   This switch defines whether the driver implementation supports

  *          a low power switch mode with automatic an wakeup feature.

  */

-#define CAN_SUPPORTS_SLEEP  TRUE

+#define CAN_SUPPORTS_SLEEP          TRUE

+

+/**

+ * @brief   This implementation supports three transmit mailboxes.

+ */

+#define CAN_TX_MAILBOXES            3

+

+/**

+ * @brief   This implementation supports two receive mailboxes.

+ */

+#define CAN_RX_MAILBOXES            2

 

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

 /* Driver pre-compile time settings.                                         */

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

 

+/**

+ * @name    Configuration options

+ * @{

+ */

+/**

+ * @brief   CAN1 driver enable switch.

+ * @details If set to @p TRUE the support for CAN1 is included.

+ */

+#if !defined(PLATFORM_CAN_USE_CAN1) || defined(__DOXYGEN__)

+#define PLATFORM_CAN_USE_CAN1             FALSE

+#endif

+

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

 /* Derived constants and error checks.                                       */

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

@@ -58,15 +80,14 @@
 /*===========================================================================*/

 

 /**

- * @brief   CAN status flags.

+ * @brief   Type of a transmission mailbox index.

  */

-typedef uint32_t canstatus_t;

+typedef uint32_t canmbx_t;

 

 /**

  * @brief   CAN transmission 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.

+ * @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.

  */

 typedef struct {

   struct {

@@ -91,9 +112,8 @@ typedef struct {
 

 /**

  * @brief   CAN received 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.

+ * @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.

  */

 typedef struct {

   struct {

@@ -123,6 +143,7 @@ typedef struct {
  * @note    It could not be present on some architectures.

  */

 typedef struct {

+  uint32_t                  dummy;

 } CANFilter;

 

 /**

@@ -132,59 +153,62 @@ typedef struct {
  * @note    It could be empty on some architectures.

  */

 typedef struct {

+  uint32_t                  dummy;

 } CANConfig;

 

 /**

  * @brief   Structure representing an CAN driver.

- * @note    Implementations may extend this structure to contain more,

- *          architecture dependent, fields.

  */

 typedef struct {

   /**

-   * @brief Driver state.

+   * @brief   Driver state.

    */

   canstate_t                state;

   /**

-   * @brief Current configuration data.

+   * @brief   Current configuration data.

    */

   const CANConfig           *config;

   /**

-   * @brief Transmission queue semaphore.

+   * @brief   Transmission queue semaphore.

    */

   Semaphore                 txsem;

   /**

-   * @brief Receive queue semaphore.

+   * @brief   Receive queue semaphore.

    */

   Semaphore                 rxsem;

   /**

-   * @brief One or more frames become available.

-   * @note  After broadcasting this event it will not be broadcasted again

-   *        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. This behavior

-   *        minimizes the interrupt served by the system because CAN traffic.

+   * @brief   One or more frames become available.

+   * @note    After broadcasting this event it will not be broadcasted again

+   *          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.

+   *          This behavior minimizes the interrupt served by the system

+   *          because CAN traffic.

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

+   *          receive mailboxes become non-empty.

    */

   EventSource               rxfull_event;

   /**

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

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

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

+   *          transmit mailboxes become empty.

+   *

    */

   EventSource               txempty_event;

   /**

-   * @brief A CAN bus error happened.

+   * @brief   A CAN bus error happened.

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

+   *          error(s) that have occurred.

    */

   EventSource               error_event;

-  /**

-   * @brief Error flags set when an error event is broadcasted.

-   */

-  canstatus_t               status;

 #if CAN_USE_SLEEP_MODE || defined (__DOXYGEN__)

   /**

-   * @brief Entering sleep state event.

+   * @brief   Entering sleep state event.

    */

   EventSource               sleep_event;

   /**

-   * @brief Exiting sleep state event.

+   * @brief   Exiting sleep state event.

    */

   EventSource               wakeup_event;

 #endif /* CAN_USE_SLEEP_MODE */

@@ -199,16 +223,26 @@ typedef struct {
 /* External declarations.                                                    */

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

 

+#if PLATFORM_CAN_USE_CAN1 && !defined(__DOXYGEN__)

+extern CANDriver CAND1;

+#endif

+

 #ifdef __cplusplus

 extern "C" {

 #endif

   void can_lld_init(void);

   void can_lld_start(CANDriver *canp);

   void can_lld_stop(CANDriver *canp);

-  bool_t can_lld_can_transmit(CANDriver *canp);

-  void can_lld_transmit(CANDriver *canp, const CANTxFrame *crfp);

-  bool_t can_lld_can_receive(CANDriver *canp);

-  void can_lld_receive(CANDriver *canp, CANRxFrame *ctfp);

+  bool_t can_lld_is_tx_empty(CANDriver *canp,

+                             canmbx_t mailbox);

+  void can_lld_transmit(CANDriver *canp,

+                        canmbx_t mailbox,

+                        const CANTxFrame *crfp);

+  bool_t can_lld_is_rx_nonempty(CANDriver *canp,

+                                canmbx_t mailbox);

+  void can_lld_receive(CANDriver *canp,

+                       canmbx_t mailbox,

+                       CANRxFrame *ctfp);

 #if CAN_USE_SLEEP_MODE

   void can_lld_sleep(CANDriver *canp);

   void can_lld_wakeup(CANDriver *canp);

diff --git a/os/hal/templates/hal_lld.h b/os/hal/templates/hal_lld.h
index c8c0534c3..957d40099 100644
--- a/os/hal/templates/hal_lld.h
+++ b/os/hal/templates/hal_lld.h
@@ -50,6 +50,12 @@
 /*===========================================================================*/

 /* Derived constants and error checks.                                       */

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

+/*

+ * Configuration-related checks.

+ */

+#if !defined(PLATFORM_MCUCONF)

+#error "Using a wrong mcuconf.h file, PLATFORM_MCUCONF not defined"

+#endif

 

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

 /* Driver data structures and types.                                         */

diff --git a/os/hal/templates/mcuconf.h b/os/hal/templates/mcuconf.h
new file mode 100644
index 000000000..2b437922f
--- /dev/null
+++ b/os/hal/templates/mcuconf.h
@@ -0,0 +1,29 @@
+/*

+    ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,

+                 2011,2012,2013 Giovanni Di Sirio.

+

+    This file is part of ChibiOS/RT.

+

+    ChibiOS/RT is free software; you can redistribute it and/or modify

+    it under the terms of the GNU General Public License as published by

+    the Free Software Foundation; either version 3 of the License, or

+    (at your option) any later version.

+

+    ChibiOS/RT is distributed in the hope that it will be useful,

+    but WITHOUT ANY WARRANTY; without even the implied warranty of

+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

+    GNU General Public License for more details.

+

+    You should have received a copy of the GNU General Public License

+    along with this program.  If not, see <http://www.gnu.org/licenses/>.

+*/

+

+/*

+ * Platform drivers configuration.

+ * The following settings override the default settings present in

+ * the various device driver implementation headers.

+ * Note that the settings for each driver only have effect if the whole

+ * driver is enabled in halconf.h.

+ */

+

+#define PLATFORM_MCUCONF

diff --git a/os/hal/templates/platform.mk b/os/hal/templates/platform.mk
index 6c81166bb..268082a02 100644
--- a/os/hal/templates/platform.mk
+++ b/os/hal/templates/platform.mk
@@ -1,20 +1,20 @@
 # List of all the template platform files.

-PLATFORMSRC = ${CHIBIOS}/os/hal/platforms/templates/hal_lld.c \

-              ${CHIBIOS}/os/hal/platforms/templates/adc_lld.c \

-              ${CHIBIOS}/os/hal/platforms/templates/can_lld.c \

-              ${CHIBIOS}/os/hal/platforms/templates/ext_lld.c \

-              ${CHIBIOS}/os/hal/platforms/templates/gpt_lld.c \

- 			  ${CHIBIOS}/os/hal/platforms/templates/i2c_lld.c \

-              ${CHIBIOS}/os/hal/platforms/templates/icu_lld.c \

-              ${CHIBIOS}/os/hal/platforms/templates/mac_lld.c \

-              ${CHIBIOS}/os/hal/platforms/templates/pal_lld.c \

-              ${CHIBIOS}/os/hal/platforms/templates/pwm_lld.c \

-              ${CHIBIOS}/os/hal/platforms/templates/rtc_lld.c \

-              ${CHIBIOS}/os/hal/platforms/templates/sdc_lld.c \

-              ${CHIBIOS}/os/hal/platforms/templates/serial_lld.c \

-              ${CHIBIOS}/os/hal/platforms/templates/spi_lld.c \

-              ${CHIBIOS}/os/hal/platforms/templates/uart_lld.c \

-              ${CHIBIOS}/os/hal/platforms/templates/usb_lld.c

+PLATFORMSRC = ${CHIBIOS}/os/hal/templates/hal_lld.c \

+              ${CHIBIOS}/os/hal/templates/adc_lld.c \

+              ${CHIBIOS}/os/hal/templates/can_lld.c \

+              ${CHIBIOS}/os/hal/templates/ext_lld.c \

+              ${CHIBIOS}/os/hal/templates/gpt_lld.c \

+ 			  ${CHIBIOS}/os/hal/templates/i2c_lld.c \

+              ${CHIBIOS}/os/hal/templates/icu_lld.c \

+              ${CHIBIOS}/os/hal/templates/mac_lld.c \

+              ${CHIBIOS}/os/hal/templates/pal_lld.c \

+              ${CHIBIOS}/os/hal/templates/pwm_lld.c \

+              ${CHIBIOS}/os/hal/templates/rtc_lld.c \

+              ${CHIBIOS}/os/hal/templates/sdc_lld.c \

+              ${CHIBIOS}/os/hal/templates/serial_lld.c \

+              ${CHIBIOS}/os/hal/templates/spi_lld.c \

+              ${CHIBIOS}/os/hal/templates/uart_lld.c \

+              ${CHIBIOS}/os/hal/templates/usb_lld.c

 

 # Required include directories

-PLATFORMINC = ${CHIBIOS}/os/hal/platforms/templates

+PLATFORMINC = ${CHIBIOS}/os/hal/templates