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| author | acirillo87 <acirillo87@35acf78f-673a-0410-8e92-d51de3d6d3f4> | 2013-06-13 13:04:50 +0000 |
|---|---|---|
| committer | acirillo87 <acirillo87@35acf78f-673a-0410-8e92-d51de3d6d3f4> | 2013-06-13 13:04:50 +0000 |
| commit | 02b1b936d96443958c3cd6dc8b2b0eedec3a6a46 (patch) | |
| tree | f6b15f853df0a0beecf938da4ecf646221540645 /os/hal | |
| parent | 9343707ee283190273d0c4e94f8fdf1b9d264905 (diff) | |
| download | ChibiOS-02b1b936d96443958c3cd6dc8b2b0eedec3a6a46.tar.gz ChibiOS-02b1b936d96443958c3cd6dc8b2b0eedec3a6a46.tar.bz2 ChibiOS-02b1b936d96443958c3cd6dc8b2b0eedec3a6a46.zip | |
git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@5845 35acf78f-673a-0410-8e92-d51de3d6d3f4
Diffstat (limited to 'os/hal')
| -rw-r--r-- | os/hal/platforms/SPC5xx/FlexCAN_v1/can_lld.c | 66 |
1 files changed, 64 insertions, 2 deletions
diff --git a/os/hal/platforms/SPC5xx/FlexCAN_v1/can_lld.c b/os/hal/platforms/SPC5xx/FlexCAN_v1/can_lld.c index 09e8ed55d..b20cc1334 100644 --- a/os/hal/platforms/SPC5xx/FlexCAN_v1/can_lld.c +++ b/os/hal/platforms/SPC5xx/FlexCAN_v1/can_lld.c @@ -81,16 +81,72 @@ CANDriver CAND6; * @notapi
*/
static void can_lld_tx_handler(CANDriver *canp) {
- uint32_t iflag1;
+ uint32_t iflag1, iflag2;
iflag1 = canp->flexcan->IFRL.R;
+ iflag2 = canp->flexcan->IFRH.R;
/* No more events until a message is transmitted.*/
canp->flexcan->IFRL.R |= iflag1 & 0xFFFFFF00;
canp->flexcan->IFRH.R |= canp->flexcan->IFRH.R & 0xFFFFFFFF;
chSysLockFromIsr();
while (chSemGetCounterI(&canp->txsem) < 0)
chSemSignalI(&canp->txsem);
- chEvtBroadcastFlagsI(&canp->txempty_event, iflag1 & 0xFFFFFF00);
+
+#if SPC5_CAN_USE_FLEXCAN0 && (SPC5_FLEXCAN0_MB == 32)
+ if(&CAND1 == canp) {
+ chEvtBroadcastFlagsI(&canp->txempty_event, iflag1 & 0xFFFFFF00);
+ }
+#elif SPC5_CAN_USE_FLEXCAN0 && (SPC5_FLEXCAN0_MB == 64)
+ if(&CAND1 == canp) {
+ chEvtBroadcastFlagsI(&canp->txempty_event, iflag2 | (iflag1 & 0xFFFFFF00));
+ }
+#endif
+#if SPC5_CAN_USE_FLEXCAN1 && (SPC5_FLEXCAN1_MB == 32)
+ if(&CAND2 == canp) {
+ chEvtBroadcastFlagsI(&canp->txempty_event, iflag1 & 0xFFFFFF00);
+ }
+#elif SPC5_CAN_USE_FLEXCAN1 && (SPC5_FLEXCAN1_MB == 64)
+ if(&CAND2 == canp) {
+ chEvtBroadcastFlagsI(&canp->txempty_event, iflag2 | (iflag1 & 0xFFFFFF00));
+ }
+#endif
+#if SPC5_CAN_USE_FLEXCAN2 && (SPC5_FLEXCAN2_MB == 32)
+ if(&CAND3 == canp) {
+ chEvtBroadcastFlagsI(&canp->txempty_event, iflag1 & 0xFFFFFF00);
+ }
+#elif SPC5_CAN_USE_FLEXCAN2 && (SPC5_FLEXCAN2_MB == 64)
+ if(&CAND3 == canp) {
+ chEvtBroadcastFlagsI(&canp->txempty_event, iflag2 | (iflag1 & 0xFFFFFF00));
+ }
+#endif
+#if SPC5_CAN_USE_FLEXCAN3 && (SPC5_FLEXCAN3_MB == 32)
+ if(&CAND4 == canp) {
+ chEvtBroadcastFlagsI(&canp->txempty_event, iflag1 & 0xFFFFFF00);
+ }
+#elif SPC5_CAN_USE_FLEXCAN3 && (SPC5_FLEXCAN3_MB == 64)
+ if(&CAND4 == canp) {
+ chEvtBroadcastFlagsI(&canp->txempty_event, iflag2 | (iflag1 & 0xFFFFFF00));
+ }
+#endif
+#if SPC5_CAN_USE_FLEXCAN4 && (SPC5_FLEXCAN4_MB == 32)
+ if(&CAND5 == canp) {
+ chEvtBroadcastFlagsI(&canp->txempty_event, iflag1 & 0xFFFFFF00);
+ }
+#elif SPC5_CAN_USE_FLEXCAN4 && (SPC5_FLEXCAN4_MB == 64)
+ if(&CAND5 == canp) {
+ chEvtBroadcastFlagsI(&canp->txempty_event, iflag2 | (iflag1 & 0xFFFFFF00));
+ }
+#endif
+#if SPC5_CAN_USE_FLEXCAN5 && (SPC5_FLEXCAN5_MB == 32)
+ if(&CAND6 == canp) {
+ chEvtBroadcastFlagsI(&canp->txempty_event, iflag1 & 0xFFFFFF00);
+ }
+#elif SPC5_CAN_USE_FLEXCAN5 && (SPC5_FLEXCAN5_MB == 64)
+ if(&CAND6 == canp) {
+ chEvtBroadcastFlagsI(&canp->txempty_event, iflag2 | (iflag1 & 0xFFFFFF00));
+ }
+#endif
+
chSysUnlockFromIsr();
}
@@ -1141,6 +1197,12 @@ void can_lld_start(CANDriver *canp) { /* RX MB initialization.*/
for(mb_index = 0; mb_index < CAN_RX_MAILBOXES; mb_index++) {
canp->flexcan->BUF[mb_index].CS.B.CODE = 0U;
+ if(mb_index < 4) {
+ canp->flexcan->BUF[mb_index].CS.B.IDE = 0U;
+ }
+ else {
+ canp->flexcan->BUF[mb_index].CS.B.IDE = 1U;
+ }
canp->flexcan->BUF[mb_index].ID.R = 0U;
canp->flexcan->BUF[mb_index].CS.B.CODE = 4U;
}
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