git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@1374 35acf78f-673a-0410-8e92-d51de3d6d3f4

4 files changed, 143 insertions, 49 deletions

diff --git a/os/hal/platforms/STM32/can_lld.c b/os/hal/platforms/STM32/can_lld.c
index 624f9028b..26cbadc43 100644
--- a/os/hal/platforms/STM32/can_lld.c
+++ b/os/hal/platforms/STM32/can_lld.c
@@ -213,6 +213,10 @@ void can_lld_start(CANDriver *canp) {
       }

       cfp++;

       fmask <<= 1;

+      /* Gives a chance for preemption since this is a rather long loop.*/

+      chSysUnlock();

+      chThdYield();

+      chSysLock();

     }

   }

   else {

@@ -239,7 +243,7 @@ void can_lld_start(CANDriver *canp) {
  */

 void can_lld_stop(CANDriver *canp) {

 

-  /* If in ready state then disables the CAN clock.*/

+  /* If in ready state then disables the CAN peripheral.*/

   if (canp->cd_state == CAN_READY) {

 #if USE_STM32_CAN1

     if (&CAND1 == canp) {

@@ -273,9 +277,31 @@ bool_t can_lld_can_transmit(CANDriver *canp) {
  * @brief Inserts a frame into the transmit queue.

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

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

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

  */

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

+  uint32_t tir;

+  CAN_TxMailBox_TypeDef *tmbp;

+

+  /* Pointer to a free transmission mailbox.*/

+  tmbp = &canp->cd_can->sTxMailBox[(canp->cd_can->TSR & CAN_TSR_CODE) >> 24];

+

+  /* Preparing the message.*/

+  if (ctfp->cf_IDE)

+    tir = ((uint32_t)ctfp->cf_EID << 3) |

+          ((uint32_t)ctfp->cf_IDE << 2) |

+          ((uint32_t)ctfp->cf_RTR << 1);

+  else

+    tir = ((uint32_t)ctfp->cf_SID << 24) |

+          ((uint32_t)ctfp->cf_IDE << 2) |

+          ((uint32_t)ctfp->cf_RTR << 1);

+  tmbp->TDTR = ctfp->cf_DLC;

+  tmbp->TDLR = ctfp->cf_data32[0];

+  tmbp->TDHR = ctfp->cf_data32[1];

+  tmbp->TIR = tir | CAN_TI0R_TXRQ;

+

+  /* Re-enables the interrupt in order to generate events again.*/

+  canp->cd_can->IER |= CAN_IER_TMEIE;

 }

 

 /**

@@ -296,7 +322,7 @@ bool_t can_lld_can_receive(CANDriver *canp) {
  * @brief Receives a frame from the input queue.

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

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

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

  */

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

   uint32_t r;

@@ -310,13 +336,19 @@ void can_lld_receive(CANDriver *canp, CANRxFrame *crfp) {
   crfp->cf_RTR = r & CAN_RI0R_RTR;

   crfp->cf_IDE = r & CAN_RI0R_IDE;

   if (crfp->cf_IDE)

-    crfp->cf_ID = r >> 3;

+    crfp->cf_EID = r >> 3;

   else

-    crfp->cf_ID = r >> 24;

+    crfp->cf_SID = r >> 24;

   crfp->cf_data32[0] = canp->cd_can->sFIFOMailBox[0].RDLR;

   crfp->cf_data32[1] = canp->cd_can->sFIFOMailBox[0].RDHR;

+

   /* Releases the mailbox.*/

   canp->cd_can->RF0R |= CAN_RF0R_RFOM0;

+

+  /* If the queue is empty re-enables the interrupt in order to generate

+     events again.*/

+  if ((canp->cd_can->RF0R & CAN_RF0R_FMP0) == 0)

+    canp->cd_can->IER |= CAN_IER_FMPIE0;

 }

 

 #if CAN_USE_SLEEP_MODE || defined(__DOXYGEN__)

@@ -327,7 +359,7 @@ void can_lld_receive(CANDriver *canp, CANRxFrame *crfp) {
  */

 void can_lld_sleep(CANDriver *canp) {

 

-  (void)canp;

+  canp->cd_can->MCR |= CAN_MCR_SLEEP;

 }

 

 /**

@@ -337,7 +369,7 @@ void can_lld_sleep(CANDriver *canp) {
  */

 void can_lld_wakeup(CANDriver *canp) {

 

-  (void)canp;

+  canp->cd_can->MCR &= ~CAN_MCR_SLEEP;

 }

 #endif /* CAN_USE_SLEEP_MODE */

 

diff --git a/os/hal/platforms/STM32/can_lld.h b/os/hal/platforms/STM32/can_lld.h
index f995ffb16..b7dff8ced 100644
--- a/os/hal/platforms/STM32/can_lld.h
+++ b/os/hal/platforms/STM32/can_lld.h
@@ -97,10 +97,19 @@ typedef uint32_t canstatus_t;
  *       machine data endianness, it can be still useful for a quick filling.

  */

 typedef struct {

-  uint8_t                   cf_DLC:4;       /**< @brief Data length.        */

-  uint8_t                   cf_RTR:1;       /**< @brief Frame type.         */

-  uint8_t                   cf_IDE:1;       /**< @brief Identifier type.    */

-  uint32_t                  cf_ID;          /**< @brief Frame identifier.   */

+  struct {

+    uint8_t                 cf_DLC:4;       /**< @brief Data length.        */

+    uint8_t                 cf_RTR:1;       /**< @brief Frame type.         */

+    uint8_t                 cf_IDE:1;       /**< @brief Identifier type.    */

+  };

+  union {

+    struct {

+      uint32_t              cf_SID:11;      /**< @brief Standard identifier.*/

+    };

+    struct {

+      uint32_t              cf_EID:29;      /**< @brief Extended identifier.*/

+    };

+  };

   union {

     uint8_t                 cf_data8[8];    /**< @brief Frame data.         */

     uint16_t                cf_data16[4];   /**< @brief Frame data.         */

@@ -114,12 +123,23 @@ typedef struct {
  *       machine data endianness, it can be still useful for a quick filling.

  */

 typedef struct {

-  uint16_t                  cf_TIME;        /**< @brief Time stamp.         */

-  uint8_t                   cf_FMI;         /**< @brief Filter id.          */

-  uint8_t                   cf_DLC:4;       /**< @brief Data length.        */

-  uint8_t                   cf_RTR:1;       /**< @brief Frame type.         */

-  uint8_t                   cf_IDE:1;       /**< @brief Identifier type.    */

-  uint32_t                  cf_ID;          /**< @brief Frame identifier.   */

+  struct {

+    uint8_t                 cf_FMI;         /**< @brief Filter id.          */

+    uint16_t                cf_TIME;        /**< @brief Time stamp.         */

+  };

+  struct {

+    uint8_t                 cf_DLC:4;       /**< @brief Data length.        */

+    uint8_t                 cf_RTR:1;       /**< @brief Frame type.         */

+    uint8_t                 cf_IDE:1;       /**< @brief Identifier type.    */

+  };

+  union {

+    struct {

+      uint32_t              cf_SID:11;      /**< @brief Standard identifier.*/

+    };

+    struct {

+      uint32_t              cf_EID:29;      /**< @brief Extended identifier.*/

+    };

+  };

   union {

     uint8_t                 cf_data8[8];    /**< @brief Frame data.         */

     uint16_t                cf_data16[4];   /**< @brief Frame data.         */

@@ -216,7 +236,8 @@ 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.
+   *       invoking @p chReceive() when listening to this event. This behavior

+   *       minimizes the interrupt served by the system because CAN traffic.
    */

   EventSource               cd_rxfull_event;

   /**

diff --git a/os/hal/templates/can_lld.c b/os/hal/templates/can_lld.c
index f2f54e66d..792c4f888 100644
--- a/os/hal/templates/can_lld.c
+++ b/os/hal/templates/can_lld.c
@@ -63,10 +63,6 @@ void can_lld_init(void) {
  */

 void can_lld_start(CANDriver *canp) {

 

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

-    /* Clock activation.*/

-  }

-  /* Configuration.*/

 }

 

 /**

@@ -76,8 +72,13 @@ void can_lld_start(CANDriver *canp) {
  */

 void can_lld_stop(CANDriver *canp) {

 

+  /* If in ready state then disables the CAN peripheral.*/

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

+

+  }

 }

 

+

 /**

  * @brief Determines whether a frame can be transmitted.

  *
@@ -94,16 +95,12 @@ bool_t can_lld_can_transmit(CANDriver *canp) {
 

 /**

  * @brief Inserts a frame into the transmit queue.

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

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

  *

- * @return The operation status.

- * @retval RDY_OK frame transmitted.
+ * @param[in] canp      pointer to the @p CANDriver object

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

  */

-msg_t can_lld_transmit(CANDriver *canp, const CANFrame *cfp) {

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

 

-  return RDY_OK;

 }

 

 /**

@@ -122,16 +119,12 @@ bool_t can_lld_can_receive(CANDriver *canp) {
 

 /**

  * @brief Receives a frame from the input queue.

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

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

  *

- * @return The operation status.

- * @retval RDY_OK frame received.

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

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

  */

-msg_t can_lld_receive(CANDriver *canp, CANFrame *cfp) {

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

 

-  return RDY_OK;

 }

 

 #if CAN_USE_SLEEP_MODE || defined(__DOXYGEN__)

diff --git a/os/hal/templates/can_lld.h b/os/hal/templates/can_lld.h
index 14588c0d5..9b1124a18 100644
--- a/os/hal/templates/can_lld.h
+++ b/os/hal/templates/can_lld.h
@@ -29,6 +29,10 @@
 

 #if CH_HAL_USE_CAN || defined(__DOXYGEN__)

 

+/*===========================================================================*/

+/* Driver constants.                                                         */

+/*===========================================================================*/

+

 /**

  * @brief This switch defines whether the driver implementation supports

  *        a low power switch mode with automatic an wakeup feature.
@@ -53,10 +57,6 @@
 #endif /* !CAN_SUPPORTS_SLEEP */

 

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

-/* Driver constants.                                                         */

-/*===========================================================================*/

-

-/*===========================================================================*/

 /* Driver data structures and types.                                         */

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

 

@@ -66,21 +66,63 @@
 typedef uint32_t canstatus_t;

 

 /**

- * @brief CAN frame.

+ * @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.

+ */

+typedef struct {

+  struct {

+    uint8_t                 cf_DLC:4;       /**< @brief Data length.        */

+    uint8_t                 cf_RTR:1;       /**< @brief Frame type.         */

+    uint8_t                 cf_IDE:1;       /**< @brief Identifier type.    */

+  };

+  union {

+    struct {

+      uint32_t              cf_SID:11;      /**< @brief Standard identifier.*/

+    };

+    struct {

+      uint32_t              cf_EID:29;      /**< @brief Extended identifier.*/

+    };

+  };

+  union {

+    uint8_t                 cf_data8[8];    /**< @brief Frame data.         */

+    uint16_t                cf_data16[4];   /**< @brief Frame data.         */

+    uint32_t                cf_data32[2];   /**< @brief Frame data.         */

+  };

+} CANTxFrame;

+

+/**

+ * @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.
+ *       machine data endianness, it can be still useful for a quick filling.

  */

 typedef struct {

-  uint8_t                   cf_DLC:4;       /**< @brief Data length.        */

-  uint8_t                   cf_IDE:1;       /**< @brief Identifier type.    */

-  uint8_t                   cf_RTR:1;       /**< @brief Frame type.         */

-  uint32_t                  cf_id;          /**< @brief Frame identifier.   */

+  struct {

+    uint8_t                 cf_DLC:4;       /**< @brief Data length.        */

+    uint8_t                 cf_RTR:1;       /**< @brief Frame type.         */

+    uint8_t                 cf_IDE:1;       /**< @brief Identifier type.    */

+  };

+  union {

+    struct {

+      uint32_t              cf_SID:11;      /**< @brief Standard identifier.*/

+    };

+    struct {

+      uint32_t              cf_EID:29;      /**< @brief Extended identifier.*/

+    };

+  };

   union {

     uint8_t                 cf_data8[8];    /**< @brief Frame data.         */

     uint16_t                cf_data16[4];   /**< @brief Frame data.         */

     uint32_t                cf_data32[2];   /**< @brief Frame data.         */

   };

-} CANFrame;

+} CANRxFrame;

+

+/**

+ * @brief CAN filter.

+ * @note It could not be present on some architectures.

+ */

+typedef struct {

+} CANFilter;

 

 /**

  * @brief Driver configuration structure.

@@ -111,6 +153,12 @@ typedef struct {
   Semaphore                 cd_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.

    */

   EventSource               cd_rxfull_event;

   /**

@@ -149,9 +197,9 @@ extern "C" {
   void can_lld_start(CANDriver *canp);

   void can_lld_stop(CANDriver *canp);

   bool_t can_lld_can_transmit(CANDriver *canp);

-  msg_t can_lld_transmit(CANDriver *canp, const CANFrame *cfp);

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

   bool_t can_lld_can_receive(CANDriver *canp);

-  msg_t can_lld_receive(CANDriver *canp, CANFrame *cfp);

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

 #if CAN_USE_SLEEP_MODE

   void can_lld_sleep(CANDriver *canp);

   void can_lld_wakeup(CANDriver *canp);