git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@1370 35acf78f-673a-0410-8e92-d51de3d6d3f4

5 files changed, 92 insertions, 29 deletions

diff --git a/os/hal/include/can.h b/os/hal/include/can.h
index 2a385b224..54623945e 100644
--- a/os/hal/include/can.h
+++ b/os/hal/include/can.h
@@ -56,8 +56,9 @@
 typedef enum {

   CAN_UNINIT = 0,                           /**< @brief Not initialized.    */

   CAN_STOP = 1,                             /**< @brief Stopped.            */

-  CAN_READY = 2,                            /**< @brief Ready.              */

-  CAN_SLEEP = 3                             /**< @brief Sleep state.        */

+  CAN_STARTING = 2,                         /**< @brief Starting.           */

+  CAN_READY = 3,                            /**< @brief Ready.              */

+  CAN_SLEEP = 4                             /**< @brief Sleep state.        */

 } canstate_t;

 

 #include "can_lld.h"

diff --git a/os/hal/platforms/STM32/can_lld.c b/os/hal/platforms/STM32/can_lld.c
index 2e3ed43df..86c8ecbf5 100644
--- a/os/hal/platforms/STM32/can_lld.c
+++ b/os/hal/platforms/STM32/can_lld.c
@@ -163,21 +163,25 @@ void can_lld_init(void) {
  */

 void can_lld_start(CANDriver *canp) {

 

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

-    /* Clock activation.*/

+  /* Clock activation.*/

 #if USE_STM32_CAN1

-    if (&CAND1 == canp) {

-      NVICEnableVector(USB_HP_CAN1_TX_IRQn, STM32_CAN1_IRQ_PRIORITY);

-      NVICEnableVector(USB_LP_CAN1_RX0_IRQn, STM32_CAN1_IRQ_PRIORITY);

-      NVICEnableVector(CAN1_RX1_IRQn, STM32_CAN1_IRQ_PRIORITY);

-      NVICEnableVector(CAN1_SCE_IRQn, STM32_CAN1_IRQ_PRIORITY);

-      RCC->APB1ENR |= RCC_APB1ENR_CAN1EN;

-    }

-#endif

+  if (&CAND1 == canp) {

+    NVICEnableVector(USB_HP_CAN1_TX_IRQn, STM32_CAN1_IRQ_PRIORITY);

+    NVICEnableVector(USB_LP_CAN1_RX0_IRQn, STM32_CAN1_IRQ_PRIORITY);

+    NVICEnableVector(CAN1_RX1_IRQn, STM32_CAN1_IRQ_PRIORITY);

+    NVICEnableVector(CAN1_SCE_IRQn, STM32_CAN1_IRQ_PRIORITY);

+    RCC->APB1ENR |= RCC_APB1ENR_CAN1EN;

   }

-  /* Configuration.*/

-  canp->cd_can->MCR = canp->cd_config->cc_mcr;

+#endif

+

+  /* Entering initialization mode. */

+  canp->cd_state = CAN_STARTING;

+  canp->cd_can->MCR = CAN_MCR_INRQ;

+  while ((canp->cd_can->MSR & CAN_MSR_INAK) == 0)

+    chThdSleepS(1);

+  /* Initialization.*/

   canp->cd_can->BTR = canp->cd_config->cc_btr;

+  canp->cd_can->MCR = canp->cd_config->cc_mcr;

   canp->cd_can->IER = CAN_IER_TMEIE  | CAN_IER_FMPIE0 | CAN_IER_FMPIE1 |

                       CAN_IER_WKUIE  | CAN_IER_ERRIE  | CAN_IER_LECIE  |

                       CAN_IER_BOFIE  | CAN_IER_EPVIE  | CAN_IER_EWGIE  |

@@ -196,7 +200,6 @@ void can_lld_stop(CANDriver *canp) {
 #if USE_STM32_CAN1

     if (&CAND1 == canp) {

       CAN1->MCR = 0x00010002;                   /* Register reset value.    */

-      CAN1->BTR = 0x01230000;                   /* Register reset value.    */

       CAN1->IER = 0x00000000;                   /* All sources disabled.    */

       NVICDisableVector(USB_HP_CAN1_TX_IRQn);

       NVICDisableVector(USB_LP_CAN1_RX0_IRQn);

diff --git a/os/hal/platforms/STM32/can_lld.h b/os/hal/platforms/STM32/can_lld.h
index 422249cef..9f54e4cc6 100644
--- a/os/hal/platforms/STM32/can_lld.h
+++ b/os/hal/platforms/STM32/can_lld.h
@@ -29,11 +29,15 @@
 

 #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.
  */

-#define CAN_SUPPORTS_SLEEP  TRUE

+#define CAN_SUPPORTS_SLEEP          TRUE

 

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

 /* Driver pre-compile time settings.                                         */

@@ -70,10 +74,6 @@
 #endif /* !CAN_SUPPORTS_SLEEP */

 

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

-/* Driver constants.                                                         */

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

-

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

 /* Driver data structures and types.                                         */

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

 

@@ -100,6 +100,39 @@ typedef struct {
 } CANFrame;

 

 /**

+ * @brief CAN filter.

+ * @note Refer to the STM32 reference manual for info about filters.
+ */

+typedef struct {

+  /**

+   * @brief Filter mode.

+   * @note This bit represent the CAN_FM1R register bit associated to this

+   *       filter (0=mask mode, 1=list mode).

+   */

+  uint32_t                  cf_mode:1;

+  /**

+   * @brief Filter sclae.

+   * @note This bit represent the CAN_FS1R register bit associated to this

+   *       filter (0=16 bits mode, 1=32 bits mode).

+   */

+  uint32_t                  cf_scale:1;

+  /**

+   * @brief Filter mode.

+   * @note This bit represent the CAN_FFA1R register bit associated to this

+   *       filter, must be set to zero in this version of the driver.

+   */

+  uint32_t                  cf_assignment:1;

+  /**

+   * @brief Filter register 1 (identifier).

+   */

+  uint32_t                  cf_register1;

+  /**

+   * @brief Filter register 2 (mask/identifier depending on cf_mode=0/1).

+   */

+  uint32_t                  cf_register2;

+} CANFilter;

+

+/**

  * @brief Driver configuration structure.

  */

 typedef struct {

@@ -115,6 +148,18 @@ typedef struct {
    *       their status in this field.

    */

   uint32_t                  cc_btr;

+  /**

+   * @brief Number of elements into the filters array.

+   * @note By setting this field to zero a default filter is enabled that

+   *       allows all frames, this should be adequate  for simple applications.
+   */

+  uint32_t                  cc_num;

+  /**

+   * @brief Pointer to an array of @p CANFilter structures.

+   * @note This field can be set to @p NULL if the field @p cc_num is set to

+   *       zero.
+   */

+  const CANFilter           *cc_filters;

 } CANConfig;

 

 /**

@@ -138,7 +183,12 @@ typedef struct {
    */

   Semaphore                 cd_rxsem;

   /**

-   * @brief One or more frames become available.
+   * @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.
    */

   EventSource               cd_rxfull_event;

   /**

diff --git a/os/hal/src/can.c b/os/hal/src/can.c
index 7c6cdd656..e4258050e 100644
--- a/os/hal/src/can.c
+++ b/os/hal/src/can.c
@@ -69,12 +69,18 @@ void canStart(CANDriver *canp, const CANConfig *config) {
   chDbgCheck((canp != NULL) && (config != NULL), "canStart");

 

   chSysLock();

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

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

+              (canp->cd_state == CAN_STARTING) ||

+              (canp->cd_state == CAN_READY),

               "canStart(), #1",

               "invalid state");

-  canp->cd_config = config;

-  can_lld_start(canp);

-  canp->cd_state = CAN_READY;

+  while (canp->cd_state == CAN_STARTING)

+    chThdSleepS(1);

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

+    canp->cd_config = config;

+    can_lld_start(canp);

+    canp->cd_state = CAN_READY;

+  }

   chSysUnlock();

 }

 

@@ -145,12 +151,15 @@ msg_t canTransmit(CANDriver *canp, const CANFrame *cfp, systime_t timeout) {
  * @param[out] cfp      pointer to the buffer where the CAN frame is copied

  * @param[in] timeout   the number of ticks before the operation timeouts,

  *                      the following special values are allowed:

- *                      - @a TIME_IMMEDIATE immediate timeout.

+ *                      - @a TIME_IMMEDIATE immediate timeout (useful in an

+ *                        event driven scenario where a thread never blocks

+ *                        for I/O).

  *                      - @a TIME_INFINITE no timeout.

  *                      .

  * @return The operation result.

  * @retval RDY_OK a frame has been received and placed in the buffer.

- * @retval RDY_TIMEOUT operation not finished within the specified time.

+ * @retval RDY_TIMEOUT operation not finished within the specified time or

+ *         frame not immediately available if invoked using @p TIME_IMMEDIATE.

  * @retval RDY_RESET driver stopped while waiting.

  */

 msg_t canReceive(CANDriver *canp, CANFrame *cfp, systime_t timeout) {

diff --git a/os/hal/templates/meta/driver_lld.h b/os/hal/templates/meta/driver_lld.h
index 92194664e..fe3786244 100644
--- a/os/hal/templates/meta/driver_lld.h
+++ b/os/hal/templates/meta/driver_lld.h
@@ -28,11 +28,11 @@
 #define _XXX_LLD_H_

 

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

-/* Driver pre-compile time settings.                                         */

+/* Driver constants.                                                         */

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

 

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

-/* Driver constants.                                                         */

+/* Driver pre-compile time settings.                                         */

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

 

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