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| author | Giovanni Di Sirio <gdisirio@gmail.com> | 2015-12-17 13:44:26 +0000 |
|---|---|---|
| committer | Giovanni Di Sirio <gdisirio@gmail.com> | 2015-12-17 13:44:26 +0000 |
| commit | ad6437b7847e7a5c4948b3a18d055a78d7c84dce (patch) | |
| tree | 1f7b6065cc4c2323afc282e59b05d507fbea1481 /os | |
| parent | 75967a32887e1a0ffa27da3a804eedb21892616b (diff) | |
| download | ChibiOS-ad6437b7847e7a5c4948b3a18d055a78d7c84dce.tar.gz ChibiOS-ad6437b7847e7a5c4948b3a18d055a78d7c84dce.tar.bz2 ChibiOS-ad6437b7847e7a5c4948b3a18d055a78d7c84dce.zip | |
Enhanced CAN driver.
git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@8615 35acf78f-673a-0410-8e92-d51de3d6d3f4
Diffstat (limited to 'os')
| -rw-r--r-- | os/hal/include/can.h | 6 | ||||
| -rw-r--r-- | os/hal/src/can.c | 71 |
2 files changed, 77 insertions, 0 deletions
diff --git a/os/hal/include/can.h b/os/hal/include/can.h index fe4386089..975a04362 100644 --- a/os/hal/include/can.h +++ b/os/hal/include/can.h @@ -127,6 +127,12 @@ extern "C" { void canObjectInit(CANDriver *canp);
void canStart(CANDriver *canp, const CANConfig *config);
void canStop(CANDriver *canp);
+ bool canTryTransmitI(CANDriver *canp,
+ canmbx_t mailbox,
+ const CANTxFrame *ctfp);
+ bool canTryReceiveI(CANDriver *canp,
+ canmbx_t mailbox,
+ CANRxFrame *crfp);
msg_t canTransmit(CANDriver *canp,
canmbx_t mailbox,
const CANTxFrame *ctfp,
diff --git a/os/hal/src/can.c b/os/hal/src/can.c index cfaa7264e..a87a2a43e 100644 --- a/os/hal/src/can.c +++ b/os/hal/src/can.c @@ -140,6 +140,75 @@ void canStop(CANDriver *canp) { }
/**
+ * @brief Can frame transmission attempt.
+ * @details The specified frame is queued for transmission, if the hardware
+ * queue is full then the function fails.
+ *
+ * @param[in] canp pointer to the @p CANDriver object
+ * @param[in] mailbox mailbox number, @p CAN_ANY_MAILBOX for any mailbox
+ * @param[in] ctfp pointer to the CAN frame to be transmitted
+ * @return The operation result.
+ * @retval false Frame transmitted.
+ * @retval true Mailbox full.
+ *
+ * @iclass
+ */
+bool canTryTransmitI(CANDriver *canp,
+ canmbx_t mailbox,
+ const CANTxFrame *ctfp) {
+
+ osalDbgCheckClassI();
+ osalDbgCheck((canp != NULL) && (ctfp != NULL) &&
+ (mailbox <= (canmbx_t)CAN_TX_MAILBOXES));
+ osalDbgAssert((canp->state == CAN_READY) || (canp->state == CAN_SLEEP),
+ "invalid state");
+
+ /* If the RX mailbox is full then the function fails.*/
+ if (!can_lld_is_tx_empty(canp, mailbox)) {
+ return true;
+ }
+
+ /* Transmitting frame.*/
+ can_lld_transmit(canp, mailbox, ctfp);
+
+ return false;
+}
+
+/**
+ * @brief Can frame receive attempt.
+ * @details The function tries to fetch a frame from a mailbox.
+ *
+ * @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
+ * @return The operation result.
+ * @retval false Frame fetched.
+ * @retval true Mailbox empty.
+ *
+ * @iclass
+ */
+bool canTryReceiveI(CANDriver *canp,
+ canmbx_t mailbox,
+ CANRxFrame *crfp) {
+
+ osalDbgCheckClassI();
+ osalDbgCheck((canp != NULL) && (crfp != NULL) &&
+ (mailbox <= (canmbx_t)CAN_RX_MAILBOXES));
+ osalDbgAssert((canp->state == CAN_READY) || (canp->state == CAN_SLEEP),
+ "invalid state");
+
+ /* If the RX mailbox is empty then the function fails.*/
+ if (!can_lld_is_rx_nonempty(canp, mailbox)) {
+ return true;
+ }
+
+ /* Fetching the frame.*/
+ can_lld_receive(canp, mailbox, crfp);
+
+ return false;
+}
+
+/**
* @brief Can frame transmission.
* @details The specified frame is queued for transmission, if the hardware
* queue is full then the invoking thread is queued.
@@ -171,6 +240,7 @@ msg_t canTransmit(CANDriver *canp, osalSysLock();
osalDbgAssert((canp->state == CAN_READY) || (canp->state == CAN_SLEEP),
"invalid state");
+
/*lint -save -e9007 [13.5] Right side is supposed to be pure.*/
while ((canp->state == CAN_SLEEP) || !can_lld_is_tx_empty(canp, mailbox)) {
/*lint -restore*/
@@ -218,6 +288,7 @@ msg_t canReceive(CANDriver *canp, osalSysLock();
osalDbgAssert((canp->state == CAN_READY) || (canp->state == CAN_SLEEP),
"invalid state");
+
/*lint -save -e9007 [13.5] Right side is supposed to be pure.*/
while ((canp->state == CAN_SLEEP) || !can_lld_is_rx_nonempty(canp, mailbox)) {
/*lint -restore*/
|