diff options
Diffstat (limited to 'os/hal/platforms/STM32/can_lld.c')
| -rw-r--r-- | os/hal/platforms/STM32/can_lld.c | 112 |
1 files changed, 80 insertions, 32 deletions
diff --git a/os/hal/platforms/STM32/can_lld.c b/os/hal/platforms/STM32/can_lld.c index 6c12cc145..785ca3482 100644 --- a/os/hal/platforms/STM32/can_lld.c +++ b/os/hal/platforms/STM32/can_lld.c @@ -467,16 +467,28 @@ 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_TX_MAILBOX for any mailbox
*
- * @return The queue space availability.
+ * @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 (canp->can->TSR & CAN_TSR_TME) != 0;
+bool_t can_lld_is_tx_empty(CANDriver *canp, canmbx_t mailbox) {
+
+ switch (mailbox) {
+ case CAN_ANY_TX_MAILBOX:
+ return (canp->can->TSR & CAN_TSR_TME) != 0;
+ case 1:
+ return (canp->can->TSR & CAN_TSR_TME0) != 0;
+ case 2:
+ return (canp->can->TSR & CAN_TSR_TME1) != 0;
+ case 3:
+ return (canp->can->TSR & CAN_TSR_TME2) != 0;
+ default:
+ return FALSE;
+ }
}
/**
@@ -484,15 +496,29 @@ 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_TX_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) {
uint32_t tir;
CAN_TxMailBox_TypeDef *tmbp;
/* Pointer to a free transmission mailbox.*/
- tmbp = &canp->can->sTxMailBox[(canp->can->TSR & CAN_TSR_CODE) >> 24];
+ switch (mailbox) {
+ case CAN_ANY_TX_MAILBOX:
+ tmbp = &canp->can->sTxMailBox[(canp->can->TSR & CAN_TSR_CODE) >> 24];
+ case 1:
+ tmbp = &canp->can->sTxMailBox[0];
+ case 2:
+ tmbp = &canp->can->sTxMailBox[1];
+ case 3:
+ tmbp = &canp->can->sTxMailBox[2];
+ default:
+ return;
+ }
/* Preparing the message.*/
if (ctfp->IDE)
@@ -510,16 +536,18 @@ 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
*
- * @return The queue space availability.
+ * @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) {
+bool_t can_lld_is_rx_nonempty(CANDriver *canp, canmbx_t mailbox) {
- return (canp->can->RF0R & CAN_RF0R_FMP0) > 0;
+ return mailbox == 0 ? (canp->can->RF0R & CAN_RF0R_FMP0) > 0 :
+ (canp->can->RF1R & CAN_RF1R_FMP1) > 0;
}
/**
@@ -527,34 +555,54 @@ bool_t can_lld_can_receive(CANDriver *canp) { *
* @param[in] canp pointer to the @p CANDriver object
* @param[out] crfp pointer to the buffer where the CAN frame is copied
+ * @param[in] mailbox mailbox number
*
* @notapi
*/
-void can_lld_receive(CANDriver *canp, CANRxFrame *crfp) {
- uint32_t r;
-
- /* Fetches the message.*/
- r = canp->can->sFIFOMailBox[0].RIR;
- crfp->RTR = (r & CAN_RI0R_RTR) >> 1;
- crfp->IDE = (r & CAN_RI0R_IDE) >> 2;
+void can_lld_receive(CANDriver *canp,
+ canmbx_t mailbox,
+ CANRxFrame *crfp) {
+ uint32_t rir, rdtr;
+
+ if (mailbox == 0) {
+ /* Fetches the message.*/
+ rir = canp->can->sFIFOMailBox[0].RIR;
+ rdtr = canp->can->sFIFOMailBox[0].RDTR;
+ crfp->data32[0] = canp->can->sFIFOMailBox[0].RDLR;
+ crfp->data32[1] = canp->can->sFIFOMailBox[0].RDHR;
+
+ /* Releases the mailbox.*/
+ canp->can->RF0R = CAN_RF0R_RFOM0;
+
+ /* If the queue is empty re-enables the interrupt in order to generate
+ events again.*/
+ if ((canp->can->RF0R & CAN_RF0R_FMP0) == 0)
+ canp->can->IER |= CAN_IER_FMPIE0;
+ }
+ else {
+ /* Fetches the message.*/
+ rir = canp->can->sFIFOMailBox[1].RIR;
+ rdtr = canp->can->sFIFOMailBox[1].RDTR;
+ crfp->data32[0] = canp->can->sFIFOMailBox[1].RDLR;
+ crfp->data32[1] = canp->can->sFIFOMailBox[1].RDHR;
+
+ /* Releases the mailbox.*/
+ canp->can->RF1R = CAN_RF1R_RFOM1;
+
+ /* If the queue is empty re-enables the interrupt in order to generate
+ events again.*/
+ if ((canp->can->RF1R & CAN_RF1R_FMP1) == 0)
+ canp->can->IER |= CAN_IER_FMPIE1;
+ }
+ crfp->RTR = (rir & CAN_RI0R_RTR) >> 1;
+ crfp->IDE = (rir & CAN_RI0R_IDE) >> 2;
if (crfp->IDE)
- crfp->EID = r >> 3;
+ crfp->EID = rir >> 3;
else
- crfp->SID = r >> 21;
- r = canp->can->sFIFOMailBox[0].RDTR;
- crfp->DLC = r & CAN_RDT0R_DLC;
- crfp->FMI = (uint8_t)(r >> 8);
- crfp->TIME = (uint16_t)(r >> 16);
- crfp->data32[0] = canp->can->sFIFOMailBox[0].RDLR;
- crfp->data32[1] = canp->can->sFIFOMailBox[0].RDHR;
-
- /* Releases the mailbox.*/
- canp->can->RF0R = CAN_RF0R_RFOM0;
-
- /* If the queue is empty re-enables the interrupt in order to generate
- events again.*/
- if ((canp->can->RF0R & CAN_RF0R_FMP0) == 0)
- canp->can->IER |= CAN_IER_FMPIE0;
+ crfp->SID = rir >> 21;
+ crfp->DLC = rdtr & CAN_RDT0R_DLC;
+ crfp->FMI = (uint8_t)(rdtr >> 8);
+ crfp->TIME = (uint16_t)(rdtr >> 16);
}
#if CAN_USE_SLEEP_MODE || defined(__DOXYGEN__)
|