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-rw-r--r--os/hal/platforms/STM32/can_lld.c46
-rw-r--r--os/hal/platforms/STM32/can_lld.h43
2 files changed, 71 insertions, 18 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;
/**
generated by cgit v1.2.3 (git 2.25.1) at 2024-10-12 02:33:12 +0000