git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@5300 35acf78f-673a-0410-8e92-d51de3d6d3f4

3 files changed, 25 insertions, 9 deletions

diff --git a/os/hal/platforms/STM32/can_lld.c b/os/hal/platforms/STM32/can_lld.c
index 785ca3482..7a6185c1f 100644
--- a/os/hal/platforms/STM32/can_lld.c
+++ b/os/hal/platforms/STM32/can_lld.c
@@ -510,12 +510,16 @@ void can_lld_transmit(CANDriver *canp,
   switch (mailbox) {

   case CAN_ANY_TX_MAILBOX:

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

+    break;

   case 1:

     tmbp = &canp->can->sTxMailBox[0];

+    break;

   case 2:

     tmbp = &canp->can->sTxMailBox[1];

+    break;

   case 3:

     tmbp = &canp->can->sTxMailBox[2];

+    break;

   default:

     return;

   }

@@ -546,8 +550,14 @@ void can_lld_transmit(CANDriver *canp,
  */

 bool_t can_lld_is_rx_nonempty(CANDriver *canp, canmbx_t mailbox) {

 

-  return mailbox == 0 ? (canp->can->RF0R & CAN_RF0R_FMP0) > 0 :

-                        (canp->can->RF1R & CAN_RF1R_FMP1) > 0;

+  switch (mailbox) {

+  case 1:

+    return (canp->can->RF0R & CAN_RF0R_FMP0) > 0;

+  case 2:

+    return (canp->can->RF1R & CAN_RF1R_FMP1) > 0;

+  default:

+    return FALSE;

+  }

 }

 

 /**

@@ -564,7 +574,8 @@ void can_lld_receive(CANDriver *canp,
                      CANRxFrame *crfp) {

   uint32_t rir, rdtr;

 

-  if (mailbox == 0) {

+  switch (mailbox) {

+  case 1:

     /* Fetches the message.*/

     rir  = canp->can->sFIFOMailBox[0].RIR;

     rdtr = canp->can->sFIFOMailBox[0].RDTR;

@@ -578,8 +589,8 @@ void can_lld_receive(CANDriver *canp,
        events again.*/

     if ((canp->can->RF0R & CAN_RF0R_FMP0) == 0)

       canp->can->IER |= CAN_IER_FMPIE0;

-  }

-  else {

+    break;

+  case 2:

     /* Fetches the message.*/

     rir  = canp->can->sFIFOMailBox[1].RIR;

     rdtr = canp->can->sFIFOMailBox[1].RDTR;

@@ -593,7 +604,12 @@ void can_lld_receive(CANDriver *canp,
        events again.*/

     if ((canp->can->RF1R & CAN_RF1R_FMP1) == 0)

       canp->can->IER |= CAN_IER_FMPIE1;

+    break;

+  default:

+    return;

   }

+

+  /* Decodes the various fields in the RX frame.*/

   crfp->RTR = (rir & CAN_RI0R_RTR) >> 1;

   crfp->IDE = (rir & CAN_RI0R_IDE) >> 2;

   if (crfp->IDE)

diff --git a/os/hal/platforms/STM32/can_lld.h b/os/hal/platforms/STM32/can_lld.h
index a15226f4a..11ef5dcc9 100644
--- a/os/hal/platforms/STM32/can_lld.h
+++ b/os/hal/platforms/STM32/can_lld.h
@@ -58,7 +58,7 @@
 /**

  * @brief   This implementation supports two receive mailboxes.

  */

-#define CAN_RX_MAILBOXES            3

+#define CAN_RX_MAILBOXES            2

 

 /**

  * @name    CAN registers helper macros

diff --git a/testhal/STM32F4xx/CAN/main.c b/testhal/STM32F4xx/CAN/main.c
index e7a10247b..e095da4d5 100644
--- a/testhal/STM32F4xx/CAN/main.c
+++ b/testhal/STM32F4xx/CAN/main.c
@@ -56,7 +56,7 @@ static msg_t can_rx(void *p) {
   while(!chThdShouldTerminate()) {

     if (chEvtWaitAnyTimeout(ALL_EVENTS, MS2ST(100)) == 0)

       continue;

-    while (canReceive(cip->canp, &rxmsg, TIME_IMMEDIATE) == RDY_OK) {

+    while (canReceive(cip->canp, 1, &rxmsg, TIME_IMMEDIATE) == RDY_OK) {

       /* Process message.*/

       palTogglePad(GPIOD, cip->led);

     }

@@ -82,8 +82,8 @@ static msg_t can_tx(void * p) {
   txmsg.data32[1] = 0x00FF00FF;

 

   while (!chThdShouldTerminate()) {

-    canTransmit(&CAND1, &txmsg, MS2ST(100));

-    canTransmit(&CAND2, &txmsg, MS2ST(100));

+    canTransmit(&CAND1, CAN_ANY_TX_MAILBOX, &txmsg, MS2ST(100));

+    canTransmit(&CAND2, CAN_ANY_TX_MAILBOX, &txmsg, MS2ST(100));

     chThdSleepMilliseconds(500);

   }

   return 0;