diff options
Diffstat (limited to 'os')
| -rw-r--r-- | os/hal/platforms/STM32/can_lld.c | 10 | ||||
| -rw-r--r-- | os/hal/platforms/STM32/can_lld.h | 4 |
2 files changed, 14 insertions, 0 deletions
diff --git a/os/hal/platforms/STM32/can_lld.c b/os/hal/platforms/STM32/can_lld.c index 2f4f760f0..30e9dd7cf 100644 --- a/os/hal/platforms/STM32/can_lld.c +++ b/os/hal/platforms/STM32/can_lld.c @@ -411,6 +411,10 @@ void can_lld_start(CANDriver *canp) { #endif
#if STM32_CAN_USE_CAN2
if (&CAND2 == canp) {
+
+ chDbgAssert(CAND1.state != CAN_STOP,
+ "can_lld_start(), #1", "CAN1 must be started");
+
nvicEnableVector(STM32_CAN2_TX_NUMBER,
CORTEX_PRIORITY_MASK(STM32_CAN_CAN2_IRQ_PRIORITY));
nvicEnableVector(STM32_CAN2_RX0_NUMBER,
@@ -453,6 +457,12 @@ void can_lld_stop(CANDriver *canp) { if (canp->state == CAN_READY) {
#if STM32_CAN_USE_CAN1
if (&CAND1 == canp) {
+
+#if STM32_CAN_USE_CAN2
+ chDbgAssert(CAND2.state == CAN_STOP,
+ "can_lld_stop(), #1", "CAN2 must be stopped");
+#endif
+
CAN1->MCR = 0x00010002; /* Register reset value. */
CAN1->IER = 0x00000000; /* All sources disabled. */
nvicDisableVector(STM32_CAN1_TX_NUMBER);
diff --git a/os/hal/platforms/STM32/can_lld.h b/os/hal/platforms/STM32/can_lld.h index 44906b7ed..c339c01e7 100644 --- a/os/hal/platforms/STM32/can_lld.h +++ b/os/hal/platforms/STM32/can_lld.h @@ -128,6 +128,10 @@ #error "CAN driver activated but no CAN peripheral assigned"
#endif
+#if !STM32_CAN_USE_CAN1 && STM32_CAN_USE_CAN2
+#error "CAN2 requires CAN1, it cannot operate independently"
+#endif
+
#if CAN_USE_SLEEP_MODE && !CAN_SUPPORTS_SLEEP
#error "CAN sleep mode not supported in this architecture"
#endif
|