From bb806fe4c18e628b546291dab906928ebdb46627 Mon Sep 17 00:00:00 2001
From: Giovanni Di Sirio <gdisirio@gmail.com>
Date: Tue, 2 Jan 2018 11:17:31 +0000
Subject: Added callbacks capability to the CAN driver.

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@11213 35acf78f-673a-0410-8e92-d51de3d6d3f4
---
 os/hal/src/hal_can.c | 17 +++++++++++++++--
 1 file changed, 15 insertions(+), 2 deletions(-)

(limited to 'os/hal/src')

diff --git a/os/hal/src/hal_can.c b/os/hal/src/hal_can.c
index 122e5eb76..6d174f7b6 100644
--- a/os/hal/src/hal_can.c
+++ b/os/hal/src/hal_can.c
@@ -67,10 +67,11 @@ void canInit(void) {
  */
 void canObjectInit(CANDriver *canp) {
 
-  canp->state    = CAN_STOP;
-  canp->config   = NULL;
+  canp->state       = CAN_STOP;
+  canp->config      = NULL;
   osalThreadQueueObjectInit(&canp->txqueue);
   osalThreadQueueObjectInit(&canp->rxqueue);
+#if !defined(CAN_ENFORCE_USE_CALLBACKS)
   osalEventObjectInit(&canp->rxfull_event);
   osalEventObjectInit(&canp->txempty_event);
   osalEventObjectInit(&canp->error_event);
@@ -78,6 +79,14 @@ void canObjectInit(CANDriver *canp) {
   osalEventObjectInit(&canp->sleep_event);
   osalEventObjectInit(&canp->wakeup_event);
 #endif
+#else /* defined(CAN_ENFORCE_USE_CALLBACKS) */
+  canp->rxfull_cb   = NULL;
+  canp->txempty_cb  = NULL;
+  canp->error_cb    = NULL;
+#if CAN_USE_SLEEP_MODE == TRUE
+  canp->wakeup_cb   = NULL;
+#endif
+#endif /* defined(CAN_ENFORCE_USE_CALLBACKS) */
 }
 
 /**
@@ -327,8 +336,10 @@ void canSleep(CANDriver *canp) {
   if (canp->state == CAN_READY) {
     can_lld_sleep(canp);
     canp->state = CAN_SLEEP;
+#if !defined(CAN_ENFORCE_USE_CALLBACKS)
     osalEventBroadcastFlagsI(&canp->sleep_event, (eventflags_t)0);
     osalOsRescheduleS();
+#endif
   }
   osalSysUnlock();
 }
@@ -350,8 +361,10 @@ void canWakeup(CANDriver *canp) {
   if (canp->state == CAN_SLEEP) {
     can_lld_wakeup(canp);
     canp->state = CAN_READY;
+#if !defined(CAN_ENFORCE_USE_CALLBACKS)
     osalEventBroadcastFlagsI(&canp->wakeup_event, (eventflags_t)0);
     osalOsRescheduleS();
+#endif
   }
   osalSysUnlock();
 }
-- 
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