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git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@1374 35acf78f-673a-0410-8e92-d51de3d6d3f4

This commit is contained in:
gdisirio 2009-12-04 20:56:51 +00:00
parent 980f0b6751
commit 03a0255b04
4 changed files with 143 additions and 49 deletions
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46
os/hal/platforms/STM32/can_lld.c
View File

@ -213,6 +213,10 @@ void can_lld_start(CANDriver *canp) {
} }
cfp++; cfp++;
fmask <<= 1; fmask <<= 1;
/* Gives a chance for preemption since this is a rather long loop.*/
chSysUnlock();
chThdYield();
chSysLock();
} }
} }
else { else {
@ -239,7 +243,7 @@ void can_lld_start(CANDriver *canp) {
*/ */
void can_lld_stop(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 (canp->cd_state == CAN_READY) {
#if USE_STM32_CAN1 #if USE_STM32_CAN1
if (&CAND1 == canp) { if (&CAND1 == canp) {
@ -273,9 +277,31 @@ bool_t can_lld_can_transmit(CANDriver *canp) {
* @brief Inserts a frame into the transmit queue. * @brief Inserts a frame into the transmit queue.
* *
* @param[in] canp pointer to the @p CANDriver object * @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) { 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. * @brief Receives a frame from the input queue.
* *
* @param[in] canp pointer to the @p CANDriver object * @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) { void can_lld_receive(CANDriver *canp, CANRxFrame *crfp) {
uint32_t r; uint32_t r;
@ -310,13 +336,19 @@ void can_lld_receive(CANDriver *canp, CANRxFrame *crfp) {
crfp->cf_RTR = r & CAN_RI0R_RTR; crfp->cf_RTR = r & CAN_RI0R_RTR;
crfp->cf_IDE = r & CAN_RI0R_IDE; crfp->cf_IDE = r & CAN_RI0R_IDE;
if (crfp->cf_IDE) if (crfp->cf_IDE)
crfp->cf_ID = r >> 3; crfp->cf_EID = r >> 3;
else else
crfp->cf_ID = r >> 24; crfp->cf_SID = r >> 24;
crfp->cf_data32[0] = canp->cd_can->sFIFOMailBox[0].RDLR; crfp->cf_data32[0] = canp->cd_can->sFIFOMailBox[0].RDLR;
crfp->cf_data32[1] = canp->cd_can->sFIFOMailBox[0].RDHR; crfp->cf_data32[1] = canp->cd_can->sFIFOMailBox[0].RDHR;
/* Releases the mailbox.*/ /* Releases the mailbox.*/
canp->cd_can->RF0R |= CAN_RF0R_RFOM0; 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__) #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 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 can_lld_wakeup(CANDriver *canp) {
(void)canp; canp->cd_can->MCR &= ~CAN_MCR_SLEEP;
} }
#endif /* CAN_USE_SLEEP_MODE */ #endif /* CAN_USE_SLEEP_MODE */

43
os/hal/platforms/STM32/can_lld.h
View File

@ -97,10 +97,19 @@ typedef uint32_t canstatus_t;
* machine data endianness, it can be still useful for a quick filling. * machine data endianness, it can be still useful for a quick filling.
*/ */
typedef struct { typedef struct {
uint8_t cf_DLC:4; /**< @brief Data length. */ struct {
uint8_t cf_RTR:1; /**< @brief Frame type. */ uint8_t cf_DLC:4; /**< @brief Data length. */
uint8_t cf_IDE:1; /**< @brief Identifier type. */ uint8_t cf_RTR:1; /**< @brief Frame type. */
uint32_t cf_ID; /**< @brief Frame identifier. */ 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 { union {
uint8_t cf_data8[8]; /**< @brief Frame data. */ uint8_t cf_data8[8]; /**< @brief Frame data. */
uint16_t cf_data16[4]; /**< @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. * machine data endianness, it can be still useful for a quick filling.
*/ */
typedef struct { typedef struct {
uint16_t cf_TIME; /**< @brief Time stamp. */ struct {
uint8_t cf_FMI; /**< @brief Filter id. */ uint8_t cf_FMI; /**< @brief Filter id. */
uint8_t cf_DLC:4; /**< @brief Data length. */ uint16_t cf_TIME; /**< @brief Time stamp. */
uint8_t cf_RTR:1; /**< @brief Frame type. */ };
uint8_t cf_IDE:1; /**< @brief Identifier type. */ struct {
uint32_t cf_ID; /**< @brief Frame identifier. */ 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 { union {
uint8_t cf_data8[8]; /**< @brief Frame data. */ uint8_t cf_data8[8]; /**< @brief Frame data. */
uint16_t cf_data16[4]; /**< @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 * until the received frames queue has been completely emptied. It
* is <b>not</b> broadcasted for each received frame. It is * is <b>not</b> broadcasted for each received frame. It is
* responsibility of the application to empty the queue by repeatedly * 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; EventSource cd_rxfull_event;
/** /**

29
os/hal/templates/can_lld.c
View File

@ -63,10 +63,6 @@ void can_lld_init(void) {
*/ */
void can_lld_start(CANDriver *canp) { void can_lld_start(CANDriver *canp) {
if (canp->can_state == CAN_STOP) {
/* Clock activation.*/
}
/* Configuration.*/
} }
/** /**
@ -76,8 +72,13 @@ void can_lld_start(CANDriver *canp) {
*/ */
void can_lld_stop(CANDriver *canp) { void can_lld_stop(CANDriver *canp) {
/* If in ready state then disables the CAN peripheral.*/
if (canp->cd_state == CAN_READY) {
}
} }
/** /**
* @brief Determines whether a frame can be transmitted. * @brief Determines whether a frame can be transmitted.
* *
@ -94,16 +95,12 @@ bool_t can_lld_can_transmit(CANDriver *canp) {
/** /**
* @brief Inserts a frame into the transmit queue. * @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
* *
* @return The operation status. * @param[in] canp pointer to the @p CANDriver object
* @retval RDY_OK frame transmitted. * @param[in] ctfp pointer to the CAN frame to be transmitted
*/ */
msg_t can_lld_transmit(CANDriver *canp, const CANFrame *cfp) { void can_lld_transmit(CANDriver *canp, const CANTxFrame *ctfp) {
return RDY_OK;
} }
/** /**
@ -122,16 +119,12 @@ bool_t can_lld_can_receive(CANDriver *canp) {
/** /**
* @brief Receives a frame from the input queue. * @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
* *
* @return The operation status. * @param[in] canp pointer to the @p CANDriver object
* @retval RDY_OK frame received. * @param[out] crfp pointer to the buffer where the CAN frame is copied
*/ */
msg_t can_lld_receive(CANDriver *canp, CANFrame *cfp) { void can_lld_receive(CANDriver *canp, CANRxFrame *crfp) {
return RDY_OK;
} }
#if CAN_USE_SLEEP_MODE || defined(__DOXYGEN__) #if CAN_USE_SLEEP_MODE || defined(__DOXYGEN__)

74
os/hal/templates/can_lld.h
View File

@ -29,6 +29,10 @@
#if CH_HAL_USE_CAN || defined(__DOXYGEN__) #if CH_HAL_USE_CAN || defined(__DOXYGEN__)
/*===========================================================================*/
/* Driver constants. */
/*===========================================================================*/
/** /**
* @brief This switch defines whether the driver implementation supports * @brief This switch defines whether the driver implementation supports
* a low power switch mode with automatic an wakeup feature. * a low power switch mode with automatic an wakeup feature.
@ -52,10 +56,6 @@
#define CAN_USE_SLEEP_MODE FALSE #define CAN_USE_SLEEP_MODE FALSE
#endif /* !CAN_SUPPORTS_SLEEP */ #endif /* !CAN_SUPPORTS_SLEEP */
/*===========================================================================*/
/* Driver constants. */
/*===========================================================================*/
/*===========================================================================*/ /*===========================================================================*/
/* Driver data structures and types. */ /* Driver data structures and types. */
/*===========================================================================*/ /*===========================================================================*/
@ -66,21 +66,63 @@
typedef uint32_t canstatus_t; typedef uint32_t canstatus_t;
/** /**
* @brief CAN frame. * @brief CAN transmission frame.
* @note Accessing the frame data as word16 or word32 is not portable because * @note Accessing the frame data as word16 or word32 is not portable because
* machine data endianness, it can be still useful for a quick filling. * machine data endianness, it can be still useful for a quick filling.
*/ */
typedef struct { typedef struct {
uint8_t cf_DLC:4; /**< @brief Data length. */ struct {
uint8_t cf_IDE:1; /**< @brief Identifier type. */ uint8_t cf_DLC:4; /**< @brief Data length. */
uint8_t cf_RTR:1; /**< @brief Frame type. */ uint8_t cf_RTR:1; /**< @brief Frame type. */
uint32_t cf_id; /**< @brief Frame identifier. */ 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 { union {
uint8_t cf_data8[8]; /**< @brief Frame data. */ uint8_t cf_data8[8]; /**< @brief Frame data. */
uint16_t cf_data16[4]; /**< @brief Frame data. */ uint16_t cf_data16[4]; /**< @brief Frame data. */
uint32_t cf_data32[2]; /**< @brief Frame data. */ uint32_t cf_data32[2]; /**< @brief Frame data. */
}; };
} CANFrame; } CANTxFrame;
/**
* @brief CAN received frame.
* @note Accessing the frame data as word16 or word32 is not portable because
* machine data endianness, it can be still useful for a quick filling.
*/
typedef struct {
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. */
uint32_t cf_data32[2]; /**< @brief Frame data. */
};
} CANRxFrame;
/**
* @brief CAN filter.
* @note It could not be present on some architectures.
*/
typedef struct {
} CANFilter;
/** /**
* @brief Driver configuration structure. * @brief Driver configuration structure.
@ -111,6 +153,12 @@ typedef struct {
Semaphore cd_rxsem; Semaphore cd_rxsem;
/** /**
* @brief One or more frames become available. * @brief One or more frames become available.
* @note After broadcasting this event it will not be broadcasted again
* 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. This behavior
* minimizes the interrupt served by the system because CAN traffic.
*/ */
EventSource cd_rxfull_event; EventSource cd_rxfull_event;
/** /**
@ -149,9 +197,9 @@ extern "C" {
void can_lld_start(CANDriver *canp); void can_lld_start(CANDriver *canp);
void can_lld_stop(CANDriver *canp); void can_lld_stop(CANDriver *canp);
bool_t can_lld_can_transmit(CANDriver *canp); bool_t can_lld_can_transmit(CANDriver *canp);
msg_t can_lld_transmit(CANDriver *canp, const CANFrame *cfp); void can_lld_transmit(CANDriver *canp, const CANTxFrame *crfp);
bool_t can_lld_can_receive(CANDriver *canp); bool_t can_lld_can_receive(CANDriver *canp);
msg_t can_lld_receive(CANDriver *canp, CANFrame *cfp); void can_lld_receive(CANDriver *canp, CANRxFrame *ctfp);
#if CAN_USE_SLEEP_MODE #if CAN_USE_SLEEP_MODE
void can_lld_sleep(CANDriver *canp); void can_lld_sleep(CANDriver *canp);
void can_lld_wakeup(CANDriver *canp); void can_lld_wakeup(CANDriver *canp);