From 04385d42d46173127ac7c5274cbd15d5d255c460 Mon Sep 17 00:00:00 2001
From: gdisirio <gdisirio@35acf78f-673a-0410-8e92-d51de3d6d3f4>
Date: Fri, 22 Feb 2013 14:45:58 +0000
Subject: [PATCH] git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@5300
 35acf78f-673a-0410-8e92-d51de3d6d3f4

---
 os/hal/platforms/STM32/can_lld.c | 26 +++++++++++++++++++++-----
 os/hal/platforms/STM32/can_lld.h |  2 +-
 testhal/STM32F4xx/CAN/main.c     |  6 +++---
 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;