git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@1369 35acf78f-673a-0410-8e92-d51de3d6d3f4

demos/ARMCM3-STM32F103-GCC/halconf.h

@@ -45,7 +45,7 @@
  * @brief Enables the CAN subsystem.
  */
 #if !defined(CH_HAL_USE_CAN) || defined(__DOXYGEN__)
-#define CH_HAL_USE_CAN                  FALSE
+#define CH_HAL_USE_CAN                  TRUE
 #endif
 
 /**

os/hal/include/can.h

@@ -29,6 +29,27 @@
 
 #if CH_HAL_USE_CAN || defined(__DOXYGEN__)
 
+/**
+ * @brief Errors rate warning.
+ */
+#define CAN_LIMIT_WARNING       1
+/**
+ * @brief Errors rate error.
+ */
+#define CAN_LIMIT_ERROR         2
+/**
+ * @brief Bus off condition reached.
+ */
+#define CAN_BUS_OFF_ERROR       4
+/**
+ * @brief Framing error of some kind on the CAN bus.
+ */
+#define CAN_FRAMING_ERROR       8
+/**
+ * @brief Overflow in receive queue.
+ */
+#define CAN_OVERFLOW_ERROR      16
+
 /**
  * @brief Driver state machine possible states.
  */

os/hal/platforms/STM32/adc_lld.c

@@ -112,7 +112,7 @@ CH_IRQ_HANDLER(Vector6C) {
 void adc_lld_init(void) {
 
 #if USE_STM32_ADC1
-  /* ADC reset, ensures reset state in order to avoid truouble with JTAGs.*/
+  /* ADC reset, ensures reset state in order to avoid trouble with JTAGs.*/
   RCC->APB2RSTR = RCC_APB2RSTR_ADC1RST;
   RCC->APB2RSTR = 0;
 

os/hal/platforms/STM32/can_lld.c

@@ -68,12 +68,24 @@ CH_IRQ_HANDLER(Vector8C) {
  * CAN1 RX0 interrupt handler.
  */
 CH_IRQ_HANDLER(Vector90) {
+  uint32_t rf0r;
 
   CH_IRQ_PROLOGUE();
 
-  /* No more events until the incoming messages queues are emptied.*/
+  rf0r = CAN1->RF0R;
-  CAN1->IER &= ~(CAN_IER_FMPIE0 | CAN_IER_FMPIE1);
+  chSysLockFromIsr();
+  if ((rf0r & CAN_RF0R_FMP0) > 0) {
+    /* No more receive events until the queue 0 has been emptied.*/
+    CAN1->IER &= ~CAN_IER_FMPIE0;
     chEvtBroadcastI(&CAND1.cd_rxfull_event);
+  }
+  if ((rf0r & CAN_RF0R_FOVR0) > 0) {
+    /* Overflow events handling.*/
+    CAN1->RF0R = CAN_RF0R_FOVR0;
+    canAddFlagsI(&CAND1, CAN_OVERFLOW_ERROR);
+    chEvtBroadcastI(&CAND1.cd_error_event);
+  }
+  chSysUnlockFromIsr();
 
   CH_IRQ_EPILOGUE();
 }
@@ -85,9 +97,7 @@ CH_IRQ_HANDLER(Vector94) {
 
   CH_IRQ_PROLOGUE();
 
-  /* No more events until the incoming messages queues are emptied.*/
+  chSysHalt(); /* Not supported (yet).*/
-  CAN1->IER &= ~(CAN_IER_FMPIE0 | CAN_IER_FMPIE1);
-  chEvtBroadcastI(&CAND1.cd_rxfull_event);
 
   CH_IRQ_EPILOGUE();
 }
@@ -96,12 +106,32 @@ CH_IRQ_HANDLER(Vector94) {
  * CAN1 SCE interrupt handler.
  */
 CH_IRQ_HANDLER(Vector98) {
+  uint32_t msr;
 
   CH_IRQ_PROLOGUE();
 
-  canAddFlagsI(&CAND1, 1);
+  msr = CAN1->MSR;
+  CAN1->MSR = CAN_MSR_ERRI | CAN_MSR_WKUI | CAN_MSR_SLAKI;
+  /* Wakeup event.*/
+  if (msr & CAN_MSR_WKUI) {
+    chSysLockFromIsr();
+    chEvtBroadcastI(&CAND1.cd_wakeup_event);
+    chSysUnlockFromIsr();
+  }
+  /* Error event.*/
+  if (msr & CAN_MSR_ERRI) {
+    canstatus_t flags;
+    uint32_t esr = CAN1->ESR;
+
+    CAN1->ESR &= ~CAN_ESR_LEC;
+    flags = (canstatus_t)(esr & 7);
+    if ((esr & CAN_ESR_LEC) > 0)
+      flags |= CAN_FRAMING_ERROR;
+    chSysLockFromIsr();
+    canAddFlagsI(&CAND1, flags);
     chEvtBroadcastI(&CAND1.cd_error_event);
-  CAN1->MSR = CAN_MSR_ERRI;
+    chSysUnlockFromIsr();
+  }
 
   CH_IRQ_EPILOGUE();
 }
@@ -115,6 +145,15 @@ CH_IRQ_HANDLER(Vector98) {
  */
 void can_lld_init(void) {
 
+#if USE_STM32_CAN1
+  /* CAN reset, ensures reset state in order to avoid trouble with JTAGs.*/
+  RCC->APB1RSTR = RCC_APB1RSTR_CAN1RST;
+  RCC->APB1RSTR = 0;
+
+  /* Driver initialization.*/
+  canObjectInit(&CAND1);
+  CAND1.cd_can = CAN1;
+#endif
 }
 
 /**
@@ -126,8 +165,23 @@ void can_lld_start(CANDriver *canp) {
 
   if (canp->cd_state == CAN_STOP) {
     /* Clock activation.*/
+#if USE_STM32_CAN1
+    if (&CAND1 == canp) {
+      NVICEnableVector(USB_HP_CAN1_TX_IRQn, STM32_CAN1_IRQ_PRIORITY);
+      NVICEnableVector(USB_LP_CAN1_RX0_IRQn, STM32_CAN1_IRQ_PRIORITY);
+      NVICEnableVector(CAN1_RX1_IRQn, STM32_CAN1_IRQ_PRIORITY);
+      NVICEnableVector(CAN1_SCE_IRQn, STM32_CAN1_IRQ_PRIORITY);
+      RCC->APB1ENR |= RCC_APB1ENR_CAN1EN;
+    }
+#endif
   }
   /* Configuration.*/
+  canp->cd_can->MCR = canp->cd_config->cc_mcr;
+  canp->cd_can->BTR = canp->cd_config->cc_btr;
+  canp->cd_can->IER = CAN_IER_TMEIE  | CAN_IER_FMPIE0 | CAN_IER_FMPIE1 |
+                      CAN_IER_WKUIE  | CAN_IER_ERRIE  | CAN_IER_LECIE  |
+                      CAN_IER_BOFIE  | CAN_IER_EPVIE  | CAN_IER_EWGIE  |
+                      CAN_IER_FOVIE0 | CAN_IER_FOVIE1;
 }
 
 /**
@@ -137,6 +191,21 @@ void can_lld_start(CANDriver *canp) {
  */
 void can_lld_stop(CANDriver *canp) {
 
+  /* If in ready state then disables the CAN clock.*/
+  if (canp->cd_state == CAN_READY) {
+#if USE_STM32_CAN1
+    if (&CAND1 == canp) {
+      CAN1->MCR = 0x00010002;                   /* Register reset value.    */
+      CAN1->BTR = 0x01230000;                   /* Register reset value.    */
+      CAN1->IER = 0x00000000;                   /* All sources disabled.    */
+      NVICDisableVector(USB_HP_CAN1_TX_IRQn);
+      NVICDisableVector(USB_LP_CAN1_RX0_IRQn);
+      NVICDisableVector(CAN1_RX1_IRQn);
+      NVICDisableVector(CAN1_SCE_IRQn);
+      RCC->APB1ENR &= ~RCC_APB1ENR_CAN1EN;
+    }
+#endif
+  }
 }
 
 /**

os/hal/platforms/STM32/can_lld.h

@@ -40,7 +40,7 @@
 /*===========================================================================*/
 
 /**
- * @brief ADC1 driver enable switch.
+ * @brief CAN1 driver enable switch.
  * @details If set to @p TRUE the support for ADC1 is included.
  * @note The default is @p TRUE.
  */
@@ -48,6 +48,14 @@
 #define USE_STM32_CAN1              TRUE
 #endif
 
+/**
+ * @brief CAN1 interrupt priority level setting.
+ * @note @p BASEPRI_KERNEL >= @p STM32_SPI1_IRQ_PRIORITY > @p PRIORITY_PENDSV.
+ */
+#if !defined(STM32_CAN1_IRQ_PRIORITY) || defined(__DOXYGEN__)
+#define STM32_CAN1_IRQ_PRIORITY     0xB0
+#endif
+
 /**
  * @brief Sleep mode related APIs inclusion switch.
  * @note This switch is enforced to @p FALSE if the driver implementation
@@ -159,7 +167,7 @@ typedef struct {
   /**
    * @brief Pointer to the CAN registers.
    */
-  CAN_TypeDef               *cd_canp;
+  CAN_TypeDef               *cd_can;
 } CANDriver;
 
 /*===========================================================================*/

os/hal/src/can.c

@@ -50,6 +50,8 @@ void canObjectInit(CANDriver *canp) {
   chSemInit(&canp->cd_rxsem, 0);
   chEvtInit(&canp->cd_rxfull_event);
   chEvtInit(&canp->cd_txempty_event);
+  chEvtInit(&canp->cd_error_event);
+  canp->cd_status = 0;
 #if CAN_USE_SLEEP_MODE
   chEvtInit(&canp->cd_sleep_event);
   chEvtInit(&canp->cd_wakeup_event);
@@ -91,6 +93,7 @@ void canStop(CANDriver *canp) {
               "invalid state");
   can_lld_stop(canp);
   canp->cd_state  = CAN_STOP;
+  canp->cd_status = 0;
   chSysUnlock();
 }