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ChibiOS
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CAN driver enhancements completed. 

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@5303 35acf78f-673a-0410-8e92-d51de3d6d3f4
This commit is contained in:
gdisirio 2013-02-23 09:04:38 +00:00
parent 61524c2014
commit 4256a9113f
9 changed files with 160 additions and 29 deletions
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4
os/hal/include/can.h
View File

@ -62,9 +62,9 @@
/** @} */
/**
* @brief Special TX mailbox identifier.
* @brief Special mailbox identifier.
*/
#define CAN_ANY_TX_MAILBOX 0
#define CAN_ANY_MAILBOX 0
/*===========================================================================*/
/* Driver pre-compile time settings. */

50
os/hal/platforms/STM32/can_lld.c
View File

@ -172,16 +172,31 @@ static void can_lld_rx0_handler(CANDriver *canp) {
/**
* @brief Common RX1 ISR handler.
* @note Not used, must not be invoked, defaulted to an halt.
*
* @param[in] canp pointer to the @p CANDriver object
*
* @notapi
*/
static void can_lld_rx1_handler(CANDriver *canp) {
uint32_t rf1r;
(void)canp;
chSysHalt();
rf1r = canp->can->RF1R;
if ((rf1r & CAN_RF1R_FMP1) > 0) {
/* No more receive events until the queue 0 has been emptied.*/
canp->can->IER &= ~CAN_IER_FMPIE1;
chSysLockFromIsr();
while (chSemGetCounterI(&canp->rxsem) < 0)
chSemSignalI(&canp->rxsem);
chEvtBroadcastFlagsI(&canp->rxfull_event, CAN_MAILBOX_TO_MASK(1));
chSysUnlockFromIsr();
}
if ((rf1r & CAN_RF1R_FOVR1) > 0) {
/* Overflow events handling.*/
canp->can->RF1R = CAN_RF1R_FOVR1;
chSysLockFromIsr();
chEvtBroadcastFlagsI(&canp->error_event, CAN_OVERFLOW_ERROR);
chSysUnlockFromIsr();
}
}
/**
@ -467,7 +482,7 @@ void can_lld_stop(CANDriver *canp) {
* @brief Determines whether a frame can be transmitted.
*
* @param[in] canp pointer to the @p CANDriver object
* @param[in] mailbox mailbox number, @p CAN_ANY_TX_MAILBOX for any mailbox
* @param[in] mailbox mailbox number, @p CAN_ANY_MAILBOX for any mailbox
*
* @return The queue space availability.
* @retval FALSE no space in the transmit queue.
@ -478,7 +493,7 @@ void can_lld_stop(CANDriver *canp) {
bool_t can_lld_is_tx_empty(CANDriver *canp, canmbx_t mailbox) {
switch (mailbox) {
case CAN_ANY_TX_MAILBOX:
case CAN_ANY_MAILBOX:
return (canp->can->TSR & CAN_TSR_TME) != 0;
case 1:
return (canp->can->TSR & CAN_TSR_TME0) != 0;
@ -496,7 +511,7 @@ bool_t can_lld_is_tx_empty(CANDriver *canp, canmbx_t mailbox) {
*
* @param[in] canp pointer to the @p CANDriver object
* @param[in] ctfp pointer to the CAN frame to be transmitted
* @param[in] mailbox mailbox number, @p CAN_ANY_TX_MAILBOX for any mailbox
* @param[in] mailbox mailbox number, @p CAN_ANY_MAILBOX for any mailbox
*
* @notapi
*/
@ -508,7 +523,7 @@ void can_lld_transmit(CANDriver *canp,
/* Pointer to a free transmission mailbox.*/
switch (mailbox) {
case CAN_ANY_TX_MAILBOX:
case CAN_ANY_MAILBOX:
tmbp = &canp->can->sTxMailBox[(canp->can->TSR & CAN_TSR_CODE) >> 24];
break;
case 1:
@ -540,7 +555,7 @@ void can_lld_transmit(CANDriver *canp,
* @brief Determines whether a frame has been received.
*
* @param[in] canp pointer to the @p CANDriver object
* @param[in] mailbox mailbox number
* @param[in] mailbox mailbox number, @p CAN_ANY_MAILBOX for any mailbox
*
* @return The queue space availability.
* @retval FALSE no space in the transmit queue.
@ -551,10 +566,12 @@ void can_lld_transmit(CANDriver *canp,
bool_t can_lld_is_rx_nonempty(CANDriver *canp, canmbx_t mailbox) {
switch (mailbox) {
case CAN_ANY_MAILBOX:
return (canp->can->RF0R & (CAN_RF0R_FMP0 | CAN_RF1R_FMP1)) != 0;
case 1:
return (canp->can->RF0R & CAN_RF0R_FMP0) > 0;
return (canp->can->RF0R & CAN_RF0R_FMP0) != 0;
case 2:
return (canp->can->RF1R & CAN_RF1R_FMP1) > 0;
return (canp->can->RF1R & CAN_RF1R_FMP1) != 0;
default:
return FALSE;
}
@ -564,8 +581,8 @@ bool_t can_lld_is_rx_nonempty(CANDriver *canp, canmbx_t mailbox) {
* @brief Receives a frame from the input queue.
*
* @param[in] canp pointer to the @p CANDriver object
* @param[in] mailbox mailbox number, @p CAN_ANY_MAILBOX for any mailbox
* @param[out] crfp pointer to the buffer where the CAN frame is copied
* @param[in] mailbox mailbox number
*
* @notapi
*/
@ -574,6 +591,16 @@ void can_lld_receive(CANDriver *canp,
CANRxFrame *crfp) {
uint32_t rir, rdtr;
if (mailbox == CAN_ANY_MAILBOX) {
if ((canp->can->RF0R & CAN_RF0R_FMP0) != 0)
mailbox = 1;
else if ((canp->can->RF1R & CAN_RF1R_FMP1) != 0)
mailbox = 2;
else {
/* Should not happen, do nothing.*/
return;
}
}
switch (mailbox) {
case 1:
/* Fetches the message.*/
@ -606,6 +633,7 @@ void can_lld_receive(CANDriver *canp,
canp->can->IER |= CAN_IER_FMPIE1;
break;
default:
/* Should not happen, do nothing.*/
return;
}

10
os/hal/src/can.c
View File

@ -145,7 +145,7 @@ void canStop(CANDriver *canp) {
* @note Trying to transmit while in sleep mode simply enqueues the thread.
*
* @param[in] canp pointer to the @p CANDriver object
* @param[in] mailbox mailbox number, @p CAN_ANY_TX_MAILBOX for any mailbox
* @param[in] mailbox mailbox number, @p CAN_ANY_MAILBOX for any mailbox
* @param[in] ctfp pointer to the CAN frame to be transmitted
* @param[in] timeout the number of ticks before the operation timeouts,
* the following special values are allowed:
@ -164,8 +164,7 @@ msg_t canTransmit(CANDriver *canp,
const CANTxFrame *ctfp,
systime_t timeout) {
chDbgCheck((canp != NULL) && (ctfp != NULL) &&
(mailbox <= CAN_TX_MAILBOXES),
chDbgCheck((canp != NULL) && (ctfp != NULL) && (mailbox <= CAN_TX_MAILBOXES),
"canTransmit");
chSysLock();
@ -189,7 +188,7 @@ msg_t canTransmit(CANDriver *canp,
* @note Trying to receive while in sleep mode simply enqueues the thread.
*
* @param[in] canp pointer to the @p CANDriver object
* @param[in] mailbox mailbox number
* @param[in] mailbox mailbox number, @p CAN_ANY_MAILBOX for any mailbox
* @param[out] crfp pointer to the buffer where the CAN frame is copied
* @param[in] timeout the number of ticks before the operation timeouts,
* the following special values are allowed:
@ -210,8 +209,7 @@ msg_t canReceive(CANDriver *canp,
CANRxFrame *crfp,
systime_t timeout) {
chDbgCheck((canp != NULL) && (crfp != NULL) &&
(mailbox >= 1) && (mailbox < CAN_RX_MAILBOXES),
chDbgCheck((canp != NULL) && (crfp != NULL) && (mailbox < CAN_RX_MAILBOXES),
"canReceive");
chSysLock();

2
readme.txt
View File

@ -117,6 +117,8 @@
(backported to 2.4.3).
- FIX: Fixed wrong SPI path in platform_f105_f107.mk (bug 3598151).
- FIX: Fixed PHY powerdown issues not fixed (bug 3596911).
- NEW: Enhanced CAN driver model, support for mailboxes has been added. STM32
driver implementation upgraded.
- NEW: Added ADC and PWM drivers for the AT91SAM7 platform, both donated
by Andrew Hannam.
- NEW: Added kernel support for the SAM4L, an Atmel Studio 6 demo for the

8
testhal/STM32F1xx/CAN/main.c
View File

@ -29,9 +29,7 @@
static const CANConfig cancfg = {
CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP,
CAN_BTR_LBKM | CAN_BTR_SJW(0) | CAN_BTR_TS2(1) |
CAN_BTR_TS1(8) | CAN_BTR_BRP(6),
0,
NULL
CAN_BTR_TS1(8) | CAN_BTR_BRP(6)
};
/*
@ -48,7 +46,7 @@ static msg_t can_rx(void *p) {
while(!chThdShouldTerminate()) {
if (chEvtWaitAnyTimeout(ALL_EVENTS, MS2ST(100)) == 0)
continue;
while (canReceive(&CAND1, &rxmsg, TIME_IMMEDIATE) == RDY_OK) {
while (canReceive(&CAND1, CAN_ANY_MAILBOX, &rxmsg, TIME_IMMEDIATE) == RDY_OK) {
/* Process message.*/
palTogglePad(IOPORT3, GPIOC_LED);
}
@ -74,7 +72,7 @@ static msg_t can_tx(void * p) {
txmsg.data32[1] = 0x00FF00FF;
while (!chThdShouldTerminate()) {
canTransmit(&CAND1, &txmsg, MS2ST(100));
canTransmit(&CAND1, CAN_ANY_MAILBOX, &txmsg, MS2ST(100));
chThdSleepMilliseconds(500);
}
return 0;

52
testhal/STM32F30x/CAN/.project
View File

@ -9,6 +9,58 @@
<name>org.eclipse.cdt.managedbuilder.core.genmakebuilder</name>
<triggers>clean,full,incremental,</triggers>
<arguments>
<dictionary>
<key>?name?</key>
<value></value>
</dictionary>
<dictionary>
<key>org.eclipse.cdt.make.core.append_environment</key>
<value>true</value>
</dictionary>
<dictionary>
<key>org.eclipse.cdt.make.core.autoBuildTarget</key>
<value>all</value>
</dictionary>
<dictionary>
<key>org.eclipse.cdt.make.core.buildArguments</key>
<value>-j1</value>
</dictionary>
<dictionary>
<key>org.eclipse.cdt.make.core.buildCommand</key>
<value>make</value>
</dictionary>
<dictionary>
<key>org.eclipse.cdt.make.core.cleanBuildTarget</key>
<value>clean</value>
</dictionary>
<dictionary>
<key>org.eclipse.cdt.make.core.contents</key>
<value>org.eclipse.cdt.make.core.activeConfigSettings</value>
</dictionary>
<dictionary>
<key>org.eclipse.cdt.make.core.enableAutoBuild</key>
<value>false</value>
</dictionary>
<dictionary>
<key>org.eclipse.cdt.make.core.enableCleanBuild</key>
<value>true</value>
</dictionary>
<dictionary>
<key>org.eclipse.cdt.make.core.enableFullBuild</key>
<value>true</value>
</dictionary>
<dictionary>
<key>org.eclipse.cdt.make.core.fullBuildTarget</key>
<value>all</value>
</dictionary>
<dictionary>
<key>org.eclipse.cdt.make.core.stopOnError</key>
<value>true</value>
</dictionary>
<dictionary>
<key>org.eclipse.cdt.make.core.useDefaultBuildCmd</key>
<value>true</value>
</dictionary>
</arguments>
</buildCommand>
<buildCommand>

4
testhal/STM32F30x/CAN/main.c
View File

@ -45,7 +45,7 @@ static msg_t can_rx(void *p) {
while(!chThdShouldTerminate()) {
if (chEvtWaitAnyTimeout(ALL_EVENTS, MS2ST(100)) == 0)
continue;
while (canReceive(&CAND1, 1, &rxmsg, TIME_IMMEDIATE) == RDY_OK) {
while (canReceive(&CAND1, CAN_ANY_MAILBOX, &rxmsg, TIME_IMMEDIATE) == RDY_OK) {
/* Process message.*/
palTogglePad(GPIOE, GPIOE_LED3_RED);
}
@ -71,7 +71,7 @@ static msg_t can_tx(void * p) {
txmsg.data32[1] = 0x00FF00FF;
while (!chThdShouldTerminate()) {
canTransmit(&CAND1, CAN_ANY_TX_MAILBOX, &txmsg, MS2ST(100));
canTransmit(&CAND1, CAN_ANY_MAILBOX, &txmsg, MS2ST(100));
chThdSleepMilliseconds(500);
}
return 0;

52
testhal/STM32F4xx/CAN/.project
View File

@ -9,6 +9,58 @@
<name>org.eclipse.cdt.managedbuilder.core.genmakebuilder</name>
<triggers>clean,full,incremental,</triggers>
<arguments>
<dictionary>
<key>?name?</key>
<value></value>
</dictionary>
<dictionary>
<key>org.eclipse.cdt.make.core.append_environment</key>
<value>true</value>
</dictionary>
<dictionary>
<key>org.eclipse.cdt.make.core.autoBuildTarget</key>
<value>all</value>
</dictionary>
<dictionary>
<key>org.eclipse.cdt.make.core.buildArguments</key>
<value>-j1</value>
</dictionary>
<dictionary>
<key>org.eclipse.cdt.make.core.buildCommand</key>
<value>make</value>
</dictionary>
<dictionary>
<key>org.eclipse.cdt.make.core.cleanBuildTarget</key>
<value>clean</value>
</dictionary>
<dictionary>
<key>org.eclipse.cdt.make.core.contents</key>
<value>org.eclipse.cdt.make.core.activeConfigSettings</value>
</dictionary>
<dictionary>
<key>org.eclipse.cdt.make.core.enableAutoBuild</key>
<value>false</value>
</dictionary>
<dictionary>
<key>org.eclipse.cdt.make.core.enableCleanBuild</key>
<value>true</value>
</dictionary>
<dictionary>
<key>org.eclipse.cdt.make.core.enableFullBuild</key>
<value>true</value>
</dictionary>
<dictionary>
<key>org.eclipse.cdt.make.core.fullBuildTarget</key>
<value>all</value>
</dictionary>
<dictionary>
<key>org.eclipse.cdt.make.core.stopOnError</key>
<value>true</value>
</dictionary>
<dictionary>
<key>org.eclipse.cdt.make.core.useDefaultBuildCmd</key>
<value>true</value>
</dictionary>
</arguments>
</buildCommand>
<buildCommand>

7
testhal/STM32F4xx/CAN/main.c
View File

@ -56,7 +56,8 @@ static msg_t can_rx(void *p) {
while(!chThdShouldTerminate()) {
if (chEvtWaitAnyTimeout(ALL_EVENTS, MS2ST(100)) == 0)
continue;
while (canReceive(cip->canp, 1, &rxmsg, TIME_IMMEDIATE) == RDY_OK) {
while (canReceive(cip->canp, CAN_ANY_MAILBOX,
&rxmsg, TIME_IMMEDIATE) == RDY_OK) {
/* Process message.*/
palTogglePad(GPIOD, cip->led);
}
@ -82,8 +83,8 @@ static msg_t can_tx(void * p) {
txmsg.data32[1] = 0x00FF00FF;
while (!chThdShouldTerminate()) {
canTransmit(&CAND1, CAN_ANY_TX_MAILBOX, &txmsg, MS2ST(100));
canTransmit(&CAND2, CAN_ANY_TX_MAILBOX, &txmsg, MS2ST(100));
canTransmit(&CAND1, CAN_ANY_MAILBOX, &txmsg, MS2ST(100));
canTransmit(&CAND2, CAN_ANY_MAILBOX, &txmsg, MS2ST(100));
chThdSleepMilliseconds(500);
}
return 0;