Added canTryAbortX() function to CAN driver, implemented for STM32 CANv1.

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@13074 27425a3e-05d8-49a3-a47f-9c15f0e5edd8

os/hal/include/hal_can.h

@@ -231,6 +231,8 @@ extern "C" {
   bool canTryReceiveI(CANDriver *canp,
                       canmbx_t mailbox,
                       CANRxFrame *crfp);
+  void canTryAbortX(CANDriver *canp,
+                    canmbx_t mailbox);
   msg_t canTransmitTimeout(CANDriver *canp,
                            canmbx_t mailbox,
                            const CANTxFrame *ctfp,

os/hal/ports/STM32/LLD/CANv1/hal_can_lld.c

@@ -942,6 +942,20 @@ void can_lld_receive(CANDriver *canp,
   crfp->TIME = (uint16_t)(rdtr >> 16);
 }
 
+/**
+ * @brief   Tries to abort an ongoing transmission.
+ *
+ * @param[in] canp      pointer to the @p CANDriver object
+ * @param[in] mailbox   mailbox number
+ *
+ * @notapi
+ */
+void can_lld_abort(CANDriver *canp,
+                   canmbx_t mailbox) {
+
+  canp->can->TSR = 128U << ((mailbox - 1U) * 8U);
+}
+
 #if CAN_USE_SLEEP_MODE || defined(__DOXYGEN__)
 /**
  * @brief   Enters the sleep mode.

os/hal/ports/STM32/LLD/CANv1/hal_can_lld.h

@@ -452,6 +452,8 @@ extern "C" {
   void can_lld_receive(CANDriver *canp,
                        canmbx_t mailbox,
                        CANRxFrame *ctfp);
+  void can_lld_abort(CANDriver *canp,
+                     canmbx_t mailbox);
 #if CAN_USE_SLEEP_MODE
   void can_lld_sleep(CANDriver *canp);
   void can_lld_wakeup(CANDriver *canp);

os/hal/src/hal_can.c

@@ -218,6 +218,24 @@ bool canTryReceiveI(CANDriver *canp,
   return false;
 }
 
+/**
+ * @brief   Tries to abort an ongoing transmission.
+ *
+ * @param[in] canp      pointer to the @p CANDriver object
+ * @param[in] mailbox   mailbox number
+ *
+ * @xclass
+ */
+void canTryAbortX(CANDriver *canp,
+                  canmbx_t mailbox) {
+
+  osalDbgCheck((canp != NULL) &&
+               (mailbox != CAN_ANY_MAILBOX) &&
+               (mailbox <= (canmbx_t)CAN_TX_MAILBOXES));
+
+  can_lld_abort(canp, mailbox);
+}
+
 /**
  * @brief   Can frame transmission.
  * @details The specified frame is queued for transmission, if the hardware

os/hal/templates/hal_can_lld.c

@@ -209,6 +209,21 @@ void can_lld_receive(CANDriver *canp,
 
 }
 
+/**
+ * @brief   Tries to abort an ongoing transmission.
+ *
+ * @param[in] canp      pointer to the @p CANDriver object
+ * @param[in] mailbox   mailbox number
+ *
+ * @notapi
+ */
+void can_lld_abort(CANDriver *canp,
+                   canmbx_t mailbox) {
+
+  (void)canp;
+  (void)mailbox;
+}
+
 #if (CAN_USE_SLEEP_MODE == TRUE) || defined(__DOXYGEN__)
 /**
  * @brief   Enters the sleep mode.

os/hal/templates/hal_can_lld.h

@@ -258,6 +258,8 @@ extern "C" {
   void can_lld_receive(CANDriver *canp,
                        canmbx_t mailbox,
                        CANRxFrame *crfp);
+  void can_lld_abort(CANDriver *canp,
+                     canmbx_t mailbox);
 #if CAN_USE_SLEEP_MODE == TRUE
   void can_lld_sleep(CANDriver *canp);
   void can_lld_wakeup(CANDriver *canp);

readme.txt

@@ -74,6 +74,8 @@
 *****************************************************************************
 
 *** Next ***
+- NEW: Added canTryAbortX() function to CAN driver, implemented
+       for STM32 CANv1.
 - NEW: Added error handling to WSPI driver, now LLDs can report error
        conditions to upper layers.
 - NEW: Added mcuconf.h generator for STM32G4x4.