From 48f3740bd53926392c55fb72010932f283b5eacf Mon Sep 17 00:00:00 2001
From: Giovanni Di Sirio <gdisirio@gmail.com>
Date: Sat, 5 Oct 2019 08:03:56 +0000
Subject: [PATCH] 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                   |  2 ++
 os/hal/ports/STM32/LLD/CANv1/hal_can_lld.c | 14 ++++++++++++++
 os/hal/ports/STM32/LLD/CANv1/hal_can_lld.h |  2 ++
 os/hal/src/hal_can.c                       | 18 ++++++++++++++++++
 os/hal/templates/hal_can_lld.c             | 15 +++++++++++++++
 os/hal/templates/hal_can_lld.h             |  2 ++
 readme.txt                                 |  2 ++
 7 files changed, 55 insertions(+)

diff --git a/os/hal/include/hal_can.h b/os/hal/include/hal_can.h
index 6b41d8065..0ff028468 100644
--- a/os/hal/include/hal_can.h
+++ b/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,
diff --git a/os/hal/ports/STM32/LLD/CANv1/hal_can_lld.c b/os/hal/ports/STM32/LLD/CANv1/hal_can_lld.c
index 879836ad0..f56f7f137 100644
--- a/os/hal/ports/STM32/LLD/CANv1/hal_can_lld.c
+++ b/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.
diff --git a/os/hal/ports/STM32/LLD/CANv1/hal_can_lld.h b/os/hal/ports/STM32/LLD/CANv1/hal_can_lld.h
index 1a7a924c8..e4eb6f6d2 100644
--- a/os/hal/ports/STM32/LLD/CANv1/hal_can_lld.h
+++ b/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);
diff --git a/os/hal/src/hal_can.c b/os/hal/src/hal_can.c
index 031e5dee2..4b63d8217 100644
--- a/os/hal/src/hal_can.c
+++ b/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
diff --git a/os/hal/templates/hal_can_lld.c b/os/hal/templates/hal_can_lld.c
index 30223a085..57d62bb98 100644
--- a/os/hal/templates/hal_can_lld.c
+++ b/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.
diff --git a/os/hal/templates/hal_can_lld.h b/os/hal/templates/hal_can_lld.h
index ae468e979..6128f25ba 100644
--- a/os/hal/templates/hal_can_lld.h
+++ b/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);
diff --git a/readme.txt b/readme.txt
index 36a62777c..c2df70712 100644
--- a/readme.txt
+++ b/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.