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Added CAN transmission errors handling. 

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@8613 35acf78f-673a-0410-8e92-d51de3d6d3f4
This commit is contained in:
Giovanni Di Sirio 2015-12-17 12:46:10 +00:00
parent bb82aedb91
commit 56e47668d5
5 changed files with 65 additions and 15 deletions
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12
os/hal/include/can.h
View File

@ -38,23 +38,23 @@
/**
* @brief Errors rate warning.
*/
#define CAN_LIMIT_WARNING 1
#define CAN_LIMIT_WARNING 1U
/**
* @brief Errors rate error.
*/
#define CAN_LIMIT_ERROR 2
#define CAN_LIMIT_ERROR 2U
/**
* @brief Bus off condition reached.
*/
#define CAN_BUS_OFF_ERROR 4
#define CAN_BUS_OFF_ERROR 4U
/**
* @brief Framing error of some kind on the CAN bus.
*/
#define CAN_FRAMING_ERROR 8
#define CAN_FRAMING_ERROR 8U
/**
* @brief Overflow in receive queue.
*/
#define CAN_OVERFLOW_ERROR 16
#define CAN_OVERFLOW_ERROR 16U
/** @} */
/**
@ -113,7 +113,7 @@ typedef enum {
/**
* @brief Converts a mailbox index to a bit mask.
*/
#define CAN_MAILBOX_TO_MASK(mbx) (1 << ((mbx) - 1))
#define CAN_MAILBOX_TO_MASK(mbx) (1U << ((mbx) - 1U))
/** @} */
/*===========================================================================*/

48
os/hal/ports/STM32/LLD/CANv1/can_lld.c
View File

@ -142,12 +142,50 @@ static void can_lld_set_filters(uint32_t can2sb,
* @notapi
*/
static void can_lld_tx_handler(CANDriver *canp) {
uint32_t tsr;
eventflags_t flags;
/* No more events until a message is transmitted.*/
canp->can->TSR = CAN_TSR_RQCP0 | CAN_TSR_RQCP1 | CAN_TSR_RQCP2;
/* Clearing IRQ sources.*/
tsr = canp->can->TSR;
canp->can->TSR = tsr;
/* Flags to be signaled through the TX event source.*/
flags = 0U;
/* Checking mailbox 0.*/
if ((tsr & CAN_TSR_RQCP0) != 0U) {
if ((tsr & (CAN_TSR_ALST0 | CAN_TSR_TERR0)) != 0U) {
flags |= CAN_MAILBOX_TO_MASK(1U) << 16U;
}
else {
flags |= CAN_MAILBOX_TO_MASK(1U);
}
}
/* Checking mailbox 1.*/
if ((tsr & CAN_TSR_RQCP1) != 0U) {
if ((tsr & (CAN_TSR_ALST1 | CAN_TSR_TERR1)) != 0U) {
flags |= CAN_MAILBOX_TO_MASK(2U) << 16U;
}
else {
flags |= CAN_MAILBOX_TO_MASK(2U);
}
}
/* Checking mailbox 2.*/
if ((tsr & CAN_TSR_RQCP2) != 0U) {
if ((tsr & (CAN_TSR_ALST2 | CAN_TSR_TERR2)) != 0U) {
flags |= CAN_MAILBOX_TO_MASK(3U) << 16U;
}
else {
flags |= CAN_MAILBOX_TO_MASK(3U);
}
}
/* Signaling flags and waking up threads waiting for a transmission slot.*/
osalSysLockFromISR();
osalThreadDequeueAllI(&canp->txqueue, MSG_OK);
osalEventBroadcastFlagsI(&canp->txempty_event, CAN_MAILBOX_TO_MASK(1));
osalEventBroadcastFlagsI(&canp->txempty_event, flags);
osalSysUnlockFromISR();
}
@ -167,7 +205,7 @@ static void can_lld_rx0_handler(CANDriver *canp) {
canp->can->IER &= ~CAN_IER_FMPIE0;
osalSysLockFromISR();
osalThreadDequeueAllI(&canp->rxqueue, MSG_OK);
osalEventBroadcastFlagsI(&canp->rxfull_event, CAN_MAILBOX_TO_MASK(1));
osalEventBroadcastFlagsI(&canp->rxfull_event, CAN_MAILBOX_TO_MASK(1U));
osalSysUnlockFromISR();
}
if ((rf0r & CAN_RF0R_FOVR0) > 0) {
@ -195,7 +233,7 @@ static void can_lld_rx1_handler(CANDriver *canp) {
canp->can->IER &= ~CAN_IER_FMPIE1;
osalSysLockFromISR();
osalThreadDequeueAllI(&canp->rxqueue, MSG_OK);
osalEventBroadcastFlagsI(&canp->rxfull_event, CAN_MAILBOX_TO_MASK(2));
osalEventBroadcastFlagsI(&canp->rxfull_event, CAN_MAILBOX_TO_MASK(2U));
osalSysUnlockFromISR();
}
if ((rf1r & CAN_RF1R_FOVR1) > 0) {

10
os/hal/ports/STM32/LLD/CANv1/can_lld.h
View File

@ -282,7 +282,7 @@ typedef struct {
* until the received frames queue has been completely emptied. It
* is <b>not</b> broadcasted for each received frame. It is
* responsibility of the application to empty the queue by
* repeatedly invoking @p chReceive() when listening to this event.
* repeatedly invoking @p canReceive() when listening to this event.
* This behavior minimizes the interrupt served by the system
* because CAN traffic.
* @note The flags associated to the listeners will indicate which
@ -293,13 +293,17 @@ typedef struct {
* @brief One or more transmission mailbox become available.
* @note The flags associated to the listeners will indicate which
* transmit mailboxes become empty.
* @note The upper 16 bits are transmission error flags associated
* to the transmit mailboxes.
*
*/
event_source_t txempty_event;
/**
* @brief A CAN bus error happened.
* @note The flags associated to the listeners will indicate the
* error(s) that have occurred.
* @note The flags associated to the listeners will indicate that
* receive error(s) have occurred.
* @note In this implementation the upper 16 bits are filled with the
* unprocessed content of the ESR register.
*/
event_source_t error_event;
#if CAN_USE_SLEEP_MODE || defined (__DOXYGEN__)

8
os/hal/ports/STM32/STM32L4xx/stm32_registry.h
View File

@ -61,6 +61,14 @@
#define STM32_HAS_CAN1 TRUE
#define STM32_HAS_CAN2 FALSE
#define STM32_CAN_MAX_FILTERS 14
#define STM32_CAN1_TX_HANDLER Vector8C
#define STM32_CAN1_RX0_HANDLER Vector90
#define STM32_CAN1_RX1_HANDLER Vector94
#define STM32_CAN1_SCE_HANDLER Vector98
#define STM32_CAN1_TX_NUMBER 19
#define STM32_CAN1_RX0_NUMBER 20
#define STM32_CAN1_RX1_NUMBER 21
#define STM32_CAN1_SCE_NUMBER 22
/* DAC attributes.*/
#define STM32_HAS_DAC1_CH1 TRUE

2
testhal/STM32/STM32L4xx/CAN/debug/STM32L4xx-CAN (OpenOCD, Flash and Run).launch
View File

@ -33,7 +33,7 @@
<intAttribute key="org.eclipse.cdt.launch.ATTR_BUILD_BEFORE_LAUNCH_ATTR" value="2"/>
<stringAttribute key="org.eclipse.cdt.launch.COREFILE_PATH" value=""/>
<stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_REGISTER_GROUPS" value=""/>
<stringAttribute key="org.eclipse.cdt.launch.FORMAT" value="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot;?&gt;&lt;contentList&gt;&lt;content id=&quot;CR2-adc-adcp-adc_lld_start_conversion-(format)&quot; val=&quot;4&quot;/&gt;&lt;content id=&quot;CR2-adc-null-port_wait_for_interrupt-(format)&quot; val=&quot;4&quot;/&gt;&lt;content id=&quot;cr2-adc_lld_start_conversion-(format)&quot; val=&quot;4&quot;/&gt;&lt;/contentList&gt;"/>
<stringAttribute key="org.eclipse.cdt.launch.FORMAT" value="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot;?&gt;&lt;contentList&gt;&lt;content id=&quot;cr2-adc_lld_start_conversion-(format)&quot; val=&quot;4&quot;/&gt;&lt;content id=&quot;CR2-adc-null-port_wait_for_interrupt-(format)&quot; val=&quot;4&quot;/&gt;&lt;content id=&quot;CR2-adc-adcp-adc_lld_start_conversion-(format)&quot; val=&quot;4&quot;/&gt;&lt;/contentList&gt;"/>
<stringAttribute key="org.eclipse.cdt.launch.GLOBAL_VARIABLES" value="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot;?&gt;&#13;&#10;&lt;globalVariableList/&gt;&#13;&#10;"/>
<stringAttribute key="org.eclipse.cdt.launch.MEMORY_BLOCKS" value="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot;?&gt;&#13;&#10;&lt;memoryBlockExpressionList/&gt;&#13;&#10;"/>
<stringAttribute key="org.eclipse.cdt.launch.PROGRAM_NAME" value="./build/ch.elf"/>