Fixed bug #387.

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@8614 35acf78f-673a-0410-8e92-d51de3d6d3f4

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

@@ -255,8 +255,10 @@ static void can_lld_rx1_handler(CANDriver *canp) {
 static void can_lld_sce_handler(CANDriver *canp) {
   uint32_t msr;
 
+  /* Clearing IRQ sources.*/
   msr = canp->can->MSR;
-  canp->can->MSR = CAN_MSR_ERRI | CAN_MSR_WKUI | CAN_MSR_SLAKI;
+  canp->can->MSR = msr;
+
   /* Wakeup event.*/
 #if CAN_USE_SLEEP_MODE
   if (msr & CAN_MSR_WKUI) {
@@ -272,15 +274,17 @@ static void can_lld_sce_handler(CANDriver *canp) {
     eventflags_t flags;
     uint32_t esr = canp->can->ESR;
 
-    canp->can->ESR &= ~CAN_ESR_LEC;
+#if STM32_CAN_REPORT_ALL_ERRORS
     flags = (eventflags_t)(esr & 7);
     if ((esr & CAN_ESR_LEC) > 0)
       flags |= CAN_FRAMING_ERROR;
+#endif
 
     osalSysLockFromISR();
     /* The content of the ESR register is copied unchanged in the upper
        half word of the listener flags mask.*/
-    osalEventBroadcastFlagsI(&canp->error_event, flags | (eventflags_t)(esr << 16));
+    osalEventBroadcastFlagsI(&canp->error_event,
+                             flags | (eventflags_t)(esr << 16U));
     osalSysUnlockFromISR();
   }
 }
@@ -549,10 +553,17 @@ void can_lld_start(CANDriver *canp) {
   canp->can->MCR = canp->config->mcr;
 
   /* Interrupt sources initialization.*/
+#if STM32_CAN_REPORT_ALL_ERRORS
   canp->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;
+#else
+  canp->can->IER = CAN_IER_TMEIE  | CAN_IER_FMPIE0 | CAN_IER_FMPIE1 |
+                   CAN_IER_WKUIE  | CAN_IER_ERRIE  |
+                   CAN_IER_BOFIE  | CAN_IER_EPVIE  | CAN_IER_EWGIE  |
+                   CAN_IER_FOVIE0 | CAN_IER_FOVIE1;
+#endif
 }
 
 /**

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

@@ -80,6 +80,14 @@
  * @name    Configuration options
  * @{
  */
+/**
+ * @brief   CAN pedantic errors report.
+ * @details Use of this option is IRQ-intensive.
+ */
+#if !defined(STM32_CAN_REPORT_ALL_ERRORS) || defined(__DOXYGEN__)
+#define STM32_CAN_REPORT_ALL_ERRORS         FALSE
+#endif
+
 /**
  * @brief   CAN1 driver enable switch.
  * @details If set to @p TRUE the support for CAN1 is included.

readme.txt

@@ -236,6 +236,7 @@
        (backported to 3.0.1).
 - HAL: Fixed missing UART7 and UART8 support on STM32F4xx family (bug #612).
 - HAL: Fixed outdated CMSIS headers for STM32F1xx devices (bug #609).
+- HAL: Fixed CAN errors (bug #387).
 - HAL: Fixed USB HS ULPI Support (except board files because patch originally
        targeted version 2.6.x)(bug #377).