Enhanced CAN driver.
git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@8615 35acf78f-673a-0410-8e92-d51de3d6d3f4
This commit is contained in:
Giovanni Di Sirio
parent
75967a3288
commit
ad6437b784
|
|
@ -127,6 +127,12 @@ extern "C" {
|
|||
void canObjectInit(CANDriver *canp);
|
||||
void canStart(CANDriver *canp, const CANConfig *config);
|
||||
void canStop(CANDriver *canp);
|
||||
bool canTryTransmitI(CANDriver *canp,
|
||||
canmbx_t mailbox,
|
||||
const CANTxFrame *ctfp);
|
||||
bool canTryReceiveI(CANDriver *canp,
|
||||
canmbx_t mailbox,
|
||||
CANRxFrame *crfp);
|
||||
msg_t canTransmit(CANDriver *canp,
|
||||
canmbx_t mailbox,
|
||||
const CANTxFrame *ctfp,
|
||||
|
|
|
|||
|
|
@ -139,6 +139,75 @@ void canStop(CANDriver *canp) {
|
|||
osalSysUnlock();
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Can frame transmission attempt.
|
||||
* @details The specified frame is queued for transmission, if the hardware
|
||||
* queue is full then the function fails.
|
||||
*
|
||||
* @param[in] canp pointer to the @p CANDriver object
|
||||
* @param[in] mailbox mailbox number, @p CAN_ANY_MAILBOX for any mailbox
|
||||
* @param[in] ctfp pointer to the CAN frame to be transmitted
|
||||
* @return The operation result.
|
||||
* @retval false Frame transmitted.
|
||||
* @retval true Mailbox full.
|
||||
*
|
||||
* @iclass
|
||||
*/
|
||||
bool canTryTransmitI(CANDriver *canp,
|
||||
canmbx_t mailbox,
|
||||
const CANTxFrame *ctfp) {
|
||||
|
||||
osalDbgCheckClassI();
|
||||
osalDbgCheck((canp != NULL) && (ctfp != NULL) &&
|
||||
(mailbox <= (canmbx_t)CAN_TX_MAILBOXES));
|
||||
osalDbgAssert((canp->state == CAN_READY) || (canp->state == CAN_SLEEP),
|
||||
"invalid state");
|
||||
|
||||
/* If the RX mailbox is full then the function fails.*/
|
||||
if (!can_lld_is_tx_empty(canp, mailbox)) {
|
||||
return true;
|
||||
}
|
||||
|
||||
/* Transmitting frame.*/
|
||||
can_lld_transmit(canp, mailbox, ctfp);
|
||||
|
||||
return false;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Can frame receive attempt.
|
||||
* @details The function tries to fetch a frame from a mailbox.
|
||||
*
|
||||
* @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
|
||||
* @return The operation result.
|
||||
* @retval false Frame fetched.
|
||||
* @retval true Mailbox empty.
|
||||
*
|
||||
* @iclass
|
||||
*/
|
||||
bool canTryReceiveI(CANDriver *canp,
|
||||
canmbx_t mailbox,
|
||||
CANRxFrame *crfp) {
|
||||
|
||||
osalDbgCheckClassI();
|
||||
osalDbgCheck((canp != NULL) && (crfp != NULL) &&
|
||||
(mailbox <= (canmbx_t)CAN_RX_MAILBOXES));
|
||||
osalDbgAssert((canp->state == CAN_READY) || (canp->state == CAN_SLEEP),
|
||||
"invalid state");
|
||||
|
||||
/* If the RX mailbox is empty then the function fails.*/
|
||||
if (!can_lld_is_rx_nonempty(canp, mailbox)) {
|
||||
return true;
|
||||
}
|
||||
|
||||
/* Fetching the frame.*/
|
||||
can_lld_receive(canp, mailbox, crfp);
|
||||
|
||||
return false;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Can frame transmission.
|
||||
* @details The specified frame is queued for transmission, if the hardware
|
||||
|
|
@ -171,6 +240,7 @@ msg_t canTransmit(CANDriver *canp,
|
|||
osalSysLock();
|
||||
osalDbgAssert((canp->state == CAN_READY) || (canp->state == CAN_SLEEP),
|
||||
"invalid state");
|
||||
|
||||
/*lint -save -e9007 [13.5] Right side is supposed to be pure.*/
|
||||
while ((canp->state == CAN_SLEEP) || !can_lld_is_tx_empty(canp, mailbox)) {
|
||||
/*lint -restore*/
|
||||
|
|
@ -218,6 +288,7 @@ msg_t canReceive(CANDriver *canp,
|
|||
osalSysLock();
|
||||
osalDbgAssert((canp->state == CAN_READY) || (canp->state == CAN_SLEEP),
|
||||
"invalid state");
|
||||
|
||||
/*lint -save -e9007 [13.5] Right side is supposed to be pure.*/
|
||||
while ((canp->state == CAN_SLEEP) || !can_lld_is_rx_nonempty(canp, mailbox)) {
|
||||
/*lint -restore*/
|
||||
|
|
|
|||
|
|
@ -77,6 +77,8 @@
|
|||
- HAL: Introduced preliminary support for STM32F7xx devices.
|
||||
- HAL: Introduced preliminary support for STM32L4xx devices.
|
||||
- HAL: Introduced preliminary support for STM32L0xx devices.
|
||||
- HAL: Enhanced the CAN driver with I-class functions. Now it is possible
|
||||
to exchange frames from ISRs.
|
||||
- HAL: Added watchdog driver model (WDG) and STM32 implementation on IWDG.
|
||||
- HAL: Added synchronous API and mutual exclusion to the UART driver.
|
||||
- HAL: Added PAL driver for STM32L4xx GPIOv3 peripheral.
|
||||
|
|
|
|||
|
|
@ -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="<?xml version="1.0" encoding="UTF-8" standalone="no"?><contentList><content id="cr2-adc_lld_start_conversion-(format)" val="4"/><content id="CR2-adc-null-port_wait_for_interrupt-(format)" val="4"/><content id="CR2-adc-adcp-adc_lld_start_conversion-(format)" val="4"/></contentList>"/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.FORMAT" value="<?xml version="1.0" encoding="UTF-8" standalone="no"?><contentList><content id="CR2-adc-adcp-adc_lld_start_conversion-(format)" val="4"/><content id="CR2-adc-null-port_wait_for_interrupt-(format)" val="4"/><content id="cr2-adc_lld_start_conversion-(format)" val="4"/></contentList>"/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.GLOBAL_VARIABLES" value="<?xml version="1.0" encoding="UTF-8" standalone="no"?> <globalVariableList/> "/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.MEMORY_BLOCKS" value="<?xml version="1.0" encoding="UTF-8" standalone="no"?> <memoryBlockExpressionList/> "/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.PROGRAM_NAME" value="./build/ch.elf"/>
|
||||
|
|
|
|||
Loading…
Reference in New Issue