andreika-git
/
ChibiOS
mirror of https://github.com/andreika-git/ChibiOS.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@1379 35acf78f-673a-0410-8e92-d51de3d6d3f4

This commit is contained in:
gdisirio 2009-12-06 15:13:33 +00:00
parent aa9f517f87
commit b33d1f0a4e
1 changed files with 11 additions and 14 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

25
os/hal/platforms/STM32/can_lld.c
View File

@ -292,13 +292,10 @@ void can_lld_transmit(CANDriver *canp, const CANTxFrame *ctfp) {
/* Preparing the message.*/
if (ctfp->cf_IDE)
tir = ((uint32_t)ctfp->cf_EID << 3) |
((uint32_t)ctfp->cf_IDE << 2) |
((uint32_t)ctfp->cf_RTR << 1);
tir = ((uint32_t)ctfp->cf_EID << 3) | ((uint32_t)ctfp->cf_RTR << 1) |
CAN_TI0R_IDE;
else
tir = ((uint32_t)ctfp->cf_SID << 24) |
((uint32_t)ctfp->cf_IDE << 2) |
((uint32_t)ctfp->cf_RTR << 1);
tir = ((uint32_t)ctfp->cf_SID << 21) | ((uint32_t)ctfp->cf_RTR << 1);
tmbp->TDTR = ctfp->cf_DLC;
tmbp->TDLR = ctfp->cf_data32[0];
tmbp->TDHR = ctfp->cf_data32[1];
@ -329,22 +326,22 @@ void can_lld_receive(CANDriver *canp, CANRxFrame *crfp) {
uint32_t r;
/* Fetches the message.*/
r = canp->cd_can->sFIFOMailBox[0].RIR;
crfp->cf_RTR = (r & CAN_RI0R_RTR) >> 1;
crfp->cf_IDE = (r & CAN_RI0R_IDE) >> 2;
if (crfp->cf_IDE)
crfp->cf_EID = r >> 3;
else
crfp->cf_SID = r >> 21;
r = canp->cd_can->sFIFOMailBox[0].RDTR;
crfp->cf_DLC = r & CAN_RDT0R_DLC;
crfp->cf_FMI = (uint8_t)(r >> 8);
crfp->cf_TIME = (uint16_t)(r >> 16);
r = canp->cd_can->sFIFOMailBox[0].RIR;
crfp->cf_RTR = r & CAN_RI0R_RTR;
crfp->cf_IDE = r & CAN_RI0R_IDE;
if (crfp->cf_IDE)
crfp->cf_EID = r >> 3;
else
crfp->cf_SID = r >> 24;
crfp->cf_data32[0] = canp->cd_can->sFIFOMailBox[0].RDLR;
crfp->cf_data32[1] = canp->cd_can->sFIFOMailBox[0].RDHR;
/* Releases the mailbox.*/
canp->cd_can->RF0R |= CAN_RF0R_RFOM0;
canp->cd_can->RF0R = CAN_RF0R_RFOM0;
/* If the queue is empty re-enables the interrupt in order to generate
events again.*/