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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
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25
os/hal/platforms/STM32/can_lld.c
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@ -292,13 +292,10 @@ void can_lld_transmit(CANDriver *canp, const CANTxFrame *ctfp) {
/* Preparing the message.*/ /* Preparing the message.*/
if (ctfp->cf_IDE) if (ctfp->cf_IDE)
tir = ((uint32_t)ctfp->cf_EID << 3) | tir = ((uint32_t)ctfp->cf_EID << 3) | ((uint32_t)ctfp->cf_RTR << 1) |
((uint32_t)ctfp->cf_IDE << 2) | CAN_TI0R_IDE;
((uint32_t)ctfp->cf_RTR << 1);
else else
tir = ((uint32_t)ctfp->cf_SID << 24) | tir = ((uint32_t)ctfp->cf_SID << 21) | ((uint32_t)ctfp->cf_RTR << 1);
((uint32_t)ctfp->cf_IDE << 2) |
((uint32_t)ctfp->cf_RTR << 1);
tmbp->TDTR = ctfp->cf_DLC; tmbp->TDTR = ctfp->cf_DLC;
tmbp->TDLR = ctfp->cf_data32[0]; tmbp->TDLR = ctfp->cf_data32[0];
tmbp->TDHR = ctfp->cf_data32[1]; tmbp->TDHR = ctfp->cf_data32[1];
@ -329,22 +326,22 @@ void can_lld_receive(CANDriver *canp, CANRxFrame *crfp) {
uint32_t r; uint32_t r;
/* Fetches the message.*/ /* 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; r = canp->cd_can->sFIFOMailBox[0].RDTR;
crfp->cf_DLC = r & CAN_RDT0R_DLC; crfp->cf_DLC = r & CAN_RDT0R_DLC;
crfp->cf_FMI = (uint8_t)(r >> 8); crfp->cf_FMI = (uint8_t)(r >> 8);
crfp->cf_TIME = (uint16_t)(r >> 16); 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[0] = canp->cd_can->sFIFOMailBox[0].RDLR;
crfp->cf_data32[1] = canp->cd_can->sFIFOMailBox[0].RDHR; crfp->cf_data32[1] = canp->cd_can->sFIFOMailBox[0].RDHR;
/* Releases the mailbox.*/ /* 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 /* If the queue is empty re-enables the interrupt in order to generate
events again.*/ events again.*/