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git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@5845 35acf78f-673a-0410-8e92-d51de3d6d3f4

master
acirillo87 2013-06-13 13:04:50 +00:00
parent 9343707ee2
commit 02b1b936d9
1 changed files with 64 additions and 2 deletions
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66
os/hal/platforms/SPC5xx/FlexCAN_v1/can_lld.c
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@ -81,16 +81,72 @@ CANDriver CAND6;
* @notapi
*/
static void can_lld_tx_handler(CANDriver *canp) {
uint32_t iflag1;
uint32_t iflag1, iflag2;
iflag1 = canp->flexcan->IFRL.R;
iflag2 = canp->flexcan->IFRH.R;
/* No more events until a message is transmitted.*/
canp->flexcan->IFRL.R |= iflag1 & 0xFFFFFF00;
canp->flexcan->IFRH.R |= canp->flexcan->IFRH.R & 0xFFFFFFFF;
chSysLockFromIsr();
while (chSemGetCounterI(&canp->txsem) < 0)
chSemSignalI(&canp->txsem);
chEvtBroadcastFlagsI(&canp->txempty_event, iflag1 & 0xFFFFFF00);
#if SPC5_CAN_USE_FLEXCAN0 && (SPC5_FLEXCAN0_MB == 32)
if(&CAND1 == canp) {
chEvtBroadcastFlagsI(&canp->txempty_event, iflag1 & 0xFFFFFF00);
}
#elif SPC5_CAN_USE_FLEXCAN0 && (SPC5_FLEXCAN0_MB == 64)
if(&CAND1 == canp) {
chEvtBroadcastFlagsI(&canp->txempty_event, iflag2 | (iflag1 & 0xFFFFFF00));
}
#endif
#if SPC5_CAN_USE_FLEXCAN1 && (SPC5_FLEXCAN1_MB == 32)
if(&CAND2 == canp) {
chEvtBroadcastFlagsI(&canp->txempty_event, iflag1 & 0xFFFFFF00);
}
#elif SPC5_CAN_USE_FLEXCAN1 && (SPC5_FLEXCAN1_MB == 64)
if(&CAND2 == canp) {
chEvtBroadcastFlagsI(&canp->txempty_event, iflag2 | (iflag1 & 0xFFFFFF00));
}
#endif
#if SPC5_CAN_USE_FLEXCAN2 && (SPC5_FLEXCAN2_MB == 32)
if(&CAND3 == canp) {
chEvtBroadcastFlagsI(&canp->txempty_event, iflag1 & 0xFFFFFF00);
}
#elif SPC5_CAN_USE_FLEXCAN2 && (SPC5_FLEXCAN2_MB == 64)
if(&CAND3 == canp) {
chEvtBroadcastFlagsI(&canp->txempty_event, iflag2 | (iflag1 & 0xFFFFFF00));
}
#endif
#if SPC5_CAN_USE_FLEXCAN3 && (SPC5_FLEXCAN3_MB == 32)
if(&CAND4 == canp) {
chEvtBroadcastFlagsI(&canp->txempty_event, iflag1 & 0xFFFFFF00);
}
#elif SPC5_CAN_USE_FLEXCAN3 && (SPC5_FLEXCAN3_MB == 64)
if(&CAND4 == canp) {
chEvtBroadcastFlagsI(&canp->txempty_event, iflag2 | (iflag1 & 0xFFFFFF00));
}
#endif
#if SPC5_CAN_USE_FLEXCAN4 && (SPC5_FLEXCAN4_MB == 32)
if(&CAND5 == canp) {
chEvtBroadcastFlagsI(&canp->txempty_event, iflag1 & 0xFFFFFF00);
}
#elif SPC5_CAN_USE_FLEXCAN4 && (SPC5_FLEXCAN4_MB == 64)
if(&CAND5 == canp) {
chEvtBroadcastFlagsI(&canp->txempty_event, iflag2 | (iflag1 & 0xFFFFFF00));
}
#endif
#if SPC5_CAN_USE_FLEXCAN5 && (SPC5_FLEXCAN5_MB == 32)
if(&CAND6 == canp) {
chEvtBroadcastFlagsI(&canp->txempty_event, iflag1 & 0xFFFFFF00);
}
#elif SPC5_CAN_USE_FLEXCAN5 && (SPC5_FLEXCAN5_MB == 64)
if(&CAND6 == canp) {
chEvtBroadcastFlagsI(&canp->txempty_event, iflag2 | (iflag1 & 0xFFFFFF00));
}
#endif
chSysUnlockFromIsr();
}
@ -1141,6 +1197,12 @@ void can_lld_start(CANDriver *canp) {
/* RX MB initialization.*/
for(mb_index = 0; mb_index < CAN_RX_MAILBOXES; mb_index++) {
canp->flexcan->BUF[mb_index].CS.B.CODE = 0U;
if(mb_index < 4) {
canp->flexcan->BUF[mb_index].CS.B.IDE = 0U;
}
else {
canp->flexcan->BUF[mb_index].CS.B.IDE = 1U;
}
canp->flexcan->BUF[mb_index].ID.R = 0U;
canp->flexcan->BUF[mb_index].CS.B.CODE = 4U;
}