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git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@1368 35acf78f-673a-0410-8e92-d51de3d6d3f4

master
gdisirio 2009-11-30 21:34:05 +00:00
parent 770c4873d2
commit 8a433087af
7 changed files with 196 additions and 53 deletions
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9
os/hal/include/can.h
View File

@ -41,6 +41,14 @@ typedef enum {
#include "can_lld.h"
/**
* @brief Adds some flags to the CAN status mask.
*
* @param[in] canp pointer to the @p CANDriver object
* @param[in] mask flags to be added to the status mask
*/
#define canAddFlagsI(canp, mask) ((canp)->cd_status |= (mask))
#ifdef __cplusplus
extern "C" {
#endif
@ -50,6 +58,7 @@ extern "C" {
void canStop(CANDriver *canp);
msg_t canTransmit(CANDriver *canp, const CANFrame *cfp, systime_t timeout);
msg_t canReceive(CANDriver *canp, CANFrame *cfp, systime_t timeout);
canstatus_t canGetAndClearFlags(CANDriver *canp);
#if CAN_USE_SLEEP_MODE
void canSleep(CANDriver *canp);
void canWakeup(CANDriver *canp);

2
os/hal/platforms/STM32/adc_lld.c
View File

@ -33,8 +33,8 @@
/* Low Level Driver exported variables. */
/*===========================================================================*/
#if USE_STM32_ADC1 || defined(__DOXYGEN__)
/** @brief ADC1 driver identifier.*/
#if USE_STM32_ADC1 || defined(__DOXYGEN__)
ADCDriver ADCD1;
#endif

2
os/hal/platforms/STM32/adc_lld.h
View File

@ -251,7 +251,7 @@ typedef struct {
/** @cond never*/
#if USE_STM32_ADC1
ADCDriver ADCD1;
extern ADCDriver ADCD1;
#endif
#ifdef __cplusplus

63
os/hal/platforms/STM32/can_lld.c
View File

@ -33,6 +33,11 @@
/* Low Level Driver exported variables. */
/*===========================================================================*/
/** @brief ADC1 driver identifier.*/
#if USE_STM32_CAN1 || defined(__DOXYGEN__)
CANDriver CAND1;
#endif
/*===========================================================================*/
/* Low Level Driver local variables. */
/*===========================================================================*/
@ -45,6 +50,62 @@
/* Low Level Driver interrupt handlers. */
/*===========================================================================*/
/*
* CAN1 TX interrupt handler.
*/
CH_IRQ_HANDLER(Vector8C) {
CH_IRQ_PROLOGUE();
/* No more events until a message is transmitted.*/
CAN1->IER &= ~CAN_IER_TMEIE;
chEvtBroadcastI(&CAND1.cd_txempty_event);
CH_IRQ_EPILOGUE();
}
/*
* CAN1 RX0 interrupt handler.
*/
CH_IRQ_HANDLER(Vector90) {
CH_IRQ_PROLOGUE();
/* No more events until the incoming messages queues are emptied.*/
CAN1->IER &= ~(CAN_IER_FMPIE0 | CAN_IER_FMPIE1);
chEvtBroadcastI(&CAND1.cd_rxfull_event);
CH_IRQ_EPILOGUE();
}
/*
* CAN1 RX1 interrupt handler.
*/
CH_IRQ_HANDLER(Vector94) {
CH_IRQ_PROLOGUE();
/* No more events until the incoming messages queues are emptied.*/
CAN1->IER &= ~(CAN_IER_FMPIE0 | CAN_IER_FMPIE1);
chEvtBroadcastI(&CAND1.cd_rxfull_event);
CH_IRQ_EPILOGUE();
}
/*
* CAN1 SCE interrupt handler.
*/
CH_IRQ_HANDLER(Vector98) {
CH_IRQ_PROLOGUE();
canAddFlagsI(&CAND1, 1);
chEvtBroadcastI(&CAND1.cd_error_event);
CAN1->MSR = CAN_MSR_ERRI;
CH_IRQ_EPILOGUE();
}
/*===========================================================================*/
/* Low Level Driver exported functions. */
/*===========================================================================*/
@ -63,7 +124,7 @@ void can_lld_init(void) {
*/
void can_lld_start(CANDriver *canp) {
if (canp->can_state == CAN_STOP) {
if (canp->cd_state == CAN_STOP) {
/* Clock activation.*/
}
/* Configuration.*/

63
os/hal/platforms/STM32/can_lld.h
View File

@ -39,6 +39,15 @@
/* Driver pre-compile time settings. */
/*===========================================================================*/
/**
* @brief ADC1 driver enable switch.
* @details If set to @p TRUE the support for ADC1 is included.
* @note The default is @p TRUE.
*/
#if !defined(USE_STM32_CAN1) || defined(__DOXYGEN__)
#define USE_STM32_CAN1 TRUE
#endif
/**
* @brief Sleep mode related APIs inclusion switch.
* @note This switch is enforced to @p FALSE if the driver implementation
@ -60,6 +69,11 @@
/* Driver data structures and types. */
/*===========================================================================*/
/**
* @brief CAN status flags.
*/
typedef uint32_t canstatus_t;
/**
* @brief CAN frame.
* @note Accessing the frame data as word16 or word32 is not portable because
@ -79,9 +93,20 @@ typedef struct {
/**
* @brief Driver configuration structure.
* @note It could be empty on some architectures.
*/
typedef struct {
/**
* @brief CAN MCR register initialization data.
* @note Some bits in this register are enforced by the driver regardless
* their status in this field.
*/
uint32_t cc_mcr;
/**
* @brief CAN BTR register initialization data.
* @note Some bits in this register are enforced by the driver regardless
* their status in this field.
*/
uint32_t cc_btr;
} CANConfig;
/**
@ -91,44 +116,61 @@ typedef struct {
/**
* @brief Driver state.
*/
canstate_t can_state;
canstate_t cd_state;
/**
* @brief Current configuration data.
*/
const CANConfig *can_config;
const CANConfig *cd_config;
/**
* @brief Transmission queue semaphore.
*/
Semaphore can_txsem;
Semaphore cd_txsem;
/**
* @brief Receive queue semaphore.
*/
Semaphore can_rxsem;
Semaphore cd_rxsem;
/**
* @brief One or more frames become available.
*/
EventSource can_rxfull_event;
EventSource cd_rxfull_event;
/**
* @brief One or more transmission slots become available.
* @brief One or more transmission slots become available.
*/
EventSource can_txempty_event;
EventSource cd_txempty_event;
/**
* @brief A CAN bus error happened.
*/
EventSource cd_error_event;
/**
* @brief Error flags set when an error event is broadcasted.
*/
canstatus_t cd_status;
#if CAN_USE_SLEEP_MODE || defined (__DOXYGEN__)
/**
* @brief Entering sleep state event.
*/
EventSource can_sleep_event;
EventSource cd_sleep_event;
/**
* @brief Exiting sleep state event.
*/
EventSource can_wakeup_event;
EventSource cd_wakeup_event;
#endif /* CAN_USE_SLEEP_MODE */
/* End of the mandatory fields.*/
/**
* @brief Pointer to the CAN registers.
*/
CAN_TypeDef *cd_canp;
} CANDriver;
/*===========================================================================*/
/* External declarations. */
/*===========================================================================*/
/** @cond never*/
#if USE_STM32_CAN1
extern CANDriver CAND1;
#endif
#ifdef __cplusplus
extern "C" {
#endif
@ -146,6 +188,7 @@ extern "C" {
#ifdef __cplusplus
}
#endif
/** @endcond*/
#endif /* CH_HAL_USE_CAN */

71
os/hal/src/can.c
View File

@ -44,15 +44,15 @@ void canInit(void) {
*/
void canObjectInit(CANDriver *canp) {
canp->can_state = CAN_STOP;
canp->can_config = NULL;
chSemInit(&canp->can_txsem, 0);
chSemInit(&canp->can_rxsem, 0);
chEvtInit(&canp->can_rxfull_event);
chEvtInit(&canp->can_txempty_event);
canp->cd_state = CAN_STOP;
canp->cd_config = NULL;
chSemInit(&canp->cd_txsem, 0);
chSemInit(&canp->cd_rxsem, 0);
chEvtInit(&canp->cd_rxfull_event);
chEvtInit(&canp->cd_txempty_event);
#if CAN_USE_SLEEP_MODE
chEvtInit(&canp->can_sleep_event);
chEvtInit(&canp->can_wakeup_event);
chEvtInit(&canp->cd_sleep_event);
chEvtInit(&canp->cd_wakeup_event);
#endif /* CAN_USE_SLEEP_MODE */
}
@ -67,12 +67,12 @@ void canStart(CANDriver *canp, const CANConfig *config) {
chDbgCheck((canp != NULL) && (config != NULL), "canStart");
chSysLock();
chDbgAssert((canp->can_state == CAN_STOP) || (canp->can_state == CAN_READY),
chDbgAssert((canp->cd_state == CAN_STOP) || (canp->cd_state == CAN_READY),
"canStart(), #1",
"invalid state");
canp->can_config = config;
canp->cd_config = config;
can_lld_start(canp);
canp->can_state = CAN_READY;
canp->cd_state = CAN_READY;
chSysUnlock();
}
@ -86,11 +86,11 @@ void canStop(CANDriver *canp) {
chDbgCheck(canp != NULL, "canStop");
chSysLock();
chDbgAssert((canp->can_state == CAN_STOP) || (canp->can_state == CAN_READY),
chDbgAssert((canp->cd_state == CAN_STOP) || (canp->cd_state == CAN_READY),
"canStop(), #1",
"invalid state");
can_lld_stop(canp);
canp->can_state = CAN_STOP;
canp->cd_state = CAN_STOP;
chSysUnlock();
}
@ -118,11 +118,11 @@ msg_t canTransmit(CANDriver *canp, const CANFrame *cfp, systime_t timeout) {
chDbgCheck((canp != NULL) && (cfp != NULL), "canTransmit");
chSysLock();
chDbgAssert((canp->can_state == CAN_READY) || (canp->can_state == CAN_SLEEP),
chDbgAssert((canp->cd_state == CAN_READY) || (canp->cd_state == CAN_SLEEP),
"canTransmit(), #1",
"invalid state");
if ((canp->can_state == CAN_SLEEP) || !can_lld_can_transmit(canp)) {
msg = chSemWaitTimeoutS(&canp->can_txsem, timeout);
if ((canp->cd_state == CAN_SLEEP) || !can_lld_can_transmit(canp)) {
msg = chSemWaitTimeoutS(&canp->cd_txsem, timeout);
if (msg != RDY_OK) {
chSysUnlock();
return msg;
@ -156,11 +156,11 @@ msg_t canReceive(CANDriver *canp, CANFrame *cfp, systime_t timeout) {
chDbgCheck((canp != NULL) && (cfp != NULL), "canReceive");
chSysLock();
chDbgAssert((canp->can_state == CAN_READY) || (canp->can_state == CAN_SLEEP),
chDbgAssert((canp->cd_state == CAN_READY) || (canp->cd_state == CAN_SLEEP),
"canReceive(), #1",
"invalid state");
if ((canp->can_state == CAN_SLEEP) || !can_lld_can_receive(canp)) {
msg = chSemWaitTimeoutS(&canp->can_rxsem, timeout);
if ((canp->cd_state == CAN_SLEEP) || !can_lld_can_receive(canp)) {
msg = chSemWaitTimeoutS(&canp->cd_rxsem, timeout);
if (msg != RDY_OK) {
chSysUnlock();
return msg;
@ -171,6 +171,23 @@ msg_t canReceive(CANDriver *canp, CANFrame *cfp, systime_t timeout) {
return msg;
}
/**
* @brief Returns the current status mask and clears it.
*
* @param[in] canp pointer to the @p CANDriver object
*
* @return The status flags mask.
*/
canstatus_t canGetAndClearFlags(CANDriver *canp) {
canstatus_t status;
chSysLock();
status = canp->cd_status;
canp->cd_status = 0;
chSysUnlock();
return status;
}
#if CAN_USE_SLEEP_MODE || defined(__DOXYGEN__)
/**
* @brief Enters the sleep mode.
@ -182,13 +199,13 @@ void canSleep(CANDriver *canp) {
chDbgCheck(canp != NULL, "canSleep");
chSysLock();
chDbgAssert((canp->can_state == CAN_READY) || (canp->can_state == CAN_SLEEP),
chDbgAssert((canp->cd_state == CAN_READY) || (canp->cd_state == CAN_SLEEP),
"canSleep(), #1",
"invalid state");
if (canp->can_state == CAN_READY) {
if (canp->cd_state == CAN_READY) {
can_lld_sleep(canp);
canp->can_state = CAN_SLEEP;
chEvtBroadcastI(&canp->can_sleep_event);
canp->cd_state = CAN_SLEEP;
chEvtBroadcastI(&canp->cd_sleep_event);
chSchRescheduleS();
}
chSysUnlock();
@ -206,13 +223,13 @@ void canWakeup(CANDriver *canp) {
chDbgCheck(canp != NULL, "canWakeup");
chSysLock();
chDbgAssert((canp->can_state == CAN_READY) || (canp->can_state == CAN_SLEEP),
chDbgAssert((canp->cd_state == CAN_READY) || (canp->cd_state == CAN_SLEEP),
"canWakeup(), #1",
"invalid state");
if (canp->can_state == CAN_SLEEP) {
if (canp->cd_state == CAN_SLEEP) {
can_lld_wakeup(canp);
canp->can_state = CAN_READY;
chEvtBroadcastI(&canp->can_wakeup_event);
canp->cd_state = CAN_READY;
chEvtBroadcastI(&canp->cd_wakeup_event);
chSchRescheduleS();
}
chSysUnlock();

39
os/hal/templates/can_lld.h
View File

@ -60,6 +60,11 @@
/* Driver data structures and types. */
/*===========================================================================*/
/**
* @brief CAN status flags.
*/
typedef uint32_t canstatus_t;
/**
* @brief CAN frame.
* @note Accessing the frame data as word16 or word32 is not portable because
@ -91,36 +96,44 @@ typedef struct {
/**
* @brief Driver state.
*/
canstate_t can_state;
canstate_t cd_state;
/**
* @brief Current configuration data.
*/
const CANConfig *can_config;
const CANConfig *cd_config;
/**
* @brief Transmission queue semaphore.
* @brief Transmission queue semaphore.
*/
Semaphore can_txsem;
Semaphore cd_txsem;
/**
* @brief Receive queue semaphore.
*/
Semaphore can_rxsem;
Semaphore cd_rxsem;
/**
* @brief One or more frames become available.
* @brief One or more frames become available.
*/
EventSource can_rxfull_event;
EventSource cd_rxfull_event;
/**
* @brief One or more transmission slots become available.
* @brief One or more transmission slots become available.
*/
EventSource can_txempty_event;
EventSource cd_txempty_event;
/**
* @brief A CAN bus error happened.
*/
EventSource cd_error_event;
/**
* @brief Error flags set when an error event is broadcasted.
*/
canstatus_t cd_status;
#if CAN_USE_SLEEP_MODE || defined (__DOXYGEN__)
/**
* @brief Entering sleep state event.
* @brief Entering sleep state event.
*/
EventSource can_sleep_event;
EventSource cd_sleep_event;
/**
* @brief Exiting sleep state event.
* @brief Exiting sleep state event.
*/
EventSource can_wakeup_event;
EventSource cd_wakeup_event;
#endif /* CAN_USE_SLEEP_MODE */
/* End of the mandatory fields.*/
} CANDriver;