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-rw-r--r--os/hal/platforms/SPC5xx/FlexCAN_v1/can_lld.c42
-rw-r--r--testhal/SPC560BCxx/CAN/mcuconf.h12
-rw-r--r--testhal/SPC560Pxx/CAN/mcuconf.h2
-rw-r--r--testhal/SPC56ELxx/CAN/mcuconf.h4
4 files changed, 48 insertions, 12 deletions
diff --git a/os/hal/platforms/SPC5xx/FlexCAN_v1/can_lld.c b/os/hal/platforms/SPC5xx/FlexCAN_v1/can_lld.c
index 9f9ee3814..7d9ce4ebb 100644
--- a/os/hal/platforms/SPC5xx/FlexCAN_v1/can_lld.c
+++ b/os/hal/platforms/SPC5xx/FlexCAN_v1/can_lld.c
@@ -83,11 +83,47 @@ CANDriver CAND6;
static void can_lld_tx_handler(CANDriver *canp) {
uint32_t iflag1, iflag2;
- iflag1 = canp->flexcan->IFRL.R;
- iflag2 = canp->flexcan->IFRH.R;
/* No more events until a message is transmitted.*/
+ iflag1 = canp->flexcan->IFRL.R;
canp->flexcan->IFRL.R = iflag1 & 0xFFFFFF00;
- canp->flexcan->IFRH.R = canp->flexcan->IFRH.R & 0xFFFFFFFF;
+
+#if SPC5_CAN_USE_FLEXCAN0 && (SPC5_FLEXCAN0_MB == 64)
+ if(&CAND1 == canp) {
+ iflag2 = canp->flexcan->IFRH.R;
+ canp->flexcan->IFRH.R = canp->flexcan->IFRH.R & 0xFFFFFFFF;
+ }
+#endif
+#if SPC5_CAN_USE_FLEXCAN1 && (SPC5_FLEXCAN1_MB == 64)
+ if(&CAND2 == canp) {
+ iflag2 = canp->flexcan->IFRH.R;
+ canp->flexcan->IFRH.R = canp->flexcan->IFRH.R & 0xFFFFFFFF;
+ }
+#endif
+#if SPC5_CAN_USE_FLEXCAN2 && (SPC5_FLEXCAN2_MB == 64)
+ if(&CAND3 == canp) {
+ iflag2 = canp->flexcan->IFRH.R;
+ canp->flexcan->IFRH.R = canp->flexcan->IFRH.R & 0xFFFFFFFF;
+ }
+#endif
+#if SPC5_CAN_USE_FLEXCAN3 && (SPC5_FLEXCAN3_MB == 64)
+ if(&CAND4 == canp) {
+ iflag2 = canp->flexcan->IFRH.R;
+ canp->flexcan->IFRH.R = canp->flexcan->IFRH.R & 0xFFFFFFFF;
+ }
+#endif
+#if SPC5_CAN_USE_FLEXCAN4 && (SPC5_FLEXCAN4_MB == 64)
+ if(&CAND5 == canp) {
+ iflag2 = canp->flexcan->IFRH.R;
+ canp->flexcan->IFRH.R = canp->flexcan->IFRH.R & 0xFFFFFFFF;
+ }
+#endif
+#if SPC5_CAN_USE_FLEXCAN5 && (SPC5_FLEXCAN5_MB == 64)
+ if(&CAND6 == canp) {
+ iflag2 = canp->flexcan->IFRH.R;
+ canp->flexcan->IFRH.R = canp->flexcan->IFRH.R & 0xFFFFFFFF;
+ }
+#endif
+
chSysLockFromIsr();
while (chSemGetCounterI(&canp->txsem) < 0)
chSemSignalI(&canp->txsem);
diff --git a/testhal/SPC560BCxx/CAN/mcuconf.h b/testhal/SPC560BCxx/CAN/mcuconf.h
index dc667bb74..fc8b78dba 100644
--- a/testhal/SPC560BCxx/CAN/mcuconf.h
+++ b/testhal/SPC560BCxx/CAN/mcuconf.h
@@ -181,42 +181,42 @@
#define SPC5_CAN_USE_FILTERS TRUE
#define SPC5_CAN_USE_FLEXCAN0 FALSE
-#define SPC5_CAN_FLEXCAN0_PRIORITY 11
+#define SPC5_CAN_FLEXCAN0_IRQ_PRIORITY 11
#define SPC5_CAN_FLEXCAN0_START_PCTL (SPC5_ME_PCTL_RUN(1) | \
SPC5_ME_PCTL_LP(2))
#define SPC5_CAN_FLEXCAN0_STOP_PCTL (SPC5_ME_PCTL_RUN(0) | \
SPC5_ME_PCTL_LP(0))
#define SPC5_CAN_USE_FLEXCAN1 FALSE
-#define SPC5_CAN_FLEXCAN1_PRIORITY 11
+#define SPC5_CAN_FLEXCAN1_IRQ_PRIORITY 11
#define SPC5_CAN_FLEXCAN1_START_PCTL (SPC5_ME_PCTL_RUN(1) | \
SPC5_ME_PCTL_LP(2))
#define SPC5_CAN_FLEXCAN1_STOP_PCTL (SPC5_ME_PCTL_RUN(0) | \
SPC5_ME_PCTL_LP(0))
#define SPC5_CAN_USE_FLEXCAN2 FALSE
-#define SPC5_CAN_FLEXCAN2_PRIORITY 11
+#define SPC5_CAN_FLEXCAN2_IRQ_PRIORITY 11
#define SPC5_CAN_FLEXCAN2_START_PCTL (SPC5_ME_PCTL_RUN(1) | \
SPC5_ME_PCTL_LP(2))
#define SPC5_CAN_FLEXCAN2_STOP_PCTL (SPC5_ME_PCTL_RUN(0) | \
SPC5_ME_PCTL_LP(0))
#define SPC5_CAN_USE_FLEXCAN3 FALSE
-#define SPC5_CAN_FLEXCAN3_PRIORITY 11
+#define SPC5_CAN_FLEXCAN3_IRQ_PRIORITY 11
#define SPC5_CAN_FLEXCAN3_START_PCTL (SPC5_ME_PCTL_RUN(1) | \
SPC5_ME_PCTL_LP(2))
#define SPC5_CAN_FLEXCAN3_STOP_PCTL (SPC5_ME_PCTL_RUN(0) | \
SPC5_ME_PCTL_LP(0))
#define SPC5_CAN_USE_FLEXCAN4 TRUE
-#define SPC5_CAN_FLEXCAN4_PRIORITY 11
+#define SPC5_CAN_FLEXCAN4_IRQ_PRIORITY 11
#define SPC5_CAN_FLEXCAN4_START_PCTL (SPC5_ME_PCTL_RUN(1) | \
SPC5_ME_PCTL_LP(2))
#define SPC5_CAN_FLEXCAN4_STOP_PCTL (SPC5_ME_PCTL_RUN(0) | \
SPC5_ME_PCTL_LP(0))
#define SPC5_CAN_USE_FLEXCAN5 FALSE
-#define SPC5_CAN_FLEXCAN5_PRIORITY 11
+#define SPC5_CAN_FLEXCAN5_IRQ_PRIORITY 11
#define SPC5_CAN_FLEXCAN5_START_PCTL (SPC5_ME_PCTL_RUN(1) | \
SPC5_ME_PCTL_LP(2))
#define SPC5_CAN_FLEXCAN5_STOP_PCTL (SPC5_ME_PCTL_RUN(0) | \
diff --git a/testhal/SPC560Pxx/CAN/mcuconf.h b/testhal/SPC560Pxx/CAN/mcuconf.h
index bdd11f6ae..4d18be947 100644
--- a/testhal/SPC560Pxx/CAN/mcuconf.h
+++ b/testhal/SPC560Pxx/CAN/mcuconf.h
@@ -183,7 +183,7 @@
#define SPC5_CAN_USE_FILTERS TRUE
#define SPC5_CAN_USE_FLEXCAN0 TRUE
-#define SPC5_CAN_FLEXCAN0_PRIORITY 11
+#define SPC5_CAN_FLEXCAN0_IRQ_PRIORITY 11
#define SPC5_CAN_FLEXCAN0_START_PCTL (SPC5_ME_PCTL_RUN(1) | \
SPC5_ME_PCTL_LP(2))
#define SPC5_CAN_FLEXCAN0_STOP_PCTL (SPC5_ME_PCTL_RUN(0) | \
diff --git a/testhal/SPC56ELxx/CAN/mcuconf.h b/testhal/SPC56ELxx/CAN/mcuconf.h
index 212082fc9..a310fd439 100644
--- a/testhal/SPC56ELxx/CAN/mcuconf.h
+++ b/testhal/SPC56ELxx/CAN/mcuconf.h
@@ -222,14 +222,14 @@
#define SPC5_CAN_USE_FILTERS TRUE
#define SPC5_CAN_USE_FLEXCAN0 TRUE
-#define SPC5_CAN_FLEXCAN0_PRIORITY 11
+#define SPC5_CAN_FLEXCAN0_IRQ_PRIORITY 11
#define SPC5_CAN_FLEXCAN0_START_PCTL (SPC5_ME_PCTL_RUN(1) | \
SPC5_ME_PCTL_LP(2))
#define SPC5_CAN_FLEXCAN0_STOP_PCTL (SPC5_ME_PCTL_RUN(0) | \
SPC5_ME_PCTL_LP(0))
#define SPC5_CAN_USE_FLEXCAN1 FALSE
-#define SPC5_CAN_FLEXCAN1_PRIORITY 11
+#define SPC5_CAN_FLEXCAN1_IRQ_PRIORITY 11
#define SPC5_CAN_FLEXCAN1_START_PCTL (SPC5_ME_PCTL_RUN(1) | \
SPC5_ME_PCTL_LP(2))
#define SPC5_CAN_FLEXCAN1_STOP_PCTL (SPC5_ME_PCTL_RUN(0) | \
generated by cgit v1.2.3 (git 2.25.1) at 2025-04-24 20:39:50 +0000