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-rw-r--r--os/hal/src/can.c83
1 files changed, 42 insertions, 41 deletions
diff --git a/os/hal/src/can.c b/os/hal/src/can.c
index d63cbfd8a..f9a827c4e 100644
--- a/os/hal/src/can.c
+++ b/os/hal/src/can.c
@@ -1,5 +1,6 @@
/*
- ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.
+ ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
+ 2011 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
@@ -67,17 +68,17 @@ void canInit(void) {
*/
void canObjectInit(CANDriver *canp) {
- 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);
- chEvtInit(&canp->cd_error_event);
- canp->cd_status = 0;
+ canp->state = CAN_STOP;
+ canp->config = NULL;
+ chSemInit(&canp->txsem, 0);
+ chSemInit(&canp->rxsem, 0);
+ chEvtInit(&canp->rxfull_event);
+ chEvtInit(&canp->txempty_event);
+ chEvtInit(&canp->error_event);
+ canp->status = 0;
#if CAN_USE_SLEEP_MODE
- chEvtInit(&canp->cd_sleep_event);
- chEvtInit(&canp->cd_wakeup_event);
+ chEvtInit(&canp->sleep_event);
+ chEvtInit(&canp->wakeup_event);
#endif /* CAN_USE_SLEEP_MODE */
}
@@ -98,16 +99,16 @@ void canStart(CANDriver *canp, const CANConfig *config) {
chDbgCheck(canp != NULL, "canStart");
chSysLock();
- chDbgAssert((canp->cd_state == CAN_STOP) ||
- (canp->cd_state == CAN_STARTING) ||
- (canp->cd_state == CAN_READY),
+ chDbgAssert((canp->state == CAN_STOP) ||
+ (canp->state == CAN_STARTING) ||
+ (canp->state == CAN_READY),
"canStart(), #1", "invalid state");
- while (canp->cd_state == CAN_STARTING)
+ while (canp->state == CAN_STARTING)
chThdSleepS(1);
- if (canp->cd_state == CAN_STOP) {
- canp->cd_config = config;
+ if (canp->state == CAN_STOP) {
+ canp->config = config;
can_lld_start(canp);
- canp->cd_state = CAN_READY;
+ canp->state = CAN_READY;
}
chSysUnlock();
}
@@ -124,14 +125,14 @@ void canStop(CANDriver *canp) {
chDbgCheck(canp != NULL, "canStop");
chSysLock();
- chDbgAssert((canp->cd_state == CAN_STOP) || (canp->cd_state == CAN_READY),
+ chDbgAssert((canp->state == CAN_STOP) || (canp->state == CAN_READY),
"canStop(), #1", "invalid state");
can_lld_stop(canp);
- chSemResetI(&canp->cd_rxsem, 0);
- chSemResetI(&canp->cd_txsem, 0);
+ chSemResetI(&canp->rxsem, 0);
+ chSemResetI(&canp->txsem, 0);
chSchRescheduleS();
- canp->cd_state = CAN_STOP;
- canp->cd_status = 0;
+ canp->state = CAN_STOP;
+ canp->status = 0;
chSysUnlock();
}
@@ -142,7 +143,7 @@ void canStop(CANDriver *canp) {
* @note Trying to transmit while in sleep mode simply enqueues the thread.
*
* @param[in] canp pointer to the @p CANDriver object
- * @param[in] ctfp pointer to the CAN frame to be transmitted
+ * @param[in] ctfp pointer to the CAN frame to be transmitted
* @param[in] timeout the number of ticks before the operation timeouts,
* the following special values are allowed:
* - @a TIME_IMMEDIATE immediate timeout.
@@ -160,10 +161,10 @@ msg_t canTransmit(CANDriver *canp, const CANTxFrame *ctfp, systime_t timeout) {
chDbgCheck((canp != NULL) && (ctfp != NULL), "canTransmit");
chSysLock();
- chDbgAssert((canp->cd_state == CAN_READY) || (canp->cd_state == CAN_SLEEP),
+ chDbgAssert((canp->state == CAN_READY) || (canp->state == CAN_SLEEP),
"canTransmit(), #1", "invalid state");
- while ((canp->cd_state == CAN_SLEEP) || !can_lld_can_transmit(canp)) {
- msg_t msg = chSemWaitTimeoutS(&canp->cd_txsem, timeout);
+ while ((canp->state == CAN_SLEEP) || !can_lld_can_transmit(canp)) {
+ msg_t msg = chSemWaitTimeoutS(&canp->txsem, timeout);
if (msg != RDY_OK) {
chSysUnlock();
return msg;
@@ -200,10 +201,10 @@ msg_t canReceive(CANDriver *canp, CANRxFrame *crfp, systime_t timeout) {
chDbgCheck((canp != NULL) && (crfp != NULL), "canReceive");
chSysLock();
- chDbgAssert((canp->cd_state == CAN_READY) || (canp->cd_state == CAN_SLEEP),
+ chDbgAssert((canp->state == CAN_READY) || (canp->state == CAN_SLEEP),
"canReceive(), #1", "invalid state");
- while ((canp->cd_state == CAN_SLEEP) || !can_lld_can_receive(canp)) {
- msg_t msg = chSemWaitTimeoutS(&canp->cd_rxsem, timeout);
+ while ((canp->state == CAN_SLEEP) || !can_lld_can_receive(canp)) {
+ msg_t msg = chSemWaitTimeoutS(&canp->rxsem, timeout);
if (msg != RDY_OK) {
chSysUnlock();
return msg;
@@ -226,8 +227,8 @@ canstatus_t canGetAndClearFlags(CANDriver *canp) {
canstatus_t status;
chSysLock();
- status = canp->cd_status;
- canp->cd_status = 0;
+ status = canp->status;
+ canp->status = 0;
chSysUnlock();
return status;
}
@@ -236,7 +237,7 @@ canstatus_t canGetAndClearFlags(CANDriver *canp) {
/**
* @brief Enters the sleep mode.
* @details This function puts the CAN driver in sleep mode and broadcasts
- * the @p cd_sleep_event event source.
+ * the @p sleep_event event source.
* @pre In order to use this function the option @p CAN_USE_SLEEP_MODE must
* be enabled and the @p CAN_SUPPORTS_SLEEP mode must be supported
* by the low level driver.
@@ -250,12 +251,12 @@ void canSleep(CANDriver *canp) {
chDbgCheck(canp != NULL, "canSleep");
chSysLock();
- chDbgAssert((canp->cd_state == CAN_READY) || (canp->cd_state == CAN_SLEEP),
+ chDbgAssert((canp->state == CAN_READY) || (canp->state == CAN_SLEEP),
"canSleep(), #1", "invalid state");
- if (canp->cd_state == CAN_READY) {
+ if (canp->state == CAN_READY) {
can_lld_sleep(canp);
- canp->cd_state = CAN_SLEEP;
- chEvtBroadcastI(&canp->cd_sleep_event);
+ canp->state = CAN_SLEEP;
+ chEvtBroadcastI(&canp->sleep_event);
chSchRescheduleS();
}
chSysUnlock();
@@ -273,12 +274,12 @@ void canWakeup(CANDriver *canp) {
chDbgCheck(canp != NULL, "canWakeup");
chSysLock();
- chDbgAssert((canp->cd_state == CAN_READY) || (canp->cd_state == CAN_SLEEP),
+ chDbgAssert((canp->state == CAN_READY) || (canp->state == CAN_SLEEP),
"canWakeup(), #1", "invalid state");
- if (canp->cd_state == CAN_SLEEP) {
+ if (canp->state == CAN_SLEEP) {
can_lld_wakeup(canp);
- canp->cd_state = CAN_READY;
- chEvtBroadcastI(&canp->cd_wakeup_event);
+ canp->state = CAN_READY;
+ chEvtBroadcastI(&canp->wakeup_event);
chSchRescheduleS();
}
chSysUnlock();
generated by cgit v1.2.3 (git 2.25.1) at 2025-04-27 18:09:17 +0000