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Diffstat (limited to 'os/hal/src/can.c')
-rw-r--r--os/hal/src/can.c127
1 files changed, 63 insertions, 64 deletions
diff --git a/os/hal/src/can.c b/os/hal/src/can.c
index 3f1f7588f..92efdf7e7 100644
--- a/os/hal/src/can.c
+++ b/os/hal/src/can.c
@@ -26,7 +26,6 @@
* @{
*/
-#include "ch.h"
#include "hal.h"
#if HAL_USE_CAN || defined(__DOXYGEN__)
@@ -74,14 +73,14 @@ void canObjectInit(CANDriver *canp) {
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);
+ osalThreadQueueObjectInit(&canp->txqueue);
+ osalThreadQueueObjectInit(&canp->rxqueue);
+ osalEventObjectInit(&canp->rxfull_event);
+ osalEventObjectInit(&canp->txempty_event);
+ osalEventObjectInit(&canp->error_event);
#if CAN_USE_SLEEP_MODE
- chEvtInit(&canp->sleep_event);
- chEvtInit(&canp->wakeup_event);
+ osalEventObjectInit(&canp->sleep_event);
+ osalEventObjectInit(&canp->wakeup_event);
#endif /* CAN_USE_SLEEP_MODE */
}
@@ -99,21 +98,21 @@ void canObjectInit(CANDriver *canp) {
*/
void canStart(CANDriver *canp, const CANConfig *config) {
- chDbgCheck(canp != NULL, "canStart");
+ osalDbgCheck(canp != NULL);
- chSysLock();
- chDbgAssert((canp->state == CAN_STOP) ||
- (canp->state == CAN_STARTING) ||
- (canp->state == CAN_READY),
- "canStart(), #1", "invalid state");
+ osalSysLock();
+ osalDbgAssert((canp->state == CAN_STOP) ||
+ (canp->state == CAN_STARTING) ||
+ (canp->state == CAN_READY),
+ "invalid state");
while (canp->state == CAN_STARTING)
- chThdSleepS(1);
+ osalThreadSleepS(1);
if (canp->state == CAN_STOP) {
canp->config = config;
can_lld_start(canp);
canp->state = CAN_READY;
}
- chSysUnlock();
+ osalSysUnlock();
}
/**
@@ -125,17 +124,17 @@ void canStart(CANDriver *canp, const CANConfig *config) {
*/
void canStop(CANDriver *canp) {
- chDbgCheck(canp != NULL, "canStop");
+ osalDbgCheck(canp != NULL);
- chSysLock();
- chDbgAssert((canp->state == CAN_STOP) || (canp->state == CAN_READY),
- "canStop(), #1", "invalid state");
+ osalSysLock();
+ osalDbgAssert((canp->state == CAN_STOP) || (canp->state == CAN_READY),
+ "invalid state");
can_lld_stop(canp);
canp->state = CAN_STOP;
- chSemResetI(&canp->rxsem, 0);
- chSemResetI(&canp->txsem, 0);
- chSchRescheduleS();
- chSysUnlock();
+ osalThreadDequeueAllI(&canp->rxqueue, MSG_RESET);
+ osalThreadDequeueAllI(&canp->txqueue, MSG_RESET);
+ osalOsRescheduleS();
+ osalSysUnlock();
}
/**
@@ -153,9 +152,9 @@ void canStop(CANDriver *canp) {
* - @a TIME_INFINITE no timeout.
* .
* @return The operation result.
- * @retval RDY_OK the frame has been queued for transmission.
- * @retval RDY_TIMEOUT The operation has timed out.
- * @retval RDY_RESET The driver has been stopped while waiting.
+ * @retval MSG_OK the frame has been queued for transmission.
+ * @retval MSG_TIMEOUT The operation has timed out.
+ * @retval MSG_RESET The driver has been stopped while waiting.
*
* @api
*/
@@ -164,22 +163,22 @@ msg_t canTransmit(CANDriver *canp,
const CANTxFrame *ctfp,
systime_t timeout) {
- chDbgCheck((canp != NULL) && (ctfp != NULL) && (mailbox <= CAN_TX_MAILBOXES),
- "canTransmit");
+ osalDbgCheck((canp != NULL) && (ctfp != NULL) &&
+ (mailbox <= CAN_TX_MAILBOXES));
- chSysLock();
- chDbgAssert((canp->state == CAN_READY) || (canp->state == CAN_SLEEP),
- "canTransmit(), #1", "invalid state");
+ osalSysLock();
+ osalDbgAssert((canp->state == CAN_READY) || (canp->state == CAN_SLEEP),
+ "invalid state");
while ((canp->state == CAN_SLEEP) || !can_lld_is_tx_empty(canp, mailbox)) {
- msg_t msg = chSemWaitTimeoutS(&canp->txsem, timeout);
- if (msg != RDY_OK) {
- chSysUnlock();
+ msg_t msg = osalThreadEnqueueTimeoutS(&canp->txqueue, timeout);
+ if (msg != MSG_OK) {
+ osalSysUnlock();
return msg;
}
}
can_lld_transmit(canp, mailbox, ctfp);
- chSysUnlock();
- return RDY_OK;
+ osalSysUnlock();
+ return MSG_OK;
}
/**
@@ -198,9 +197,9 @@ msg_t canTransmit(CANDriver *canp,
* - @a TIME_INFINITE no timeout.
* .
* @return The operation result.
- * @retval RDY_OK a frame has been received and placed in the buffer.
- * @retval RDY_TIMEOUT The operation has timed out.
- * @retval RDY_RESET The driver has been stopped while waiting.
+ * @retval MSG_OK a frame has been received and placed in the buffer.
+ * @retval MSG_TIMEOUT The operation has timed out.
+ * @retval MSG_RESET The driver has been stopped while waiting.
*
* @api
*/
@@ -209,22 +208,22 @@ msg_t canReceive(CANDriver *canp,
CANRxFrame *crfp,
systime_t timeout) {
- chDbgCheck((canp != NULL) && (crfp != NULL) && (mailbox < CAN_RX_MAILBOXES),
- "canReceive");
+ osalDbgCheck((canp != NULL) && (crfp != NULL) &&
+ (mailbox < CAN_RX_MAILBOXES));
- chSysLock();
- chDbgAssert((canp->state == CAN_READY) || (canp->state == CAN_SLEEP),
- "canReceive(), #1", "invalid state");
+ osalSysLock();
+ osalDbgAssert((canp->state == CAN_READY) || (canp->state == CAN_SLEEP),
+ "invalid state");
while ((canp->state == CAN_SLEEP) || !can_lld_is_rx_nonempty(canp, mailbox)) {
- msg_t msg = chSemWaitTimeoutS(&canp->rxsem, timeout);
- if (msg != RDY_OK) {
- chSysUnlock();
+ msg_t msg = osalThreadEnqueueTimeoutS(&canp->rxqueue, timeout);
+ if (msg != MSG_OK) {
+ osalSysUnlock();
return msg;
}
}
can_lld_receive(canp, mailbox, crfp);
- chSysUnlock();
- return RDY_OK;
+ osalSysUnlock();
+ return MSG_OK;
}
#if CAN_USE_SLEEP_MODE || defined(__DOXYGEN__)
@@ -242,18 +241,18 @@ msg_t canReceive(CANDriver *canp,
*/
void canSleep(CANDriver *canp) {
- chDbgCheck(canp != NULL, "canSleep");
+ osalDbgCheck(canp != NULL);
- chSysLock();
- chDbgAssert((canp->state == CAN_READY) || (canp->state == CAN_SLEEP),
- "canSleep(), #1", "invalid state");
+ osalSysLock();
+ osalDbgAssert((canp->state == CAN_READY) || (canp->state == CAN_SLEEP),
+ "invalid state");
if (canp->state == CAN_READY) {
can_lld_sleep(canp);
canp->state = CAN_SLEEP;
- chEvtBroadcastI(&canp->sleep_event);
- chSchRescheduleS();
+ osalEventBroadcastFlagsI(&canp->sleep_event, 0);
+ osalOsRescheduleS();
}
- chSysUnlock();
+ osalSysUnlock();
}
/**
@@ -265,18 +264,18 @@ void canSleep(CANDriver *canp) {
*/
void canWakeup(CANDriver *canp) {
- chDbgCheck(canp != NULL, "canWakeup");
+ osalDbgCheck(canp != NULL);
- chSysLock();
- chDbgAssert((canp->state == CAN_READY) || (canp->state == CAN_SLEEP),
- "canWakeup(), #1", "invalid state");
+ osalSysLock();
+ osalDbgAssert((canp->state == CAN_READY) || (canp->state == CAN_SLEEP),
+ "invalid state");
if (canp->state == CAN_SLEEP) {
can_lld_wakeup(canp);
canp->state = CAN_READY;
- chEvtBroadcastI(&canp->wakeup_event);
- chSchRescheduleS();
+ osalEventBroadcastFlagsI(&canp->wakeup_event, 0);
+ osalOsRescheduleS();
}
- chSysUnlock();
+ osalSysUnlock();
}
#endif /* CAN_USE_SLEEP_MODE */
generated by cgit v1.2.3 (git 2.25.1) at 2025-04-08 12:34:33 +0000