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Merge pull request #65 from cvra/chibios3

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Update stm32 drivers to ChibiOS 3.0
This commit is contained in:
Pavel Kirienko 2015-10-04 14:24:24 +03:00
commit 09370a8160
4 changed files with 60 additions and 4 deletions
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6
libuavcan_drivers/stm32/driver/src/internal.hpp
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@ -54,7 +54,11 @@
* Priority mask for timer and CAN interrupts.
*/
# ifndef UAVCAN_STM32_IRQ_PRIORITY_MASK
# define UAVCAN_STM32_IRQ_PRIORITY_MASK CORTEX_PRIORITY_MASK(CORTEX_MAX_KERNEL_PRIORITY)
# if (CH_KERNEL_MAJOR == 2)
# define UAVCAN_STM32_IRQ_PRIORITY_MASK CORTEX_PRIORITY_MASK(CORTEX_MAX_KERNEL_PRIORITY)
# else // ChibiOS 3
# define UAVCAN_STM32_IRQ_PRIORITY_MASK CORTEX_MAX_KERNEL_PRIORITY
# endif
# endif
#endif

24
libuavcan_drivers/stm32/driver/src/uc_stm32_can.cpp
View File

@ -20,7 +20,7 @@
# error "Unknown OS"
#endif
#if UAVCAN_STM32_CHIBIOS || UAVCAN_STM32_BAREMETAL
#if (UAVCAN_STM32_CHIBIOS && CH_KERNEL_MAJOR == 2) || UAVCAN_STM32_BAREMETAL
# if !(defined(STM32F10X_CL) || defined(STM32F2XX) || defined(STM32F4XX))
// IRQ numbers
# define CAN1_RX0_IRQn USB_LP_CAN1_RX0_IRQn
@ -33,6 +33,17 @@
# endif
#endif
#if (UAVCAN_STM32_CHIBIOS && CH_KERNEL_MAJOR == 3)
#define CAN1_TX_IRQHandler STM32_CAN1_TX_HANDLER
#define CAN1_RX0_IRQHandler STM32_CAN1_RX0_HANDLER
#define CAN1_RX1_IRQHandler STM32_CAN1_RX1_HANDLER
#define CAN1_SCE_IRQHandler STM32_CAN1_SCE_HANDLER
#define CAN2_TX_IRQHandler STM32_CAN2_TX_HANDLER
#define CAN2_RX0_IRQHandler STM32_CAN2_RX0_HANDLER
#define CAN2_RX1_IRQHandler STM32_CAN2_RX1_HANDLER
#define CAN2_SCE_IRQHandler STM32_CAN2_SCE_HANDLER
#endif
#if UAVCAN_STM32_NUTTX
# if !defined(STM32_IRQ_CAN1TX) && !defined(STM32_IRQ_CAN1RX0)
# define STM32_IRQ_CAN1TX STM32_IRQ_USBHPCANTX
@ -47,6 +58,17 @@ static int can2_irq(const int irq, void*);
}
#endif
/* STM32F3's only CAN inteface does not have a number. */
#if defined(STM32F3XX)
#define RCC_APB1ENR_CAN1EN RCC_APB1ENR_CANEN
#define RCC_APB1RSTR_CAN1RST RCC_APB1RSTR_CANRST
#define CAN1_TX_IRQn CAN_TX_IRQn
#define CAN1_RX0_IRQn CAN_RX0_IRQn
#define CAN1_RX1_IRQn CAN_RX1_IRQn
#define CAN1_SCE_IRQn CAN_SCE_IRQn
#endif
namespace uavcan_stm32
{
namespace

12
libuavcan_drivers/stm32/driver/src/uc_stm32_clock.cpp
View File

@ -14,12 +14,21 @@
/*
* Timer instance
*/
# if UAVCAN_STM32_CHIBIOS || UAVCAN_STM32_BAREMETAL
# if (UAVCAN_STM32_CHIBIOS && CH_KERNEL_MAJOR == 2) || UAVCAN_STM32_BAREMETAL
# define TIMX UAVCAN_STM32_GLUE2(TIM, UAVCAN_STM32_TIMER_NUMBER)
# define TIMX_IRQn UAVCAN_STM32_GLUE3(TIM, UAVCAN_STM32_TIMER_NUMBER, _IRQn)
# define TIMX_INPUT_CLOCK STM32_TIMCLK1
# endif
# if (UAVCAN_STM32_CHIBIOS && CH_KERNEL_MAJOR == 3)
# define TIMX UAVCAN_STM32_GLUE2(STM32_TIM, UAVCAN_STM32_TIMER_NUMBER)
# define TIMX_IRQn UAVCAN_STM32_GLUE3(STM32_TIM, UAVCAN_STM32_TIMER_NUMBER, _NUMBER)
# define TIMX_IRQHandler UAVCAN_STM32_GLUE3(STM32_TIM, UAVCAN_STM32_TIMER_NUMBER, _HANDLER)
# define TIMX_INPUT_CLOCK STM32_TIMCLK1
# else
# define TIMX_IRQHandler UAVCAN_STM32_GLUE3(TIM, UAVCAN_STM32_TIMER_NUMBER, _IRQHandler)
# endif
# if UAVCAN_STM32_NUTTX
# define TIMX UAVCAN_STM32_GLUE3(STM32_TIM, UAVCAN_STM32_TIMER_NUMBER, _BASE)
# define TMR_REG(o) (TIMX + (o))
@ -27,7 +36,6 @@
# define TIMX_IRQn UAVCAN_STM32_GLUE2(STM32_IRQ_TIM, UAVCAN_STM32_TIMER_NUMBER)
# endif
# define TIMX_IRQHandler UAVCAN_STM32_GLUE3(TIM, UAVCAN_STM32_TIMER_NUMBER, _IRQHandler)
# if UAVCAN_STM32_TIMER_NUMBER >= 2 && UAVCAN_STM32_TIMER_NUMBER <= 7
# define TIMX_RCC_ENR RCC->APB1ENR

22
libuavcan_drivers/stm32/driver/src/uc_stm32_thread.cpp
View File

@ -23,13 +23,25 @@ bool BusEvent::wait(uavcan::MonotonicDuration duration)
if (msec <= 0)
{
# if (CH_KERNEL_MAJOR == 2)
ret = sem_.waitTimeout(TIME_IMMEDIATE);
# else // ChibiOS 3
ret = sem_.wait(TIME_IMMEDIATE);
# endif
}
else
{
# if (CH_KERNEL_MAJOR == 2)
ret = sem_.waitTimeout((msec > MaxDelayMSec) ? MS2ST(MaxDelayMSec) : MS2ST(msec));
# else // ChibiOS 3
ret = sem_.wait((msec > MaxDelayMSec) ? MS2ST(MaxDelayMSec) : MS2ST(msec));
# endif
}
# if (CH_KERNEL_MAJOR == 2)
return ret == RDY_OK;
# else // ChibiOS 3
return ret == MSG_OK;
# endif
}
void BusEvent::signal()
@ -39,9 +51,15 @@ void BusEvent::signal()
void BusEvent::signalFromInterrupt()
{
# if (CH_KERNEL_MAJOR == 2)
chSysLockFromIsr();
sem_.signalI();
chSysUnlockFromIsr();
# else // ChibiOS 3
chSysLockFromISR();
sem_.signalI();
chSysUnlockFromISR();
# endif
}
/*
@ -54,7 +72,11 @@ void Mutex::lock()
void Mutex::unlock()
{
# if (CH_KERNEL_MAJOR == 2)
chibios_rt::BaseThread::unlockMutex();
# else // ChibiOS 3
mtx_.unlock();
# endif
}
#elif UAVCAN_STM32_NUTTX