/**
* @brief Configures and activates the CAN peripheral.
* @note Activating the CAN bus can be a slow operation this this function
* is not atomic, it waits internally for the initialization to
* complete.
*
* @param[in] canp pointer to the @p CANDriver object
* @param[in] config pointer to the @p CANConfig object. Depending on
* the implementation the value can be @p NULL.
*
* @api
*/
void canStart(CANDriver *canp, const CANConfig *config) {
osalDbgCheck(canp != NULL);
osalSysLock();
osalDbgAssert((canp->state == CAN_STOP) ||
(canp->state == CAN_STARTING) ||
(canp->state == CAN_READY),
"invalid state");
while (canp->state == CAN_STARTING)
osalThreadSleepS(1);
if (canp->state == CAN_STOP) {
canp->config = config;
can_lld_start(canp);
canp->state = CAN_READY;
}
osalSysUnlock();
}
/**
* @brief Configures and activates the CAN peripheral.
* @note Activating the CAN bus can be a slow operation this this function
* is not atomic, it waits internally for the initialization to
* complete.
*
* @param[in] canp pointer to the @p CANDriver object
* @param[in] config pointer to the @p CANConfig object. Depending on
* the implementation the value can be @p NULL.
*
* @api
*/
void canStart(CANDriver *canp, const CANConfig *config) {
chDbgCheck(canp != NULL, "canStart");
chSysLock();
chDbgAssert((canp->state == CAN_STOP) ||
(canp->state == CAN_STARTING) ||
(canp->state == CAN_READY),
"canStart(), #1", "invalid state");
while (canp->state == CAN_STARTING)
chThdSleepS(1);
if (canp->state == CAN_STOP) {
canp->config = config;
can_lld_start(canp);
canp->state = CAN_READY;
}
chSysUnlock();
}
/**
* @brief Configures and activates the CAN peripheral.
* @note Activating the CAN bus can be a slow operation.
* @note Unlike other drivers it is not possible to restart the CAN
* driver without first stopping it using canStop().
*
* @param[in] canp pointer to the @p CANDriver object
* @param[in] config pointer to the @p CANConfig object. Depending on
* the implementation the value can be @p NULL.
*
* @api
*/
void canStart(CANDriver *canp, const CANConfig *config) {
osalDbgCheck(canp != NULL);
osalSysLock();
osalDbgAssert(canp->state == CAN_STOP, "invalid state");
/* Entering initialization mode. */
canp->state = CAN_STARTING;
canp->config = config;
/* Low level initialization, could be a slow process and sleeps could
be performed inside.*/
can_lld_start(canp);
/* The driver finally goes into the ready state.*/
canp->state = CAN_READY;
osalSysUnlock();
}
