[fix] Move the initialization of FreeRTOS queus to hal_can_init

To handle the case of CAN messages received on the bus before CAN port is opened.

drivers/can.c

@@ -131,6 +131,7 @@ static void prvSendCanMsg( void* );
  *  It configures the CAN controller hardware:
  *  - Requested baud rate
  *  - Correct CAN Bit timing
+ *  - Create FreeRTOS queues needed by CAN
  *  And Connect to the Interrupt controller
  */
 BaseType_t hal_can_init(hal_io_handle_t deviceId, uint32_t bitrate)
@@ -228,6 +229,14 @@ BaseType_t hal_can_init(hal_io_handle_t deviceId, uint32_t bitrate)
                             canBitTimingtable[i].can_BTR_FIRST_TIMESEGMENT
                         );
 
+                /* Create a receiving queue. */
+                canInstPtr->xQueueRx = xQueueCreate( configHAL_CAN_MAX_RX_QUEUE_SIZE , sizeof(hal_can_message_t));
+                configASSERT( canInstPtr->xQueueRx );
+
+                /* Create a transmission queue. */
+                canInstPtr->xQueueTx = xQueueCreate( configHAL_CAN_MAX_TX_QUEUE_SIZE , sizeof(hal_can_message_t));
+                configASSERT( canInstPtr->xQueueTx );
+
                 /*
                  * Set interrupt handlers.
                  */
@@ -279,8 +288,9 @@ BaseType_t hal_can_init(hal_io_handle_t deviceId, uint32_t bitrate)
 /**
  * \brief Deinitialize the CAN controller.
  *
- *  - Resets the CAN controller hardware.
- *  - Disconnect from the Interrupt controller
+ *  - Resets the CAN controller hardware,
+ *  - Disconnect from the Interrupt controller,
+ *  - Destroy FreeRTOS queues used by CAN.
  */
 BaseType_t hal_can_release(hal_io_handle_t deviceId)
 {
@@ -296,6 +306,9 @@ BaseType_t hal_can_release(hal_io_handle_t deviceId)
         XScuGic_Disconnect(&xInterruptController, CanInterruptID[deviceId]);
         // Reset the CAN device
         XCanPs_Reset( &CanInstance[deviceId].canXilinxInst );
+        /* Delete Tx and Rx queues  */
+        vQueueDelete( &CanInstance[deviceId].xQueueRx );
+        vQueueDelete( &CanInstance[deviceId].xQueueTx );
         return pdPASS;
     }
 }
@@ -303,8 +316,8 @@ BaseType_t hal_can_release(hal_io_handle_t deviceId)
 /**
  * \brief Open the CAN controller.
  *
- *  It lookup for the CAN instance configuration. Creates the recourses
- *  needed by CAN and managed by FreeRTOS (queues, tasks)
+ *  It lookup for the CAN instance configuration. Creates the FreeRTOS task
+ *  needed for CAN transmission.
  *  CAN controller can be accessed by only one freeRTOS task.
  *  A CAN controller can not be opened twice.
  */
@@ -328,14 +341,6 @@ BaseType_t hal_can_open(hal_io_handle_t deviceId, hal_can_handle_t * canHandlePt
             canInstPtr = & CanInstance[deviceId];
             *canHandlePtr = (hal_can_handle_t *) canInstPtr;
 
-            /* Create a receiving queue. */
-            canInstPtr->xQueueRx = xQueueCreate( configHAL_CAN_MAX_RX_QUEUE_SIZE , sizeof(hal_can_message_t));
-            configASSERT( canInstPtr->xQueueRx );
-
-            /* Create a transmission queue. */
-            canInstPtr->xQueueTx = xQueueCreate( configHAL_CAN_MAX_TX_QUEUE_SIZE , sizeof(hal_can_message_t));
-            configASSERT( canInstPtr->xQueueTx );
-
             /* Create a transmission Task */
             xReturned = xTaskCreate(
                                 prvSendCanMsg,              /* Function that implements the task. */
@@ -362,7 +367,7 @@ BaseType_t hal_can_open(hal_io_handle_t deviceId, hal_can_handle_t * canHandlePt
 /**
  * \brief Close the CAN controller.
  *
- * It destroys the recourses managed by FreeRTOS (queues, tasks)
+ * It destroys the tasks managed by FreeRTOS
  * and set the CAN port as closed.
  */
 BaseType_t hal_can_close( hal_can_handle_t * canHandlePtr )
@@ -374,9 +379,6 @@ BaseType_t hal_can_close( hal_can_handle_t * canHandlePtr )
     {
         /* Delete the receiving task */
         vTaskDelete( canInstPtr->canTxHandle );
-        /* Delete Tx and Rx queues  */
-        vQueueDelete( canInstPtr->xQueueRx );
-        vQueueDelete( canInstPtr->xQueueTx );
         canInstPtr->isCtrlOpen = pdFALSE;
         *canHandlePtr = NULL;
     }
@@ -467,45 +469,39 @@ static void RecvHandler(void *CallBackRef)
     XCanPs *xilCanPtr = &canInstPtr->canXilinxInst;
     /* Buffer to hold frames to receive.*/
     static u32 RxFrame[XCANPS_MAX_FRAME_SIZE_IN_WORDS];
-    int status;
     hal_can_message_t message;
 
-    status = XCanPs_Recv(xilCanPtr, RxFrame);
-    if ( XST_SUCCESS != status )
+    while ( XST_SUCCESS == XCanPs_Recv(xilCanPtr, RxFrame))
     {
-        xil_printf( "CAN: RecvHandler: No frame to be received from the controller FIFO. \n");
-        return;
-    }
-
-    if ((u32) 0 != ((RxFrame[0] & XCANPS_IDR_SRR_MASK) | (RxFrame[0] & XCANPS_IDR_RTR_MASK)))
-    {
-        /* Remote request frame is not supported by XME.
-           Although it is supported by Xilinx driver. */
-        xil_printf( "CAN: RecvHandler: Remote request CAN frame is not supported by XME. \n");
-
-    }
-    else
-    {
-        // Data CAN frame:
-        if ((u32) 0 == (RxFrame[0] & XCANPS_IDR_IDE_MASK))
+        if ((u32) 0 != ((RxFrame[0] & XCANPS_IDR_SRR_MASK) | (RxFrame[0] & XCANPS_IDR_RTR_MASK)))
         {
-            // Standard CAN frame Identifier
-            message.msgID = (RxFrame[0] & XCANPS_IDR_ID1_MASK) >> XCANPS_IDR_ID1_SHIFT;
+            /* Remote request frame is not supported by XME.
+               Although it is supported by Xilinx driver. */
+            xil_printf( "CAN: RecvHandler: Remote request CAN frame is not supported by XME. \n");
         }
         else
         {
-            // Extended CAN frame Identifier
-            message.msgID = (RxFrame[0] & XCANPS_IDR_ID2_MASK) >> XCANPS_IDR_ID2_SHIFT;
-        }
-        message.msgLen = (RxFrame[1] & XCANPS_DLCR_DLC_MASK) >> XCANPS_DLCR_DLC_SHIFT;
+            // Data CAN frame:
+            if ((u32) 0 == (RxFrame[0] & XCANPS_IDR_IDE_MASK))
+            {
+                // Standard CAN frame Identifier
+                message.msgID = (RxFrame[0] & XCANPS_IDR_ID1_MASK) >> XCANPS_IDR_ID1_SHIFT;
+            }
+            else
+            {
+                // Extended CAN frame Identifier
+                message.msgID = (RxFrame[0] & XCANPS_IDR_ID2_MASK) >> XCANPS_IDR_ID2_SHIFT;
+            }
+            message.msgLen = (RxFrame[1] & XCANPS_DLCR_DLC_MASK) >> XCANPS_DLCR_DLC_SHIFT;
 
-        /*
-         * Read Data field contents. Copy the full 8 bytes.
-         */
-        memcpy( message.data, &RxFrame[2], sizeof(message.data));
+            /*
+             * Read Data field contents. Copy the full 8 bytes.
+             */
+            memcpy( message.data, &RxFrame[2], sizeof(message.data));
 
-        /* Post the message to the receiving queue. */
-        xQueueSendToBackFromISR( canInstPtr->xQueueRx, &message, NULL );
+            /* Post the message to the receiving queue. */
+            xQueueSendToBackFromISR( canInstPtr->xQueueRx, &message, NULL );
+        }
     }
 }