[fix] Move the init of Tx freeRTOS task and queues to hal_can_open

+ fix some bugs.

drivers/can.c

@@ -137,14 +137,20 @@ static void prvSendCanMsg( void* );
 /******************************************************************************/
 /***   Implementation                                                       ***/
 /******************************************************************************/
-
+/**
+ * \brief Initialize the CAN controller.
+ *
+ *  It configures the CAN controller hardware:
+ *  - Requested baud rate
+ *  - Correct CAN Bit timing
+ *  And Connect to the Interrupt controller
+ */
 BaseType_t hal_can_init(hal_io_handle_t DeviceId, uint32_t bitrate)
 {
     XCanPs_Config *CfgPtr;
     CanInstance_t *CanInstPtr;
     XCanPs *xilCanPtr;
     int Status, i;
-    BaseType_t xReturned;
     XScuGic *IntcInstPtr = & xInterruptController;
 
     if (DeviceId < MAX_NUM_CAN_CONTROLLERS )
@@ -220,37 +226,6 @@ 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));
-                if( NULL == CanInstPtr->xQueueRx )
-                {
-                    /* Queue was not created and must not be used. */
-                    return pdFAIL;
-                }
-
-                /* Create a transmission queue. */
-                CanInstPtr->xQueueTx = xQueueCreate( configHAL_CAN_MAX_TX_QUEUE_SIZE , sizeof(hal_can_message_t));
-                if( NULL ==  CanInstPtr->xQueueTx )
-                {
-                    /* Queue was not created and must not be used. */
-                    return pdFAIL;
-                }
-
-                /* Create a transmission Task */
-                xReturned = xTaskCreate(
-                                    prvSendCanMsg,              /* Function that implements the task. */
-                                    "Send CAN Frame Task",      /* Text name for the task. */
-                                    configMINIMAL_STACK_SIZE,   /* Stack size in words, not bytes. */
-                                    (void *) CanInstPtr,        /* Parameter passed into the task. */
-                                    tskIDLE_PRIORITY,           /* Priority at which the task is created. */
-                                    &CanInstPtr->canTxHandle ); /* Used to pass out the created task's handle. */
-
-                if( pdPASS != xReturned )
-                   {
-                       /* The task was not created. */
-                         return pdFAIL;
-                   }
-
                 /*
                  * Set interrupt handlers.
                  */
@@ -279,7 +254,7 @@ BaseType_t hal_can_init(hal_io_handle_t DeviceId, uint32_t bitrate)
                  */
                 Status = XScuGic_Connect(IntcInstPtr, CanInterruptID[DeviceId],
                             (Xil_InterruptHandler)XCanPs_IntrHandler,
-                            (void *)CanInstPtr);
+                            (void *)xilCanPtr);
                 if ( XST_SUCCESS != Status) {
                     return pdFAIL;
                 }
@@ -311,6 +286,12 @@ 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
+ */
 BaseType_t hal_can_release(hal_io_handle_t DeviceId)
 {
     if (DeviceId < MAX_NUM_CAN_CONTROLLERS )
@@ -331,17 +312,53 @@ BaseType_t hal_can_release(hal_io_handle_t DeviceId)
 /**
  * \brief Open the CAN controller.
  *
- *  It lookup for the CAN instance configuration.
- *  CAN controller can be accessed by only one freeRTOS task, a CAN
- *  controller can not be opened twice.
+ *  It lookup for the CAN instance configuration. Creates the recourses
+ *  needed by CAN and managed by FreeRTOS (queues, tasks)
+ *  CAN controller can be accessed by only one freeRTOS task.
+ *  A CAN controller can not be opened twice.
  */
 BaseType_t hal_can_open(hal_io_handle_t DeviceId, hal_can_handle_t * canHandle )
 {
+    CanInstance_t *CanInstPtr;
+    BaseType_t xReturned;
+
     if (DeviceId < MAX_NUM_CAN_CONTROLLERS )
     {
         if (pdFALSE == CanInstance[DeviceId].isCtrlOpen)
         {
-            *canHandle = &CanInstance[DeviceId];
+            CanInstPtr = & CanInstance[DeviceId];
+            *canHandle = CanInstPtr;
+
+            /* Create a receiving queue. */
+            CanInstPtr->xQueueRx = xQueueCreate( configHAL_CAN_MAX_RX_QUEUE_SIZE , sizeof(hal_can_message_t));
+            if( NULL == CanInstPtr->xQueueRx )
+            {
+                /* Queue was not created and must not be used. */
+                return pdFAIL;
+            }
+
+            /* Create a transmission queue. */
+            CanInstPtr->xQueueTx = xQueueCreate( configHAL_CAN_MAX_TX_QUEUE_SIZE , sizeof(hal_can_message_t));
+            if( NULL ==  CanInstPtr->xQueueTx )
+            {
+                /* Queue was not created and must not be used. */
+                return pdFAIL;
+            }
+
+            /* Create a transmission Task */
+            xReturned = xTaskCreate(
+                                prvSendCanMsg,              /* Function that implements the task. */
+                                "Send CAN Frame Task",      /* Text name for the task. */
+                                configMINIMAL_STACK_SIZE,   /* Stack size in words, not bytes. */
+                                (void *) CanInstPtr,        /* Parameter passed into the task. */
+                                tskIDLE_PRIORITY,           /* Priority at which the task is created. */
+                                &CanInstPtr->canTxHandle ); /* Used to pass out the created task's handle. */
+            if( pdPASS != xReturned )
+               {
+                   /* The task was not created. */
+                     return pdFAIL;
+               }
+
             CanInstance[DeviceId].isCtrlOpen = pdTRUE;
             return pdPASS;
         }
@@ -362,13 +379,19 @@ BaseType_t hal_can_open(hal_io_handle_t DeviceId, hal_can_handle_t * canHandle )
 /**
  * \brief Close the CAN controller.
  *
- * So that
+ * It destroys the recourses managed by FreeRTOS (queues, tasks)
+ * and set the CAN port as closed.
  */
 BaseType_t hal_can_close( hal_can_handle_t * canHandle )
 {
     CanInstance_t *CanInstPtr = *canHandle;
     if (pdTRUE == CanInstPtr->isCtrlOpen)
     {
+        /* Delete the receiving task */
+        vTaskDelete( CanInstPtr->canTxHandle );
+        /* Delete Tx and Rx queues  */
+        vQueueDelete( CanInstPtr->xQueueRx );
+        vQueueDelete( CanInstPtr->xQueueTx );
         CanInstPtr->isCtrlOpen = pdFALSE;
         *canHandle = NULL;
     }
@@ -385,8 +408,12 @@ BaseType_t hal_can_close( hal_can_handle_t * canHandle )
 BaseType_t hal_can_write(hal_can_handle_t canHandle, hal_can_message_t message)
 {
     CanInstance_t *CanInstPtr = canHandle;
-    /* Post the message to the transmitting queue. */
-    return xQueueSend(CanInstPtr->xQueueTx, &message, 0);
+    if (CanInstPtr->isCtrlOpen)
+    {
+        /* Post the message to the transmitting queue. */
+        return xQueueSend(CanInstPtr->xQueueTx, &message, 0);
+    }
+    return pdFAIL;
 }
 
 /**
@@ -395,8 +422,12 @@ BaseType_t hal_can_write(hal_can_handle_t canHandle, hal_can_message_t message)
 BaseType_t hal_can_read(hal_can_handle_t canHandle, hal_can_message_t *message)
 {
     CanInstance_t *CanInstPtr = canHandle;
-    /* Read a message from the receiving queue. */
-    return xQueueReceive(CanInstPtr->xQueueRx, message, 0);
+    if (CanInstPtr->isCtrlOpen)
+    {
+        /* Read a message from the receiving queue. */
+        return xQueueReceive(CanInstPtr->xQueueRx, message, portMAX_DELAY);
+    }
+    return pdFAIL;
 }
 
 /*****************************************************************************/