128 lines
3.3 KiB
C
128 lines
3.3 KiB
C
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/*
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ChibiOS/RT - Copyright (C) 2006-2013 Giovanni Di Sirio
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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*/
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#include "ch.h"
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#include "hal.h"
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struct can_instance {
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CANDriver *canp;
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uint32_t led;
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};
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static const struct can_instance can1 = {&CAND1, GPIOD_LED5};
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static const struct can_instance can2 = {&CAND2, GPIOD_LED3};
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/*
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* Internal loopback mode, 500KBaud, automatic wakeup, automatic recover
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* from abort mode.
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* See section 22.7.7 on the STM32 reference manual.
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*/
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static const CANConfig cancfg = {
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CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP,
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CAN_BTR_LBKM | CAN_BTR_SJW(0) | CAN_BTR_TS2(1) |
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CAN_BTR_TS1(8) | CAN_BTR_BRP(6)
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};
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/*
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* Receiver thread.
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*/
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static WORKING_AREA(can_rx1_wa, 256);
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static WORKING_AREA(can_rx2_wa, 256);
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static msg_t can_rx(void *p) {
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struct can_instance *cip = p;
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EventListener el;
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CANRxFrame rxmsg;
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(void)p;
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chRegSetThreadName("receiver");
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chEvtRegister(&cip->canp->rxfull_event, &el, 0);
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while(!chThdShouldTerminate()) {
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if (chEvtWaitAnyTimeout(ALL_EVENTS, MS2ST(100)) == 0)
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continue;
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while (canReceive(cip->canp, CAN_ANY_MAILBOX,
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&rxmsg, TIME_IMMEDIATE) == RDY_OK) {
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/* Process message.*/
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palTogglePad(GPIOD, cip->led);
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}
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}
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chEvtUnregister(&CAND1.rxfull_event, &el);
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return 0;
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}
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/*
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* Transmitter thread.
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*/
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static WORKING_AREA(can_tx_wa, 256);
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static msg_t can_tx(void * p) {
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CANTxFrame txmsg;
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(void)p;
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chRegSetThreadName("transmitter");
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txmsg.IDE = CAN_IDE_EXT;
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txmsg.EID = 0x01234567;
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txmsg.RTR = CAN_RTR_DATA;
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txmsg.DLC = 8;
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txmsg.data32[0] = 0x55AA55AA;
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txmsg.data32[1] = 0x00FF00FF;
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while (!chThdShouldTerminate()) {
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canTransmit(&CAND1, CAN_ANY_MAILBOX, &txmsg, MS2ST(100));
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canTransmit(&CAND2, CAN_ANY_MAILBOX, &txmsg, MS2ST(100));
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chThdSleepMilliseconds(500);
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}
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return 0;
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}
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/*
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* Application entry point.
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*/
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int main(void) {
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/*
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* System initializations.
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* - HAL initialization, this also initializes the configured device drivers
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* and performs the board-specific initializations.
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* - Kernel initialization, the main() function becomes a thread and the
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* RTOS is active.
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*/
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halInit();
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chSysInit();
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/*
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* Activates the CAN drivers 1 and 2.
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*/
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canStart(&CAND1, &cancfg);
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canStart(&CAND2, &cancfg);
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/*
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* Starting the transmitter and receiver threads.
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*/
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chThdCreateStatic(can_rx1_wa, sizeof(can_rx1_wa), NORMALPRIO + 7,
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can_rx, (void *)&can1);
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chThdCreateStatic(can_rx2_wa, sizeof(can_rx2_wa), NORMALPRIO + 7,
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can_rx, (void *)&can2);
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chThdCreateStatic(can_tx_wa, sizeof(can_tx_wa), NORMALPRIO + 7,
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can_tx, NULL);
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/*
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* Normal main() thread activity, in this demo it does nothing.
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*/
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while (TRUE) {
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chThdSleepMilliseconds(500);
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}
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return 0;
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}
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