109 lines
2.7 KiB
C
109 lines
2.7 KiB
C
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/*
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ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.
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This file is part of ChibiOS/RT.
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ChibiOS/RT is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 3 of the License, or
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(at your option) any later version.
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ChibiOS/RT is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "ch.h"
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#include "hal.h"
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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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0,
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NULL
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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_rx_wa, 512);
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static msg_t can_rx(void *p) {
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EventListener el;
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CANRxFrame rxmsg;
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(void)p;
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chEvtRegister(&CAND1.cd_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(&CAND1, &rxmsg, TIME_IMMEDIATE) == RDY_OK) {
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/* Process message.*/
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palTogglePad(IOPORT3, GPIOC_LED);
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}
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}
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chEvtUnregister(&CAND1.cd_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, 512);
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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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txmsg.cf_IDE = CAN_IDE_EXT;
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txmsg.cf_EID = 0x01234567;
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txmsg.cf_RTR = CAN_RTR_DATA;
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txmsg.cf_DLC = 8;
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txmsg.cf_data32[0] = 0x55AA55AA;
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txmsg.cf_data32[1] = 0x00FF00FF;
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while (!chThdShouldTerminate()) {
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canTransmit(&CAND1, &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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* Entry point, note, the main() function is already a thread in the system
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* on entry.
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*/
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int main(int argc, char **argv) {
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(void)argc;
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(void)argv;
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/*
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* Activates the CAN driver 1.
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*/
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canStart(&CAND1, &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_rx_wa, sizeof(can_rx_wa), NORMALPRIO + 7, can_rx, NULL);
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chThdCreateStatic(can_tx_wa, sizeof(can_tx_wa), NORMALPRIO + 7, 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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