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git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@5084 35acf78f-673a-0410-8e92-d51de3d6d3f4

master
gdisirio 2013-01-20 09:07:35 +00:00
parent 0da4614441
commit 88b8b3eea1
2 changed files with 21 additions and 7 deletions
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26
testhal/STM32F4xx/CAN/main.c
View File

@ -21,6 +21,14 @@
#include "ch.h"
#include "hal.h"
struct can_instance {
CANDriver *canp;
uint32_t led;
};
static const struct can_instance can1 = {&CAND1, GPIOD_LED5};
//static const struct can_instance can2 = {&CAND2, GPIOD_LED3};
/*
* Internal loopback mode, 500KBaud, automatic wakeup, automatic recover
* from abort mode.
@ -37,20 +45,22 @@ static const CANConfig cancfg = {
/*
* Receiver thread.
*/
static WORKING_AREA(can_rx_wa, 256);
static WORKING_AREA(can_rx1_wa, 256);
//static WORKING_AREA(can_rx2_wa, 256);
static msg_t can_rx(void *p) {
struct can_instance *cip = p;
EventListener el;
CANRxFrame rxmsg;
(void)p;
chRegSetThreadName("receiver");
chEvtRegister(&CAND1.rxfull_event, &el, 0);
chEvtRegister(&cip->canp->rxfull_event, &el, 0);
while(!chThdShouldTerminate()) {
if (chEvtWaitAnyTimeout(ALL_EVENTS, MS2ST(100)) == 0)
continue;
while (canReceive(&CAND1, &rxmsg, TIME_IMMEDIATE) == RDY_OK) {
while (canReceive(cip->canp, &rxmsg, TIME_IMMEDIATE) == RDY_OK) {
/* Process message.*/
palTogglePad(GPIOD, GPIOD_LED5);
palTogglePad(GPIOD, cip->led);
}
}
chEvtUnregister(&CAND1.rxfull_event, &el);
@ -103,8 +113,12 @@ int main(void) {
/*
* Starting the transmitter and receiver threads.
*/
chThdCreateStatic(can_rx_wa, sizeof(can_rx_wa), NORMALPRIO + 7, can_rx, NULL);
chThdCreateStatic(can_tx_wa, sizeof(can_tx_wa), NORMALPRIO + 7, can_tx, NULL);
chThdCreateStatic(can_rx1_wa, sizeof(can_rx1_wa), NORMALPRIO + 7,
can_rx, (void *)&can1);
// chThdCreateStatic(can_rx2_wa, sizeof(can_rx2_wa), NORMALPRIO + 7,
// can_rx, (void *)&can2);
chThdCreateStatic(can_tx_wa, sizeof(can_tx_wa), NORMALPRIO + 7,
can_tx, NULL);
/*
* Normal main() thread activity, in this demo it does nothing.

2
testhal/STM32F4xx/CAN/mcuconf.h
View File

@ -87,7 +87,7 @@
* CAN driver system settings.
*/
#define STM32_CAN_USE_CAN1 TRUE
#define STM32_CAN_USE_CAN2 FALSE
#define STM32_CAN_USE_CAN2 TRUE
#define STM32_CAN_CAN1_IRQ_PRIORITY 11
#define STM32_CAN_CAN2_IRQ_PRIORITY 11