149 lines
3.6 KiB
C
149 lines
3.6 KiB
C
/*
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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, PD_LED1};
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/*
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* Internal loopback mode, 1MBaud.
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* See chapter 25 on the SPC5 reference manual.
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*/
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static const CANConfig cancfg = {
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CAN_MCR_WRN_EN,
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CAN_CTRL_LPB | CAN_CTRL_PROPSEG(2) | CAN_CTRL_PSEG2(7) |
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CAN_CTRL_PSEG1(3) | CAN_CTRL_PRESDIV(3)
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#if SPC5_CAN_USE_FILTERS
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,
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{
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{0, 0x00000001},
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{1, 0x01234567},
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{0, 0x00000000},
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{0, 0x00000003},
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{0, 0x00000004},
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{0, 0x00000005},
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{0, 0x00000006},
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{0, 0x00000007}
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}
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#endif
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};
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#if SPC5_CAN_USE_FILTERS
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flagsmask_t rxFlag;
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#endif
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/*
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* Receiver thread.
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*/
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static WORKING_AREA(can_rx_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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#if SPC5_CAN_USE_FILTERS
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rxFlag = chEvtGetAndClearFlagsI(&el);
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#endif
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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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#if !SPC5_CAN_USE_FILTERS
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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(PORT_D, cip->led);
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}
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#else
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while (canReceive(cip->canp, rxFlag,
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&rxmsg, TIME_IMMEDIATE) == RDY_OK) {
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/* Process message.*/
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palTogglePad(PORT_D, cip->led);
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}
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#endif
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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.LENGTH = 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, 1, &txmsg, MS2ST(100));
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palTogglePad(PORT_D, PD_LED2);
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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 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,
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can_rx, (void *)&can1);
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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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