116 lines
3.0 KiB
C
116 lines
3.0 KiB
C
/*
|
|
ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
|
|
2011,2012,2013 Giovanni Di Sirio.
|
|
|
|
This file is part of ChibiOS/RT.
|
|
|
|
ChibiOS/RT is free software; you can redistribute it and/or modify
|
|
it under the terms of the GNU General Public License as published by
|
|
the Free Software Foundation; either version 3 of the License, or
|
|
(at your option) any later version.
|
|
|
|
ChibiOS/RT is distributed in the hope that it will be useful,
|
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
GNU General Public License for more details.
|
|
|
|
You should have received a copy of the GNU General Public License
|
|
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|
*/
|
|
|
|
#include "ch.h"
|
|
#include "hal.h"
|
|
|
|
/*
|
|
* Internal loopback mode, 500KBaud, automatic wakeup, automatic recover
|
|
* from abort mode.
|
|
* See section 22.7.7 on the STM32 reference manual.
|
|
*/
|
|
static const CANConfig cancfg = {
|
|
CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP,
|
|
CAN_BTR_LBKM | CAN_BTR_SJW(0) | CAN_BTR_TS2(1) |
|
|
CAN_BTR_TS1(8) | CAN_BTR_BRP(6)
|
|
};
|
|
|
|
/*
|
|
* Receiver thread.
|
|
*/
|
|
static WORKING_AREA(can_rx_wa, 256);
|
|
static msg_t can_rx(void *p) {
|
|
EventListener el;
|
|
CANRxFrame rxmsg;
|
|
|
|
(void)p;
|
|
chRegSetThreadName("receiver");
|
|
chEvtRegister(&CAND1.rxfull_event, &el, 0);
|
|
while(!chThdShouldTerminate()) {
|
|
if (chEvtWaitAnyTimeout(ALL_EVENTS, MS2ST(100)) == 0)
|
|
continue;
|
|
while (canReceive(&CAND1, CAN_ANY_MAILBOX, &rxmsg, TIME_IMMEDIATE) == RDY_OK) {
|
|
/* Process message.*/
|
|
palTogglePad(IOPORT3, GPIOC_LED);
|
|
}
|
|
}
|
|
chEvtUnregister(&CAND1.rxfull_event, &el);
|
|
return 0;
|
|
}
|
|
|
|
/*
|
|
* Transmitter thread.
|
|
*/
|
|
static WORKING_AREA(can_tx_wa, 256);
|
|
static msg_t can_tx(void * p) {
|
|
CANTxFrame txmsg;
|
|
|
|
(void)p;
|
|
chRegSetThreadName("transmitter");
|
|
txmsg.IDE = CAN_IDE_EXT;
|
|
txmsg.EID = 0x01234567;
|
|
txmsg.RTR = CAN_RTR_DATA;
|
|
txmsg.DLC = 8;
|
|
txmsg.data32[0] = 0x55AA55AA;
|
|
txmsg.data32[1] = 0x00FF00FF;
|
|
|
|
while (!chThdShouldTerminate()) {
|
|
canTransmit(&CAND1, CAN_ANY_MAILBOX, &txmsg, MS2ST(100));
|
|
chThdSleepMilliseconds(500);
|
|
}
|
|
return 0;
|
|
}
|
|
|
|
/*
|
|
* Application entry point.
|
|
*/
|
|
int main(void) {
|
|
|
|
/*
|
|
* System initializations.
|
|
* - HAL initialization, this also initializes the configured device drivers
|
|
* and performs the board-specific initializations.
|
|
* - Kernel initialization, the main() function becomes a thread and the
|
|
* RTOS is active.
|
|
*/
|
|
halInit();
|
|
chSysInit();
|
|
|
|
/*
|
|
* Activates the CAN driver 1.
|
|
*/
|
|
canStart(&CAND1, &cancfg);
|
|
|
|
/*
|
|
* 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);
|
|
|
|
|
|
/*
|
|
* Normal main() thread activity, in this demo it does nothing.
|
|
*/
|
|
while (TRUE) {
|
|
chThdSleepMilliseconds(500);
|
|
}
|
|
return 0;
|
|
}
|