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/*
* File : canapp.c
* This file is part of RT-Thread RTOS
* COPYRIGHT (C) 2006, RT-Thread Development Team
*
* The license and distribution terms for this file may be
* found in the file LICENSE in this distribution or at
* http://www.rt-thread.org/license/LICENSE
*
* Change Logs:
* Date Author Notes
* 2015-05-14 [email protected] first version
*/
#include <board.h>
#include <rtthread.h>
#include <rtdevice.h>
#ifdef RT_USING_CAN
#include "drv_lpccan.h"
struct can_app_struct
{
const char* name;
struct rt_can_filter_config * filter;
rt_uint8_t eventopt;
struct rt_semaphore sem;
};
static struct can_app_struct can_data[1];
struct rt_can_filter_item filter1item[4] =
{
LPC_CAN_AF_STD_INIT(1),
LPC_CAN_AF_STD_GRP_INIT(3,5),
LPC_CAN_AF_EXT_INIT(2),
LPC_CAN_AF_EXT_GRP_INIT(4,6),
};
struct rt_can_filter_config filter1 =
{
.count = 4,
.actived = 1,
.items = filter1item,
};
static struct can_app_struct can_data[1] = {
{
.name = "lpccan1",
.filter = &filter1,
.eventopt = RT_EVENT_FLAG_OR | RT_EVENT_FLAG_CLEAR,
},
};
static rt_err_t lpccanind(rt_device_t dev, rt_size_t size)
{
rt_sem_release(&can_data[0].sem);
}
void rt_can_thread_entry(void* parameter)
{
struct rt_can_msg msg;
struct can_app_struct* canpara = (struct can_app_struct*) parameter;
rt_device_t candev;
candev = rt_device_find(canpara->name);
RT_ASSERT(candev);
rt_sem_init(&canpara->sem, canpara->name, 0, RT_IPC_FLAG_FIFO);
rt_device_open(candev, (RT_DEVICE_OFLAG_RDWR | RT_DEVICE_FLAG_INT_RX | RT_DEVICE_FLAG_INT_TX));
rt_device_control(candev,RT_CAN_CMD_SET_FILTER,canpara->filter);
rt_device_set_rx_indicate(candev, lpccanind);
while(1) {
rt_sem_take(&canpara->sem, RT_WAITING_FOREVER);
while (rt_device_read(candev, 0, &msg, sizeof(msg)) == sizeof(msg)) {
rt_device_write(candev, 0, &msg, sizeof(msg));
}
}
}
int rt_can_app_init(void)
{
rt_thread_t tid;
tid = rt_thread_create("canapp1",
rt_can_thread_entry, &can_data[0],
512, RT_THREAD_PRIORITY_MAX /3 - 1, 20);
if (tid != RT_NULL) rt_thread_startup(tid);
return 0;
}
INIT_APP_EXPORT(rt_can_app_init);
#endif /*RT_USING_CAN*/
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