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#include "rtconfig.h"
#ifdef BSP_USING_CAN
#include <rtdevice.h>
#include "drv_can.h"
#define LOG_TAG "can_drv"
#include "drv_log.h"
#include "fcan.h"
#include "fio_mux.h"
#include "interrupt.h"
#include "fcpu_info.h"
/*can test example*/
static rt_device_t can0_dev; /* CAN device handle */
static rt_device_t can1_dev; /* CAN device handle */
static struct rt_semaphore can0_rx_sem;
static struct rt_semaphore can1_rx_sem;
static struct rt_can_msg rxmsg = {0};
static rt_err_t can0_rx_call(rt_device_t dev, rt_size_t size)
{
/* The CAN generates an interrupt after receiving data, calls this callback function, and then sends the received semaphore */
rt_sem_release(&can0_rx_sem);
return RT_EOK;
}
static void can0_rx_thread(void *parameter)
{
int i;
rt_err_t res = RT_EOK;
rt_device_set_rx_indicate(can0_dev, can0_rx_call);
while (1)
{
/* The hdr value is - 1, which means reading data directly from the uselist */
rxmsg.hdr_index = -1;
/* Blocking waiting to receive semaphore */
res = rt_sem_take(&can0_rx_sem, RT_WAITING_FOREVER);
RT_ASSERT(res == RT_EOK);
/* Read a frame of data from CAN */
rt_device_read(can0_dev, 0, &rxmsg, sizeof(rxmsg));
/* Print data ID and conten */
LOG_D("ID:%x\n", rxmsg.id);
LOG_D("DATA: ");
for (i = 0; i < 8; i++)
{
LOG_D("%2x ", rxmsg.data[i]);
}
LOG_D("\n");
}
}
static rt_err_t can1_rx_call(rt_device_t dev, rt_size_t size)
{
/* The CAN generates an interrupt after receiving data, calls this callback function, and then sends the received semaphore */
rt_sem_release(&can1_rx_sem);
return RT_EOK;
}
static void can1_rx_thread(void *parameter)
{
int i;
rt_err_t res = RT_EOK;
rt_device_set_rx_indicate(can1_dev, can1_rx_call);
while (1)
{
/* The hdr value is - 1, which means reading data directly from the uselist */
rxmsg.hdr_index = -1;
/* Blocking waiting to receive semaphore */
res = rt_sem_take(&can1_rx_sem, RT_WAITING_FOREVER);
RT_ASSERT(res == RT_EOK);
/* Read a frame of data from CAN */
rt_device_read(can1_dev, 0, &rxmsg, sizeof(rxmsg));
/* Print data ID and conten */
LOG_D("ID:%x\n", rxmsg.id);
LOG_D("DATA: ");
for (i = 0; i < 8; i++)
{
LOG_D("%2x ", rxmsg.data[i]);
}
LOG_D("\n");
}
}
rt_err_t can_loopback_sample(void)
{
struct rt_can_msg msg = {0};
rt_err_t res = RT_EOK;
rt_thread_t can0_rx_tid = RT_NULL;
rt_thread_t can1_rx_tid = RT_NULL;
can0_dev = rt_device_find("CAN0");
if (!can0_dev)
{
rt_kprintf("Find CAN0 failed.\n");
return -RT_ERROR;
}
can1_dev = rt_device_find("CAN1");
if (!can1_dev)
{
rt_kprintf("Find CAN1 failed.\n");
return -RT_ERROR;
}
res = rt_sem_init(&can0_rx_sem, "can0_rx_sem", 0, RT_IPC_FLAG_FIFO);
RT_ASSERT(res == RT_EOK);
res = rt_sem_init(&can1_rx_sem, "can1_rx_sem", 0, RT_IPC_FLAG_FIFO);
RT_ASSERT(res == RT_EOK);
res = rt_device_open(can0_dev,
RT_DEVICE_FLAG_INT_TX |
RT_DEVICE_FLAG_INT_RX);
RT_ASSERT(res == RT_EOK);
rt_device_control(can0_dev,
RT_CAN_CMD_SET_BAUD,
CAN800kBaud);
res = rt_device_open(can1_dev,
RT_DEVICE_FLAG_INT_TX |
RT_DEVICE_FLAG_INT_RX);
RT_ASSERT(res == RT_EOK);
rt_device_control(can1_dev,
RT_CAN_CMD_SET_BAUD,
CAN800kBaud);
can0_rx_tid = rt_thread_create("can0_rx",
can0_rx_thread,
RT_NULL,
4096,
10,
10);
if (can0_rx_tid == RT_NULL)
{
rt_kprintf("Create can0_rx thread failed.\n");
res = -RT_ERROR;
goto exit;
}
rt_thread_startup(can0_rx_tid);
can1_rx_tid = rt_thread_create("can1_rx",
can1_rx_thread,
RT_NULL,
4096,
10,
10);
if (can1_rx_tid == RT_NULL)
{
rt_kprintf("Create can1_rx thread failed.\n");
res = -RT_ERROR;
goto exit;
}
rt_thread_startup(can1_rx_tid);
msg.id = 0x78;
msg.ide = RT_CAN_STDID;
msg.rtr = RT_CAN_DTR;
msg.len = 8;
for (int cnt = 0; cnt < 5; cnt++)
{
for (int i = 0; i < 8; i++)
{
msg.data[i] = i;
}
rt_device_write(can0_dev, 0, &msg, sizeof(msg));
rt_thread_mdelay(100);
for (int i = 0; i < 8; i++)
{
if (msg.data[i] != rxmsg.data[i])
{
rt_kprintf("\nCAN0 compare failed at byte[%d]\n", i);
rt_kprintf("TX DATA: ");
for (int j = 0; j < 8; j++)
{
rt_kprintf("%02X ", msg.data[j]);
}
rt_kprintf("\nRX DATA: ");
for (int j = 0; j < 8; j++)
{
rt_kprintf("%02X ", rxmsg.data[j]);
}
rt_kprintf("\n");
res = -RT_ERROR;
goto exit;
}
}
}
for (int cnt = 0; cnt < 5; cnt++)
{
for (int i = 0; i < 8; i++)
{
msg.data[i] = i;
}
rt_device_write(can1_dev, 0, &msg, sizeof(msg));
rt_thread_mdelay(100);
for (int i = 0; i < 8; i++)
{
if (msg.data[i] != rxmsg.data[i])
{
rt_kprintf("\nCAN1 compare failed at byte[%d]\n", i);
rt_kprintf("TX DATA: ");
for (int j = 0; j < 8; j++)
{
rt_kprintf("%02X ", msg.data[j]);
}
rt_kprintf("\nRX DATA: ");
for (int j = 0; j < 8; j++)
{
rt_kprintf("%02X ", rxmsg.data[j]);
}
rt_kprintf("\n");
res = -RT_ERROR;
goto exit;
}
}
}
exit:
if (can0_rx_tid)
{
rt_thread_delete(can0_rx_tid);
can0_rx_tid = RT_NULL;
}
if (can1_rx_tid)
{
rt_thread_delete(can1_rx_tid);
can1_rx_tid = RT_NULL;
}
if (can0_dev)
{
rt_device_set_rx_indicate(can0_dev, RT_NULL);
rt_device_close(can0_dev);
}
if (can1_dev)
{
rt_device_set_rx_indicate(can1_dev, RT_NULL);
rt_device_close(can1_dev);
}
rt_sem_detach(&can0_rx_sem);
rt_sem_detach(&can1_rx_sem);
if (res == RT_EOK)
{
rt_kprintf("%s: CAN loopback test [success].\n", __func__);
}
else
{
rt_kprintf("%s: CAN loopback test [failure], res=%d\n", __func__, res);
}
return res;
}
/* Enter can_sample command for testing */
MSH_CMD_EXPORT(can_loopback_sample, can device sample);
#endif
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