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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()
{
struct rt_can_msg msg = {0};
rt_err_t res = RT_EOK;;
rt_thread_t thread;
/* Find CAN device */
can0_dev = rt_device_find("CAN0");
if (!can0_dev)
{
rt_kprintf("Find CAN0 failed.\n");
return -RT_ERROR;
}
/* Find CAN device */
can1_dev = rt_device_find("CAN1");
if (!can1_dev)
{
rt_kprintf("Find CAN1 failed.\n");
return -RT_ERROR;
}
/* Initialize CAN receive signal quantity */
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);
/* Open the CAN device in the way of interrupt reception and transmission */
res = rt_device_open(can0_dev, RT_DEVICE_FLAG_INT_TX | RT_DEVICE_FLAG_INT_RX);
rt_device_control(can0_dev, RT_CAN_CMD_SET_BAUD, CAN800kBaud);
RT_ASSERT(res == RT_EOK);
res = rt_device_open(can1_dev, RT_DEVICE_FLAG_INT_TX | RT_DEVICE_FLAG_INT_RX);
rt_device_control(can1_dev, RT_CAN_CMD_SET_BAUD, CAN800kBaud);
RT_ASSERT(res == RT_EOK);
/* Create data receiving thread */
thread = rt_thread_create("can0_rx", can0_rx_thread, RT_NULL, 4096, 10, 10);
if (thread != RT_NULL)
{
res = rt_thread_startup(thread);
RT_ASSERT(res == RT_EOK);
}
else
{
rt_kprintf("Create can0_rx thread failed.\n");
}
thread = rt_thread_create("can1_rx", can1_rx_thread, RT_NULL, 4096, 10, 10);
if (thread != RT_NULL)
{
res = rt_thread_startup(thread);
RT_ASSERT(res == RT_EOK);
}
else
{
rt_kprintf("Create can1_rx thread failed.\n");
}
msg.id = 0x78; /* ID = 0x78 */
msg.ide = RT_CAN_STDID; /* Standard format */
msg.rtr = RT_CAN_DTR; /* Data frame */
msg.len = 8; /* Data length is 8 */
/* Send CAN data */
for (int i = 0; i < 5; i++)
{
/* 8-byte data to be sent */
msg.data[0] = 0x0;
msg.data[1] = 0x1;
msg.data[2] = 0x2;
msg.data[3] = 0x3;
msg.data[4] = 0x4;
msg.data[5] = 0x5;
msg.data[6] = 0x6;
msg.data[7] = 0x7;
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])
{
res = RT_ERROR;
goto exit;
}
}
}
/* Send CAN data */
for (int i = 0; i < 5; i++)
{
/* 8-byte data to be sent */
msg.data[0] = 0x0;
msg.data[1] = 0x1;
msg.data[2] = 0x2;
msg.data[3] = 0x3;
msg.data[4] = 0x4;
msg.data[5] = 0x5;
msg.data[6] = 0x6;
msg.data[7] = 0x7;
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])
{
res = RT_ERROR;
goto exit;
}
}
}
exit:
/* print message on example run result */
if (res == RT_EOK)
{
rt_kprintf("%s@%d:Can loopback test example [success].\r\n", __func__, __LINE__);
}
else
{
rt_kprintf("%s@%d:Can loopback test example [failure], res = %d\r\n", __func__, __LINE__, res);
}
return res;
}
/* Enter can_sample command for testing */
MSH_CMD_EXPORT(can_loopback_sample, can device sample);
#endif
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