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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>
#include "gpio.h"
#ifdef RT_USING_CAN
#define CANRT1 8
#define CANERR1 9
#define CANRT2 37
#define CANERR2 38
static struct canledtype
{
struct stm32_hw_pin_userdata rtd;
struct stm32_hw_pin_userdata err;
} canled[] =
{
#ifdef USING_BXCAN1
{
{CANRT1, PIN_MODE_OUTPUT,},
{CANERR1, PIN_MODE_OUTPUT,},
},
#endif /*USING_BXCAN1*/
#ifdef USING_BXCAN2
{
{CANRT2, PIN_MODE_OUTPUT_OD,},
{CANERR2, PIN_MODE_OUTPUT_OD,},
},
#endif /*USING_BXCAN2*/
};
void can_bus_hook(struct rt_can_device *can, struct canledtype *led)
{
if (can->timerinitflag == 1)
{
rt_pin_write(led->rtd.pin, 0);
}
else
{
if (can->status.rcvchange == 1 || can->status.sndchange == 1)
{
can->status.rcvchange = 0;
can->status.sndchange = 0;
rt_pin_write(led->rtd.pin, rt_pin_read(led->rtd.pin) ? 0 : 1);
}
else
{
rt_pin_write(led->rtd.pin, 1);
}
}
if (can->timerinitflag == 1)
{
rt_pin_write(led->err.pin, 0);
}
else
{
if (can->status.errcode)
{
rt_pin_write(led->err.pin, 0);
}
else
{
rt_pin_write(led->err.pin, 1);
}
}
}
#ifdef USING_BXCAN1
void can1_bus_hook(struct rt_can_device *can)
{
static rt_int32_t inited = 0;
if (!inited)
{
inited = 1;
rt_pin_mode(canled[0].rtd.pin, canled[0].rtd.mode);
rt_pin_mode(canled[0].err.pin, canled[0].err.mode);
}
can_bus_hook(can, &canled[0]);
}
#endif /*USING_BXCAN1*/
#ifdef USING_BXCAN2
void can2_bus_hook(struct rt_can_device *can)
{
static rt_int32_t inited = 0;
if (!inited)
{
inited = 1;
rt_pin_mode(canled[1].rtd.pin, canled[1].rtd.mode);
rt_pin_mode(canled[1].err.pin, canled[1].err.mode);
}
can_bus_hook(can, &canled[1]);
}
#endif /*USING_BXCAN2*/
int can_bus_hook_init(void)
{
rt_device_t candev;
#ifdef USING_BXCAN1
candev = rt_device_find("bxcan1");
RT_ASSERT(candev);
rt_device_control(candev, RT_CAN_CMD_SET_BUS_HOOK, (void *)can1_bus_hook);
#endif /*USING_BXCAN1*/
#ifdef USING_BXCAN2
candev = rt_device_find("bxcan2");
RT_ASSERT(candev);
rt_device_control(candev, RT_CAN_CMD_SET_BUS_HOOK, (void *)can2_bus_hook);
#endif /*USING_BXCAN2*/
return RT_EOK;
}
INIT_DEVICE_EXPORT(can_bus_hook_init);
struct can_app_struct
{
const char *name;
struct rt_can_filter_config *filter;
rt_uint8_t eventopt;
struct rt_event event;
};
static struct can_app_struct can_data[2];
static rt_err_t can1ind(rt_device_t dev, void *args, rt_int32_t hdr, rt_size_t size)
{
rt_event_t pevent = (rt_event_t)args;
rt_event_send(pevent, 1 << (hdr));
return RT_EOK;
}
static rt_err_t can2ind(rt_device_t dev, void *args, rt_int32_t hdr, rt_size_t size)
{
rt_event_t pevent = (rt_event_t)args;
rt_event_send(pevent, 1 << (hdr));
return RT_EOK;
}
struct rt_can_filter_item filter1item[4] =
{
RT_CAN_FILTER_STD_INIT(1, can1ind, &can_data[0].event),
RT_CAN_FILTER_STD_INIT(2, can1ind, &can_data[0].event),
RT_CAN_STD_RMT_FILTER_INIT(3, can1ind, &can_data[0].event),
RT_CAN_STD_RMT_DATA_FILTER_INIT(4, can1ind, &can_data[0].event),
};
struct rt_can_filter_item filter2item[4] =
{
RT_CAN_FILTER_STD_INIT(1, can2ind, &can_data[1].event),
RT_CAN_FILTER_STD_INIT(2, can2ind, &can_data[1].event),
RT_CAN_STD_RMT_FILTER_INIT(3, can2ind, &can_data[1].event),
RT_CAN_STD_RMT_DATA_FILTER_INIT(4, can2ind, &can_data[1].event),
};
struct rt_can_filter_config filter1 =
{
4,
1,
filter1item,
};
struct rt_can_filter_config filter2 =
{
4,
1,
filter2item,
};
static struct can_app_struct can_data[2] =
{
{
"bxcan1",
&filter1,
RT_EVENT_FLAG_OR | RT_EVENT_FLAG_CLEAR,
},
{
"bxcan2",
&filter2,
RT_EVENT_FLAG_AND | RT_EVENT_FLAG_CLEAR,
},
};
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;
rt_uint32_t e;
candev = rt_device_find(canpara->name);
RT_ASSERT(candev);
rt_event_init(&canpara->event, canpara->name, 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);
while (1)
{
if (
rt_event_recv(&canpara->event,
((1 << canpara->filter->items[0].hdr) |
(1 << canpara->filter->items[1].hdr) |
(1 << canpara->filter->items[2].hdr) |
(1 << canpara->filter->items[3].hdr)),
canpara->eventopt,
RT_WAITING_FOREVER, &e) != RT_EOK
)
{
continue;
}
if (e & (1 << canpara->filter->items[0].hdr))
{
msg.hdr = canpara->filter->items[0].hdr;
while (rt_device_read(candev, 0, &msg, sizeof(msg)) == sizeof(msg))
{
rt_device_write(candev, 0, &msg, sizeof(msg));
}
}
if (e & (1 << canpara->filter->items[1].hdr))
{
msg.hdr = canpara->filter->items[1].hdr;
while (rt_device_read(candev, 0, &msg, sizeof(msg)) == sizeof(msg))
{
rt_device_write(candev, 0, &msg, sizeof(msg));
}
}
if (e & (1 << canpara->filter->items[2].hdr))
{
msg.hdr = canpara->filter->items[2].hdr;
while (rt_device_read(candev, 0, &msg, sizeof(msg)) == sizeof(msg))
{
rt_device_write(candev, 0, &msg, sizeof(msg));
}
}
if (e & (1 << canpara->filter->items[3].hdr))
{
msg.hdr = canpara->filter->items[3].hdr;
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);
#ifdef USING_BXCAN2
tid = rt_thread_create("canapp2",
rt_can_thread_entry, &can_data[1],
512, RT_THREAD_PRIORITY_MAX / 3 - 1, 20);
if (tid != RT_NULL) rt_thread_startup(tid);
#endif
return 0;
}
INIT_APP_EXPORT(rt_can_app_init);
#endif /*RT_USING_CAN*/
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