257 lines
7.1 KiB
C
257 lines
7.1 KiB
C
/*
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* File : canapp.c
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* This file is part of RT-Thread RTOS
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* COPYRIGHT (C) 2006, RT-Thread Development Team
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*
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* The license and distribution terms for this file may be
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* found in the file LICENSE in this distribution or at
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* http://www.rt-thread.org/license/LICENSE
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*
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* Change Logs:
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* Date Author Notes
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* 2015-05-14 aubrcool@qq.com first version
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*/
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#include <board.h>
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#include <rtthread.h>
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#include <rtdevice.h>
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#ifdef RT_USING_CAN
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#define CANRT1 8
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#define CANERR1 9
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#define CANRT2 37
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#define CANERR2 38
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static struct canledtype
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{
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struct stm32_hw_pin_userdata rtd;
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struct stm32_hw_pin_userdata err;
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} canled[] =
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{
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#ifdef USING_BXCAN1
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{
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{CANRT1, PIN_MODE_OUTPUT_OD,},
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{CANERR1, PIN_MODE_OUTPUT_OD,},
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},
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#endif /*USING_BXCAN1*/
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#ifdef USING_BXCAN2
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{
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{CANRT2, PIN_MODE_OUTPUT_OD,},
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{CANERR2, PIN_MODE_OUTPUT_OD,},
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},
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#endif /*USING_BXCAN2*/
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};
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void can_bus_hook(struct rt_can_device *can, struct canledtype *led)
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{
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if (can->timerinitflag == 1)
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{
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rt_pin_write(led->rtd.pin, 0);
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}
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else
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{
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if (can->status.rcvchange == 1 || can->status.sndchange == 1)
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{
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can->status.rcvchange = 0;
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can->status.sndchange = 0;
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rt_pin_write(led->rtd.pin, rt_pin_read(led->rtd.pin) ? 0 : 1);
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}
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else
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{
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rt_pin_write(led->rtd.pin, 1);
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}
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}
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if (can->timerinitflag == 1)
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{
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rt_pin_write(led->err.pin, 0);
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}
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else
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{
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if (can->status.errcode)
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{
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rt_pin_write(led->err.pin, 0);
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}
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else
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{
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rt_pin_write(led->err.pin, 1);
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}
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}
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}
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#ifdef USING_BXCAN1
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void can1_bus_hook(struct rt_can_device *can)
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{
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static rt_int32_t inited = 0;
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if (!inited)
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{
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inited = 1;
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rt_pin_mode(canled[0].rtd.pin, canled[0].rtd.mode);
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rt_pin_mode(canled[0].err.pin, canled[0].err.mode);
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}
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can_bus_hook(can, &canled[0]);
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}
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#endif /*USING_BXCAN1*/
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#ifdef USING_BXCAN2
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void can2_bus_hook(struct rt_can_device *can)
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{
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static rt_int32_t inited = 0;
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if (!inited)
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{
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inited = 1;
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rt_pin_mode(canled[1].rtd.pin, canled[1].rtd.mode);
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rt_pin_mode(canled[1].err.pin, canled[1].err.mode);
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}
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can_bus_hook(can, &canled[1]);
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}
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#endif /*USING_BXCAN2*/
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int can_bus_hook_init(void)
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{
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rt_device_t candev;
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#ifdef USING_BXCAN1
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candev = rt_device_find("bxcan1");
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RT_ASSERT(candev);
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rt_device_control(candev, RT_CAN_CMD_SET_BUS_HOOK, (void *)can1_bus_hook);
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#endif /*USING_BXCAN1*/
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#ifdef USING_BXCAN2
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candev = rt_device_find("bxcan2");
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RT_ASSERT(candev);
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rt_device_control(candev, RT_CAN_CMD_SET_BUS_HOOK, (void *)can2_bus_hook);
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#endif /*USING_BXCAN2*/
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return RT_EOK;
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}
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INIT_DEVICE_EXPORT(can_bus_hook_init);
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struct can_app_struct
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{
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const char *name;
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struct rt_event event;
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struct rt_can_filter_config *filter;
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rt_uint8_t eventopt;
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};
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static struct can_app_struct can_data[2];
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static rt_err_t can1ind(rt_device_t dev, void *args, rt_int32_t hdr, rt_size_t size)
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{
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rt_event_t pevent = (rt_event_t)args;
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rt_event_send(pevent, 1 << (hdr));
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return RT_EOK;
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}
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static rt_err_t can2ind(rt_device_t dev, void *args, rt_int32_t hdr, rt_size_t size)
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{
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rt_event_t pevent = (rt_event_t)args;
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rt_event_send(pevent, 1 << (hdr));
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return RT_EOK;
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}
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struct rt_can_filter_item filter1item[4] =
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{
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RT_CAN_FILTER_STD_INIT(1, can1ind, &can_data[0].event),
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RT_CAN_FILTER_STD_INIT(2, can1ind, &can_data[0].event),
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RT_CAN_STD_RMT_FILTER_INIT(3, can1ind, &can_data[0].event),
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RT_CAN_STD_RMT_DATA_FILTER_INIT(4, can1ind, &can_data[0].event),
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};
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struct rt_can_filter_item filter2item[4] =
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{
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RT_CAN_FILTER_STD_INIT(1, can2ind, &can_data[1].event),
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RT_CAN_FILTER_STD_INIT(2, can2ind, &can_data[1].event),
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RT_CAN_STD_RMT_FILTER_INIT(3, can2ind, &can_data[1].event),
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RT_CAN_STD_RMT_DATA_FILTER_INIT(4, can2ind, &can_data[1].event),
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};
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struct rt_can_filter_config filter1 =
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{
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.count = 4,
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.actived = 1,
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.items = filter1item,
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};
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struct rt_can_filter_config filter2 =
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{
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.count = 4,
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.actived = 1,
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.items = filter2item,
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};
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static struct can_app_struct can_data[2] =
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{
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{
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.name = "bxcan1",
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.filter = &filter1,
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.eventopt = RT_EVENT_FLAG_OR | RT_EVENT_FLAG_CLEAR,
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},
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{
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.name = "bxcan2",
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.filter = &filter2,
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.eventopt = RT_EVENT_FLAG_AND | RT_EVENT_FLAG_CLEAR,
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},
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};
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void rt_can_thread_entry(void *parameter)
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{
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struct rt_can_msg msg;
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struct can_app_struct *canpara = (struct can_app_struct *) parameter;
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rt_device_t candev;
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rt_uint32_t e;
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candev = rt_device_find(canpara->name);
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RT_ASSERT(candev);
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rt_event_init(&canpara->event, canpara->name, RT_IPC_FLAG_FIFO);
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rt_device_open(candev, (RT_DEVICE_OFLAG_RDWR | RT_DEVICE_FLAG_INT_RX | RT_DEVICE_FLAG_INT_TX));
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rt_device_control(candev, RT_CAN_CMD_SET_FILTER, canpara->filter);
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while (1)
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{
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if (
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rt_event_recv(&canpara->event,
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((1 << canpara->filter->items[0].hdr) |
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(1 << canpara->filter->items[1].hdr) |
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(1 << canpara->filter->items[2].hdr) |
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(1 << canpara->filter->items[3].hdr)),
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canpara->eventopt,
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RT_WAITING_FOREVER, &e) != RT_EOK
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)
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{
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continue;
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}
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if (e & (1 << canpara->filter->items[0].hdr))
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{
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msg.hdr = canpara->filter->items[0].hdr;
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while (rt_device_read(candev, 0, &msg, sizeof(msg)) == sizeof(msg))
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{
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rt_device_write(candev, 0, &msg, sizeof(msg));
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}
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}
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if (e & (1 << canpara->filter->items[1].hdr))
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{
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msg.hdr = canpara->filter->items[1].hdr;
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while (rt_device_read(candev, 0, &msg, sizeof(msg)) == sizeof(msg))
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{
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rt_device_write(candev, 0, &msg, sizeof(msg));
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}
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}
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if (e & (1 << canpara->filter->items[2].hdr))
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{
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msg.hdr = canpara->filter->items[2].hdr;
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while (rt_device_read(candev, 0, &msg, sizeof(msg)) == sizeof(msg))
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{
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rt_device_write(candev, 0, &msg, sizeof(msg));
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}
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}
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if (e & (1 << canpara->filter->items[3].hdr))
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{
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msg.hdr = canpara->filter->items[3].hdr;
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while (rt_device_read(candev, 0, &msg, sizeof(msg)) == sizeof(msg))
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{
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rt_device_write(candev, 0, &msg, sizeof(msg));
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}
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}
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}
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}
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int rt_can_app_init(void)
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{
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rt_thread_t tid;
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tid = rt_thread_create("canapp1",
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rt_can_thread_entry, &can_data[0],
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512, RT_THREAD_PRIORITY_MAX / 3 - 1, 20);
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if (tid != RT_NULL) rt_thread_startup(tid);
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tid = rt_thread_create("canapp2",
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rt_can_thread_entry, &can_data[1],
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512, RT_THREAD_PRIORITY_MAX / 3 - 1, 20);
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if (tid != RT_NULL) rt_thread_startup(tid);
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return 0;
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}
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INIT_APP_EXPORT(rt_can_app_init);
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#endif /*RT_USING_CAN*/
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