rt-thread-official/bsp/stm32f10x/applications/canapp.c

/*
 * Copyright (c) 2006-2018, RT-Thread Development Team
 *
 * SPDX-License-Identifier: Apache-2.0
 *
 * Change Logs:
 * Date           Author            Notes
 * 2015-05-14     aubrcool@qq.com   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*/