Merge pull request #516 from AubrCool/master

bxcan 适应新改的驱动

bsp/stm32f10x/applications/canapp.c

@@ -12,10 +12,110 @@
  * 2015-05-14     aubrcool@qq.com   first version
  */
 
-#ifdef RT_USING_CAN
 #include <board.h>
 #include <rtthread.h>
 #include <rtdevice.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_OD,},
+        {CANERR1, PIN_MODE_OUTPUT_OD,},
+    },
+#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;
@@ -62,7 +162,8 @@ struct rt_can_filter_config filter2 =
     .actived = 1,
     .items = filter2item,
 };
-static struct can_app_struct can_data[2] = {
+static struct can_app_struct can_data[2] =
+{
     {
         .name = "bxcan1",
         .filter = &filter1,
@@ -86,7 +187,8 @@ void rt_can_thread_entry(void* parameter)
     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) {
+    while (1)
+    {
         if (
             rt_event_recv(&canpara->event,
                           ((1 << canpara->filter->items[0].hdr)  |
@@ -95,30 +197,39 @@ void rt_can_thread_entry(void* parameter)
                            (1 << canpara->filter->items[3].hdr)),
                           canpara->eventopt,
                           RT_WAITING_FOREVER, &e) != RT_EOK
-                  ) {
+        )
+        {
             continue;
         }
-              if(e & (1 << canpara->filter->items[0].hdr)) {
+        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)) {
+            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)) {
+        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)) {
+            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)) {
+        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)) {
+            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)) {
+        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)) {
+            while (rt_device_read(candev, 0, &msg, sizeof(msg)) == sizeof(msg))
+            {
                 rt_device_write(candev, 0, &msg, sizeof(msg));
             }
         }