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Merge pull request #516 from AubrCool/master 

bxcan 适应新改的驱动
This commit is contained in:
Bernard Xiong 2015-07-08 10:36:04 +08:00
parent c41751672e 6fad73c939
commit 2fffc07d5e
2 changed files with 1298 additions and 1031 deletions
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169
bsp/stm32f10x/applications/canapp.c
View File

@ -12,25 +12,125 @@
* 2015-05-14 aubrcool@qq.com first version * 2015-05-14 aubrcool@qq.com first version
*/ */
#ifdef RT_USING_CAN
#include <board.h> #include <board.h>
#include <rtthread.h> #include <rtthread.h>
#include <rtdevice.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 struct can_app_struct
{ {
const char* name; const char *name;
struct rt_event event; struct rt_event event;
struct rt_can_filter_config * filter; struct rt_can_filter_config *filter;
rt_uint8_t eventopt; rt_uint8_t eventopt;
}; };
static struct can_app_struct can_data[2]; 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) 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_t pevent = (rt_event_t)args;
rt_event_send(pevent, 1 << (hdr)); rt_event_send(pevent, 1 << (hdr));
return RT_EOK; return RT_EOK;
} }
static rt_err_t can2ind(rt_device_t dev, void* args, rt_int32_t hdr, rt_size_t size) 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_t pevent = (rt_event_t)args;
rt_event_send(pevent, 1 << (hdr)); rt_event_send(pevent, 1 << (hdr));
@ -38,17 +138,17 @@ static rt_err_t can2ind(rt_device_t dev, void* args, rt_int32_t hdr, rt_size_t
} }
struct rt_can_filter_item filter1item[4] = struct rt_can_filter_item filter1item[4] =
{ {
RT_CAN_FILTER_STD_INIT(1,can1ind,&can_data[0].event), RT_CAN_FILTER_STD_INIT(1, can1ind, &can_data[0].event),
RT_CAN_FILTER_STD_INIT(2,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_FILTER_INIT(3, can1ind, &can_data[0].event),
RT_CAN_STD_RMT_DATA_FILTER_INIT(4,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] = struct rt_can_filter_item filter2item[4] =
{ {
RT_CAN_FILTER_STD_INIT(1,can2ind,&can_data[1].event), RT_CAN_FILTER_STD_INIT(1, can2ind, &can_data[1].event),
RT_CAN_FILTER_STD_INIT(2,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_FILTER_INIT(3, can2ind, &can_data[1].event),
RT_CAN_STD_RMT_DATA_FILTER_INIT(4,can2ind,&can_data[1].event), RT_CAN_STD_RMT_DATA_FILTER_INIT(4, can2ind, &can_data[1].event),
}; };
struct rt_can_filter_config filter1 = struct rt_can_filter_config filter1 =
{ {
@ -62,7 +162,8 @@ struct rt_can_filter_config filter2 =
.actived = 1, .actived = 1,
.items = filter2item, .items = filter2item,
}; };
static struct can_app_struct can_data[2] = { static struct can_app_struct can_data[2] =
{
{ {
.name = "bxcan1", .name = "bxcan1",
.filter = &filter1, .filter = &filter1,
@ -74,10 +175,10 @@ static struct can_app_struct can_data[2] = {
.eventopt = RT_EVENT_FLAG_AND | RT_EVENT_FLAG_CLEAR, .eventopt = RT_EVENT_FLAG_AND | RT_EVENT_FLAG_CLEAR,
}, },
}; };
void rt_can_thread_entry(void* parameter) void rt_can_thread_entry(void *parameter)
{ {
struct rt_can_msg msg; struct rt_can_msg msg;
struct can_app_struct* canpara = (struct can_app_struct*) parameter; struct can_app_struct *canpara = (struct can_app_struct *) parameter;
rt_device_t candev; rt_device_t candev;
rt_uint32_t e; rt_uint32_t e;
@ -85,8 +186,9 @@ void rt_can_thread_entry(void* parameter)
RT_ASSERT(candev); RT_ASSERT(candev);
rt_event_init(&canpara->event, canpara->name, RT_IPC_FLAG_FIFO); 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_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); rt_device_control(candev, RT_CAN_CMD_SET_FILTER, canpara->filter);
while(1) { while (1)
{
if ( if (
rt_event_recv(&canpara->event, rt_event_recv(&canpara->event,
((1 << canpara->filter->items[0].hdr) | ((1 << canpara->filter->items[0].hdr) |
@ -95,30 +197,39 @@ void rt_can_thread_entry(void* parameter)
(1 << canpara->filter->items[3].hdr)), (1 << canpara->filter->items[3].hdr)),
canpara->eventopt, canpara->eventopt,
RT_WAITING_FOREVER, &e) != RT_EOK RT_WAITING_FOREVER, &e) != RT_EOK
) { )
{
continue; continue;
} }
if(e & (1 << canpara->filter->items[0].hdr)) { if (e & (1 << canpara->filter->items[0].hdr))
{
msg.hdr = 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)); 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; 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)); 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; 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)); 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; 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)); rt_device_write(candev, 0, &msg, sizeof(msg));
} }
} }
@ -130,12 +241,12 @@ int rt_can_app_init(void)
tid = rt_thread_create("canapp1", tid = rt_thread_create("canapp1",
rt_can_thread_entry, &can_data[0], rt_can_thread_entry, &can_data[0],
512, RT_THREAD_PRIORITY_MAX /3 - 1, 20); 512, RT_THREAD_PRIORITY_MAX / 3 - 1, 20);
if (tid != RT_NULL) rt_thread_startup(tid); if (tid != RT_NULL) rt_thread_startup(tid);
tid = rt_thread_create("canapp2", tid = rt_thread_create("canapp2",
rt_can_thread_entry, &can_data[1], rt_can_thread_entry, &can_data[1],
512, RT_THREAD_PRIORITY_MAX /3 - 1, 20); 512, RT_THREAD_PRIORITY_MAX / 3 - 1, 20);
if (tid != RT_NULL) rt_thread_startup(tid); if (tid != RT_NULL) rt_thread_startup(tid);
return 0; return 0;

938
bsp/stm32f10x/drivers/bxcan.c
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