diff --git a/bsp/lpc408x/applications/canapp.c b/bsp/lpc408x/applications/canapp.c new file mode 100644 index 0000000000..1e543c880b --- /dev/null +++ b/bsp/lpc408x/applications/canapp.c @@ -0,0 +1,84 @@ +/* + * 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 aubrcool@qq.com first version + */ + +#include +#include +#include +#ifdef RT_USING_CAN +#include "drv_lpccan.h" +struct can_app_struct +{ + const char* name; + struct rt_can_filter_config * filter; + rt_uint8_t eventopt; + struct rt_semaphore sem; +}; +static struct can_app_struct can_data[1]; +struct rt_can_filter_item filter1item[4] = +{ + LPC_CAN_AF_STD_INIT(1), + LPC_CAN_AF_STD_GRP_INIT(3,5), + LPC_CAN_AF_EXT_INIT(2), + LPC_CAN_AF_EXT_GRP_INIT(4,6), +}; +struct rt_can_filter_config filter1 = +{ + .count = 4, + .actived = 1, + .items = filter1item, +}; +static struct can_app_struct can_data[1] = { + { + .name = "lpccan1", + .filter = &filter1, + .eventopt = RT_EVENT_FLAG_OR | RT_EVENT_FLAG_CLEAR, + }, +}; +static rt_err_t lpccanind(rt_device_t dev, rt_size_t size) +{ + rt_sem_release(&can_data[0].sem); +} +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; + + candev = rt_device_find(canpara->name); + RT_ASSERT(candev); + rt_sem_init(&canpara->sem, canpara->name, 0, 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); + rt_device_set_rx_indicate(candev, lpccanind); + while(1) { + rt_sem_take(&canpara->sem, RT_WAITING_FOREVER); + 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); + + return 0; +} + +INIT_APP_EXPORT(rt_can_app_init); +#endif /*RT_USING_CAN*/