147 lines
4.4 KiB
C
147 lines
4.4 KiB
C
/*
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* 程序清单：这是一个 CAN 设备使用例程
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* 例程导出了 can_sample 命令到控制终端
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* 命令调用格式：can_sample can1
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* 命令解释：命令第二个参数是要使用的 CAN 设备名称，为空则使用默认的 CAN 设备
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* 程序功能：通过 CAN 设备发送一帧，并创建一个线程接收数据然后打印输出。
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*/
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#include <rtthread.h>
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#include "rtdevice.h"
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#include "drivers/dev_can.h"
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#ifdef BSP_USING_CAN0
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#define CAN_DEV_NAME "can0" /* CAN 设备名称 */
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static struct rt_semaphore rx_sem; /* 用于接收消息的信号量 */
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static rt_device_t can_dev; /* CAN 设备句柄 */
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/* 接收数据回调函数 */
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static rt_err_t can_rx_call(rt_device_t dev, rt_size_t size)
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{
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/* CAN 接收到数据后产生中断，调用此回调函数，然后发送接收信号量 */
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rt_sem_release(&rx_sem);
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return RT_EOK;
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}
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static void can_rx_thread(void *parameter)
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{
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int i;
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rt_err_t res;
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struct rt_can_msg rxmsg = {0};
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/* 设置接收回调函数 */
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rt_device_set_rx_indicate(can_dev, can_rx_call);
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rt_kprintf("can_rx_thread\n");
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#ifdef RT_CAN_USING_HDR
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struct rt_can_filter_item items[5] =
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{
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RT_CAN_FILTER_ITEM_INIT(0x100, 0, 0, 0, 0x700, RT_NULL, RT_NULL), /* std,match ID:0x100~0x1ff，hdr 为 - 1，设置默认过滤表 */
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RT_CAN_FILTER_ITEM_INIT(0x300, 0, 0, 0, 0x700, RT_NULL, RT_NULL), /* std,match ID:0x300~0x3ff，hdr 为 - 1 */
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RT_CAN_FILTER_ITEM_INIT(0x211, 0, 0, 0, 0x7ff, RT_NULL, RT_NULL), /* std,match ID:0x211，hdr 为 - 1 */
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RT_CAN_FILTER_STD_INIT(0x486, RT_NULL, RT_NULL), /* std,match ID:0x486，hdr 为 - 1 */
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{
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0x555,
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0,
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0,
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0,
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0x7ff,
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7,
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} /* std,match ID:0x555，hdr 为 7，指定设置 7 号过滤表 */
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};
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struct rt_can_filter_config cfg = {5, 1, items}; /* 一共有 5 个过滤表 */
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/* 设置硬件过滤表 */
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res = rt_device_control(can_dev, RT_CAN_CMD_SET_FILTER, &cfg);
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RT_ASSERT(res == RT_EOK);
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#endif
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while (1)
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{
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/* hdr 值为 - 1，表示直接从 uselist 链表读取数据 */
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rxmsg.hdr_index = -1;
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/* 阻塞等待接收信号量 */
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rt_sem_take(&rx_sem, RT_WAITING_FOREVER);
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/* 从 CAN 读取一帧数据 */
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rt_device_read(can_dev, 0, &rxmsg, sizeof(rxmsg));
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/* 打印数据 ID 及内容 */
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rt_kprintf("ID:%x", rxmsg.id);
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for (i = 0; i < 8; i++)
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{
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rt_kprintf("%2x", rxmsg.data[i]);
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}
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rt_kprintf("\n");
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}
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}
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int can_sample(int argc, char *argv[])
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{
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struct rt_can_msg msg = {0};
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rt_err_t res;
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rt_size_t size;
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rt_thread_t thread;
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char can_name[RT_NAME_MAX];
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if (argc == 2)
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{
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rt_strncpy(can_name, argv[1], RT_NAME_MAX);
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}
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else
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{
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rt_strncpy(can_name, CAN_DEV_NAME, RT_NAME_MAX);
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}
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/* 查找 CAN 设备 */
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can_dev = rt_device_find(can_name);
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if (!can_dev)
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{
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rt_kprintf("find %s failed!\n", can_name);
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return RT_ERROR;
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}
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/* 初始化 CAN 接收信号量 */
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rt_sem_init(&rx_sem, "rx_sem", 0, RT_IPC_FLAG_FIFO);
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/* 以中断接收及发送方式打开 CAN 设备 */
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res = rt_device_open(can_dev, RT_DEVICE_FLAG_INT_TX | RT_DEVICE_FLAG_INT_RX);
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RT_ASSERT(res == RT_EOK);
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/* 创建数据接收线程 */
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thread = rt_thread_create("can_rx", can_rx_thread, RT_NULL, 1024, 25, 10);
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if (thread != RT_NULL)
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{
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rt_thread_startup(thread);
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}
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else
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{
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rt_kprintf("create can_rx thread failed!\n");
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}
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msg.id = 0x78; /* ID 为 0x78 */
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msg.ide = RT_CAN_STDID; /* 标准格式 */
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msg.rtr = RT_CAN_DTR; /* 数据帧 */
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msg.len = 8; /* 数据长度为 8 */
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/* 待发送的 8 字节数据 */
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msg.data[0] = 0x00;
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msg.data[1] = 0x11;
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msg.data[2] = 0x22;
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msg.data[3] = 0x33;
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msg.data[4] = 0x44;
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msg.data[5] = 0x55;
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msg.data[6] = 0x66;
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msg.data[7] = 0x77;
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/* 发送一帧 CAN 数据 */
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{
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size = rt_device_write(can_dev, 0, &msg, sizeof(msg));
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if (size == 0)
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{
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rt_kprintf("can dev write data failed!\n");
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}
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rt_thread_mdelay(1000);
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}
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return res;
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}
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/* 导出到 msh 命令列表中 */
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MSH_CMD_EXPORT(can_sample, can device sample);
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#endif
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