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

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2015-05-14 15:44:06 +08:00
/*
* 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:
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* Date Author Notes
* 2015-05-14 aubrcool@qq.com first version
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*/
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#ifdef RT_USING_CAN
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#include <board.h>
#include <rtthread.h>
#include <rtdevice.h>
struct can_app_struct
{
const char* name;
struct rt_event event;
struct rt_can_filter_config * filter;
rt_uint8_t eventopt;
};
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 =
{
.count = 4,
.actived = 1,
.items = filter1item,
};
struct rt_can_filter_config filter2 =
{
.count = 4,
.actived = 1,
.items = filter2item,
};
static struct can_app_struct can_data[2] = {
{
.name = "bxcan1",
.filter = &filter1,
.eventopt = RT_EVENT_FLAG_OR | RT_EVENT_FLAG_CLEAR,
},
{
.name = "bxcan2",
.filter = &filter2,
.eventopt = 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);
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);
return 0;
}
INIT_APP_EXPORT(rt_can_app_init);
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#endif /*RT_USING_CAN*/