81 lines
1.9 KiB
C
81 lines
1.9 KiB
C
/*
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* Copyright (c) 2006-2018, RT-Thread Development Team
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*
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* SPDX-License-Identifier: Apache-2.0
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*
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* Change Logs:
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* Date Author Notes
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* 2015-05-14 aubrcool@qq.com first version
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*/
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#include <board.h>
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#include <rtthread.h>
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#include <rtdevice.h>
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#ifdef RT_USING_CAN
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#include "drv_lpccan.h"
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struct can_app_struct
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{
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const char* name;
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struct rt_can_filter_config * filter;
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rt_uint8_t eventopt;
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struct rt_semaphore sem;
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};
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static struct can_app_struct can_data[1];
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struct rt_can_filter_item filter1item[4] =
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{
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LPC_CAN_AF_STD_INIT(1),
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LPC_CAN_AF_STD_GRP_INIT(3,5),
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LPC_CAN_AF_EXT_INIT(2),
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LPC_CAN_AF_EXT_GRP_INIT(4,6),
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};
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struct rt_can_filter_config filter1 =
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{
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4,
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1,
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filter1item,
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};
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static struct can_app_struct can_data[1] = {
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{
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"lpccan1",
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&filter1,
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RT_EVENT_FLAG_OR | RT_EVENT_FLAG_CLEAR,
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},
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};
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static rt_err_t lpccanind(rt_device_t dev, rt_size_t size)
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{
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rt_sem_release(&can_data[0].sem);
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}
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void rt_can_thread_entry(void* parameter)
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{
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struct rt_can_msg msg;
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struct can_app_struct* canpara = (struct can_app_struct*) parameter;
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rt_device_t candev;
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candev = rt_device_find(canpara->name);
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RT_ASSERT(candev);
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rt_sem_init(&canpara->sem, canpara->name, 0, RT_IPC_FLAG_FIFO);
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rt_device_open(candev, (RT_DEVICE_OFLAG_RDWR | RT_DEVICE_FLAG_INT_RX | RT_DEVICE_FLAG_INT_TX));
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rt_device_control(candev,RT_CAN_CMD_SET_FILTER,canpara->filter);
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rt_device_set_rx_indicate(candev, lpccanind);
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while(1) {
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rt_sem_take(&canpara->sem, RT_WAITING_FOREVER);
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while (rt_device_read(candev, 0, &msg, sizeof(msg)) == sizeof(msg)) {
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rt_device_write(candev, 0, &msg, sizeof(msg));
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}
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}
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}
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int rt_can_app_init(void)
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{
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rt_thread_t tid;
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tid = rt_thread_create("canapp1",
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rt_can_thread_entry, &can_data[0],
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512, RT_THREAD_PRIORITY_MAX /3 - 1, 20);
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if (tid != RT_NULL) rt_thread_startup(tid);
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return 0;
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}
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INIT_APP_EXPORT(rt_can_app_init);
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#endif /*RT_USING_CAN*/
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