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| author | acirillo87 <acirillo87@35acf78f-673a-0410-8e92-d51de3d6d3f4> | 2013-06-01 14:55:08 +0000 |
|---|---|---|
| committer | acirillo87 <acirillo87@35acf78f-673a-0410-8e92-d51de3d6d3f4> | 2013-06-01 14:55:08 +0000 |
| commit | d82fa57b9cfb363cc6cc030c8d95f3d58fd5bfdb (patch) | |
| tree | 2bc2e0915fbfb82830a644b430e1b144e69b1d2c /testhal/SPC560Pxx/CAN/main.c | |
| parent | bea1f59f1407b52fd68727c665723105dbb8f715 (diff) | |
| download | ChibiOS-d82fa57b9cfb363cc6cc030c8d95f3d58fd5bfdb.tar.gz ChibiOS-d82fa57b9cfb363cc6cc030c8d95f3d58fd5bfdb.tar.bz2 ChibiOS-d82fa57b9cfb363cc6cc030c8d95f3d58fd5bfdb.zip | |
git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@5790 35acf78f-673a-0410-8e92-d51de3d6d3f4
Diffstat (limited to 'testhal/SPC560Pxx/CAN/main.c')
| -rw-r--r-- | testhal/SPC560Pxx/CAN/main.c | 149 |
1 files changed, 149 insertions, 0 deletions
diff --git a/testhal/SPC560Pxx/CAN/main.c b/testhal/SPC560Pxx/CAN/main.c new file mode 100644 index 000000000..a56000ff9 --- /dev/null +++ b/testhal/SPC560Pxx/CAN/main.c @@ -0,0 +1,149 @@ +/*
+ ChibiOS/RT - Copyright (C) 2006-2013 Giovanni Di Sirio
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+*/
+
+#include "ch.h"
+#include "hal.h"
+
+struct can_instance {
+ CANDriver *canp;
+ uint32_t led;
+};
+
+static const struct can_instance can1 = {&CAND1, PD_LED1};
+
+/*
+ * Internal loopback mode, 1MBaud.
+ * See chapter 25 on the SPC5 reference manual.
+ */
+static const CANConfig cancfg = {
+ CAN_MCR_WRN_EN,
+ CAN_CTRL_LPB | CAN_CTRL_PROPSEG(2) | CAN_CTRL_PSEG2(7) |
+ CAN_CTRL_PSEG1(3) | CAN_CTRL_PRESDIV(3)
+#if SPC5_CAN_USE_FILTERS
+ ,
+ {
+ {0, 0x00000001},
+ {1, 0x01234567},
+ {0, 0x00000000},
+ {0, 0x00000003},
+ {0, 0x00000004},
+ {0, 0x00000005},
+ {0, 0x00000006},
+ {0, 0x00000007}
+ }
+#endif
+};
+
+#if SPC5_CAN_USE_FILTERS
+flagsmask_t rxFlag;
+#endif
+
+/*
+ * Receiver thread.
+ */
+static WORKING_AREA(can_rx_wa, 256);
+static msg_t can_rx(void *p) {
+ struct can_instance *cip = p;
+ EventListener el;
+ CANRxFrame rxmsg;
+ (void)p;
+ chRegSetThreadName("receiver");
+ chEvtRegister(&cip->canp->rxfull_event, &el, 0);
+#if SPC5_CAN_USE_FILTERS
+ rxFlag = chEvtGetAndClearFlagsI(&el);
+#endif
+ while(!chThdShouldTerminate()) {
+ if (chEvtWaitAnyTimeout(ALL_EVENTS, MS2ST(100)) == 0)
+ continue;
+#if !SPC5_CAN_USE_FILTERS
+ while (canReceive(cip->canp, CAN_ANY_MAILBOX,
+ &rxmsg, TIME_IMMEDIATE) == RDY_OK) {
+ /* Process message.*/
+ palTogglePad(PORT_D, cip->led);
+ }
+#else
+ while (canReceive(cip->canp, rxFlag,
+ &rxmsg, TIME_IMMEDIATE) == RDY_OK) {
+ /* Process message.*/
+ palTogglePad(PORT_D, cip->led);
+ }
+#endif
+ }
+ chEvtUnregister(&CAND1.rxfull_event, &el);
+ return 0;
+}
+
+/*
+ * Transmitter thread.
+ */
+static WORKING_AREA(can_tx_wa, 256);
+static msg_t can_tx(void * p) {
+ CANTxFrame txmsg;
+
+ (void)p;
+ chRegSetThreadName("transmitter");
+ txmsg.IDE = CAN_IDE_EXT;
+ txmsg.EID = 0x01234567;
+ txmsg.RTR = CAN_RTR_DATA;
+ txmsg.LENGTH = 8;
+ txmsg.data32[0] = 0x55AA55AA;
+ txmsg.data32[1] = 0x00FF00FF;
+
+ while (!chThdShouldTerminate()) {
+ canTransmit(&CAND1, 1, &txmsg, MS2ST(100));
+ palTogglePad(PORT_D, PD_LED2);
+ chThdSleepMilliseconds(500);
+ }
+ return 0;
+}
+
+/*
+ * Application entry point.
+ */
+int main(void) {
+
+ /*
+ * System initializations.
+ * - HAL initialization, this also initializes the configured device drivers
+ * and performs the board-specific initializations.
+ * - Kernel initialization, the main() function becomes a thread and the
+ * RTOS is active.
+ */
+ halInit();
+ chSysInit();
+
+ /*
+ * Activates the CAN driver 1.
+ */
+ canStart(&CAND1, &cancfg);
+
+ /*
+ * Starting the transmitter and receiver threads.
+ */
+ chThdCreateStatic(can_rx_wa, sizeof(can_rx_wa), NORMALPRIO + 7,
+ can_rx, (void *)&can1);
+ chThdCreateStatic(can_tx_wa, sizeof(can_tx_wa), NORMALPRIO + 7,
+ can_tx, NULL);
+
+ /*
+ * Normal main() thread activity, in this demo it does nothing.
+ */
+ while (TRUE) {
+ chThdSleepMilliseconds(500);
+ }
+ return 0;
+}
+
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