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| author | Giovanni Di Sirio <gdisirio@gmail.com> | 2015-12-17 10:10:21 +0000 |
|---|---|---|
| committer | Giovanni Di Sirio <gdisirio@gmail.com> | 2015-12-17 10:10:21 +0000 |
| commit | bb82aedb91e81713dc3386c5e134dab5342f4eb5 (patch) | |
| tree | d1c081c3ae5c05de00f397ec6f5c8aa702a823dc /testhal/STM32/STM32L4xx/CAN/main.c | |
| parent | 4c76bcedf53a76c634f7729d882195845f938c12 (diff) | |
| download | ChibiOS-bb82aedb91e81713dc3386c5e134dab5342f4eb5.tar.gz ChibiOS-bb82aedb91e81713dc3386c5e134dab5342f4eb5.tar.bz2 ChibiOS-bb82aedb91e81713dc3386c5e134dab5342f4eb5.zip | |
Added CAN demo for STM32L4.
git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@8612 35acf78f-673a-0410-8e92-d51de3d6d3f4
Diffstat (limited to 'testhal/STM32/STM32L4xx/CAN/main.c')
| -rw-r--r-- | testhal/STM32/STM32L4xx/CAN/main.c | 124 |
1 files changed, 124 insertions, 0 deletions
diff --git a/testhal/STM32/STM32L4xx/CAN/main.c b/testhal/STM32/STM32L4xx/CAN/main.c new file mode 100644 index 000000000..92278311b --- /dev/null +++ b/testhal/STM32/STM32L4xx/CAN/main.c @@ -0,0 +1,124 @@ +/*
+ ChibiOS - Copyright (C) 2006..2015 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;
+ ioline_t led;
+};
+
+static const struct can_instance can1 = {&CAND1, LINE_LED_GREEN};
+
+/*
+ * Internal loopback mode, 500KBaud, automatic wakeup, automatic recover
+ * from abort mode.
+ * See section 42.7.7 on the STM32 reference manual.
+ */
+static const CANConfig cancfg = {
+ CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP,
+ CAN_BTR_LBKM | CAN_BTR_SJW(0) | CAN_BTR_TS2(1) |
+ CAN_BTR_TS1(12) | CAN_BTR_BRP(9)
+};
+
+/*
+ * Receiver thread.
+ */
+static THD_WORKING_AREA(can_rx1_wa, 256);
+static THD_FUNCTION(can_rx, p) {
+ struct can_instance *cip = p;
+ event_listener_t el;
+ CANRxFrame rxmsg;
+
+ (void)p;
+ chRegSetThreadName("receiver");
+ chEvtRegister(&cip->canp->rxfull_event, &el, 0);
+ while(!chThdShouldTerminateX()) {
+ if (chEvtWaitAnyTimeout(ALL_EVENTS, MS2ST(100)) == 0)
+ continue;
+ while (canReceive(cip->canp, CAN_ANY_MAILBOX,
+ &rxmsg, TIME_IMMEDIATE) == MSG_OK) {
+ /* Process message.*/
+ palToggleLine(cip->led);
+ }
+ }
+ chEvtUnregister(&CAND1.rxfull_event, &el);
+}
+
+/*
+ * Transmitter thread.
+ */
+static THD_WORKING_AREA(can_tx_wa, 256);
+static THD_FUNCTION(can_tx, p) {
+ CANTxFrame txmsg;
+
+ (void)p;
+ chRegSetThreadName("transmitter");
+ txmsg.IDE = CAN_IDE_EXT;
+ txmsg.EID = 0x01234567;
+ txmsg.RTR = CAN_RTR_DATA;
+ txmsg.DLC = 8;
+ txmsg.data32[0] = 0x55AA55AA;
+ txmsg.data32[1] = 0x00FF00FF;
+
+ while (!chThdShouldTerminateX()) {
+ canTransmit(&CAND1, CAN_ANY_MAILBOX, &txmsg, MS2ST(100));
+ chThdSleepMilliseconds(500);
+ }
+}
+
+/*
+ * 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();
+
+ /*
+ * LED line as output.
+ */
+ palSetLineMode(LINE_LED_GREEN, PAL_MODE_OUTPUT_PUSHPULL);
+
+ /*
+ * Activates the CAN drivers 1 and 2.
+ */
+ canStart(&CAND1, &cancfg);
+
+ /*
+ * Starting the transmitter and receiver threads.
+ */
+ chThdCreateStatic(can_rx1_wa, sizeof(can_rx1_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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