git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@5084 35acf78f-673a-0410-8e92-d51de3d6d3f4

2 files changed, 21 insertions, 7 deletions

diff --git a/testhal/STM32F4xx/CAN/main.c b/testhal/STM32F4xx/CAN/main.c
index 6992facb7..a5db154ed 100644
--- a/testhal/STM32F4xx/CAN/main.c
+++ b/testhal/STM32F4xx/CAN/main.c
@@ -21,6 +21,14 @@
 #include "ch.h"

 #include "hal.h"

 

+struct can_instance {

+  CANDriver     *canp;

+  uint32_t      led;

+};

+

+static const struct can_instance can1 = {&CAND1, GPIOD_LED5};

+//static const struct can_instance can2 = {&CAND2, GPIOD_LED3};

+

 /*

  * Internal loopback mode, 500KBaud, automatic wakeup, automatic recover

  * from abort mode.

@@ -37,20 +45,22 @@ static const CANConfig cancfg = {
 /*

  * Receiver thread.

  */

-static WORKING_AREA(can_rx_wa, 256);

+static WORKING_AREA(can_rx1_wa, 256);

+//static WORKING_AREA(can_rx2_wa, 256);

 static msg_t can_rx(void *p) {

+  struct can_instance *cip = p;

   EventListener el;

   CANRxFrame rxmsg;

 

   (void)p;

   chRegSetThreadName("receiver");

-  chEvtRegister(&CAND1.rxfull_event, &el, 0);

+  chEvtRegister(&cip->canp->rxfull_event, &el, 0);

   while(!chThdShouldTerminate()) {

     if (chEvtWaitAnyTimeout(ALL_EVENTS, MS2ST(100)) == 0)

       continue;

-    while (canReceive(&CAND1, &rxmsg, TIME_IMMEDIATE) == RDY_OK) {

+    while (canReceive(cip->canp, &rxmsg, TIME_IMMEDIATE) == RDY_OK) {

       /* Process message.*/

-      palTogglePad(GPIOD, GPIOD_LED5);

+      palTogglePad(GPIOD, cip->led);

     }

   }

   chEvtUnregister(&CAND1.rxfull_event, &el);

@@ -103,8 +113,12 @@ int main(void) {
   /*

    * Starting the transmitter and receiver threads.

    */

-  chThdCreateStatic(can_rx_wa, sizeof(can_rx_wa), NORMALPRIO + 7, can_rx, NULL);

-  chThdCreateStatic(can_tx_wa, sizeof(can_tx_wa), NORMALPRIO + 7, can_tx, NULL);

+  chThdCreateStatic(can_rx1_wa, sizeof(can_rx1_wa), NORMALPRIO + 7,

+                    can_rx, (void *)&can1);

+//  chThdCreateStatic(can_rx2_wa, sizeof(can_rx2_wa), NORMALPRIO + 7,

+//                    can_rx, (void *)&can2);

+  chThdCreateStatic(can_tx_wa, sizeof(can_tx_wa), NORMALPRIO + 7,

+                    can_tx, NULL);

 

   /*

    * Normal main() thread activity, in this demo it does nothing.

diff --git a/testhal/STM32F4xx/CAN/mcuconf.h b/testhal/STM32F4xx/CAN/mcuconf.h
index 0b732c558..c3b1a182a 100644
--- a/testhal/STM32F4xx/CAN/mcuconf.h
+++ b/testhal/STM32F4xx/CAN/mcuconf.h
@@ -87,7 +87,7 @@
  * CAN driver system settings.

  */

 #define STM32_CAN_USE_CAN1                  TRUE

-#define STM32_CAN_USE_CAN2                  FALSE

+#define STM32_CAN_USE_CAN2                  TRUE

 #define STM32_CAN_CAN1_IRQ_PRIORITY         11

 #define STM32_CAN_CAN2_IRQ_PRIORITY         11