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;
+}
+