1 files changed, 116 insertions, 0 deletions
diff --git a/testhal/STM32F4xx/CAN/main.c b/testhal/STM32F4xx/CAN/main.c
new file mode 100644
index 000000000..6992facb7
--- /dev/null
+++ b/testhal/STM32F4xx/CAN/main.c
@@ -0,0 +1,116 @@
+/*
+    ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
+                 2011,2012 Giovanni Di Sirio.
+
+    This file is part of ChibiOS/RT.
+
+    ChibiOS/RT is free software; you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation; either version 3 of the License, or
+    (at your option) any later version.
+
+    ChibiOS/RT is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#include "ch.h"
+#include "hal.h"
+
+/*
+ * Internal loopback mode, 500KBaud, automatic wakeup, automatic recover
+ * from abort mode.
+ * See section 22.7.7 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(8) | CAN_BTR_BRP(6),
+  0,
+  NULL
+};
+
+/*
+ * Receiver thread.
+ */
+static WORKING_AREA(can_rx_wa, 256);
+static msg_t can_rx(void *p) {
+  EventListener el;
+  CANRxFrame rxmsg;
+
+  (void)p;
+  chRegSetThreadName("receiver");
+  chEvtRegister(&CAND1.rxfull_event, &el, 0);
+  while(!chThdShouldTerminate()) {
+    if (chEvtWaitAnyTimeout(ALL_EVENTS, MS2ST(100)) == 0)
+      continue;
+    while (canReceive(&CAND1, &rxmsg, TIME_IMMEDIATE) == RDY_OK) {
+      /* Process message.*/
+      palTogglePad(GPIOD, GPIOD_LED5);
+    }
+  }
+  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.DLC = 8;
+  txmsg.data32[0] = 0x55AA55AA;
+  txmsg.data32[1] = 0x00FF00FF;
+
+  while (!chThdShouldTerminate()) {
+    canTransmit(&CAND1, &txmsg, MS2ST(100));
+    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, NULL);
+  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;
+}