From b7fdc3f060da86bd718379bdf87334b0143ea44b Mon Sep 17 00:00:00 2001
From: Giovanni Di Sirio <gdisirio@gmail.com>
Date: Thu, 3 Dec 2015 10:51:04 +0000
Subject: git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@8553
 35acf78f-673a-0410-8e92-d51de3d6d3f4

---
 testhal/STM32/STM32F3xx/CAN/main.c | 107 +++++++++++++++++++++++++++++++++++++
 1 file changed, 107 insertions(+)
 create mode 100644 testhal/STM32/STM32F3xx/CAN/main.c

(limited to 'testhal/STM32/STM32F3xx/CAN/main.c')

diff --git a/testhal/STM32/STM32F3xx/CAN/main.c b/testhal/STM32/STM32F3xx/CAN/main.c
new file mode 100644
index 000000000..e9511c17b
--- /dev/null
+++ b/testhal/STM32/STM32F3xx/CAN/main.c
@@ -0,0 +1,107 @@
+/*
+    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"
+
+/*
+ * Internal loopback mode, 500KBaud, automatic wakeup, automatic recover
+ * from abort mode.
+ */
+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)
+};
+
+/*
+ * Receiver thread.
+ */
+static THD_WORKING_AREA(can_rx_wa, 256);
+static THD_FUNCTION(can_rx, p) {
+  event_listener_t el;
+  CANRxFrame rxmsg;
+
+  (void)p;
+  chRegSetThreadName("receiver");
+  chEvtRegister(&CAND1.rxfull_event, &el, 0);
+  while(!chThdShouldTerminateX()) {
+    if (chEvtWaitAnyTimeout(ALL_EVENTS, MS2ST(100)) == 0)
+      continue;
+    while (canReceive(&CAND1, CAN_ANY_MAILBOX, &rxmsg, TIME_IMMEDIATE) == MSG_OK) {
+      /* Process message.*/
+      palTogglePad(GPIOE, GPIOE_LED3_RED);
+    }
+  }
+  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();
+
+  /*
+   * 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;
+}
-- 
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