1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
|
/*
ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 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 <stdio.h>
#include "ch.h"
#include "hal.h"
#include "test.h"
#include "settings.h"
/*
* LED blinker thread, times are in milliseconds.
*/
static WORKING_AREA(blinker_wa, 128);
static msg_t blinker_thread(void *p) {
(void)p;
while (TRUE) {
palClearPad(IOPORT3, GPIOC_LED);
chThdSleepMilliseconds(500);
palSetPad(IOPORT3, GPIOC_LED);
chThdSleepMilliseconds(500);
}
return 0;
}
#if CH_HAL_USE_ADC
static adcsample_t samples[ADC_GRP1_NUM_CHANNELS * ADC_GRP1_BUF_DEPTH];
static Thread *adctp;
/*
* ADC continuous conversion thread.
*/
size_t nx = 0, ny = 0;
static void adccallback(adcsample_t *buffer, size_t n) {
if (samples == buffer) {
nx += n;
}
else {
ny += n;
}
}
static WORKING_AREA(adc_continuous_wa, 256);
static msg_t adc_continuous_thread(void *p){
(void)p;
palSetGroupMode(IOPORT3,
PAL_PORT_BIT(0) | PAL_PORT_BIT(1),
PAL_MODE_INPUT_ANALOG);
adcStart(&ADCD1, &adccfg);
adcStartConversion(&ADCD1, &adcgrpcfg, samples,
ADC_GRP1_BUF_DEPTH, adccallback);
adcWaitConversion(&ADCD1, TIME_INFINITE);
adcStop(&ADCD1);
return 0;
}
#endif /* CH_HAL_USE_ADC */
#if CH_HAL_USE_CAN
static Thread *canrtp;
static Thread *canttp;
static WORKING_AREA(can_rx_wa, 256);
static msg_t can_rx(void *p) {
EventListener el;
CANRxFrame rxmsg;
(void)p;
chEvtRegister(&CAND1.cd_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(IOPORT3, GPIOC_LED);
}
}
chEvtUnregister(&CAND1.cd_rxfull_event, &el);
return 0;
}
static WORKING_AREA(can_tx_wa, 256);
static msg_t can_tx(void * p) {
CANTxFrame txmsg;
(void)p;
txmsg.cf_IDE = CAN_IDE_EXT;
txmsg.cf_EID = 0x01234567;
txmsg.cf_RTR = CAN_RTR_DATA;
txmsg.cf_DLC = 8;
txmsg.cf_data32[0] = 0x55AA55AA;
txmsg.cf_data32[1] = 0x00FF00FF;
while (!chThdShouldTerminate()) {
canTransmit(&CAND1, &txmsg, MS2ST(100));
/* chThdSleepMilliseconds(5);*/
}
return 0;
}
#endif /* CH_HAL_USE_CAN */
#if CH_HAL_USE_SPI
static uint8_t txbuf[512];
static uint8_t rxbuf[512];
static Thread *spitp;
/*
* Maximum speed SPI continuous loopback thread.
*/
static WORKING_AREA(spi_loopback_wa, 256);
static msg_t spi_loopback_thread(void *p){
(void)p;
palSetPadMode(IOPORT1, GPIOA_SPI1NSS, PAL_MODE_OUTPUT_PUSHPULL);
palSetPad(IOPORT1, GPIOA_SPI1NSS);
spiStart(&SPID1, &spicfg);
while (!chThdShouldTerminate()) {
spiSelect(&SPID1);
spiExchange(&SPID1, 512, txbuf, rxbuf);
spiUnselect(&SPID1);
}
spiStop(&SPID1);
return 0;
}
#endif /* CH_HAL_USE_SPI */
/*
* Entry point, note, the main() function is already a thread in the system
* on entry.
*/
int main(int argc, char **argv) {
unsigned i;
(void)argc;
(void)argv;
(void)i;
/*
* Activates the serial driver 2 using the driver default configuration.
*/
sdStart(&SD2, NULL);
/*
* Creates the blinker thread.
*/
chThdCreateStatic(blinker_wa, sizeof(blinker_wa),
NORMALPRIO + 10, blinker_thread, NULL);
#if CH_HAL_USE_ADC
/*
* Creates the ADC continuous conversion test thread.
*/
adctp = chThdCreateStatic(adc_continuous_wa, sizeof(adc_continuous_wa),
NORMALPRIO + 9, adc_continuous_thread, NULL);
#endif
#if CH_HAL_USE_CAN
canStart(&CAND1, &cancfg);
canrtp = chThdCreateStatic(can_rx_wa, sizeof(can_rx_wa),
NORMALPRIO + 7, can_rx, NULL);
canttp = chThdCreateStatic(can_tx_wa, sizeof(can_tx_wa),
NORMALPRIO + 7, can_tx, NULL);
#endif
#if CH_HAL_USE_SPI
/*
* Creates the SPI loopback test thread.
*/
for (i = 0; i < sizeof(txbuf); i++)
txbuf[i] = (uint8_t)i;
spitp = chThdCreateStatic(spi_loopback_wa, sizeof(spi_loopback_wa),
NORMALPRIO + 8, spi_loopback_thread, NULL);
#endif
/*
* Normal main() thread activity, in this demo it does nothing except
* sleeping in a loop and check the button state.
*/
while (TRUE) {
if (palReadPad(IOPORT1, GPIOA_BUTTON)) {
TestThread(&SD2);
#if CH_HAL_USE_ADC
adcStopConversion(&ADCD1);
chThdWait(adctp);
#endif
#if CH_HAL_USE_CAN
chThdTerminate(canttp);
chThdWait(canttp);
chThdTerminate(canrtp);
chThdWait(canrtp);
#endif
#if CH_HAL_USE_SPI
chThdTerminate(spitp);
chThdWait(spitp);
#endif
chThdSleepMilliseconds(500);
TestThread(&SD2);
chThdSleepMilliseconds(500);
chSysHalt();
}
chThdSleepMilliseconds(500);
}
return 0;
}
|
