From 92bf9bdac3071fc6586f3bb2f2445e3e7c5cefd0 Mon Sep 17 00:00:00 2001
From: gdisirio <gdisirio@35acf78f-673a-0410-8e92-d51de3d6d3f4>
Date: Sun, 3 Feb 2013 10:29:01 +0000
Subject: Added CAN2 support. Tested on the STM32F4xx only.

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@5105 35acf78f-673a-0410-8e92-d51de3d6d3f4
---
 testhal/STM32F4xx/CAN/main.c | 16 ++++++++--------
 1 file changed, 8 insertions(+), 8 deletions(-)

(limited to 'testhal')

diff --git a/testhal/STM32F4xx/CAN/main.c b/testhal/STM32F4xx/CAN/main.c
index 5f32d868c..e7a10247b 100644
--- a/testhal/STM32F4xx/CAN/main.c
+++ b/testhal/STM32F4xx/CAN/main.c
@@ -27,7 +27,7 @@ struct can_instance {
 };
 
 static const struct can_instance can1 = {&CAND1, GPIOD_LED5};
-//static const struct can_instance can2 = {&CAND2, GPIOD_LED3};
+static const struct can_instance can2 = {&CAND2, GPIOD_LED3};
 
 /*
  * Internal loopback mode, 500KBaud, automatic wakeup, automatic recover
@@ -37,16 +37,14 @@ static const struct can_instance can1 = {&CAND1, GPIOD_LED5};
 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
+  CAN_BTR_TS1(8) | CAN_BTR_BRP(6)
 };
 
 /*
  * Receiver thread.
  */
 static WORKING_AREA(can_rx1_wa, 256);
-//static WORKING_AREA(can_rx2_wa, 256);
+static WORKING_AREA(can_rx2_wa, 256);
 static msg_t can_rx(void *p) {
   struct can_instance *cip = p;
   EventListener el;
@@ -85,6 +83,7 @@ static msg_t can_tx(void * p) {
 
   while (!chThdShouldTerminate()) {
     canTransmit(&CAND1, &txmsg, MS2ST(100));
+    canTransmit(&CAND2, &txmsg, MS2ST(100));
     chThdSleepMilliseconds(500);
   }
   return 0;
@@ -106,17 +105,18 @@ int main(void) {
   chSysInit();
 
   /*
-   * Activates the CAN driver 1.
+   * Activates the CAN drivers 1 and 2.
    */
   canStart(&CAND1, &cancfg);
+  canStart(&CAND2, &cancfg);
 
   /*
    * Starting the transmitter and receiver threads.
    */
   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_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);
 
-- 
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