mirror of
https://github.com/portapack-mayhem/mayhem-firmware.git
synced 2024-12-14 20:18:13 +00:00
128 lines
3.4 KiB
C
Executable File
128 lines
3.4 KiB
C
Executable File
/*
|
|
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, GPIOD_LED5};
|
|
static const struct can_instance can2 = {&CAND2, GPIOD_LED3};
|
|
|
|
/*
|
|
* 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)
|
|
};
|
|
|
|
/*
|
|
* Receiver thread.
|
|
*/
|
|
static WORKING_AREA(can_rx1_wa, 256);
|
|
static WORKING_AREA(can_rx2_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);
|
|
while(!chThdShouldTerminate()) {
|
|
if (chEvtWaitAnyTimeout(ALL_EVENTS, MS2ST(100)) == 0)
|
|
continue;
|
|
while (canReceive(cip->canp, CAN_ANY_MAILBOX,
|
|
&rxmsg, TIME_IMMEDIATE) == RDY_OK) {
|
|
/* Process message.*/
|
|
palTogglePad(GPIOD, cip->led);
|
|
}
|
|
}
|
|
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, CAN_ANY_MAILBOX, &txmsg, MS2ST(100));
|
|
canTransmit(&CAND2, CAN_ANY_MAILBOX, &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 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_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;
|
|
}
|