Merge pull request #516 from AubrCool/master

bxcan 适应新改的驱动

bsp/stm32f10x/applications/canapp.c

@@ -8,29 +8,129 @@
  * http://www.rt-thread.org/license/LICENSE
  *
  * Change Logs:
- * Date           Author       		Notes
- * 2015-05-14     aubrcool@qq.com 	first version
+ * Date           Author            Notes
+ * 2015-05-14     aubrcool@qq.com   first version
  */
 
-#ifdef RT_USING_CAN
 #include <board.h>
 #include <rtthread.h>
 #include <rtdevice.h>
+#ifdef RT_USING_CAN
+#define CANRT1   8
+#define CANERR1  9
+#define CANRT2   37
+#define CANERR2  38
+static struct canledtype
+{
+    struct stm32_hw_pin_userdata rtd;
+    struct stm32_hw_pin_userdata err;
+} canled[] =
+{
+#ifdef USING_BXCAN1
+    {
+        {CANRT1, PIN_MODE_OUTPUT_OD,},
+        {CANERR1, PIN_MODE_OUTPUT_OD,},
+    },
+#endif /*USING_BXCAN1*/
+#ifdef USING_BXCAN2
+    {
+        {CANRT2, PIN_MODE_OUTPUT_OD,},
+        {CANERR2, PIN_MODE_OUTPUT_OD,},
+    },
+#endif /*USING_BXCAN2*/
+};
+void can_bus_hook(struct rt_can_device *can, struct canledtype *led)
+{
+    if (can->timerinitflag == 1)
+    {
+        rt_pin_write(led->rtd.pin, 0);
+    }
+    else
+    {
+        if (can->status.rcvchange == 1 || can->status.sndchange == 1)
+        {
+            can->status.rcvchange = 0;
+            can->status.sndchange = 0;
+            rt_pin_write(led->rtd.pin, rt_pin_read(led->rtd.pin) ? 0 : 1);
+        }
+        else
+        {
+            rt_pin_write(led->rtd.pin, 1);
+        }
+    }
+    if (can->timerinitflag == 1)
+    {
+        rt_pin_write(led->err.pin, 0);
+    }
+    else
+    {
+        if (can->status.errcode)
+        {
+            rt_pin_write(led->err.pin, 0);
+        }
+        else
+        {
+            rt_pin_write(led->err.pin, 1);
+        }
+    }
+}
+#ifdef USING_BXCAN1
+void can1_bus_hook(struct rt_can_device *can)
+{
+    static rt_int32_t inited = 0;
+    if (!inited)
+    {
+        inited = 1;
+        rt_pin_mode(canled[0].rtd.pin, canled[0].rtd.mode);
+        rt_pin_mode(canled[0].err.pin, canled[0].err.mode);
+    }
+    can_bus_hook(can, &canled[0]);
+}
+#endif /*USING_BXCAN1*/
+#ifdef USING_BXCAN2
+void can2_bus_hook(struct rt_can_device *can)
+{
+    static rt_int32_t inited = 0;
+    if (!inited)
+    {
+        inited = 1;
+        rt_pin_mode(canled[1].rtd.pin, canled[1].rtd.mode);
+        rt_pin_mode(canled[1].err.pin, canled[1].err.mode);
+    }
+    can_bus_hook(can, &canled[1]);
+}
+#endif /*USING_BXCAN2*/
+int can_bus_hook_init(void)
+{
+    rt_device_t candev;
+#ifdef USING_BXCAN1
+    candev = rt_device_find("bxcan1");
+    RT_ASSERT(candev);
+    rt_device_control(candev, RT_CAN_CMD_SET_BUS_HOOK, (void *)can1_bus_hook);
+#endif /*USING_BXCAN1*/
+#ifdef USING_BXCAN2
+    candev = rt_device_find("bxcan2");
+    RT_ASSERT(candev);
+    rt_device_control(candev, RT_CAN_CMD_SET_BUS_HOOK, (void *)can2_bus_hook);
+#endif /*USING_BXCAN2*/
+    return RT_EOK;
+}
+INIT_DEVICE_EXPORT(can_bus_hook_init);
 struct can_app_struct
 {
-    const char* name;
+    const char *name;
     struct rt_event event;
-    struct rt_can_filter_config * filter;
+    struct rt_can_filter_config *filter;
     rt_uint8_t eventopt;
 };
 static struct can_app_struct can_data[2];
-static rt_err_t  can1ind(rt_device_t dev,  void* args, rt_int32_t hdr, rt_size_t size)
+static rt_err_t  can1ind(rt_device_t dev,  void *args, rt_int32_t hdr, rt_size_t size)
 {
     rt_event_t pevent = (rt_event_t)args;
     rt_event_send(pevent, 1 << (hdr));
     return RT_EOK;
 }
-static rt_err_t  can2ind(rt_device_t dev, void* args, rt_int32_t hdr, rt_size_t size)
+static rt_err_t  can2ind(rt_device_t dev, void *args, rt_int32_t hdr, rt_size_t size)
 {
     rt_event_t pevent = (rt_event_t)args;
     rt_event_send(pevent, 1 << (hdr));
@@ -38,106 +138,117 @@ static rt_err_t  can2ind(rt_device_t dev, void* args, rt_int32_t hdr, rt_size_t
 }
 struct rt_can_filter_item filter1item[4] =
 {
-  RT_CAN_FILTER_STD_INIT(1,can1ind,&can_data[0].event),
-  RT_CAN_FILTER_STD_INIT(2,can1ind,&can_data[0].event),
-  RT_CAN_STD_RMT_FILTER_INIT(3,can1ind,&can_data[0].event),
-  RT_CAN_STD_RMT_DATA_FILTER_INIT(4,can1ind,&can_data[0].event),
+    RT_CAN_FILTER_STD_INIT(1, can1ind, &can_data[0].event),
+    RT_CAN_FILTER_STD_INIT(2, can1ind, &can_data[0].event),
+    RT_CAN_STD_RMT_FILTER_INIT(3, can1ind, &can_data[0].event),
+    RT_CAN_STD_RMT_DATA_FILTER_INIT(4, can1ind, &can_data[0].event),
 };
 struct rt_can_filter_item filter2item[4] =
 {
-  RT_CAN_FILTER_STD_INIT(1,can2ind,&can_data[1].event),
-  RT_CAN_FILTER_STD_INIT(2,can2ind,&can_data[1].event),
-  RT_CAN_STD_RMT_FILTER_INIT(3,can2ind,&can_data[1].event),
-  RT_CAN_STD_RMT_DATA_FILTER_INIT(4,can2ind,&can_data[1].event),
+    RT_CAN_FILTER_STD_INIT(1, can2ind, &can_data[1].event),
+    RT_CAN_FILTER_STD_INIT(2, can2ind, &can_data[1].event),
+    RT_CAN_STD_RMT_FILTER_INIT(3, can2ind, &can_data[1].event),
+    RT_CAN_STD_RMT_DATA_FILTER_INIT(4, can2ind, &can_data[1].event),
 };
 struct rt_can_filter_config filter1 =
 {
-       .count = 4,
-       .actived = 1,
-       .items = filter1item,
+    .count = 4,
+    .actived = 1,
+    .items = filter1item,
 };
 struct rt_can_filter_config filter2 =
 {
-       .count = 4,
-       .actived = 1,
-       .items = filter2item,
+    .count = 4,
+    .actived = 1,
+    .items = filter2item,
 };
-static struct can_app_struct can_data[2] = {
+static struct can_app_struct can_data[2] =
+{
     {
-      .name = "bxcan1",
-      .filter = &filter1,
-      .eventopt = RT_EVENT_FLAG_OR | RT_EVENT_FLAG_CLEAR,
+        .name = "bxcan1",
+        .filter = &filter1,
+        .eventopt = RT_EVENT_FLAG_OR | RT_EVENT_FLAG_CLEAR,
     },
     {
-      .name = "bxcan2",
-      .filter = &filter2,
-      .eventopt = RT_EVENT_FLAG_AND | RT_EVENT_FLAG_CLEAR,
+        .name = "bxcan2",
+        .filter = &filter2,
+        .eventopt = RT_EVENT_FLAG_AND | RT_EVENT_FLAG_CLEAR,
     },
 };
-void rt_can_thread_entry(void* parameter)
+void rt_can_thread_entry(void *parameter)
 {
-      struct rt_can_msg msg;
-      struct can_app_struct* canpara = (struct can_app_struct*) parameter;
-      rt_device_t candev;
-      rt_uint32_t e;
+    struct rt_can_msg msg;
+    struct can_app_struct *canpara = (struct can_app_struct *) parameter;
+    rt_device_t candev;
+    rt_uint32_t e;
 
-      candev = rt_device_find(canpara->name);
-      RT_ASSERT(candev);
-      rt_event_init(&canpara->event, canpara->name, RT_IPC_FLAG_FIFO);
-      rt_device_open(candev, (RT_DEVICE_OFLAG_RDWR | RT_DEVICE_FLAG_INT_RX | RT_DEVICE_FLAG_INT_TX));
-      rt_device_control(candev,RT_CAN_CMD_SET_FILTER,canpara->filter);
-      while(1) {
-              if (
-                     rt_event_recv(&canpara->event, 
-                     ((1 << canpara->filter->items[0].hdr)  |
-                      (1 << canpara->filter->items[1].hdr) |
-                      (1 << canpara->filter->items[2].hdr) |
-                      (1 << canpara->filter->items[3].hdr)),
-                      canpara->eventopt,
-                      RT_WAITING_FOREVER, &e) != RT_EOK
-                  ) {
-                    continue;
-                  }
-              if(e & (1 << canpara->filter->items[0].hdr)) {
-                  msg.hdr = canpara->filter->items[0].hdr;
-                  while (rt_device_read(candev, 0, &msg, sizeof(msg)) == sizeof(msg)) {
-                     rt_device_write(candev, 0, &msg, sizeof(msg));
-                  }
-              }
-              if(e & (1 << canpara->filter->items[1].hdr)) {
-                  msg.hdr = canpara->filter->items[1].hdr;
-                  while (rt_device_read(candev, 0, &msg, sizeof(msg)) == sizeof(msg)) {
-                     rt_device_write(candev, 0, &msg, sizeof(msg));
-                  }
-              }
-              if(e & (1 << canpara->filter->items[2].hdr)) {
-                  msg.hdr = canpara->filter->items[2].hdr;
-                  while (rt_device_read(candev, 0, &msg, sizeof(msg)) == sizeof(msg)) {
-                     rt_device_write(candev, 0, &msg, sizeof(msg));
-                  }
-              }
-              if(e & (1 << canpara->filter->items[3].hdr)) {
-                  msg.hdr = canpara->filter->items[3].hdr;
-                  while (rt_device_read(candev, 0, &msg, sizeof(msg)) == sizeof(msg)) {
-                     rt_device_write(candev, 0, &msg, sizeof(msg));
-                  }
-              }
-      }
+    candev = rt_device_find(canpara->name);
+    RT_ASSERT(candev);
+    rt_event_init(&canpara->event, canpara->name, RT_IPC_FLAG_FIFO);
+    rt_device_open(candev, (RT_DEVICE_OFLAG_RDWR | RT_DEVICE_FLAG_INT_RX | RT_DEVICE_FLAG_INT_TX));
+    rt_device_control(candev, RT_CAN_CMD_SET_FILTER, canpara->filter);
+    while (1)
+    {
+        if (
+            rt_event_recv(&canpara->event,
+                          ((1 << canpara->filter->items[0].hdr)  |
+                           (1 << canpara->filter->items[1].hdr) |
+                           (1 << canpara->filter->items[2].hdr) |
+                           (1 << canpara->filter->items[3].hdr)),
+                          canpara->eventopt,
+                          RT_WAITING_FOREVER, &e) != RT_EOK
+        )
+        {
+            continue;
+        }
+        if (e & (1 << canpara->filter->items[0].hdr))
+        {
+            msg.hdr = canpara->filter->items[0].hdr;
+            while (rt_device_read(candev, 0, &msg, sizeof(msg)) == sizeof(msg))
+            {
+                rt_device_write(candev, 0, &msg, sizeof(msg));
+            }
+        }
+        if (e & (1 << canpara->filter->items[1].hdr))
+        {
+            msg.hdr = canpara->filter->items[1].hdr;
+            while (rt_device_read(candev, 0, &msg, sizeof(msg)) == sizeof(msg))
+            {
+                rt_device_write(candev, 0, &msg, sizeof(msg));
+            }
+        }
+        if (e & (1 << canpara->filter->items[2].hdr))
+        {
+            msg.hdr = canpara->filter->items[2].hdr;
+            while (rt_device_read(candev, 0, &msg, sizeof(msg)) == sizeof(msg))
+            {
+                rt_device_write(candev, 0, &msg, sizeof(msg));
+            }
+        }
+        if (e & (1 << canpara->filter->items[3].hdr))
+        {
+            msg.hdr = canpara->filter->items[3].hdr;
+            while (rt_device_read(candev, 0, &msg, sizeof(msg)) == sizeof(msg))
+            {
+                rt_device_write(candev, 0, &msg, sizeof(msg));
+            }
+        }
+    }
 }
 int rt_can_app_init(void)
 {
     rt_thread_t tid;
-    
+
     tid = rt_thread_create("canapp1",
-    rt_can_thread_entry, &can_data[0],
-    512, RT_THREAD_PRIORITY_MAX /3 - 1, 20);
+                           rt_can_thread_entry, &can_data[0],
+                           512, RT_THREAD_PRIORITY_MAX / 3 - 1, 20);
     if (tid != RT_NULL) rt_thread_startup(tid);
-    
+
     tid = rt_thread_create("canapp2",
-    rt_can_thread_entry, &can_data[1],
-    512, RT_THREAD_PRIORITY_MAX /3 - 1, 20);
+                           rt_can_thread_entry, &can_data[1],
+                           512, RT_THREAD_PRIORITY_MAX / 3 - 1, 20);
     if (tid != RT_NULL) rt_thread_startup(tid);
-    
+
     return 0;
 }