Add Can Drv

bsp/stm32f10x/applications/canapp.c

@@ -0,0 +1,141 @@
+/*
+ * File      : canapp.c
+ * This file is part of RT-Thread RTOS
+ * COPYRIGHT (C) 2006, RT-Thread Development Team
+ *
+ * The license and distribution terms for this file may be
+ * found in the file LICENSE in this distribution or at
+ * http://www.rt-thread.org/license/LICENSE
+ *
+ * Change Logs:
+ * Date           Author       Notes
+ */
+#include <board.h>
+#include <rtthread.h>
+#include <rtdevice.h>
+struct can_app_struct
+{
+    const char* name;
+    struct rt_event event;
+    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)
+{
+    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)
+{
+    rt_event_t pevent = (rt_event_t)args;
+    rt_event_send(pevent, 1 << (hdr));
+    return RT_EOK;
+}
+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),
+};
+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),
+};
+struct rt_can_filter_config filter1 =
+{
+       .count = 4,
+       .actived = 1,
+       .items = filter1item,
+};
+struct rt_can_filter_config filter2 =
+{
+       .count = 4,
+       .actived = 1,
+       .items = filter2item,
+};
+static struct can_app_struct can_data[2] = {
+    {
+      .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,
+    },
+};
+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;
+
+      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);
+    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);
+    if (tid != RT_NULL) rt_thread_startup(tid);
+    
+    return 0;
+}
+
+INIT_APP_EXPORT(rt_can_app_init);

bsp/stm32f10x/drivers/bxcan.h

@@ -0,0 +1,16 @@
+/*
+ * File      : bxcan.h
+ * This file is part of RT-Thread RTOS
+ * COPYRIGHT (C) 2015, RT-Thread Development Team
+ *
+ * The license and distribution terms for this file may be
+ * found in the file LICENSE in this distribution or at
+ * http://www.rt-thread.org/license/LICENSE
+ *
+ * Change Logs:
+ * Date           Author       Notes
+ */
+
+#ifndef BXCAN_H_
+#define BXCAN_H_
+#endif /*BXCAN_H_*/

components/drivers/include/rtdevice.h

@@ -366,6 +366,10 @@ rt_inline void rt_work_init(struct rt_work* work, void (*work_func)(struct rt_wo
 #include "drivers/pin.h"
 #endif
 
+#ifdef RT_USING_CAN
+#include "drivers/can.h"
+#endif
+
 #ifdef __cplusplus
 }
 #endif