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337 lines
8.8 KiB
337 lines
8.8 KiB
5 months ago
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/*
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* Copyright (c) 2006-2023, RT-Thread Development Team
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*
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* SPDX-License-Identifier: Apache-2.0
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*
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* Change Logs:
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* Date Author Email Notes
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* 2022-04-16 Kevin.Liu kevin.liu.mchp@gmail.com First Release
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*/
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#include <rtthread.h>
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#include "atmel_start.h"
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#include "driver_init.h"
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#include "utils.h"
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#include "can_demo.h"
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#ifdef SAM_CAN_EXAMPLE
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#if defined(SOC_SAMC21) || defined(SOC_SAME54)
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#define CAN_HARDWARE (void *)CAN1
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#elif defined(SOC_SAME70)
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#define CAN_HARDWARE (void *)MCAN1
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#else
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#error "CAN undefined SOC Platform"
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#endif
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static volatile enum can_async_interrupt_type can_errors;
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static rt_sem_t can_txdone;
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static rt_sem_t can_rxdone;
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static rt_uint8_t can_stack[ 512 ];
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static struct rt_thread can_thread;
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/**
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* @brief Callback function and should be invoked after call can_async_write.
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*
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* @note
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*
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* @param descr is CAN device description.
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*
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* @return None.
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*/
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static void can_tx_callback(struct can_async_descriptor *const descr)
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{
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rt_err_t result;
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rt_interrupt_enter();
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result = rt_sem_release(can_txdone);
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if (RT_EOK != result)
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{
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#ifndef RT_USING_FINSH
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rt_kprintf("rt_sem_release failed in %s %d\r\n",__FUNCTION__, __LINE__);
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#endif
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}
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rt_interrupt_leave();
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}
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/**
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* @brief Callback function and should be invoked after remote device send.
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*
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* @note This callback function will be called in CAN interrupt function
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*
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* @param descr is CAN device description.
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*
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* @return None.
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*/
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static void can_rx_callback(struct can_async_descriptor *const descr)
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{
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rt_err_t result;
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rt_interrupt_enter();
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result = rt_sem_release(can_rxdone);
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if (RT_EOK != result)
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{
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#ifndef RT_USING_FINSH
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rt_kprintf("rt_sem_release failed in %s %d\r\n",__FUNCTION__, __LINE__);
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#endif
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}
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rt_interrupt_leave();
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}
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/**
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* @brief Callback function and should be invoked after CAN device IRQ handler detects errors happened.
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*
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* @note This callback function will be called in CAN interrupt function
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*
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* @param descr is CAN device description.
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*
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* @return None.
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*/
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static void can_err_callback(struct can_async_descriptor *const descr,
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enum can_async_interrupt_type type)
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{
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rt_err_t result;
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if (type == CAN_IRQ_EW)
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{
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/* Error warning, Error counter has reached the error warning limit of 96,
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* An error count value greater than about 96 indicates a heavily disturbed
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* bus. It may be of advantage to provide means to test for this condition.
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*/
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}
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else if (type == CAN_IRQ_EA)
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{
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/* Error Active State, The CAN node normally take part in bus communication
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* and sends an ACTIVE ERROR FLAG when an error has been detected.
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*/
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}
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else if (type == CAN_IRQ_EP)
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{
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/* Error Passive State, The Can node goes into error passive state if at least
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* one of its error counters is greater than 127. It still takes part in bus
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* activities, but it sends a passive error frame only, on errors.
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*/
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}
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else if (type == CAN_IRQ_BO)
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{
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/* Bus Off State, The CAN node is 'bus off' when the TRANSMIT ERROR COUNT is
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* greater than or equal to 256.
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*/
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/* Suspend CAN task and re-initialize CAN module. */
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can_errors = type;
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rt_interrupt_enter();
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result = rt_sem_release(can_rxdone);
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if (RT_EOK != result)
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{
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#ifndef RT_USING_FINSH
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rt_kprintf("rt_sem_release failed in %s %d\r\n",__FUNCTION__, __LINE__);
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#endif
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}
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rt_interrupt_leave();
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}
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else if (type == CAN_IRQ_DO)
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{
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/* Data Overrun in receive queue. A message was lost because the messages in
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* the queue was not reading and releasing fast enough. There is not enough
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* space for a new message in receive queue.
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*/
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/* Suggest to delete CAN task and re-initialize it. */
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can_errors = type;
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rt_interrupt_enter();
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result = rt_sem_release(can_rxdone);
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if (RT_EOK != result)
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{
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#ifndef RT_USING_FINSH
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rt_kprintf("rt_sem_release failed in %s %d\r\n",__FUNCTION__, __LINE__);
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#endif
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}
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rt_interrupt_leave();
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}
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};
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/**
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* @brief Initialize CAN module before task run.
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*
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* @note This function will set CAN Tx/Rx callback function and filters.
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*
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* @param None.
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*
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* @return None.
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*/
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static inline void can_demo_init(void)
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{
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struct can_filter filter;
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/**
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* CAN_Node0_tx_callback callback should be invoked after call
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* can_async_write, and remote device should receive message with ID=0x45A
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*/
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can_async_register_callback(&CAN_0, CAN_ASYNC_TX_CB, (FUNC_PTR)can_tx_callback);
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/**
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* CAN_0_rx_callback callback should be invoked after call
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* can_async_set_filter and remote device send CAN Message with the same
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* content as the filter.
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*/
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can_async_register_callback(&CAN_0, CAN_ASYNC_RX_CB, (FUNC_PTR)can_rx_callback);
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/* Should set at least one CAN standard & message filter before enable it. */
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filter.id = 0x469;
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filter.mask = 0;
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can_async_set_filter(&CAN_0, 0, CAN_FMT_STDID, &filter);
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/* If set second standard message filter, should increase filter index
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* and filter algorithm
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* For example: index should set to 1, otherwise it will replace filter 0.
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* can_async_set_filter(&CAN_0, 1, CAN_FMT_STDID, &filter); */
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filter.id = 0x10000096;
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filter.mask = 0;
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can_async_set_filter(&CAN_0, 0, CAN_FMT_EXTID, &filter);
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can_async_enable(&CAN_0);
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}
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/**
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* @brief CAN task.
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*
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* @note This task will waiting for CAN RX semaphore and then process input.
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*
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* @param parameter - task input parameter.
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*
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* @return None.
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*/
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static void can_thread_entry(void* parameter)
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{
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int32_t ret;
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rt_err_t result;
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uint8_t data[64];
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uint32_t count=0;
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struct can_message msg;
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while (1)
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{
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#ifndef RT_USING_FINSH
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rt_kprintf("can task run count : %d\r\n",count);
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#endif
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count++;
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result = rt_sem_take(can_rxdone, RT_WAITING_FOREVER);
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if (RT_EOK != result)
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continue;
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do
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{
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/* Process the incoming packet. */
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ret = can_async_read(&CAN_0, &msg);
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if (ret == ERR_NONE)
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{
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#ifndef RT_USING_FINSH
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rt_kprintf("CAN RX Message is % frame\r\n",
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msg.type == CAN_TYPE_DATA ? "data" : "remote");
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rt_kprintf("CAN RX Message is % frame\r\n",
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msg.type == CAN_FMT_STDID ? "Standard" : "Extended");
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rt_kprintf("can RX Message ID: 0x%X length: %d\r\n", msg.id, msg.len);
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rt_kprintf("CAN RX Message content: ");
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for (uint8_t i = 0; i < msg.len; i++)
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rt_kprintf("0x%02X ", data[i]);
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rt_kprintf("\r\n");
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#endif
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}
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} while (ret == ERR_NONE); /* Get all data stored in CAN RX FIFO */
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/* CAN task got CAN error message, handler CAN Error Status */
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if ((can_errors == CAN_IRQ_BO) || (can_errors == CAN_IRQ_DO))
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{
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can_async_init(&CAN_0, CAN_HARDWARE);
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}
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}
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}
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/**
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* @brief Call this function will to send a CAN message.
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*
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* @note
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*
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* @param msg - message to be sent, timeouts - wait timeouts for Tx completion.
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*
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* @return RT_OK or -RT_ERROR.
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*/
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rt_err_t can_send_message(struct can_message *msg, rt_uint32_t timeouts)
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{
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rt_err_t result;
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if (RT_NULL == msg)
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{
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rt_kprintf("can_send_message input message error\r\n");
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return -RT_ERROR;
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}
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can_async_write(&CAN_0, msg);
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result = rt_sem_take(can_rxdone, timeouts);
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return result;
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}
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/**
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* @brief Call this function will create a CAN task.
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*
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* @note Should create Tx/Rx semaphore before run task.
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*
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* @param None.
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*
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* @return RT_OK or -RT_ERROR.
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*/
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rt_err_t can_demo_run(void)
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{
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rt_err_t result;
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can_rxdone = rt_sem_create("can_rx", 0, RT_IPC_FLAG_FIFO);
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if (RT_NULL == can_rxdone)
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{
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rt_kprintf("can_rx semaphore create failed\r\n");
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return (-RT_ERROR);
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}
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can_txdone = rt_sem_create("can_tx", 0, RT_IPC_FLAG_FIFO);
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if (RT_NULL == can_txdone)
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{
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rt_kprintf("can_tx semaphore create failed\r\n");
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return (-RT_ERROR);
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}
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can_demo_init();
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/* initialize CAN thread */
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result = rt_thread_init(&can_thread,
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"can",
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can_thread_entry,
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RT_NULL,
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(rt_uint8_t*)&can_stack[0],
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sizeof(can_stack),
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RT_THREAD_PRIORITY_MAX/3,
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5);
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if (result == RT_EOK)
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{
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rt_thread_startup(&can_thread);
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}
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return result;
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}
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#endif
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/*@}*/
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