mirror of https://github.com/rusefi/rusefi.git
84 lines
1.9 KiB
C++
84 lines
1.9 KiB
C++
#include "can.h"
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#include "hal.h"
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#include <cstdint>
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#include <cstring>
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const CANConfig canConfig500 =
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{
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CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP,
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/*
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Settings from https://forum.chibios.org/viewtopic.php?t=2990
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For 36MHz http://www.bittiming.can-wiki.info/ does not give that option :( Subtract '1' for register values
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*/
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CAN_BTR_SJW(0) | CAN_BTR_BRP(5) | CAN_BTR_TS1(5) | CAN_BTR_TS2(4),
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};
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#define SWAP_UINT16(x) (((x) << 8) | ((x) >> 8))
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void SendSomething()
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{
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auto baseAddress = 0x156;
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{
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CANTxFrame m_frame;
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m_frame.IDE = CAN_IDE_STD;
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m_frame.EID = 0;
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m_frame.SID = baseAddress;
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m_frame.RTR = CAN_RTR_DATA;
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m_frame.DLC = 8;
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memset(m_frame.data8, 0, sizeof(m_frame.data8));
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m_frame.data8[3] = 0x33;
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m_frame.data8[6] = 0x66;
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canTransmitTimeout(&CAND1, CAN_ANY_MAILBOX, &m_frame, TIME_IMMEDIATE);
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}
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}
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static THD_WORKING_AREA(waCanTxThread, 256);
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void CanTxThread(void*)
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{
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while(1) {
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SendSomething();
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chThdSleepMilliseconds(10);
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}
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}
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static THD_WORKING_AREA(waCanRxThread, 256);
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void CanRxThread(void*)
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{
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while(1)
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{
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CANRxFrame frame;
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msg_t msg = canReceiveTimeout(&CAND1, CAN_ANY_MAILBOX, &frame, TIME_INFINITE);
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// Ignore non-ok results...
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if (msg != MSG_OK)
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{
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continue;
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}
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// Ignore std frames, only listen to ext
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if (frame.IDE != CAN_IDE_EXT)
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{
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continue;
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}
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}
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}
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void InitCan() {
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canStart(&CAND1, &canConfig500);
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// CAN TX
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palSetPadMode(GPIOA,12, PAL_MODE_STM32_ALTERNATE_PUSHPULL );
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// CAN RX
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palSetPadMode(GPIOA,11, PAL_MODE_INPUT_PULLUP );
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chThdCreateStatic(waCanTxThread, sizeof(waCanTxThread), NORMALPRIO, CanTxThread, nullptr);
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chThdCreateStatic(waCanRxThread, sizeof(waCanRxThread), NORMALPRIO - 4, CanRxThread, nullptr);
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}
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