add canapp.c

bsp/lpc408x/applications/canapp.c

+/*
+ * 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
+ * 2015-05-14     aubrcool@qq.com 	first version
+ */
+
+#include <board.h>
+#include <rtthread.h>
+#include <rtdevice.h>
+#ifdef RT_USING_CAN
+#include "drv_lpccan.h"
+struct can_app_struct
+{
+    const char* name;
+    struct rt_can_filter_config * filter;
+    rt_uint8_t eventopt;
+	  struct rt_semaphore sem;
+};
+static struct can_app_struct can_data[1];
+struct rt_can_filter_item filter1item[4] =
+{
+  LPC_CAN_AF_STD_INIT(1),
+	LPC_CAN_AF_STD_GRP_INIT(3,5),
+	LPC_CAN_AF_EXT_INIT(2),
+	LPC_CAN_AF_EXT_GRP_INIT(4,6),
+};
+struct rt_can_filter_config filter1 =
+{
+       .count = 4,
+       .actived = 1,
+       .items = filter1item,
+};
+static struct can_app_struct can_data[1] = {
+    {
+      .name = "lpccan1",
+      .filter = &filter1,
+      .eventopt = RT_EVENT_FLAG_OR | RT_EVENT_FLAG_CLEAR,
+    },
+};
+static rt_err_t lpccanind(rt_device_t dev, rt_size_t size)
+{
+		rt_sem_release(&can_data[0].sem);
+}
+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;
+
+      candev = rt_device_find(canpara->name);
+      RT_ASSERT(candev);
+      rt_sem_init(&canpara->sem, canpara->name, 0, 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);
+			rt_device_set_rx_indicate(candev, lpccanind);
+      while(1) {
+							rt_sem_take(&canpara->sem, RT_WAITING_FOREVER);
+							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);
+    
+    return 0;
+}
+
+INIT_APP_EXPORT(rt_can_app_init);
+#endif /*RT_USING_CAN*/