Add Can Drv

bsp/stm32f10x/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
+ */
+#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

+/*
+ * 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/drivers/can.h

+/*
+ * File      : can.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 CAN_H_
+#define CAN_H_
+
+#ifndef RT_CANMSG_BOX_SZ
+#define RT_CANMSG_BOX_SZ 16
+#endif
+#ifndef RT_CANSND_BOX_NUM
+#define RT_CANSND_BOX_NUM 1
+#endif
+
+enum CANBAUD
+{
+        CAN1MBaud=0,    // 1 MBit/sec
+        CAN800kBaud,    // 800 kBit/sec
+        CAN500kBaud,    // 500 kBit/sec
+        CAN250kBaud,    // 250 kBit/sec
+        CAN125kBaud,    // 125 kBit/sec
+        CAN100kBaud,    // 100 kBit/sec
+        CAN50kBaud,     // 50 kBit/sec
+        CAN20kBaud,     // 20 kBit/sec
+        CAN10kBaud      // 10 kBit/sec
+};
+#define RT_CAN_MODE_NORMAL 0
+#define RT_CAN_MODE_LISEN 1
+#define RT_CAN_MODE_LOOPBACK 2
+#define RT_CAN_MODE_LOOPBACKANLISEN 3
+
+#define RT_CAN_MODE_PRIV 0x01
+#define RT_CAN_MODE_NOPRIV 0x00
+
+#ifdef RT_CAN_USING_LED
+struct  rt_can_led
+{
+        rt_uint32_t pin,mode,init;
+        struct rt_timer* timer;
+        const char* timer_name;
+};
+#endif /*RT_CAN_USING_LED*/
+
+struct rt_can_filter_item
+{
+        rt_uint32_t id  :29;
+        rt_uint32_t ide :1;
+        rt_uint32_t rtr :1;
+        rt_uint32_t mode :1;
+        rt_uint32_t mask;
+        rt_int32_t hdr;
+        rt_err_t  (*ind)(rt_device_t dev, void* args ,rt_int32_t hdr, rt_size_t size);
+        void* args;
+};
+#ifdef RT_CAN_USING_HDR
+#define RT_CAN_FILTER_ITEM_INIT(id,ide,rtr,mode,mask,ind,args) \
+     {\
+         id,\
+         ide,\
+         rtr,\
+         mode,\
+         mask,\
+         -1,\
+         ind,\
+         args,\
+     }
+#define RT_CAN_FILTER_STD_INIT(id,ind,args) \
+     RT_CAN_FILTER_ITEM_INIT(id,0,0,0,0xFFFFFFFF,ind,args)
+#define RT_CAN_FILTER_EXT_INIT(id,ind,args) \
+     RT_CAN_FILTER_ITEM_INIT(id,1,0,0,0xFFFFFFFF,ind,args)
+#define RT_CAN_STD_RMT_FILTER_INIT(id,ind,args) \
+     RT_CAN_FILTER_ITEM_INIT(id,0,1,0,0xFFFFFFFF,ind,args)
+#define RT_CAN_EXT_RMT_FILTER_INIT(id,ind,args) \
+     RT_CAN_FILTER_ITEM_INIT(id,1,1,0,0xFFFFFFFF,ind,args)
+#define RT_CAN_STD_RMT_DATA_FILTER_INIT(id,ind,args) \
+     RT_CAN_FILTER_ITEM_INIT(id,0,0,1,0xFFFFFFFF,ind,args)
+#define RT_CAN_EXT_RMT_DATA_FILTER_INIT(id,ind,args) \
+     RT_CAN_FILTER_ITEM_INIT(id,1,0,1,0xFFFFFFFF,ind,args)
+#else
+#define RT_CAN_FILTER_ITEM_INIT(id,ide,rtr,mode,mask,args) \
+     {\
+         id,\
+         ide,\
+         rtr,\
+         mode,\
+         mask,\
+         -1,\
+         args,\
+     }
+#define RT_CAN_FILTER_STD_INIT(id,args) \
+     RT_CAN_FILTER_ITEM_INIT(id,0,0,0,0xFFFFFFFF,args)
+#define RT_CAN_FILTER_EXT_INIT(id,args) \
+     RT_CAN_FILTER_ITEM_INIT(id,1,0,0,0xFFFFFFFF,args)
+#define RT_CAN_STD_RMT_FILTER_INIT(id,args) \
+     RT_CAN_FILTER_ITEM_INIT(id,0,1,0,0xFFFFFFFF,args)
+#define RT_CAN_EXT_RMT_FILTER_INIT(id,args) \
+     RT_CAN_FILTER_ITEM_INIT(id,1,1,0,0xFFFFFFFF,args)
+#define RT_CAN_STD_RMT_DATA_FILTER_INIT(id,args) \
+     RT_CAN_FILTER_ITEM_INIT(id,0,0,1,0xFFFFFFFF,args)
+#define RT_CAN_EXT_RMT_DATA_FILTER_INIT(id,args) \
+     RT_CAN_FILTER_ITEM_INIT(id,1,0,1,0xFFFFFFFF,args)
+#endif
+
+struct rt_can_filter_config
+{
+        rt_uint32_t count;
+        rt_uint32_t actived;
+        struct rt_can_filter_item* items;
+};
+struct can_configure
+{
+        rt_uint32_t baud_rate;
+        rt_uint32_t msgboxsz;
+        rt_uint32_t sndboxnumber;
+        rt_uint32_t mode      :8;
+        rt_uint32_t privmode  :8;
+        rt_uint32_t reserved  :16;
+        #ifdef RT_CAN_USING_LED
+        const struct rt_can_led* rcvled;
+        const struct rt_can_led* sndled;
+        const struct rt_can_led* errled;
+        #endif  /*RT_CAN_USING_LED*/
+        rt_uint32_t ticks;
+#ifdef RT_CAN_USING_HDR
+        rt_uint32_t maxhdr;
+#endif
+};
+
+#define CANDEFAULTCONFIG \
+{\
+        CAN1MBaud,\
+        RT_CANMSG_BOX_SZ,\
+        RT_CANSND_BOX_NUM,\
+        RT_CAN_MODE_NORMAL,\
+};
+
+struct rt_can_ops;
+#define RT_CAN_CMD_SET_FILTER      0x13
+#define RT_CAN_CMD_SET_BAUD        0x14
+#define RT_CAN_CMD_SET_MODE        0x15
+#define RT_CAN_CMD_SET_PRIV        0x16
+#define RT_CAN_CMD_GET_STATUS      0x17
+#define RT_CAN_CMD_SET_STATUS_IND  0x18
+
+#define RT_DEVICE_CAN_INT_ERR  0x1000
+
+enum RT_CAN_STATUS_MODE
+{
+        NORMAL = 0,
+        ERRWARNING = 1,
+        ERRPASSIVE = 2,
+        BUSOFF = 4,
+};
+enum RT_CAN_BUS_ERR
+{
+        RT_CAN_BUS_NO_ERR = 0,
+        RT_CAN_BUS_BIT_PAD_ERR = 1,
+        RT_CAN_BUS_FORMAT_ERR = 2,
+        RT_CAN_BUS_ACK_ERR = 3,
+        RT_CAN_BUS_IMPLICIT_BIT_ERR = 4,
+        RT_CAN_BUS_EXPLICIT_BIT_ERR = 5,
+        RT_CAN_BUS_CRC_ERR = 6,
+};
+struct rt_can_status
+{
+        rt_uint32_t rcverrcnt;
+        rt_uint32_t snderrcnt;
+        rt_uint32_t errcode;
+        rt_uint32_t rcvpkg;
+        rt_uint32_t dropedrcvpkg;
+        rt_uint32_t sndpkg;
+        rt_uint32_t dropedsndpkg;
+        rt_uint32_t bitpaderrcnt;
+        rt_uint32_t formaterrcnt;
+        rt_uint32_t ackerrcnt;
+        rt_uint32_t biterrcnt;
+        rt_uint32_t crcerrcnt;
+        rt_uint32_t rcvchange;
+        rt_uint32_t sndchange;
+        rt_uint32_t lasterrtype;
+};
+#ifdef RT_CAN_USING_HDR
+struct rt_can_hdr {
+        rt_uint32_t connected;
+        rt_uint32_t msgs;
+        struct rt_can_filter_item filter;
+        struct rt_list_node list;
+};
+#endif
+struct rt_can_device;
+typedef rt_err_t (*rt_canstatus_ind)(struct rt_can_device*, void*);
+typedef struct rt_can_status_ind_type
+{
+    rt_canstatus_ind ind;
+    void* args;
+} *rt_can_status_ind_type_t;
+struct rt_can_device
+{
+        struct rt_device          parent;
+
+        const struct rt_can_ops *ops;
+        struct can_configure   config;
+        struct rt_can_status   status;
+        rt_uint32_t timerinitflag;
+        struct rt_timer timer;
+        struct rt_can_status_ind_type status_indicate;
+#ifdef RT_CAN_USING_HDR
+        struct rt_can_hdr* hdr;
+#endif
+        void *can_rx;
+	void *can_tx;
+};
+typedef struct rt_can_device *rt_can_t;
+
+#define RT_CAN_STDID 0
+#define RT_CAN_EXTID 1
+#define RT_CAN_DTR   0
+#define RT_CAN_RTR   1
+
+typedef struct rt_can_status * rt_can_status_t;
+struct rt_can_msg
+{
+        rt_uint32_t id  :29;
+        rt_uint32_t ide :1;
+        rt_uint32_t rtr :1;
+        rt_uint32_t rsv :1;
+        rt_uint32_t len :8;
+        rt_uint32_t priv :8;
+        rt_uint32_t hdr :8;
+        rt_uint32_t reserved :8;
+        rt_uint8_t data[8];
+};
+typedef struct rt_can_msg* rt_can_msg_t;
+struct rt_can_msg_list {
+        struct rt_list_node list;
+#ifdef RT_CAN_USING_HDR
+        struct rt_list_node hdrlist;
+        struct rt_can_hdr* owner;
+#endif
+        struct rt_can_msg data;
+};
+struct rt_can_rx_fifo
+{
+	/* software fifo */
+	struct rt_can_msg_list *buffer;
+        rt_uint32_t freenumbers;
+        struct rt_list_node freelist;
+        struct rt_list_node uselist;
+};
+
+#define RT_CAN__SND_RESUTL_OK 0
+#define RT_CAN__SND_RESUTL_ERR 1
+#define RT_CAN__SND_RESUTL_WAIT 2
+
+#define RT_CAN_EVENT_RX_IND          0x01    /* Rx indication */
+#define RT_CAN_EVENT_TX_DONE         0x02    /* Tx complete   */
+#define RT_CAN_EVENT_TX_FAIL         0x03    /* Tx complete   */
+#define RT_CAN_EVENT_RX_TIMEOUT      0x05    /* Rx timeout    */
+#define RT_CAN_EVENT_RXOF_IND        0x06    /* Rx overflow */
+
+struct rt_can_sndbxinx_list {
+        struct rt_list_node list;
+        struct rt_completion completion;
+        rt_uint32_t result;
+};
+struct rt_can_tx_fifo
+{
+  	struct rt_can_sndbxinx_list *buffer;
+	struct rt_completion completion;
+        struct rt_list_node freelist;
+};
+struct rt_can_ops
+{
+        rt_err_t (*configure)(struct rt_can_device *can, struct can_configure *cfg);
+        rt_err_t (*control)(struct rt_can_device *can, int cmd, void *arg);
+        int (*sendmsg)(struct rt_can_device *can, const void* buf, rt_uint32_t boxno);
+        int (*recvmsg)(struct rt_can_device *can,void* buf, rt_uint32_t boxno);
+};
+rt_err_t rt_hw_can_register(struct rt_can_device *can,
+                               const char              *name,
+                               const struct rt_can_ops *ops,
+                               void                    *data);
+void rt_hw_can_isr(struct rt_can_device *can, int event);
+#endif /*_CAN_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