distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
*/
#include "ch.h"
#include "hal.h"
/*
* Internal loopback mode, 500KBaud, automatic wakeup, automatic recover
* from abort mode.
*/
static const CANConfig cancfg = {
CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP,
CAN_BTR_LBKM | CAN_BTR_SJW(0) | CAN_BTR_TS2(1) |
CAN_BTR_TS1(8) | CAN_BTR_BRP(6)
};
/*
* Receiver thread.
*/
static THD_WORKING_AREA(can_rx_wa, 256);
static THD_FUNCTION(can_rx, p) {
event_listener_t el;
CANRxFrame rxmsg;
(void)p;
chRegSetThreadName("receiver");
chEvtRegister(&CAND1.rxfull_event, &el, 0);
while(!chThdShouldTerminateX()) {
static THD_WORKING_AREA(canTreadStack, UTILITY_THREAD_STACK_SIZE);
/*
* 500KBaud
* automatic wakeup
* automatic recover from abort mode
* See section 22.7.7 on the STM32 reference manual.
*
* speed = 42000000 / (BRP + 1) / (1 + TS1 + 1 + TS2 + 1)
* 42000000 / 7 / 12 = 500000
*
*
*/
static const CANConfig canConfig = {
CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP,
CAN_BTR_SJW(0) | CAN_BTR_TS2(1) | CAN_BTR_TS1(8) | CAN_BTR_BRP(6) };
static CANRxFrame rxBuffer;
CANTxFrame txmsg;
// todo: we would need a data structure here
static int engine_rpm = 0;
static float engine_clt = 0;
static int rand = 1212321311;
//static CANDriver *getCanDevice() {
// if(board)
//}
static void printPacket(CANRxFrame *rx) {
static const SerialConfig serialConfig =
{
SERIAL_DEFAULT_BITRATE,
0,
USART_CR2_STOP1_BITS,
0
};
/*
* 500KBaud, automatic wakeup, automatic recover
* from abort mode.
* See section 22.7.7 on the STM32 reference manual.
*/
static const CANConfig cancfg = {
CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP,
CAN_BTR_SJW(0) | CAN_BTR_TS2(1) |
CAN_BTR_TS1(8) | CAN_BTR_BRP(4)
//| CAN_BTR_LBKM
};
void BoardDriverInit(void)
{
mod_led_init(&LED_BMS_HEARTBEAT, &ledCfg1);
mod_led_init(&LED_CAN_RX, &ledCfg2);
mod_led_init(&LED_BOARDHEARTBEAT, &ledCfg3);
}
void BoardDriverStart(void)
{
canStart(&CAND1, &cancfg);
10000, /* 10kHz PWM clock frequency. */
50, /* Initial PWM period 10mS. */
NULL,
{
{PWM_OUTPUT_ACTIVE_HIGH, NULL},
{PWM_OUTPUT_ACTIVE_HIGH, NULL},
{PWM_OUTPUT_DISABLED, NULL},
{PWM_OUTPUT_DISABLED, NULL}
},
0,
0
};
const CANConfig cancfg = {
CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP,
CAN_BTR_SJW(1) | CAN_BTR_TS2(4) |
CAN_BTR_TS1(5) | CAN_BTR_BRP(5)
};
/*===========================================================================*/
/* Threads */
/*===========================================================================*/
THD_WORKING_AREA(waThreadCAN, 256);
CCM_FUNC static THD_FUNCTION(ThreadCAN, arg)
{
event_listener_t el;
CANTxFrame txmsg;
CANRxFrame rxmsg;
uint16_t i;
bool pidserved;
*/
/*
******************************************************************************
* GLOBAL VARIABLES
******************************************************************************
*/
/*
* Internal loopback mode, 250KBaud, automatic wakeup, automatic recover
* from abort mode.
* See section 22.7.7 on the STM32 reference manual.
*/
static const CANConfig cancfg = {
CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP,
//CAN_BTR_LBKM | CAN_BTR_SJW(1) | CAN_BTR_TS2(2) | CAN_BTR_TS1(11) | CAN_BTR_BRP(5),
CAN_BTR_SJW(1) | CAN_BTR_TS2(2) | CAN_BTR_TS1(11) | CAN_BTR_BRP(5),
0,
NULL
};
static Thread *can_tp;
/*
******************************************************************************
******************************************************************************
* LOCAL FUNCTIONS
******************************************************************************
******************************************************************************
*/
/*
* Transmitter thread.
#include "chprintf.h"
#include <pb_encode.h>
#include "protocols.pb.h"
/*
* 500KBaud, automatic wakeup, automatic recover
* from abort mode.
* See: http://www.chibios.com/forum/viewtopic.php?t=1307
* baudrate=Fclk/((1+BRP)*(3+ts1+ts2)) and APB1 runs at 36MHz
* 500 000 = (36*10^6)/((1 + 5) * (3 + 5 + 4))
*/
static const CANConfig cancfg = {
CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP,
CAN_BTR_SJW(0) | CAN_BTR_TS2(4) | CAN_BTR_TS1(5) | CAN_BTR_BRP(5) | CAN_BTR_LBKM | CAN_BTR_SILM //loopback and silent mode enabled
};
// The loopback and silent mode fully disconnect the CAN transceiver
static const uint8_t buf[] =
"Ping\n\r";
/*
* Receiver thread.
*/
static THD_WORKING_AREA(can_rx_wa, 256);
static THD_FUNCTION(can_rx, p) {
event_listener_t el;
CANRxFrame rxmsg;
(void)p;
