struct can_instance {
CANDriver *canp;
ioline_t led;
};
static const struct can_instance can1 = {&CAND1, LINE_LED_GREEN};
/*
* Internal loopback mode, 500KBaud, automatic wakeup, automatic recover
* from abort mode.
* See section 42.7.7 on the STM32 reference manual.
*/
static const CANConfig cancfg = {
CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP,
CAN_BTR_LBKM | CAN_BTR_SJW(0) | CAN_BTR_TS2(1) |
CAN_BTR_TS1(12) | CAN_BTR_BRP(9)
};
/*
* Receiver thread.
*/
static THD_WORKING_AREA(can_rx1_wa, 256);
static THD_FUNCTION(can_rx, p) {
struct can_instance *cip = p;
event_listener_t el;
CANRxFrame rxmsg;
(void)p;
chRegSetThreadName("receiver");
chEvtRegister(&cip->canp->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) {
{
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);
/*CAN1 RX and TX*/
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;
the source code for any proprietary components. See the file exception.txt
for full details of how and when the exception can be applied.
*/
#include "ch.h"
#include "hal.h"
/*
* Internal loopback mode, 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_LBKM | CAN_BTR_SJW(0) | CAN_BTR_TS2(1) |
CAN_BTR_TS1(8) | CAN_BTR_BRP(6),
0,
NULL
};
/*
* Receiver thread.
*/
static WORKING_AREA(can_rx_wa, 256);
static msg_t can_rx(void *p) {
EventListener el;
CANRxFrame rxmsg;
(void)p;
chRegSetThreadName("receiver");
chEvtRegister(&CAND1.rxfull_event, &el, 0);
*/
/*
******************************************************************************
* 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.