ChibiOS Free Embedded RTOS

Code: Select all

#define EFI_CAN_DEVICE CAND1
#define EFI_CAN_RX_PORT GPIOB
#define EFI_CAN_RX_PIN 8
#define EFI_CAN_RX_AF 9
#define EFI_CAN_TX_PORT GPIOB
#define EFI_CAN_TX_PIN 9
#define EFI_CAN_TX_AF 9

static void canRead(void) {
   scheduleSimpleMsg(&logger, "waiting for CAN ", 0);
   canReceive(&EFI_CAN_DEVICE, CAN_ANY_MAILBOX, &rxFrame, TIME_INFINITE);
   scheduleSimpleMsg(&logger, "GOT CAN ", rxFrame.FMI);
   scheduleSimpleMsg(&logger, "GOT CAN ", rxFrame.TIME);
   scheduleSimpleMsg(&logger, "GOT CAN ", rxFrame.DLC);
   scheduleSimpleMsg(&logger, "GOT CAN ", rxFrame.SID);
}

void initCan(void) {
   int CAN_Prescaler = 4;// (STM32_PCLK1 / 15) / 500000;        // baudrate is set to 500k bit/s

   int CAN_Mode = CAN_Mode_Normal;
   int CAN_SJW = CAN_SJW_4tq;
   int CAN_BS1 = CAN_BS1_10tq;
   int CAN_BS2 = CAN_BS2_5tq;

   canConfig.btr = (uint32_t)((uint32_t)CAN_Mode << 30) | \
                ((uint32_t)CAN_SJW << 24) | \
                ((uint32_t)CAN_BS1 << 16) | \
                ((uint32_t)CAN_BS2 << 20) | \
               ((uint32_t)CAN_Prescaler - 1);

   canConfig.mcr = (CAN_MCR_NART | CAN_MCR_INRQ);       // init mode, disable auto. retransmission

   canObjectInit(&EFI_CAN_DEVICE);
   canStart(&EFI_CAN_DEVICE, &canConfig);

   mySetPadMode("CAN TX", EFI_CAN_TX_PORT, EFI_CAN_TX_PIN, PAL_MODE_ALTERNATE(EFI_CAN_TX_AF));
   mySetPadMode("CAN RX", EFI_CAN_RX_PORT, EFI_CAN_RX_PIN, PAL_MODE_ALTERNATE(EFI_CAN_RX_AF));

   addConsoleAction("canr", canRead);
}

Code: Select all

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)
};