ChibiOS Free Embedded RTOS

Code: Select all

#include <stdio.h>
#include <string.h>

#include "ch.h"
#include "hal.h"
#include "board.h"
#include "chprintf.h"

#include "def.h"

CANRxFrame   txmsg;
SerialConfig uartCfg = { .speed = SERIAL_BAUDRATE };
CANConfig    cancfg  = { .mcr = CAN_MCR_ABOM | CAN_MCR_AWUM };

void SetBaudRate(int baud);

int main(void) {
   // system initialization
   halInit();
   chSysInit();

   // enable IRQ vector
   nvicEnableVector(CAN1_RX0_IRQn, CORTEX_PRIO_MASK(STM32_CAN_CAN1_IRQ_PRIORITY));

   // set pins
   palSetPadMode(GPIOA, 11, PAL_MODE_INPUT_PULLUP);               // CAN RX
   palSetPadMode(GPIOA, 12, PAL_MODE_STM32_ALTERNATE_PUSHPULL);   // CAN TX

   // serial initialization
   sdStart(&SD1, &uartCfg);
   PRINT("\r\n\n");
   PRINT("Running serial console at %d\r\n", SERIAL_BAUDRATE);

   SetBaudRate(250000);          // set can bus baud rate
   canStart(&CAND1, &cancfg);      // start can bus

   while (true) {
      /*msg_t t = canReceive(&CAND1, CAN_ANY_MAILBOX, &txmsg, TIME_IMMEDIATE);
      if (t == MSG_OK) {
         PRINT("received\r\n");
      }*/
      chThdSleepMilliseconds(100);
   }
}

void SetBaudRate(int baud) {
   int tmp  = 2000000 / baud - 1;
   cancfg.btr  = CAN_BTR_SJW(3);
   cancfg.btr |= CAN_BTR_TS1(11);
   cancfg.btr |= CAN_BTR_TS2(4);
   cancfg.btr |= CAN_BTR_BRP(tmp);
}

CH_IRQ_HANDLER(CAN1_RX0_IRQHandler) {
CH_IRQ_PROLOGUE();

   chSysLockFromISR();
   msg_t t = canReceive(&CAND1, CAN_ANY_MAILBOX, &txmsg, TIME_IMMEDIATE);
   if (t == MSG_OK) {
      PRINT("interrupt received\r\n");
   }
   chSysUnlockFromISR();

CH_IRQ_EPILOGUE();
}

Code: Select all

canReceive