diff options
Diffstat (limited to 'source/can_task.c')
| -rw-r--r-- | source/can_task.c | 233 |
1 files changed, 233 insertions, 0 deletions
diff --git a/source/can_task.c b/source/can_task.c new file mode 100644 index 0000000..de57090 --- /dev/null +++ b/source/can_task.c @@ -0,0 +1,233 @@ + +#include "can_task.h" +#include "com_task.h" +#include "fsl_flexcan.h" + +#define RX_MESSAGE_BUFFER_NUM0 (9) +#define TX_MESSAGE_BUFFER_NUM0 (8) +#define RX_MESSAGE_BUFFER_NUM1 (7) +#define TX_MESSAGE_BUFFER_NUM1 (6) + +static flexcan_handle_t flexcanHandle[2]; +static uint32_t txIdentifier[2]; +static uint32_t rxIdentifier[2]; +static volatile bool txComplete[2] = {false, false}; +static volatile bool rxComplete[2] = {false, false}; + +static void flexcan_callback0(CAN_Type *base, flexcan_handle_t *handle, status_t status, uint32_t result, void *userData) +{ + callback_message_t * cb = (callback_message_t*) userData; + BaseType_t reschedule = pdFALSE; + + switch (status) + { + case kStatus_FLEXCAN_RxIdle: + if (RX_MESSAGE_BUFFER_NUM0 == result) + { + xSemaphoreGiveFromISR(cb->sem, &reschedule); + } + break; + + case kStatus_FLEXCAN_TxIdle: + if (TX_MESSAGE_BUFFER_NUM0 == result) + { + } + break; + + default: + break; + } + portYIELD_FROM_ISR(reschedule); +} + +static void flexcan_callback1(CAN_Type *base, flexcan_handle_t *handle, status_t status, uint32_t result, void *userData) +{ + callback_message_t * cb = (callback_message_t*) userData; + BaseType_t reschedule = pdFALSE; + + switch (status) + { + case kStatus_FLEXCAN_RxIdle: + if (RX_MESSAGE_BUFFER_NUM1 == result) + { + xSemaphoreGiveFromISR(cb->sem, &reschedule); + } + break; + + case kStatus_FLEXCAN_TxIdle: + if (TX_MESSAGE_BUFFER_NUM1 == result) + { + } + break; + + default: + break; + } + portYIELD_FROM_ISR(reschedule); +} + +static void CAN_Init() +{ + flexcan_config_t flexcanConfig; + flexcan_rx_mb_config_t mbConfig; + + txIdentifier[0] = 0x321; + rxIdentifier[0] = 0x123; + txIdentifier[1] = 0x123; + rxIdentifier[1] = 0x321; + + /* Get FlexCAN module default Configuration. */ + /* + * flexcanConfig.clkSrc = kFLEXCAN_ClkSrcOsc; + * flexcanConfig.baudRate = 125000U; + * flexcanConfig.maxMbNum = 16; + * flexcanConfig.enableLoopBack = false; + * flexcanConfig.enableSelfWakeup = false; + * flexcanConfig.enableIndividMask = false; + * flexcanConfig.enableDoze = false; + */ + FLEXCAN_GetDefaultConfig(&flexcanConfig); + + /* Init FlexCAN module. */ + flexcanConfig.clkSrc = kFLEXCAN_ClkSrcPeri; + FLEXCAN_Init(CAN0, &flexcanConfig, CLOCK_GetFreq(kCLOCK_BusClk)); + + /* Create FlexCAN handle structure and set call back function. */ + FLEXCAN_TransferCreateHandle(CAN0, &flexcanHandle[0], flexcan_callback0, flexcanHandle[0].userData); + + /* Set Rx Masking mechanism. */ + FLEXCAN_SetRxMbGlobalMask(CAN0, FLEXCAN_RX_MB_STD_MASK(rxIdentifier[0], 0, 0)); + + /* Setup Rx Message Buffer. */ + mbConfig.format = kFLEXCAN_FrameFormatStandard; + mbConfig.type = kFLEXCAN_FrameTypeData; + mbConfig.id = FLEXCAN_ID_STD(rxIdentifier[0]); + FLEXCAN_SetRxMbConfig(CAN0, RX_MESSAGE_BUFFER_NUM0, &mbConfig, true); + + /* Setup Tx Message Buffer. */ + FLEXCAN_SetTxMbConfig(CAN0, TX_MESSAGE_BUFFER_NUM0, true); + + /* Get FlexCAN module default Configuration. */ + /* + * flexcanConfig.clkSrc = kFLEXCAN_ClkSrcOsc; + * flexcanConfig.baudRate = 125000U; + * flexcanConfig.maxMbNum = 16; + * flexcanConfig.enableLoopBack = false; + * flexcanConfig.enableSelfWakeup = false; + * flexcanConfig.enableIndividMask = false; + * flexcanConfig.enableDoze = false; + */ + FLEXCAN_GetDefaultConfig(&flexcanConfig); + + /* Init FlexCAN module. */ + flexcanConfig.clkSrc = kFLEXCAN_ClkSrcPeri; + FLEXCAN_Init(CAN1, &flexcanConfig, CLOCK_GetFreq(kCLOCK_BusClk)); + + /* Create FlexCAN handle structure and set call back function. */ + FLEXCAN_TransferCreateHandle(CAN1, &flexcanHandle[1], flexcan_callback1, flexcanHandle[1].userData); + + /* Set Rx Masking mechanism. */ + FLEXCAN_SetRxMbGlobalMask(CAN1, FLEXCAN_RX_MB_STD_MASK(rxIdentifier[1], 0, 0)); + + /* Setup Rx Message Buffer. */ + mbConfig.format = kFLEXCAN_FrameFormatStandard; + mbConfig.type = kFLEXCAN_FrameTypeData; + mbConfig.id = FLEXCAN_ID_STD(rxIdentifier[1]); + FLEXCAN_SetRxMbConfig(CAN1, RX_MESSAGE_BUFFER_NUM1, &mbConfig, true); + + mbConfig.format = kFLEXCAN_FrameFormatExtend; + mbConfig.type = kFLEXCAN_FrameTypeRemote; + mbConfig.id = FLEXCAN_ID_STD(txIdentifier[1]); + FLEXCAN_SetRxMbConfig(CAN1, RX_MESSAGE_BUFFER_NUM1, &mbConfig, true); + + + /* Setup Tx Message Buffer. */ + FLEXCAN_SetTxMbConfig(CAN1, TX_MESSAGE_BUFFER_NUM1, true); + PRINTF("CAN init done \r\n"); +} + + +void can_test_task(void *pvParameters) { + flexcan_frame_t txFrame, rxFrame; + flexcan_mb_transfer_t txXfer, rxXfer; + callback_message_t cb_msg[2]; + + cb_msg[0].sem = xSemaphoreCreateBinary(); + cb_msg[1].sem = xSemaphoreCreateBinary(); + flexcanHandle[0].userData = (void *) &cb_msg[0]; + flexcanHandle[1].userData = (void *) &cb_msg[1]; + CAN_Init(); + + vTaskSuspend(NULL); + rxXfer.frame = &rxFrame; + rxXfer.mbIdx = RX_MESSAGE_BUFFER_NUM1; + FLEXCAN_TransferReceiveNonBlocking(CAN1, &flexcanHandle[1], &rxXfer); + + txFrame.format = kFLEXCAN_FrameFormatStandard; + txFrame.type = kFLEXCAN_FrameTypeData; + txFrame.id = FLEXCAN_ID_STD(0x321); + txFrame.length = 8; + txFrame.dataWord0 = CAN_WORD0_DATA_BYTE_0(0x11) | CAN_WORD0_DATA_BYTE_1(0x22) | CAN_WORD0_DATA_BYTE_2(0x33) | + CAN_WORD0_DATA_BYTE_3(0x44); + txFrame.dataWord1 = CAN_WORD1_DATA_BYTE_4(0x55) | CAN_WORD1_DATA_BYTE_5(0x66) | CAN_WORD1_DATA_BYTE_6(0x77) | + CAN_WORD1_DATA_BYTE_7(0x88); + txXfer.frame = &txFrame; + txXfer.mbIdx = TX_MESSAGE_BUFFER_NUM0; + + PRINTF("\r\nCAN0->CAN1 "); + + FLEXCAN_TransferSendNonBlocking(CAN0, &flexcanHandle[0], &txXfer); + if (xSemaphoreTake(cb_msg[1].sem, 1000u) == pdFALSE) + { + PRINTF("FAIL!\r\n"); + FLEXCAN_TransferAbortSend(CAN0, &flexcanHandle[0], txXfer.mbIdx); + FLEXCAN_TransferAbortReceive(CAN1, &flexcanHandle[1], rxXfer.mbIdx); + } + else + { + PRINTF("SUCCESS!\r\n"); + } + + rxXfer.frame = &rxFrame; + rxXfer.mbIdx = RX_MESSAGE_BUFFER_NUM0; + FLEXCAN_TransferReceiveNonBlocking(CAN0, &flexcanHandle[0], &rxXfer); + + txFrame.format = kFLEXCAN_FrameFormatStandard; + txFrame.type = kFLEXCAN_FrameTypeData; + txFrame.id = FLEXCAN_ID_STD(0x123); + txFrame.length = 8; + txFrame.dataWord0 = CAN_WORD0_DATA_BYTE_0(0x11) | CAN_WORD0_DATA_BYTE_1(0x22) | CAN_WORD0_DATA_BYTE_2(0x33) | + CAN_WORD0_DATA_BYTE_3(0x44); + txFrame.dataWord1 = CAN_WORD1_DATA_BYTE_4(0x55) | CAN_WORD1_DATA_BYTE_5(0x66) | CAN_WORD1_DATA_BYTE_6(0x77) | + CAN_WORD1_DATA_BYTE_7(0x88); + txXfer.frame = &txFrame; + txXfer.mbIdx = TX_MESSAGE_BUFFER_NUM1; + + PRINTF("CAN1->CAN0 "); + + FLEXCAN_TransferSendNonBlocking(CAN1, &flexcanHandle[1], &txXfer); + if (xSemaphoreTake(cb_msg[0].sem, 1000u ) == pdFALSE) + { + PRINTF("FAIL!\r\n"); + FLEXCAN_TransferAbortSend(CAN1, &flexcanHandle[0], txXfer.mbIdx); + FLEXCAN_TransferAbortReceive(CAN0, &flexcanHandle[1], rxXfer.mbIdx); + } + else + { + PRINTF("SUCCESS!\r\n"); + } + + vSemaphoreDelete(cb_msg[0].sem); + vSemaphoreDelete(cb_msg[1].sem); + + vTaskResume(spi_task_handle); + vTaskDelete(NULL); +} + +int can0_registers(uint8_t *rx_buf, uint8_t *tx_buf){ + return -EIO; +} + +int can1_registers(uint8_t *rx_buf, uint8_t *tx_buf){ + return -EIO; +} |