1 files changed, 158 insertions, 0 deletions
diff --git a/testhal/LPC17xx/CAN/main.c b/testhal/LPC17xx/CAN/main.c
new file mode 100644
index 000000000..a382ce501
--- /dev/null
+++ b/testhal/LPC17xx/CAN/main.c
@@ -0,0 +1,158 @@
+/*
+    ChibiOS/RT - Copyright (C) 2006-2013 Giovanni Di Sirio
+
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+
+        http://www.apache.org/licenses/LICENSE-2.0
+
+    Unless required by applicable law or agreed to in writing, software
+    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"
+
+struct can_instance {
+  CANDriver     *canp;
+  uint32_t      led;
+};
+
+static const struct can_instance can1 = {&CAND1, GPIO0_LED2_RED};
+static const struct can_instance can2 = {&CAND2, GPIO0_LED3_EXT}; /* Connect LED to board. */
+
+#if LPC17xx_CAN_USE_FILTER
+static const CANFilterExt cfe_id_table[2] = {
+  CANFilterExtEntry(0, 0x0ABCDEF0),
+  CANFilterExtEntry(1, 0x01234567)
+
+};
+
+static const CANFilterConfig canfcfg = {
+ 0,
+ NULL,
+ 0,
+ NULL,
+ 0,
+ NULL,
+ 0,
+ cfe_id_table,
+ 2,
+ NULL,
+ 0
+};
+#endif
+
+/*
+ * Operating mode
+ */
+static const CANConfig cancfg = {
+  0,
+  CANBTR_SJW(0) | CANBTR_TESG2(1) |
+  CANBTR_TESG1(8) | CANBTR_BRP(20)
+};
+
+/*
+ * Receiver thread.
+ */
+static WORKING_AREA(can_rx1_wa, 256);
+static WORKING_AREA(can_rx2_wa, 256);
+static msg_t can_rx(void *p) {
+  struct can_instance *cip = p;
+  EventListener el;
+  CANRxFrame rxmsg;
+
+  (void)p;
+  chRegSetThreadName("receiver");
+  chEvtRegister(&cip->canp->rxfull_event, &el, 0);
+  while(!chThdShouldTerminate()) {
+    if (chEvtWaitAnyTimeout(ALL_EVENTS, MS2ST(100)) == 0)
+      continue;
+    while (canReceive(cip->canp, CAN_ANY_MAILBOX,
+                      &rxmsg, TIME_IMMEDIATE) == RDY_OK) {
+      /* Process message.*/
+      palTogglePad(GPIO0, cip->led);
+    }
+  }
+  chEvtUnregister(&CAND1.rxfull_event, &el);
+  return 0;
+}
+
+/*
+ * Transmitter thread.
+ */
+static WORKING_AREA(can_tx_wa, 256);
+static msg_t can_tx(void * p) {
+  CANTxFrame txmsg_can1;
+  CANTxFrame txmsg_can2;
+
+  (void)p;
+  chRegSetThreadName("transmitter");
+  txmsg_can1.IDE = CAN_IDE_EXT;
+  txmsg_can1.EID = 0x01234567;
+  txmsg_can1.RTR = CAN_RTR_DATA;
+  txmsg_can1.DLC = 8;
+  txmsg_can1.data32[0] = 0x55AA55AA;
+  txmsg_can1.data32[1] = 0x00FF00FF;
+
+  txmsg_can2.IDE = CAN_IDE_EXT;
+  txmsg_can2.EID = 0x0ABCDEF0;
+  txmsg_can2.RTR = CAN_RTR_DATA;
+  txmsg_can2.DLC = 8;
+  txmsg_can2.data32[0] = 0x66AA66AA;
+  txmsg_can2.data32[1] = 0x44FF44FF;
+
+  while (!chThdShouldTerminate()) {
+    canTransmit(&CAND1, CAN_ANY_MAILBOX, &txmsg_can1, MS2ST(100));
+    canTransmit(&CAND2, CAN_ANY_MAILBOX, &txmsg_can2, MS2ST(100));
+    chThdSleepMilliseconds(500);
+  }
+  return 0;
+}
+
+/*
+ * Application entry point.
+ */
+int main(void) {
+
+  /*
+   * System initializations.
+   * - HAL initialization, this also initializes the configured device drivers
+   *   and performs the board-specific initializations.
+   * - Kernel initialization, the main() function becomes a thread and the
+   *   RTOS is active.
+   */
+  halInit();
+  chSysInit();
+
+  /*
+   * Activates the CAN drivers 1 and 2.
+   */
+  canStart(&CAND1, &cancfg);
+  canStart(&CAND2, &cancfg);
+
+#if LPC17xx_CAN_USE_FILTER
+  canSetFilter(&canfcfg);
+#endif
+  /*
+   * Starting the transmitter and receiver threads.
+   */
+  chThdCreateStatic(can_rx1_wa, sizeof(can_rx1_wa), NORMALPRIO + 7,
+                    can_rx, (void *)&can1);
+  chThdCreateStatic(can_rx2_wa, sizeof(can_rx2_wa), NORMALPRIO + 7,
+                    can_rx, (void *)&can2);
+  chThdCreateStatic(can_tx_wa, sizeof(can_tx_wa), NORMALPRIO + 7,
+                    can_tx, NULL);
+
+  /*
+   * Normal main() thread activity, in this demo it does nothing.
+   */
+  while (TRUE) {
+    chThdSleepMilliseconds(500);
+  }
+  return 0;
+}