Function can_sample

bsp/hc32/tests/test_can.c:335–407

MSH_CMD_EXPORT(can, can function configuration);

int can_sample(int argc, char **argv)
{
    char can_name[RT_NAME_MAX];
    char sem_name[RT_NAME_MAX] = "can_sem";
    char mutex_name[RT_NAME_MAX] = "can_mtx";
    rt_err_t res;

    if (argc == 2)
    {
        rt_strcpy(can_name, argv[1]);
        /* 设备已经打开则关闭 */
        if (can_dev != RT_NULL)
        {
            rt_device_close(can_dev);
        }
        /* 查找设备 */
        can_dev = rt_device_find(can_name);
        if (can_dev == RT_NULL)
        {
            rt_kprintf("find %s failed!\n", can_name);
            return -RT_ERROR;
        }
        rt_kprintf("found %s\n", can_name);

        if (can_mutex == RT_NULL)
        {
            rt_sem_init(&can_rx_sem, sem_name, 0, RT_IPC_FLAG_FIFO);
            can_mutex = rt_mutex_create(mutex_name, RT_IPC_FLAG_FIFO);
        }

        res = rt_device_open(can_dev, RT_DEVICE_FLAG_INT_TX | RT_DEVICE_FLAG_INT_RX);
        RT_ASSERT(res == RT_EOK);
        res = rt_device_control(can_dev, RT_CAN_CMD_SET_BAUD, (void *)CAN500kBaud);
        RT_ASSERT(res == RT_EOK);
        rt_kprintf("baud = %ld\n", CAN500kBaud);
        res = rt_device_control(can_dev, RT_CAN_CMD_SET_MODE, (void *)RT_CAN_MODE_NORMAL);
        RT_ASSERT(res == RT_EOK);

#ifdef RT_CAN_USING_CANFD
        /* 使能CAN_FD BRS功能 */
        res = rt_device_control(can_dev, RT_CAN_CMD_SET_CANFD, (void *)CAN_FRAME_ISO_FD);
        RT_ASSERT(res == RT_EOK);
        res = rt_device_control(can_dev, RT_CAN_CMD_SET_BAUD_FD, (void *)CANFD_DATA_BAUD_4M);
        RT_ASSERT(res == RT_EOK);
        rt_kprintf("baudfd = %ld\n", CANFD_DATA_BAUD_4M);
#endif
        /* 设置接收回调函数 */
        rt_device_set_rx_indicate(can_dev, can_rx_call);
        /* 设置过滤器 */
        _set_default_filter();

        if (rx_thread == RT_NULL)
        {
            rx_thread = rt_thread_create("can_rx", can_rx_thread, RT_NULL, 2048, 15, 10);
            if (rx_thread != RT_NULL)
            {
                rt_thread_startup(rx_thread);
            }