text: /*
   * Copyright (c) 2006-2018, RT-Thread Development Team
   *
   * SPDX-License-Identifier: Apache-2.0
   *
   * Change Logs:
   * Date           Author            Notes
   * 2015-05-14     aubrcool@qq.com   first version
   */
  
  #include <board.h>
  #include <rtthread.h>
  #include <rtdevice.h>
  #if 1
  #ifdef RT_USING_CAN
  #define CANRT1   10
  #define CANERR1  9
  #define CANRT2   37
  #define CANERR2  38
  #define USING_BXCAN1
  static struct canledtype
  {
      struct rt_device_pin_mode rtd;
      struct rt_device_pin_mode err;
  } canled[] =
  {
  #ifdef USING_BXCAN1
      {
          {CANRT1, PIN_MODE_OUTPUT,},
          {CANERR1, PIN_MODE_OUTPUT,},
      },
  #endif /*USING_BXCAN1*/
  #ifdef USING_BXCAN2
      {
          {CANRT2, PIN_MODE_OUTPUT_OD,},
          {CANERR2, PIN_MODE_OUTPUT_OD,},
      },
  #endif /*USING_BXCAN2*/
  };
  void can_bus_hook(struct rt_can_device *can, struct canledtype *led)
  {
      if (can->timerinitflag == 1)
      {
          rt_pin_write(led->rtd.pin, 0);
      }
      else
      {
          if (can->status.rcvchange == 1 || can->status.sndchange == 1)
          {
              can->status.rcvchange = 0;
              can->status.sndchange = 0;
              rt_pin_write(led->rtd.pin, rt_pin_read(led->rtd.pin) ? 0 : 1);
          }
          else
          {
              rt_pin_write(led->rtd.pin, 1);
          }
      }
      if (can->timerinitflag == 1)
      {
          rt_pin_write(led->err.pin, 0);
      }
      else
      {
          if (can->status.errcode)
          {
              rt_pin_write(led->err.pin, 0);
          }
          else
          {
              rt_pin_write(led->err.pin, 1);
          }
      }
  }
  #ifdef USING_BXCAN1
  void can1_bus_hook(struct rt_can_device *can)
  {
      static rt_int32_t inited = 0;
      if (!inited)
      {
          inited = 1;
          rt_pin_mode(canled[0].rtd.pin, canled[0].rtd.mode);
          rt_pin_mode(canled[0].err.pin, canled[0].err.mode);
      }
      can_bus_hook(can, &canled[0]);
  }
  #endif /*USING_BXCAN1*/
  #ifdef USING_BXCAN2
  void can2_bus_hook(struct rt_can_device *can)
  {
      static rt_int32_t inited = 0;
      if (!inited)
      {
          inited = 1;
          rt_pin_mode(canled[1].rtd.pin, canled[1].rtd.mode);
          rt_pin_mode(canled[1].err.pin, canled[1].err.mode);
      }
      can_bus_hook(can, &canled[1]);
  }
  #endif /*USING_BXCAN2*/
  int can_bus_hook_init(void)
  {
      rt_device_t candev;
  #ifdef USING_BXCAN1
      candev = rt_device_find("can1");
      RT_ASSERT(candev);
      rt_device_control(candev, RT_CAN_CMD_SET_BUS_HOOK, (void *)can1_bus_hook);
  #endif /*USING_BXCAN1*/
  #ifdef USING_BXCAN2
      candev = rt_device_find("can2");
      RT_ASSERT(candev);
      rt_device_control(candev, RT_CAN_CMD_SET_BUS_HOOK, (void *)can2_bus_hook);
  #endif /*USING_BXCAN2*/
      return RT_EOK;
  }
  INIT_DEVICE_EXPORT(can_bus_hook_init);
  struct can_app_struct
  {
      const char *name;
      struct rt_can_filter_config *filter;
      rt_uint8_t eventopt;
      struct rt_event event;
  };
  static struct can_app_struct can_data[2];
  static rt_err_t  can1ind(rt_device_t dev,  void *args, rt_int32_t hdr, rt_size_t size)
  {
      rt_event_t pevent = (rt_event_t)args;
      rt_event_send(pevent, 1 << (hdr));
      return RT_EOK;
  }
  static rt_err_t  can2ind(rt_device_t dev, void *args, rt_int32_t hdr, rt_size_t size)
  {
      rt_event_t pevent = (rt_event_t)args;
      rt_event_send(pevent, 1 << (hdr));
      return RT_EOK;
  }
  static struct rt_can_filter_item filter1item[4] =
  {
      RT_CAN_FILTER_STD_INIT(1, can1ind, &can_data[0].event),
      RT_CAN_FILTER_STD_INIT(2, can1ind, &can_data[0].event),
      RT_CAN_STD_RMT_FILTER_INIT(3, can1ind, &can_data[0].event),
      RT_CAN_STD_RMT_DATA_FILTER_INIT(4, can1ind, &can_data[0].event),
  };
  static struct rt_can_filter_item filter2item[4] =
  {
      RT_CAN_FILTER_STD_INIT(1, can2ind, &can_data[1].event),
      RT_CAN_FILTER_STD_INIT(2, can2ind, &can_data[1].event),
      RT_CAN_STD_RMT_FILTER_INIT(3, can2ind, &can_data[1].event),
      RT_CAN_STD_RMT_DATA_FILTER_INIT(4, can2ind, &can_data[1].event),
  };
  static struct rt_can_filter_config filter1 =
  {
      4,
      1,
      filter1item,
  };
  static struct rt_can_filter_config filter2 =
  {
      4,
      1,
      filter2item,
  };
  static struct can_app_struct can_data[2] =
  {
      {
          "can1",
          &filter1,
          RT_EVENT_FLAG_OR | RT_EVENT_FLAG_CLEAR,
      },
      {
          "can2",
          &filter2,
          RT_EVENT_FLAG_AND | RT_EVENT_FLAG_CLEAR,
      },
  };
  extern rt_uint32_t adc_vol, adc_value;
  void rt_can_thread_entry(void *parameter)
  {
      struct rt_can_msg msg;
      struct can_app_struct *canpara = (struct can_app_struct *) parameter;
      rt_device_t candev;
      rt_uint32_t e;
  
      candev = rt_device_find(canpara->name);
      RT_ASSERT(candev);
      rt_event_init(&canpara->event, canpara->name, RT_IPC_FLAG_FIFO);
      rt_device_open(candev, (RT_DEVICE_OFLAG_RDWR | RT_DEVICE_FLAG_INT_RX | RT_DEVICE_FLAG_INT_TX));
      rt_device_control(candev, RT_CAN_CMD_SET_FILTER, canpara->filter);
  		rt_device_set_rx_indicate(candev, canpara->rx_ind);
      while (1)
      {
          msg.id=0x23;
  			msg.len=8;
  			//rt_memcpy(msg.data,&adc_value,4);
  			//rt_memcpy(msg.data+4,&adc_vol,4);
  			msg.data[0]=(adc_value>>8)&0xff;
  			msg.data[1]=adc_value&0xff;
  			msg.data[2]=(adc_vol>>8)&0xff;
  			msg.data[3]=(adc_vol)&0xff;			
  			rt_device_write(candev, 0, &msg, sizeof(msg));
  			rt_thread_mdelay(500);
  //			if (
  //            rt_event_recv(&canpara->event,
  //                          ((1 << canpara->filter->items[0].hdr)  |
  //                           (1 << canpara->filter->items[1].hdr) |
  //                           (1 << canpara->filter->items[2].hdr) |
  //                           (1 << canpara->filter->items[3].hdr)),
  //                          canpara->eventopt,
  //                          RT_WAITING_FOREVER, &e) != RT_EOK
  //        )
  //        {
  //            continue;
  //        }
  //        if (e & (1 << canpara->filter->items[0].hdr))
  //        {
  //            msg.hdr = canpara->filter->items[0].hdr;
  //            while (rt_device_read(candev, 0, &msg, sizeof(msg)) == sizeof(msg))
  //            {
  //                rt_device_write(candev, 0, &msg, sizeof(msg));
  //            }
  //        }
  //        if (e & (1 << canpara->filter->items[1].hdr))
  //        {
  //            msg.hdr = canpara->filter->items[1].hdr;
  //            while (rt_device_read(candev, 0, &msg, sizeof(msg)) == sizeof(msg))
  //            {
  //                rt_device_write(candev, 0, &msg, sizeof(msg));
  //            }
  //        }
  //        if (e & (1 << canpara->filter->items[2].hdr))
  //        {
  //            msg.hdr = canpara->filter->items[2].hdr;
  //            while (rt_device_read(candev, 0, &msg, sizeof(msg)) == sizeof(msg))
  //            {
  //                rt_device_write(candev, 0, &msg, sizeof(msg));
  //            }
  //        }
  //        if (e & (1 << canpara->filter->items[3].hdr))
  //        {
  //            msg.hdr = canpara->filter->items[3].hdr;
  //            while (rt_device_read(candev, 0, &msg, sizeof(msg)) == sizeof(msg))
  //            {
  //                rt_device_write(candev, 0, &msg, sizeof(msg));
  //            }
  //        }
      }
  }
  int rt_can_app_init(void)
  {
      rt_thread_t tid;
  
      tid = rt_thread_create("can1",
                             rt_can_thread_entry, &can_data[0],
                             512,19, 20);
      if (tid != RT_NULL) rt_thread_startup(tid);
  
  #ifdef USING_BXCAN2
      tid = rt_thread_create("can2",
                             rt_can_thread_entry, &can_data[1],
                             512, RT_THREAD_PRIORITY_MAX / 3 - 1, 20);
      if (tid != RT_NULL) rt_thread_startup(tid);
  #endif
  
      return 0;
  }
  INIT_APP_EXPORT(rt_can_app_init);
  //INIT_APP_EXPORT(rt_can_app_init,can test);
  
  #endif /*RT_USING_CAN*/
  #endif
  