add can driver sample

SConscript

@@ -7,6 +7,9 @@ include_path = [cwd]
 if GetDepend('PERIPHERAL_SAMPLES_USING_ADC'):
     src += ['adc_vol_sample.c']
 
+if GetDepend('PERIPHERAL_SAMPLES_USING_CAN'):
+    src += ['can_sample.c']
+
 if GetDepend('PERIPHERAL_SAMPLES_USING_HWTIMER'):
     src += ['hwtimer_sample.c']
 

can_sample.c

@@ -0,0 +1,142 @@
+/*
+ * Copyright (c) 2006-2018, RT-Thread Development Team
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Change Logs:
+ * Date           Author       Notes
+ * 2019-06-25     misonyo      first implementation.
+ */
+/*
+ * 程序清单：这是一个 CAN 设备使用例程
+ * 例程导出了 can_sample 命令到控制终端
+ * 命令调用格式：can_sample can2
+ * 命令解释：命令第二个参数是要使用的 CAN 设备名称，为空则使用默认的 CAN 设备
+ * 程序功能：通过 CAN 设备发送一帧，并创建一个线程接收数据然后打印输出。
+*/
+
+#include <rtthread.h>
+#include "rtdevice.h"
+
+#define CAN_DEV_NAME       "can2"      /* CAN 设备名称 */
+
+static struct rt_semaphore rx_sem;     /* 用于接收消息的信号量 */
+static rt_device_t can_dev;            /* CAN 设备句柄 */
+
+/* 接收数据回调函数 */
+static rt_err_t can_rx_call(rt_device_t dev, rt_size_t size)
+{
+    /* CAN 接收到数据后产生中断，调用此回调函数，然后发送接收信号量 */
+    rt_sem_release(&rx_sem);
+
+    return RT_EOK;
+}
+
+static void can_rx_thread(void *parameter)
+{
+    int i;
+    rt_err_t res;
+    struct rt_can_msg rxmsg = {0};
+
+    /* 设置接收回调函数 */
+    rt_device_set_rx_indicate(can_dev, can_rx_call);
+
+#ifdef RT_CAN_USING_HDR
+    struct rt_can_filter_item items[5] =
+    {
+        RT_CAN_FILTER_ITEM_INIT(0x100, 0, 0, 0, 0x700, RT_NULL, RT_NULL), /* std,match ID:0x100~0x1ff，hdr为-1，设置默认过滤表 */
+        RT_CAN_FILTER_ITEM_INIT(0x300, 0, 0, 0, 0x700, RT_NULL, RT_NULL), /* std,match ID:0x300~0x3ff，hdr为-1 */
+        RT_CAN_FILTER_ITEM_INIT(0x211, 0, 0, 0, 0x7ff, RT_NULL, RT_NULL), /* std,match ID:0x211，hdr为-1 */
+        RT_CAN_FILTER_STD_INIT(0x486, RT_NULL, RT_NULL),                  /* std,match ID:0x486，hdr为-1 */
+        {0x555, 0, 0, 0, 0x7ff, 7,}                                       /* std,match ID:0x555，hdr为7，指定设置7号过滤表 */
+    };
+    struct rt_can_filter_config cfg = {5, 1, items}; /* 一共有5个过滤表 */
+    /* 设置硬件过滤表 */
+    res = rt_device_control(can_dev, RT_CAN_CMD_SET_FILTER, &cfg);
+    RT_ASSERT(res == RT_EOK);
+#endif
+
+    while (1)
+    {
+        /* hdr值为-1，表示直接从uselist链表读取数据 */
+        rxmsg.hdr = -1;
+        /* 阻塞等待接收信号量 */
+        rt_sem_take(&rx_sem, RT_WAITING_FOREVER);
+        /* 从CAN读取一帧数据 */
+        rt_device_read(can_dev, 0, &rxmsg, sizeof(rxmsg));
+        /* 打印数据ID及内容 */
+        rt_kprintf("ID:%x  ", rxmsg.id);
+        for (i = 0; i < 8; i++)
+        {
+            rt_kprintf("%2x ", rxmsg.data[i]);
+        }
+
+        rt_kprintf("\n");
+    }
+}
+
+int can_sample(int argc, char *argv[])
+{
+    struct rt_can_msg msg = {0};
+    rt_err_t res;
+    rt_size_t  size;
+    rt_thread_t thread;
+    char can_name[RT_NAME_MAX];
+    
+    if (argc == 2)
+    {
+        rt_strncpy(can_name, argv[1], RT_NAME_MAX);
+    }
+    else
+    {
+        rt_strncpy(can_name, CAN_DEV_NAME, RT_NAME_MAX);
+    }
+
+    can_dev = rt_device_find(can_name);
+    if (!can_dev)
+    {
+        rt_kprintf("find %s failed!\n", can_name);
+        return RT_ERROR;
+    }
+
+    /* 初始化CAN接收信号量 */
+    rt_sem_init(&rx_sem, "rx_sem", 0, RT_IPC_FLAG_FIFO);
+
+    /* 以中断接收及发送方式打开CAN设备 */
+    res = rt_device_open(can_dev, RT_DEVICE_FLAG_INT_TX | RT_DEVICE_FLAG_INT_RX);
+    RT_ASSERT(res == RT_EOK);
+
+    thread = rt_thread_create("can_rx", can_rx_thread, RT_NULL, 1024, 25, 10);
+    if (thread != RT_NULL)
+    {
+        rt_thread_startup(thread);
+    }
+    else
+    {
+        rt_kprintf("create can_rx thread failed!\n");
+    }
+
+    msg.id = 0x78;              /* ID为0x78 */
+    msg.ide = RT_CAN_STDID;     /* 标准格式 */
+    msg.rtr = RT_CAN_DTR;       /* 数据帧 */
+    msg.len = 8;                /* 数据长度为8 */
+    /* 待发送的8字节数据 */
+    msg.data[0] = 0x00;
+    msg.data[1] = 0x11;
+    msg.data[2] = 0x22;
+    msg.data[3] = 0x33;
+    msg.data[4] = 0x44;
+    msg.data[5] = 0x55;
+    msg.data[6] = 0x66;
+    msg.data[7] = 0x77;
+    /* 发送一帧CAN数据 */
+    size = rt_device_write(can_dev, 0, &msg, sizeof(msg));
+    if (size == 0)
+    {
+        rt_kprintf("can dev write data failed!\n");
+    }
+    
+    return res;
+}
+/* 导出到 msh 命令列表中 */
+MSH_CMD_EXPORT(can_sample, can device sample);