usrappinit.c

vxworks 下 扩展模式的can驱动以及测试代码

/* usrAppInit.c - stub application initialization routine */

/* Copyright 1984-1998 Wind River Systems, Inc. */

/*
modification history
--------------------
01a,02jun98,ms   written
*/

/*
DESCRIPTION
Initialize user application code.
*/ 

/******************************************************************************
*
* usrAppInit - initialize the users application
*/ 
#include "config.h"
#include "can20b.h"
#include <logLib.h>
#include <vxWorks.h>
#define MSG_LENGTH 13
extern void CanDrv();
extern void CanDevCreate();
void APP_CAN();
static void can0testfun();
static void can1testfun();
void can0sendfun();
void can1sendfun();
void can0receivefun();
void can1receivefun();

void usrAppInit (void)
    {
#ifdef	USER_APPL_INIT
	myAppInit();		/* for backwards compatibility */
#endif
       /* add application specific code here */
#ifdef	CAN_DRV
/*init CAN_DRV*/
	CanDrv();
	CanDevCreate();
	APP_CAN();
	#endif
}
int Fh0=0,Fh1=0;
void APP_CAN()
{
	
	/*create thead 1 for can0*/
	printf("_____________________________________");
	printf("_____________________________________\n");
	taskSpawn("can0_test",50,0x0100,4096,can0testfun,0,0,0,0,0,0,0,0,0,0);
	taskSpawn("can1_test",50,0x0100,4096,can1testfun,0,0,0,0,0,0,0,0,0,0);
}
void can0testfun()
{
	CANCFG S_CanConfig1;
	S_CanConfig1.filter_num=1;
	S_CanConfig1.acc_code[0]=0x00;
	S_CanConfig1.acc_code[1]=0x00;
	S_CanConfig1.acc_code[2]=0x00;
	S_CanConfig1.acc_code[3]=0x00;
	S_CanConfig1.acc_mask[0]=0xff;
	S_CanConfig1.acc_mask[1]=0xff;
	S_CanConfig1.acc_mask[2]=0xff;
	S_CanConfig1.acc_mask[3]=0xff;
	S_CanConfig1.mode=0;
	S_CanConfig1.bt0=0x00;/*brp=(clk/(bt0+1))/50*/
	S_CanConfig1.bt1=0x14;
	Fh0=open("can0",2,0x700);
	ioctl(Fh0,CAN_INIT,(int)(&S_CanConfig1));
	printf("************************<CAN0 CONFIG PARAMETER>*************************\n");
	printf("  (PeliCAN MODE)\n");
	printf("  (ONE FILETER)\n");
	printf("  (POLLING RECEIVE MODE)\n");
	printf("  (BRP SPEED IS 1MBIT/SECOND)\n");
	printf("  (ACCEPT DATA FROM ALL ID)\n");
	printf("************************************************************************\n");
	taskDelay(500);
	taskSpawn("can0_send_test",60,0x0100,4096,can0sendfun,0,0,0,0,0,0,0,0,0,0);
	taskSpawn("can0_receive_test",60,0x0100,4096,can0receivefun,0,0,0,0,0,0,0,0,0,0);
}
void can1testfun()
{
	CANCFG S_CanConfig2;
	S_CanConfig2.filter_num=1;
	S_CanConfig2.acc_code[0]=0x00;
	S_CanConfig2.acc_code[1]=0x00;
	S_CanConfig2.acc_code[2]=0x00;
	S_CanConfig2.acc_code[3]=0x00;
	S_CanConfig2.acc_mask[0]=0xff;
	S_CanConfig2.acc_mask[1]=0xff;
	S_CanConfig2.acc_mask[2]=0xff;
	S_CanConfig2.acc_mask[3]=0xff;
	S_CanConfig2.mode=0;/*interrupt/pollinig*/
	S_CanConfig2.bt0=0x00;/*brp=(clk/(bt0+1))/50*/
	S_CanConfig2.bt1=0x14;
	Fh1=open("can1",2,0x700);
	ioctl(Fh1,CAN_INIT,(int)(&S_CanConfig2));
	printf("************************<CAN1 CONFIG PARAMETER>*************************\n");
	printf("  (PeliCAN MODE)\n");
	printf("  (ONE FILETER)\n");
	printf("  (POLLING RECEIVE MODE)\n");
	printf("  (BRP SPEED IS 1MBIT/SECOND)\n");
	printf("  (ACCEPT DATA FROM ALL ID)\n");
	printf("************************************************************************\n");
	taskDelay(500);
	taskSpawn("can1_send_test",60,0x0100,4096,can1sendfun,0,0,0,0,0,0,0,0,0,0);
	taskSpawn("can1_receive_test",60,0x0100,4096,can1receivefun,0,0,0,0,0,0,0,0,0,0);
}
void can0sendfun()
{
	CANMSG	S_TMSG1;
	BYTE Result=0;
	int i=0;
	/*send message1*/
	S_TMSG1.sff=1;
	S_TMSG1.id[0]=0x00;
	S_TMSG1.id[1]=0x00;
	S_TMSG1.rtr=0;
	S_TMSG1.dlen=8;
	S_TMSG1.data[0]=0;
	S_TMSG1.data[1]=0;
	S_TMSG1.data[2]=0;
	S_TMSG1.data[3]=0;
	S_TMSG1.data[4]=0;
	S_TMSG1.data[5]=0;
	S_TMSG1.data[6]=0;
	S_TMSG1.data[7]=0;
	while(1){
		S_TMSG1.data[0]=(S_TMSG1.data[0]+1)%128;
		S_TMSG1.data[1]=(S_TMSG1.data[1]+1)%128;
		S_TMSG1.data[2]=(S_TMSG1.data[2]+1)%128;
		S_TMSG1.data[3]=(S_TMSG1.data[3]+1)%128;
		S_TMSG1.data[4]=(S_TMSG1.data[4]+1)%128;
		S_TMSG1.data[5]=(S_TMSG1.data[5]+1)%128;
		S_TMSG1.data[6]=(S_TMSG1.data[6]+1)%128;
		S_TMSG1.data[7]=(S_TMSG1.data[7]+1)%128;
		i++;
		Result=write(Fh0,((char *)(&S_TMSG1)),MSG_LENGTH);
		printf("[CAN0 SEND DATA%d]------------------->0x%x 0x%x 0x%x 0x%x 0x%x 0x%x 0x%x 0x%x\n",\
			i,S_TMSG1.data[0],S_TMSG1.data[1],S_TMSG1.data[2],\
			S_TMSG1.data[3],S_TMSG1.data[4],S_TMSG1.data[5],\
			S_TMSG1.data[6],S_TMSG1.data[7]);
		taskDelay(500);
	}
	close(Fh0);
}
void can1sendfun()
{
	CANMSG	S_TMSG2;
	BYTE Result=0;
	int i=0;
	/*send message1*/
	S_TMSG2.sff=1;
	S_TMSG2.id[0]=0x00;
	S_TMSG2.id[1]=0x00;
	S_TMSG2.rtr=0;
	S_TMSG2.dlen=8;
	S_TMSG2.data[0]=1;
	S_TMSG2.data[1]=1;
	S_TMSG2.data[2]=1;
	S_TMSG2.data[3]=1;
	S_TMSG2.data[4]=1;
	S_TMSG2.data[5]=1;
	S_TMSG2.data[6]=1;
	S_TMSG2.data[7]=1;
	while(1){
		S_TMSG2.data[0]=(S_TMSG2.data[0]+1)%128;
		S_TMSG2.data[1]=(S_TMSG2.data[1]+1)%128;
		S_TMSG2.data[2]=(S_TMSG2.data[2]+1)%128;
		S_TMSG2.data[3]=(S_TMSG2.data[3]+1)%128;
		S_TMSG2.data[4]=(S_TMSG2.data[4]+1)%128;
		S_TMSG2.data[5]=(S_TMSG2.data[5]+1)%128;
		S_TMSG2.data[6]=(S_TMSG2.data[6]+1)%128;
		S_TMSG2.data[7]=(S_TMSG2.data[7]+1)%128;
		Result=write(Fh1,((char *)(&S_TMSG2)),MSG_LENGTH);
		i++;
		printf("[CAN1 SEND DATA%d]------------------->0x%x 0x%x 0x%x 0x%x 0x%x 0x%x 0x%x 0x%x\n",\
			i,S_TMSG2.data[0],S_TMSG2.data[1],S_TMSG2.data[2],\
			S_TMSG2.data[3],S_TMSG2.data[4],S_TMSG2.data[5],\
			S_TMSG2.data[6],S_TMSG2.data[7]);
		taskDelay(500);
	}
	close(Fh1);
}
void can0receivefun()
{
	CANMSG S_RMSG1;
	int i=0;
	BYTE Result=0;
	while(1){
		Result=read(Fh0,((char *)(&S_RMSG1)),MSG_LENGTH);
		i++;
		printf("{CAN0 RECEIVE DATA%d}---------------->0x%x 0x%x 0x%x 0x%x 0x%x 0x%x 0x%x 0x%x\n",\
			i,S_RMSG1.data[0],S_RMSG1.data[1],S_RMSG1.data[2],\
			S_RMSG1.data[3],S_RMSG1.data[4],S_RMSG1.data[5],\
			S_RMSG1.data[6],S_RMSG1.data[7]);
		taskDelay(500);
	}
	
}
void can1receivefun()
{
	CANMSG S_RMSG2;
	int i=0;
	BYTE Result=0;
	while(1){
		Result=read(Fh1,((char *)(&S_RMSG2)),MSG_LENGTH);
		i++;
		printf("{CAN1 RECEIVE DATA%d}---------------->0x%x 0x%x 0x%x 0x%x 0x%x 0x%x 0x%x 0x%x\n",\
			i,S_RMSG2.data[0],S_RMSG2.data[1],S_RMSG2.data[2],\
			S_RMSG2.data[3],S_RMSG2.data[4],S_RMSG2.data[5],\
			S_RMSG2.data[6],S_RMSG2.data[7]);
		taskDelay(500);
	}
	
}