菜鸟也想出把力 RT-Thread + STM32 + CanOpen(开源的CanFestival)

void can_recv_thread(void* parameter)
{
	recv_sem = rt_sem_create("recvsem", 0, RT_IPC_FLAG_FIFO);
	tran_sem = rt_sem_create("transem", 0, RT_IPC_FLAG_FIFO); 	

	can_slave_init();

	test_slave();

  /* Infinite loop*/
  while(1)
  {
		rt_sem_take(recv_sem, RT_WAITING_FOREVER);

		{
			uint32_t next;
			Message *pmsg;
			
			next = rx_read;
			pmsg = &rx_msg_buf[next];

    	/* Disable the Interrupt sources */
    	TIM5->DIER &= (uint16_t)~TIM_IT_CC1;
			canDispatch(&TestSlave_Data, pmsg);
			/* Enable the Interrupt sources */
    	TIM5->DIER |= TIM_IT_CC1;

			next++;
			if(next >= RX_BUF_LEN) next = 0;
			rx_read = next;
		}
  }
}

void TIM5_IRQHandler(void)
{
	uint16_t capture = 0;

	if (TIM_GetITStatus(TIM5, TIM_IT_CC1) != RESET)
	{
		TIM_ClearITPendingBit(TIM5, TIM_IT_CC1);
		last_time_set = TIM_GetCounter(TIM5);
		TimeDispatch();
	}
}

void USB_LP_CAN1_RX0_IRQHandler(void)
{
	{
		Message *pmsg;
		uint32_t i, next;

		CAN_Receive(CAN1, CAN_FIFO0, &RxMessage);

		next = (rx_save + 1) ;
		if(next >= RX_BUF_LEN) next = 0;
		if(next == rx_read)	return;

		pmsg = &rx_msg_buf[rx_save];
		/**< message's ID */
		pmsg->cob_id = (UNS16)RxMessage.StdId;		
		/**< remote transmission request.(0 if not rtr, 1 if rtr) */
		if(RxMessage.RTR == CAN_RTR_REMOTE)				
			pmsg->rtr = 1;		
		else
			pmsg->rtr = 0;

		/**< message's length (0 to 8) */
	  pmsg->len  = (UNS8)RxMessage.DLC;					
		for(i = 0; i < pmsg->len; i++)
			pmsg->data
 = RxMessage.Data
;

		rx_save = next;

		rt_sem_release(recv_sem);
	}
}

Free software CANopen framework

CanFestival focuses on providing an ANSI-C platform independent CANOpen? stack that can be built as master or slave nodes on PCs, Real-time IPCs, and Microcontrollers.

Runtime code is licensed LGPLv2, whereas accompanying developer tools are licensed GPLv2.

CanFestival was made free in 2001, and grow since thank to user community source code contributions.

非常好，非常好，大力支持

不知道lz后续时间如何，如果有可能希望能够把这块维护起来。另外关于CanOpen的实现，我得先看看它的许可证协议。

建议加个maillist吧，这样有什么问题也可以在邮件列表中沟通。

CAN是工业总线中极为常用的一种，我也希望RT-Thread在其中能够做好。