freertos: Move CAN test to a thread

2 files changed, 302 insertions, 254 deletions

diff --git a/board/pin_mux.c b/board/pin_mux.c
index 842ce5c..6824e96 100644
--- a/board/pin_mux.c
+++ b/board/pin_mux.c
@@ -102,9 +102,9 @@ void BOARD_InitPins(void)
 		od_config.passiveFilterEnable = kPORT_PassiveFilterDisable;
 		od_config.driveStrength = kPORT_LowDriveStrength;
 		od_config.lockRegister = kPORT_UnlockRegister;
-		GPIO_PinInit(GPIOA, 16u, &gpio_out_config);
+		GPIO_PinInit(GPIOA, 16u, &gpio_out_hi_config);
 		PORT_SetPinConfig(PORTA, 16u, &od_config); /* MCU_INT1 */
-		GPIO_PinInit(GPIOA, 29u, &gpio_out_hi_config);
+		GPIO_PinInit(GPIOA, 29u, &gpio_out_config);
 		PORT_SetPinConfig(PORTA, 29u, &od_config); /* MCU_INT2 */
 		GPIO_PinInit(GPIOB, 8u, &gpio_out_config);
 		PORT_SetPinConfig(PORTB, 8u, &od_config); /* MCU_INT3 */
diff --git a/source/main.c b/source/main.c
index d7e10e4..80d5ed5 100644
--- a/source/main.c
+++ b/source/main.c
@@ -64,56 +64,59 @@
 #define hello_task_PRIORITY (configMAX_PRIORITIES - 1)
 #define USB_HOST_INTERRUPT_PRIORITY (5U)
 
+/* Task handles */
+TaskHandle_t can_task_handle;
+TaskHandle_t usb_task_handle;
+TaskHandle_t hello_task_handle;
+
 /*!
  * @brief Task responsible for printing of "Hello world." message.
  */
 static void hello_task(void *pvParameters) {
-  for (;;) {
-	PRINTF("Hello world.\r\n");
-	/* Add your code here */
-    vTaskDelay(5000);
-  }
+	for (;;) {
+		PRINTF("Hello world.\r\n");
+		/* Add your code here */
+		vTaskDelay(5000);
+	}
 }
 
 usb_host_handle g_HostHandle;
 
 static usb_status_t USB_HostEvent(usb_device_handle deviceHandle,
-                                  usb_host_configuration_handle configurationHandle,
-                                  uint32_t eventCode)
+		usb_host_configuration_handle configurationHandle,
+		uint32_t eventCode)
 {
-    usb_status_t status = kStatus_USB_Success;
-    uint32_t infoValue;
-
-    switch (eventCode)
-    {
-        case kUSB_HostEventAttach:
-        	usb_echo("device attached.\r\n");
-           // status = USB_HostMsdEvent(deviceHandle, configurationHandle, eventCode);
-            break;
-
-        case kUSB_HostEventNotSupported:
-            usb_echo("device not supported.\r\n");
-            break;
-
-        case kUSB_HostEventEnumerationDone:
-        	usb_echo("device enumerated.\r\n");
-            USB_HostHelperGetPeripheralInformation(deviceHandle, kUSB_HostGetDevicePID, &infoValue);
-            usb_echo("PID = 0x%x ", infoValue);
-            USB_HostHelperGetPeripheralInformation(deviceHandle, kUSB_HostGetDeviceVID, &infoValue);
-            usb_echo("VID = 0x%x \r\n", infoValue);
-           // status = USB_HostMsdEvent(deviceHandle, configurationHandle, eventCode);
-            break;
-
-        case kUSB_HostEventDetach:
-        	usb_echo("device removed.\r\n");
-        	USB_HostCloseDeviceInterface(deviceHandle, NULL);
-           // status = USB_HostMsdEvent(deviceHandle, configurationHandle, eventCode);
-            break;
-
-        default:
-            break;
-    }
-    return status;
+	usb_status_t status = kStatus_USB_Success;
+	uint32_t infoValue;
+
+	switch (eventCode)
+	{
+	case kUSB_HostEventAttach:
+		usb_echo("device attached.\r\n");
+		break;
+
+	case kUSB_HostEventNotSupported:
+		usb_echo("device not supported.\r\n");
+		break;
+
+	case kUSB_HostEventEnumerationDone:
+		usb_echo("device enumerated.\r\n");
+		USB_HostHelperGetPeripheralInformation(deviceHandle, kUSB_HostGetDevicePID, &infoValue);
+		usb_echo("PID = 0x%x ", infoValue);
+		USB_HostHelperGetPeripheralInformation(deviceHandle, kUSB_HostGetDeviceVID, &infoValue);
+		usb_echo("VID = 0x%x \r\n", infoValue);
+		vTaskResume(can_task_handle);
+		break;
+
+	case kUSB_HostEventDetach:
+		usb_echo("device removed.\r\n");
+		USB_HostCloseDeviceInterface(deviceHandle, NULL);
+		break;
+
+	default:
+		break;
+	}
+	return status;
 }
 
 /*!
@@ -122,60 +125,60 @@ static usb_status_t USB_HostEvent(usb_device_handle deviceHandle,
 #if ((defined USB_HOST_CONFIG_KHCI) && (USB_HOST_CONFIG_KHCI))
 void USB0_IRQHandler(void)
 {
-    USB_HostKhciIsrFunction(g_HostHandle);
+	USB_HostKhciIsrFunction(g_HostHandle);
 }
 #endif /* USB_HOST_CONFIG_KHCI */
 #if ((defined USB_HOST_CONFIG_EHCI) && (USB_HOST_CONFIG_EHCI))
 void USBHS_IRQHandler(void)
 {
-    USB_HostEhciIsrFunction(g_HostHandle);
+	USB_HostEhciIsrFunction(g_HostHandle);
 }
 #endif /* USB_HOST_CONFIG_EHCI */
 
 static void USB_HostApplicationInit(void)
 {
-    usb_status_t status = kStatus_USB_Success;
+	usb_status_t status = kStatus_USB_Success;
 
 #if ((defined USB_HOST_CONFIG_KHCI) && (USB_HOST_CONFIG_KHCI))
-    #if (defined(FSL_FEATURE_SOC_SCG_COUNT) && (FSL_FEATURE_SOC_SCG_COUNT > 0U))
-        CLOCK_EnableUsbfs0Clock(kCLOCK_IpSrcFircAsync, CLOCK_GetFreq(kCLOCK_ScgFircAsyncDiv1Clk));
-    #else
-        CLOCK_EnableUsbfs0Clock(kCLOCK_UsbSrcPll0, CLOCK_GetFreq(kCLOCK_PllFllSelClk));
-    #endif
+#if (defined(FSL_FEATURE_SOC_SCG_COUNT) && (FSL_FEATURE_SOC_SCG_COUNT > 0U))
+	CLOCK_EnableUsbfs0Clock(kCLOCK_IpSrcFircAsync, CLOCK_GetFreq(kCLOCK_ScgFircAsyncDiv1Clk));
+#else
+	CLOCK_EnableUsbfs0Clock(kCLOCK_UsbSrcPll0, CLOCK_GetFreq(kCLOCK_PllFllSelClk));
+#endif
 #endif /* USB_HOST_CONFIG_KHCI */
 #if ((defined USB_HOST_CONFIG_EHCI) && (USB_HOST_CONFIG_EHCI))
-    IRQn_Type usbHsIrqs[] = USBHS_IRQS;
-    usbIrq = usbHsIrqs[CONTROLLER_ID - kUSB_ControllerEhci0];
-    CLOCK_EnableUsbhs0Clock(kCLOCK_UsbSrcPll0, CLOCK_GetFreq(kCLOCK_PllFllSelClk));
-    USB_EhciPhyInit(CONTROLLER_ID, BOARD_XTAL0_CLK_HZ);
+	IRQn_Type usbHsIrqs[] = USBHS_IRQS;
+	usbIrq = usbHsIrqs[CONTROLLER_ID - kUSB_ControllerEhci0];
+	CLOCK_EnableUsbhs0Clock(kCLOCK_UsbSrcPll0, CLOCK_GetFreq(kCLOCK_PllFllSelClk));
+	USB_EhciPhyInit(CONTROLLER_ID, BOARD_XTAL0_CLK_HZ);
 #endif /* USB_HOST_CONFIG_EHCI */
 #if ((defined FSL_FEATURE_SOC_MPU_COUNT) && (FSL_FEATURE_SOC_MPU_COUNT))
-    MPU_Enable(MPU, 0);
+	MPU_Enable(MPU, 0);
 #endif /* FSL_FEATURE_SOC_MPU_COUNT */
 
-    status = USB_HostInit(CONTROLLER_ID, &g_HostHandle, USB_HostEvent);
-    if (status != kStatus_USB_Success)
-    {
-        usb_echo("host init error\r\n");
-        return;
-    }
-    NVIC_SetPriority(USB0_IRQn, USB_HOST_INTERRUPT_PRIORITY);
-    NVIC_EnableIRQ(USB0_IRQn);
+	status = USB_HostInit(CONTROLLER_ID, &g_HostHandle, USB_HostEvent);
+	if (status != kStatus_USB_Success)
+	{
+		usb_echo("host init error\r\n");
+		return;
+	}
+	NVIC_SetPriority(USB0_IRQn, USB_HOST_INTERRUPT_PRIORITY);
+	NVIC_EnableIRQ(USB0_IRQn);
 
-    usb_echo("host init done\r\n");
+	usb_echo("host init done\r\n");
 }
 
 static void USB_HostTask(void *param)
 {
-    while (1)
-    {
+	while (1)
+	{
 #if ((defined USB_HOST_CONFIG_KHCI) && (USB_HOST_CONFIG_KHCI))
-        USB_HostKhciTaskFunction(param);
+		USB_HostKhciTaskFunction(param);
 #endif /* USB_HOST_CONFIG_KHCI */
 #if ((defined USB_HOST_CONFIG_EHCI) && (USB_HOST_CONFIG_EHCI))
-        USB_HostEhciTaskFunction(param);
+		USB_HostEhciTaskFunction(param);
 #endif /* USB_HOST_CONFIG_EHCI */
-    }
+	}
 }
 
 
@@ -190,207 +193,252 @@ uint32_t rxIdentifier[2];
 volatile bool txComplete[2] = {false, false};
 volatile bool rxComplete[2] = {false, false};
 
+typedef struct _callback_message_t
+{
+	status_t async_status;
+	SemaphoreHandle_t sem;
+} callback_message_t;
+
 static void flexcan_callback0(CAN_Type *base, flexcan_handle_t *handle, status_t status, uint32_t result, void *userData)
 {
-    switch (status)
-    {
-        case kStatus_FLEXCAN_RxIdle:
-            if (RX_MESSAGE_BUFFER_NUM == result)
-            {
-                rxComplete[0] = true;
-            }
-            break;
-
-        case kStatus_FLEXCAN_TxIdle:
-            if (TX_MESSAGE_BUFFER_NUM == result)
-            {
-                txComplete[0] = true;
-            }
-            break;
-
-        default:
-            break;
-    }
+	callback_message_t * cb = (callback_message_t*) userData;
+	BaseType_t reschedule = pdFALSE;
+
+	switch (status)
+	{
+	case kStatus_FLEXCAN_RxIdle:
+		if (RX_MESSAGE_BUFFER_NUM == result)
+		{
+			xSemaphoreGiveFromISR(cb->sem, &reschedule);
+		}
+		break;
+
+	case kStatus_FLEXCAN_TxIdle:
+		if (TX_MESSAGE_BUFFER_NUM == result)
+		{
+		}
+		break;
+
+	default:
+		break;
+	}
+	portYIELD_FROM_ISR(reschedule);
 }
 
 static void flexcan_callback1(CAN_Type *base, flexcan_handle_t *handle, status_t status, uint32_t result, void *userData)
 {
-    switch (status)
-    {
-        case kStatus_FLEXCAN_RxIdle:
-            if (RX_MESSAGE_BUFFER_NUM1 == result)
-            {
-                rxComplete[1] = true;
-            }
-            break;
-
-        case kStatus_FLEXCAN_TxIdle:
-            if (TX_MESSAGE_BUFFER_NUM1 == result)
-            {
-                txComplete[1] = true;
-            }
-            break;
-
-        default:
-            break;
-    }
+	callback_message_t * cb = (callback_message_t*) userData;
+	BaseType_t reschedule = pdFALSE;
+
+	switch (status)
+	{
+	case kStatus_FLEXCAN_RxIdle:
+		if (RX_MESSAGE_BUFFER_NUM1 == result)
+		{
+			xSemaphoreGiveFromISR(cb->sem, &reschedule);
+		}
+		break;
+
+	case kStatus_FLEXCAN_TxIdle:
+		if (TX_MESSAGE_BUFFER_NUM1 == result)
+		{
+		}
+		break;
+
+	default:
+		break;
+	}
+	portYIELD_FROM_ISR(reschedule);
 }
 
 void CAN_Init()
 {
-    flexcan_config_t flexcanConfig;
-    flexcan_rx_mb_config_t mbConfig;
-
-    txIdentifier[0] = 0x321;
-    rxIdentifier[0] = 0x123;
-    txIdentifier[1] = 0x123;
-    rxIdentifier[1] = 0x321;
-
-    /* Get FlexCAN module default Configuration. */
-    /*
-     * flexcanConfig.clkSrc = kFLEXCAN_ClkSrcOsc;
-     * flexcanConfig.baudRate = 125000U;
-     * flexcanConfig.maxMbNum = 16;
-     * flexcanConfig.enableLoopBack = false;
-     * flexcanConfig.enableSelfWakeup = false;
-     * flexcanConfig.enableIndividMask = false;
-     * flexcanConfig.enableDoze = false;
-     */
-    FLEXCAN_GetDefaultConfig(&flexcanConfig);
-
-    /* Init FlexCAN module. */
-    flexcanConfig.clkSrc = kFLEXCAN_ClkSrcPeri;
-    FLEXCAN_Init(CAN0, &flexcanConfig, CLOCK_GetFreq(kCLOCK_BusClk));
-
-    /* Create FlexCAN handle structure and set call back function. */
-    FLEXCAN_TransferCreateHandle(CAN0, &flexcanHandle[0], flexcan_callback0, NULL);
-
-    /* Set Rx Masking mechanism. */
-    FLEXCAN_SetRxMbGlobalMask(CAN0, FLEXCAN_RX_MB_STD_MASK(rxIdentifier[0], 0, 0));
-
-    /* Setup Rx Message Buffer. */
-    mbConfig.format = kFLEXCAN_FrameFormatStandard;
-    mbConfig.type = kFLEXCAN_FrameTypeData;
-    mbConfig.id = FLEXCAN_ID_STD(rxIdentifier[0]);
-    FLEXCAN_SetRxMbConfig(CAN0, RX_MESSAGE_BUFFER_NUM, &mbConfig, true);
-
-    /* Setup Tx Message Buffer. */
-    FLEXCAN_SetTxMbConfig(CAN0, TX_MESSAGE_BUFFER_NUM, true);
-
-    /* Get FlexCAN module default Configuration. */
-    /*
-     * flexcanConfig.clkSrc = kFLEXCAN_ClkSrcOsc;
-     * flexcanConfig.baudRate = 125000U;
-     * flexcanConfig.maxMbNum = 16;
-     * flexcanConfig.enableLoopBack = false;
-     * flexcanConfig.enableSelfWakeup = false;
-     * flexcanConfig.enableIndividMask = false;
-     * flexcanConfig.enableDoze = false;
-     */
-    FLEXCAN_GetDefaultConfig(&flexcanConfig);
-
-    /* Init FlexCAN module. */
-    flexcanConfig.clkSrc = kFLEXCAN_ClkSrcPeri;
-    FLEXCAN_Init(CAN1, &flexcanConfig, CLOCK_GetFreq(kCLOCK_BusClk));
-
-    /* Create FlexCAN handle structure and set call back function. */
-    FLEXCAN_TransferCreateHandle(CAN1, &flexcanHandle[1], flexcan_callback1, NULL);
-
-    /* Set Rx Masking mechanism. */
-    FLEXCAN_SetRxMbGlobalMask(CAN1, FLEXCAN_RX_MB_STD_MASK(rxIdentifier[1], 0, 0));
-
-    /* Setup Rx Message Buffer. */
-    mbConfig.format = kFLEXCAN_FrameFormatStandard;
-    mbConfig.type = kFLEXCAN_FrameTypeData;
-    mbConfig.id = FLEXCAN_ID_STD(rxIdentifier[1]);
-    FLEXCAN_SetRxMbConfig(CAN1, RX_MESSAGE_BUFFER_NUM1, &mbConfig, true);
-
-    /* Setup Tx Message Buffer. */
-    FLEXCAN_SetTxMbConfig(CAN1, TX_MESSAGE_BUFFER_NUM1, true);
-    PRINTF("CAN init done \r\n");
+	flexcan_config_t flexcanConfig;
+	flexcan_rx_mb_config_t mbConfig;
+
+	txIdentifier[0] = 0x321;
+	rxIdentifier[0] = 0x123;
+	txIdentifier[1] = 0x123;
+	rxIdentifier[1] = 0x321;
+
+	/* Get FlexCAN module default Configuration. */
+	/*
+	 * flexcanConfig.clkSrc = kFLEXCAN_ClkSrcOsc;
+	 * flexcanConfig.baudRate = 125000U;
+	 * flexcanConfig.maxMbNum = 16;
+	 * flexcanConfig.enableLoopBack = false;
+	 * flexcanConfig.enableSelfWakeup = false;
+	 * flexcanConfig.enableIndividMask = false;
+	 * flexcanConfig.enableDoze = false;
+	 */
+	FLEXCAN_GetDefaultConfig(&flexcanConfig);
+
+	/* Init FlexCAN module. */
+	flexcanConfig.clkSrc = kFLEXCAN_ClkSrcPeri;
+	FLEXCAN_Init(CAN0, &flexcanConfig, CLOCK_GetFreq(kCLOCK_BusClk));
+
+	/* Create FlexCAN handle structure and set call back function. */
+	FLEXCAN_TransferCreateHandle(CAN0, &flexcanHandle[0], flexcan_callback0, flexcanHandle[0].userData);
+
+	/* Set Rx Masking mechanism. */
+	FLEXCAN_SetRxMbGlobalMask(CAN0, FLEXCAN_RX_MB_STD_MASK(rxIdentifier[0], 0, 0));
+
+	/* Setup Rx Message Buffer. */
+	mbConfig.format = kFLEXCAN_FrameFormatStandard;
+	mbConfig.type = kFLEXCAN_FrameTypeData;
+	mbConfig.id = FLEXCAN_ID_STD(rxIdentifier[0]);
+	FLEXCAN_SetRxMbConfig(CAN0, RX_MESSAGE_BUFFER_NUM, &mbConfig, true);
+
+	/* Setup Tx Message Buffer. */
+	FLEXCAN_SetTxMbConfig(CAN0, TX_MESSAGE_BUFFER_NUM, true);
+
+	/* Get FlexCAN module default Configuration. */
+	/*
+	 * flexcanConfig.clkSrc = kFLEXCAN_ClkSrcOsc;
+	 * flexcanConfig.baudRate = 125000U;
+	 * flexcanConfig.maxMbNum = 16;
+	 * flexcanConfig.enableLoopBack = false;
+	 * flexcanConfig.enableSelfWakeup = false;
+	 * flexcanConfig.enableIndividMask = false;
+	 * flexcanConfig.enableDoze = false;
+	 */
+	FLEXCAN_GetDefaultConfig(&flexcanConfig);
+
+	/* Init FlexCAN module. */
+	flexcanConfig.clkSrc = kFLEXCAN_ClkSrcPeri;
+	FLEXCAN_Init(CAN1, &flexcanConfig, CLOCK_GetFreq(kCLOCK_BusClk));
+
+	/* Create FlexCAN handle structure and set call back function. */
+	FLEXCAN_TransferCreateHandle(CAN1, &flexcanHandle[1], flexcan_callback1, flexcanHandle[1].userData);
+
+	/* Set Rx Masking mechanism. */
+	FLEXCAN_SetRxMbGlobalMask(CAN1, FLEXCAN_RX_MB_STD_MASK(rxIdentifier[1], 0, 0));
+
+	/* Setup Rx Message Buffer. */
+	mbConfig.format = kFLEXCAN_FrameFormatStandard;
+	mbConfig.type = kFLEXCAN_FrameTypeData;
+	mbConfig.id = FLEXCAN_ID_STD(rxIdentifier[1]);
+	FLEXCAN_SetRxMbConfig(CAN1, RX_MESSAGE_BUFFER_NUM1, &mbConfig, true);
+
+	/* Setup Tx Message Buffer. */
+	FLEXCAN_SetTxMbConfig(CAN1, TX_MESSAGE_BUFFER_NUM1, true);
+	PRINTF("CAN init done \r\n");
+}
+
+
+static void can_test_task(void *pvParameters) {
+	flexcan_frame_t txFrame, rxFrame;
+	flexcan_mb_transfer_t txXfer, rxXfer;
+	callback_message_t cb_msg[2];
+
+	cb_msg[0].sem = xSemaphoreCreateBinary();
+	cb_msg[1].sem = xSemaphoreCreateBinary();
+	flexcanHandle[0].userData = (void *) &cb_msg[0];
+	flexcanHandle[1].userData = (void *) &cb_msg[1];
+	CAN_Init();
+
+	vTaskSuspend(NULL);
+	rxXfer.frame = &rxFrame;
+	rxXfer.mbIdx = RX_MESSAGE_BUFFER_NUM1;
+	FLEXCAN_TransferReceiveNonBlocking(CAN1, &flexcanHandle[1], &rxXfer);
+
+	txFrame.format = kFLEXCAN_FrameFormatStandard;
+	txFrame.type = kFLEXCAN_FrameTypeData;
+	txFrame.id = FLEXCAN_ID_STD(0x321);
+	txFrame.length = 8;
+	txFrame.dataWord0 = CAN_WORD0_DATA_BYTE_0(0x11) | CAN_WORD0_DATA_BYTE_1(0x22) | CAN_WORD0_DATA_BYTE_2(0x33) |
+			CAN_WORD0_DATA_BYTE_3(0x44);
+	txFrame.dataWord1 = CAN_WORD1_DATA_BYTE_4(0x55) | CAN_WORD1_DATA_BYTE_5(0x66) | CAN_WORD1_DATA_BYTE_6(0x77) |
+			CAN_WORD1_DATA_BYTE_7(0x88);
+	txXfer.frame = &txFrame;
+	txXfer.mbIdx = TX_MESSAGE_BUFFER_NUM;
+
+	PRINTF("\r\nCAN0->CAN1 ");
+
+	FLEXCAN_TransferSendNonBlocking(CAN0, &flexcanHandle[0], &txXfer);
+	if (xSemaphoreTake(cb_msg[1].sem, 1000u) == pdFALSE)
+	{
+		PRINTF("FAIL!\r\n");
+		FLEXCAN_TransferAbortSend(CAN0, &flexcanHandle[0], &txXfer);
+		FLEXCAN_TransferAbortReceive(CAN1, &flexcanHandle[1], &rxXfer);
+	}
+	else
+	{
+		PRINTF("SUCCESS!\r\n");
+	}
+
+	rxXfer.frame = &rxFrame;
+	rxXfer.mbIdx = RX_MESSAGE_BUFFER_NUM;
+	FLEXCAN_TransferReceiveNonBlocking(CAN0, &flexcanHandle[0], &rxXfer);
+
+	txFrame.format = kFLEXCAN_FrameFormatStandard;
+	txFrame.type = kFLEXCAN_FrameTypeData;
+	txFrame.id = FLEXCAN_ID_STD(0x123);
+	txFrame.length = 8;
+	txFrame.dataWord0 = CAN_WORD0_DATA_BYTE_0(0x11) | CAN_WORD0_DATA_BYTE_1(0x22) | CAN_WORD0_DATA_BYTE_2(0x33) |
+			CAN_WORD0_DATA_BYTE_3(0x44);
+	txFrame.dataWord1 = CAN_WORD1_DATA_BYTE_4(0x55) | CAN_WORD1_DATA_BYTE_5(0x66) | CAN_WORD1_DATA_BYTE_6(0x77) |
+			CAN_WORD1_DATA_BYTE_7(0x88);
+	txXfer.frame = &txFrame;
+	txXfer.mbIdx = TX_MESSAGE_BUFFER_NUM1;
+
+	PRINTF("CAN1->CAN0 ");
+
+	FLEXCAN_TransferSendNonBlocking(CAN1, &flexcanHandle[1], &txXfer);
+	if (xSemaphoreTake(cb_msg[0].sem, 1000u ) == pdFALSE)
+	{
+		PRINTF("FAIL!\r\n");
+		FLEXCAN_TransferAbortSend(CAN1, &flexcanHandle[0], &txXfer);
+		FLEXCAN_TransferAbortReceive(CAN0, &flexcanHandle[1], &rxXfer);
+	}
+	else
+	{
+		PRINTF("SUCCESS!\r\n");
+	}
+
+	vSemaphoreDelete(cb_msg[0].sem);
+	vSemaphoreDelete(cb_msg[1].sem);
+
+	vTaskDelete(NULL);
 }
 
 /*!
  * @brief Application entry point.
  */
 int main(void) {
-  flexcan_frame_t txFrame, rxFrame;
-  flexcan_mb_transfer_t txXfer, rxXfer;
-  /* Init board hardware. */
-  BOARD_InitPins();
-  BOARD_BootClockRUN();
-  BOARD_InitDebugConsole();
-  PRINTF("Hello!\r\n");
-  USB_HostApplicationInit();
-  CAN_Init();
-
-  /* Add your code here */
-  rxXfer.frame = &rxFrame;
-  rxXfer.mbIdx = RX_MESSAGE_BUFFER_NUM1;
-  FLEXCAN_TransferReceiveNonBlocking(CAN1, &flexcanHandle[1], &rxXfer);
-
-  txFrame.format = kFLEXCAN_FrameFormatStandard;
-  txFrame.type = kFLEXCAN_FrameTypeData;
-  txFrame.id = FLEXCAN_ID_STD(0x321);
-  txFrame.length = 8;
-  txFrame.dataWord0 = CAN_WORD0_DATA_BYTE_0(0x11) | CAN_WORD0_DATA_BYTE_1(0x22) | CAN_WORD0_DATA_BYTE_2(0x33) |
-                      CAN_WORD0_DATA_BYTE_3(0x44);
-  txFrame.dataWord1 = CAN_WORD1_DATA_BYTE_4(0x55) | CAN_WORD1_DATA_BYTE_5(0x66) | CAN_WORD1_DATA_BYTE_6(0x77) |
-                      CAN_WORD1_DATA_BYTE_7(0x88);
-  txXfer.frame = &txFrame;
-  txXfer.mbIdx = TX_MESSAGE_BUFFER_NUM;
-
-  PRINTF("tx word0 = 0x%x\r\n", txFrame.dataWord0);
-  PRINTF("tx word1 = 0x%x\r\n", txFrame.dataWord1);
-  PRINTF("CAN0->CAN1\r\n");
-
-  FLEXCAN_TransferSendNonBlocking(CAN0, &flexcanHandle[0], &txXfer);
-  while (!rxComplete[1])
-  {
-  }
-  PRINTF("rx word0 = 0x%x\r\n", rxFrame.dataWord0);
-  PRINTF("rx word1 = 0x%x\r\n", rxFrame.dataWord1);
-
-  rxXfer.frame = &rxFrame;
-  rxXfer.mbIdx = RX_MESSAGE_BUFFER_NUM;
-  FLEXCAN_TransferReceiveNonBlocking(CAN0, &flexcanHandle[0], &rxXfer);
-
-  txFrame.format = kFLEXCAN_FrameFormatStandard;
-  txFrame.type = kFLEXCAN_FrameTypeData;
-  txFrame.id = FLEXCAN_ID_STD(0x123);
-  txFrame.length = 8;
-  txFrame.dataWord0 = CAN_WORD0_DATA_BYTE_0(0x11) | CAN_WORD0_DATA_BYTE_1(0x22) | CAN_WORD0_DATA_BYTE_2(0x33) |
-                      CAN_WORD0_DATA_BYTE_3(0x44);
-  txFrame.dataWord1 = CAN_WORD1_DATA_BYTE_4(0x55) | CAN_WORD1_DATA_BYTE_5(0x66) | CAN_WORD1_DATA_BYTE_6(0x77) |
-                      CAN_WORD1_DATA_BYTE_7(0x88);
-  txXfer.frame = &txFrame;
-  txXfer.mbIdx = TX_MESSAGE_BUFFER_NUM1;
-
-  PRINTF("tx word0 = 0x%x\r\n", txFrame.dataWord0);
-  PRINTF("tx word1 = 0x%x\r\n", txFrame.dataWord1);
-  PRINTF("CAN1->CAN0\r\n");
-
-  FLEXCAN_TransferSendNonBlocking(CAN1, &flexcanHandle[1], &txXfer);
-  while (!rxComplete[0])
-  {
-  }
-  PRINTF("rx word0 = 0x%x\r\n", rxFrame.dataWord0);
-  PRINTF("rx word1 = 0x%x\r\n", rxFrame.dataWord1);
-
-  /* Create RTOS task */
-  if (xTaskCreate(USB_HostTask, "usb host task", 2000L / sizeof(portSTACK_TYPE), g_HostHandle, 4, NULL) != pdPASS)
-  {
-      usb_echo("create host task error\r\n");
-  }
-  if(xTaskCreate(hello_task, "Hello_task", configMINIMAL_STACK_SIZE, NULL, hello_task_PRIORITY, NULL) != pdPASS)
-  {
-	  usb_echo("create hello task error\r\n");
-  }
-  vTaskStartScheduler();
-
-  for(;;) { /* Infinite loop to avoid leaving the main function */
-    __asm("NOP"); /* something to use as a breakpoint stop while looping */
-  }
+
+	/* Init board hardware. */
+	BOARD_InitPins();
+	BOARD_BootClockRUN();
+	BOARD_InitDebugConsole();
+	PRINTF("Hello!\r\n");
+	USB_HostApplicationInit();
+
+	/* Add your code here */
+
+
+	/* Create RTOS task */
+	if (xTaskCreate(can_test_task, "can test task", 2000L / sizeof(portSTACK_TYPE), NULL, 4, &can_task_handle) != pdPASS)
+	{
+		usb_echo("create host task error\r\n");
+	}
+	if (xTaskCreate(USB_HostTask, "usb host task", 2000L / sizeof(portSTACK_TYPE), g_HostHandle, 4, &usb_task_handle) != pdPASS)
+	{
+		usb_echo("create host task error\r\n");
+	}
+	if(xTaskCreate(hello_task, "Hello_task", configMINIMAL_STACK_SIZE, NULL, hello_task_PRIORITY, &hello_task_handle) != pdPASS)
+	{
+		usb_echo("create hello task error\r\n");
+	}
+
+	NVIC_SetPriority(CAN0_ORed_Message_buffer_IRQn, 5u);
+	NVIC_SetPriority(CAN1_ORed_Message_buffer_IRQn, 5u);
+	NVIC_SetPriorityGrouping( 0 );
+	vTaskStartScheduler();
+
+	for(;;) { /* Infinite loop to avoid leaving the main function */
+		__asm("NOP"); /* something to use as a breakpoint stop while looping */
+	}
 }