/**
* @brief Configures the CAN, transmit and receive using interrupt.
* @param None
* @retval PASSED if the reception is well done, FAILED in other case
*/
TestStatus CAN_Interrupt(void)
{
CAN_InitTypeDef sCAN;
CAN_RTRReplyTypeDef RTRReply;
CAN_RTRMessageTypeDef RTRMes;
CAN_FilterInitTypeDef Filter;
uint32_t i = 0;
/* Set the HCLK division factor = 1 for CAN1*/
CAN_BRGInit(MDR_CAN1,CAN_HCLKdiv1);
/* CAN register init */
CAN_DeInit(MDR_CAN1);
/* CAN cell init */
CAN_StructInit (&sCAN);
sCAN.CAN_ROP = ENABLE;
sCAN.CAN_SAP = ENABLE;
sCAN.CAN_STM = ENABLE;
sCAN.CAN_ROM = DISABLE;
sCAN.CAN_PSEG = CAN_PSEG_Mul_2TQ;
sCAN.CAN_SEG1 = CAN_SEG1_Mul_3TQ;
sCAN.CAN_SEG2 = CAN_SEG2_Mul_2TQ;
sCAN.CAN_SJW = CAN_SJW_Mul_2TQ;
sCAN.CAN_SB = CAN_SB_3_SAMPLE;
sCAN.CAN_BRP = 1;
CAN_Init (MDR_CAN1,&sCAN);
CAN_Cmd(MDR_CAN1, ENABLE);
/* Enable CAN1 interrupt */
NVIC_EnableIRQ(CAN1_IRQn);
/* Enable CAN1 GLB_INT and RX_INT interrupts */
CAN_ITConfig( MDR_CAN1, CAN_IT_GLBINTEN | CAN_IT_RXINTEN, ENABLE);
/* Enable CAN1 interrupt from receive buffer */
CAN_RxITConfig( MDR_CAN1 ,(1<<rx_buf), ENABLE);
/* config buffer for receive RTR reply*/
CAN_Receive(MDR_CAN1, rx_buf, DISABLE);
Filter.Filter_ID = 0x00005678;
Filter.Mask_ID = 0x0000FFFF;
CAN_FilterInit(MDR_CAN1, rx_buf, &Filter);
/* config buffer for transmit RTR reply*/
RTRReply.ID = 0x00005678;
RTRReply.IDE = CAN_ID_EXT;
RTRReply.DLC = 2;
RTRReply.Data[0] = 0x7777;
RTRReply.Data[1] = 0x0;
CAN_RTRReply(MDR_CAN1, rtr_reply_buf, &RTRReply);
Filter.Filter_ID = 0x00001234;
Filter.Mask_ID = 0x0000FFFF;
CAN_FilterInit(MDR_CAN1, rtr_reply_buf, &Filter);
/* config buffer for transmit RTR request*/
RTRMes.ID = 0x00001234;
RTRMes.IDE = CAN_ID_EXT;
RTRMes.PRIOR_0 = DISABLE;
/* transmit RTR*/
CAN_SendRTR(MDR_CAN1, rtr_request_buf, &RTRMes);
/* initialize the value that will be returned */
ret = 0xFF;
/* receive message with interrupt handling */
i=0;
while((ret == 0xFF) && (i < 0xFFF))
{
i++;
}
if (i == 0xFFF)
{
ret=0;
}
/* disable interrupt handling */
CAN_ITConfig(MDR_CAN1, CAN_IT_GLBINTEN | CAN_IT_RXINTEN, DISABLE);
return (TestStatus)ret;
}
/**
* @brief Configures the CAN.
* @param None
* @retval None
*/
void CAN_Config(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
/* GPIO clock enable */
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO |RCC_APB2Periph_GPIO_CAN, ENABLE);
/* Configure CAN pin: RX */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_CAN_RX;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
GPIO_Init(GPIO_CAN, &GPIO_InitStructure);
/* Configure CAN pin: TX */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_CAN_TX;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIO_CAN, &GPIO_InitStructure);
GPIO_PinRemapConfig(GPIO_Remap_CAN , ENABLE);
/* CAN1 Periph clock enable */
RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);
/* CAN register init */
CAN_DeInit(CAN1);
CAN_StructInit(&CAN_InitStructure);
/* CAN cell init */
CAN_InitStructure.CAN_TTCM = DISABLE;
CAN_InitStructure.CAN_ABOM = DISABLE;
CAN_InitStructure.CAN_AWUM = DISABLE;
CAN_InitStructure.CAN_NART = DISABLE;
CAN_InitStructure.CAN_RFLM = DISABLE;
CAN_InitStructure.CAN_TXFP = DISABLE;
CAN_InitStructure.CAN_Mode = CAN_Mode_Normal;
CAN_InitStructure.CAN_SJW = CAN_SJW_1tq;
CAN_InitStructure.CAN_BS1 = CAN_BS1_3tq;
CAN_InitStructure.CAN_BS2 = CAN_BS2_5tq;
CAN_InitStructure.CAN_Prescaler = 4;
CAN_Init(CAN1, &CAN_InitStructure);
/* CAN filter init */
CAN_FilterInitStructure.CAN_FilterNumber = 0;
CAN_FilterInitStructure.CAN_FilterMode = CAN_FilterMode_IdMask;
CAN_FilterInitStructure.CAN_FilterScale = CAN_FilterScale_32bit;
CAN_FilterInitStructure.CAN_FilterIdHigh = 0x0000;
CAN_FilterInitStructure.CAN_FilterIdLow = 0x0000;
CAN_FilterInitStructure.CAN_FilterMaskIdHigh = 0x0000;
CAN_FilterInitStructure.CAN_FilterMaskIdLow = 0x0000;
CAN_FilterInitStructure.CAN_FilterFIFOAssignment = 0;
CAN_FilterInitStructure.CAN_FilterActivation = ENABLE;
CAN_FilterInit(&CAN_FilterInitStructure);
/* Transmit */
TxMessage.StdId = 0x321;
TxMessage.ExtId = 0x01;
TxMessage.RTR = CAN_RTR_DATA;
TxMessage.IDE = CAN_ID_STD;
TxMessage.DLC = 1;
}
u32 platform_can_setup( unsigned id, u32 clock )
{
CAN_InitTypeDef CAN_InitStructure;
CAN_FilterInitTypeDef CAN_FilterInitStructure;
GPIO_InitTypeDef GPIO_InitStructure;
int cbaudidx = -1;
// Configure IO Pins -- This is for STM32F103RE
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
GPIO_Init( GPIOB, &GPIO_InitStructure );
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init( GPIOB, &GPIO_InitStructure );
GPIO_PinRemapConfig( GPIO_Remap1_CAN1, ENABLE );
// Select baud rate up to requested rate, except for below min, where min is selected
if ( clock >= can_baud_rate[ CAN_BAUD_COUNT - 1 ] ) // round down to peak rate if >= peak rate
cbaudidx = CAN_BAUD_COUNT - 1;
else
{
for( cbaudidx = 0; cbaudidx < CAN_BAUD_COUNT - 1; cbaudidx ++ )
{
if( clock < can_baud_rate[ cbaudidx + 1 ] ) // take current idx if next is too large
break;
}
}
/* Deinitialize CAN Peripheral */
CAN_DeInit( CAN1 );
CAN_StructInit( &CAN_InitStructure );
/* CAN cell init */
CAN_InitStructure.CAN_TTCM=DISABLE;
CAN_InitStructure.CAN_ABOM=DISABLE;
CAN_InitStructure.CAN_AWUM=DISABLE;
CAN_InitStructure.CAN_NART=DISABLE;
CAN_InitStructure.CAN_RFLM=DISABLE;
CAN_InitStructure.CAN_TXFP=DISABLE;
CAN_InitStructure.CAN_Mode=CAN_Mode_Normal;
CAN_InitStructure.CAN_SJW=can_baud_sjw[ cbaudidx ];
CAN_InitStructure.CAN_BS1=can_baud_bs1[ cbaudidx ];
CAN_InitStructure.CAN_BS2=can_baud_bs2[ cbaudidx ];
CAN_InitStructure.CAN_Prescaler=can_baud_pre[ cbaudidx ];
CAN_Init( CAN1, &CAN_InitStructure );
/* CAN filter init */
CAN_FilterInitStructure.CAN_FilterNumber=0;
CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask;
CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit;
CAN_FilterInitStructure.CAN_FilterIdHigh=0x0000;
CAN_FilterInitStructure.CAN_FilterIdLow=0x0000;
CAN_FilterInitStructure.CAN_FilterMaskIdHigh=0x0000;
CAN_FilterInitStructure.CAN_FilterMaskIdLow=0x0000;
CAN_FilterInitStructure.CAN_FilterFIFOAssignment=CAN_FIFO0;
CAN_FilterInitStructure.CAN_FilterActivation=ENABLE;
CAN_FilterInit(&CAN_FilterInitStructure);
return can_baud_rate[ cbaudidx ];
}
void can_init( can_speed_typedef can_spd, can_std_typedef can_typ )
{
GPIO_InitTypeDef GPIO_InitStructure;
CAN_InitTypeDef CAN_InitStructure;
CAN_FilterInitTypeDef CAN_FilterInitStructure;
// GPIO clock enable, had been init in uart1_init
//RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO | RCC_APB2Periph_GPIOA , ENABLE);
/* Configure CAN pin: RX */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
GPIO_Init(GPIOA, &GPIO_InitStructure);
/* Configure CAN pin: TX */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_10MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);
/* CANx Periph clock enable */
RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);
/* CAN register init */
CAN_DeInit(CAN1);
CAN_StructInit(&CAN_InitStructure);
/* CAN cell init */
CAN_InitStructure.CAN_TTCM = DISABLE; //time triggered communication mode
//CAN_InitStructure.CAN_ABOM = DISABLE; //automatic bus-off management
CAN_InitStructure.CAN_ABOM = ENABLE; //EN:离线后，自动开启恢复过程
CAN_InitStructure.CAN_AWUM = DISABLE; //automatic wake-up mode
//CAN_InitStructure.CAN_NART = DISABLE; //no-automatic retransmission mode
CAN_InitStructure.CAN_NART = ENABLE; //EN:只发一次，不管结果；DIS: 自动重传，直到成功
//CAN_InitStructure.CAN_RFLM = DISABLE; //Receive FIFO Locked mode
CAN_InitStructure.CAN_RFLM = ENABLE; //EN: 溢出时丢弃新报文, DIS: 保留新报文
//CAN_InitStructure.CAN_TXFP = DISABLE; //transmit FIFO priority
CAN_InitStructure.CAN_TXFP = ENABLE; //EN: 优先级由发送顺序决定, DIS：优先级由报文ID决定
// CAN_Mode_Normal ((uint8_t)0x00) /*!< normal mode */
// CAN_Mode_LoopBack ((uint8_t)0x01) /*!< loopback mode */
// CAN_Mode_Silent ((uint8_t)0x02) /*!< silent mode */
// CAN_Mode_Silent_LoopBack ((uint8_t)0x03) /*!< loopback combined with silent mode */
//CAN_InitStructure.CAN_Mode = CAN_Mode_Silent_LoopBack; //CAN work mode
CAN_InitStructure.CAN_Mode = CAN_Mode_Normal; //CAN work mode
//Baud = 24M(APB1) / (Prescaler) / 8(TqCount)
CAN_InitStructure.CAN_SJW=CAN_SJW_2tq; //重同步单元
CAN_InitStructure.CAN_BS1=CAN_BS1_3tq;//采样点前
CAN_InitStructure.CAN_BS2=CAN_BS2_4tq;//采用点后
if ( can_spd == CAN_500K ) {
CAN_InitStructure.CAN_Prescaler = 6 ;//500K
}
else {
CAN_InitStructure.CAN_Prescaler = 12 ;//250K
}
CAN_Init(CAN1, &CAN_InitStructure);
/* CAN filter init */
//1, 共有14组过滤器(0~13),每组有2个32位寄存器：CAN_FxR0,CAN_FxR1
//2, CAN_FMR的FBMx位，设置过滤器工作在屏蔽模式(0)或列表模式(1)
//3, CAN_FilterFIFOAssignment 决定报文存去FIFO0 或 FIFO1
//4, 目前策略：已知的ID，通过屏蔽模式列出，保存到FIFO0
// 未知的ID，全部保存到 FIFO1，将来上传到服务器上供分析
//Filter number 0
CAN_FilterInitStructure.CAN_FilterNumber = 0;
//CAN_FilterMode: CAN_FilterMode_IdMask or CAN_FilterMode_IdList
CAN_FilterInitStructure.CAN_FilterMode = CAN_FilterMode_IdMask;
//CAN_FilterScale: CAN_FilterScale_16bit or CAN_FilterScale_32bit
CAN_FilterInitStructure.CAN_FilterScale = CAN_FilterScale_32bit;
//如果Filter=0xF0， Mask=0x00，那么可以收到0xF0-0xFF共16个ID的信息。
//还是Filter=0xF0， Mask=0xFF，那么只能收到0xF0这一个ID信息。
//还是Filter=0xF0， Mask=0xF8，那么可以收到0xF8-0xFF共8个ID的信息。
//还是Filter=0xF0， Mask=0xFC，那么可以收到0xFC-0xFF共4个ID的信息。
//即 Mask对应位=1时，接收到的信息ID对应位必须=Filter的对应位才能确认处理
// Mask对应位=0时，Filter对应位=1时，接收到的信息ID对应位必须=1才能确认处理
// Mask对应位=0时，Filter对应位=0时，接收到的信息ID对应位=0，=1都能确认处理
if ( can_typ == CAN_EXT ) { //0x18DAF111
CAN_FilterInitStructure.CAN_FilterIdHigh = ((0x18DAF111)>>16)&0x1FFF;//29 bits,左对齐
CAN_FilterInitStructure.CAN_FilterIdLow = 0x18DAF111&0xFFFF;
CAN_FilterInitStructure.CAN_FilterMaskIdHigh = 0x1FFF;
CAN_FilterInitStructure.CAN_FilterMaskIdLow = 0xFFFF;
}
/**
* @brief Configures the CAN.
* @param None
* @retval None
*/
static void CAN_Config(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
CAN_InitTypeDef CAN_InitStructure;
/* CAN GPIOs configuration **************************************************/
/* Enable GPIO clock */
RCC_AHBPeriphClockCmd(CAN_GPIO_CLK, ENABLE);
/* Connect CAN pins to AF7 */
GPIO_PinAFConfig(CAN_GPIO_PORT, CAN_RX_SOURCE, CAN_AF_PORT);
GPIO_PinAFConfig(CAN_GPIO_PORT, CAN_TX_SOURCE, CAN_AF_PORT);
/* Configure CAN RX and TX pins */
GPIO_InitStructure.GPIO_Pin = CAN_RX_PIN | CAN_TX_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
GPIO_Init(CAN_GPIO_PORT, &GPIO_InitStructure);
/* CAN NVIC configuration **************************************************/
NVIC_InitStructure.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
NVIC_InitStructure.NVIC_IRQChannel = CAN1_RX1_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
/* CAN configuration ********************************************************/
/* Enable CAN clock */
RCC_APB1PeriphClockCmd(CAN_CLK, ENABLE);
/* CAN register init */
CAN_DeInit(CANx);
CAN_StructInit(&CAN_InitStructure);
/* CAN cell init */
CAN_InitStructure.CAN_TTCM = DISABLE;
CAN_InitStructure.CAN_ABOM = DISABLE;
CAN_InitStructure.CAN_AWUM = DISABLE;
CAN_InitStructure.CAN_NART = DISABLE;
CAN_InitStructure.CAN_RFLM = ENABLE;
CAN_InitStructure.CAN_TXFP = ENABLE;
CAN_InitStructure.CAN_Mode = CAN_Mode_Normal;
CAN_InitStructure.CAN_SJW = CAN_SJW_1tq;
/* CAN Baudrate = 1MBps (CAN clocked at 36 MHz) */
CAN_InitStructure.CAN_BS1 = CAN_BS1_9tq;
CAN_InitStructure.CAN_BS2 = CAN_BS2_8tq;
CAN_InitStructure.CAN_Prescaler = 2;
CAN_Init(CANx, &CAN_InitStructure);
/* CAN filter init "FIFO0" */
CAN_FilterInitStructure.CAN_FilterNumber = 0;
CAN_FilterInitStructure.CAN_FilterMode = CAN_FilterMode_IdList;
CAN_FilterInitStructure.CAN_FilterScale = CAN_FilterScale_32bit;
CAN_FilterInitStructure.CAN_FilterIdHigh = 0x6420;
CAN_FilterInitStructure.CAN_FilterIdLow = 0x2461;
CAN_FilterInitStructure.CAN_FilterMaskIdHigh = 0x0000;
CAN_FilterInitStructure.CAN_FilterMaskIdLow = 0x0000;
CAN_FilterInitStructure.CAN_FilterFIFOAssignment = 0;
CAN_FilterInitStructure.CAN_FilterActivation = ENABLE;
CAN_FilterInit(&CAN_FilterInitStructure);
/* Transmit Structure preparation */
TxMessage.StdId = 0x321;
TxMessage.ExtId = 0x00;
TxMessage.RTR = CAN_RTR_DATA;
TxMessage.IDE = CAN_ID_STD;
TxMessage.DLC = 1;
/* Enable FIFO 0 full Interrupt */
CAN_ITConfig(CANx, CAN_IT_FF0, ENABLE);
/* Enable FIFO 1 full Interrupt */
CAN_ITConfig(CANx, CAN_IT_FF1, ENABLE);
}
/**
* @brief Configures the CAN.
* @param None
* @retval None
*/
void CAN_Config(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
/* CAN GPIOs configuration **************************************************/
/* Enable GPIO clock */
RCC_AHB1PeriphClockCmd(Open207Z_CAN_GPIO_CLK, ENABLE);
/* Connect CAN pins to AF9 */
GPIO_PinAFConfig(Open207Z_CAN_GPIO_PORT, Open207Z_CAN_RX_SOURCE, Open207Z_CAN_AF_PORT);
GPIO_PinAFConfig(Open207Z_CAN_GPIO_PORT, Open207Z_CAN_TX_SOURCE, Open207Z_CAN_AF_PORT);
/* Configure CAN RX and TX pins */
GPIO_InitStructure.GPIO_Pin = Open207Z_CAN_RX_PIN | Open207Z_CAN_TX_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
GPIO_Init(Open207Z_CAN_GPIO_PORT, &GPIO_InitStructure);
/* CAN configuration ********************************************************/
/* Enable CAN clock */
RCC_APB1PeriphClockCmd(Open207Z_CAN_CLK, ENABLE);
/* CAN register init */
CAN_DeInit(Open207Z_CANx);
CAN_StructInit(&CAN_InitStructure);
/* CAN cell init */
CAN_InitStructure.CAN_TTCM = DISABLE;
CAN_InitStructure.CAN_ABOM = DISABLE;
CAN_InitStructure.CAN_AWUM = DISABLE;
CAN_InitStructure.CAN_NART = DISABLE;
CAN_InitStructure.CAN_RFLM = DISABLE;
CAN_InitStructure.CAN_TXFP = DISABLE;
CAN_InitStructure.CAN_Mode = CAN_Mode_Normal;
CAN_InitStructure.CAN_SJW = CAN_SJW_1tq;
/* CAN Baudrate = 1MBps (CAN clocked at 30 MHz) */
CAN_InitStructure.CAN_BS1 = CAN_BS1_6tq;
CAN_InitStructure.CAN_BS2 = CAN_BS2_8tq;
CAN_InitStructure.CAN_Prescaler = 2;
CAN_Init(Open207Z_CANx, &CAN_InitStructure);
/* CAN filter init */
#ifdef OpenCAN1
CAN_FilterInitStructure.CAN_FilterNumber = 0;
#endif
#ifdef OpenCAN2
CAN_FilterInitStructure.CAN_FilterNumber = 14;
#endif
CAN_FilterInitStructure.CAN_FilterMode = CAN_FilterMode_IdMask;
CAN_FilterInitStructure.CAN_FilterScale = CAN_FilterScale_32bit;
CAN_FilterInitStructure.CAN_FilterIdHigh = 0x0000;
CAN_FilterInitStructure.CAN_FilterIdLow = 0x0000;
CAN_FilterInitStructure.CAN_FilterMaskIdHigh = 0x0000;
CAN_FilterInitStructure.CAN_FilterMaskIdLow = 0x0000;
CAN_FilterInitStructure.CAN_FilterFIFOAssignment = 0;
CAN_FilterInitStructure.CAN_FilterActivation = ENABLE;
CAN_FilterInit(&CAN_FilterInitStructure);
/* Transmit Structure preparation */
TxMessage.StdId = 0x321;
TxMessage.ExtId = 0x01;
TxMessage.RTR = CAN_RTR_DATA;
TxMessage.IDE = CAN_ID_STD;
TxMessage.DLC = 1;
/* Enable FIFO 0 message pending Interrupt */
CAN_ITConfig(Open207Z_CANx, CAN_IT_FMP0, ENABLE);
}
/**
* @brief Configures the CAN, transmit and receive by polling
* @param None
* @retval PASSED if the reception is well done, FAILED in other case
*/
TestStatus CAN_Polling(void)
{
CAN_InitTypeDef sCAN;
CAN_TxMsgTypeDef TxMsg;
CAN_RxMsgTypeDef RxMsg;
uint32_t i = 0;
/* Set the HCLK division factor = 1 for CAN1*/
CAN_BRGInit(MDR_CAN1,CAN_HCLKdiv1);
/* CAN register init */
CAN_DeInit(MDR_CAN1);
/* CAN cell init */
CAN_StructInit (&sCAN);
sCAN.CAN_ROP = ENABLE;
sCAN.CAN_SAP = ENABLE;
sCAN.CAN_STM = ENABLE;
sCAN.CAN_ROM = DISABLE;
sCAN.CAN_PSEG = CAN_PSEG_Mul_2TQ;
sCAN.CAN_SEG1 = CAN_SEG1_Mul_5TQ;
sCAN.CAN_SEG2 = CAN_SEG2_Mul_5TQ;
sCAN.CAN_SJW = CAN_SJW_Mul_4TQ;
sCAN.CAN_SB = CAN_SB_3_SAMPLE;
sCAN.CAN_BRP = 4;
CAN_Init (MDR_CAN1,&sCAN);
CAN_Cmd(MDR_CAN1, ENABLE);
/* Disable all CAN1 interrupt */
CAN_ITConfig( MDR_CAN1, CAN_IT_GLBINTEN | CAN_IT_RXINTEN | CAN_IT_TXINTEN |
CAN_IT_ERRINTEN | CAN_IT_ERROVERINTEN, DISABLE);
/* Enable CAN1 interrupt from receive buffer */
CAN_RxITConfig( MDR_CAN1 ,(1<<rx_buf), ENABLE);
/* Enable CAN1 interrupt from transmit buffer */
CAN_TxITConfig( MDR_CAN1 ,(1<<tx_buf), ENABLE);
/* receive buffer enable */
CAN_Receive(MDR_CAN1, rx_buf, DISABLE);
/* transmit */
TxMsg.IDE = CAN_ID_EXT;
TxMsg.DLC = 0x08;
TxMsg.PRIOR_0 = DISABLE;
TxMsg.ID = 0x12345678;
TxMsg.Data[1] = 0x01234567;
TxMsg.Data[0] = 0x89ABCDEF;
CAN_Transmit(MDR_CAN1, tx_buf, &TxMsg);
i = 0;
while(((CAN_GetStatus(MDR_CAN1) & CAN_STATUS_TX_READY) != RESET) && (i != 0xFFF))
{
i++;
}
CAN_ITClearRxTxPendingBit(MDR_CAN1, tx_buf, CAN_STATUS_TX_READY);
i = 0;
while(((CAN_GetStatus(MDR_CAN1) & CAN_STATUS_RX_READY) == RESET) && (i != 0xFFF))
{
i++;
}
/* receive */
CAN_GetRawReceivedData(MDR_CAN1, rx_buf, &RxMsg);
CAN_ITClearRxTxPendingBit(MDR_CAN1, rx_buf, CAN_STATUS_RX_READY);
CAN_Cmd(MDR_CAN1, DISABLE);
if(RxMsg.Rx_Header.IDE != TxMsg.IDE)
{
return FAILED;
}
if(RxMsg.Rx_Header.DLC != TxMsg.DLC)
{
return FAILED;
}
if(RxMsg.Rx_Header.ID != TxMsg.ID)
{
return FAILED;
}
if(RxMsg.Data[1] != TxMsg.Data[1])
{
return FAILED;
}
if(RxMsg.Data[0] != TxMsg.Data[0])
{
return FAILED;
}
else
{
return PASSED; /* Test Passed */
}
}
/*! \fn void can_init(void)
*
* \brief 初始化CAN1总线
*
* \param 无
*
* \exception 无
*
* \return 无
*/
void can_init(void)
{
CAN_InitTypeDef CAN_InitStructure = {0};
CAN_FilterInitTypeDef CAN_FilterInitStructure = {0};
/*! 使能CAN1时钟(最大36MHz) */
RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1 , ENABLE);
/*! 配置CAN1端口 */
can_gpio_configuration();
/*! 配置NVIC */
can_nvic_configuration();
/* 初始化CAN寄存器 */
CAN_DeInit(CAN1);
CAN_StructInit(&CAN_InitStructure);
/* CAN cell init */
/*! 时间触发通信模式 */
CAN_InitStructure.CAN_TTCM = DISABLE;
/*! 离线恢复：ENABLE开启自动恢复 */
CAN_InitStructure.CAN_ABOM = DISABLE;
/*! 自动唤醒模式 */
CAN_InitStructure.CAN_AWUM = DISABLE;
/*! 禁止自动重传模式：ENABLE使能 */
CAN_InitStructure.CAN_NART = DISABLE;
/*! 接收FIFO锁定模式 */
CAN_InitStructure.CAN_RFLM = DISABLE;
/*! 发送优先级：ENABLE由发送请求次序决定 */
CAN_InitStructure.CAN_TXFP = ENABLE;
/*! 模式 */
CAN_InitStructure.CAN_Mode = CAN_Mode_Normal;//CAN_Mode_Silent_LoopBack; //CAN_Mode_Normal;
/* CAN Baudrate = 500KBps = 36MHz/(1*SJW+BS1+BS2) */
CAN_InitStructure.CAN_SJW = CAN_SJW_1tq;
CAN_InitStructure.CAN_BS1 = CAN_BS1_2tq;
CAN_InitStructure.CAN_BS2 = CAN_BS2_3tq;
CAN_InitStructure.CAN_Prescaler = 12;
CAN_Init(CAN1, &CAN_InitStructure);
/*! 报文滤波器设置 */
#if 0
/*! 过滤器组 */
CAN_FilterInitStructure.CAN_FilterNumber = 0;
/*!屏蔽位模式和标识符列表模式 */
CAN_FilterInitStructure.CAN_FilterMode = CAN_FilterMode_IdList;
/*! 过滤器组位宽：16位时可以设置4个ID */
CAN_FilterInitStructure.CAN_FilterScale = CAN_FilterScale_16bit;
/*! ID */
CAN_FilterInitStructure.CAN_FilterIdHigh = (CAN_ID_1<<5) & 0xFFE0; //FR2L
CAN_FilterInitStructure.CAN_FilterIdLow = (CAN_ID_2<<5) & 0xFFE0; //FR1L
CAN_FilterInitStructure.CAN_FilterMaskIdHigh = (CAN_ID_3<<5) & 0xFFE0; //FR2H
CAN_FilterInitStructure.CAN_FilterMaskIdLow = (CAN_ID_4<<5) & 0xFFE0; //FR1H
/*! FIFO */
CAN_FilterInitStructure.CAN_FilterFIFOAssignment = CAN_Filter_FIFO0;
CAN_FilterInitStructure.CAN_FilterActivation = ENABLE;
CAN_FilterInit(&CAN_FilterInitStructure);
#else
/*! 过滤器组 */
CAN_FilterInitStructure.CAN_FilterNumber = 0;
/*!屏蔽位模式和标识符列表模式 */
CAN_FilterInitStructure.CAN_FilterMode = CAN_FilterMode_IdMask;
/*! 过滤器组位宽 */
CAN_FilterInitStructure.CAN_FilterScale = CAN_FilterScale_32bit;
/*! ID */
CAN_FilterInitStructure.CAN_FilterIdHigh = (uint16_t)((0x00400000<<3)>>16);
CAN_FilterInitStructure.CAN_FilterIdLow = (uint16_t)(0x00400000<<3);
CAN_FilterInitStructure.CAN_FilterMaskIdHigh = 0x0000;//0x0000;//(uint16_t)((0xFFFF00FF<<3)>>16);
CAN_FilterInitStructure.CAN_FilterMaskIdLow = 0x0000;//0x0000;//(uint16_t)(0xFFFF00FF<<3);
/*! FIFO */
CAN_FilterInitStructure.CAN_FilterFIFOAssignment = CAN_Filter_FIFO0;
CAN_FilterInitStructure.CAN_FilterActivation = ENABLE;
CAN_FilterInit(&CAN_FilterInitStructure);
#endif
/*! CAN1中断设置 */
/*! CAN_IT_TME：发送邮箱空中断使能 */
/*! CAN_IT_FMP0：FIFO0消息挂号中断使能 */
/*! CAN_IT_FF0：FIFO0满中断使能 */
/*! CAN_IT_FOV0：FIFO0溢出中断使能 */
/*! CAN_IT_EWG：错误警告中断使能（>=96） */
/*! CAN_IT_EPV：错误被动中断使能(>127) */
/*! CAN_IT_ERR：错误中断使能 */
CAN_ITConfig(CAN1, CAN_IT_TME|CAN_IT_FMP0, ENABLE);
}
/*******************************************************************************
* Function Name :
* Description :
* Output :
* Return :
*******************************************************************************/
_CAN::_CAN(bool loopback) {
CAN_InitTypeDef CAN_InitStructure;
CAN_FilterInitTypeDef CAN_FilterInitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
if(me==NULL) {
#ifndef __SIMULATION__
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_StructInit(&GPIO_InitStructure);
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
GPIO_InitStructure.GPIO_Pin = 1<<CAN_RXPIN;
GPIO_Init(CAN_GPIO, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_OType = GPIO_OType_OD;
GPIO_InitStructure.GPIO_Pin = 1<<CAN_TXPIN;
GPIO_Init(CAN_GPIO, &GPIO_InitStructure);
GPIO_PinAFConfig(CAN_GPIO, CAN_RXPIN, GPIO_AF_CAN);
GPIO_PinAFConfig(CAN_GPIO, CAN_TXPIN, GPIO_AF_CAN);
#endif
RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE); // glej opis driverja, šmafu, treba inicializirat c
RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN2, ENABLE);
CAN_StructInit(&CAN_InitStructure);
CAN_DeInit(__CAN__);
CAN_InitStructure.CAN_TTCM=DISABLE;
CAN_InitStructure.CAN_ABOM=ENABLE;
CAN_InitStructure.CAN_AWUM=DISABLE;
CAN_InitStructure.CAN_NART=DISABLE;
CAN_InitStructure.CAN_RFLM=DISABLE;
//... pomembn.. da ne zamesa mailboxov in jih oddaja po vrstnem redu vpisovanja... ni default !!!
CAN_InitStructure.CAN_TXFP=ENABLE;
//... prijava instance za ISR
RX_ISR(this);
TX_ISR(this);
if(loopback)
CAN_InitStructure.CAN_Mode=CAN_Mode_LoopBack;
else
CAN_InitStructure.CAN_Mode=CAN_Mode_Normal;
CAN_InitStructure.CAN_SJW=CAN_SJW_4tq;
CAN_InitStructure.CAN_BS1=CAN_BS1_10tq;
CAN_InitStructure.CAN_BS2=CAN_BS2_4tq;
CAN_InitStructure.CAN_Prescaler=4;
CAN_Init(__CAN__,&CAN_InitStructure);
CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdList;
CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit;
CAN_FilterInitStructure.CAN_FilterMaskIdLow=0;
CAN_FilterInitStructure.CAN_FilterIdLow=0;
CAN_FilterInitStructure.CAN_FilterActivation=ENABLE;
CAN_FilterInitStructure.CAN_FilterFIFOAssignment=CAN_FIFO0;
// filtri za PFM in EC
CAN_FilterInitStructure.CAN_FilterIdHigh=Com2CanIoc<<5;
CAN_FilterInitStructure.CAN_FilterMaskIdHigh=Com2CanEc20<<5;
CAN_FilterInitStructure.CAN_FilterNumber=__FILT_BASE__+0;
CAN_FilterInit(&CAN_FilterInitStructure);
CAN_FilterInitStructure.CAN_FilterIdHigh=Can2ComIoc<<5;
CAN_FilterInitStructure.CAN_FilterMaskIdHigh=Can2ComEc20<<5;
CAN_FilterInitStructure.CAN_FilterNumber=__FILT_BASE__+1;
CAN_FilterInit(&CAN_FilterInitStructure);
// CAN_FilterInitStructure.CAN_FilterIdHigh=SprayCommand<<5;
// CAN_FilterInitStructure.CAN_FilterMaskIdHigh=SprayStatus<<5;
// CAN_FilterInitStructure.CAN_FilterNumber=__FILT_BASE__+2;
// CAN_FilterInit(&CAN_FilterInitStructure);
CAN_FilterInitStructure.CAN_FilterIdHigh=Sys2Ergm<<5;
CAN_FilterInitStructure.CAN_FilterMaskIdHigh=Ergm2Sys<<5;
CAN_FilterInitStructure.CAN_FilterNumber=__FILT_BASE__+2;
CAN_FilterInit(&CAN_FilterInitStructure);
CAN_FilterInitStructure.CAN_FilterIdHigh=Sys2Ioc<<5;
CAN_FilterInitStructure.CAN_FilterMaskIdHigh=Sys2Ec<<5;
CAN_FilterInitStructure.CAN_FilterNumber=__FILT_BASE__+3;
CAN_FilterInit(&CAN_FilterInitStructure);
CAN_FilterInitStructure.CAN_FilterIdHigh=Ioc2Sys<<5;
CAN_FilterInitStructure.CAN_FilterMaskIdHigh=Ec2Sys<<5;
CAN_FilterInitStructure.CAN_FilterNumber=__FILT_BASE__+4;
CAN_FilterInit(&CAN_FilterInitStructure);
CAN_FilterInitStructure.CAN_FilterIdHigh=Ec2Sync<<5;
CAN_FilterInitStructure.CAN_FilterMaskIdHigh=0<<5;
CAN_FilterInitStructure.CAN_FilterNumber=__FILT_BASE__+5;
CAN_FilterInit(&CAN_FilterInitStructure);
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_1);
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 2;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_InitStructure.NVIC_IRQChannel = CAN1_RX0_IRQn;
NVIC_Init(&NVIC_InitStructure);
NVIC_InitStructure.NVIC_IRQChannel = CAN2_RX0_IRQn;
NVIC_Init(&NVIC_InitStructure);
NVIC_InitStructure.NVIC_IRQChannel = CAN1_TX_IRQn;
NVIC_Init(&NVIC_InitStructure);
NVIC_InitStructure.NVIC_IRQChannel = CAN2_TX_IRQn;
NVIC_Init(&NVIC_InitStructure);
CAN_ITConfig(__CAN__, CAN_IT_FMP0, ENABLE);
com=NULL;
}
}
/**
* @brief Configures the CAN, transmit and receive using interrupt.
* @param None
* @retval PASSED if the reception is well done, FAILED in other case
*/
TestStatus CAN_Interrupt(void)
{
CAN_InitTypeDef CAN_InitStructure;
CAN_FilterInitTypeDef CAN_FilterInitStructure;
CanTxMsg TxMessage;
uint32_t i = 0;
/* CAN register init */
CAN_DeInit(CAN1);
CAN_StructInit(&CAN_InitStructure);
/* CAN cell init */
CAN_InitStructure.CAN_TTCM=DISABLE;
CAN_InitStructure.CAN_ABOM=DISABLE;
CAN_InitStructure.CAN_AWUM=DISABLE;
CAN_InitStructure.CAN_NART=DISABLE;
CAN_InitStructure.CAN_RFLM=DISABLE;
CAN_InitStructure.CAN_TXFP=DISABLE;
CAN_InitStructure.CAN_Mode=CAN_Mode_LoopBack;
CAN_InitStructure.CAN_SJW=CAN_SJW_1tq;
CAN_InitStructure.CAN_BS1=CAN_BS1_8tq;
CAN_InitStructure.CAN_BS2=CAN_BS2_7tq;
CAN_InitStructure.CAN_Prescaler=1;
CAN_Init(CAN1, &CAN_InitStructure);
/* CAN filter init */
CAN_FilterInitStructure.CAN_FilterNumber=1;
CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask;
CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit;
CAN_FilterInitStructure.CAN_FilterIdHigh=0x0000;
CAN_FilterInitStructure.CAN_FilterIdLow=0x0000;
CAN_FilterInitStructure.CAN_FilterMaskIdHigh=0x0000;
CAN_FilterInitStructure.CAN_FilterMaskIdLow=0x0000;
CAN_FilterInitStructure.CAN_FilterFIFOAssignment=CAN_FIFO0;
CAN_FilterInitStructure.CAN_FilterActivation=ENABLE;
CAN_FilterInit(&CAN_FilterInitStructure);
/* CAN FIFO0 message pending interrupt enable */
CAN_ITConfig(CAN1, CAN_IT_FMP0, ENABLE);
/* transmit 1 message */
TxMessage.StdId=0x00;
TxMessage.ExtId=0x1234;
TxMessage.IDE=CAN_ID_EXT;
TxMessage.RTR=CAN_RTR_DATA;
TxMessage.DLC=2;
TxMessage.Data[0]=0xDE;
TxMessage.Data[1]=0xCA;
CAN_Transmit(CAN1, &TxMessage);
/* initialize the value that will be returned */
ret = 0xFF;
/* receive message with interrupt handling */
i=0;
while((ret == 0xFF) && (i < 0xFFF))
{
i++;
}
if (i == 0xFFF)
{
ret=0;
}
/* disable interrupt handling */
CAN_ITConfig(CAN1, CAN_IT_FMP0, DISABLE);
return (TestStatus)ret;
}
void CAN1_Configuration(void (*send_handler)(uint16_t, int8_t), void (*receive_handler)(CanRxMsg*), uint16_t IdHigh, uint16_t IdHighMask, uint16_t IdLow, uint16_t IdLowMask)
{
CAN_InitTypeDef can;
CAN_FilterInitTypeDef can_filter;
GPIO_InitTypeDef gpio;
NVIC_InitTypeDef nvic;
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);
GPIO_PinAFConfig(GPIOA, GPIO_PinSource12, GPIO_AF_CAN1);
GPIO_PinAFConfig(GPIOA, GPIO_PinSource11, GPIO_AF_CAN1);
gpio.GPIO_Pin = GPIO_Pin_12 | GPIO_Pin_11;
gpio.GPIO_Mode = GPIO_Mode_AF;
gpio.GPIO_Speed = GPIO_Speed_100MHz;
gpio.GPIO_OType = GPIO_OType_PP;
gpio.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init(GPIOA, &gpio);
can1_rh = receive_handler;
can1_sh = send_handler;
nvic.NVIC_IRQChannel = CAN1_RX0_IRQn;
nvic.NVIC_IRQChannelPreemptionPriority = ITP_CAN1_RX0_PREEMPTION;
nvic.NVIC_IRQChannelSubPriority = ITP_CAN1_RX0_SUB;
nvic.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&nvic);
nvic.NVIC_IRQChannel = CAN1_TX_IRQn;
nvic.NVIC_IRQChannelPreemptionPriority = ITP_CAN1_TX_PREEMPTION;
nvic.NVIC_IRQChannelSubPriority = ITP_CAN1_TX_SUB;
nvic.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&nvic);
CAN_DeInit(CAN1);
CAN_StructInit(&can);
can.CAN_TTCM = DISABLE;
can.CAN_ABOM = DISABLE;
can.CAN_AWUM = DISABLE;
can.CAN_NART = DISABLE;
can.CAN_RFLM = DISABLE;
can.CAN_TXFP = ENABLE;
can.CAN_Mode = CAN_Mode_Normal;
can.CAN_SJW = CAN_SJW_1tq;
can.CAN_BS1 = CAN_BS1_9tq;
can.CAN_BS2 = CAN_BS2_4tq;
can.CAN_Prescaler = 3;
CAN_Init(CAN1, &can);
can_filter.CAN_FilterNumber = 0;
can_filter.CAN_FilterMode = CAN_FilterMode_IdMask;
can_filter.CAN_FilterScale = CAN_FilterScale_16bit;
can_filter.CAN_FilterIdHigh = IdHigh << 5;
can_filter.CAN_FilterIdLow = IdLow << 5;
can_filter.CAN_FilterMaskIdHigh = IdHighMask << 5;
can_filter.CAN_FilterMaskIdLow = IdLowMask << 5;
can_filter.CAN_FilterFIFOAssignment = 0;
can_filter.CAN_FilterActivation = ENABLE;
CAN_FilterInit(&can_filter);
CAN_ITConfig(CAN1, CAN_IT_FMP0, ENABLE);
CAN_ITConfig(CAN1, CAN_IT_TME, ENABLE);
}
/**
* @brief Configures the CAN, transmit and receive by polling
* @param None
* @retval PASSED if the reception is well done, FAILED in other case
*/
TestStatus CAN_Polling(void)
{
CAN_InitTypeDef CAN_InitStructure;
CAN_FilterInitTypeDef CAN_FilterInitStructure;
CanTxMsg TxMessage;
CanRxMsg RxMessage;
uint32_t i = 0;
uint8_t TransmitMailbox = 0;
/* CAN register init */
CAN_DeInit(CAN1);
CAN_StructInit(&CAN_InitStructure);
/* CAN cell init */
CAN_InitStructure.CAN_TTCM=DISABLE;
CAN_InitStructure.CAN_ABOM=DISABLE;
CAN_InitStructure.CAN_AWUM=DISABLE;
CAN_InitStructure.CAN_NART=DISABLE;
CAN_InitStructure.CAN_RFLM=DISABLE;
CAN_InitStructure.CAN_TXFP=DISABLE;
CAN_InitStructure.CAN_Mode=CAN_Mode_LoopBack;
CAN_InitStructure.CAN_SJW=CAN_SJW_1tq;
CAN_InitStructure.CAN_BS1=CAN_BS1_8tq;
CAN_InitStructure.CAN_BS2=CAN_BS2_7tq;
CAN_InitStructure.CAN_Prescaler=5;
CAN_Init(CAN1, &CAN_InitStructure);
/* CAN filter init */
CAN_FilterInitStructure.CAN_FilterNumber=0;
CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask;
CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit;
CAN_FilterInitStructure.CAN_FilterIdHigh=0x0000;
CAN_FilterInitStructure.CAN_FilterIdLow=0x0000;
CAN_FilterInitStructure.CAN_FilterMaskIdHigh=0x0000;
CAN_FilterInitStructure.CAN_FilterMaskIdLow=0x0000;
CAN_FilterInitStructure.CAN_FilterFIFOAssignment=0;
CAN_FilterInitStructure.CAN_FilterActivation=ENABLE;
CAN_FilterInit(&CAN_FilterInitStructure);
/* transmit */
TxMessage.StdId=0x11;
TxMessage.RTR=CAN_RTR_DATA;
TxMessage.IDE=CAN_ID_STD;
TxMessage.DLC=2;
TxMessage.Data[0]=0xCA;
TxMessage.Data[1]=0xFE;
TransmitMailbox=CAN_Transmit(CAN1, &TxMessage);
i = 0;
while((CAN_TransmitStatus(CAN1, TransmitMailbox) != CANTXOK) && (i != 0xFF))
{
i++;
}
i = 0;
while((CAN_MessagePending(CAN1, CAN_FIFO0) < 1) && (i != 0xFF))
{
i++;
}
/* receive */
RxMessage.StdId=0x00;
RxMessage.IDE=CAN_ID_STD;
RxMessage.DLC=0;
RxMessage.Data[0]=0x00;
RxMessage.Data[1]=0x00;
CAN_Receive(CAN1, CAN_FIFO0, &RxMessage);
if (RxMessage.StdId!=0x11)
{
return FAILED;
}
if (RxMessage.IDE!=CAN_ID_STD)
{
return FAILED;
}
if (RxMessage.DLC!=2)
{
return FAILED;
}
if ((RxMessage.Data[0]<<8|RxMessage.Data[1])!=0xCAFE)
{
return FAILED;
}
return PASSED; /* Test Passed */
}
void Init_CAN(int can_num,uint8_t CAN_Mode,GPIO_TypeDef *tx_port,uint16_t tx_pin,GPIO_TypeDef *rx_port,uint16_t rx_pin){
/* Define InitTypeDef ---------------------------------------------------*/
CAN_InitTypeDef CAN_InitStructure;
/* initialize InitTypeDef -----------------------------------------------*/
CAN_StructInit(&CAN_InitStructure);
/* Supply clock source --------------------------------------------------*/
if(can_num == 1){
CAN_DeInit(CAN1);
RCC_APB1PeriphClockCmd( RCC_APB1Periph_CAN1, ENABLE);
}else if(can_num == 2){
CAN_DeInit(CAN2);
RCC_APB1PeriphClockCmd( RCC_APB1Periph_CAN2, ENABLE);
}
/* Define gpio_config ---------------------------------------------------*/
Init_port(GPIO_Mode_AF,tx_port,tx_pin,GPIO_PuPd_UP,GPIO_OType_PP);
Init_port(GPIO_Mode_AF,rx_port,rx_pin,GPIO_PuPd_UP,GPIO_OType_PP);
if(can_num == 1){
GPIO_PinAFConfig(tx_port, Pin_select_source(tx_pin), GPIO_AF_CAN1);//Tx
GPIO_PinAFConfig(rx_port, Pin_select_source(rx_pin), GPIO_AF_CAN1);//Rx
}else if(can_num == 2){
GPIO_PinAFConfig(tx_port, Pin_select_source(tx_pin), GPIO_AF_CAN2);//Tx
GPIO_PinAFConfig(rx_port, Pin_select_source(rx_pin), GPIO_AF_CAN2);//Rx
}
/* Set up CAN function -------------------------------------------------*/
/* タイムトリガ通信モードの有効化・無効化を設定する */
CAN_InitStructure.CAN_TTCM = ENABLE;
/* 自動バスオフ管理(Automatic Bus-Off Management)の有効化・無効化を設定する */
CAN_InitStructure.CAN_ABOM = DISABLE;
/* 自動再起動モードの有効化・無効化を設定する */
CAN_InitStructure.CAN_AWUM = DISABLE;
/* 自動再送信禁止を有効化・無効化する DISABLE: 自動再送信禁止を無効化(つまり再送信は有効) ENABLE: 自動再送信禁止。正常に送信されなくても送信は1回だけ行われる */
CAN_InitStructure.CAN_NART = DISABLE;
/* 受信FIFOロックモードの有効化・無効化を設定する */
CAN_InitStructure.CAN_RFLM = DISABLE;
/* 送信FIFOの送信順序を指定する。DISABLE:メッセージIDで送信順序が決定される ENABLE:ソフトウェアで送信要求が発生された順番で送信される */
CAN_InitStructure.CAN_TXFP = DISABLE;
/* CANのModeを設定する */
// CAN_InitStructure.CAN_Mode = CAN_Mode_Normal;
CAN_InitStructure.CAN_Mode = CAN_Mode;
/* 再同期ジャンプ幅(CANハードウェアが再同期を行う際のビット幅)を時間単位の数で設定する */
CAN_InitStructure.CAN_SJW = CAN_SJW_1tq;
/* CANビットタイミングレジスタ(CAN_BTR)のTS1[3:0]を設定する。 */
CAN_InitStructure.CAN_BS1 = CAN_BS1_6tq;
/* CANビットタイミングレジスタ(CAN_BTR)のTS2[2:0]を設定する */
CAN_InitStructure.CAN_BS2 = CAN_BS2_7tq;
/* ボーレートプリスケーラ設定する 1〜1024 APB1=42MHz*/
CAN_InitStructure.CAN_Prescaler = 3;
//1Mbps
if(can_num == 1){
CAN_Init(CAN1, &CAN_InitStructure);
}else if(can_num == 2){
CAN_Init(CAN2, &CAN_InitStructure);
}
#ifdef USE_INTERRUPT_CAN_RX
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_0);
if(can_num == 1){
NVIC_Configuration(CAN1_RX0_IRQn);
CAN_ITConfig(CAN1, CAN_IT_FMP0,ENABLE);//message pending Interrupt
/*
CAN_ITConfig(CAN1, CAN_IT_EWG, ENABLE);//Error passive Interrupt
CAN_ITConfig(CAN1, CAN_IT_EPV, ENABLE);//Error passive Interrupt
CAN_ITConfig(CAN1, CAN_IT_BOF, ENABLE);//Bus-off Interrupt
CAN_ITConfig(CAN1, CAN_IT_LEC, ENABLE);//tLast error code Interrupt
CAN_ITConfig(CAN1, CAN_IT_ERR, ENABLE);//Error Interrupt
*/
}else if(can_num == 2){
NVIC_Configuration(CAN2_RX0_IRQn);
CAN_ITConfig(CAN2, CAN_IT_FMP0,ENABLE);//message pending Interrupt
/*
CAN_ITConfig(CAN2, CAN_IT_EWG, ENABLE);//Error passive Interrupt
CAN_ITConfig(CAN2, CAN_IT_EPV, ENABLE);//Error passive Interrupt
CAN_ITConfig(CAN2, CAN_IT_BOF, ENABLE);//Bus-off Interrupt
CAN_ITConfig(CAN2, CAN_IT_LEC, ENABLE);//tLast error code Interrupt
CAN_ITConfig(CAN2, CAN_IT_ERR, ENABLE);//Error Interrupt
*/
}
#endif
#ifdef USE_INTERRUPT_CAN_TX
if(can_num == 1){
CAN_ITConfig(CAN1, CAN_IT_TME, ENABLE);//Transmit mailbox empty Interrupt
}else if(can_num == 2){
CAN_ITConfig(CAN2, CAN_IT_TME, ENABLE);//Transmit mailbox empty Interrupt
}
#endif
}
//fungsi inisialisasi CAN (Controller Area Network)
static void CAN_Config(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
//NVIC_InitTypeDef NVIC_InitStructure;
CAN_InitTypeDef CAN_InitStructure;
CAN_FilterInitTypeDef CAN_FilterInitStructure;
/* CAN GPIOs configuration **************************************************/
/* Connect CAN pins to AF7 */
GPIO_PinAFConfig(CAN_GPIO_PORT, CAN_RX_SOURCE, CAN_AF_PORT);
GPIO_PinAFConfig(CAN_GPIO_PORT, CAN_TX_SOURCE, CAN_AF_PORT);
/* Configure CAN RX and TX pins */
GPIO_InitStructure.GPIO_Pin = CAN_RX_PIN | CAN_TX_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
GPIO_Init(CAN_GPIO_PORT, &GPIO_InitStructure);
/* NVIC configuration *******************************************************/
nvicEnableVector(STM32_CAN1_RX0_NUMBER,
CORTEX_PRIORITY_MASK(STM32_CAN_CAN1_IRQ_PRIORITY));
/* CAN configuration ********************************************************/
/* Enable CAN clock */
rccEnableAPB1(RCC_APB1ENR_CAN1EN, 2); //alamat header --> os/hal/platforms/
/* CAN register init */
//CAN_DeInit(CANx);
CAN_StructInit(&CAN_InitStructure);
/* CAN cell init */
CAN_InitStructure.CAN_TTCM = DISABLE;
CAN_InitStructure.CAN_ABOM = DISABLE;
CAN_InitStructure.CAN_AWUM = DISABLE;
CAN_InitStructure.CAN_NART = DISABLE;
CAN_InitStructure.CAN_RFLM = DISABLE;
CAN_InitStructure.CAN_TXFP = DISABLE;
CAN_InitStructure.CAN_Mode = CAN_Mode_Normal;
CAN_InitStructure.CAN_SJW = CAN_SJW_1tq;
/* CAN Baudrate = 1MBps (CAN clocked at 36 MHz) */
CAN_InitStructure.CAN_BS1 = CAN_BS1_9tq;
CAN_InitStructure.CAN_BS2 = CAN_BS2_8tq;
CAN_InitStructure.CAN_Prescaler = 2;
CAN_Init(CANx, &CAN_InitStructure);
/* CAN filter init */
CAN_FilterInitStructure.CAN_FilterNumber = 0;
CAN_FilterInitStructure.CAN_FilterMode = CAN_FilterMode_IdMask;
CAN_FilterInitStructure.CAN_FilterScale = CAN_FilterScale_32bit;
CAN_FilterInitStructure.CAN_FilterIdHigh = 0x0000;
CAN_FilterInitStructure.CAN_FilterIdLow = 0x0000;
CAN_FilterInitStructure.CAN_FilterMaskIdHigh = 0x0000;
CAN_FilterInitStructure.CAN_FilterMaskIdLow = 0x0000;
CAN_FilterInitStructure.CAN_FilterFIFOAssignment = 0;
CAN_FilterInitStructure.CAN_FilterActivation = ENABLE;
CAN_FilterInit(&CAN_FilterInitStructure);
/*TxMessage.StdId = 0x111;
TxMessage.RTR = CAN_RTR_DATA;
TxMessage.IDE = CAN_ID_STD;
TxMessage.DLC = 8;
TxMessage2.StdId = 0x222;
TxMessage2.RTR = CAN_RTR_DATA;
TxMessage2.IDE = CAN_ID_STD;
TxMessage2.DLC = 8;
TxMessage3.StdId = 0x333;
TxMessage3.RTR = CAN_RTR_DATA;
TxMessage3.IDE = CAN_ID_STD;
TxMessage3.DLC = 8;
TxMessage3.StdId = 0x444;
TxMessage3.RTR = CAN_RTR_DATA;
TxMessage3.IDE = CAN_ID_STD;
TxMessage3.DLC = 8;
*/
/* Mengaktifkan FIFO 0 message pending Interrupt */
CAN_ITConfig(CANx, CAN_IT_FMP0, ENABLE);
}
/**
* @brief Configures the CAN, transmit and receive using interrupt.
* @param None
* @retval PASSED if the reception is well done, FAILED in other case
*/
TestStatus CAN_Interrupt(void)
{
CAN_InitTypeDef sCAN;
CAN_TxMsgTypeDef TxMsg;
uint32_t i = 0;
/* Set the HCLK division factor = 1 for CAN1*/
CAN_BRGInit(MDR_CAN1,CAN_HCLKdiv1);
/* CAN register init */
CAN_DeInit(MDR_CAN1);
/* CAN cell init */
CAN_StructInit (&sCAN);
sCAN.CAN_ROP = ENABLE;
sCAN.CAN_SAP = ENABLE;
sCAN.CAN_STM = ENABLE;
sCAN.CAN_ROM = DISABLE;
sCAN.CAN_PSEG = CAN_PSEG_Mul_2TQ;
sCAN.CAN_SEG1 = CAN_SEG1_Mul_3TQ;
sCAN.CAN_SEG2 = CAN_SEG2_Mul_2TQ;
sCAN.CAN_SJW = CAN_SJW_Mul_2TQ;
sCAN.CAN_SB = CAN_SB_3_SAMPLE;
sCAN.CAN_BRP = 1;
CAN_Init (MDR_CAN1,&sCAN);
CAN_Cmd(MDR_CAN1, ENABLE);
/* Enable CAN1 interrupt */
NVIC_EnableIRQ(CAN1_IRQn);
/* Enable CAN1 GLB_INT and RX_INT interrupts */
CAN_ITConfig( MDR_CAN1, CAN_IT_GLBINTEN | CAN_IT_RXINTEN, ENABLE);
/* Enable CAN1 interrupt from receive buffer */
CAN_RxITConfig( MDR_CAN1 ,(1<<rx_buf), ENABLE);
/* Enable CAN1 interrupt from transmit buffer */
CAN_TxITConfig( MDR_CAN1 ,(1<<tx_buf), ENABLE);
/* receive buffer enable */
CAN_Receive(MDR_CAN1, rx_buf, DISABLE);
/* transmit */
TxMsg.IDE = CAN_ID_EXT;
TxMsg.DLC = 0x04;
TxMsg.PRIOR_0 = DISABLE;
TxMsg.ID = 0x15555555;
TxMsg.Data[1] = 0;
TxMsg.Data[0] = 0x12345678;
CAN_Transmit(MDR_CAN1, tx_buf, &TxMsg);
/* initialize the value that will be returned */
ret = 0xFF;
/* receive message with interrupt handling */
i=0;
while((ret == 0xFF) && (i < 0xFFF))
{
i++;
}
if (i == 0xFFF)
{
ret=0;
}
/* disable interrupt handling */
CAN_ITConfig(MDR_CAN1, CAN_IT_GLBINTEN | CAN_IT_RXINTEN, DISABLE);
return (TestStatus)ret;
}
void can_init()
{
RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO | RCC_APB2Periph_GPIOB, ENABLE);
// Configure CAN pins
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
GPIO_Init(GPIOB, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOB, &GPIO_InitStructure);
GPIO_PinRemapConfig(GPIO_Remap1_CAN1,ENABLE);
CAN_InitTypeDef CAN_InitStructure;
CAN_FilterInitTypeDef CAN_FilterInitStructure;
/* CAN register init */
CAN_DeInit(CAN1);
CAN_StructInit(&CAN_InitStructure);
/* CAN cell init */
CAN_InitStructure.CAN_TTCM = DISABLE;
CAN_InitStructure.CAN_ABOM = ENABLE;
CAN_InitStructure.CAN_AWUM = DISABLE;
CAN_InitStructure.CAN_NART = DISABLE;
CAN_InitStructure.CAN_RFLM = DISABLE;
CAN_InitStructure.CAN_TXFP = DISABLE;
CAN_InitStructure.CAN_Mode = CAN_Mode_Normal;
/* CAN Baudrate = 125KBps*/
CAN_InitStructure.CAN_SJW = CAN_SJW_1tq;
CAN_InitStructure.CAN_BS1 = CAN_BS1_2tq;
CAN_InitStructure.CAN_BS2 = CAN_BS2_3tq;
CAN_InitStructure.CAN_Prescaler = 48;
CAN_Init(CAN1, &CAN_InitStructure);
/* CAN filter init */
CAN_FilterInitStructure.CAN_FilterNumber = 0;
CAN_FilterInitStructure.CAN_FilterMode = CAN_FilterMode_IdMask;
CAN_FilterInitStructure.CAN_FilterScale = CAN_FilterScale_32bit;
CAN_FilterInitStructure.CAN_FilterIdHigh = 0x0000;
CAN_FilterInitStructure.CAN_FilterIdLow = 0x0000;
CAN_FilterInitStructure.CAN_FilterMaskIdHigh = 0x0000;
CAN_FilterInitStructure.CAN_FilterMaskIdLow = 0x0000;
CAN_FilterInitStructure.CAN_FilterFIFOAssignment = 0;
CAN_FilterInitStructure.CAN_FilterActivation = ENABLE;
CAN_FilterInit(&CAN_FilterInitStructure);
NVIC_InitTypeDef NVIC_InitStructure;
NVIC_InitStructure.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
CAN_ITConfig(CAN1, CAN_IT_FMP0, ENABLE);
}
EXPORT Std_ReturnType Can_Hw_InitController(uint8 controller,const Can_ControllerConfigType* config)
{
CAN_HW_t *canHw;
uint8_t tq;
uint8_t tqSync;
uint8_t tq1;
uint8_t tq2;
uint32_t clock;
Can_UnitType *canUnit;
uint8 cId = controller;
const Can_ControllerConfigType *canHwConfig;
const Can_HardwareObjectType *hohObj;
canUnit = CAN_GET_PRIVATE_DATA(controller);
canHw = GetController(cId);
canHwConfig = CAN_GET_CONTROLLER_CONFIG(Can_Global.channelMap[cId]);
// Start this baby up
CAN_DeInit(canHw);
/* CAN filter init. We set up two filters - one for the master (CAN1) and
* one for the slave (CAN2)
*
* CAN_SlaveStartBank(n) denotes which filter is the first of the slave.
*
* The filter registers reside in CAN1 and is shared to CAN2, so we only need
* to set up this once.
*/
// We let all frames in and do the filtering in software.
CAN_FilterInitTypeDef CAN_FilterInitStructure;
CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask;
CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit;
CAN_FilterInitStructure.CAN_FilterIdHigh=0x0000;
CAN_FilterInitStructure.CAN_FilterIdLow=0x0000;
CAN_FilterInitStructure.CAN_FilterMaskIdHigh=0x0000;
CAN_FilterInitStructure.CAN_FilterMaskIdLow=0x0000;
CAN_FilterInitStructure.CAN_FilterFIFOAssignment=CAN_FIFO0;
CAN_FilterInitStructure.CAN_FilterActivation=ENABLE;
// Init filter 0 (CAN1/master)
CAN_FilterInitStructure.CAN_FilterNumber=0;
CAN_FilterInit(&CAN_FilterInitStructure);
// Init filter 1 (CAN2/slave)
CAN_FilterInitStructure.CAN_FilterNumber=1;
CAN_FilterInit(&CAN_FilterInitStructure);
// Set which filter to use for CAN2.
CAN_SlaveStartBank(1);
// acceptance filters
hohObj = canHwConfig->Can_Hoh;
--hohObj;
do {
++hohObj;
if (hohObj->CanObjectType == CAN_OBJECT_TYPE_RECEIVE)
{
// TODO Hw filtering
}
}while( !hohObj->Can_EOL );
// Clock calucation
// -------------------------------------------------------------------
//
// * 1 TQ = Sclk period( also called SCK )
// * Ftq = Fcanclk / ( PRESDIV + 1 ) = Sclk
// ( Fcanclk can come from crystal or from the peripheral dividers )
//
// -->
// TQ = 1/Ftq = (PRESDIV+1)/Fcanclk --> PRESDIV = (TQ * Fcanclk - 1 )
// TQ is between 8 and 25
clock = McuE_GetSystemClock()/2;
tqSync = config->CanControllerPropSeg + 1;
tq1 = config->CanControllerSeg1 + 1;
tq2 = config->CanControllerSeg2 + 1;
tq = tqSync + tq1 + tq2;
CAN_InitTypeDef CAN_InitStructure;
CAN_StructInit(&CAN_InitStructure);
/* CAN cell init */
CAN_InitStructure.CAN_TTCM=DISABLE;
CAN_InitStructure.CAN_ABOM=ENABLE;
CAN_InitStructure.CAN_AWUM=ENABLE;
CAN_InitStructure.CAN_NART=DISABLE;
CAN_InitStructure.CAN_RFLM=DISABLE;
CAN_InitStructure.CAN_TXFP=DISABLE;
if(config->Can_Loopback){
CAN_InitStructure.CAN_Mode=CAN_Mode_LoopBack;
}else{
CAN_InitStructure.CAN_Mode=CAN_Mode_Normal;
}
CAN_InitStructure.CAN_SJW=config->CanControllerPropSeg;
CAN_InitStructure.CAN_BS1=config->CanControllerSeg1;
CAN_InitStructure.CAN_BS2=config->CanControllerSeg2;
CAN_InitStructure.CAN_Prescaler= clock/(config->CanControllerBaudRate*1000*tq);
if(CANINITOK != CAN_Init(canHw,&CAN_InitStructure))
{
return E_NOT_OK;
}
canUnit->state = CANIF_CS_STOPPED;
Can_EnableControllerInterrupts(cId);
return E_OK;
}
void can_hw_init(void)
{
GPIO_InitTypeDef gpio;
NVIC_InitTypeDef nvic;
CAN_InitTypeDef can;
CAN_FilterInitTypeDef can_filter;
/* Enable peripheral clocks */
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO |
RCC_APB2Periph_GPIOA, ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);
/* Configure CAN pin: RX */
gpio.GPIO_Pin = GPIO_Pin_11;
gpio.GPIO_Mode = GPIO_Mode_IPU;
GPIO_Init(GPIOA, &gpio);
/* Configure CAN pin: TX */
gpio.GPIO_Pin = GPIO_Pin_12;
gpio.GPIO_Mode = GPIO_Mode_AF_PP;
gpio.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA, &gpio);
/* NVIC configuration */
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_0);
nvic.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn;
nvic.NVIC_IRQChannelPreemptionPriority = 0x00;
nvic.NVIC_IRQChannelSubPriority = 0x00;
nvic.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&nvic);
/* CAN register init */
CAN_DeInit(CAN1);
CAN_StructInit(&can);
/* CAN cell init */
can.CAN_TTCM = DISABLE;
can.CAN_ABOM = CAN_ERR_RESUME;
can.CAN_AWUM = DISABLE;
can.CAN_NART = DISABLE;
can.CAN_RFLM = DISABLE;
can.CAN_TXFP = DISABLE;
can.CAN_Mode = CAN_Mode_Normal;
can.CAN_SJW = CAN_SJW_TQ;
can.CAN_BS1 = CAN_BS1_TQ;
can.CAN_BS2 = CAN_BS2_TQ;
can.CAN_Prescaler = CAN_PRESCALER;
can.CAN_ABOM = ENABLE;
CAN_Init(CAN1, &can);
/* CAN filter init */
can_filter.CAN_FilterNumber = 0;
can_filter.CAN_FilterMode = CAN_FilterMode_IdMask;
can_filter.CAN_FilterScale = CAN_FilterScale_32bit;
can_filter.CAN_FilterIdHigh = 0x0000;
can_filter.CAN_FilterIdLow = 0x0000;
can_filter.CAN_FilterMaskIdHigh = 0x0000;
can_filter.CAN_FilterMaskIdLow = 0x0000;
can_filter.CAN_FilterFIFOAssignment = 0;
can_filter.CAN_FilterActivation = ENABLE;
CAN_FilterInit(&can_filter);
/* transmit struct init */
can_tx_msg.StdId = 0x0;
can_tx_msg.ExtId = 0x0;
can_tx_msg.RTR = CAN_RTR_DATA;
#ifdef USE_CAN_EXT_ID
can_tx_msg.IDE = CAN_ID_EXT;
#else
can_tx_msg.IDE = CAN_ID_STD;
#endif
can_tx_msg.DLC = 1;
CAN_ITConfig(CAN1, CAN_IT_FMP0, ENABLE);
}
void CAN_App_Init(void)
{
CAN_InitTypeDef CAN_InitStructure;
CAN_FilterInitTypeDef CAN_FilterInitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
CANGPIO_Configuration();
RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);
/* CAN register init */
CAN_DeInit(CAN1);
CAN_StructInit(&CAN_InitStructure);
/* CAN cell init */
CAN_InitStructure.CAN_TTCM=DISABLE;
CAN_InitStructure.CAN_ABOM=DISABLE;
CAN_InitStructure.CAN_AWUM=DISABLE;
CAN_InitStructure.CAN_NART=DISABLE;
CAN_InitStructure.CAN_RFLM=DISABLE;
CAN_InitStructure.CAN_TXFP=DISABLE;
//----- Debug use---
#if 1 // 生产测试用
CAN_InitStructure.CAN_Mode=CAN_Mode_Normal;
CAN_InitStructure.CAN_SJW=CAN_SJW_1tq;
CAN_InitStructure.CAN_BS1=CAN_BS1_13tq;
CAN_InitStructure.CAN_BS2=CAN_BS2_7tq;
CAN_InitStructure.CAN_Prescaler=100;//20K 42MHZ 42/(1+bs1+bs2)/prescaler
#else
// ----- 北斗扩展信息 ----------
switch(BD_EXT.CAN_1_Mode&0x60000000) //mode
{
case 0x20000000: CAN_InitStructure.CAN_Mode=CAN_Mode_LoopBack;break;
case 0x40000000: CAN_InitStructure.CAN_Mode=CAN_Mode_Normal;break;
case 0x60000000: CAN_InitStructure.CAN_Mode=CAN_Mode_Silent;break;
}
switch(BD_EXT.CAN_1_Mode&0x0000FFFF) // CAN Baud
{ /* 5k 10k 20k 50k 125k 250k 500k --default 20k 42MHZ max */
case 5:
CAN_InitStructure.CAN_SJW=CAN_SJW_1tq;
CAN_InitStructure.CAN_BS1=CAN_BS1_13tq;
CAN_InitStructure.CAN_BS2=CAN_BS2_7tq;
CAN_InitStructure.CAN_Prescaler=400;//5K 42/(1+bs1+bs2)/prescaler
break;
case 10:
CAN_InitStructure.CAN_SJW=CAN_SJW_1tq;
CAN_InitStructure.CAN_BS1=CAN_BS1_13tq;
CAN_InitStructure.CAN_BS2=CAN_BS2_7tq;
CAN_InitStructure.CAN_Prescaler=200;//10K 42/(1+bs1+bs2)/prescaler
break;
case 20:
CAN_InitStructure.CAN_SJW=CAN_SJW_1tq;
CAN_InitStructure.CAN_BS1=CAN_BS1_13tq;
CAN_InitStructure.CAN_BS2=CAN_BS2_7tq;
CAN_InitStructure.CAN_Prescaler=100;//20K 42/(1+bs1+bs2)/prescaler
break;
case 50:
CAN_InitStructure.CAN_SJW=CAN_SJW_1tq;
CAN_InitStructure.CAN_BS1=CAN_BS1_13tq;
CAN_InitStructure.CAN_BS2=CAN_BS2_7tq;
CAN_InitStructure.CAN_Prescaler=40;//50K 42/(1+bs1+bs2)/prescaler
break;
case 125:
CAN_InitStructure.CAN_SJW=CAN_SJW_1tq;
CAN_InitStructure.CAN_BS1=CAN_BS1_13tq;
CAN_InitStructure.CAN_BS2=CAN_BS2_7tq;
CAN_InitStructure.CAN_Prescaler=16;//125K 42/(1+bs1+bs2)/prescaler
break;
case 250:
CAN_InitStructure.CAN_SJW=CAN_SJW_1tq;
CAN_InitStructure.CAN_BS1=CAN_BS1_13tq;
CAN_InitStructure.CAN_BS2=CAN_BS2_7tq;
CAN_InitStructure.CAN_Prescaler=8;//250K 42/(1+bs1+bs2)/prescaler
break;
case 500:
CAN_InitStructure.CAN_SJW=CAN_SJW_1tq;
CAN_InitStructure.CAN_BS1=CAN_BS1_13tq;
CAN_InitStructure.CAN_BS2=CAN_BS2_7tq;
CAN_InitStructure.CAN_Prescaler=4;//500K 42/(1+bs1+bs2)/prescaler
break;
default:
return;
}
#endif
CAN_Init(CAN1,&CAN_InitStructure);
/* CAN filter init */
CAN_FilterInitStructure.CAN_FilterNumber=0;
CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask;
CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit;
CAN_FilterInitStructure.CAN_FilterIdHigh=0x0000;
CAN_FilterInitStructure.CAN_FilterIdLow=0x0000;
CAN_FilterInitStructure.CAN_FilterMaskIdHigh=0x0000;
CAN_FilterInitStructure.CAN_FilterMaskIdLow=0x0000;
CAN_FilterInitStructure.CAN_FilterFIFOAssignment=0;
CAN_FilterInitStructure.CAN_FilterActivation=ENABLE;
CAN_FilterInit(&CAN_FilterInitStructure);
//-----------------------------
/* Enable CAN1 RX0 interrupt IRQ channel */
NVIC_InitStructure.NVIC_IRQChannel = CAN1_RX0_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 3;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
CAN_ITConfig(CAN1, CAN_IT_FMP0, ENABLE);
}
void CAN_Configuration(void)
{
/* CAN1 Periph clock enable */
CAN_InitTypeDef CAN_InitStructure;
CAN_FilterInitTypeDef CAN_FilterInitStructure;
/* CAN register init */
CAN_DeInit(CAN1);
CAN_DeInit(CAN2);
CAN_StructInit(&CAN_InitStructure);
/* CAN cell init */
CAN_InitStructure.CAN_TTCM = DISABLE;
CAN_InitStructure.CAN_ABOM = DISABLE;
CAN_InitStructure.CAN_AWUM = DISABLE;
CAN_InitStructure.CAN_NART = DISABLE;
CAN_InitStructure.CAN_RFLM = DISABLE;
CAN_InitStructure.CAN_TXFP = DISABLE;
CAN_InitStructure.CAN_Mode = CAN_Mode_Normal;
CAN_InitStructure.CAN_SJW = CAN_SJW_1tq;
CAN_InitStructure.CAN_BS1 = CAN_BS1_3tq;
CAN_InitStructure.CAN_BS2 = CAN_BS2_5tq;
CAN_InitStructure.CAN_Prescaler = 16;//2 4=1m 8=500k
CAN_Init(CAN1, &CAN_InitStructure);
CAN_Init(CAN2, &CAN_InitStructure);
/* CAN filter init */
CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask;
CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit;
CAN_FilterInitStructure.CAN_FilterIdHigh=0x0000;
CAN_FilterInitStructure.CAN_FilterIdLow=0x0000;
CAN_FilterInitStructure.CAN_FilterMaskIdHigh=0x0000;
CAN_FilterInitStructure.CAN_FilterMaskIdLow=0x0000;
CAN_FilterInitStructure.CAN_FilterFIFOAssignment=0;
CAN_FilterInitStructure.CAN_FilterActivation=ENABLE;
CAN_FilterInitStructure.CAN_FilterNumber=0;
CAN_FilterInit(&CAN_FilterInitStructure);
CAN_FilterInitStructure.CAN_FilterNumber=14;
CAN_FilterInit(&CAN_FilterInitStructure);
GPIO_InitTypeDef GPIO_InitStructure;
/* Configure CAN1 pin: RX */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
GPIO_Init(GPIOA, &GPIO_InitStructure);
/* Configure CAN1 pin: TX */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);
/* Configure CAN pin: RX */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
GPIO_Init(GPIOB, &GPIO_InitStructure);
/* Configure CAN pin: TX */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_13;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOB, &GPIO_InitStructure);
}
