/**
* @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(CAN);
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 Baudrate = 125kbps (CAN clocked at 36 MHz) */
CAN_InitStructure.CAN_BS1 = CAN_BS1_9tq;
CAN_InitStructure.CAN_BS2 = CAN_BS2_8tq;
CAN_InitStructure.CAN_Prescaler = 16;
CAN_Init(CAN, &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(CAN, &TxMessage);
i = 0;
while((CAN_TransmitStatus(CAN, TransmitMailbox) != CANTXOK) && (i != 0xFFFF))
{
i++;
}
i = 0;
while((CAN_MessagePending(CAN, CAN_FIFO0) < 1) && (i != 0xFFFF))
{
i++;
}
/* receive */
RxMessage.StdId = 0x00;
RxMessage.IDE = CAN_ID_STD;
RxMessage.DLC = 0;
RxMessage.Data[0] = 0x00;
RxMessage.Data[1] = 0x00;
CAN_Receive(CAN, 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 */
}
//受信
int main(void)
{
char str[150] = {0};
init();
GPIOD->BSRRL = GPIO_Pin_12;
sprintf(str,"Start CAN!\n\r");
transmit_uart3_s(str);
while(1)
{
#ifndef USE_INTERRUPT_CAN_RX
GPIOD->BSRRL = GPIO_Pin_13;
GPIOD->BSRRH = GPIO_Pin_14;
while(0 == CAN_MessagePending(CAN1, CAN_FIFO0));
CAN_Receive(CAN1, CAN_FIFO0, &can_rx_flame);//受信
GPIOD->BSRRL = GPIO_Pin_14;
GPIOD->BSRRH = GPIO_Pin_13;
#else
if(GPIO_ReadInputDataBit(GPIOA,GPIO_Pin_0) == SET){
GPIOD->BSRRH = GPIO_Pin_13;
}else{
GPIOD->BSRRL = GPIO_Pin_13;
}
#endif
while(ticker > 300){
ticker = 0;
sprintf(str,"StId:0x%X \n\rIDE:0x%X \n\rRTR:%d \n\rDLC:%X \n\rData[0]:0x%X \n\rData[1]:0x%X \n\rData[2]:0x%X \n\rData[3]:0x%X \n\rData[4]:0x%X \n\rData[5]:0x%X \n\rData[6]:0x%X \n\rData[7]:0x%X \n\rFMI:%d \n\rRerror:%d \n\rTerror:%d\n\r\n"
,can_rx_flame.StdId
,can_rx_flame.IDE
,can_rx_flame.RTR
,can_rx_flame.DLC
,can_rx_flame.Data[0]
,can_rx_flame.Data[1]
,can_rx_flame.Data[2]
,can_rx_flame.Data[3]
,can_rx_flame.Data[4]
,can_rx_flame.Data[5]
,can_rx_flame.Data[6]
,can_rx_flame.Data[7]
,can_rx_flame.FMI
,CAN_GetReceiveErrorCounter(CAN1)
,CAN_GetLSBTransmitErrorCounter(CAN1));
/*
sprintf(str," start:%X\n\r select:%X\n\r left_x:%X\n\r left_y:%X\n\r right_x:%X\n\r right_y:%X\n\r L1:%X\n\r L2:%X\n\r R1:%X\n\r R2:%X\n\r Tri:%X\n\r Cir:%X\n\r Cro:%X\n\r Squ:%X\n\r Up:%X\n\r Right:%X\n\r Dow:%X\n\r left:%X\n\r CAN_C:%d\n\r"
,psbutton.start.value
,psbutton.select.value
,psbutton.left_x.value
,psbutton.left_y.value
,psbutton.right_x.value
,psbutton.right_y.value
,psbutton.L1.value
,psbutton.L2.value
,psbutton.R1.value
,psbutton.R2.value
,psbutton.Triangle.value
,psbutton.Circle.value
,psbutton.Cross.value
,psbutton.Square.value
,psbutton.Up.value
,psbutton.Down.value
,psbutton.Right.value
,psbutton.Left.value
,can_tx_count);
*/
transmit_uart3_s(str);
//VCP_send_str(str);
}
}
}
/**
* @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;
}
/*
* 函数名：CAN_Polling
* 描述 ：配置 CAN 的工作模式为 回环模式
* 输入 ：无
* 输出 : -PASSED 成功
* -FAILED 失败
* 调用 ：内部调用
*/
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; // 时间触发通信禁止
CAN_InitStructure.CAN_ABOM=DISABLE; // 离线退出是在中断置位清0后退出
CAN_InitStructure.CAN_AWUM=DISABLE; // 自动唤醒模式：清零sleep
CAN_InitStructure.CAN_NART=DISABLE; // 自动重新传送豹纹，知道发送成功
CAN_InitStructure.CAN_RFLM=DISABLE; // FIFO没有锁定，新报文覆盖旧报文
CAN_InitStructure.CAN_TXFP=DISABLE; // 发送报文优先级确定：标志符
CAN_InitStructure.CAN_Mode=CAN_Mode_LoopBack; // 回环模式
CAN_InitStructure.CAN_SJW=CAN_SJW_1tq; // 1tq、BS1、BS2的值跟波特率有关
CAN_InitStructure.CAN_BS1=CAN_BS1_8tq;
CAN_InitStructure.CAN_BS2=CAN_BS2_7tq;
CAN_InitStructure.CAN_Prescaler=5; // 分频系数为5
CAN_Init(CAN1, &CAN_InitStructure); // 初始化CAN1
/* 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; // 设定标准标识符（11位，扩展的为29位）
TxMessage.RTR=CAN_RTR_DATA; // 传输消息的帧类型为数据帧（还有远程帧）
TxMessage.IDE=CAN_ID_STD; // 消息标志符实验标准标识符
TxMessage.DLC=2; // 发送两帧，一帧8位
TxMessage.Data[0]=0xCA; // 第一帧数据
TxMessage.Data[1]=0xFE; // 第二帧数据
TransmitMailbox=CAN_Transmit(CAN1, &TxMessage);
i = 0;
// 用于检查消息传输是否正常
while((CAN_TransmitStatus(CAN1, TransmitMailbox) != CANTXOK) && (i != 0xFF))
{
i++;
}
i = 0;
// 检查返回的挂号的信息数目
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;
}
/* 判断发送的信息和接收的信息是否相等 */
if ((RxMessage.Data[0]<<8|RxMessage.Data[1])!=0xCAFE)
{
return FAILED;
}
//printf("receive data:0X%X,0X%X",RxMessage.Data[0], RxMessage.Data[1]);
return PASSED; /* Test Passed */
}
TestStatus CAN_Polling(void)
{
CanTxMsg TxMessage;
CanRxMsg RxMessage;
uint32_t i = 0;
uint8_t TransmitMailbox = 0;
/* transmit */
TxMessage.StdId=0x11; // 设定标准标识符（11位，扩展的为29位）
TxMessage.RTR=CAN_RTR_DATA; // 传输消息的帧类型为数据帧（还有远程帧）
TxMessage.IDE=CAN_ID_STD; // 消息标志符实验标准标识符
TxMessage.DLC=2; // 发送两帧，一帧8位
TxMessage.Data[0]=0xCA; // 第一帧数据
TxMessage.Data[1]=0xFE; // 第二帧数据
TransmitMailbox=CAN_Transmit(CAN1, &TxMessage);
i = 0;
// 用于检查消息传输是否正常
while((CAN_TransmitStatus(CAN1, TransmitMailbox) != CANTXOK) && (i != 0xFF))
{
i++;
}
i = 0;
// 检查返回的挂号的信息数目
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;
}
/* 判断发送的信息和接收的信息是否相等 */
if ((RxMessage.Data[0]<<8|RxMessage.Data[1])!=0xCAFE)
{
return FAILED;
}
//printf("receive data:0X%X,0X%X",RxMessage.Data[0], RxMessage.Data[1]);
return PASSED; /* Test Passed */
}
/**
* @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;
}
//Ö÷¿ØÏòGPS°å·¢Ë͵ÄÊýŸÝ
void CAN1_RX1_IRQHandler(void)
{
CanRxMsg RxMessage;
CAN_Receive(CAN1, CAN_FIFO1, &RxMessage);
}
/*******************************************************************************
* Function Name : PollCAN
* Description : periodièno procesiranje CAN protokola v glavni zanki
* Input :
* Output :
* Return : FLASH_COMPLETE na bootloader strani, FLASH_STATUS na strani
* klienta (glej stm32f10x_flash.h)
*******************************************************************************/
int PollCAN(CanRxMsg *p) {
static int addr,n=0; // statièni register za zaèetno. adreso, index IAP stringa
int i; // ....
CanRxMsg Rx;
if(!p) {
if(!CAN_MessagePending(CAN1, CAN_FIFO0))
return(EOF);
p=&Rx;
CAN_Receive(CAN1,CAN_FIFO0, p);
}
switch(p->StdId) {
//----------------------------------------------------------------------------------------------
// client - deep sleep (watchdog), no ack.
case _ID_IAP_GO:
NVIC_SystemReset();
break;
//----------------------------------------------------------------------------------------------
// client - sign FW
case _ID_IAP_SIGN:
SendAck(crcSIGN());
break;
//----------------------------------------------------------------------------------------------
// client - setup adrese, no ack
case _ID_IAP_ADDRESS:
addr=*(int *)p->Data;
break;
//----------------------------------------------------------------------------------------------
// client - programiranje 2x4 bytov, ack
case _ID_IAP_DWORD:
for(i=p->DLC; i<8; ++i)
p->Data[i]=((char *)addr)[i];
i=FlashProgram32(addr,*(int *)(&p->Data[0]));
addr+=4;
++_Words32Received;
if(p->DLC>4) {
i |= FlashProgram32(addr,*(int *)(&p->Data[4]));
}
addr+=4;
++_Words32Received;
SendAck(i);
break;
//----------------------------------------------------------------------------------------------
// client - brisanje, ack
case _ID_IAP_ERASE:
_Words32Received=0;
Watchdog();
SendAck(EraseFLASH(*(int *)p->Data));
break;
//----------------------------------------------------------------------------------------------
// client - brisanje, ack
case _ID_IAP_STRING:
for(i=0; i<p->DLC && n<_IAP_STRING_LEN; ++i, ++n)
_Iap_string[n]=p->Data[i];
if(_Iap_string[n-1]=='\0' || _Iap_string[n-1]=='\r' || _Iap_string[n-1]=='\n' || n==_IAP_STRING_LEN) {
n=0;
CanHexProg(NULL);
}
break;
//----------------------------------------------------------------------------------------------
// client - brisanje, ack
case _ID_IAP_PING:
SendAck(0);
break;
//----------------------------------------------------------------------------------------------
// server - acknowledge received
case _ID_IAP_ACK:
return(p->Data[0]);
//----------------------------------------------------------------------------------------------
default:
break;
}
return(EOF);
}
//为了提高任务效率，改用事件驱动方式
//
void app_task_obd (void *p_arg)
{
u8 var_uchar;
//Request Supported PIDs from Vehicle, check sae j1979 2002.pdf page 26
u8 determine_pid[]="\x02\x01\x00\x00\x00\x00\x00\x00";
u16 can_id_idx = 0;
u32 can_id ;
CanRxMsg can_rx_msg;
CPU_INT08U os_err;
(void)p_arg;
//can_enquire_determine_pid( );
OSSemPend(sem_obd_task, 0, &os_err);//Wait task manger ask to start
//BKP_DR2, OBD Flag: 15~12:KWP_TYPEDEF
// 11~8:CAN2_TYPEDEF
// 7~4: CAN1_TYPEDEF
// 3~0: OBD_TYPEDEF
//BKP_DR3, can_snd_id index, check app_obd.c
switch ( obd_read_type ) {
case OBD_TYPE_CAN1 ://CAN1
debug_obd("OBD is CAN1 ");
can_id_idx = obd_read_canid_idx ;
if ( !can_id_idx ) {//no CAN send id index
obd_auto_detect( );
can_id_idx = obd_read_canid_idx ;
}
switch ( obd_can1_type ) {
case CAN1_TYPE_STD_250 ://CAN1_TYPE_STD_250
debug_obd("STD 250\r\n");
break;
case CAN1_TYPE_EXT_250 ://CAN1_TYPE_EXT_250
debug_obd("EXT 250\r\n");
break;
case CAN1_TYPE_STD_500 ://CAN1_TYPE_STD_500
debug_obd("STD 500\r\n");
break;
case CAN1_TYPE_EXT_500 ://CAN1_TYPE_EXT_500
debug_obd("EXT 500\r\n");
break;
case CAN1_TYPE_NO_DEFINE ://CAN1 no define
default://maybe error, treat as no define
debug_obd("but type ERR!\r\n");
BKP_WriteBackupRegister(BKP_DR2, 0);//clean all flag, prevent err
BKP_WriteBackupRegister(BKP_DR3, 0);//clean all flag, prevent err
obd_auto_detect( );
can_id_idx = obd_read_canid_idx ;
break;
}
break;
case OBD_TYPE_CAN2 ://CAN2
debug_obd("OBD is CAN2 bus\r\n");
if ( !obd_read_canid_idx ) {//no CAN send id index
obd_auto_detect( );
can_id_idx = obd_read_canid_idx ;
}
break;
case OBD_TYPE_NO_DFN ://no define
default://maybe error, treat as no define
debug_obd("No OBD type\r\n");
BKP_WriteBackupRegister(BKP_DR2, 0);//clean all flag, prevent err
BKP_WriteBackupRegister(BKP_DR3, 0);//clean all flag, prevent err
obd_auto_detect( );
can_id_idx = obd_read_canid_idx ;
break;
}
while ( !can_id_idx ) { //no CAN ID index, err
debug_obd("BK2: %04X BK3: %04X\r\n",BKP_ReadBackupRegister(BKP_DR2),BKP_ReadBackupRegister(BKP_DR3));
debug_obd("can_id_idx = %d\r\n", can_id_idx);
OSSemPend(sem_obd_task, 0, &os_err);
debug_obd("CAN ID index ERR\r\n");
//Report err to server
for ( var_uchar = 0 ; var_uchar < MAX_WARN_MSG ; var_uchar++) {
if ( !my_icar.warn[var_uchar].msg ) { //empty msg
//unsigned int msg;//file name(1 Byte), msg(1 Byte), line(2 B)
my_icar.warn[var_uchar].msg = (F_APP_OBD) << 24 ;
my_icar.warn[var_uchar].msg |= ERR_CAN_ID_IDX << 16 ;//Error CAN ID index
my_icar.warn[var_uchar].msg |= __LINE__ ;
var_uchar = MAX_WARN_MSG ;//end the loop
}
}
obd_auto_detect( );
can_id_idx = obd_read_canid_idx ;
}
//uart3_init( ); //to OBD, K-BUS
while ( !can_enquire_support_pid( ) ) { //update support table ERR
debug_obd("Get CAN PID ERR\r\n");
//Report err to server
for ( var_uchar = 0 ; var_uchar < MAX_WARN_MSG ; var_uchar++) {
if ( !my_icar.warn[var_uchar].msg ) { //empty msg
//unsigned int msg;//file name(1 Byte), msg(1 Byte), line(2 B)
my_icar.warn[var_uchar].msg = (F_APP_OBD) << 24 ;
my_icar.warn[var_uchar].msg |= ERR_CAN_SUP_PID << 16 ;//Error get CAN support PID
my_icar.warn[var_uchar].msg |= __LINE__ ;
var_uchar = MAX_WARN_MSG ;//end the loop
}
}
OSTimeDlyHMSM(0, 0, 30, 0);//wait 30s
}
for ( var_uchar = 0 ; var_uchar <= OBD_MAX_PID ; var_uchar++) {
if ( can_read_pid(var_uchar) ) {//read PID error
debug_obd("Read PID:%d ERR\r\n",var_uchar);
}
else {
debug_obd("Read PID:%d OK\r\n",var_uchar);
}
}
/* Enable Interrupt for receive FIFO 0 and FIFO overflow */
CAN_ITConfig(CAN1,CAN_IT_FMP0 | CAN_IT_FOV0, ENABLE);
/* Enable Interrupt for receive FIFO 1 and FIFO overflow */
CAN_ITConfig(CAN1,CAN_IT_FMP1 | CAN_IT_FOV1, ENABLE);
while ( 1 ) {
//debug_obd("OBD task Pend...\r\n");
OSSemPend(sem_obd_task, 0, &os_err);
if ( !os_err ) {
//CAN TX flag, for test only
if ( my_icar.obd.can_tx_cnt ) {
//send CAD ID: 0x18DB33F1
can_send( can_snd_id[can_id_idx], DAT_FRAME, 8, determine_pid );
//CAN_Transmit(CAN1, &TxMessage);
my_icar.obd.can_tx_cnt--;
}
//execute CMD from app_taskmanager
switch ( my_icar.obd.cmd ) {
case READ_PID ://update support table
debug_obd("CMD is Read ECU pid:%d\r\n",my_icar.obd.pid);
my_icar.obd.cmd = NO_CMD ;
var_uchar = can_read_pid( my_icar.obd.pid );//result in my_icar.obd.rx_buf
if ( var_uchar ) {//read PID error
debug_obd("Read PID err: %d\r\n", var_uchar);
}
else {//get ECU data
//debug_obd("Read PID OK: %d\r\n", var_uchar);
switch ( my_icar.obd.pid ) {
case OBD_PID_ENGINE_RPM:
debug_obd("Read RPM OK.\r\n");
//debug_obd("Rec %d:",rec_len);
//for ( var_uchar = 0 ; var_uchar < rec_len ; var_uchar++ ) {
//printf(" %02X",my_icar.obd.rx_buf[var_uchar]);
//}
printf(", from ID:%08X\r\n", can_id);
break;
default://maybe error
debug_obd("PID err:%d\r\n",my_icar.obd.pid);
break;
}
}
break;
case SPEED ://engine speed
debug_obd("CMD is get engine speed\r\n");
my_icar.obd.cmd = NO_CMD ;
can_send( can_snd_id[can_id_idx], DAT_FRAME, 8, determine_pid );
break;
case NO_CMD ://no define
default://maybe error, treat as NO_CMD
;//debug_obd("No OBD CMD\r\n");
break;
}
//FIFO0 has data, max.: 3 datas
if ( (CAN1->RF0R)&0x03 ) {
CAN_Receive(CAN1,CAN_FIFO0, &can_rx_msg);
if (can_rx_msg.IDE == CAN_ID_STD) {
debug_obd("CAN FIFO_0 rec %d ID: %X\r\n", (CAN1->RF0R)&0x03,can_rx_msg.StdId);
debug_obd("DLC %d :", can_rx_msg.DLC);
//show the data
for ( var_uchar = 0 ; var_uchar < can_rx_msg.DLC ; var_uchar++ ) {
printf(" %02X",can_rx_msg.Data[var_uchar]);
}
printf("\r\n");
}
else {
debug_obd("CAN FIFO_0 rec %d ID: %X %s,%d\r\n", (CAN1->RF0R)&0x03,can_rx_msg.ExtId,\
__FILE__,__LINE__);
debug_obd("DLC %d :", can_rx_msg.DLC);
//show the data
for ( var_uchar = 0 ; var_uchar < can_rx_msg.DLC ; var_uchar++ ) {
printf(" %02X",can_rx_msg.Data[var_uchar]);
}
printf("\r\n");
}
if ( (CAN1->RF0R)&0x03==0 ) { //no data
CAN_ITConfig(CAN1,CAN_IT_FMP0, ENABLE);//enable FIFO0 FMP int
}
else { //still has data
OSSemPost( sem_obd_task );//2012/9/26 14:55:33 verify
}
}
//FIFO1 receive unknow CAN ID, then report to server
//FIFO0 has data, max.: 3 datas
if ( (CAN1->RF1R)&0x03 ) {
CAN_Receive(CAN1,CAN_FIFO1, &can_rx_msg);
if (can_rx_msg.IDE == CAN_ID_STD) { //unknow CAN STD ID, report to server
can_id = can_rx_msg.StdId ;
}
else { //unknow CAN EXT ID, report to server
can_id = can_rx_msg.ExtId ;
}
obd_report_unknow_canid( can_id );
debug_obd("Unknow CAN ID: %X FIFO:%d\r\n",can_id,(CAN1->RF1R)&0x03);
if ( (CAN1->RF1R)&0x03==0 ) { //no data
CAN_ITConfig(CAN1,CAN_IT_FMP1, ENABLE);//enable FIFO1 FMP int
}
else { //still has data
OSSemPost( sem_obd_task );//no verify
}
}
}
}
}
/*! \fn static void receive_can_msg(void)
*
* \brief 接收CAN消息
*
* \param 无
*
* \exception 此函数只在接受中断中使用
*
* \return 无
*/
static void receive_can_msg(void)
{
uint8 i = 0;
CanRxMsg stCanMsg = {0};
uint8 ucSrcId = 0, ucDestId = 0, ucSegNum = 0;
do
{
/*! CAN接收消息 */
CAN_Receive(CAN1, CAN_FIFO0, &stCanMsg);
LED2 = ~LED2;
/*! 帧判断 */
if((CAN_Id_Extended != stCanMsg.IDE) \
|| (CAN_RTR_Data != stCanMsg.RTR)
|| (1 > stCanMsg.DLC))
{
break;
}
/*! 标识符 */
ucSrcId = (uint8)((stCanMsg.ExtId & SRC_ID_MASK)>>22);
ucDestId = (uint8)((stCanMsg.ExtId & DEST_ID_MASK)>>16);
ucSegNum = (uint8)((stCanMsg.ExtId & SEG_CODE_NUM_MASK)>>8);
#if 1
if((1 != ucSrcId) || (0 != ucDestId))
{
break;
}
#endif
if(8 < stCanMsg.DLC)
{
stCanMsg.DLC = 8;
}
/*! 数据 */
if(FRAME_NONE_SEG == (stCanMsg.ExtId & SEG_CODE_FLAG_MASK))
{
/*! 无分段，直接将数据复制到帧接收缓冲区 */
for(i=0; i<stCanMsg.DLC; i++)
{
s_aucCanSegMsgBuf[s_unCanSegMsgWriteIndex][i] = stCanMsg.Data[i];
}
s_unCanSegMsgWriteIndex++;
if(CAN_MSG_BUF_SIZE <= s_unCanSegMsgWriteIndex)
{
s_unCanSegMsgWriteIndex = 0;
}
}
else if(FRAME_FIRST_SEG == (stCanMsg.ExtId & SEG_CODE_FLAG_MASK))
{
if((0 != ucSegNum) || (8 != stCanMsg.DLC))
{
break;
}
s_ucCanSegMsgCnt = 0;
for(i=0; i<8; i++)
{
s_aucCanSegMsgBuf[s_unCanSegMsgWriteIndex][s_ucCanSegMsgCnt] = stCanMsg.Data[i];
s_ucCanSegMsgCnt++;
}
s_ucLastSegNum = ucSegNum;
}
else if(FRAME_MIDDLE_SEG == (stCanMsg.ExtId & SEG_CODE_FLAG_MASK))
{
s_ucLastSegNum++;
if((s_ucLastSegNum != ucSegNum) || (1 > ucSegNum) || (8 != stCanMsg.DLC))
{
s_ucLastSegNum = 0xff;
break;
}
for(i=0; i<8; i++)
{
s_aucCanSegMsgBuf[s_unCanSegMsgWriteIndex][s_ucCanSegMsgCnt] = stCanMsg.Data[i];
s_ucCanSegMsgCnt++;
}
s_ucLastSegNum = ucSegNum;
}
else if(FRAME_END_SEG == (stCanMsg.ExtId & SEG_CODE_FLAG_MASK))
{
if((0 != ucSegNum) || (0xff == s_ucLastSegNum))
{
break;
}
for(i=0; i<stCanMsg.DLC; i++)
{
s_aucCanSegMsgBuf[s_unCanSegMsgWriteIndex][s_ucCanSegMsgCnt] = stCanMsg.Data[i];
s_ucCanSegMsgCnt++;
}
s_unCanSegMsgWriteIndex++;
if(CAN_MSG_BUF_SIZE <= s_unCanSegMsgWriteIndex)
{
s_unCanSegMsgWriteIndex = 0;
}
}
else
{
break;
}
}while(0);
}
int main(void)
{
CanTxMsg TxMessage;
float X_offset =0.0f,Y_offset =0.0f,Z_offset =0.0f;
float test_float=0.0f; uint8_t test_int=0;
float GyX =0.0f, GyY =0.0f, GyZ =0.0f;
float GyX_prev=0.0f,GyY_prev=0.0f,GyZ_prev=0.0f;
uint16_t x_len=240;
uint16_t y_len=320;
uint16_t i=0;
uint16_t buffer_screen[x_len][y_len];
/* For gyro receiving */
float receivedGyro1=0,receivedGyro1_prev=0;
float receivedGyro2=0,receivedGyro2_prev=0;
float receivedGyro3=0,receivedGyro3_prev=0;
uint8_t *ptr = & receivedGyro1;
// uint16_t *buf_ptr = &buffer_screen;
float runner=-8.0;
rectangular_t rect1;
rectangular_t prev_rect;
rectangular_t rect_screen;
char lcd_text_main[100];
/* LCD Initialization */
lcd_init();
lcd_drawBackground(20,60,250);
//lcd_drawBGPersimmon(20, 60, 250);
/* LED Initialization */
LED_Initialization();
/* CAN Initialization */
CAN2_Config();
CAN2_NVIC_Config();
/* MEMS Initialization */
Demo_GyroConfig();
Delay_1us(10000);
#define CALIBRATE_COUNT 1000
for (i=0;i<CALIBRATE_COUNT ;i++){
Demo_GyroReadAngRate (Buffer);
X_offset+= Buffer[0];
Y_offset+= Buffer[1];
Z_offset+= Buffer[2];
}
X_offset = X_offset/ (float)CALIBRATE_COUNT;
Y_offset = Y_offset/ (float)CALIBRATE_COUNT;
Z_offset = Z_offset/ (float)CALIBRATE_COUNT;
rect_screen.xlen = x_len;
rect_screen.ylen = y_len;
rect_screen.xpos = 0;
rect_screen.ypos = 0;
#define NEEDLE_RADIUS 65
#define NEEDLE_BASE_WIDTH 14
#define NEEDLE_FRAME_THICKNESS 5
#define NEEDLE1_CENTER_X 80
#define NEEDLE1_CENTER_Y 100
#define NEEDLE2_CENTER_X 80
#define NEEDLE2_CENTER_Y 200
#define NEEDLE3_CENTER_X 80
#define NEEDLE3_CENTER_Y 300
/* Drawing Needle frame 1 */
LCD_SetLayer(LCD_BACKGROUND_LAYER);
DrawThickCircle(NEEDLE1_CENTER_X ,NEEDLE1_CENTER_Y,NEEDLE_RADIUS+NEEDLE_FRAME_THICKNESS, 4,LCD_COLOR_BLACK,LCD_COLOR_WHITE-1);
LCD_SetLayer(LCD_FOREGROUND_LAYER);
DrawThickCircle(NEEDLE1_CENTER_X ,NEEDLE1_CENTER_Y,NEEDLE_BASE_WIDTH, 6,LCD_COLOR_BLACK,LCD_COLOR_WHITE-1);
LCD_SetLayer(LCD_BACKGROUND_LAYER);
LCD_SetColors(ASSEMBLE_RGB(20, 60, 250),LCD_COLOR_BLACK);
LCD_DrawFullRect(NEEDLE1_CENTER_X- NEEDLE_RADIUS-NEEDLE_FRAME_THICKNESS*2,NEEDLE1_CENTER_Y+ NEEDLE_BASE_WIDTH+3,NEEDLE_RADIUS*2+NEEDLE_FRAME_THICKNESS*4,NEEDLE_RADIUS);
LCD_SetLayer(LCD_FOREGROUND_LAYER);
LCD_SetColors(LCD_COLOR_BLACK,LCD_COLOR_BLACK);
LCD_DrawFullRect(NEEDLE1_CENTER_X- NEEDLE_RADIUS,NEEDLE1_CENTER_Y+ NEEDLE_BASE_WIDTH,NEEDLE_RADIUS*2,NEEDLE_FRAME_THICKNESS-1);
/* Drawing Needle frame 2 */
LCD_SetLayer(LCD_BACKGROUND_LAYER);
DrawThickCircle(NEEDLE2_CENTER_X ,NEEDLE2_CENTER_Y,NEEDLE_RADIUS+NEEDLE_FRAME_THICKNESS, 4,LCD_COLOR_BLACK,LCD_COLOR_WHITE-1);
LCD_SetLayer(LCD_FOREGROUND_LAYER);
DrawThickCircle(NEEDLE2_CENTER_X ,NEEDLE2_CENTER_Y,NEEDLE_BASE_WIDTH, 6,LCD_COLOR_BLACK,LCD_COLOR_WHITE-1);
LCD_SetLayer(LCD_BACKGROUND_LAYER);
LCD_SetColors(ASSEMBLE_RGB(20, 60, 250),LCD_COLOR_BLACK);
LCD_DrawFullRect(NEEDLE2_CENTER_X- NEEDLE_RADIUS-NEEDLE_FRAME_THICKNESS*2,NEEDLE2_CENTER_Y+ NEEDLE_BASE_WIDTH+3,NEEDLE_RADIUS*2+NEEDLE_FRAME_THICKNESS*4,NEEDLE_RADIUS);
LCD_SetLayer(LCD_FOREGROUND_LAYER);
LCD_SetColors(LCD_COLOR_BLACK,LCD_COLOR_BLACK);
LCD_DrawFullRect(NEEDLE2_CENTER_X- NEEDLE_RADIUS,NEEDLE2_CENTER_Y+ NEEDLE_BASE_WIDTH,NEEDLE_RADIUS*2,NEEDLE_FRAME_THICKNESS-1);
/* Drawing Needle frame 2 */
LCD_SetLayer(LCD_BACKGROUND_LAYER);
DrawThickCircle(NEEDLE3_CENTER_X ,NEEDLE3_CENTER_Y,NEEDLE_RADIUS+NEEDLE_FRAME_THICKNESS, 4,LCD_COLOR_BLACK,LCD_COLOR_WHITE-1);
LCD_SetLayer(LCD_FOREGROUND_LAYER);
DrawThickCircle(NEEDLE3_CENTER_X ,NEEDLE3_CENTER_Y,NEEDLE_BASE_WIDTH, 6,LCD_COLOR_BLACK,LCD_COLOR_WHITE-1);
LCD_SetLayer(LCD_BACKGROUND_LAYER);
LCD_SetColors(ASSEMBLE_RGB(20, 60, 250),LCD_COLOR_BLACK);
LCD_DrawFullRect(NEEDLE3_CENTER_X- NEEDLE_RADIUS-NEEDLE_FRAME_THICKNESS*2,NEEDLE3_CENTER_Y+ NEEDLE_BASE_WIDTH+3,NEEDLE_RADIUS*2+NEEDLE_FRAME_THICKNESS*4,NEEDLE_RADIUS);
LCD_SetLayer(LCD_FOREGROUND_LAYER);
LCD_SetColors(LCD_COLOR_BLACK,LCD_COLOR_BLACK);
LCD_DrawFullRect(NEEDLE3_CENTER_X- NEEDLE_RADIUS,NEEDLE3_CENTER_Y+ NEEDLE_BASE_WIDTH,NEEDLE_RADIUS*2,NEEDLE_FRAME_THICKNESS-1);
/* Clear drawing buffer */
PadRectangular(&buffer_screen,x_len,y_len,LCD_COLOR_WHITE, &rect_screen);
while(1)
{
board_ID = PIN_ID_Read();
LCD_SetColors(LCD_COLOR_BLACK,LCD_COLOR_WHITE-1);
sprintf(lcd_text_main," CAN Demo ID:%d ",board_ID);
LCD_DisplayStringLine(LINE(0), (uint8_t*)lcd_text_main);
Demo_GyroReadAngRate (Buffer);
//Delay_1us(1000);
/* MEMS Filtering */
#define LP_ALPHA 0.1f
GyX = GyX*(1.0f - LP_ALPHA) + (Buffer[0] - X_offset)*LP_ALPHA;
GyY = GyY*(1.0f - LP_ALPHA) + (Buffer[1] - Y_offset)*LP_ALPHA;
GyZ = GyZ*(1.0f - LP_ALPHA) + (Buffer[2] - Z_offset)*LP_ALPHA;
if(GyX > 90.0f) GyX = 90.0f;
if(GyX < -90.0f) GyX = -90.0f;
if(GyY > 90.0f) GyY = 90.0f;
if(GyY < -90.0f) GyY = -90.0f;
if(GyZ > 90.0f) GyZ = 90.0f;
if(GyZ < -90.0f) GyZ = -90.0f;
/* Start drawing rectangular */
prev_rect = rect1;
rect1.xlen = 25;
rect1.ylen = 30;
rect1.xpos = x_len/2+ (int16_t)(GyY)-10;
rect1.ypos = y_len/2 + (int16_t)(GyX)-10;
if(board_ID == 1){
MoveNeedle(LCD_BACKGROUND_LAYER,&buffer_screen,x_len,y_len,LCD_COLOR_GREEN,NEEDLE1_CENTER_X,NEEDLE1_CENTER_Y,-GyZ,-GyZ_prev,NEEDLE_RADIUS,NEEDLE_BASE_WIDTH);
}else if(board_ID == 2){
MoveNeedle(LCD_BACKGROUND_LAYER,&buffer_screen,x_len,y_len,LCD_COLOR_GREEN,NEEDLE2_CENTER_X,NEEDLE2_CENTER_Y,-GyZ,-GyZ_prev,NEEDLE_RADIUS,NEEDLE_BASE_WIDTH);
}else {
MoveNeedle(LCD_BACKGROUND_LAYER,&buffer_screen,x_len,y_len,LCD_COLOR_GREEN,NEEDLE3_CENTER_X,NEEDLE3_CENTER_Y,-GyZ,-GyZ_prev,NEEDLE_RADIUS,NEEDLE_BASE_WIDTH);
}
CAN2_TransmitGyro(board_ID,GyZ);
/* Received Data */
if( can2_rx_isr_flag ==1){
do{
if( can2_rx_isr_flag ==1){
can2RxMessage = CAN2_PassRXMessage();
can2_rx_isr_flag=0;
}else{
CAN_Receive(CAN2, CAN_FIFO0, &can2RxMessage);
}
GPIO_ToggleBits(GPIOG,GPIO_Pin_14);
ptr[0] = can2RxMessage.Data[0];
ptr[1] = can2RxMessage.Data[1];
ptr[2] = can2RxMessage.Data[2];
ptr[3] = can2RxMessage.Data[3];
if(( can2RxMessage.ExtId & 0x0000FFFF) == 1){
ptr = & receivedGyro1;
ptr[0] = can2RxMessage.Data[0];
ptr[1] = can2RxMessage.Data[1];
ptr[2] = can2RxMessage.Data[2];
ptr[3] = can2RxMessage.Data[3];
MoveNeedle(LCD_BACKGROUND_LAYER,&buffer_screen,x_len,y_len,LCD_COLOR_RED,NEEDLE1_CENTER_X,NEEDLE1_CENTER_Y,-receivedGyro1,-receivedGyro1_prev,NEEDLE_RADIUS,NEEDLE_BASE_WIDTH);
receivedGyro1_prev = receivedGyro1;
}else if (( can2RxMessage.ExtId & 0x0000FFFF) == 2){
ptr = & receivedGyro2;
ptr[0] = can2RxMessage.Data[0];
ptr[1] = can2RxMessage.Data[1];
ptr[2] = can2RxMessage.Data[2];
ptr[3] = can2RxMessage.Data[3];
MoveNeedle(LCD_BACKGROUND_LAYER,&buffer_screen,x_len,y_len,LCD_COLOR_RED,NEEDLE2_CENTER_X,NEEDLE2_CENTER_Y,-receivedGyro2,-receivedGyro2_prev,NEEDLE_RADIUS,NEEDLE_BASE_WIDTH);
receivedGyro2_prev = receivedGyro2;
}else if (( can2RxMessage.ExtId & 0x0000FFFF) == 3){
ptr = & receivedGyro3;
ptr[0] = can2RxMessage.Data[0];
ptr[1] = can2RxMessage.Data[1];
ptr[2] = can2RxMessage.Data[2];
ptr[3] = can2RxMessage.Data[3];
MoveNeedle(LCD_BACKGROUND_LAYER,&buffer_screen,x_len,y_len,LCD_COLOR_RED,NEEDLE3_CENTER_X,NEEDLE3_CENTER_Y,-receivedGyro3,-receivedGyro3_prev,NEEDLE_RADIUS,NEEDLE_BASE_WIDTH);
receivedGyro3_prev = receivedGyro3;
}
// LCD_SetColors(LCD_COLOR_BLACK,LCD_COLOR_WHITE-1);
// sprintf(lcd_text_main," ID :%d ", can2RxMessage.StdId);
// LCD_DisplayStringLine(LINE(1), (uint8_t*)lcd_text_main);
// LCD_SetColors(LCD_COLOR_BLACK,LCD_COLOR_WHITE-1);
// sprintf(lcd_text_main," Data :%f ", receivedGyro);
// LCD_DisplayStringLine(LINE(2), (uint8_t*)lcd_text_main);
}while(CAN_MessagePending(CAN2, CAN_FIFO0) > 0);
}
// {
// uint8_t status=0;
// while(CAN_TransmitStatus(CAN2, 0) != CAN_TxStatus_Ok ){
// status = CAN_TransmitStatus(CAN2, 0);
// if(status == CAN_TxStatus_Failed){
// GPIO_ToggleBits(GPIOG,GPIO_Pin_14);
// }
// }
// }
// TxMessage.StdId = (uint32_t)board_ID;
// TxMessage.RTR = CAN_RTR_DATA;
// TxMessage.IDE = CAN_ID_STD;
// TxMessage.DLC = 8;
// TxMessage.Data[0] = 0x01;
// TxMessage.Data[1] = 0x01;
// TxMessage.Data[2] = 0x01;
// TxMessage.Data[3] = 0x01;
// TxMessage.Data[4] = 0x01;
// TxMessage.Data[5] = 0x01;
// TxMessage.Data[6] = 0x01;
// TxMessage.Data[7] = 0x01;
// CAN_Transmit(CAN2, &TxMessage);
//CAN2_TransmitGyro(test_int++,test_float);
test_float += 0.1f;
GyX_prev = GyX;
GyZ_prev = GyZ;
GyY_prev = GyY;
runner += 1.0f;
/* Faster method */
//MoveAndUpdateRectangular(LCD_FOREGROUND_LAYER,&buffer_screen,x_len,y_len,LCD_COLOR_BLACK,&prev_rect, &rect1);
/* Regular method */
// PadRectangular(&buffer_screen,x_len,y_len,LCD_COLOR_WHITE, &prev_rect);
// PadRectangular(&buffer_screen,x_len,y_len,LCD_COLOR_BLACK, &rect1);
//DrawBufferToScreen(LCD_FOREGROUND_LAYER,buf_ptr,0,0, x_len,y_len);
}
}
void CAN1_RX0_IRQHandler(void) {
CanRxMsg can_rx_msg;
CAN_Receive(CAN1, CAN_FIFO0, &can_rx_msg);
// TODO: Process message
}
/*************************************************************************
CAN2_RX0_IRQHandler
���������������ǡ���������CAN���ݽ����ж�
*************************************************************************/
void CAN2_RX0_IRQHandler(void)
{
CanRxMsg rx_message;
if (CAN_GetITStatus(CAN2,CAN_IT_FMP0)!= RESET)
{
CAN_ClearITPendingBit(CAN2, CAN_IT_FMP0);
CAN_Receive(CAN2, CAN_FIFO0, &rx_message);
//��������������
if(rx_message.StdId == 0x401)
{
gyro_ok_flag = 1;
temp_yaw_angle = (int32_t)(rx_message.Data[0]<<24)|(int32_t)(rx_message.Data[1]<<16)
| (int32_t)(rx_message.Data[2]<<8) | (int32_t)(rx_message.Data[3]);
last_yaw_angle = this_yaw_angle;
this_yaw_angle = -((float)temp_yaw_angle*0.01);
}
//ң���� ��� ��̨ͨ��
if(rx_message.StdId == 0x402)
{
temp_yaw = (uint16_t)(rx_message.Data[0]<<8)|(uint16_t)(rx_message.Data[1]);
temp_pitch = (uint16_t)(rx_message.Data[2]<<8)|(uint16_t)(rx_message.Data[3]);
shooting_flag = (uint8_t)rx_message.Data[4];
mode_flag = (uint8_t)rx_message.Data[6];//S2 ����
//for mouse
if(shooting_flag == 1) //cyq:��ǹ
{
if(ShootFlag == 1)
{
Motor_PWM_Set(MOTOR_NUM1,-1000);
ShootFlag=0;
}
}
else
{
if(ShootFlag == 0)
{
ShootFlag=1;
}
}
if (mode_flag == 1)
{
target_pitch_angle += (temp_pitch - 1024)/66.0;//ң��
target_yaw_angle += (temp_yaw - 1024)/600.0 ;//cyq
}
else
{
target_pitch_angle -= (temp_pitch - 1024)/10.0;//cyq �������
target_yaw_angle += (temp_yaw - 1024)/10.0 ;//cyq:����µij���
}
if(target_pitch_angle > pitch_max)
{
target_pitch_angle = pitch_max;
}
else if(target_pitch_angle < -pitch_max)
{
target_pitch_angle = -pitch_max;
}
}
}
}
void Can0_Interrupt(){
if (CAN_GetITStatus(CAN1,CAN_IT_FMP0)){
CAN_Receive(CAN1, CAN_FIFO0, &can_rx_flame);
Can0::read((int)can_rx_flame.StdId,(int)can_rx_flame.DLC,can_rx_flame.Data);
}
}
/**
* @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 */
}
}