void cpu_deinit_all() {
//** ADC_DeInit(LPC_ADC);
CAN_DeInit(LPC_CAN1);
CAN_DeInit(LPC_CAN2);
EMAC_DeInit();
EXTI_DeInit();
I2C_DeInit(LPC_I2C0);
I2C_DeInit(LPC_I2C1);
I2C_DeInit(LPC_I2C2);
I2S_DeInit(LPC_I2S);
NVIC_DeInit();
NVIC_SCBDeInit();
PWM_DeInit(LPC_PWM1);
QEI_DeInit(LPC_QEI);
//** RIT_DeInit(LPC_RIT);
RTC_DeInit(LPC_RTC);
SPI_DeInit(LPC_SPI);
SSP_DeInit(LPC_SSP0);
SSP_DeInit(LPC_SSP1);
UART_DeInit(LPC_UART0);
UART_DeInit((LPC_UART_TypeDef *) LPC_UART1);
//** UART_DeInit(LPC_UART2);
//** UART_DeInit(LPC_UART3);
TIM_DeInit(LPC_TIM0);
TIM_DeInit(LPC_TIM1);
//** TIM_DeInit(LPC_TIM2);
//** TIM_DeInit(LPC_TIM3);
}
void CAN_CAN_Config(void)
{
CAN_InitTypeDef CAN_InitStructure;
/* Enable CAN clock */
#if USE_CAN1_R0 || USE_CAN1_R1
RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1 , ENABLE);
CAN_DeInit(CAN1);
#endif
#if USE_CAN2_R0 || USE_CAN2_R1
RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN2 , ENABLE);
CAN_DeInit(CAN2);
#endif
/* CAN cell init */
CAN_InitStructure.CAN_TTCM = DISABLE;//失能时间触发通讯模式
CAN_InitStructure.CAN_ABOM = DISABLE;//失能自动离线管理
CAN_InitStructure.CAN_AWUM = DISABLE;//失能自动唤醒模式
CAN_InitStructure.CAN_NART = DISABLE;//失能非自动重传输模式,即自动重传
CAN_InitStructure.CAN_RFLM = DISABLE;//失能接收FIFO锁定模式,即FIFO溢出时新数据覆盖
CAN_InitStructure.CAN_TXFP = ENABLE; //使能发送FIFO优先级,报文顺序由发送顺序决定 DISABLE:ID决定
CAN_InitStructure.CAN_Mode = CAN_Mode_Normal;
CAN_InitStructure.CAN_SJW = CAN_SJW_2tq; //BTR-SJW 重新同步跳跃宽度 1个时间单元
CAN_InitStructure.CAN_BS1 = CAN_BS1_3tq; //BTR-TS1 时间段1 占用了2个时间单元
CAN_InitStructure.CAN_BS2 = CAN_BS2_3tq; //BTR-TS1 时间段2 占用了3个时间单元
//总线波特率,波特率计算请参见 F4手册“24.7.7 Bit timing”
#if CAN1_BAUDRATE == 1000 /* 1MBps */
CAN_InitStructure.CAN_Prescaler =6; //BTR-BRP 波特率分频器 定义了时间单元的时间长度 42/(1+3+3)/6=1Mbps
#elif CAN1_BAUDRATE == 500 /* 500KBps */
CAN_InitStructure.CAN_Prescaler =12;
#elif CAN1_BAUDRATE == 250 /* 250KBps */
CAN_InitStructure.CAN_Prescaler =24;
#elif CAN1_BAUDRATE == 125 /* 125KBps */
CAN_InitStructure.CAN_Prescaler =48;
#endif
#if USE_CAN1_R0 || USE_CAN1_R1
CAN_Init(CAN1, &CAN_InitStructure);
#endif
#if USE_CAN2_R0 || USE_CAN2_R1
CAN_Init(CAN2, &CAN_InitStructure);
#endif
}
void CAN_config_init(void)
{
CAN_InitTypeDef CAN_InitStructure;
CAN_FilterInitTypeDef CAN_FilterInitStructure;
CAN_DeInit(CAN1);
CAN_StructInit(&CAN_InitStructure);
// 36M 250k速率
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=ENABLE;
//CAN_InitStructure.CAN_Mode=CAN_Mode_LoopBack;
CAN_InitStructure.CAN_Mode=CAN_Mode_Normal;
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);
CAN_OperatingModeRequest( CAN1, CAN_OperatingMode_Normal);
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);
}
u32 platform_can_setup( unsigned id, u32 clock )
{
LPC_CAN_TypeDef * canx;
uint32_t div;
switch (id)
{
case 0: canx = LPC_CAN1; break;
case 1: canx = LPC_CAN2; break;
default: return 0;
}
CAN_DeInit(canx);
CAN_Init(canx, clock);
CAN_ModeConfig(canx, CAN_OPERATING_MODE, ENABLE);
CAN_IRQCmd(canx, CANINT_RIE, ENABLE); // Receive IRQ
CAN_IRQCmd(canx, CANINT_EIE, ENABLE); // Error IRQ
CAN_IRQCmd(canx, CANINT_BEIE, ENABLE); // Bus error IRQ
LPC_CANAF->AFMR = 2; // Filter bypass (receive all messages)
NVIC_EnableIRQ(CAN_IRQn); // Enable IRQs
// Fix clock
LPC_SC->PCLKSEL0 &= ~(3<<26 | 3<<28 | 3<<30); // PCLK / 2
LPC_SC->PCLKSEL0 |= (2<<26 | 2<<28 | 2<<30);
div = (SystemCoreClock / 20) / clock;
div --;
canx->MOD = 0x01; // Enter reset mode
canx->BTR = (div & 0x3FF) | (3<<14) | (5<<16) | (2<<20) ; // Set bit timing
canx->MOD = 0; // Return to normal operating
// Change pin function (for now using the MBED ones)
// And read clock divider
if (id == 0)
{
// Pin function
LPC_PINCON->PINSEL0 &= ~(3<<0 | 3<<2);
LPC_PINCON->PINSEL0 |= (1<<0 | 1<<2);
// No pull up / pull down
LPC_PINCON->PINMODE0 &= ~(3<<0 | 3<<2);
LPC_PINCON->PINMODE0 |= (2<<0 | 2<<2);
// NOT open drain
LPC_PINCON->PINMODE_OD0 &= ~(1<<0 | 1<<1);
}
else
{
LPC_PINCON->PINSEL0 &= ~(3<<8 | 3<<10);
LPC_PINCON->PINSEL0 |= (2<<8 | 2<<10);
// No pull up / pull down
LPC_PINCON->PINMODE0 &= ~(3<<8 | 3<<10);
LPC_PINCON->PINMODE0 |= (2<<8 | 2<<10);
// NOT open drain
LPC_PINCON->PINMODE_OD0 &= ~(1<<4 | 1<<5);
}
return (SystemCoreClock / 20) / ((div & 0x3FF)+1);
}
static void CAN_device_init_1(int baud)
{
CAN_DeInit(CAN1);
/* CAN GPIOs configuration ************************************************* */
/* Enable GPIO clock */
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOB, ENABLE);
/* Connect CAN pins to Alternate Function */
GPIO_PinAFConfig(GPIOB, GPIO_PinSource8, GPIO_AF_9);
GPIO_PinAFConfig(GPIOB, GPIO_PinSource9, GPIO_AF_9);
initGPIO(GPIOB, GPIO_Pin_8 | GPIO_Pin_9);
/* CAN configuration ******************************************************* */
/* Enable CAN clock */
RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);
initCAN(CAN1, baud);
//set default filter
CAN_device_set_filter(0, 0, 0, 0, 0);
/* Enable FIFO 0 message pending Interrupt */
CAN_ITConfig(CAN1, CAN_IT_FMP0, ENABLE);
initCANInterrupts(CAN1, USB_LP_CAN1_RX0_IRQn);
}
/**
* Initialize the CAN driver and return an opaque id
* @param[out] id the CAN interface handle
* @param[in] cfg the configuration structure
* @return 0 if successful, negative otherwise
*/
int32_t PIOS_CAN_Init(uintptr_t *can_id, const struct pios_can_cfg *cfg)
{
PIOS_DEBUG_Assert(can_id);
PIOS_DEBUG_Assert(cfg);
can_dev = (struct pios_can_dev *) PIOS_CAN_alloc();
if (!can_dev) goto out_fail;
/* Bind the configuration to the device instance */
can_dev->cfg = cfg;
/* Configure the CAN device */
RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);
/* Map pins to CAN function */
if (can_dev->cfg->remap) {
if (can_dev->cfg->rx.gpio != 0)
GPIO_PinAFConfig(can_dev->cfg->rx.gpio,
can_dev->cfg->rx.pin_source,
can_dev->cfg->remap);
if (can_dev->cfg->tx.gpio != 0)
GPIO_PinAFConfig(can_dev->cfg->tx.gpio,
can_dev->cfg->tx.pin_source,
can_dev->cfg->remap);
}
/* Initialize the CAN Rx and Tx pins */
if (can_dev->cfg->rx.gpio != 0)
GPIO_Init(can_dev->cfg->rx.gpio, (GPIO_InitTypeDef *)&can_dev->cfg->rx.init);
if (can_dev->cfg->tx.gpio != 0)
GPIO_Init(can_dev->cfg->tx.gpio, (GPIO_InitTypeDef *)&can_dev->cfg->tx.init);
*can_id = (uintptr_t)can_dev;
CAN_DeInit(can_dev->cfg->regs);
CAN_Init(can_dev->cfg->regs, (CAN_InitTypeDef *)&can_dev->cfg->init);
/* CAN filter init */
CAN_FilterInitTypeDef CAN_FilterInitStructure;
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 = 1;
CAN_FilterInitStructure.CAN_FilterActivation = ENABLE;
CAN_FilterInit(&CAN_FilterInitStructure);
// Enable the receiver IRQ
NVIC_Init((NVIC_InitTypeDef*) &can_dev->cfg->rx_irq.init);
NVIC_Init((NVIC_InitTypeDef*) &can_dev->cfg->tx_irq.init);
return(0);
out_fail:
return(-1);
}
void TSVN_CAN_Init(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
CAN_InitTypeDef CAN_InitStructure;
CAN_FilterInitTypeDef CAN_FilterInitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOD, ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
GPIO_Init(GPIOD, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOD, &GPIO_InitStructure);
GPIO_PinRemapConfig(GPIO_Remap2_CAN1 , ENABLE);
GPIO_PinRemapConfig(GPIO_Remap_PD01 , ENABLE);
CAN_DeInit(CAN1);
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; //3
CAN_InitStructure.CAN_BS2 = CAN_BS2_5tq; //5
CAN_InitStructure.CAN_Prescaler = 4;
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);
CAN_ITConfig(CAN1,CAN_IT_FMP0, ENABLE);
CAN_Init(CAN1, &CAN_InitStructure);
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_4);
NVIC_InitStructure.NVIC_IRQChannel = CAN1_RX0_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x0;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x02;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
}
void InitCAN(void)
{
// Setup CAN Pins
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_InitStructure.GPIO_Pin = CAN_RX_PIN | CAN_TX_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
GPIO_Init(GPIOA, &GPIO_InitStructure);
// Alternate functions
GPIO_PinAFConfig(GPIOA, GPIO_PinSource11, GPIO_AF_CAN1);
GPIO_PinAFConfig(GPIOA, GPIO_PinSource12, GPIO_AF_CAN1);
// Setup CAN-modules
RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);
/* CAN register init */
CAN_DeInit(CAN1);
/* CAN cell init */
CAN_InitTypeDef CAN_InitStructure;
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_3tq;
/* CAN Baudrate = 500 KBps (CAN clocked at 42 MHz) */
CAN_InitStructure.CAN_BS1 = CAN_BS1_4tq;
CAN_InitStructure.CAN_BS2 = CAN_BS2_2tq;
CAN_InitStructure.CAN_Prescaler = (42000000 / 7) / 500000;
CAN_Init(CAN1, &CAN_InitStructure);
/* CAN filter init */
CAN_FilterInitTypeDef CAN_FilterInitStructure;
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 FIFO 0 message pending Interrupt */
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);
}
/**
* @file CAN_Configuration
* @brief Configures the CAN
* @param 无
* @retval 无
*/
void CAN_Configuration(void)
{
CAN_InitTypeDef CAN_InitStructure;
CAN_FilterInitTypeDef CAN_FilterInitStructure;
GPIO_Configuration();
/* CAN register init */
CAN_DeInit(CAN1);
CAN_StructInit(&CAN_InitStructure);
/* CAN cell init */
CAN_InitStructure.CAN_TTCM = DISABLE; /* 时间触发禁止, 时间触发：CAN硬件的内部定时器被激活，并且被用于产生时间戳 */
CAN_InitStructure.CAN_ABOM = DISABLE; /* 自动离线禁止，自动离线：一旦硬件监控到128次11个隐性位，就自动退出离线状态。在这里要软件设定后才能退出 */
CAN_InitStructure.CAN_AWUM = DISABLE; /* 自动唤醒禁止，有报文来的时候自动退出休眠 */
CAN_InitStructure.CAN_NART = DISABLE; /* 报文重传, 如果错误一直传到成功止，否则只传一次 */
CAN_InitStructure.CAN_RFLM = DISABLE; /* 接收FIFO锁定, 1--锁定后接收到新的报文摘不要，0--接收到新的报文则覆盖前一报文 */
CAN_InitStructure.CAN_TXFP = ENABLE; /* 发送优先级 0---由标识符决定 1---由发送请求顺序决定 */
CAN_InitStructure.CAN_Mode = CAN_Mode_Normal; /* 模式 */
CAN_InitStructure.CAN_SJW = CAN_SJW_1tq; /* 重新同步跳宽，只有can硬件处于初始化模式时才能访问这个寄存器 */
CAN_InitStructure.CAN_BS1 = CAN_BS1_4tq; /* 时间段1 */
CAN_InitStructure.CAN_BS2 = CAN_BS2_3tq; /* 时间段2 */
CAN_InitStructure.CAN_Prescaler = 45; /* 波特率预分频数 */
/* 波特率计算方法 */
/* CANbps= Fpclk/((BRP+1)*((Tseg1+1)+(Tseg2+1)+1) 此处计算为 CANbps=36000000/(45*(4+3+1))=100kHz */ //此处Tseg1+1 = CAN_BS1_8tp
/* 配置大方向: Tseg1>=Tseg2 Tseg2>=tq; Tseg2>=2TSJW */
if (CAN_Init(CAN1,&CAN_InitStructure) == CANINITFAILED)
{
/* 初始化时先设置CAN_MCR的初始化位 */
/* 然后查看硬件是否真的设置了CAN_MSR的初始化位来确认是否进入了初始化模式 */
}
/* 配置CAN过滤器 */
/* 32位对应的id */
/* stdid[10:0]，extid[17:0],ide,rtr */
/* 16位对应的id */
/* stdid[10:0],ide,rtr,extid[17:15] */
/* 一般使用屏蔽模式 */
/* 要注意的是fifo接收存满了中断，还有就是fifo的概念，即取的一直是最早那一个数据， 要释放才能取下一个数据 */
/* 常使用的中断有 */
/* 1,有信息中断，即fifo挂号中断 */
/* 2,fifo满中断 */
/* 3,fifo满之后又有信息来则中断，即fifo溢出中断 */
CAN_FilterInitStructure.CAN_FilterNumber=0; /* 过滤器0 */
CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask; /* 屏敝模式 */
CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit; /* 32位 */
CAN_FilterInitStructure.CAN_FilterIdHigh=0x0000; /* 以下四个都为0, 表明不过滤任何id */
CAN_FilterInitStructure.CAN_FilterIdLow=0x0000;
CAN_FilterInitStructure.CAN_FilterMaskIdHigh=0x0000;
CAN_FilterInitStructure.CAN_FilterMaskIdLow=0x0000;
CAN_FilterInitStructure.CAN_FilterFIFOAssignment=0; /* 能够通过该过滤器的报文存到fifo0中 */
CAN_FilterInitStructure.CAN_FilterActivation=ENABLE;
CAN_ITConfig(CAN1,CAN_IT_FMP0, ENABLE); /* 挂号中断, 进入中断后读fifo的报文函数释放报文清中断标志 */
CAN_FilterInit(&CAN_FilterInitStructure);
}
void CAN_Open()
{
CAN_InitTypeDef CAN_InitStructure;
CAN_FilterInitTypeDef CAN_FilterInitStructure;
GPIO_InitTypeDef GPIO_InitStructure;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN, ENABLE);
// Configure CAN pin: RX
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
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_Init(GPIOA, &GPIO_InitStructure);
/* CAN register init */
CAN_DeInit();
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_NART=ENABLE; //no automatic retransmission
CAN_InitStructure.CAN_RFLM=DISABLE;
CAN_InitStructure.CAN_TXFP=DISABLE;
CAN_InitStructure.CAN_Mode=CAN_Mode_Normal;
//CAN block is clocked with Low Speed APB1 clock (PCLK1) = 36MHz
CAN_InitStructure.CAN_SJW=CAN_SJW_1tq;
CAN_InitStructure.CAN_BS1=CAN_BS1_9tq; //CAN_BS1_8tq @ 24mhz
CAN_InitStructure.CAN_BS2=CAN_BS2_8tq; //CAN_BS2_7tq @24mhz
CAN_InitStructure.CAN_Prescaler=4; //=3 500kbit@24mhz
CAN_Init(&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);
}
/**
* \brief Call this method to make the CANTestcase driver configure pins,
* set up the CAN peripheral et cetera.
*/
void CANTestcase::setUp()
{
// Enable CAN1 peripheral clock.
RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1,ENABLE);
// Enable GPIO clock of CAN_Tx and CAN_Rx pins.
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA,ENABLE);
/* Configure CAN pin: RX */
GPIO_InitTypeDef GPIO_InitStructure;
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_Out_PP;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);
// Configure CAN peripheral:
CAN_InitTypeDef CAN_InitStructure;
/* CAN register init */
CAN_DeInit(CAN1);
CAN_StructInit(&CAN_InitStructure);
CAN_InitStructure.CAN_TTCM = DISABLE;
CAN_InitStructure.CAN_ABOM = DISABLE;
CAN_InitStructure.CAN_AWUM = DISABLE;
CAN_InitStructure.CAN_NART = ENABLE;
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 = 20;
CAN_Init(CAN1, &CAN_InitStructure);
/* CAN filter init */
CAN_FilterInitTypeDef CAN_FilterInitStructure;
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);
}//eof
void CAN2_Configuration(void)
{
CAN_InitTypeDef can;
CAN_FilterInitTypeDef can_filter;
GPIO_InitTypeDef gpio;
NVIC_InitTypeDef nvic;
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN2, ENABLE);
GPIO_PinAFConfig(GPIOB, GPIO_PinSource12, GPIO_AF_CAN2);
GPIO_PinAFConfig(GPIOB, GPIO_PinSource13, GPIO_AF_CAN2);
gpio.GPIO_Pin = GPIO_Pin_12 | GPIO_Pin_13 ;
gpio.GPIO_Mode = GPIO_Mode_AF;
GPIO_Init(GPIOB, &gpio);
nvic.NVIC_IRQChannel = CAN2_RX0_IRQn;
nvic.NVIC_IRQChannelPreemptionPriority = 1;
nvic.NVIC_IRQChannelSubPriority = 0;
nvic.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&nvic);
CAN_DeInit(CAN2);
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 BaudRate 42/(1+9+4)/3=1Mbps
CAN_Init(CAN2, &can);
can_filter.CAN_FilterNumber=14;
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;//the message which pass the filter save in fifo0
can_filter.CAN_FilterActivation=ENABLE;
CAN_FilterInit(&can_filter);
CAN_ITConfig(CAN2,CAN_IT_FMP0,ENABLE);
}
void CANController_Init(void) {
CAN_FilterInitTypeDef CAN_FilterInitStructure;
GPIO_InitTypeDef GPIO_InitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, 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_Init(GPIOA, &GPIO_InitStructure);
// Reset CAN1
CAN_DeInit(CAN1);
// CAN filter init - all messages to FIFO0
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_InitStructure.NVIC_IRQChannelPreemptionPriority = 14;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_InitStructure.NVIC_IRQChannel = USB_HP_CAN1_TX_IRQn;
NVIC_Init(&NVIC_InitStructure);
NVIC_InitStructure.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn;
NVIC_Init(&NVIC_InitStructure);
NVIC_InitStructure.NVIC_IRQChannel = CAN1_SCE_IRQn;
NVIC_Init(&NVIC_InitStructure);
// enable intertrupts, TODO: less magic values !
CAN1->IER = 0x00008F13; // enable all interrupts (except FIFOx full/overrun, sleep/wakeup)
}
void EOBD_CAN_Configure(int baudrate)
{
CAN_InitTypeDef CAN_InitStructure;
CAN_DeInit(CAN1);
CAN_StructInit(&CAN_InitStructure);
CAN_InitStructure.CAN_SJW = CAN_SJW_1tq;
CAN_InitStructure.CAN_BS1 = CAN_BS1_7tq;
CAN_InitStructure.CAN_BS2 = CAN_BS2_6tq;
CAN_InitStructure.CAN_Prescaler = scale250KB; // 1/((1/112M)*(bs1+bs2+1))*scale
CAN_Init(CAN1,&CAN_InitStructure);
}
void CAN_Initialise()
{
CAN_InitTypeDef CAN_InitStruct;
CAN_FilterInitTypeDef CAN_FilterInitStructure;
void GPIO_Initialise();
RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1,ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN2,ENABLE);
/* CAN register init */
CAN_DeInit(CAN2);
/* CAN cell init */
CAN_InitStruct.CAN_TTCM = DISABLE;
CAN_InitStruct.CAN_ABOM = DISABLE;
CAN_InitStruct.CAN_AWUM = DISABLE;
CAN_InitStruct.CAN_NART = DISABLE;
CAN_InitStruct.CAN_RFLM = DISABLE;
CAN_InitStruct.CAN_TXFP = DISABLE;
CAN_InitStruct.CAN_Mode = CAN_Mode_Normal;
CAN_InitStruct.CAN_SJW = CAN_SJW_3tq;
//Bus length 3-5m.
/* CAN Baudrate = 500 KBps (CAN clocked at 42 MHz) */
CAN_InitStruct.CAN_BS1 = CAN_BS1_4tq;
CAN_InitStruct.CAN_BS2 = CAN_BS2_2tq;
CAN_InitStruct.CAN_Prescaler = (42000000 / 7) / 500000; //12
CAN_Init(CAN2, &CAN_InitStruct);
/* 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 FIFO 0 message pending Interrupt */
CAN_ITConfig(CAN2, CAN_IT_FMP0, ENABLE);
}
void canHWReinit()
{
CAN_Int.NVIC_IRQChannelCmd = DISABLE;
CAN_Int.NVIC_IRQChannel = USB_HP_CAN1_TX_IRQn;
NVIC_Init(&CAN_Int);
CAN_Int.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn;
NVIC_Init(&CAN_Int);
CAN_Int.NVIC_IRQChannel = CAN1_SCE_IRQn;
NVIC_Init(&CAN_Int);
// Reset CAN1 - clears the error state
CAN_DeInit(CAN1);
canFilterApply();
// enable intertrupts
//CAN1->IER = 0x00008F13; // enable all interrupts (except FIFOx full/overrun, sleep/wakeup)
CAN1->IER = CAN_IER_TMEIE ;//| CAN_IER_FMPIE0;
CAN1->IER |= CAN_IER_EWGIE | CAN_IER_EPVIE | CAN_IER_BOFIE | CAN_IER_LECIE;
// CAN1->IER |= CAN_IER_ERRIE; // FIXME
// enter the init mode
CAN1->MCR &= ~CAN_MCR_SLEEP;
CAN1->MCR |= CAN_MCR_INRQ;
// wait for it !
while ((CAN1->MSR & CAN_MSR_INAK) != CAN_MSR_INAK);
/* setup timing */
CAN1->BTR = (CAN_Timing->ts << 16) | CAN_Timing->brp;
/* finish bxCAN setup */
CAN1->MCR |= CAN_MCR_ABOM;
CAN1->MCR |= CAN_MCR_TXFP | CAN_MCR_RFLM | CAN_MCR_AWUM; // automatic wakeup, tx round-robin mode
CAN1->MCR &= ~(CAN_MCR_SLEEP | 0x10000); // we don't support sleep, no debug-freeze
CAN1->MCR &= ~CAN_MCR_INRQ; // leave init mode
CAN_Int.NVIC_IRQChannelCmd = ENABLE;
CAN_Int.NVIC_IRQChannel = USB_HP_CAN1_TX_IRQn;
NVIC_Init(&CAN_Int);
CAN_Int.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn;
NVIC_Init(&CAN_Int);
CAN_Int.NVIC_IRQChannel = CAN1_SCE_IRQn;
NVIC_Init(&CAN_Int);
}
/**
* @brief Configures the CAN.
* @param None
* @retval : None
*/
void CAN_Config(void)
{
/* 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_10tq;
CAN_InitStructure.CAN_BS2 = CAN_BS2_7tq;
CAN_InitStructure.CAN_Prescaler = 2;
CAN_Init(CAN1, &CAN_InitStructure);
/* CAN filter init */
/* 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;
}
/*
* 函数名：CAN_Mode_Config
* 描述 ：CAN的模式 配置
* 输入 ：无
* 输出 : 无
* 调用 ：内部调用
*/
static void CAN_Mode_Config(void)
{
CAN_InitTypeDef CAN_InitStructure;
/************************CAN通信参数设置**********************************/
/*CAN寄存器初始化*/
CAN_DeInit(CAN1);
CAN_StructInit(&CAN_InitStructure);
/*CAN单元初始化*/
CAN_InitStructure.CAN_TTCM=DISABLE; //MCR-TTCM 时间触发通信模式使能
CAN_InitStructure.CAN_ABOM=DISABLE; //MCR-ABOM 自动离线管理
CAN_InitStructure.CAN_AWUM=DISABLE; //MCR-AWUM 自动唤醒模式
CAN_InitStructure.CAN_NART=DISABLE; //MCR-NART 禁止报文自动重传 DISABLE-自动重传
CAN_InitStructure.CAN_RFLM=DISABLE; //MCR-RFLM 接收FIFO 锁定模式 DISABLE-溢出时新报文会覆盖原有报文
CAN_InitStructure.CAN_TXFP=DISABLE; //MCR-TXFP 发送FIFO优先级 DISABLE-优先级取决于报文标示符
CAN_InitStructure.CAN_Mode = CAN_Mode_Normal; //正常发送模式
CAN_InitStructure.CAN_SJW=CAN_SJW_2tq; //BTR-SJW 重新同步跳跃宽度 2个时间单元
CAN_InitStructure.CAN_BS1=CAN_BS1_6tq; //BTR-TS1 时间段1 占用了6个时间单元
CAN_InitStructure.CAN_BS2=CAN_BS2_3tq; //BTR-TS1 时间段2 占用了3个时间单元
CAN_InitStructure.CAN_Prescaler =4; ////BTR-BRP 波特率分频器 定义了时间单元的时间长度 36/(1+6+3)/4=0.8Mbps
CAN_Init(CAN1, &CAN_InitStructure);
}
void CAN1_Configuration(void)
{
CAN_InitTypeDef CAN_InitStructure;
CAN_FilterInitTypeDef CAN_FilterInitStructure;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1,ENABLE); //注意，挂在APB1
/************************模式与波特率设置*************/
CAN_DeInit(CAN1);
CAN_StructInit(&CAN_InitStructure);
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_Mode_LoopBack：回环模式，CAN_Mode_Normal:正常模式
CAN_InitStructure.CAN_SJW = CAN_SJW_1tq;
CAN_InitStructure.CAN_BS1 = CAN_BS1_5tq;
CAN_InitStructure.CAN_BS2 = CAN_BS2_3tq;
CAN_InitStructure.CAN_Prescaler = 4; //100K通信速度
CAN_Init(CAN1,&CAN_InitStructure);
/***********************过滤器设置********************/
CAN_FilterInitStructure.CAN_FilterNumber = 0; //0号过滤器
CAN_FilterInitStructure.CAN_FilterMode = CAN_FilterMode_IdMask;
CAN_FilterInitStructure.CAN_FilterScale = CAN_FilterScale_32bit;
CAN_FilterInitStructure.CAN_FilterIdHigh = 0x0000; //关闭所有屏蔽
CAN_FilterInitStructure.CAN_FilterIdLow = 0x0000;
CAN_FilterInitStructure.CAN_FilterMaskIdHigh = 0x0000;
CAN_FilterInitStructure.CAN_FilterMaskIdLow = 0x0000;
CAN_FilterInitStructure.CAN_FilterFIFOAssignment = CAN_FIFO0; //传入FIFO0
CAN_FilterInitStructure.CAN_FilterActivation = ENABLE;
CAN_FilterInit(&CAN_FilterInitStructure);
CAN_ITConfig(CAN1,CAN_IT_FMP0, ENABLE); //开启接收中断
}
static void CAN_Mode_Config(void)
{
CAN_InitTypeDef CAN_InitStructure;
/* 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
}
static void CAN_device_init_2(int baud)
{
CAN_DeInit(CAN2);
/* CAN GPIOs configuration ************************************************* */
/* Enable GPIO clock */
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);
/* Connect CAN pins to Alternate Function */
GPIO_PinAFConfig(GPIOB, GPIO_PinSource12, GPIO_AF_CAN2);
GPIO_PinAFConfig(GPIOB, GPIO_PinSource13, GPIO_AF_CAN2);
initGPIO(GPIOB, GPIO_Pin_12 | GPIO_Pin_13);
/* CAN configuration ******************************************************* */
/* Enable CAN clock */
RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN2, ENABLE);
initCAN(CAN2, baud);
/* Enable FIFO 0 message pending Interrupt */
CAN_ITConfig(CAN2, CAN_IT_FMP1, ENABLE);
initCANInterrupts(CAN2, CAN2_RX1_IRQn);
}
/*******************************************************************************
* Function Name : CAN_Initialize
* Description : Configures the CAN, transmit and receive using interrupt.
* Input : None
* Output : None
* Return : PASSED if the reception is well done, FAILED in other case
*******************************************************************************/
_io *Initialize_CAN(int loop)
{
CAN_InitTypeDef CAN_InitStructure;
CAN_FilterInitTypeDef CAN_FilterInitStructure;
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 = GPIO_Pin_5;
GPIO_Init(GPIOB, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_OType = GPIO_OType_OD;
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_13;
GPIO_Init(GPIOB, &GPIO_InitStructure);
GPIO_PinAFConfig(GPIOB, GPIO_PinSource5, GPIO_AF_CAN2);
GPIO_PinAFConfig(GPIOB, GPIO_PinSource13, GPIO_AF_CAN2);
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=ENABLE;
CAN_InitStructure.CAN_RFLM=DISABLE;
//... pomembn.. da ne zamesa mailboxov in jih oddaja po vrstnem redu vpisovanja... ni default !!!
CAN_InitStructure.CAN_TXFP=ENABLE;
if(loop)
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=_ID_SYS2PFM<<5;
CAN_FilterInitStructure.CAN_FilterMaskIdHigh=_ID_SYS2EC<<5;
CAN_FilterInitStructure.CAN_FilterNumber=__FILT_BASE__+0;
CAN_FilterInit(&CAN_FilterInitStructure);
CAN_FilterInitStructure.CAN_FilterIdHigh=_ID_SYS2PFMcom<<5;
CAN_FilterInitStructure.CAN_FilterMaskIdHigh=_ID_PFMcom2SYS<<5;
CAN_FilterInitStructure.CAN_FilterNumber=__FILT_BASE__+1;
CAN_FilterInit(&CAN_FilterInitStructure);
CAN_FilterInitStructure.CAN_FilterIdHigh=_ID_SYS_TRIGG<<5;
CAN_FilterInitStructure.CAN_FilterMaskIdHigh=0<<5;
CAN_FilterInitStructure.CAN_FilterNumber=__FILT_BASE__+2;
CAN_FilterInit(&CAN_FilterInitStructure);
// filtri za IAP mode
// CAN_FilterInitStructure.CAN_FilterIdHigh=_ID_IAP_GO<<5;
// CAN_FilterInitStructure.CAN_FilterMaskIdHigh=_ID_IAP_ADDRESS<<5;
// CAN_FilterInitStructure.CAN_FilterNumber=__FILT_BASE__+3;
// CAN_FilterInit(&CAN_FilterInitStructure);
// CAN_FilterInitStructure.CAN_FilterIdHigh=_ID_IAP_DWORD<<5;
// CAN_FilterInitStructure.CAN_FilterMaskIdHigh=_ID_IAP_ERASE<<5;
// CAN_FilterInitStructure.CAN_FilterNumber=__FILT_BASE__+4;
// CAN_FilterInit(&CAN_FilterInitStructure);
// CAN_FilterInitStructure.CAN_FilterIdHigh=_ID_IAP_ACK<<5;
// CAN_FilterInitStructure.CAN_FilterMaskIdHigh=0<<5;
// CAN_FilterInitStructure.CAN_FilterNumber=__FILT_BASE__+5;
// CAN_FilterInit(&CAN_FilterInitStructure);
CAN_ITConfig(__CAN__, CAN_IT_FMP0, ENABLE);
return(_io_init(100*sizeof(CanRxMsg),100*sizeof(CanTxMsg)));
}
static int can_init(const can_cfg_t *cfg)
{
GPIO_InitTypeDef GPIO_InitStructure;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);
CAN_InitTypeDef CAN_InitStructure;
CAN_FilterInitTypeDef CAN_FilterInitStructure;
RCC_ClocksTypeDef RCC_Clocks;
#ifdef CONFIG_CAN1_REMAP
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE);
/*RX = PB8, TX = PB9 */
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);
#else
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
/*RX = PA11 TX = PA12 */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
GPIO_Init(GPIOA, &GPIO_InitStructure);
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);
#endif
/* CAN register init */
CAN_DeInit(CAN1);
CAN_StructInit(&CAN_InitStructure);
//get apb clock
RCC_GetClocksFreq(&RCC_Clocks);
/* 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 = ENABLE;
CAN_InitStructure.CAN_Mode = (cfg -> silent) ? CAN_Mode_Silent : 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 = RCC_Clocks.PCLK1_Frequency/cfg->baud/(1+3+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);
#if ENABLE_CAN_INT
NVIC_InitTypeDef NVIC_InitStructure;
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_0);
#ifndef STM32F10X_CL
NVIC_InitStructure.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn;
#else
NVIC_InitStructure.NVIC_IRQChannel = CAN1_RX0_IRQn;
#endif
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x0;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
CAN_ClearITPendingBit(CAN1, CAN_IT_FMP0);
CAN_ITConfig(CAN1, CAN_IT_FMP0, ENABLE);
circle_header = 0;
circle_tailer = 0;
circle_number = 0;
#endif
can_flush();
return 0;
}
/**
* @brief Configures the CAN.
* @param None
* @retval None
*/
static void CAN_Config(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
/* CAN GPIOs configuration **************************************************/
/* Enable GPIO clock */
RCC_AHB1PeriphClockCmd(CAN_GPIO_CLK, ENABLE);
/* Connect CAN pins to AF9 */
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 configuration ********************************************************/
/* Enable CAN clock */
RCC_APB1PeriphClockCmd(CAN_CLK, ENABLE);
/* CAN register init */
CAN_DeInit(CANx);
/* 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 = 1 MBps (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(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);
/* 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(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 */
}
}
/**
* @brief Configures the CAN.
* @param None
* @retval None
*/
void CAN_Config(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
/* GPIO clock enable */
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE);
#ifdef __CAN1_USED__
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIO_CAN1, ENABLE);
#else /*__CAN2_USED__*/
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIO_CAN1, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIO_CAN2, ENABLE);
#endif /* __CAN1_USED__ */
/* 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_Remapping_CAN , ENABLE);
/* CANx Periph clock enable */
#ifdef __CAN1_USED__
RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);
#else /*__CAN2_USED__*/
RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN2, ENABLE);
#endif /* __CAN1_USED__ */
/* 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 Baudrate = 1MBps*/
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(CANx, &CAN_InitStructure);
/* CAN filter init */
#ifdef __CAN1_USED__
CAN_FilterInitStructure.CAN_FilterNumber = 0;
#else /*__CAN2_USED__*/
CAN_FilterInitStructure.CAN_FilterNumber = 14;
#endif /* __CAN1_USED__ */
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;
}
/**
* @brief Configures CAN1 and CAN2.
* @param None
* @retval None
*/
void CAN_Config(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
/* Configure CAN1 and CAN2 IOs **********************************************/
/* GPIOB, GPIOD and AFIO clocks enable */
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO | RCC_APB2Periph_GPIOD | RCC_APB2Periph_GPIOB, ENABLE);
/* Configure CAN1 RX pin */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
GPIO_Init(GPIOD, &GPIO_InitStructure);
/* Configure CAN2 RX pin */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5;
GPIO_Init(GPIOB, &GPIO_InitStructure);
/* Configure CAN1 TX pin */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOD, &GPIO_InitStructure);
/* Configure CAN2 TX pin */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6;
GPIO_Init(GPIOB, &GPIO_InitStructure);
/* Remap CAN1 and CAN2 GPIOs */
GPIO_PinRemapConfig(GPIO_Remap2_CAN1 , ENABLE);
GPIO_PinRemapConfig(GPIO_Remap_CAN2, ENABLE);
/* Configure CAN1 and CAN2 **************************************************/
/* CAN1 and CAN2 Periph clocks enable */
RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1 | RCC_APB1Periph_CAN2, ENABLE);
/* CAN1 and CAN2 register init */
CAN_DeInit(CAN1);
CAN_DeInit(CAN2);
/* Struct init*/
CAN_StructInit(&CAN_InitStructure);
/* CAN1 and CAN2 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 = ENABLE;
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_2tq;
#if CAN_BAUDRATE == 1000 /* 1MBps */
CAN_InitStructure.CAN_Prescaler =6;
#elif CAN_BAUDRATE == 500 /* 500KBps */
CAN_InitStructure.CAN_Prescaler =12;
#elif CAN_BAUDRATE == 250 /* 250KBps */
CAN_InitStructure.CAN_Prescaler =24;
#elif CAN_BAUDRATE == 125 /* 125KBps */
CAN_InitStructure.CAN_Prescaler =48;
#elif CAN_BAUDRATE == 100 /* 100KBps */
CAN_InitStructure.CAN_Prescaler =60;
#elif CAN_BAUDRATE == 50 /* 50KBps */
CAN_InitStructure.CAN_Prescaler =120;
#elif CAN_BAUDRATE == 20 /* 20KBps */
CAN_InitStructure.CAN_Prescaler =300;
#elif CAN_BAUDRATE == 10 /* 10KBps */
CAN_InitStructure.CAN_Prescaler =600;
#else
#error "Please select first the CAN Baudrate in Private defines in main.c "
#endif /* CAN_BAUDRATE == 1000 */
/*Initializes the CAN1 and CAN2 */
CAN_Init(CAN1, &CAN_InitStructure);
CAN_Init(CAN2, &CAN_InitStructure);
/* CAN1 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 = 0x6420;
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);
/* CAN2 filter init */
CAN_FilterInitStructure.CAN_FilterIdHigh =0x2460;
CAN_FilterInitStructure.CAN_FilterNumber = 15;
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 ];
}
/*
* 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 */
}
