/*******************************************************************************
* Function Name : CAN1_RX1_IRQHandler
* Description : This function handles CAN1 RX1 request.
* Input : None
* Output : None
* Return : None
*******************************************************************************/
void CAN1_RX1_IRQHandler(void)
{ if(CAN_GetITStatus(CAN1,CAN_IT_FMP1)== SET)
{
// if(Bridge.CAN_State!= CAN_PROC_MSGINQUEUE && Bridge.CAN_State!= CAN_PROCESSING )
//{
CAN_Receive(CAN1, CAN_FIFO1, &Bridge.RxMessage1);
CANpacket_receive=1;
Bridge.CAN_State=ChangeState_level_Busier(Bridge.CAN_State);
//CAN_ClearITPendingBit(CAN1, CAN_IT_FMP1) //Don't need this line the intterruption is cleared automatically when read
/* }
else
{
Bridge.CAN_Err.ErrorId=CAN_FULLQUEUE;
Bridge.CAN_Err.ErrorData= 0;
}*/
}
else
{ /*This case has to be treated as an important problem of using the multiport communication: The priority of the CAN communication have to be modified after tests or make an automated algorithm that (numerically ) */
if(CAN_GetITStatus(CAN1,CAN_FLAG_FF1)== SET)
{
//CAN_ClearITPendingBit( CAN1,CAN_FLAG_FF1);
Bridge.CAN_Err.ErrorId=CAN_OVERFLOW;
Bridge.CAN_Err.ErrorData=CAN_MessagePending( CAN1,CAN_FIFO1);
}
/*Interrupt when error iss reported by the CAN BUS controller*/
else if(CAN_GetITStatus(CAN1,CAN_IT_ERR)== SET)
{
Bridge.CAN_Err.ErrorId=CAN_RCVERR;
Bridge.CAN_Err.ErrorData=CAN_GetLastErrorCode(CAN1);
}
}
}
/**
* Hardware error ISR for CAN
*
* @param unit CAN controller number( from 0 )
*/
static void Can_ErrIsr( int unit ) {
CAN_HW_t *canHw = GetController(unit);
Can_UnitType *canUnit = CAN_GET_PRIVATE_DATA(unit);
Can_Arc_ErrorType err;
err.R = 0;
// Check wake up
if(SET == CAN_GetITStatus(canHw, CAN_IT_WKU)){
Can_WakeIsr(unit);
CAN_ClearITPendingBit(canHw, CAN_IT_WKU);
}
if(SET == CAN_GetITStatus(canHw, CAN_IT_BOF)){
canUnit->stats.boffCnt++;
CanIf_ControllerBusOff(unit);
Can_SetControllerMode(unit, CAN_T_STOP); // CANIF272
Can_AbortTx( canHw, canUnit ); // CANIF273
// Clear int
CAN_ClearITPendingBit(canHw, CAN_IT_BOF);
}
if (err.R != 0)
{
CanIf_Arc_Error( unit, err );
}
}
void CAN1_RX0_IRQHandler(void) {
// Check the cause of the interrupt
if(CAN_GetITStatus(CAN1, CAN_IT_FMP0) == SET) { // Pending message in Fifo 0
CAN_Receive(CAN1, CAN_FIFO0, &CAN_RxStruct);
xSemaphoreGive(CANReceiveSemaphore);
}
else if(CAN_GetITStatus(CAN1, CAN_IT_FF0) == SET) { // Fifo 0 is full
}
else if(CAN_GetITStatus(CAN1, CAN_IT_FOV0) == SET) { // Fifo 0 overrun
}
}
void USB_HP_CAN1_TX_IRQHandler(void) //CAN TX
{//发送成功进入中断
if (CAN_GetITStatus(CAN1,CAN_IT_TME)!= RESET)
{
CAN_ClearITPendingBit(CAN1,CAN_IT_TME);
}
}
void CAN1_RX0_IRQHandler(void)
{
if (CAN_GetITStatus(CAN1,CAN_IT_FMP0)){//新しいメッセージを受信したら呼び出される
CAN_Receive(CAN1, CAN_FIFO0, &can_rx_flame);//受信
GPIOD->BSRRL = GPIO_Pin_15;
CAN_Node_Check(&can_rx_flame);
}
}
//↑今までの割込み関数
//↓今回変更した割込み関数
void CAN1_TX_IRQHandler(void)
{
if (CAN_GetITStatus(CAN1,CAN_IT_TME)){//メールボックスが空になったら呼び出される 何も送ってない状態では呼び出されない
GPIOD->BSRRL = GPIO_Pin_14;
//CAN_Transmit_List_Stack(1,&can_tx_flame);//can_tx_flameに次に送るデータを格納する
CAN_Transmit(CAN1, &can_tx_flame);//送信
CAN_ClearITPendingBit(CAN1,CAN_IT_TME);
}
}
void CAN1_RX0_IRQHandler(void)
{
CanRxMsg RxMessage;
//CAN_Receive(CAN1, CAN_FIFO0, &RxMessage);
//myRxMessage1 =RxMessage;
if(SET == CAN_GetITStatus(CAN1, CAN_IT_FF0))
{
CAN_ClearITPendingBit(CAN1, CAN_IT_FF0);
}
else if(SET == CAN_GetITStatus(CAN1, CAN_IT_FOV0))
{
CAN_ClearITPendingBit(CAN1, CAN_IT_FOV0);
}
else
{
CAN_ClearITPendingBit(CAN1, CAN_IT_FMP0);
CAN_Receive(CAN1, CAN_FIFO0, &RxMessage);
FIFO_PUT_ONE(CAN1_RxFifo, RxMessage);
}
}
/*******************************************************************************
* Function Name : CAN_RX0_CALLBACK
* Description : CAN0接收的回调函数
* Input : None
* Output : None
* Return : None
*******************************************************************************/
void CAN_RX0_CALLBACK(void)
{
if (CAN_GetITStatus(CAN1,CAN_IT_FMP0)!= RESET)
{
CAN_ClearITPendingBit(CAN1, CAN_IT_FMP0);
g_CAN_Rx_Provider++;
if(g_CAN_Rx_Provider >= CAN_RX_BUFFER_SIZE)
g_CAN_Rx_Provider = 0;
CAN_Receive(CAN1, CAN_FIFO0, &g_CAN_Rx_message[g_CAN_Rx_Provider]);
}
}
void CAN1_RX0_IRQHandler(void)
{
CanRxMsg rx_message;
if (CAN_GetITStatus(CAN1, CAN_IT_FMP0) != RESET)
{
CAN_ClearITPendingBit(CAN1, CAN_IT_FMP0);
CAN_Receive(CAN1, CAN_FIFO0, &rx_message);
if(can1_rh)
can1_rh(&rx_message);
}
}
void CAN1_RX0_IRQHandler(void)
{
CanRxMsg RxMessage;
static portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
if (CAN_GetITStatus (CAN1, CAN_IT_FMP0))
{
CAN_Receive(CAN1, CAN_FIFO0, &RxMessage);
if ((RxMessage.StdId == CAN_SLAVE_STD_ID) && (RxMessage.IDE == CAN_ID_STD) && (RxMessage.DLC == CAN_DATA_LENGTH))
xQueueSendToBackFromISR(CanRxQueue, &RxMessage, &xHigherPriorityTaskWoken);
}
portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
}
// CAN Receive
void CAN1_RX0_IRQHandler (void)
{
__disable_irq();
if (CAN_GetITStatus(CAN1,CAN_IT_FMP0) != RESET)
{
CANparseMessage(CAN_FIFO0);
RxCAN.FIFO0 = SET;
GPIOA->ODR ^= GPIO_Pin_5;
}
__enable_irq();
}
//CAN1接收中断调用函数
void DST_CAN_1::CAN1_RX0_IRQHandler_Fun(void)
{
if(CAN_GetITStatus(CAN1,CAN_IT_FMP0)!= RESET)
{
CAN_ClearITPendingBit(CAN1, CAN_IT_FMP0);
CAN_Receive(CAN1, CAN_FIFO0, &can1_rx_msg);
/********HG900 6025数据接收********/
_data_pro.HG900_6025_DataPro(&can1_rx_msg);//CAN1云台数据处理
//test fun
ws(&can1_rx_msg);
}
}
void USB_LP_CAN1_RX0_IRQHandler(void)
#endif
{
if (CAN_GetITStatus(CAN1, CAN_IT_FMP0) != RESET)
{
STM_EVAL_LEDOn(LED7);
CAN_Receive(CAN1, CAN_FIFO0, &RxMessage);
SendCanMsg(RxMessage);
STM_EVAL_LEDOff(LED7);
}
else USB_Istr();
}
void USB_LP_CAN1_RX0_IRQHandler(void) {
if (CAN_GetITStatus(CAN1, CAN_IT_FMP0) == RESET) {
return;
}
CAN_ClearITPendingBit(CAN1, CAN_IT_FMP0);
//GPIO_ResetBits(GPIOA, GPIO_Pin_8);
CanRxMsg message;
while(CAN_MessagePending(CAN1, 0)) {
CAN_Receive(CAN1, 0, &message);
}
if (GPIO_ReadOutputDataBit(GPIOA, GPIO_Pin_8) == Bit_SET) {
GPIO_ResetBits(GPIOA, GPIO_Pin_8);
} else {
GPIO_SetBits(GPIOA, GPIO_Pin_8);
}
}
void USB_LP_CAN1_RX0_IRQHandler(void)
{
if(CAN_GetITStatus(CAN1, CAN_IT_FMP0))
{
CAN_ClearITPendingBit(CAN1, CAN_IT_FMP0);
CAN_Receive(CAN1, 0, &CanRxMsgStructure);
for(countCAN = 0; countCAN < 8; countCAN++)
{
USART_SendData(USART2, CanRxMsgStructure.Data[countCAN]);
while(!USART_GetFlagStatus(USART2, USART_FLAG_TC));
USART_ClearFlag(USART2, USART_FLAG_TC);
}
autoSendFlag++;
startFlag = 1;
}
}
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);
}
}
void CAN1_TX_IRQHandler(void)
{
int16_t id;
int8_t code;
uint32_t tsr;
if (CAN_GetITStatus(CAN1, CAN_IT_TME) != RESET)
{
tsr = CAN1->TSR;
if(can1_sh)
{
if((tsr & CAN_TSR_TME0) && (tsr & CAN_TSR_RQCP0))
{
CAN1->TSR = CAN_TSR_RQCP0;
id = can1_mailbox0_id;
if (tsr & CAN_TSR_TXOK0)
code = 0;
else if (tsr & CAN_TSR_TERR0)
code = 1;
else if (tsr & CAN_TSR_ALST0)
code = 3;
else
code = 4;
}
else if((tsr & CAN_TSR_TME1) && (tsr & CAN_TSR_RQCP1))
{
CAN1->TSR = CAN_TSR_RQCP1;
id = can1_mailbox1_id;
if (tsr & CAN_TSR_TXOK1)
code = 0;
else if (tsr & CAN_TSR_TERR1)
code = 1;
else if (tsr & CAN_TSR_ALST1)
code = 3;
else
code = 4;
}
else if((tsr & CAN_TSR_TME2) && (tsr & CAN_TSR_RQCP2))
{
CAN1->TSR = CAN_TSR_RQCP2;
id = can1_mailbox2_id;
if (tsr & CAN_TSR_TXOK2)
code = 0;
else if (tsr & CAN_TSR_TERR2)
code = 1;
else if (tsr & CAN_TSR_ALST2)
code = 3;
else
code = 4;
}
else
{
id = -1;
}
if(id >= 0)
can1_sh(id, code);
}
if(can1_mutex_transmit == 0 && can1_mutex_queue == 0 && (can1_pq_full == 1 || can1_pq_end != can1_pq_start))
{
can1_mutex_queue = 1;
CAN1_Transmit(can1_pq[can1_pq_start].id, can1_pq[can1_pq_start].addr, can1_pq[can1_pq_start].data, can1_pq[can1_pq_start].size);
can1_pq_full = 0;
can1_pq_start = (can1_pq_start + 1) % CAN1_PACKET_QUEUE_SIZE;
can1_mutex_queue = 0;
}
}
}
/*************************************************************************
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;
}
}
}
}
