/*********************************************************************************************************************
** Function name: can1_setup
** Descriptions: 安装can1设备
** Input parameters: Baudrate
** Output parameters:
** Returned value: ==OS_OK : 操作成功
** !=OS_OK : 操作失败(包含出错信息)
**--------------------------------------------------------------------------------------------------------------------
** Created by: Feng Liang
** Created Date: 2011-12-13 17:13:54
** Test recorde:
**--------------------------------------------------------------------------------------------------------------------
** Modified by:
** Modified date:
** Test recorde:
*********************************************************************************************************************/
static int can1_setup(void)
{
/* 1)
* 私有构建过程
*/
dword_set_bits(PCONP, 1ul << 14); /* 使能can1外设备供电 */
#if 1
/*
* CAN控制器收发引脚配置
* 引脚p0.4: RD2;
* 引脚p0.5: TD2
*/
dword_modify(PINSEL0, (1ul<<10) | (1ul<<8), /* 设置P0.4功能: RD2 */
(1ul<<11) | (1ul<<9)); /* 设置P0.5功能: TD2 */
#else
/*
* CAN控制器收发引脚配置
* 引脚p2.7: RD2;
* 引脚p2.8: TD2
*/
dword_modify(PINSEL4, (1ul<<17) | (1ul<<15), /* 设置P2.7功能: RD2 */
(1ul<<16) | (1ul<<14)); /* 设置P2.8功能: TD2 */
#endif
/* 2)
* 类构建过程
*/
can_setup(&can1_feature);
return OK;
}
/**
* CAN test main function
*
* @return Nothing really...
*/
int main(void)
{
int timer;
uint8_t data[1];
mcu_init();
led_init();
sys_tick_init();
can_setup();
timer = sys_tick_get_timer();
data[0] = 10;
while (true) {
if (sys_tick_check_timer(timer, 10000)) {
data[0]++;
timer = sys_tick_get_timer();
#ifdef CAN__SEND
#ifdef CAN_ADDR
can_trans(CAN_ADDR, data, 1);
#else
can_trans(CAN__DEFAULT_ADDR, data, 1);
#endif
#endif
}
}
}
int main(void)
{
rcc_clock_setup_in_hse_12mhz_out_72mhz();
gpio_setup();
can_setup();
systick_setup();
while (1); /* Halt. */
return 0;
}
int main(void) {
status = 0;
rcc_clock_setup_in_hse_8mhz_out_72mhz();
gpio_setup();
can_setup();
systick_setup();
/* endless loop */
while (1) ;
return 0;
}
int main(void) {
set_canit_callback(CANIT_RX_COMPLETED, rx_complete);
set_canit_callback(CANIT_TX_COMPLETED, tx_complete);
set_canit_callback(CANIT_DEFAULT, can_default);
usart1_init();
CAN_INIT_ALL(); //Can setup
sei(); //Enable interrupt
usart1_printf("\n\n\nSTARTING\n");
// Set MOB 8 to listen for messeges with id 4 and length 7
can_msg_t rx_msg = {
.mob = 8,
.id = 4,
.dlc = 7,
.mode = MOB_RECIEVE
};
can_setup(&rx_msg);
usart1_printf("Listning for id %d on mob %d with a msg length %d\n",
rx_msg.id,
rx_msg.mob,
rx_msg.dlc
);
while(1){
// Main work loop
_delay_ms(250);
// send a message with id 4 on MOB 10
can_msg_t tx_msg = {
.mob = 10,
.id = 4,
.data = {'H', 'E', 'L', 'L', 'O', '!', '!'},
.dlc = 7,
.mode = MOB_TRANSMIT
};
can_send(&tx_msg);
usart1_printf("CAN Tx\t id %d, mob %d, :: ", tx_msg.id, tx_msg.mob);
// As tx_msg.data is a byte array we cant treat it as a string
usart1_putn(sizeof(tx_msg.data)/sizeof(tx_msg.data[0]), tx_msg.data);
usart1_putc('\n');
}
return 0;
}
// Callback to be run when rx comletes on the CAN
static void rx_complete(uint8_t mob) {
can_msg_t msg = {
.mob = mob // mob is the MOB that fired the interrupt
};
can_receive(&msg); // Fetch the message and fill out the msg struct
// Print out the received data. Please dont print inside can callbacks
// in real code as these are run inside the can ISR
usart1_printf("CAN Rx\t id: %d on mob %d :: ", msg.id, msg.mob);
usart1_putn(msg.dlc, msg.data); usart1_putc('\n');
}
static void tx_complete(uint8_t mob) {
// We clear the mob so it can be used again
MOB_ABORT(); // Freed the MOB
MOB_CLEAR_INT_STATUS(); // and reset MOB status
CAN_DISABLE_MOB_INTERRUPT(mob); // Unset interrupt
}
