void can_flush(void)
{
int busy;
time_t deadline = time_get(10); //max wait 10 ms
do {
busy = 0;
busy += (CAN_TransmitStatus(CAN1, 0) == CANTXPENDING);
busy += (CAN_TransmitStatus(CAN1, 1) == CANTXPENDING);
busy += (CAN_TransmitStatus(CAN1, 2) == CANTXPENDING);
if(!busy)
break;
} while(time_left(deadline) > 0);
CAN_CancelTransmit(CAN1, 0);
CAN_CancelTransmit(CAN1, 1);
CAN_CancelTransmit(CAN1, 2);
CAN_FIFORelease(CAN1, CAN_FIFO0);
#ifndef CONFIG_CAN_ENHANCED
CAN_FIFORelease(CAN1, CAN_FIFO1);
#endif
#if ENABLE_CAN_INT
circle_header = 0;
circle_tailer = 0;
circle_number = 0;
#endif
}
void _CAN_SendMsg(uint8 *Buf,uint8 Length)
{
static uint8 TestValue;
u8 TransmitMailbox=0,i=0;
CanTxMsg TxMessage;
CanRxMsg RxMessage;
TxMessage.StdId=0x00;//接收板地址
TxMessage.RTR=CAN_RTR_DATA;//发送数据帧
TxMessage.IDE=CAN_ID_STD;
TxMessage.DLC=2;//发送数据的长度
TxMessage.Data[0]=TestValue;
TxMessage.Data[1]=0xFE;
TransmitMailbox=CAN_Transmit(CAN1,&TxMessage);
while((CAN_TransmitStatus(CAN1,TransmitMailbox)!=CANTXOK)&&(i!=0xff))
{
i++;
}
if(i==0xff)DeBug("Can Send TimeOut2",Infor_Infor);
CAN_Receive(CAN1, CAN_FIFO0, &RxMessage);
if(RxMessage.Data[0]==TestValue%0xff)
{
DeBug("Can_PoolBack_Ok TestValue=%d",TestValue,Infor_Infor);
}
TestValue++;
}
TestStatus CAN_TX(void)
{
CanTxMsg TxMessage;
u8 TransmitMailbox;
u32 iCANTX = 0,iDelay=0;
/* transmit */
TxMessage.StdId=0x12;
TxMessage.RTR=CAN_RTR_DATA;
TxMessage.IDE=CAN_ID_STD; //BD_EXT.CAN_1_ID;
TxMessage.DLC=8;
TxMessage.Data[0]=0xCA;
TxMessage.Data[1]=0xAE;
TxMessage.Data[2]=0xAA;
TxMessage.Data[3]=0xBB;
TxMessage.Data[4]=0xCC;
TxMessage.Data[5]=0xDD;
TxMessage.Data[6]=0xEE;
TxMessage.Data[7]=0xFF;
TransmitMailbox=CAN_Transmit(CAN1,&TxMessage);
iCANTX = 0;
while((CAN_TransmitStatus(CAN1,TransmitMailbox) != CANTXOK) && (iCANTX!= 0xFF))
{
iCANTX++;
for(iDelay=0;iDelay<500;iDelay++);
}
if(iCANTX==0xFF)
return FAILED;
else
return PASSED;
}
void CAN1_Send(uint32_t ID,u8 *Data)
{
u8 TransmitMailbox=0,i=0;
CanTxMsg TxMessage;
TxMessage.StdId = ID;
TxMessage.ExtId = 0x0000;
TxMessage.IDE = CAN_ID_STD;
TxMessage.RTR = CAN_RTR_DATA;
TxMessage.DLC = 8;
for(i=0;i<8;i++)
{
TxMessage.Data[i] = *Data++;
}
TransmitMailbox=CAN_Transmit(CAN1,&TxMessage);
while((CAN_TransmitStatus(CAN1,TransmitMailbox)!=CANTXOK)&&(i!=0xFF))
{
i++;
}
i=0;
while((CAN_MessagePending(CAN1,CAN_FIFO0)<1)&&(i!=0xFF))
{
i++;
}
}
//发送CAN1命令
uint8_t DST_CAN_1::Send_CAN1_CMD(int16_t current_201,int16_t current_202,int16_t current_203)
{
uint8_t mbox; //发送邮箱
uint16_t i= 0;
CanTxMsg tx_message; //CAN Tx message structure definition
tx_message.StdId = 0x200; //标准ID
tx_message.IDE = CAN_Id_Standard; //标准帧
tx_message.RTR = CAN_RTR_Data; //数据帧
tx_message.DLC = 0x08; //要发送的数据长度
/*********************数据*********************/
tx_message.Data[0] = (unsigned char)(current_201 >> 8);
tx_message.Data[1] = (unsigned char)current_201;
tx_message.Data[2] = (unsigned char)(current_202 >> 8);
tx_message.Data[3] = (unsigned char)current_202;
tx_message.Data[4] = (unsigned char)(current_203 >> 8);
tx_message.Data[5] = (unsigned char)current_203;
tx_message.Data[6] = 0x00;
tx_message.Data[7] = 0x00;
mbox = CAN_Transmit(CAN1,&tx_message);
while((CAN_TransmitStatus(CAN1, mbox)==CAN_TxStatus_Failed)&&(i<0XFFF))i++; //等待发送结束
if(i>=0XFFF)return _DEFEATED; //发送失败
return _SUCCEED; //发送成功
}
/**
* If a transmission is ongoing, the next message can will be delayed until that transmission
* is done.
*/
int comm_is_tx_busy(void) {
int ok = 1;
#if COMM_USE_CAN
if (CAN_TransmitStatus(CAN1, 0) == CAN_TxStatus_Pending ||
CAN_TransmitStatus(CAN1, 1) == CAN_TxStatus_Pending ||
CAN_TransmitStatus(CAN1, 2) == CAN_TxStatus_Pending) {
ok = 0;
}
#else
int i;
for (i = 0;i < USARTINTERFACE_TX_BUFFER_NUM;i++) {
if (!usartinterfaceIsTxBufferFree(i)) {
ok = 0;
break;
}
}
#endif
return !ok;
}
int CAN_device_tx_msg(uint8_t channel, CAN_msg * msg, unsigned int timeoutMs)
{
CanTxMsg TxMessage;
/* Transmit Structure preparation */
if (msg->isExtendedAddress) {
TxMessage.ExtId = msg->addressValue;
TxMessage.IDE = CAN_ID_EXT;
} else {
TxMessage.StdId = msg->addressValue;
TxMessage.IDE = CAN_ID_STD;
}
TxMessage.RTR = CAN_RTR_DATA;
TxMessage.DLC = msg->dataLength;
memcpy(TxMessage.Data, msg->data, msg->dataLength);
CAN_TypeDef* chan = channel == 0 ? CAN1 : CAN2;
const uint8_t mailbox = CAN_Transmit(chan, &TxMessage);
/*
* Then they don't want to wait. Ok. Let caller know if they
* got a mailbox then. If not, message was unable to be sent.
*/
if (0 == timeoutMs)
return mailbox != CAN_TxStatus_NoMailBox;
/* Using ticks avoids a race-condition */
size_t ticks = getCurrentTicks();
const size_t trigger = ticks + msToTicks(timeoutMs);
uint8_t status = CAN_TxStatus_Failed;
while(ticks <= trigger) {
status = CAN_TransmitStatus(chan, mailbox);
if (CAN_TxStatus_Pending != status)
break;
/*
* Not using yield here as it will cause lower priority tasks
* to starve. Yield only allows tasks of equal or greater
* priority to run.
*/
delayTicks(1);
ticks = getCurrentTicks();
}
if (CAN_TxStatus_Pending == status)
CAN_CancelTransmit(chan, mailbox);
return status == CAN_TxStatus_Ok;
}
/**
* @brief Transmit
* @param None
* @retval The number of unprocessed messages (uint8_t).
*/
void CAN_transmitByte(uint16_t StdId, uint8_t data){
/* Toggle status LED */
GPIOE->ODR ^= CAN_TX_LED << 8;
/* Configure the message to be transmitted. */
TxMsg.StdId = StdId;
TxMsg.Data[0] = data;
TxMsg.DLC = 1;
/* Put message in Tx Mailbox and store the mailbox number. */
TransmitMailbox = CAN_Transmit(CAN1, &TxMsg);
/* Wait on Transmit */
while((CAN_TransmitStatus(CAN1, TransmitMailbox) != CAN_TxStatus_Ok));
}
u8 CAN_SendMsg(CanMessage_t * msg)
{
CanTxMsg TxMessage;
u8 TransmitMailbox, i;
if (0 == extId)
{
TxMessage.StdId = msg->id;
TxMessage.ExtId = 0;
TxMessage.IDE = CAN_ID_STD;
}
else
{
TxMessage.StdId = 0;
TxMessage.ExtId = msg->id;
TxMessage.IDE = CAN_ID_EXT;
}
TxMessage.RTR = CAN_RTR_DATA;
TxMessage.DLC = msg->len;
memmove(TxMessage.Data, msg->payload, 8);
TransmitMailbox=CAN_Transmit(&TxMessage);
if (CAN_NO_MB == TransmitMailbox) {
return 0;
}
i = 0;
while((CAN_TransmitStatus(TransmitMailbox) != CANTXOK) && (i != 0xFF))
{
i++;
delay(1000);
}
if (i != 0xff)
{
#ifdef DEBUG_LOG_CAN_FRAME
DebugCanFrame(1, extId, msg);
#endif
return 255;
}
else
{
return 0; //can transmit fails
}
}
/**
* @brief 发送一帧CAN数据
* @param CANx CAN通道号
* @param TxMessage CAN消息指针
* @retval None
*/
u8 CAN1_SendOneFrame(CanTxMsg *TxMessage)
{
u8 TransmitMailbox;
u32 TimeOut = 0;
TransmitMailbox = CAN_Transmit(CAN1, TxMessage);
while (CAN_TransmitStatus(CAN1, TransmitMailbox) != CAN_TxStatus_Ok)
{
TimeOut++;
if (TimeOut > 10000000)
{
return 1;
}
}
return 0;
}
void SendCanMessage(uint32_t id, uint16_t data)
{
CanTxMsg TxMessage;
uint8_t mailbox;
TxMessage.StdId = id;
TxMessage.ExtId = id;
TxMessage.RTR=CAN_RTR_DATA;
TxMessage.IDE=CAN_ID_STD;
TxMessage.DLC = 4;
*((uint16_t*)(&TxMessage.Data[0])) = data;
mailbox = CAN_Transmit(CAN1,&TxMessage);
while (CAN_TransmitStatus(CAN1, mailbox) != CAN_TxStatus_Ok) {
;
};
}
void can_tx(uint16_t addr,uint8_t dlc,uint8_t* data)
{
CanTxMsg TxMessage;
static volatile uint8_t status,i;
uint8_t TransmitMailbox = 0;
/* transmit */
TxMessage.StdId=addr;
TxMessage.RTR=CAN_RTR_DATA;
TxMessage.IDE=CAN_ID_STD;
TxMessage.DLC=dlc;
memcpy(TxMessage.Data,data,dlc);
TransmitMailbox=CAN_Transmit(CAN1, &TxMessage);
for(;;)
{
status=CAN_TransmitStatus(CAN1, TransmitMailbox);
if(status!=CANTXPENDING)
{break;}
}
}
/*************************************************************
Func: CAN 发送消息
Date: 2014-8-26
Note:
*************************************************************/
void CAN_SendMsg(void *Msg,uint8 Length)
{
static uint8 TestValue='0';
uint16 TransmitMailbox=0,i=0;
CanTxMsg TxMessage;
TxMessage.ExtId=0x11<<13;//接收板地址
TxMessage.RTR=CAN_RTR_DATA;//发送数据帧
TxMessage.IDE=CAN_ID_EXT;
TxMessage.DLC=Length+1;//发送数据的长度
BufferCoppy(Msg,&TxMessage.Data[0],Length);
TxMessage.Data[Length]=TestValue;
TransmitMailbox=CAN_Transmit(CAN1,&TxMessage);
while((CAN_TransmitStatus(CAN1,TransmitMailbox)!=CANTXOK)&&(i!=0xff))
{
i++;
Tos_TaskDelay(1);
}
if(i==0xff)DeBug("Can Send TimeOut1",Infor_Infor);
else DeBug("Can Send Succeed1",Infor_Infor);
if(TestValue<'9')TestValue++;
else TestValue='0';
}
//can发送一组数据(固定格式:ID为0X12,标准帧,数据帧)
//len:数据长度(最大为8)
//msg:数据指针,最大为8个字节.
//返回值:0,成功;
// 其他,失败;
u8 Can_Send_Msg(u8* msg, u8 len)
{
u8 mbox;
u16 i = 0;
CanTxMsg TxMessage;
TxMessage.StdId = 0x12; // 标准标识符为0
// TxMessage.ExtId = 0x12; // 设置扩展标示符（29位）
//IDE位为标识符选择位（0，使用标准标识符；1，使用扩展标识符）
TxMessage.IDE = 0; // 使用扩展标识符
//RTR位用于标识是否是远程帧（0，数据帧；1，远程帧）
TxMessage.RTR = 0; // 消息类型为数据帧，一帧8位
//DLC段为数据长度表示段，高位在前,DLC段有效值为0~8，但是接收方接收到9~15的时候并不认为是错误
TxMessage.DLC = len; // 发送两帧信息
for (i = 0; i < len; i++)
TxMessage.Data[i] = msg[i];// 第一帧信息
mbox = CAN_Transmit(CAN1, &TxMessage);
i = 0;
while ((CAN_TransmitStatus(CAN1, mbox) == CAN_TxStatus_Failed) && (i < 0XFFF))i++; //等待发送结束
if (i >= 0XFFF)return 1;
return 0;
}
/*
* 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 */
}
//送信
int main(void)
{
char str[70] = {0};
int a;
init();
can_tx_flame.StdId = 0x500;//ID 11bit 0〜0x7FF
can_tx_flame.ExtId = 0x0; //拡張フレームID 29bit 0〜0x1FFFFFFF
can_tx_flame.IDE = 0; //拡張フレームIDを使う場合1
can_tx_flame.RTR = 0; //データフレーム:0 リモートフレーム:1
can_tx_flame.DLC = 1; //送信するデータフィールドのバイト数 0~8
can_tx_flame.Data[0] = start; //送信するデータフィールド
CAN_Transmit_List_Stack(0, &can_tx_flame);//0x00AというIDのフレームをリストに追加
/*
can_tx_flame.StdId = 0x00B;
CAN_Transmit_List_Stack(0, &can_tx_flame);//0x00BというIDのフレームをリストに追加
can_tx_flame.StdId = 0x00C;
CAN_Transmit_List_Stack(0, &can_tx_flame);//0x00CというIDのフレームをリストに追加
can_tx_flame.StdId = 0x00D;
CAN_Transmit_List_Stack(0, &can_tx_flame);//0x00DというIDのフレームをリストに追加
*/
//以降割込みによって0x00Aから0x00Dのフレームが繰り返し送信される
while(ticker < 500);
GPIOD->BSRRL = GPIO_Pin_12;
CAN_Transmit(CAN1, &can_tx_flame);//送信
while(1)
{
while(ticker > 300){
ticker = 0;
if(GPIO_ReadInputDataBit(GPIOA,GPIO_Pin_0) == SET){
GPIOD->BSRRH = GPIO_Pin_13;
#ifndef USE_INTERRUPT_CAN_TX
CAN_Transmit(CAN1, &can_tx_flame);//送信
while(CANTXOK != CAN_TransmitStatus(CAN1,0));
#endif
}else{
GPIOD->BSRRL = GPIO_Pin_13;
}
sprintf(str,"StId:0x%X \n\rIDE:%d \n\rRTR:%d \n\rDLC:%X \n\rData[0]:0x%X \n\rRerror:%d \n\rTerror:%d \n\rStart:%X\r\n"
,can_tx_flame.StdId
,can_tx_flame.IDE
,can_tx_flame.RTR
,can_tx_flame.DLC
,can_tx_flame.Data[0]
,CAN_GetReceiveErrorCounter(CAN1)
,CAN_GetLSBTransmitErrorCounter(CAN1)
,psbutton.start.value);
transmit_uart3_s(str);
}
}
}
/**
* @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 */
}
void send_can1(CanTxMsg *data){
CAN_Transmit(CAN1, data);
while(CANTXOK != CAN_TransmitStatus(CAN1,0));
}
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 */
}
/*******************************************************************************
* Function Name : SysTick_Handler
* Description : This function handles SysTick Handler.
* Input : None
* Output : None
* Return : None
*******************************************************************************/
void SysTick_Handler(void)
{ if(bDeviceState==CONFIGURED){
/********************************************************************************
********************* Message received from CAN BUS (ROV) ***********************
*********************************************************************************/
if(CANpacket_receive==1 && Bridge.CAN_State != CAN_MSGINQUEUE && Bridge.CAN_State != CAN_PROC_MSGINQUEUE)
{
if(CAN_SaveMsg(&Bridge.RxMessage1,&Bridge.COM_Lastmessage.CDC_ToPC_Buffer))
{
Bridge.CAN_State=ChangeState_level_Busier(Bridge.CAN_State);
STM_EVAL_LEDToggle(LED9);
}
else
{
Bridge.CAN_State=ChangeState_level_Freer(Bridge.CAN_State);
STM_EVAL_LEDToggle(LED10);
}
/*Send CAN message if queue isn't empty */
if (Bridge.CAN_State == CAN_MSGINQUEUE || Bridge.CAN_State == CAN_PROC_MSGINQUEUE)
{
COM_SendMsg(&Bridge.COM_Lastmessage.CDC_ToPC_Buffer);
Bridge.COM_Acknowledgement.State=ACK_WAITING;
Bridge.COM_Acknowledgement.COM_ACK=NO_ACK;
}
CANpacket_receive=0;
}
/********************************************************************************
********************* Message received from USB port (pc) ***********************
*********************************************************************************/
if( Bridge.COM_Status==COM_ReadyToProcess)
{
if(Bridge.COM_State == COM_PROCESSING)
{
COM_SaveMsg(&Bridge.Reception_Buffer,&Bridge.COM_Lastmessage.CDC_FromPC_Buffer);
Bridge.COM_State=ChangeState_level_Busier(Bridge.COM_State);
Bridge.COM_Status=COM_WaitingforHeader;
}
/*Send serial message if queue isn't empty */
if ((Bridge.COM_State == COM_MSGINQUEUE || Bridge.COM_State == COM_PROC_MSGINQUEUE) )
{ CANTX_Counter=0;
// make the function to send CAN messages through serial
CAN_SendMsg(&Bridge.COM_Lastmessage.CDC_FromPC_Buffer);
CAN_mbox=CAN_Transmit(CAN1,&Bridge.TxMessage1);
while(((Bridge.CAN_Err.ErrorData=CAN_TransmitStatus(CAN1, CAN_mbox)) != CAN_TxStatus_Ok) && (CANTX_Counter != 0xFFFF))
{
CANTX_Counter++;
}
if(CANTX_Counter!=0xFFFF)
{
if (Bridge.COM_State == COM_PROC_MSGINQUEUE)
COM_SaveMsg(&Bridge.Reception_Buffer,&Bridge.COM_Lastmessage.CDC_FromPC_Buffer);
Bridge.COM_State=ChangeState_level_Freer(Bridge.COM_State);
}
else
Bridge.CAN_Err.ErrorId=CAN_SENDERROR;
}
}
/********************************************************************************
********************* Error Message on the USB port (pc) ***********************
*********************************************************************************/
if (Bridge.COM_Err.ErrorId)
{
STM_EVAL_LEDToggle(LED5);
//COM_SendSpecial(Bridge.COM_Err.ErrorId); to be replaced by a table to send
Bridge.COM_Err.ErrorId=0;
}
/********************************************************************************
********************* Error Message (ROV) ***********************
*********************************************************************************/
if (Bridge.CAN_Err.ErrorId)
{
STM_EVAL_LEDToggle(LED8);
//COM_SendSpecial(Bridge.CAN_Err.ErrorId);
Bridge.CAN_Err.ErrorId=0;
}
/********************************************************************************
********************* Acknowledgement Message (PC) ***********************
*********************************************************************************/
if (Bridge.COM_Acknowledgement.State==ACK_RECEIVED)
{
if(Bridge.COM_Acknowledgement.COM_ACK==ACK)
{
Bridge.COM_Acknowledgement.State=ACK_IDLE;
Bridge.CAN_State=ChangeState_level_Freer(Bridge.CAN_State);
}
else
{
Bridge.COM_Acknowledgement.Nb_Tries++;
COM_SendMsg(&Bridge.COM_Lastmessage.CDC_ToPC_Buffer);
Bridge.COM_Acknowledgement.State=ACK_WAITING;
}
}
else if(Bridge.COM_Acknowledgement.State==ACK_WAITING)
{
Bridge.COM_Acknowledgement.Nb_Check++;
STM_EVAL_LEDToggle(LED6);
COM_SendMsg(&Bridge.COM_Lastmessage.CDC_ToPC_Buffer);
}
}
STM_EVAL_LEDOff(LED7);
}