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();
}
int main(void)
{
utDisInt;
utInitInt();
utInitSys();
utEnInt;
/* Can bus init */
can_Init();
/* iobus init */
iobus_init();
/* 步进电机初始化 */
#if defined(motor_device)
/* L6470端口及SPI初始化 */
dSPIN_Peripherals_Init();
/* L6470复位 */
dSPIN_Reset_And_Standby(dSPIN_Device_All);
/* L6470中断初始化 */
dSPIN_Interrupt_Channel_Config();
/* 电机参数初始化 */
motor_init_set();
ENC_Init();
#endif
utPrt("********************************\r\n");
utPrt("CPU: STM32F103RCT6 at 72 MHz \r\n");
utPrt("Board: TMCS Board (Version2) \r\n");
utPrt("Editor: Tsui \r\n");
utPrt("Compant: TMCS \r\n");
utPrt("Shell: Shell Version1 \r\n");
utPrt("Compile Date: %s \r\n",__DATE__);
utPrt("Compile TIME: %s \r\n",__TIME__);
utPrt("********************************\r\n");
/* set can baud rate at 250Kbit */
can_set_baudrate(can_parameter._t_bit_rate);
#if 0
g_tCanTxMsg.DLC = 3;
g_tCanTxMsg.Data[0] = 0x11;
g_tCanTxMsg.Data[1] = 0x22;
g_tCanTxMsg.Data[2] = 0x33;
SendCanMsg(&g_tCanTxMsg);
#endif
DetectCal();
iobus_reload();
utDelay1s(1);
ENC_Clean();
/* Start os */
utPrt("Start utOs......\n");
utStartOS();
}
