/**
* @brief This function handles CAN request.
* @param None
* @retval None
*/
void CEC_CAN_IRQHandler(void)
{
if (CAN_MessagePending(CANx, CAN_FIFO0) != 0)
{
/* Set the LCD Back Color */
LCD_SetBackColor(Green);
/* Set the LCD Text Color */
LCD_SetTextColor(Black);
/* Displays MESSAGE1 on line 1 */
LCD_DisplayStringLine(LINE(6), (uint8_t *)MESSAGE1);
CAN_Receive(CANx, CAN_FIFO0, &RxMessage);
LED_Display(RxMessage.Data[0]);
KeyNumber = RxMessage.Data[0];
}
if (CAN_MessagePending(CANx, CAN_FIFO1) != 0)
{
/* Set the LCD Back Color */
LCD_SetBackColor(Cyan);
/* Set the LCD Text Color */
LCD_SetTextColor(Black);
/* Displays MESSAGE1 on line 1 */
LCD_DisplayStringLine(LINE(6), (uint8_t *)MESSAGE2);
CAN_Receive(CANx, CAN_FIFO1, &RxMessage1);
LED_Display(RxMessage1.Data[0]);
KeyNumber = RxMessage1.Data[0];
}
}
TestStatus CAN_RX(void)
{
u32 iCANRX = 0;
iCANRX= 0;
while((CAN_MessagePending(CAN1,CAN_FIFO0) < 1) && (iCANRX != 0xFF))
{
iCANRX++;
}
if(iCANRX!=0xFF)
{
/* receive */
RxMessageData.Data[0]=0x00;
RxMessageData.Data[1]=0x00;
RxMessageData.Data[2]=0x00;
RxMessageData.Data[3]=0x00;
RxMessageData.Data[4]=0x00;
RxMessageData.Data[5]=0x00;
RxMessageData.Data[6]=0x00;
RxMessageData.Data[7]=0x00;
CAN_Receive(CAN1,CAN_FIFO0, &RxMessageData);
return PASSED;
}
else
return FAILED;
}
int platform_can_recv( unsigned id, u32 *canid, u8 *idtype, u8 *len, u8 *data )
{
CanRxMsg RxMessage;
const char *s;
char *d;
if( CAN_MessagePending( CAN1, CAN_FIFO0 ) > 0 )
{
CAN_Receive(CAN1, CAN_FIFO0, &RxMessage);
if( RxMessage.IDE == CAN_ID_STD )
{
*canid = ( u32 )RxMessage.StdId;
*idtype = ELUA_CAN_ID_STD;
}
else
{
*canid = ( u32 )RxMessage.ExtId;
*idtype = ELUA_CAN_ID_EXT;
}
*len = RxMessage.DLC;
s = ( const char * )RxMessage.Data;
d = ( char* )data;
DUFF_DEVICE_8( RxMessage.DLC, *d++ = *s++ );
return PLATFORM_OK;
}
else
return PLATFORM_UNDERFLOW;
}
void platform_can_recv( unsigned id, u32 *canid, u8 *idtype, u8 *len, u8 *data )
{
CanRxMsg RxMessage;
const char *s;
char *d;
u32 i = 0;
// Check up to 256 times for message
while( ( CAN_MessagePending(CAN1, CAN_FIFO0) < 1 ) && ( i++ != 0xFF ) );
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.IDE == CAN_ID_STD )
{
*canid = ( u32 )RxMessage.StdId;
*idtype = 0;
}
else
{
*canid = ( u32 )RxMessage.ExtId;
*idtype = 1;
}
*len = RxMessage.DLC;
s = ( const char * )RxMessage.Data;
d = ( char* )data;
DUFF_DEVICE_8( RxMessage.DLC, *d++ = *s++ );
}
/*******************************************************************************
* 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);
}
}
}
int can_erecv(int rfifo, can_msg_t *msg)
{
#if ENABLE_CAN_INT
if (circle_number == 0) {
return -1;
} else {
(*msg) = can_fifo_rx[circle_tailer];
circle_number --;
circle_tailer ++;
if (circle_tailer == RX_FIFO_SZ)
circle_tailer = 0;
}
return 0;
#else
CanRxMsg msg_st;
uint8_t rxfifo = (rfifo == 0) ? CAN_FIFO0 : CAN_FIFO1;
if(CAN_MessagePending(CAN1, rxfifo) > 0)
CAN_Receive(CAN1, rxfifo, &msg_st);
else
return -1;
msg->id = (msg_st.IDE == CAN_ID_EXT) ? msg_st.ExtId : msg_st.StdId;
msg->flag = (msg_st.IDE == CAN_ID_EXT) ? CAN_FLAG_EXT : 0;
msg->dlc = msg_st.DLC;
memcpy(msg->data, msg_st.Data, msg->dlc);
return 0;
#endif
}
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++;
}
}
TestStatus CAN_RX(void)
{
u32 iCANRX = 0;
iCANRX= 0;
while((CAN_MessagePending(CAN1,CAN_FIFO0) < 1) && (iCANRX != 0xFF))
{
iCANRX++;
}
if(iCANRX!=0xFF)
{
/* receive */
RxMessageData.Data[0]=0x00;
RxMessageData.Data[1]=0x00;
RxMessageData.Data[2]=0x00;
RxMessageData.Data[3]=0x00;
RxMessageData.Data[4]=0x00;
RxMessageData.Data[5]=0x00;
RxMessageData.Data[6]=0x00;
RxMessageData.Data[7]=0x00;
CAN_Receive(CAN1,CAN_FIFO0, &RxMessageData);
/*rt_kprintf("\r\nRxMessage=");
for(iCANRX=0;iCANRX<RxMessageData.DLC;iCANRX++)
rt_kprintf("%X ",RxMessageData.Data[iCANRX]);*/
return PASSED;
}
else
return FAILED;
}
void CAN_FlushReceiveFifo()
{
CanRxMsg RxMessage;
while (CAN_MessagePending(CAN_FIFO0))
{
CAN_Receive(CAN_FIFO0, &RxMessage);
}
}
//can口接收数据查询
//buf:数据缓存区;
//返回值:0,无数据被收到;
// 其他,接收的数据长度;
u8 Can_Receive_Msg(u8* buf)
{
u32 i;
CanRxMsg RxMessage;
if ( CAN_MessagePending(CAN1, CAN_FIFO0) == 0)return 0; //没有接收到数据,直接退出
CAN_Receive(CAN1, CAN_FIFO0, &RxMessage);//读取数据
for (i = 0; i < 8; i++)
buf[i] = RxMessage.Data[i];
return RxMessage.DLC;
}
//can口接收数据查询
//buf:数据缓存区;
//返回值:0,无数据被收到;
// 其他,接收的数据长度;
uint8_t DST_CAN_1::Receive_CAN1_MSG(uint8_t *buf)
{
u32 i;
CanRxMsg RxMessage; //★关联FIFO0★
if( CAN_MessagePending(CAN1,CAN_FIFO0)==0)return 0;//没有接收到数据,直接退出
CAN_Receive(CAN1, CAN_FIFO0, &RxMessage);//读取数据
for(i=0;i<RxMessage.DLC;i++)
buf[i]=RxMessage.Data[i];
return RxMessage.DLC;
}
void CAN1_RX0_IRQHandler(void)
#endif
{
if( CAN_MessagePending(CAN1, CAN_FIFO0) ) // message pending ?
{
CanRxMsg CAN_RxMsg;
// read the message
CAN_Receive( CAN1, CAN_FIFO0, &CAN_RxMsg);
// parse the message signals
CAN_RxParseFrame( &MultilinkCAN, &CAN_RxMsg );
}
}
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);
}
}
//for can1 receive FIFO 0 interrupt
void USB_LP_CAN1_RX0_IRQHandler(void)
{
CanRxMsg msg_st;
CAN_ClearITPendingBit(CAN1, CAN_IT_FMP0);
while (CAN_MessagePending(CAN1, CAN_FIFO0)) {
CAN_Receive(CAN1, CAN_FIFO0, &msg_st);
circle_number ++;
#if CONFIG_CAN1_FIFO_OVERRIDE
can_fifo_rx[circle_header].id = (msg_st.IDE == CAN_ID_EXT) ? msg_st.ExtId : msg_st.StdId;
can_fifo_rx[circle_header].flag = (msg_st.IDE == CAN_ID_EXT) ? CAN_FLAG_EXT : 0;
can_fifo_rx[circle_header].dlc = msg_st.DLC;
memcpy(can_fifo_rx[circle_header].data, msg_st.Data, msg_st.DLC);
if (circle_number == RX_FIFO_SZ) {
circle_number --;
circle_tailer++;
if (circle_tailer == RX_FIFO_SZ)
circle_tailer = 0;
}
circle_header ++;
if (circle_header == RX_FIFO_SZ)
circle_header = 0;
#else
if (circle_number == RX_FIFO_SZ) {
circle_number --;
return;
}
can_fifo_rx[circle_header].id = (msg_st.IDE == CAN_ID_EXT) ? msg_st.ExtId : msg_st.StdId;
can_fifo_rx[circle_header].flag = (msg_st.IDE == CAN_ID_EXT) ? CAN_FLAG_EXT : 0;
can_fifo_rx[circle_header].dlc = msg_st.DLC;
memcpy(can_fifo_rx[circle_header].data, msg_st.Data, msg_st.DLC);
circle_header ++;
if (circle_header == RX_FIFO_SZ)
circle_header = 0;
#endif
}
}
int main(void)
{
CanTxMsg TxMessage;
float X_offset =0.0f,Y_offset =0.0f,Z_offset =0.0f;
float test_float=0.0f; uint8_t test_int=0;
float GyX =0.0f, GyY =0.0f, GyZ =0.0f;
float GyX_prev=0.0f,GyY_prev=0.0f,GyZ_prev=0.0f;
uint16_t x_len=240;
uint16_t y_len=320;
uint16_t i=0;
uint16_t buffer_screen[x_len][y_len];
/* For gyro receiving */
float receivedGyro1=0,receivedGyro1_prev=0;
float receivedGyro2=0,receivedGyro2_prev=0;
float receivedGyro3=0,receivedGyro3_prev=0;
uint8_t *ptr = & receivedGyro1;
// uint16_t *buf_ptr = &buffer_screen;
float runner=-8.0;
rectangular_t rect1;
rectangular_t prev_rect;
rectangular_t rect_screen;
char lcd_text_main[100];
/* LCD Initialization */
lcd_init();
lcd_drawBackground(20,60,250);
//lcd_drawBGPersimmon(20, 60, 250);
/* LED Initialization */
LED_Initialization();
/* CAN Initialization */
CAN2_Config();
CAN2_NVIC_Config();
/* MEMS Initialization */
Demo_GyroConfig();
Delay_1us(10000);
#define CALIBRATE_COUNT 1000
for (i=0;i<CALIBRATE_COUNT ;i++){
Demo_GyroReadAngRate (Buffer);
X_offset+= Buffer[0];
Y_offset+= Buffer[1];
Z_offset+= Buffer[2];
}
X_offset = X_offset/ (float)CALIBRATE_COUNT;
Y_offset = Y_offset/ (float)CALIBRATE_COUNT;
Z_offset = Z_offset/ (float)CALIBRATE_COUNT;
rect_screen.xlen = x_len;
rect_screen.ylen = y_len;
rect_screen.xpos = 0;
rect_screen.ypos = 0;
#define NEEDLE_RADIUS 65
#define NEEDLE_BASE_WIDTH 14
#define NEEDLE_FRAME_THICKNESS 5
#define NEEDLE1_CENTER_X 80
#define NEEDLE1_CENTER_Y 100
#define NEEDLE2_CENTER_X 80
#define NEEDLE2_CENTER_Y 200
#define NEEDLE3_CENTER_X 80
#define NEEDLE3_CENTER_Y 300
/* Drawing Needle frame 1 */
LCD_SetLayer(LCD_BACKGROUND_LAYER);
DrawThickCircle(NEEDLE1_CENTER_X ,NEEDLE1_CENTER_Y,NEEDLE_RADIUS+NEEDLE_FRAME_THICKNESS, 4,LCD_COLOR_BLACK,LCD_COLOR_WHITE-1);
LCD_SetLayer(LCD_FOREGROUND_LAYER);
DrawThickCircle(NEEDLE1_CENTER_X ,NEEDLE1_CENTER_Y,NEEDLE_BASE_WIDTH, 6,LCD_COLOR_BLACK,LCD_COLOR_WHITE-1);
LCD_SetLayer(LCD_BACKGROUND_LAYER);
LCD_SetColors(ASSEMBLE_RGB(20, 60, 250),LCD_COLOR_BLACK);
LCD_DrawFullRect(NEEDLE1_CENTER_X- NEEDLE_RADIUS-NEEDLE_FRAME_THICKNESS*2,NEEDLE1_CENTER_Y+ NEEDLE_BASE_WIDTH+3,NEEDLE_RADIUS*2+NEEDLE_FRAME_THICKNESS*4,NEEDLE_RADIUS);
LCD_SetLayer(LCD_FOREGROUND_LAYER);
LCD_SetColors(LCD_COLOR_BLACK,LCD_COLOR_BLACK);
LCD_DrawFullRect(NEEDLE1_CENTER_X- NEEDLE_RADIUS,NEEDLE1_CENTER_Y+ NEEDLE_BASE_WIDTH,NEEDLE_RADIUS*2,NEEDLE_FRAME_THICKNESS-1);
/* Drawing Needle frame 2 */
LCD_SetLayer(LCD_BACKGROUND_LAYER);
DrawThickCircle(NEEDLE2_CENTER_X ,NEEDLE2_CENTER_Y,NEEDLE_RADIUS+NEEDLE_FRAME_THICKNESS, 4,LCD_COLOR_BLACK,LCD_COLOR_WHITE-1);
LCD_SetLayer(LCD_FOREGROUND_LAYER);
DrawThickCircle(NEEDLE2_CENTER_X ,NEEDLE2_CENTER_Y,NEEDLE_BASE_WIDTH, 6,LCD_COLOR_BLACK,LCD_COLOR_WHITE-1);
LCD_SetLayer(LCD_BACKGROUND_LAYER);
LCD_SetColors(ASSEMBLE_RGB(20, 60, 250),LCD_COLOR_BLACK);
LCD_DrawFullRect(NEEDLE2_CENTER_X- NEEDLE_RADIUS-NEEDLE_FRAME_THICKNESS*2,NEEDLE2_CENTER_Y+ NEEDLE_BASE_WIDTH+3,NEEDLE_RADIUS*2+NEEDLE_FRAME_THICKNESS*4,NEEDLE_RADIUS);
LCD_SetLayer(LCD_FOREGROUND_LAYER);
LCD_SetColors(LCD_COLOR_BLACK,LCD_COLOR_BLACK);
LCD_DrawFullRect(NEEDLE2_CENTER_X- NEEDLE_RADIUS,NEEDLE2_CENTER_Y+ NEEDLE_BASE_WIDTH,NEEDLE_RADIUS*2,NEEDLE_FRAME_THICKNESS-1);
/* Drawing Needle frame 2 */
LCD_SetLayer(LCD_BACKGROUND_LAYER);
DrawThickCircle(NEEDLE3_CENTER_X ,NEEDLE3_CENTER_Y,NEEDLE_RADIUS+NEEDLE_FRAME_THICKNESS, 4,LCD_COLOR_BLACK,LCD_COLOR_WHITE-1);
LCD_SetLayer(LCD_FOREGROUND_LAYER);
DrawThickCircle(NEEDLE3_CENTER_X ,NEEDLE3_CENTER_Y,NEEDLE_BASE_WIDTH, 6,LCD_COLOR_BLACK,LCD_COLOR_WHITE-1);
LCD_SetLayer(LCD_BACKGROUND_LAYER);
LCD_SetColors(ASSEMBLE_RGB(20, 60, 250),LCD_COLOR_BLACK);
LCD_DrawFullRect(NEEDLE3_CENTER_X- NEEDLE_RADIUS-NEEDLE_FRAME_THICKNESS*2,NEEDLE3_CENTER_Y+ NEEDLE_BASE_WIDTH+3,NEEDLE_RADIUS*2+NEEDLE_FRAME_THICKNESS*4,NEEDLE_RADIUS);
LCD_SetLayer(LCD_FOREGROUND_LAYER);
LCD_SetColors(LCD_COLOR_BLACK,LCD_COLOR_BLACK);
LCD_DrawFullRect(NEEDLE3_CENTER_X- NEEDLE_RADIUS,NEEDLE3_CENTER_Y+ NEEDLE_BASE_WIDTH,NEEDLE_RADIUS*2,NEEDLE_FRAME_THICKNESS-1);
/* Clear drawing buffer */
PadRectangular(&buffer_screen,x_len,y_len,LCD_COLOR_WHITE, &rect_screen);
while(1)
{
board_ID = PIN_ID_Read();
LCD_SetColors(LCD_COLOR_BLACK,LCD_COLOR_WHITE-1);
sprintf(lcd_text_main," CAN Demo ID:%d ",board_ID);
LCD_DisplayStringLine(LINE(0), (uint8_t*)lcd_text_main);
Demo_GyroReadAngRate (Buffer);
//Delay_1us(1000);
/* MEMS Filtering */
#define LP_ALPHA 0.1f
GyX = GyX*(1.0f - LP_ALPHA) + (Buffer[0] - X_offset)*LP_ALPHA;
GyY = GyY*(1.0f - LP_ALPHA) + (Buffer[1] - Y_offset)*LP_ALPHA;
GyZ = GyZ*(1.0f - LP_ALPHA) + (Buffer[2] - Z_offset)*LP_ALPHA;
if(GyX > 90.0f) GyX = 90.0f;
if(GyX < -90.0f) GyX = -90.0f;
if(GyY > 90.0f) GyY = 90.0f;
if(GyY < -90.0f) GyY = -90.0f;
if(GyZ > 90.0f) GyZ = 90.0f;
if(GyZ < -90.0f) GyZ = -90.0f;
/* Start drawing rectangular */
prev_rect = rect1;
rect1.xlen = 25;
rect1.ylen = 30;
rect1.xpos = x_len/2+ (int16_t)(GyY)-10;
rect1.ypos = y_len/2 + (int16_t)(GyX)-10;
if(board_ID == 1){
MoveNeedle(LCD_BACKGROUND_LAYER,&buffer_screen,x_len,y_len,LCD_COLOR_GREEN,NEEDLE1_CENTER_X,NEEDLE1_CENTER_Y,-GyZ,-GyZ_prev,NEEDLE_RADIUS,NEEDLE_BASE_WIDTH);
}else if(board_ID == 2){
MoveNeedle(LCD_BACKGROUND_LAYER,&buffer_screen,x_len,y_len,LCD_COLOR_GREEN,NEEDLE2_CENTER_X,NEEDLE2_CENTER_Y,-GyZ,-GyZ_prev,NEEDLE_RADIUS,NEEDLE_BASE_WIDTH);
}else {
MoveNeedle(LCD_BACKGROUND_LAYER,&buffer_screen,x_len,y_len,LCD_COLOR_GREEN,NEEDLE3_CENTER_X,NEEDLE3_CENTER_Y,-GyZ,-GyZ_prev,NEEDLE_RADIUS,NEEDLE_BASE_WIDTH);
}
CAN2_TransmitGyro(board_ID,GyZ);
/* Received Data */
if( can2_rx_isr_flag ==1){
do{
if( can2_rx_isr_flag ==1){
can2RxMessage = CAN2_PassRXMessage();
can2_rx_isr_flag=0;
}else{
CAN_Receive(CAN2, CAN_FIFO0, &can2RxMessage);
}
GPIO_ToggleBits(GPIOG,GPIO_Pin_14);
ptr[0] = can2RxMessage.Data[0];
ptr[1] = can2RxMessage.Data[1];
ptr[2] = can2RxMessage.Data[2];
ptr[3] = can2RxMessage.Data[3];
if(( can2RxMessage.ExtId & 0x0000FFFF) == 1){
ptr = & receivedGyro1;
ptr[0] = can2RxMessage.Data[0];
ptr[1] = can2RxMessage.Data[1];
ptr[2] = can2RxMessage.Data[2];
ptr[3] = can2RxMessage.Data[3];
MoveNeedle(LCD_BACKGROUND_LAYER,&buffer_screen,x_len,y_len,LCD_COLOR_RED,NEEDLE1_CENTER_X,NEEDLE1_CENTER_Y,-receivedGyro1,-receivedGyro1_prev,NEEDLE_RADIUS,NEEDLE_BASE_WIDTH);
receivedGyro1_prev = receivedGyro1;
}else if (( can2RxMessage.ExtId & 0x0000FFFF) == 2){
ptr = & receivedGyro2;
ptr[0] = can2RxMessage.Data[0];
ptr[1] = can2RxMessage.Data[1];
ptr[2] = can2RxMessage.Data[2];
ptr[3] = can2RxMessage.Data[3];
MoveNeedle(LCD_BACKGROUND_LAYER,&buffer_screen,x_len,y_len,LCD_COLOR_RED,NEEDLE2_CENTER_X,NEEDLE2_CENTER_Y,-receivedGyro2,-receivedGyro2_prev,NEEDLE_RADIUS,NEEDLE_BASE_WIDTH);
receivedGyro2_prev = receivedGyro2;
}else if (( can2RxMessage.ExtId & 0x0000FFFF) == 3){
ptr = & receivedGyro3;
ptr[0] = can2RxMessage.Data[0];
ptr[1] = can2RxMessage.Data[1];
ptr[2] = can2RxMessage.Data[2];
ptr[3] = can2RxMessage.Data[3];
MoveNeedle(LCD_BACKGROUND_LAYER,&buffer_screen,x_len,y_len,LCD_COLOR_RED,NEEDLE3_CENTER_X,NEEDLE3_CENTER_Y,-receivedGyro3,-receivedGyro3_prev,NEEDLE_RADIUS,NEEDLE_BASE_WIDTH);
receivedGyro3_prev = receivedGyro3;
}
// LCD_SetColors(LCD_COLOR_BLACK,LCD_COLOR_WHITE-1);
// sprintf(lcd_text_main," ID :%d ", can2RxMessage.StdId);
// LCD_DisplayStringLine(LINE(1), (uint8_t*)lcd_text_main);
// LCD_SetColors(LCD_COLOR_BLACK,LCD_COLOR_WHITE-1);
// sprintf(lcd_text_main," Data :%f ", receivedGyro);
// LCD_DisplayStringLine(LINE(2), (uint8_t*)lcd_text_main);
}while(CAN_MessagePending(CAN2, CAN_FIFO0) > 0);
}
// {
// uint8_t status=0;
// while(CAN_TransmitStatus(CAN2, 0) != CAN_TxStatus_Ok ){
// status = CAN_TransmitStatus(CAN2, 0);
// if(status == CAN_TxStatus_Failed){
// GPIO_ToggleBits(GPIOG,GPIO_Pin_14);
// }
// }
// }
// TxMessage.StdId = (uint32_t)board_ID;
// TxMessage.RTR = CAN_RTR_DATA;
// TxMessage.IDE = CAN_ID_STD;
// TxMessage.DLC = 8;
// TxMessage.Data[0] = 0x01;
// TxMessage.Data[1] = 0x01;
// TxMessage.Data[2] = 0x01;
// TxMessage.Data[3] = 0x01;
// TxMessage.Data[4] = 0x01;
// TxMessage.Data[5] = 0x01;
// TxMessage.Data[6] = 0x01;
// TxMessage.Data[7] = 0x01;
// CAN_Transmit(CAN2, &TxMessage);
//CAN2_TransmitGyro(test_int++,test_float);
test_float += 0.1f;
GyX_prev = GyX;
GyZ_prev = GyZ;
GyY_prev = GyY;
runner += 1.0f;
/* Faster method */
//MoveAndUpdateRectangular(LCD_FOREGROUND_LAYER,&buffer_screen,x_len,y_len,LCD_COLOR_BLACK,&prev_rect, &rect1);
/* Regular method */
// PadRectangular(&buffer_screen,x_len,y_len,LCD_COLOR_WHITE, &prev_rect);
// PadRectangular(&buffer_screen,x_len,y_len,LCD_COLOR_BLACK, &rect1);
//DrawBufferToScreen(LCD_FOREGROUND_LAYER,buf_ptr,0,0, x_len,y_len);
}
}
/*
* 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 */
}
//受信
int main(void)
{
char str[150] = {0};
init();
GPIOD->BSRRL = GPIO_Pin_12;
sprintf(str,"Start CAN!\n\r");
transmit_uart3_s(str);
while(1)
{
#ifndef USE_INTERRUPT_CAN_RX
GPIOD->BSRRL = GPIO_Pin_13;
GPIOD->BSRRH = GPIO_Pin_14;
while(0 == CAN_MessagePending(CAN1, CAN_FIFO0));
CAN_Receive(CAN1, CAN_FIFO0, &can_rx_flame);//受信
GPIOD->BSRRL = GPIO_Pin_14;
GPIOD->BSRRH = GPIO_Pin_13;
#else
if(GPIO_ReadInputDataBit(GPIOA,GPIO_Pin_0) == SET){
GPIOD->BSRRH = GPIO_Pin_13;
}else{
GPIOD->BSRRL = GPIO_Pin_13;
}
#endif
while(ticker > 300){
ticker = 0;
sprintf(str,"StId:0x%X \n\rIDE:0x%X \n\rRTR:%d \n\rDLC:%X \n\rData[0]:0x%X \n\rData[1]:0x%X \n\rData[2]:0x%X \n\rData[3]:0x%X \n\rData[4]:0x%X \n\rData[5]:0x%X \n\rData[6]:0x%X \n\rData[7]:0x%X \n\rFMI:%d \n\rRerror:%d \n\rTerror:%d\n\r\n"
,can_rx_flame.StdId
,can_rx_flame.IDE
,can_rx_flame.RTR
,can_rx_flame.DLC
,can_rx_flame.Data[0]
,can_rx_flame.Data[1]
,can_rx_flame.Data[2]
,can_rx_flame.Data[3]
,can_rx_flame.Data[4]
,can_rx_flame.Data[5]
,can_rx_flame.Data[6]
,can_rx_flame.Data[7]
,can_rx_flame.FMI
,CAN_GetReceiveErrorCounter(CAN1)
,CAN_GetLSBTransmitErrorCounter(CAN1));
/*
sprintf(str," start:%X\n\r select:%X\n\r left_x:%X\n\r left_y:%X\n\r right_x:%X\n\r right_y:%X\n\r L1:%X\n\r L2:%X\n\r R1:%X\n\r R2:%X\n\r Tri:%X\n\r Cir:%X\n\r Cro:%X\n\r Squ:%X\n\r Up:%X\n\r Right:%X\n\r Dow:%X\n\r left:%X\n\r CAN_C:%d\n\r"
,psbutton.start.value
,psbutton.select.value
,psbutton.left_x.value
,psbutton.left_y.value
,psbutton.right_x.value
,psbutton.right_y.value
,psbutton.L1.value
,psbutton.L2.value
,psbutton.R1.value
,psbutton.R2.value
,psbutton.Triangle.value
,psbutton.Circle.value
,psbutton.Cross.value
,psbutton.Square.value
,psbutton.Up.value
,psbutton.Down.value
,psbutton.Right.value
,psbutton.Left.value
,can_tx_count);
*/
transmit_uart3_s(str);
//VCP_send_str(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 */
}
/*******************************************************************************
* Function Name : PollCAN
* Description : periodièno procesiranje CAN protokola v glavni zanki
* Input :
* Output :
* Return : FLASH_COMPLETE na bootloader strani, FLASH_STATUS na strani
* klienta (glej stm32f10x_flash.h)
*******************************************************************************/
int PollCAN(CanRxMsg *p) {
static int addr,n=0; // statièni register za zaèetno. adreso, index IAP stringa
int i; // ....
CanRxMsg Rx;
if(!p) {
if(!CAN_MessagePending(CAN1, CAN_FIFO0))
return(EOF);
p=&Rx;
CAN_Receive(CAN1,CAN_FIFO0, p);
}
switch(p->StdId) {
//----------------------------------------------------------------------------------------------
// client - deep sleep (watchdog), no ack.
case _ID_IAP_GO:
NVIC_SystemReset();
break;
//----------------------------------------------------------------------------------------------
// client - sign FW
case _ID_IAP_SIGN:
SendAck(crcSIGN());
break;
//----------------------------------------------------------------------------------------------
// client - setup adrese, no ack
case _ID_IAP_ADDRESS:
addr=*(int *)p->Data;
break;
//----------------------------------------------------------------------------------------------
// client - programiranje 2x4 bytov, ack
case _ID_IAP_DWORD:
for(i=p->DLC; i<8; ++i)
p->Data[i]=((char *)addr)[i];
i=FlashProgram32(addr,*(int *)(&p->Data[0]));
addr+=4;
++_Words32Received;
if(p->DLC>4) {
i |= FlashProgram32(addr,*(int *)(&p->Data[4]));
}
addr+=4;
++_Words32Received;
SendAck(i);
break;
//----------------------------------------------------------------------------------------------
// client - brisanje, ack
case _ID_IAP_ERASE:
_Words32Received=0;
Watchdog();
SendAck(EraseFLASH(*(int *)p->Data));
break;
//----------------------------------------------------------------------------------------------
// client - brisanje, ack
case _ID_IAP_STRING:
for(i=0; i<p->DLC && n<_IAP_STRING_LEN; ++i, ++n)
_Iap_string[n]=p->Data[i];
if(_Iap_string[n-1]=='\0' || _Iap_string[n-1]=='\r' || _Iap_string[n-1]=='\n' || n==_IAP_STRING_LEN) {
n=0;
CanHexProg(NULL);
}
break;
//----------------------------------------------------------------------------------------------
// client - brisanje, ack
case _ID_IAP_PING:
SendAck(0);
break;
//----------------------------------------------------------------------------------------------
// server - acknowledge received
case _ID_IAP_ACK:
return(p->Data[0]);
//----------------------------------------------------------------------------------------------
default:
break;
}
return(EOF);
}
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 */
}
