main.c

基于str710f2z6的can总线源代码。编译环境为arm公司的ads1.2.

/******************** (C) COPYRIGHT 2003 ST Microelectronics *******************
*
* 文件说明：
*	CAN自循环模式
*
*******************************************************************************/

#include "71x_lib.h"

#include "Main.h"
#include "LED.h"

canmsg RxCanMsg;
canmsg TxCanMsg[2] = {
	{ CAN_STD_ID,      0x0ff, 4, { 0x22, 0x33, 0x44, 0x00,0x55 } },
	{ CAN_EXT_ID, 0x12345678, 8, { 0x10, 0x11, 0x12, 0x13, 0x14, 0x15, 0x16, 0x17 } }
};

/*****************************************************************************/

void wait(void)
{
	u32 i;
	for(i = 0; i < 0x200000; i++);
}

/*****************************************************************************/

void __main(void)
{
#ifdef DEBUG
	debug();
#endif

	LED_Init();

	// initialize the I/O ports for the CAN pins
	// setup GPIO 1.11 (CAN RX pin) as input Tristate CMOS
	GPIO_Config(GPIO1, 0x0800, GPIO_IN_TRI_CMOS);

	// setup GPIO 1.12 (CAN TX pin) as output alternate Push-pull
	GPIO_Config(GPIO1, 0x1000, GPIO_AF_PP);

	// initialize the CAN at a standard bitrate, interrupts disabled
	CAN_Init(0, CAN_BITRATE_125K);

	// switch into Loopback+Silent mode (self-test)
	CAN_EnterTestMode(CAN_TESTR_LBACK | CAN_TESTR_SILENT);

	// configure the message objects
	CAN_InvalidateAllMsgObj();
	CAN_SetTxMsgObj(CAN_TX_MSGOBJ, CAN_STD_ID);
	CAN_SetRxMsgObj(CAN_RX_MSGOBJ, CAN_STD_ID, 0, CAN_LAST_STD_ID, TRUE);

	// ready for communication
	LED_Set(0, LED_ON);
	wait();
	LED_Set(0, LED_OFF);
	LED_Set(1, LED_ON);
	wait();
	LED_Set(1, LED_OFF);
	LED_Set(2, LED_ON);
	wait();
	LED_Set(2, LED_OFF);
	LED_Set(1, LED_ON);
	wait();
	LED_Set(1, LED_OFF);
	LED_Set(0, LED_ON);
	wait();
	LED_Set(0, LED_OFF);

	while(1)
	{
		wait();
		// send a pre-defined data frame
		CAN_SendMessage(CAN_TX_MSGOBJ, &TxCanMsg[0]);

		// wait until end of transmission
		CAN_WaitEndOfTx();
		LED_Set(0, LED_ON);

		// wait for reception of a data frame
		while (!CAN_ReceiveMessage(CAN_RX_MSGOBJ, FALSE, &RxCanMsg))
		{
			// add a time-out handling here, if necessary
		}

		// verify
		if(RxCanMsg.Dlc == TxCanMsg[0].Dlc)
		{
			int i;
			for(i = 0; i < RxCanMsg.Dlc && RxCanMsg.Data[i] == TxCanMsg[0].Data[i]; i++);
			if(i >= RxCanMsg.Dlc)
			{
				// receiving succeeded
				LED_Set(1, LED_ON);
			}
		}
		wait();

		// release the message objects
		CAN_ReleaseTxMessage(CAN_TX_MSGOBJ);
		CAN_ReleaseRxMessage(CAN_RX_MSGOBJ);
		LED_Set(0, LED_OFF);
		LED_Set(1, LED_OFF);
	}
	// switch back into Normal mode
	CAN_LeaveTestMode();
}