main.c

Cortex-M3 CAN源代码

#include "stm32f10x.h"
#include "GLCD.h"

typedef enum {FAILED = 0, PASSED = !FAILED} TestStatus;
vu32 ret; /* for return of the interrupt handling */
volatile TestStatus TestRx;
ErrorStatus HSEStartUpStatus;

TestStatus CAN_Polling(void);
TestStatus CAN_Interrupt(void);

void GPIO_Configuration(void)
{
	GPIO_InitTypeDef GPIO_InitStructure;

  	/* Configure PD.02, PD.03, PD.04 and PD.07 as Output push-pull */
  	// For STM3210B-LK1 use PD.02 -PC.07
  	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8 | GPIO_Pin_9 | GPIO_Pin_10 | GPIO_Pin_11;
  	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
  	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
  	GPIO_Init(GPIOD, &GPIO_InitStructure);

  	/* Configure CAN pin: RX */
  	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8;
  	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
  	GPIO_Init(GPIOB, &GPIO_InitStructure);
  
  	/* Configure CAN pin: TX */
  	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9;
  	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
  	GPIO_Init(GPIOB, &GPIO_InitStructure);

	GPIO_PinRemapConfig(GPIO_Remap1_CAN1, ENABLE );	   //重影射CAN IO脚到 PB8，PB9
}

//系统中断管理
void NVIC_Configuration(void)
{ 
	NVIC_InitTypeDef NVIC_InitStructure;

  	/* Configure the NVIC Preemption Priority Bits */  
  	NVIC_PriorityGroupConfig(NVIC_PriorityGroup_0);

	#ifdef  VECT_TAB_RAM  
	  /* Set the Vector Table base location at 0x20000000 */ 
	  NVIC_SetVectorTable(NVIC_VectTab_RAM, 0x0); 
	#else  /* VECT_TAB_FLASH  */
	  /* Set the Vector Table base location at 0x08000000 */ 
	  NVIC_SetVectorTable(NVIC_VectTab_FLASH, 0x0);   
	#endif

	/* enabling interrupt */
  	NVIC_InitStructure.NVIC_IRQChannel=USB_LP_CAN1_RX0_IRQn;;
  	NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
  	NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
  	NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
  	NVIC_Init(&NVIC_InitStructure);
}

//配置系统时钟,使能各外设时钟
void RCC_Configuration(void)
{
	SystemInit();	
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1 | RCC_APB2Periph_GPIOA 
                           |RCC_APB2Periph_GPIOB | RCC_APB2Periph_GPIOC
                           |RCC_APB2Periph_GPIOD | RCC_APB2Periph_GPIOE
						   |RCC_APB2Periph_ADC1  | RCC_APB2Periph_AFIO 
                           |RCC_APB2Periph_SPI1, ENABLE );
  //RCC_APB2PeriphClockCmd(RCC_APB2Periph_ALL ,ENABLE );
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4 
                           |RCC_APB1Periph_USART3|RCC_APB1Periph_TIM2	                           
                           , ENABLE );
	RCC_AHBPeriphClockCmd(RCC_AHBPeriph_DMA1, ENABLE);
	/* CAN Periph clock enable */
  	RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);
}

void InitDis(void) 
{
   /* LCD Module init */
   GLCD_init();
   GLCD_clear(White);
   GLCD_setTextColor(Blue);
   GLCD_displayStringLn(Line1, "     FireBull");
   GLCD_displayStringLn(Line2, "   CAN example");
   GLCD_setTextColor(Red);
}

//配置所有外设
void Init_All_Periph(void)
{
	RCC_Configuration();	
	InitDis();
//	GLCD_Test();
	GPIO_Configuration();
	NVIC_Configuration();
}

int main(void)
{  
	Init_All_Periph();

	/* CAN transmit at 100Kb/s and receive by polling in loopback mode*/
  	TestRx = CAN_Polling();

  	if (TestRx == FAILED)
  	{
    	/* Turn on led connected to PD.04 pin (LD3) */
    	GPIO_SetBits(GPIOD, GPIO_Pin_10);
  	}
  	else
  	{
    	/* Turn on led connected to PD.02 pin (LD1) */
   	 GPIO_SetBits(GPIOD, GPIO_Pin_8);
  	}

  	/* CAN transmit at 500Kb/s and receive by interrupt in loopback mode*/
  	TestRx = CAN_Interrupt();

  	if (TestRx == FAILED)
  	{
   	 	/* Turn on led connected to PD.07 pin (LD4) */
    	GPIO_SetBits(GPIOD, GPIO_Pin_11); 
  	}
  	else
  	{
    	/* Turn on led connected to PD.03 pin (LD2) */
    	GPIO_SetBits(GPIOD, GPIO_Pin_9);
 	}
 	while(1)
  	{
  	}
}

/*******************************************************************************
* Function Name  : CAN_Polling
* Description    : Configures the CAN and transmit and receive by polling
* Input          : None
* Output         : None
* Return         : 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;
  u32 i = 0;
  u8 TransmitMailbox;

  /* CAN register init */
  CAN_DeInit(CAN1);
  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_InitStructure.CAN_BS1=CAN_BS1_8tq;
  CAN_InitStructure.CAN_BS2=CAN_BS2_7tq;
  CAN_InitStructure.CAN_Prescaler=5;
  CAN_Init(CAN1,&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(CAN1,&TxMessage);
  i = 0;
  while((CAN_TransmitStatus(CAN1,TransmitMailbox) != CANTXOK) && (i != 0xFF))
  {
    i++;
  }

  i = 0;
  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;

  if ((RxMessage.Data[0]<<8|RxMessage.Data[1])!=0xCAFE) return FAILED;
  
  return PASSED; /* Test Passed */
}

/*******************************************************************************
* Function Name  : CAN_Interrupt
* Description    : Configures the CAN and transmit and receive by interruption
* Input          : None
* Output         : None
* Return         : PASSED if the reception is well done, FAILED in other case
*******************************************************************************/
TestStatus CAN_Interrupt(void)
{
  CAN_InitTypeDef        CAN_InitStructure;
  CAN_FilterInitTypeDef  CAN_FilterInitStructure;
  CanTxMsg TxMessage;
  u32 i = 0;

  /* CAN register init */
  CAN_DeInit(CAN1);
  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_InitStructure.CAN_BS1=CAN_BS1_8tq;
  CAN_InitStructure.CAN_BS2=CAN_BS2_7tq;
  CAN_InitStructure.CAN_Prescaler=1;
  CAN_Init(CAN1,&CAN_InitStructure);

  /* CAN filter init */
  CAN_FilterInitStructure.CAN_FilterNumber=1;
  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=CAN_FIFO0;
  CAN_FilterInitStructure.CAN_FilterActivation=ENABLE;
  CAN_FilterInit(&CAN_FilterInitStructure);

  /* CAN FIFO0 message pending interrupt enable */ 
  CAN_ITConfig(CAN1,CAN_IT_FMP0, ENABLE);

  /* transmit 1 message */
  TxMessage.StdId=0x00;
  TxMessage.ExtId=0x1234;
  TxMessage.IDE=CAN_ID_EXT;
  TxMessage.RTR=CAN_RTR_DATA;
  TxMessage.DLC=2;
  TxMessage.Data[0]=0xDE;
  TxMessage.Data[1]=0xCA;
  CAN_Transmit(CAN1,&TxMessage);

  /* initialize the value that will be returned */
  ret = 0xFF;
       
  /* receive message with interrupt handling */
  i=0;
  while((ret == 0xFF) && (i < 0xFFF))
  {
    i++;
  }
  
  if (i == 0xFFF)
  {
    ret=0;  
  }

  /* disable interrupt handling */
  CAN_ITConfig(CAN1,CAN_IT_FMP0, DISABLE);

  return (TestStatus)ret;
}

/*******************************************************************************
* Function Name  : USB_LP_CAN_RX0_IRQHandler
* Description    : This function handles USB Low Priority or CAN RX0 interrupts 
*                  requests.
* Input          : None
* Output         : None
* Return         : None
*******************************************************************************/
void USB_LP_CAN1_RX0_IRQHandler(void)
{
  CanRxMsg RxMessage;

  RxMessage.StdId=0x00;
  RxMessage.ExtId=0x00;
  RxMessage.IDE=0;
  RxMessage.DLC=0;
  RxMessage.FMI=0;
  RxMessage.Data[0]=0x00;
  RxMessage.Data[1]=0x00;

  CAN_Receive(CAN1,CAN_FIFO0, &RxMessage);

  if((RxMessage.ExtId==0x1234) && (RxMessage.IDE==CAN_ID_EXT)
     && (RxMessage.DLC==2) && ((RxMessage.Data[1]|RxMessage.Data[0]<<8)==0xDECA))
  {
    ret = 1; 
  }
  else
  {
    ret = 0; 
  }
}