[syntax=c]#include "stm32f10x.h"
#include "misc.h"
#include "stm32f10x_can.h"
#include "stm32f10x_rcc.h"
#include "stm32f10x_gpio.h"
int i;
CanTxMsg TxMessage;
CanRxMsg rx_message;
uint8_t TransmitMailbox = 0;
void USB_LP_CAN1_RX0_IRQHandler(){
CAN_Receive(CAN1, CAN_FIFO0, &rx_message);
}
void NVIC_Configuration(void)
{
NVIC_InitTypeDef NVIC_InitStructure;
/* Enable CAN1 RX0 interrupt IRQ channel */
NVIC_InitStructure.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn;//przerwania pochodzace od RX0 w CAN1 czyli odebranie danych.
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0; //priorytet grupowy 0
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;//subpriorytet 0
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;//wlaczenie obslugi przerwan
NVIC_Init(&NVIC_InitStructure);
}
void CAN_Configuration(void)
{
CAN_InitTypeDef CAN_InitStructure;
CAN_FilterInitTypeDef CAN_FilterInitStructure;
/* CAN register init */
CAN_DeInit(CAN1);
CAN_StructInit(&CAN_InitStructure);
/* CAN cell init */
CAN_InitStructure.CAN_TTCM = DISABLE;//komunikacja wyzwalana czasowo
CAN_InitStructure.CAN_ABOM = DISABLE;//automatyczne zarządzanie odcinaniem od sieci
CAN_InitStructure.CAN_AWUM = DISABLE;//tryb automatycznego wybudzania
CAN_InitStructure.CAN_NART = DISABLE; //tryb automatycznej retransmisji
CAN_InitStructure.CAN_RFLM = DISABLE;//tryb zabezpieczenia przed nadpisaniem danych przechowywanych w kolejkach FIFO przez nowe dane
CAN_InitStructure.CAN_TXFP = DISABLE;//priorytey kolejek FIFO dla danych wysyłanych
CAN_InitStructure.CAN_Mode = CAN_Mode_Normal;
CAN_InitStructure.CAN_SJW = CAN_SJW_1tq;// (1-4) Time quanta difference for resynchronization
CAN_InitStructure.CAN_BS1 = CAN_BS1_5tq;//czas bs1 może wynosic od 1 do 16 wielokrotności kwantu czasu
CAN_InitStructure.CAN_BS2 = CAN_BS2_2tq;//bs2 może trwac max 8 kwantow czasu
CAN_InitStructure.CAN_Prescaler = 21;// prescaler-dzielnik czestotliwosci
CAN_Init(CAN1, &CAN_InitStructure);
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);
}
int main(void)
{
RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE); //wlaczenie taktowania CAN1
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE); //wlaczenie taktowania portu A
GPIO_InitTypeDef GPIO_InitStructure;
/* Configure CAN pin: RX */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
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_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOB, &GPIO_InitStructure);
GPIO_PinRemapConfig(GPIO_Remap1_CAN1, ENABLE);
NVIC_Configuration();
CAN_Configuration();
CAN_ITConfig(CAN1, CAN_IT_FMP0, ENABLE);
while(1)
{
//wysylana wiadomosc
TxMessage.StdId = 0x00;
TxMessage.ExtId = 0x00;
TxMessage.StdId = 0x11;//Standard identyfi
TxMessage.RTR = CAN_RTR_DATA;//rodzaj ramki: ramka danych
TxMessage.IDE = CAN_ID_STD;//format ramki danych: normalna
TxMessage.DLC = 4;//Liczba wykorzystanych bajtow danych
TxMessage.Data[0] = 0xFF;
TxMessage.Data[1] = 0xFF;
TxMessage.Data[2] = 0xFF;
TxMessage.Data[3] = 0xFF;
//Wyslanie wiadomosci
TransmitMailbox = CAN_Transmit(CAN1, &TxMessage);
i = 0;
while ((CAN_TransmitStatus(CAN1,TransmitMailbox) != CANTXOK)&&(i != 0xFF))
{
i++;
}
}
}
typedef struct
{
uint32_t StdId;
uint32_t ExtId;
uint8_t IDE;
uint8_t RTR;
uint8_t DLC;
uint8_t Data[8];
} CanTx2Msg;
typedef struct
{
uint32_t StdId;
uint32_t ExtId;
uint8_t IDE;
uint8_t RTR;
uint8_t DLC;
uint8_t Data[8];
uint8_t FMI;
} CanRx2Msg;[/syntax]Statystyki: Napisane przez Mordziaty — 26 sty 2019, o 23:51
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