基于STM32的CAN程序

flyzhaoju

/******************** (C) COPYRIGHT 2007 STMicroelectronics ********************
* File Name          : main.c
* Author             : MCD Application Team
* Date First Issued  : 05/21/2007
* Description        : Main program body
********************************************************************************
* History:
* 05/21/2007: V0.3
********************************************************************************
* THE PRESENT SOFTWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS
* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME.
* AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT,
* INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE
* CONTENT OF SUCH SOFTWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING
* INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS.
*******************************************************************************/

/* Includes ------------------------------------------------------------------*/
#include "stm32f10x_lib.h"
#include "stdio.h"
#include "stm32f10x_usart.h"

/* Local includes ------------------------------------------------------------*/
/* Private typedef -----------------------------------------------------------*/
typedef enum {FAILED = 0, PASSED = !FAILED} TestStatus;

/* Private define ------------------------------------------------------------*/
/* Private macro -------------------------------------------------------------*/
/* Private variables ---------------------------------------------------------*/
vu32 ret; /* for return of the interrupt handling */
volatile TestStatus TestRx;
ErrorStatus HSEStartUpStatus;

/* Private functions ---------------------------------------------------------*/
void RCC_Configuration(void);
void GPIO_Configuration(void);
void NVIC_Configuration(void);
TestStatus CAN_Polling(void);
TestStatus CAN_Interrupt(void);

void SetupUART (void)  ;
void SetupClock (void);

/*******************************************************************************
* Function Name  : main
* Description    : Main program
* Input          : None
* Output         : None
* Return         : None
*******************************************************************************/
int main(void)
{

#ifdef DEBUG
  debug();
#endif

  /* System Clocks Configuration */
  RCC_Configuration();

  /* NVIC Configuration */
  NVIC_Configuration();
  
  /* GPIO ports pins Configuration */
  GPIO_Configuration();
  
  /* CAN transmit at 100Kb/s and receive by polling in loopback mode -1*/
  /* CAN transmit at 100Kb/s and receive by polling in normal mode -2*/
  TestRx = CAN_Polling();

  if (TestRx == FAILED)
  {
    /* Turn on led connected to PC.08 pin (LD3) */
    GPIO_SetBits(GPIOC, GPIO_Pin_8);
  }
  else
  {
    /* Turn on led connected to PC.06 pin (LD1) */
    GPIO_SetBits(GPIOC, GPIO_Pin_6);
  }

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

  if (TestRx == FAILED)
  {
    /* Turn on led connected to PC.09 pin (LD4) */
    GPIO_SetBits(GPIOC, GPIO_Pin_9);
  }
  else
  {
    /* Turn on led connected to PC.07 pin (LD2) */
    GPIO_SetBits(GPIOC, GPIO_Pin_7);
  }
  
  while(1)
  {
  }
}

/*******************************************************************************
* Function Name  : RCC_Configuration
* Description    : Configures the different system clocks.
* Input          : None
* Output         : None
* Return         : None
*******************************************************************************/
void RCC_Configuration(void)
{
  /* RCC system reset(for debug purpose) */
  RCC_DeInit();

  /* Enable HSE */
  RCC_HSEConfig(RCC_HSE_ON);

  /* Wait till HSE is ready */
  HSEStartUpStatus = RCC_WaitForHSEStartUp();

  if(HSEStartUpStatus == SUCCESS)
  {
    /* HCLK = SYSCLK */
    RCC_HCLKConfig(RCC_SYSCLK_Div1);
  
    /* PCLK2 = HCLK */
    RCC_PCLK2Config(RCC_HCLK_Div1);

    /* PCLK1 = HCLK/2 */
    RCC_PCLK1Config(RCC_HCLK_Div2);

    /* Enable Prefetch Buffer */
    FLASH_PrefetchBufferCmd(FLASH_PrefetchBuffer_Enable);

    /* Select HSE as system clock source */
    RCC_SYSCLKConfig(RCC_SYSCLKSource_HSE);

    /* Wait till HSE is used as system clock source */
    while(RCC_GetSYSCLKSource() != 0x04)
    {
    }
  }
  
  /* GPIOA and GPIOC clock enable */
  RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA  | RCC_APB2Periph_GPIOC, ENABLE);

  /* CAN Periph clock enable */
  RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN, ENABLE);
}

/*******************************************************************************
* Function Name  : GPIO_Configuration
* Description    : Configures the different GPIO ports.
* Input          : None
* Output         : None
* Return         : None
*******************************************************************************/
void GPIO_Configuration(void)
{
  GPIO_InitTypeDef GPIO_InitStructure;

  /* Configure PC.06, PC.07, PC.08 and PC.09 as Output push-pull */
  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7 | GPIO_Pin_8 | GPIO_Pin_9;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
  GPIO_Init(GPIOC, &GPIO_InitStructure);

  /* Configure CAN pin: RX */
  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
  GPIO_Init(GPIOD, &GPIO_InitStructure);
  
  /* Configure CAN pin: TX */
  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
  GPIO_Init(GPIOD, &GPIO_InitStructure);
}

/*******************************************************************************
* Function Name  : NVIC_Configuration
* Description    : Configures the NVIC and Vector Table base address.
* Input          : None
* Output         : None
* Return         : None
*******************************************************************************/
void NVIC_Configuration(void)
{
  NVIC_InitTypeDef NVIC_InitStructure;

#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_CAN_RX0_IRQChannel;
  NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
  NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
  NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
  NVIC_Init(&NVIC_InitStructure);
}
/*******************************************************************************
* 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;
  u16 i=0;
  u8 TransmitMailbox;

  /* CAN register init */
  CAN_DeInit();
  CAN_StructInit(&CAN_InitStructure);

  /* CAN cell init */
  CAN_InitStructure.CAN_TTCM=ENABLE;
// CAN_InitStructure.CAN_TTCM=DISABLE;
//  CAN_InitStructure.CAN_ABOM=DISABLE;
  CAN_InitStructure.CAN_ABOM=ENABLE;
  CAN_InitStructure.CAN_AWUM=ENABLE;
  //CAN_InitStructure.CAN_AWUM=DISABLE;
  CAN_InitStructure.CAN_NART=DISABLE;

  CAN_InitStructure.CAN_RFLM=DISABLE;
  CAN_InitStructure.CAN_TXFP=ENABLE;
// 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(&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=8;
  TxMessage.DLC=2;
  TxMessage.Data[0]=0xAA;
  TxMessage.Data[1]=0xAA;

  TransmitMailbox=CAN_Transmit(&TxMessage);
  i=0;
// while((CAN_TransmitStatus(TransmitMailbox)!=CANTXOK)&&(i!=0xFF))
while((CAN_TransmitStatus(TransmitMailbox)!=CANTXOK)&&(i!=0xFF))
    i++;

  i=0;
  while((CAN_MessagePending(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(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])!=0xAAAA) 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;
  u8 i=0;

  /* CAN register init */
  CAN_DeInit();
  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(&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(CAN_IT_FMP0, ENABLE);

  /* transmit 1 message */
  TxMessage.StdId=0x12;
  TxMessage.ExtId=0x34;
  TxMessage.IDE=CAN_ID_EXT;
  TxMessage.RTR=CAN_RTR_DATA;
  TxMessage.DLC=2;
  TxMessage.Data[0]=0xBB;
  TxMessage.Data[1]=0xBB;
  CAN_Transmit(&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(CAN_IT_FMP0, DISABLE);

  return (TestStatus)ret;
}

#ifdef  DEBUG
/*******************************************************************************
* Function Name  : assert_failed
* Description    : Reports the name of the source file and the source line number
*                  where the assert error has occurred.
* Input          : - file: pointer to the source file name
*                  - line: assert error line source number
* Output         : None
* Return         : None
*******************************************************************************/
void assert_failed(u8* file, u32 line)
{
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */

  /* Infinite loop */
  while (1)
  {
  }
}
#endif
/******************* (C) COPYRIGHT 2007 STMicroelectronics *****END OF FILE****/

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