140 lines
6.2 KiB
C
140 lines
6.2 KiB
C
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/*******************************************************************************
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* @file can.c
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* @author: MQjehovah mail:MQjehovah@hotmail.com
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* @version 1.0.0
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* @date 2020.10.23
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* @brief
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******************************************************************************
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* @attention
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*******************************************************************************/
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/* Includes ------------------------------------------------------------------*/
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#include "adc.h"
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/* Definition ----------------------------------------------------------------*/
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extern short int Cur_ADC;
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extern short int Temp_ADC;
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/* Functions -----------------------------------------------------------------*/
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/*******************************************************************************
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* @brief CAN1初始化
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* @param None
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* @retval None
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* @note None
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*******************************************************************************/
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void CAN1_Config(u16 bound)
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{
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u8 brp = 3000 / bound;
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GPIO_InitTypeDef GPIO_InitStructure;
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CAN_InitTypeDef CAN_InitStructure;
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CAN_FilterInitTypeDef CAN_FilterInitStructure;
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GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12;
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GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
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GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
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GPIO_Init(GPIOA, &GPIO_InitStructure);
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GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11;
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GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
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GPIO_Init(GPIOA, &GPIO_InitStructure);
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//CAN单元设置
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CAN_InitStructure.CAN_TTCM = DISABLE; //ENABLE:时间触发通信模式 DISABLE:非时间触发通信模式
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CAN_InitStructure.CAN_ABOM = ENABLE; //软件自动离线管理
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CAN_InitStructure.CAN_AWUM = DISABLE; //ENABLE:监测到can消息退出休眠模式 DISABLE:清除CAN->MCR的SLEEP位退出休眠模式
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CAN_InitStructure.CAN_NART = DISABLE; //ENABLE:无论发送成功与否只法一次 DISABLE:发送不成功一直重发
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CAN_InitStructure.CAN_RFLM = DISABLE; //ENABLE:FIFO溢出后丢弃后面的报文 DISABLE:溢出后新的覆盖旧的
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CAN_InitStructure.CAN_TXFP = ENABLE; //ENABLE:优先级由请求顺序决定 DISABLE:优先级由报文标识符决定
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CAN_InitStructure.CAN_Mode = CAN_Mode_Normal; //模式设置
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CAN_InitStructure.CAN_SJW = CAN_SJW_1tq; //重新同步跳跃宽度(Tsjw)为tsjw+1个时间单位 CAN_SJW_1tq~CAN_SJW_4tq
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CAN_InitStructure.CAN_BS1 = CAN_BS1_6tq; //Tbs1范围CAN_BS1_1tq ~ CAN_BS1_16tq
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CAN_InitStructure.CAN_BS2 = CAN_BS2_5tq; //Tbs2范围CAN_BS2_1tq ~ CAN_BS2_8tq
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CAN_InitStructure.CAN_Prescaler = brp; //分频系数(Fdiv)为brp+1
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CAN_Init(CAN1, &CAN_InitStructure); //初始化CAN1
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//配置过滤器
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CAN_FilterInitStructure.CAN_FilterNumber = 0; //过滤器0
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CAN_FilterInitStructure.CAN_FilterMode = CAN_FilterMode_IdMask; //标识符屏蔽位模式
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CAN_FilterInitStructure.CAN_FilterScale = CAN_FilterScale_32bit; //过滤器位宽32位
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CAN_FilterInitStructure.CAN_FilterIdHigh = 0x0000; //32位ID
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CAN_FilterInitStructure.CAN_FilterIdLow = 0x0000;
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CAN_FilterInitStructure.CAN_FilterMaskIdHigh = 0x0000; //32位MASK
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CAN_FilterInitStructure.CAN_FilterMaskIdLow = 0x0000;
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CAN_FilterInitStructure.CAN_FilterFIFOAssignment = CAN_Filter_FIFO0; //过滤器0关联到FIFO0
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CAN_FilterInitStructure.CAN_FilterActivation = ENABLE; //激活过滤器0
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CAN_FilterInit(&CAN_FilterInitStructure); //滤波器初始化
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// Motor_Cmd(Addr_Left,DISABLE);
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// Motor_Cmd(Addr_Right,DISABLE);
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// delay_ms(20);//CAN命令包发送完成
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CAN_ITConfig(CAN1, CAN_IT_FMP0, ENABLE); //FIFO0消息挂号中断允许.
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}
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/*******************************************************************************
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* @brief CAN1中断
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* @param None
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* @retval None
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* @note 速度模式s顺时针n逆时针 定位模式S顺时针N逆时针
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*******************************************************************************/
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CanRxMsg BLcanbuf;
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FlagStatus BL_Deal_Flag = RESET;
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void USB_LP_CAN1_RX0_IRQHandler(void)
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{
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CanRxMsg RxMessagebuf;
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CAN_Receive(CAN1, CAN_FIFO0, &RxMessagebuf);
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// CanRx_TimeOut_Cnt = 3000; //500ms
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if (RxMessagebuf.StdId == 0x7df)
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{
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// if ((RxMessagebuf.Data[0] == 'S') || (RxMessagebuf.Data[0] == 'P') || (RxMessagebuf.Data[0] == 'X') || (RxMessagebuf.Data[0] == 'D'))
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// {
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// Com_No_T1 = RxMessagebuf.Data[7];
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// if (Com_No_T1 != Com_No_OLD_T1)
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// {
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// if (RecDone_T1 == RESET)
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// RecDone_T1 = SET;
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// else
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// return;
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// memcpy(&uComRx_T1, RxMessagebuf.Data, 8);
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// Com_No_OLD_T1 = Com_No_T1;
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// }
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// else
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// {
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// if (Say_Hello_T1 == 0)
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// Say_Hello_T1 = 1;
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// else
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// return;
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// uComTx_T1.mode = RxMessagebuf.Data[0];
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// }
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// }
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}
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}
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int CanTx_TimeOut_Cnt = 0;
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/**********************************************************************
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* Description : None
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* Input : None
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* Output : None
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* Return : None
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* Attention : None
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**********************************************************************/
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u8 can_send_message(u8 index, u32 id, u8 dlc, u8 *data)
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{
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u8 mbox;
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CanTxMsg TxMessage;
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TxMessage.StdId = id; // 标准标识符
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TxMessage.ExtId = id; // 设置扩展标示符
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TxMessage.IDE = 0; // 标准帧
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TxMessage.RTR = 0; // 数据帧
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TxMessage.DLC = dlc; // 要发送的数据长度
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CanTx_TimeOut_Cnt = 50; //25ms
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memcpy(TxMessage.Data, data, 8);
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do
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{
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mbox = CAN_Transmit(CAN1, &TxMessage);
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} while ((mbox == CAN_TxStatus_NoMailBox) && (CanTx_TimeOut_Cnt != 0));
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while ((CAN_TransmitStatus(CAN1, mbox) != CAN_TxStatus_Ok) && (CanTx_TimeOut_Cnt != 0))
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;
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CanTx_TimeOut_Cnt = 0;
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return 1;
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}
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/*********************************END OF FILE**********************************/
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