414 lines
15 KiB
C
414 lines
15 KiB
C
#include "can.h"
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#include "system.h"
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/**************************************************************************
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Function: CAN1 initialization
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Input : tsjw：Resynchronize the jump time unit, Scope: 1 ~ 3;
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tbs2：Time unit of time period 2, range :1~8;
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tbs1：Time unit of time period 1, range :1~16;
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brp ：Baud rate divider, range :1 to 1024;(We're actually going to add 1, which is 1 to 1024) tq=(brp)*tpclk1
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mode：0, normal mode;1. Loop mode;
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Output : 0- Initialization successful;Other - initialization failed
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Note: none of the entry parameters (except mode) can be 0
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函数功能：CAN1初始化
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入口参数：tsjw：重新同步跳跃时间单元，范围:1~3;
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tbs2：时间段2的时间单元，范围:1~8;
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tbs1：时间段1的时间单元，范围:1~16;
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brp ：波特率分频器，范围:1~1024;(实际要加1,也就是1~1024) tq=(brp)*tpclk1
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mode：0,普通模式;1,回环模式;
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返回 值：0-初始化成功; 其他-初始化失败
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注意：入口参数(除了mode)均不能为0
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波特率/Baud rate=Fpclk1/((tbs1+tbs2+1)*brp)，Fpclk1为36M
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=42M/((3+2+1)*6)
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=1M
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**************************************************************************/
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u8 CAN1_Mode_Init(u8 tsjw,u8 tbs2,u8 tbs1,u16 brp,u8 mode)
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{
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GPIO_InitTypeDef GPIO_InitStructure;
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NVIC_InitTypeDef NVIC_InitStructure;
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u16 i=0;
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if(tsjw==0||tbs2==0||tbs1==0||brp==0)return 1;
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tsjw-=1; //Subtract 1 before setting //先减去1.再用于设置
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tbs2-=1;
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tbs1-=1;
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brp-=1;
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//使能相关时钟
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RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOD, ENABLE);//使能PORTB时钟
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RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);//使能CAN1时钟
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//初始化GPIO
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GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0| GPIO_Pin_1;
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GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;//复用功能
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GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;//推挽输出
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GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;//100MHz
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GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;//上拉
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GPIO_Init(GPIOD, &GPIO_InitStructure);//初始化PB8 PB9
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// //引脚复用映射配置
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GPIO_PinAFConfig(GPIOD,GPIO_PinSource0,GPIO_AF_CAN1); //GPIOB8复用为CAN1
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GPIO_PinAFConfig(GPIOD,GPIO_PinSource1,GPIO_AF_CAN1); //GPIOB9复用为CAN1
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CAN1->MCR=0x0000; //Exit sleep mode (setting all bits to 0 at the same time) //退出睡眠模式(同时设置所有位为0)
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CAN1->MCR|=1<<0; //Request CAN1 to enter initialization mode //请求CAN1进入初始化模式
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while((CAN1->MSR&1<<0)==0)
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{
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i++;
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if(i>100)return 2; //Failed to enter initialization mode //进入初始化模式失败
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}
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//Non-time triggered communication mode
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//非时间触发通信模式
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CAN1->MCR|=0<<7;
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//Software automatic offline management
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//软件自动离线管理
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CAN1->MCR|=0<<6;
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//Sleep mode is awakened by software (clear CAN1- >;
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//睡眠模式通过软件唤醒(清除CAN1->MCR的SLEEP位)
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CAN1->MCR|=0<<5;
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//Disallow automatic message transmission
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//禁止报文自动传送
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CAN1->MCR|=1<<4;
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//Messages are not locked, the new overwrites the old
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//报文不锁定,新的覆盖旧的
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CAN1->MCR|=0<<3;
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//The priority is determined by the message identifier
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//优先级由报文标识符决定
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CAN1->MCR|=0<<2;
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//Clear the original Settings
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//清除原来的设置
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CAN1->BTR=0x00000000;
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//Mode set to 0, normal mode;1. Loop mode;
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//模式设置 0,普通模式;1,回环模式;
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CAN1->BTR|=mode<<30;
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//Resynchronization jump width (TSJW) is TSJW +1 time unit
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//重新同步跳跃宽度(Tsjw)为tsjw+1个时间单位
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CAN1->BTR|=tsjw<<24;
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//Tbs2= Tbs2 +1 time unit
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//Tbs2=tbs2+1个时间单位
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CAN1->BTR|=tbs2<<20;
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//Tbs1= Tbs1 +1 time unit
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//Tbs1=tbs1+1个时间单位
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CAN1->BTR|=tbs1<<16;
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//Frequency division coefficient (Fdiv) is brp +1, boulder rate: Fpclk1/((Tbs1+Tbs2+1)*Fdiv)
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//分频系数(Fdiv)为brp+1，波特率:Fpclk1/((Tbs1+Tbs2+1)*Fdiv)
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CAN1->BTR|=brp<<0;
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//Request CAN1 to exit initialization mode
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//请求CAN1退出初始化模式
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CAN1->MCR&=~(1<<0);
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while((CAN1->MSR&1<<0)==1)
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{
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i++;
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if(i>0XFFF0)return 3; //Failed to exit initialization mode //退出初始化模式失败
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}
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/*** Filter initialization || 过滤器初始化 ***/
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//Filter groups work in initialization mode
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//过滤器组工作在初始化模式
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CAN1->FMR|=1<<0;
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//Filter 0 is not active
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//过滤器0不激活
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CAN1->FA1R&=~(1<<0);
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//The filter bit width is 32 bits
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//过滤器位宽为32位
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CAN1->FS1R|=1<<0;
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//Filter 0 works in identifier masking bit mode
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//过滤器0工作在标识符屏蔽位模式
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CAN1->FM1R|=0<<0;
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//Filter 0 is associated with FIFO0
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//过滤器0关联到FIFO0
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CAN1->FFA1R|=0<<0;
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//32 bit ID
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//32位ID
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CAN1->sFilterRegister[0].FR1=0X00000000;
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//32-bit MASK
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//32位MASK
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CAN1->sFilterRegister[0].FR2=0X00000000;
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//Activation filter 0
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//激活过滤器0
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CAN1->FA1R|=1<<0;
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//Filter group enters normal mode
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//过滤器组进入正常模式
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CAN1->FMR&=0<<0;
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#if CAN1_RX0_INT_ENABLE
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//Enable to interrupt reception //使能中断接收
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//FIFO0消息挂号中断允许
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CAN1->IER|=1<<1;
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//Configure CAN to receive interrupts
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//配置CAN接收中断
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NVIC_InitStructure.NVIC_IRQChannel = CAN1_RX0_IRQn;
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//Preemption priority
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//抢占优先级
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NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=1 ;
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//Son priority
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//子优先级
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NVIC_InitStructure.NVIC_IRQChannelSubPriority = 3;
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//IRQ channel enablement
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//IRQ通道使能
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NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
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//Initializes the VIC register according to the specified parameters
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//根据指定的参数初始化VIC寄存器
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NVIC_Init(&NVIC_InitStructure);
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CAN_ITConfig(CAN1, CAN_IT_FMP0, ENABLE);
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#endif
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return 0;
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}
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/**************************************************************************
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Function: CAN sends data
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Input : id:Standard ID(11 bits)/ Extended ID(11 bits +18 bits)
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ide:0, standard frame;1, extension frames
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rtr:0, data frame;1, remote frame
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len:Length of data to be sent (fixed at 8 bytes, valid data is 6 bytes in time-triggered mode)
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*dat:Pointer to the data
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Output : 0~3, mailbox number. 0xFF, no valid mailbox
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函数功能：CAN发送数据
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入口参数：id:标准ID(11位)/扩展ID(11位+18位)
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ide:0,标准帧;1,扩展帧
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rtr:0,数据帧;1,远程帧
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len:要发送的数据长度(固定为8个字节,在时间触发模式下,有效数据为6个字节)
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*dat:数据指针.
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返回 值：0~3,邮箱编号.0XFF,无有效邮箱
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**************************************************************************/
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u8 CAN1_Tx_Msg(u32 id,u8 ide,u8 rtr,u8 len,u8 *dat)
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{
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u8 mbox;
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if(CAN1->TSR&(1<<26))mbox=0; //Mailbox 0 is empty //邮箱0为空
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else if(CAN1->TSR&(1<<27))mbox=1; //Mailbox 1 is empty //邮箱1为空
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else if(CAN1->TSR&(1<<28))mbox=2; //Mailbox 2 is empty //邮箱2为空
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else return 0XFF; //No empty mailbox, cannot send //无空邮箱,无法发送
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CAN1->sTxMailBox[mbox].TIR=0; //Clear the previous Settings //清除之前的设置
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if(ide==0) //The standard frame //标准帧
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{
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id&=0x7ff; //Take the low 11 bit STDID //取低11位stdid
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id<<=21;
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}else //Extend the frame //扩展帧
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{
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id&=0X1FFFFFFF; //Take a low 32-bit extid //取低32位extid
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id<<=3;
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}
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CAN1->sTxMailBox[mbox].TIR|=id;
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CAN1->sTxMailBox[mbox].TIR|=ide<<2;
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CAN1->sTxMailBox[mbox].TIR|=rtr<<1;
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len&=0X0F; //Get lower 4 bits //得到低四位
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CAN1->sTxMailBox[mbox].TDTR&=~(0X0000000F);
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CAN1->sTxMailBox[mbox].TDTR|=len; //Set the DLC //设置DLC
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//The data to be sent is stored in the mailbox
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//待发送数据存入邮箱
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CAN1->sTxMailBox[mbox].TDHR=(((u32)dat[7]<<24)|
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((u32)dat[6]<<16)|
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((u32)dat[5]<<8)|
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((u32)dat[4]));
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CAN1->sTxMailBox[mbox].TDLR=(((u32)dat[3]<<24)|
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((u32)dat[2]<<16)|
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((u32)dat[1]<<8)|
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((u32)dat[0]));
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CAN1->sTxMailBox[mbox].TIR|=1<<0; //Request to send mailbox data//请求发送邮箱数据
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return mbox;
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}
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/**************************************************************************
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Function: Get the send status
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Input : Mbox: mailbox number
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Output : 0, hang;0X05, send failed;0X07, successful transmission
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函数功能：获得发送状态
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入口参数：mbox：邮箱编号
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返回 值：0,挂起;0X05,发送失败;0X07,发送成功
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**************************************************************************/
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u8 CAN1_Tx_Staus(u8 mbox)
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{
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u8 sta=0;
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switch (mbox)
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{
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case 0:
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sta |= CAN1->TSR&(1<<0); //RQCP0
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sta |= CAN1->TSR&(1<<1); //TXOK0
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sta |=((CAN1->TSR&(1<<26))>>24); //TME0
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break;
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case 1:
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sta |= CAN1->TSR&(1<<8)>>8; //RQCP1
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sta |= CAN1->TSR&(1<<9)>>8; //TXOK1
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sta |=((CAN1->TSR&(1<<27))>>25); //TME1
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break;
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case 2:
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sta |= CAN1->TSR&(1<<16)>>16; //RQCP2
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sta |= CAN1->TSR&(1<<17)>>16; //TXOK2
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sta |=((CAN1->TSR&(1<<28))>>26); //TME2
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break;
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default:
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sta=0X05; //Wrong email number, failed //邮箱号不对,失败
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break;
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}
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return sta;
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}
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/**************************************************************************
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Function: Returns the number of packets received in FIFO0/FIFO1
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Input : Fifox: FIFO number (0, 1)
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Output : Number of packets in FIFO0/FIFO1
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函数功能：得到在FIFO0/FIFO1中接收到的报文个数
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入口参数：fifox：FIFO编号（0、1）
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返回 值：FIFO0/FIFO1中的报文个数
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**************************************************************************/
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u8 CAN1_Msg_Pend(u8 fifox)
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{
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if(fifox==0)return CAN1->RF0R&0x03;
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else if(fifox==1)return CAN1->RF1R&0x03;
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else return 0;
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}
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/**************************************************************************
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Function: Receive data
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Input : fifox：Email
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id:Standard ID(11 bits)/ Extended ID(11 bits +18 bits)
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ide:0, standard frame;1, extension frames
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rtr:0, data frame;1, remote frame
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len:Length of data received (fixed at 8 bytes, valid at 6 bytes in time-triggered mode)
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dat:Data cache
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Output : none
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函数功能：接收数据
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入口参数：fifox：邮箱号
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id:标准ID(11位)/扩展ID(11位+18位)
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ide:0,标准帧;1,扩展帧
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rtr:0,数据帧;1,远程帧
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len:接收到的数据长度(固定为8个字节,在时间触发模式下,有效数据为6个字节)
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dat:数据缓存区
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返回 值：无
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**************************************************************************/
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void CAN1_Rx_Msg(u8 fifox,u32 *id,u8 *ide,u8 *rtr,u8 *len,u8 *dat)
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{
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*ide=CAN1->sFIFOMailBox[fifox].RIR&0x04; //Gets the value of the identifier selection bit //得到标识符选择位的值
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if(*ide==0) //Standard identifier //标准标识符
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{
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*id=CAN1->sFIFOMailBox[fifox].RIR>>21;
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}else //Extended identifier //扩展标识符
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{
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*id=CAN1->sFIFOMailBox[fifox].RIR>>3;
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}
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*rtr=CAN1->sFIFOMailBox[fifox].RIR&0x02; //Gets the remote send request value //得到远程发送请求值
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*len=CAN1->sFIFOMailBox[fifox].RDTR&0x0F; //Get the DLC //得到DLC
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//*fmi=(CAN1->sFIFOMailBox[FIFONumber].RDTR>>8)&0xFF; //Get the FMI //得到FMI
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//Receive data //接收数据
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dat[0]=CAN1->sFIFOMailBox[fifox].RDLR&0XFF;
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dat[1]=(CAN1->sFIFOMailBox[fifox].RDLR>>8)&0XFF;
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dat[2]=(CAN1->sFIFOMailBox[fifox].RDLR>>16)&0XFF;
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dat[3]=(CAN1->sFIFOMailBox[fifox].RDLR>>24)&0XFF;
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dat[4]=CAN1->sFIFOMailBox[fifox].RDHR&0XFF;
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dat[5]=(CAN1->sFIFOMailBox[fifox].RDHR>>8)&0XFF;
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dat[6]=(CAN1->sFIFOMailBox[fifox].RDHR>>16)&0XFF;
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dat[7]=(CAN1->sFIFOMailBox[fifox].RDHR>>24)&0XFF;
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if(fifox==0)CAN1->RF0R|=0X20; //Free the FIFO0 mailbox //释放FIFO0邮箱
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else if(fifox==1)CAN1->RF1R|=0X20; //Free the FIFO1 mailbox //释放FIFO1邮箱
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}
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/**************************************************************************
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Function: CAN receives interrupt service function, conditional compilation
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Input : none
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Output : none
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函数功能：CAN接收中断服务函数，条件编译
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入口参数：无
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返回 值：无
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**************************************************************************/
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#if CAN1_RX0_INT_ENABLE //Enable RX0 interrupt //使能RX0中断
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void CAN1_RX0_IRQHandler(void)
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{
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u32 id;
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u8 ide,rtr,len;
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u8 temp_rxbuf[8];
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CAN1_Rx_Msg(0,&id,&ide,&rtr,&len,temp_rxbuf);
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if(id==0x181)
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{
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float Vz;
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CAN_ON_Flag=1, PS2_ON_Flag=0,Remote_ON_Flag=0,APP_ON_Flag=0,Usart1_ON_Flag=0,Usart5_ON_Flag=0;
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command_lost_count=0; //CAN/串口控制命令丢失计数清零
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//Calculate the three-axis target velocity, unit: m/s
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//计算三轴目标速度，单位：m/s
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Move_X=((float)((short)((temp_rxbuf[0]<<8)+(temp_rxbuf[1]))))/1000;
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Move_Y=((float)((short)((temp_rxbuf[2]<<8)+(temp_rxbuf[3]))))/1000;
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Vz =((float)((short)((temp_rxbuf[4]<<8)+(temp_rxbuf[5]))))/1000;
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if(Car_Mode==Akm_Car)
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{
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Move_Z=Vz_to_Akm_Angle(Move_X, Vz);
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}
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else
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{
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Move_Z=((float)((short)((temp_rxbuf[4]<<8)+(temp_rxbuf[5]))))/1000;
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}
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}
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}
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#endif
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/**************************************************************************
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Function: CAN1 sends a set of data (fixed format :ID 0X601, standard frame, data frame)
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Input : msg:Pointer to the data
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len:Data length (up to 8)
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Output : 0, success, others, failure;
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函数功能：CAN1发送一组数据(固定格式:ID为0X601,标准帧,数据帧)
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入口参数：msg:数据指针
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len:数据长度(最大为8)
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返回 值：0,成功，其他,失败;
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**************************************************************************/
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u8 CAN1_Send_Msg(u8* msg,u8 len)
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{
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u8 mbox;
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u16 i=0;
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mbox=CAN1_Tx_Msg(0X601,0,0,len,msg);
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while((CAN1_Tx_Staus(mbox)!=0X07)&&(i<0XFFF))i++; //Waiting for the end of sending //等待发送结束
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if(i>=0XFFF)return 1; //Send failure //发送失败
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return 0; //Send a success //发送成功
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}
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/**************************************************************************
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Function: The CAN1 port receives data queries
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Input : Buf: The data cache
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Output : 0, number of data received, other, length of data received
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函数功能：CAN1口接收数据查询
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入口参数：buf:数据缓存区
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返回 值：0,无数据被收到，其他,接收的数据长度
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**************************************************************************/
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u8 CAN1_Receive_Msg(u8 *buf)
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{
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u32 id;
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u8 ide,rtr,len;
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if(CAN1_Msg_Pend(0)==0)return 0; //No data received, exit directly //没有接收到数据,直接退出
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CAN1_Rx_Msg(0,&id,&ide,&rtr,&len,buf); //Read the data //读取数据
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if(id!=0x12||ide!=0||rtr!=0)len=0; //Receive error //接收错误
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return len;
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}
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/**************************************************************************
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Function: Can1 sends a set of data tests
|
||
Input : msg:Pointer to the data
|
||
len:Data length (up to 8)
|
||
Output : 0, success, 1, failure
|
||
函数功能：CAN1发送一组数据测试
|
||
入口参数：msg:数据指针
|
||
len:数据长度(最大为8)
|
||
返回 值：0,成功，1,失败
|
||
**************************************************************************/
|
||
u8 CAN1_Send_MsgTEST(u8* msg,u8 len)
|
||
{
|
||
u8 mbox;
|
||
u16 i=0;
|
||
mbox=CAN1_Tx_Msg(0X701,0,0,len,msg);
|
||
while((CAN1_Tx_Staus(mbox)!=0X07)&&(i<0XFFF))i++; //Waiting for the end of sending //等待发送结束
|
||
if(i>=0XFFF)return 1; //Send failure //发送失败
|
||
return 0; //Send a success //发送成功
|
||
}
|
||
/**************************************************************************
|
||
Function: Sends an array to the given ID
|
||
Input : id：ID no.
|
||
msg：The transmitted data pointer
|
||
Output : 0, success, 1, failure
|
||
函数功能：给给定的id发送一个数组的命令
|
||
入口参数：id：ID号
|
||
msg：被输送数据指针
|
||
返回 值：0,成功，1,失败
|
||
**************************************************************************/
|
||
u8 CAN1_Send_Num(u32 id,u8* msg)
|
||
{
|
||
u8 mbox;
|
||
u16 i=0;
|
||
mbox=CAN1_Tx_Msg(id,0,0,8,msg);
|
||
while((CAN1_Tx_Staus(mbox)!=0X07)&&(i<0XFFF))i++; //Waiting for the end of sending //等待发送结束
|
||
if(i>=0XFFF)return 1; //Send failure //发送失败
|
||
return 0;
|
||
}
|