N4_32new/USER/can.c

#include "include.h"

u8 CAN_DATA6[8];

u8 CAN_DATA_CNT;

u32 Init_Flash_Data = 0x12345678;


void CAN_GPIO_Config(u32 RCC_APBnPeriphn, GPIO_TypeDef* GPIOx, u16 GPIO_Pin, u16 GPIO_PinSource, u8 GPIO_AF)
{
	RCC_AHB1PeriphClockCmd(RCC_APBnPeriphn, ENABLE);
	//初始化GPIO
	//引脚复用映射配置
	GPIO_PinAFConfig(GPIOx,GPIO_PinSource,GPIO_AF);//PA11复用为CAN1
	
	GPIO_InitTypeDef GPIO_InitStructure;
	GPIO_InitStructure.GPIO_Pin   = GPIO_Pin;
	GPIO_InitStructure.GPIO_Mode  = GPIO_Mode_AF;			//复用功能
	GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;		//推挽输出
	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;//100MHz
	GPIO_InitStructure.GPIO_PuPd  = GPIO_PuPd_UP;			//上拉
	GPIO_Init(GPIOx,&GPIO_InitStructure);			//初始化PD0,PD1
}

void CAN_NVIC_Config(u8 NVIC_IRQChannel, u8 pre, u8 sub)
{
	NVIC_InitTypeDef  NVIC_InitStructure;
  NVIC_InitStructure.NVIC_IRQChannel                   = NVIC_IRQChannel;
  NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = pre;     // 主优先级为1
  NVIC_InitStructure.NVIC_IRQChannelSubPriority        = sub;            // 次优先级为0
  NVIC_InitStructure.NVIC_IRQChannelCmd                = ENABLE;
  NVIC_Init(&NVIC_InitStructure);
}

void CAN_Mod_Config(u32 RCC_APB1Periph, CAN_TypeDef* CANx, u32 EXTID, u32 MaskID)
{
	//u32 EXTID1    = 0X014E550A;
	//u32 MaskId_ID = 0XFFFF0000;
	
	RCC_APB1PeriphClockCmd(RCC_APB1Periph, ENABLE);
	
	CAN_InitTypeDef CAN_InitStructure;
	CAN_InitStructure.CAN_TTCM = DISABLE;     		//非时间触发通信模式
	CAN_InitStructure.CAN_ABOM = DISABLE;     		//软件自动离线管理  
	CAN_InitStructure.CAN_AWUM = DISABLE;   			//睡眠模式通过软件唤醒
	CAN_InitStructure.CAN_NART = ENABLE;      		//禁止报文自动传送
	CAN_InitStructure.CAN_RFLM = DISABLE;     		//报文不锁定,新的覆盖旧的
	CAN_InitStructure.CAN_TXFP = DISABLE;     		//优先级由报文标识符决定
	CAN_InitStructure.CAN_Mode = CAN_Mode_Normal; //模式设置 CAN_Mode_Normal
	CAN_InitStructure.CAN_SJW  = CAN_SJW_1tq;			//重新同步跳跃宽度为个时间单位
	CAN_InitStructure.CAN_BS1  = CAN_BS1_8tq;			//时间段1占用8个时间单位
	CAN_InitStructure.CAN_BS2  = CAN_BS2_5tq;			//时间段2占用5个时间单位
	CAN_InitStructure.CAN_Prescaler = 6;					//分频系数(Fdiv)6  500K
	CAN_Init(CANx, &CAN_InitStructure);     		  //初始化CAN1
	/*
	CAN_FilterInitTypeDef CAN_FilterInitStructure;
	CAN_FilterInitStructure.CAN_FilterNumber         = 0;//过滤器0
	CAN_FilterInitStructure.CAN_FilterMode           = CAN_FilterMode_IdList;// CAN_FilterMode_IdMask
	CAN_FilterInitStructure.CAN_FilterScale          = CAN_FilterScale_32bit;//32位
	CAN_FilterInitStructure.CAN_FilterIdHigh         = ((EXTID<<3)>>16) & 0xffff;//32位ID
	CAN_FilterInitStructure.CAN_FilterIdLow          = ((EXTID<<3)& 0xffff) | CAN_ID_EXT;
	CAN_FilterInitStructure.CAN_FilterMaskIdHigh 		 = ((MaskID<<3)>>16) & 0xffff;//32位ID
	CAN_FilterInitStructure.CAN_FilterMaskIdLow      = ((MaskID<<3)& 0xffff) | CAN_ID_EXT;
	CAN_FilterInitStructure.CAN_FilterFIFOAssignment = CAN_Filter_FIFO0;//FIFO0
	CAN_FilterInitStructure.CAN_FilterActivation     = ENABLE;//激活过滤器0
	CAN_FilterInit(&CAN_FilterInitStructure);//滤波器初始化
	*/
	CAN_FilterInitTypeDef CAN_FilterInitStructure;
	CAN_FilterInitStructure.CAN_FilterNumber         = 0;//过滤器0
	CAN_FilterInitStructure.CAN_FilterMode           = CAN_FilterMode_IdList;// CAN_FilterMode_IdMask
	CAN_FilterInitStructure.CAN_FilterScale          = CAN_FilterScale_32bit;//32位
	CAN_FilterInitStructure.CAN_FilterIdHigh         = ((EXTID<<3)>>16) & 0xffff;//32位ID
	CAN_FilterInitStructure.CAN_FilterIdLow          = ((EXTID<<3)& 0xffff) | CAN_ID_EXT;
	CAN_FilterInitStructure.CAN_FilterMaskIdHigh 		 = ((MaskID<<3)>>16) & 0xffff;//32位ID
	CAN_FilterInitStructure.CAN_FilterMaskIdLow      = ((MaskID<<3)& 0xffff) | CAN_ID_EXT;
	CAN_FilterInitStructure.CAN_FilterFIFOAssignment = CAN_Filter_FIFO0;//FIFO0
	CAN_FilterInitStructure.CAN_FilterActivation     = ENABLE;//激活过滤器0
	CAN_FilterInit(&CAN_FilterInitStructure);//滤波器初始化
	
	CAN_ITConfig(CANx,CAN_IT_FMP0,ENABLE);//FIFO0 允许 消息挂号中断.  
}

u8 CAN1_Send_Msg(u8* msg,u32 Can_ID,u8 len)
{
  u8 mbox;
  u32 i = 0;
  CanTxMsg TxMessage;
	
  TxMessage.StdId = 0;      				// 标准标识符为0
	TxMessage.ExtId = Can_ID;//0x1f4e5301  0x1f4e5701 // 设置扩展标示符（29位）
	
  TxMessage.IDE = CAN_ID_EXT;       // 使用扩展标识符
  TxMessage.RTR = CAN_RTR_DATA;     // 消息类型为数据帧，一帧8位
  TxMessage.DLC = len;         			// 发送两帧信息
  
	for(i=0;i<len;i++)
	{
		TxMessage.Data[i] = msg[i];  			// 第一帧信息      
	}
  mbox = CAN_Transmit(CAN1,&TxMessage); 
  
	i=0;
  while((CAN_TransmitStatus(CAN1,mbox)==CAN_TxStatus_Failed)&&(i<0XFFFF))
	{
		i++;//等待发送结束
	}
	
  if(i>=0XFFFF)return 1;
	return 0;
}

u8 CAN1_Receive_Msg(u8 *buf, u32 *id)
{
  u32 i;
  CanRxMsg RxMessage;
  
	if(CAN_MessagePending(CAN1,CAN_FIFO0)==0)return 0; //没有接收到数据,直接退出 
  
	CAN_Receive(CAN1, CAN_FIFO0,&RxMessage);					//读取数据   
	
	*id = RxMessage.ExtId;
	
  for(i=0;i<RxMessage.DLC;i++)
  {
		buf[i]=RxMessage.Data[i];
  }
  return RxMessage.DLC;
}


void Send_CAN_DATA6(void)
{
	CAN_DATA6[0] = (u8)light_pwm;
	CAN_DATA6[1] = (u8)(light_pwm>>8);
	CAN_DATA6[2] = (u8)usbl_opendown;
	CAN_DATA6[3] = (u8)0;
	CAN_DATA6[4] = (u8)(temperature_board*10);
	CAN_DATA6[5] = (u8)((u16)(temperature_board*10)>>8);
	CAN_DATA6[6] = 15;
	CAN_DATA6[7] = 0xC0 + CAN_DATA_CNT++;
	if(CAN_DATA_CNT>=31) CAN_DATA_CNT = 0;
	
	CAN1_Send_Msg(CAN_DATA6, CAN_Send_Speed_ID, 8);
}