alientek/hal/hal_can.c

#include "hal_can.h"
#include "stm32f4xx.h"
#include "stm32f4xx_gpio.h"
#include <string.h>

CanTxMsg tx_message;
CanRxMsg rx_message;
pcan_rx  pcan_rx_back = NULL;
pcan_tx  pcan_tx_back = NULL;

// CAN初始化
// tsjw:重新同步跳跃时间单元.范围:CAN_SJW_1tq~ CAN_SJW_4tq
// tbs2:时间段2的时间单元.   范围:CAN_BS2_1tq~CAN_BS2_8tq;
// tbs1:时间段1的时间单元.   范围:CAN_BS1_1tq ~CAN_BS1_16tq
// brp :波特率分频器.范围:1~1024; tq=(brp)*tpclk1
// 波特率=Fpclk1/((tbs1+1+tbs2+1+1)*brp);
// mode:CAN_Mode_Normal,普通模式;CAN_Mode_LoopBack,回环模式;
// Fpclk1的时钟在初始化的时候设置为42M,如果设置CAN1_Mode_Init(CAN_SJW_1tq,CAN_BS2_6tq,CAN_BS1_7tq,6,CAN_Mode_LoopBack);
// 则波特率为:42M/((6+7+1)*6)=500Kbps

u8 hal_can1_mode_init(uint8_t tsjw, uint8_t tbs2, uint8_t tbs1, uint16_t brp, uint8_t mode)
{
    GPIO_InitTypeDef      GPIO_InitStructure;
    CAN_InitTypeDef       CAN_InitStructure;
    CAN_FilterInitTypeDef CAN_FilterInitStructure;
    NVIC_InitTypeDef      NVIC_InitStructure;

    CAN_DeInit(CAN1);

    RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE); // 使能PORTA时钟
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);  // 使能CAN1时钟

    GPIO_InitStructure.GPIO_Mode  = GPIO_Mode_AF;
    GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
    GPIO_InitStructure.GPIO_PuPd  = GPIO_PuPd_UP;
    GPIO_InitStructure.GPIO_Pin   = GPIO_Pin_11 | GPIO_Pin_12;
    GPIO_Init(GPIOA, &GPIO_InitStructure); // 初始化IO

    GPIO_PinAFConfig(GPIOA, GPIO_PinSource11, GPIO_AF_CAN1);
    GPIO_PinAFConfig(GPIOA, GPIO_PinSource12, GPIO_AF_CAN1);

    // CAN单元设置
    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(清除CAN->MCR的SLEEP位)
    CAN_InitStructure.CAN_NART      = DISABLE; // 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      = mode;    // 模式设置
    CAN_InitStructure.CAN_SJW       = tsjw;    // 重新同步跳跃宽度(Tsjw)为tsjw+1个时间单位 CAN_SJW_1tq~CAN_SJW_4tq
    CAN_InitStructure.CAN_BS1       = tbs1;    // Tbs1范围CAN_BS1_1tq ~CAN_BS1_16tq
    CAN_InitStructure.CAN_BS2       = tbs2;    // Tbs2范围CAN_BS2_1tq ~	CAN_BS2_8tq
    CAN_InitStructure.CAN_Prescaler = brp;     // 分频系数(Fdiv)为brp+1
    CAN_Init(CAN1, &CAN_InitStructure);        // 初始化CAN1

    // 配置过滤器0
    CAN_FilterInitStructure.CAN_FilterNumber = 0; // 过滤器0
    CAN_FilterInitStructure.CAN_FilterMode   = CAN_FilterMode_IdMask;
    CAN_FilterInitStructure.CAN_FilterScale  = CAN_FilterScale_32bit; // 32位

    // 只接收标识符位0x0666报文  注意：RTR  IDE  SRR也参与构成标识符
    CAN_FilterInitStructure.CAN_FilterIdHigh = 0x0000; //(((u32)0x0666<<3)&0xFFFF0000)>>16;				//要过滤的ID高位
    CAN_FilterInitStructure.CAN_FilterIdLow  = 0x0000; //(((u32)0x0666<<3)|CAN_ID_EXT|CAN_RTR_DATA)&0xFFFF; //要过滤的ID低位

    CAN_FilterInitStructure.CAN_FilterMaskIdHigh = 0x0000; // 32位MASK
    //    CAN_FilterInitStructure.CAN_FilterMaskIdLow=0xfff8; // 最后3位不管
    CAN_FilterInitStructure.CAN_FilterMaskIdLow = 0x0000; // 最后3位不管

    CAN_FilterInitStructure.CAN_FilterFIFOAssignment = CAN_Filter_FIFO0; // 过滤器0关联到FIFO0
    CAN_FilterInitStructure.CAN_FilterActivation     = ENABLE;           // 激活过滤器0
    CAN_FilterInit(&CAN_FilterInitStructure);                            // 滤波器初始化

    CAN_ITConfig(CAN1, CAN_IT_FMP0, ENABLE); // FIFO0消息挂号中断允许.
    NVIC_InitStructure.NVIC_IRQChannel                   = CAN1_RX0_IRQn;
    NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1; // 主优先级为
    NVIC_InitStructure.NVIC_IRQChannelSubPriority        = 0; // 次优先级为0
    NVIC_InitStructure.NVIC_IRQChannelCmd                = ENABLE;
    NVIC_Init(&NVIC_InitStructure);

    CAN_ITConfig(CAN1, CAN_IT_TME, ENABLE); // FIFO0消息挂号中断允许.
    NVIC_InitStructure.NVIC_IRQChannel                   = CAN1_TX_IRQn;
    NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1; // 主优先级为1
    NVIC_InitStructure.NVIC_IRQChannelSubPriority        = 0; // 次优先级为0
    NVIC_InitStructure.NVIC_IRQChannelCmd                = ENABLE;
    NVIC_Init(&NVIC_InitStructure);
    ////////////////////////////////////////////////

    return 0;
}

/**********************************************************************************************************
 *	函 数 名: CAN1_Init
 *	功能说明: CAN1初始化
 *	形    参: 无
 *	返 回 值: 无
 **********************************************************************************************************/
void hal_can_init(void)
{
#if defined(__CAN_BAUD_500K)
    hal_can1_mode_init(CAN_SJW_1tq, CAN_BS2_6tq, CAN_BS1_7tq, 6, CAN_Mode_Normal); // CAN1初始化环回模式,波特率500Kbps
#elif defined(__CAN_BAUD_250K)
    hal_can1_mode_init(CAN_SJW_1tq, CAN_BS2_6tq, CAN_BS1_7tq, 12, CAN_Mode_Normal); // CAN1初始化环回模式,波特率250Kbps
#else
#error no can baud macro!;
#endif
}

//(固定格式:ID为0X12,标准帧,数据帧)
// len:数据长度(最大为8)
// msg:数据指针,最大为8个字节.
// 返回值:0,成功;
//		 其他,失败;
/****************************************************
 *  函数功能：can1发送一组数据
 *  入口参数：msg 数据  len  数据长度  can_id  CAN id
 *  说    明：group_id 从1开始
 *****************************************************/
// u8 CAN1_Send_Msg(u8 *msg, u8 len, u32 can_id)
// {
//     u16      mbox, i;
//     CanTxMsg TxMessage;

//     TxMessage.StdId = 0x00;            // 标准标识符为0
//     TxMessage.ExtId = can_id;          // 设置扩展标示符（29位）
//     TxMessage.IDE   = CAN_Id_Extended; // 使用扩展标识符
//     TxMessage.RTR   = CAN_RTR_Data;    // 消息类型为数据帧
//     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 < 0XFFF))
//         i++; // 等待发送结束
//     if (i >= 0XFFF)
//         return 1;
//     return 0;
// }

uint8_t hal_can_msg_tx(uint32_t id, uint8_t id_type, uint8_t *p_data, uint8_t len)
{
    uint8_t flg = 0;
    if (id_type)
    {
        tx_message.ExtId = id; // 设置扩展标示符（29位）
    }
    else
    {
        tx_message.StdId = id_type; // 标准标识符为0
    }

    tx_message.IDE = id_type;      // 使用扩展标识符
    tx_message.RTR = CAN_RTR_Data; // 消息类型为数据帧
    tx_message.DLC = len;          // 发送两帧信息

    memcpy(tx_message.Data, p_data, len);
    flg = CAN_Transmit(CAN1, &tx_message);

    return flg;
}

void hal_can_rx_back_init(pcan_rx p_fun)
{
    pcan_rx_back = p_fun;
}

void hal_can_tx_back_init(pcan_tx p_fun)
{
    pcan_tx_back = p_fun;
}

void CAN1_TX_IRQHandler(void)
{
    if (pcan_tx_back != NULL)
    {
        pcan_tx_back();
    }
}

void CAN1_RX0_IRQHandler(void)
{
    CAN_Receive(CAN1, CAN_FIFO0, &rx_message);
    if (pcan_rx_back != NULL)
    {
        pcan_rx_back(rx_message);
    }
}