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/********************************** (C) COPYRIGHT *******************************
* File Name? ? ? ? ? : main.c
* Author? ? ? ? ? ? ?: WCH
* Version? ? ? ? ? ? : V1.0.0
* Date? ? ? ? ? ? ? ?: 2021/06/06
* Description? ? ? ? : Main program body.
*********************************************************************************
* Copyright (c) 2021 Nanjing Qinheng Microelectronics Co., Ltd.
* Attention: This software (modified or not) and binary are used for?
* microcontroller manufactured by Nanjing Qinheng Microelectronics.
*******************************************************************************/
/*
?*@Note
?CAN test mode, including silent mode, loopback mode and loopback silent mode:
?CAN_Tx(PB9),CAN_Rx(PB8)
?Standard_Frame: includes a 32bit filter mask bit pattern.
*/
#include "debug.h"
/* CAN Test Mode Definition */
#define SILENT_MODE? ? ? ? ? ? ?1
#define LOOPBACK_MODE? ? ? ? ? ?2
#define SILENT_LOOPBACK_MODE? ? 3
/* Test Mode Selection */
#define TEST_MODE? ?SILENT_MODE
//#define TEST_MODE? ?LOOPBACK_MODE
//#define TEST_MODE? ?SILENT_LOOPBACK_MODE
/*********************************************************************
?* @fn? ? ? CAN_Mode_Init
?*
?* @brief? ?Initializes CAN communication test mode.
?*? ? ? ? ? Bps =Fpclk1/((tpb1+1+tbs2+1+1)*brp)
?*
?* @param? ?tsjw - CAN synchronisation jump width.
?*? ? ? ? ? tbs2 - CAN time quantum in bit segment 1.
?*? ? ? ? ? tbs1 - CAN time quantum in bit segment 2.
?*? ? ? ? ? brp - Specifies the length of a time quantum.
?*? ? ? ? ? mode - Test mode.
?*? ? ? ? ? ? CAN_Mode_Normal.
?*? ? ? ? ? ? CAN_Mode_LoopBack.
?*? ? ? ? ? ? CAN_Mode_Silent.
?*? ? ? ? ? ? CAN_Mode_Silent_LoopBack.
?*
?* @return? none
?*/
void CAN_Test_Mode_Init( u8 tsjw, u8 tbs2, u8 tbs1, u16 brp, u8 mode )
{
GPIO_InitTypeDef GPIO_InitSturcture={0};
CAN_InitTypeDef CAN_InitSturcture={0};
CAN_FilterInitTypeDef CAN_FilterInitSturcture={0};
RCC_APB2PeriphClockCmd( RCC_APB2Periph_AFIO | RCC_APB2Periph_GPIOB, ENABLE );?
RCC_APB1PeriphClockCmd( RCC_APB1Periph_CAN1, ENABLE );
RCC_APB1PeriphClockCmd( RCC_APB1Periph_CAN2, ENABLE );
GPIO_PinRemapConfig( GPIO_Remap1_CAN1, ENABLE);
GPIO_InitSturcture.GPIO_Pin = GPIO_Pin_9;
GPIO_InitSturcture.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitSturcture.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init( GPIOB, &GPIO_InitSturcture);
GPIO_InitSturcture.GPIO_Pin = GPIO_Pin_8;
GPIO_InitSturcture.GPIO_Mode = GPIO_Mode_IPU;
GPIO_Init( GPIOB, &GPIO_InitSturcture);
GPIO_InitSturcture.GPIO_Pin = GPIO_Pin_6;
? ? GPIO_InitSturcture.GPIO_Mode = GPIO_Mode_AF_PP;
? ? GPIO_InitSturcture.GPIO_Speed = GPIO_Speed_50MHz;
? ? GPIO_Init( GPIOB, &GPIO_InitSturcture);
? ? GPIO_InitSturcture.GPIO_Pin = GPIO_Pin_5;
? ? GPIO_InitSturcture.GPIO_Mode = GPIO_Mode_IPU;
? ? GPIO_Init( GPIOB, &GPIO_InitSturcture);
CAN_InitSturcture.CAN_TTCM = DISABLE;
CAN_InitSturcture.CAN_ABOM = DISABLE;
CAN_InitSturcture.CAN_AWUM = DISABLE;
CAN_InitSturcture.CAN_NART = ENABLE;
CAN_InitSturcture.CAN_RFLM = DISABLE;
CAN_InitSturcture.CAN_TXFP = DISABLE;
CAN_InitSturcture.CAN_Mode = mode;
CAN_InitSturcture.CAN_SJW = tsjw;
CAN_InitSturcture.CAN_BS1 = tbs1;
CAN_InitSturcture.CAN_BS2 = tbs2;
CAN_InitSturcture.CAN_Prescaler = brp;
CAN_Init( CAN1, &CAN_InitSturcture );
CAN_Init( CAN2, &CAN_InitSturcture );
CAN_FilterInitSturcture.CAN_FilterNumber = 0;
CAN_FilterInitSturcture.CAN_FilterMode = CAN_FilterMode_IdMask;
CAN_FilterInitSturcture.CAN_FilterScale = CAN_FilterScale_32bit;
CAN_FilterInitSturcture.CAN_FilterIdHigh = 0;
CAN_FilterInitSturcture.CAN_FilterIdLow = 0;
CAN_FilterInitSturcture.CAN_FilterMaskIdHigh =0;?
CAN_FilterInitSturcture.CAN_FilterMaskIdLow = 0x0006;
CAN_FilterInitSturcture.CAN_FilterFIFOAssignment = CAN_Filter_FIFO1;
CAN_FilterInitSturcture.CAN_FilterActivation = DISABLE;//ENABLE;
CAN_FilterInit( &CAN_FilterInitSturcture );
}
/*********************************************************************
?* @fn? ? ? CAN_Send_Msg
?*
?* @brief? ?CAN Transmit function.
?*
?* @param? ?msg - Transmit data buffer.
?*? ? ? ? ? len - Data length.
?*
?* @return? 0 - Send successful.
?*? ? ? ? ? 1 - Send failed.
?*/
u8 CAN_Send_Msg( u8 *msg, u8 len )
{
u8 mbox;
u16 i = 0;
CanTxMsg CanTxStructure;
CanTxStructure.StdId = 0x317;
CanTxStructure.IDE = CAN_Id_Standard;??
CanTxStructure.RTR = CAN_RTR_Data;
CanTxStructure.DLC = len;
for( i=0; i
{
CanTxStructure.Data[i] = msg[i];
}
mbox = CAN_Transmit(CAN1, &CanTxStructure);
i = 0;
while( ( CAN_TransmitStatus( CAN1, mbox ) != CAN_TxStatus_Ok ) && (i < 0xFFF) )?
{
i++;
}
if( i == 0xFFF )
{
return 1;
}
else?
{
return 0;
}
}
/*********************************************************************
?* @fn? ? ? CAN_Receive_Msg
?*
?* @brief? ?CAN Receive function.
?*
?* @param? ?buf - Receive data buffer.
?*? ? ? ? ? len - Data length.
?*
?* @return? CanRxStructure.DLC - Receive data length.
?*/
u8 CAN_Receive_Msg( u8 *buf )
{
u8 i;
CanRxMsg CanRxStructure;
if( CAN_MessagePending( CAN2, CAN_FIFO1 ) == 0)
{
return 0;
}
CAN_Receive( CAN2, CAN_FIFO1, &CanRxStructure );
for( i=0; i<8; i++ )
{
buf[i] = CanRxStructure.Data[i];
}
return CanRxStructure.DLC;
}
/*********************************************************************
?* @fn? ? ? main
?*
?* @brief? ?Main program.
?*
?* @return? none
?*/
int main(void)
{
u8 i;
u8 cnt=0;
u8 tx, rx;
u8 txbuf[8];
u8 rxbuf[8];
SystemCoreClockUpdate();
Delay_Init();
USART_Printf_Init(115200);
printf("SystemClk:%d\r\n",SystemCoreClock);
printf( "ChipID:%08x\r\n", DBGMCU_GetCHIPID() );
/* Bps = 333Kbps */
#if (TEST_MODE == SILENT_MODE)
CAN_Test_Mode_Init( CAN_SJW_1tq, CAN_BS2_5tq, CAN_BS1_6tq, 12, CAN_Mode_Silent );
? ? printf("Slient Mode\r\n");
#elif (TEST_MODE == LOOPBACK_MODE)
CAN_Test_Mode_Init( CAN_SJW_1tq, CAN_BS2_5tq, CAN_BS1_6tq, 12, CAN_Mode_LoopBack );
? ? printf("LoopBack Mode\r\n");
#elif (TEST_MODE == SILENT_LOOPBACK_MODE)
CAN_Test_Mode_Init( CAN_SJW_1tq, CAN_BS2_5tq, CAN_BS1_6tq, 12, CAN_Mode_Silent_LoopBack );
printf("Silent_LoopBack Mode\r\n");
#endif
while(1)
{
for(i=0; i<8; i++)
{
txbuf[i] = cnt+i;
}
tx = CAN_Send_Msg( txbuf, 8 );
if( tx )
{
printf( "Send Failed\r\n" );
}
else
{
printf( "Send Success\r\n" );
printf( "Send Data:\r\n" );
for(i=0; i<8; i++)
{
printf( "%02x\r\n", txbuf[i] );
}
}
rx = CAN_Receive_Msg( rxbuf );
if( rx )
{
printf( "Receive Data:\r\n" );
for(i=0; i<8; i++)
{
printf( "%02x\r\n", txbuf[i] );
}
}
else
{
printf( "No Receive Data\r\n" );
}
Delay_Ms(1000);
cnt++;
if( cnt == 0xFF)
{
cnt =0;
}
}
}
