495 lines
15 KiB
C
495 lines
15 KiB
C
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/******************** (C) COPYRIGHT 2011 嵌入式开发工作室 ********************
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* 文件名 ：bsp_can.c
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* 描述 ：
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*
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* 实验平台：
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* 硬件连接：
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*
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* 作者 ：
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* 时间 ：2022-10-12
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* 版本 ：V1.0
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**********************************************************************************/
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#include <stdio.h>
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#include <stdbool.h>
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#include "can.h"
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#include "stm32f10x_can.h"
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#include "misc.h"
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#include "Sys.h"
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#include "bsp_can.h"
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#include "canbusdrv.h"
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#include "REV_CarMessage.h"
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#include "Sleep.h"
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#include "SecTimer.h"
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#define DEBUG_BSP_CAN 1
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#if DEBUG_BSP_CAN > 0
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#define CAN_PRINT DEPRINT
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#define CAN_PRINT_ARRAY DEPRINT_ARRAY
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#else
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#define CAN_PRINT(...) ;
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#define CAN_PRINT_ARRAY(...) ;
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#endif
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u8 CAN_Mode_Init(void)
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{
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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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#if CAN_RX0_INT_ENABLE
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NVIC_InitTypeDef NVIC_InitStructure;
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#endif
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RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA|RCC_APB2Periph_AFIO, ENABLE);//使能PORTD时钟,使能功能复用时钟
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RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);//使能CAN1时钟
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CAN_OperatingModeRequest(CAN1, CAN_OperatingMode_Initialization);
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GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12;
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GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
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GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; //复用推挽
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GPIO_Init(GPIOA, &GPIO_InitStructure); //初始化IO
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GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11;
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GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;//上拉输入
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GPIO_Init(GPIOA, &GPIO_InitStructure);//初始化IO
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// GPIO_PinRemapConfig(GPIO_Remap2_CAN1,ENABLE);
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//GPIO_PinRemapConfig(GPIO_Remap1_CAN1,ENABLE);
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//CAN单元设置
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CAN_InitStructure.CAN_TTCM=DISABLE; //非时间触发通信模式 //
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CAN_InitStructure.CAN_ABOM=ENABLE;
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// CAN_InitStructure.CAN_ABOM=DISABLE; //软件自动离线管理 //
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CAN_InitStructure.CAN_AWUM=DISABLE; //睡眠模式通过软件唤醒(清除CAN->MCR的SLEEP位)//
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CAN_InitStructure.CAN_NART=DISABLE; //禁止报文自动传送 //
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CAN_InitStructure.CAN_RFLM=DISABLE; //报文不锁定,新的覆盖旧的 //
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CAN_InitStructure.CAN_TXFP=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： mode:0,普通模式;1,回环模式; //
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//设置波特率
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#if 0
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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_2tq CAN_SJW_3tq CAN_SJW_4tq
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CAN_InitStructure.CAN_BS1=CAN_BS1_8tq; //Tbs1=tbs1+1个时间单位CAN_BS1_1tq ~CAN_BS1_16tq
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CAN_InitStructure.CAN_BS2=CAN_BS2_7tq;//Tbs2=tbs2+1个时间单位CAN_BS2_1tq ~ CAN_BS2_8tq
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CAN_InitStructure.CAN_Prescaler=9; //分频系数(Fdiv)为brp+1 //
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#else
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/* 250k采样点在87.5%为好，下面设置正好是87.5%*/
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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_2tq CAN_SJW_3tq CAN_SJW_4tq
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CAN_InitStructure.CAN_BS1=CAN_BS1_13tq; //Tbs1=tbs1+1个时间单位CAN_BS1_1tq ~CAN_BS1_16tq
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CAN_InitStructure.CAN_BS2=CAN_BS2_2tq;//Tbs2=tbs2+1个时间单位CAN_BS2_1tq ~ CAN_BS2_8tq
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CAN_InitStructure.CAN_Prescaler=9; //分频系数(Fdiv)为brp+1 //
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#endif
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CAN_Init(CAN1, &CAN_InitStructure); // 初始化CAN1 CAN = 36000000 / 9 / (1 + 7 + 8); 250k
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CAN_FilterInitStructure.CAN_FilterNumber=0; //过滤器0
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CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask;
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CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit; //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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#if CAN_RX0_INT_ENABLE
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CAN_ITConfig(CAN1,CAN_IT_FMP0,ENABLE);//FIFO0消息挂号中断允许.
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NVIC_InitStructure.NVIC_IRQChannel = CAN1_RX0_IRQn;
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NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1; // 主优先级为1
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NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0; // 次优先级为0
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NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
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NVIC_Init(&NVIC_InitStructure);
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#endif
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CAN_ITConfig(CAN1,CAN_IT_TME,ENABLE);//FIFO0消息挂号中断允许.
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// CAN_ClearITPendingBit(CAN1, CAN_IT_EPV);
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// CAN_ClearITPendingBit(CAN1, CAN_IT_BOF);
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CAN_ITConfig(CAN1,CAN_IT_EPV,ENABLE); /* Error passive Interrupt */
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CAN_ITConfig(CAN1,CAN_IT_BOF,ENABLE); /* Error bus off Interrupt */
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CAN_ITConfig(CAN1,CAN_IT_ERR,ENABLE); /* Error bus off Interrupt */
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CAN_OperatingModeRequest(CAN1, CAN_OperatingMode_Normal);
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NVIC_InitStructure.NVIC_IRQChannel = CAN1_TX_IRQn;
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NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1; // 主优先级为1
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NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0; // 次优先级为0
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NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
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NVIC_Init(&NVIC_InitStructure);
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NVIC_InitStructure.NVIC_IRQChannel = CAN1_SCE_IRQn;
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NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1; // 主优先级为1
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NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0; // 次优先级为0
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NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
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NVIC_Init(&NVIC_InitStructure);
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printf("can 1 open!\n");
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return 0;
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}
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void CAN1_TX_IRQHandler(void)
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{
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unsigned char ret;
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ret = CAN_TransmitStatus(CAN1, 0);
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if (ret != CAN_TxStatus_Pending)
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{
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bsp_can_msg_sent_hook(0, 0, ret == CAN_TxStatus_Ok);
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}
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ret = CAN_TransmitStatus(CAN1, 1);
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if (ret != CAN_TxStatus_Pending)
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{
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bsp_can_msg_sent_hook(0, 1, ret == CAN_TxStatus_Ok);
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}
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ret = CAN_TransmitStatus(CAN1, 2);
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if (ret != CAN_TxStatus_Pending)
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{
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bsp_can_msg_sent_hook(0, 2, ret == CAN_TxStatus_Ok);
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}
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CAN_ClearITPendingBit(CAN1, CAN_IT_TME);
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}
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void CAN1_SCE_IRQHandler(void)
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{
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if (CAN_GetITStatus(CAN1, CAN_IT_EPV) == SET)
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{
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if (CAN_GetFlagStatus(CAN1, CAN_FLAG_EPV) == SET)
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{
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can_bus_err_passive_hook(0);
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// printf("!!!CAN1 ERR passive\n");
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//CAN_ClearFlag(CAN1, CAN_FLAG_EPV);
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}
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else
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{
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// printf("!!!CAN1 ERR active\n");
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}
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CAN_ClearITPendingBit(CAN1, CAN_IT_EPV);
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}
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if (CAN_GetITStatus(CAN1, CAN_IT_BOF) == SET)
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{
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if (CAN_GetFlagStatus(CAN1, CAN_FLAG_BOF) == SET)
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{
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can_bus_off_hook(0);
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// printf("!!!CAN1 BUS OFF\n");
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//CAN_ClearFlag(CAN1, CAN_FLAG_BOF);
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}
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else
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{
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// printf("!!!CAN1 BUS ON\n");
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}
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CAN_ClearITPendingBit(CAN1, CAN_IT_BOF);
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}
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}
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void CAN2_SCE_IRQHandler(void)
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{
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if (CAN_GetITStatus(CAN2, CAN_IT_EPV) == SET)
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{
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if (CAN_GetFlagStatus(CAN2, CAN_FLAG_EPV) == SET)
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{
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can_bus_err_passive_hook(1);
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// printf("!!!CAN2 ERR passive\n");
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CAN_ClearFlag(CAN2, CAN_FLAG_EPV);
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}
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else
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{
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// printf("!!!CAN2 ERR active\n");
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}
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CAN_ClearITPendingBit(CAN2, CAN_IT_EPV);
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}
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if (CAN_GetITStatus(CAN2, CAN_IT_BOF) == SET)
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{
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if (CAN_GetFlagStatus(CAN2, CAN_FLAG_BOF) == SET)
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{
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Sleep_Parame.BufFlag = 1;
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Sleep_Parame.BusoffCnt++;
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SecStop(&SecTimer[BusoffCnt_Free_SecTimerNUM]);
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can_bus_off_hook(1);
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// printf("!!!CAN2 BUS OFF\n");
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CAN_ClearFlag(CAN2, CAN_FLAG_BOF);
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}
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else
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{
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Sleep_Parame.BusoffCnt=0;
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// printf("!!!CAN2 BUS ON\n");
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}
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CAN_ClearITPendingBit(CAN2, CAN_IT_BOF);
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}
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}
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#if CAN_RX0_INT_ENABLE //使能RX0中断
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//中断服务函数
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void CAN1_RX0_IRQHandler(void)
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{
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CanRxMsg RxMessage;
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// int i=0;
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// CAN_Receive(CAN1, 0, &RxMessage);
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// Can_Send_Msg(RxMessage.Data,8);
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CAN_Receive(CAN1,CAN_FIFO0,&RxMessage);
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bsp_can_msg_receive_hook(0, (CanTxMsg *)&RxMessage); /* 注意这里CanRxMsg 和 CanTxMsg 格式不同，但是能兼容*/
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}
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#endif
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///////////////////////////////////////////////////CAN2////////////////////////////////////////////////////
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void CAN2_TX_IRQHandler(void)
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{
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unsigned char ret;
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ret = CAN_TransmitStatus(CAN2, 0);
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if (ret != CAN_TxStatus_Pending)
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{
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bsp_can_msg_sent_hook(1, 0, ret == CAN_TxStatus_Ok);
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}
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ret = CAN_TransmitStatus(CAN2, 1);
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if (ret != CAN_TxStatus_Pending)
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{
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bsp_can_msg_sent_hook(1, 1, ret == CAN_TxStatus_Ok);
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}
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ret = CAN_TransmitStatus(CAN2, 2);
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if (ret != CAN_TxStatus_Pending)
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{
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bsp_can_msg_sent_hook(1, 2, ret == CAN_TxStatus_Ok);
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}
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CAN_ClearITPendingBit(CAN2, CAN_IT_TME);
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}
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u8 CAN2_Mode_Init(void)
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{
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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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#if CAN_RX2_INT_ENABLE
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NVIC_InitTypeDef NVIC_InitStructure;
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#endif
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SYS_ENTER_CRITICAL();
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RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB|RCC_APB2Periph_AFIO, 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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RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN2, ENABLE);//使能CAN2时钟
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CAN_OperatingModeRequest(CAN2, CAN_OperatingMode_Initialization);
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GPIO_InitStructure.GPIO_Pin = GPIO_Pin_13;
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GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
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GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; //复用推挽
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GPIO_Init(GPIOB, &GPIO_InitStructure); //初始化IO
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GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12;
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GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;//上拉输入
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GPIO_Init(GPIOB, &GPIO_InitStructure);//初始化IO
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// GPIO_PinRemapConfig(GPIO_Remap_CAN2,ENABLE);
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//CAN单元设置
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CAN_InitStructure.CAN_TTCM=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; //睡眠模式通过软件唤醒(清除CAN->MCR的SLEEP位)//
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CAN_InitStructure.CAN_NART=DISABLE; //禁止报文自动传送 //
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CAN_InitStructure.CAN_RFLM=DISABLE; //报文不锁定,新的覆盖旧的 //
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CAN_InitStructure.CAN_TXFP=ENABLE; //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： mode:0,普通模式;1,回环模式; //
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//设置波特率
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#if 0
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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_2tq CAN_SJW_3tq CAN_SJW_4tq
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CAN_InitStructure.CAN_BS1=CAN_BS1_4tq; //Tbs1=tbs1+1个时间单位CAN_BS1_1tq ~CAN_BS1_16tq
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CAN_InitStructure.CAN_BS2=CAN_BS2_3tq; //Tbs2=tbs2+1个时间单位CAN_BS2_1tq ~ CAN_BS2_8tq
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CAN_InitStructure.CAN_Prescaler=9; //分频系数(Fdiv)为brp+1 //
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#else
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/* 500kpbs 采样点应该在80%多一点为好 */
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CAN_InitStructure.CAN_SJW=CAN_SJW_2tq;
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CAN_InitStructure.CAN_BS1=CAN_BS1_9tq;
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CAN_InitStructure.CAN_BS2=CAN_BS2_2tq;
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CAN_InitStructure.CAN_Prescaler=6; // 83.3%采样点 //
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#endif
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CAN_Init(CAN2, &CAN_InitStructure); // 初始化CAN2
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//#ifdef _Filter
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if(Sleep_Parame.False_sleep_State)
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{
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CAN_FilterInitStructure.CAN_FilterNumber=14; //过滤器0
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CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask; //屏蔽位模式
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CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit; //32位宽
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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_FIFO1;//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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}
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//#else
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else
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{
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CAN_Filter_register(Standard_frame,Evcan_HandleTable);
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}
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//#endif
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#if CAN_RX2_INT_ENABLE
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CAN_ITConfig(CAN2,CAN_IT_FMP1,ENABLE);//FIFO0消息挂号中断允许.
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NVIC_InitStructure.NVIC_IRQChannel = CAN2_RX1_IRQn;
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NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1; // 主优先级为1
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NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0; // 次优先级为0
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NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
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NVIC_Init(&NVIC_InitStructure);
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#endif
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CAN_ITConfig(CAN2,CAN_IT_TME,ENABLE);//FIFO0消息挂号中断允许.
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// CAN_ClearITPendingBit(CAN1, CAN_IT_EPV);
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// CAN_ClearITPendingBit(CAN1, CAN_IT_BOF);
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CAN_ITConfig(CAN2,CAN_IT_EPV,ENABLE); /* Error passive Interrupt */
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CAN_ITConfig(CAN2,CAN_IT_BOF,ENABLE); /* Error bus off Interrupt */
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CAN_ITConfig(CAN2,CAN_IT_ERR,ENABLE); /* Error bus off Interrupt */
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CAN_OperatingModeRequest(CAN2, CAN_OperatingMode_Normal);
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NVIC_InitStructure.NVIC_IRQChannel = CAN2_TX_IRQn;
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NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1; // 主优先级为1
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NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0; // 次优先级为0
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NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
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NVIC_Init(&NVIC_InitStructure);
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NVIC_InitStructure.NVIC_IRQChannel = CAN2_SCE_IRQn;
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NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1; // 主优先级为1
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NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0; // 次优先级为0
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NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
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NVIC_Init(&NVIC_InitStructure);
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SYS_EXIT_CRITICAL();
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printf("can 2 open!\n");
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return 0;
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}
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///////////////////////////////////////////////////CAN2////////////////////////////////////////////////////
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#if CAN_RX2_INT_ENABLE //使能RX2中断
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//中断服务函数
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void CAN2_RX1_IRQHandler(void)
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{
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CanRxMsg RxMessage2;
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// CAN_Receive(CAN2, CAN_FIFO0, &RxMessage);
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Sleep_Parame.Bus_Packet_Free = 1;
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SecStop(&SecTimer[Bus_Packet_Free_SecTimerNUM]);
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for (uint8_t fifoMsgNum = 0; fifoMsgNum < 3; fifoMsgNum ++)
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{
|
||
if (CAN_MessagePending(CAN2, CAN_FIFO1))
|
||
{
|
||
CAN_Receive(CAN2, CAN_FIFO1, &RxMessage2);
|
||
if (RxMessage2.RTR == CAN_RTR_DATA)
|
||
{
|
||
bsp_can_msg_receive_hook(1, (CanTxMsg *)&RxMessage2); /* 注意这里CanRxMsg 和 CanTxMsg 格式不同，但是能兼容*/
|
||
UdsApi_MsgQueueIn(RxMessage2);
|
||
}
|
||
}
|
||
else
|
||
{
|
||
break;
|
||
}
|
||
}
|
||
// Can2_Send_Msg(RxMessage2.Data,8);
|
||
}
|
||
#endif
|
||
|
||
|
||
|
||
/**
|
||
* @brief: 接口的配置信息
|
||
*
|
||
* @param channel: can 通道号， 不大于MCU_CAN_CHANNEL_NUM
|
||
* @param pt_bsp_cfg[IN]: 总线自动配置
|
||
*
|
||
* @return:
|
||
* 返回结果: true - open 成功 false - open 失败
|
||
*/
|
||
bool bsp_can_open(unsigned char channel, const bsp_can_cfg_t * pt_bsp_cfg)
|
||
{
|
||
if (channel == 0)
|
||
{
|
||
CAN_Mode_Init();
|
||
}
|
||
else
|
||
{
|
||
CAN2_Mode_Init();
|
||
}
|
||
|
||
return true;
|
||
}
|
||
|
||
|
||
|
||
/**
|
||
* @brief: 关闭接口
|
||
*
|
||
* @return:
|
||
* 返回结果: true - open 成功 false - open 失败
|
||
*/
|
||
bool bsp_can_close(unsigned char channel)
|
||
{
|
||
if (channel == 0)
|
||
{
|
||
CAN_OperatingModeRequest(CAN1, CAN_OperatingMode_Initialization);
|
||
CAN_DeInit(CAN1);
|
||
}
|
||
else
|
||
{
|
||
CAN_OperatingModeRequest(CAN2, CAN_OperatingMode_Initialization);
|
||
CAN_DeInit(CAN2);
|
||
}
|
||
return true;
|
||
}
|
||
|
||
|
||
unsigned char bsp_can_msg_send(unsigned char channel, const can_frame_t * pt_fram)
|
||
{
|
||
u8 mbox;
|
||
|
||
|
||
mbox= CAN_Transmit((channel == 0)?CAN1:CAN2, (can_frame_t *)pt_fram);
|
||
|
||
if (mbox == CAN_TxStatus_NoMailBox)
|
||
{
|
||
mbox = BSP_CAN_SEND_FAIL;
|
||
}
|
||
|
||
return mbox;
|
||
}
|
||
|