Chum_A (07.06.2012 12:55, просмотров: 406) ответил Stepanov.I.L на здравствуйте, интересует следующий вопрос: при попытке выйти из режима инициализиализации кан, в нормальный режим работы бит INRQ (регистр MCR) обнуляю запросом на выход из инициализации, однако связанный с ним бит подтверждения запроса INAKВдруг поможет. Без коментариев и обязательств :). Это кусок старого (но рабочего) проекта с творчески доработанным кодом от STM-demo. Тактовая CPU, кажется, 32МГц.
/*----------------------------------------------------------------------------
* Name: Can.c
* Purpose: CAN interface for STM32
* Version: V1.01
*----------------------------------------------------------------------------
* This file is part of the uVision/ARM development tools.
* This software may only be used under the terms of a valid, current,
* end user licence from KEIL for a compatible version of KEIL software
* development tools. Nothing else gives you the right to use this software.
*
* Copyright (c) 2005-2007 Keil Software. All rights reserved.
*----------------------------------------------------------------------------*/
#include <stm32f10x_lib.h> // STM32F10x Library Definitions
#include "STM32_Reg.h" // STM32 register and bit Definitions
#include "STM32_Init.h" // STM32 Initialization
#include "Wake.h"
#include "CAN.h" // STM32 CAN adaption layer
CAN_msg CAN_TxMsg_buf[CAN_STORAGE_BUF_SIZE]; // буфер хранения отправляемых CAN пакетов
unsigned char CAN_TxMsg_Head; // индекс пустого слота под сохранение принятого CAN пакета
CAN_msg CAN_RxMsg_buf[CAN_STORAGE_BUF_SIZE]; // буфер хранения принятых пакетов
unsigned char CAN_RxMsg_Head; // индекс пустого слота под сохранение принятого CAN пакета
unsigned char CAN_TxRdy; // CAN HW ready to transmit a message
unsigned char CAN_RxOver; // == 1 буфер приемника CAN переполнен, gfrtns yt cj[hfyz.ncz
/*----------------------------------------------------------------------------
initialize CAN interface
*----------------------------------------------------------------------------*/
void can_Init (void)
{
CAN_setup(); // setup CAN interface
// CAN_wrFilter (33, STANDARD_FORMAT); // Enable reception of messages
CAN->FMR |= CAN_FMR_FINIT; // реж. настройки фильтров
CAN->FM1R = 0; // традиционный режим ID + MASK
CAN->FS1R = 1; // один 32-bit ID (а не два 16-bit ID)
CAN->sFilterRegister[0].FR1 = 0; // 32-bit ID
CAN->sFilterRegister[0].FR2 = 0; // 32-bit MASK т.е. прием всех ID
CAN->FFA1R = 0; // assign filter to FIFO 0
CAN->FA1R = 1; // activate filter
CAN->FMR &= ~CAN_FMR_FINIT; // reset Initialisation mode for filter banks
/* COMMENT THE LINE BELOW TO ENABLE DEVICE TO PARTICIPATE IN CAN NETWORK */
// CAN_testmode(CAN_BTR_SILM | CAN_BTR_LBKM); // Loopback, Silent Mode (self-test)
CAN_start(); // leave init mode
CAN_waitReady(); // wait til mbx is empty
}
/*----------------------------------------------------------------------------
setup CAN interface
*----------------------------------------------------------------------------*/
void CAN_setup (void)
{
RCC->APB1ENR |= RCC_APB1ENR_CANEN; // enable clock for CAN
// Note: uses PB8 and PB9 for CAN
RCC->APB2ENR |= RCC_APB2ENR_AFIOEN; // enable clock for Alternate Function
AFIO->MAPR &= 0xFFFF9FFF; // reset CAN remap
AFIO->MAPR |= 0x00004000; // set CAN remap, use PB8, PB9
RCC->APB2ENR |= RCC_APB2ENR_IOPBEN; // enable clock for GPIO B
GPIOB->CRH &= ~(0x0F<<0);
GPIOB->CRH |= (0x08<<0); // CAN RX pin PB.8 input push pull
GPIOB->CRH &= ~(0x0F<<4);
GPIOB->CRH |= (0x0B<<4); // CAN TX pin PB.9 alternate output push pull
NVIC->ISER[0] |= (1 << (USB_HP_CAN_TX_IRQChannel & 0x1F)); // enable interrupt
NVIC->ISER[0] |= (1 << (USB_LP_CAN_RX0_IRQChannel & 0x1F)); // enable interrupt
CAN->MCR = (CAN_MCR_NART | CAN_MCR_INRQ); // init mode, disable auto. retransmission
// Note: only FIFO 0, transmit mailbox 0 used
CAN->IER = (CAN_IER_FMPIE0 | CAN_IER_TMEIE); // FIFO 0 msg pending, Transmit mbx empty
/* Note: this calculations fit for PCLK1 = 32 MHz */
CAN->BTR &= ~((( 0x03) << 24) | (( 0x07) << 20) | (( 0x0F) << 16) | ( 0x1FF));
//#define CAN_125KB
/* set BTR register so that sample point is at about 72% bit time from bit start */
/* TSEG1 = 9, TSEG2 = 4, SJW = 3 => 1 CAN bit = 18 TQ, sample at 72% */
// SJW TS2 TS1 Tq
#ifdef CAN_125KB
CAN->BTR |= ((((4-1) & 0x03) << 24) | (((5-1) & 0x07) << 20) | (((10-1) & 0x0F) << 16) | ((16-1) & 0x1FF));
#else // 500 kbt
CAN->BTR |= ((((4-1) & 0x03) << 24) | (((5-1) & 0x07) << 20) | (((10-1) & 0x0F) << 16) | ((4-1) & 0x1FF));
#endif
}
/*----------------------------------------------------------------------------
leave initialisation mode
*----------------------------------------------------------------------------*/
void CAN_start (void) {
CAN->MCR &= ~CAN_MCR_INRQ; // normal operating mode, reset INRQ
while (CAN->MSR & CAN_MCR_INRQ);
}
/*----------------------------------------------------------------------------
set the testmode
*----------------------------------------------------------------------------*/
void CAN_testmode (unsigned int testmode) {
CAN->BTR &= ~(CAN_BTR_SILM | CAN_BTR_LBKM); // set testmode
CAN->BTR |= (testmode & (CAN_BTR_SILM | CAN_BTR_LBKM));
}
/*----------------------------------------------------------------------------
check if transmit mailbox is empty
*----------------------------------------------------------------------------*/
void CAN_waitReady (void) {
while ((CAN->TSR & CAN_TSR_TME0) == 0); // Transmit mailbox 0 is empty
CAN_TxRdy = 1;
}
/*----------------------------------------------------------------------------
wite a message to CAN peripheral and transmit it
*----------------------------------------------------------------------------*/
void CAN_wrMsg (CAN_msg *msg) {
CAN->sTxMailBox[0].TIR = (unsigned int)0; // Reset TIR register
// Setup identifier information
if (msg->format == STANDARD_FORMAT) { // Standard ID
CAN->sTxMailBox[0].TIR |= (unsigned int)(msg->id << 21) | CAN_ID_STD;
} else { // Extended ID
CAN->sTxMailBox[0].TIR |= (unsigned int)(msg->id << 3) | CAN_ID_EXT;
}
// Setup type information
if (msg->type == DATA_FRAME) { // DATA FRAME
CAN->sTxMailBox[0].TIR |= CAN_RTR_DATA;
}
else { // REMOTE FRAME
CAN->sTxMailBox[0].TIR |= CAN_RTR_REMOTE;
}
// Setup data bytes
CAN->sTxMailBox[0].TDLR = (((unsigned int)msg->data[3] << 24) |
((unsigned int)msg->data[2] << 16) |
((unsigned int)msg->data[1] << 8) |
((unsigned int)msg->data[0]) );
CAN->sTxMailBox[0].TDHR = (((unsigned int)msg->data[7] << 24) |
((unsigned int)msg->data[6] << 16) |
((unsigned int)msg->data[5] << 8) |
((unsigned int)msg->data[4]) );
// Setup length
CAN->sTxMailBox[0].TDTR &= ~CAN_TDTxR_DLC;
CAN->sTxMailBox[0].TDTR |= (msg->len & CAN_TDTxR_DLC);
CAN->IER |= CAN_IER_TMEIE; // enable TME interrupt
CAN->sTxMailBox[0].TIR |= CAN_TIxR_TXRQ; // transmit message
}
/*----------------------------------------------------------------------------
read a message from CAN peripheral and release it
*----------------------------------------------------------------------------*/
void CAN_rdMsg (CAN_msg *msg) {
// Read identifier information
if ((CAN->sFIFOMailBox[0].RIR & CAN_ID_EXT) == 0) { // Standard ID
msg->format = STANDARD_FORMAT;
msg->id = (u32)0x000007FF & (CAN->sFIFOMailBox[0].RIR >> 21);
} else { // Extended ID
msg->format = EXTENDED_FORMAT;
msg->id = (u32)0x0003FFFF & (CAN->sFIFOMailBox[0].RIR >> 3);
}
// Read type information
if ((CAN->sFIFOMailBox[0].RIR & CAN_RTR_REMOTE) == 0) {
msg->type = DATA_FRAME; // DATA FRAME
} else {
msg->type = REMOTE_FRAME; // REMOTE FRAME
}
// Read length (number of received bytes)
msg->len = (unsigned char)0x0000000F & CAN->sFIFOMailBox[0].RDTR;
// Read data bytes
msg->data[0] = (unsigned int)0x000000FF & (CAN->sFIFOMailBox[0].RDLR);
msg->data[1] = (unsigned int)0x000000FF & (CAN->sFIFOMailBox[0].RDLR >> 8);
msg->data[2] = (unsigned int)0x000000FF & (CAN->sFIFOMailBox[0].RDLR >> 16);
msg->data[3] = (unsigned int)0x000000FF & (CAN->sFIFOMailBox[0].RDLR >> 24);
msg->data[4] = (unsigned int)0x000000FF & (CAN->sFIFOMailBox[0].RDHR);
msg->data[5] = (unsigned int)0x000000FF & (CAN->sFIFOMailBox[0].RDHR >> 8);
msg->data[6] = (unsigned int)0x000000FF & (CAN->sFIFOMailBox[0].RDHR >> 16);
msg->data[7] = (unsigned int)0x000000FF & (CAN->sFIFOMailBox[0].RDHR >> 24);
CAN->RF0R |= CAN_RF0R_RFOM0; // Release FIFO 0 output mailbox
}
void CAN_wrFilter (unsigned int id, unsigned char format)
{
static unsigned short CAN_filterIdx = 0;
unsigned int CAN_msgId = 0;
if (CAN_filterIdx > 13)
{ // check if Filter Memory is full
return;
}
// Setup identifier information
if (format == STANDARD_FORMAT)
{ // Standard ID
CAN_msgId |= (unsigned int)(id << 21) | CAN_ID_STD;
}
else
{ // Extended ID
CAN_msgId |= (unsigned int)(id << 3) | CAN_ID_EXT;
}
CAN->FMR |= CAN_FMR_FINIT; // set Initialisation mode for filter banks
CAN->FA1R &= ~(unsigned int)(1 << CAN_filterIdx); // deactivate filter
// initialize filter
CAN->FS1R |= (unsigned int)(1 << CAN_filterIdx);// set 32-bit scale configuration
CAN->FM1R |= (unsigned int)(1 << CAN_filterIdx);// set 2 32-bit identifier list mode
CAN->sFilterRegister[CAN_filterIdx].FR1 = CAN_msgId; // 32-bit identifier
CAN->sFilterRegister[CAN_filterIdx].FR2 = CAN_msgId; // 32-bit identifier
CAN->FFA1R &= ~(unsigned int)(1 << CAN_filterIdx); // assign filter to FIFO 0
CAN->FA1R |= (unsigned int)(1 << CAN_filterIdx); // activate filter
CAN->FMR &= ~CAN_FMR_FINIT; // reset Initialisation mode for filter banks
CAN_filterIdx += 1; // increase filter index
}
/*----------------------------------------------------------------------------
CAN transmit interrupt handler
*----------------------------------------------------------------------------*/
void __irq USB_HP_CAN_TX_IRQHandler (void)
{
if (CAN->TSR & CAN_TSR_RQCP0) // request completed mbx 0
{
CAN->TSR |= CAN_TSR_RQCP0; // reset request complete mbx 0
CAN->IER &= ~CAN_IER_TMEIE; // disable TME interrupt
CAN_TxRdy = 1;
}
}
//----------------------------------------------------------------------------
// CAN receive interrupt handler
// при приеме CAN пакета:
// если CAN_RxMsg_Head < CAN_STORAGE_BUF_SIZE помещаем его в CAN_RxMsg_buf[]
// и ++CAN_RxMsg_Head
//----------------------------------------------------------------------------
void __irq USB_LP_CAN_RX0_IRQHandler (void)
{
if (CAN->RF0R & CAN_RF0R_FMP0)
{
if(CAN_RxMsg_Head < CAN_STORAGE_BUF_SIZE) // в буфере еще есть место
{
CAN_rdMsg (&CAN_RxMsg_buf[CAN_RxMsg_Head]);
++CAN_RxMsg_Head;
}
else
CAN_RxOver = 1;
}
}