STM32F4Discovery CAN Beispiel

/* Includes */

#include "stm32f4xx.h"

#include "stm32f4_discovery.h"

/* Private macro */

/* Private variables */

CAN_InitTypeDef        CAN_InitStructure;

CAN_FilterInitTypeDef  CAN_FilterInitStructure;

CanTxMsg TxMessage;

CanRxMsg RxMessage;

/* Private function prototypes */

void CAN_Config(void);

void NVIC_Config(void);

/* Private functions */

//Pin definitions

#define CAN_RX_PIN      GPIO_Pin_0

#define CAN_TX_PIN      GPIO_Pin_1

#define CAN_RX_SOURCE    GPIO_PinSource0

#define CAN_TX_SOURCE    GPIO_PinSource1

//Port definitions

#define CAN_COM_PORT    GPIOD

//Clock definitions

#define CAN_GPIO_CLK        RCC_AHB1Periph_GPIOD

#define CAN_CLK             RCC_APB1Periph_CAN1

void CAN_Config(void)

{

  GPIO_InitTypeDef  GPIO_InitStructure;

  /* CAN GPIOs configuration **************************************************/

  /* Enable GPIO clock */

  RCC_AHB1PeriphClockCmd(CAN_GPIO_CLK, ENABLE);

  /* Connect CAN pins to AF9 */

  GPIO_PinAFConfig(CAN_COM_PORT, CAN_RX_SOURCE, GPIO_AF_CAN1);

  GPIO_PinAFConfig(CAN_COM_PORT, CAN_TX_SOURCE, GPIO_AF_CAN1);

  /* Configure CAN RX and TX pins */

  GPIO_InitStructure.GPIO_Pin = CAN_RX_PIN | CAN_TX_PIN;

  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;

  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;

  GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;

  GPIO_InitStructure.GPIO_PuPd  = GPIO_PuPd_UP;

  GPIO_Init(CAN_COM_PORT, &GPIO_InitStructure);

  /* CAN configuration ********************************************************/

  /* Enable CAN clock */

  RCC_APB1PeriphClockCmd(CAN_CLK, ENABLE);

  //CAN1

  /* CAN register init */

  CAN_DeInit(CAN1);

  /* CAN cell init */

  CAN_DBGFreeze(CAN1, DISABLE);

  CAN_InitStructure.CAN_TTCM = DISABLE;

  CAN_InitStructure.CAN_ABOM = DISABLE;

  CAN_InitStructure.CAN_AWUM = DISABLE;

  CAN_InitStructure.CAN_NART = DISABLE;

  CAN_InitStructure.CAN_RFLM = DISABLE;

  CAN_InitStructure.CAN_TXFP = DISABLE;

  CAN_InitStructure.CAN_Mode = CAN_Mode_LoopBack;

  CAN_InitStructure.CAN_SJW = CAN_SJW_1tq;

  /* CAN Baudrate = 50 kBps (CAN clocked at 42MHz) */

  CAN_InitStructure.CAN_BS1 = CAN_BS1_14tq;

  CAN_InitStructure.CAN_BS2 = CAN_BS2_6tq;

  CAN_InitStructure.CAN_Prescaler = 40;

  CAN_Init(CAN1, &CAN_InitStructure);

  /* CAN filter init */

  CAN_FilterInitStructure.CAN_FilterNumber = 0;

  CAN_FilterInitStructure.CAN_FilterMode = CAN_FilterMode_IdMask;

  CAN_FilterInitStructure.CAN_FilterScale = CAN_FilterScale_32bit;

  CAN_FilterInitStructure.CAN_FilterIdHigh = 0x0000;

  CAN_FilterInitStructure.CAN_FilterIdLow = 0x0000;

  CAN_FilterInitStructure.CAN_FilterMaskIdHigh = 0x0000;

  CAN_FilterInitStructure.CAN_FilterMaskIdLow = 0x0000;

  CAN_FilterInitStructure.CAN_FilterFIFOAssignment = 0;

  CAN_FilterInitStructure.CAN_FilterActivation = ENABLE;

  CAN_FilterInit(&CAN_FilterInitStructure);

  /* Transmit Structure preparation */

  TxMessage.StdId = 0x321;

  TxMessage.ExtId = 0x01;

  TxMessage.RTR = CAN_RTR_DATA;

  TxMessage.IDE = CAN_ID_STD;

  TxMessage.DLC = 1;

  /* Enable FIFO 0 message pending Interrupt */

  CAN_ITConfig(CAN1, CAN_IT_FMP0, ENABLE);

}

void NVIC_Config(void)

{

  NVIC_InitTypeDef  NVIC_InitStructure;

  NVIC_InitStructure.NVIC_IRQChannel = CAN1_RX0_IRQn;

  NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x0;

  NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x0;

  NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;

  NVIC_Init(&NVIC_InitStructure);

}

void Init_RxMes(CanRxMsg *RxMessage)

{

  uint8_t i = 0;

  RxMessage->StdId = 0x00;

  RxMessage->ExtId = 0x00;

  RxMessage->IDE = CAN_ID_STD;

  RxMessage->DLC = 0;

  RxMessage->FMI = 0;

  for (i = 0;i < 8;i++)

  {

    RxMessage->Data[i] = 0x00;

  }

}

/**

**===========================================================================

**

**  Abstract: main program

**

**===========================================================================

*/

int main(void)

{

  /* Initialize LEDs */

  STM_EVAL_LEDInit(LED3);

  STM_EVAL_LEDInit(LED4);

  STM_EVAL_LEDInit(LED5);

  STM_EVAL_LEDInit(LED6);

  /* Turn on LEDs */

  STM_EVAL_LEDOn(LED3);

  STM_EVAL_LEDOn(LED4);

  STM_EVAL_LEDOn(LED5);

  STM_EVAL_LEDOn(LED6);

  NVIC_Config();

  CAN_Config();

  uint8_t test1 = 1;

  Init_RxMes(&RxMessage);

  /* Infinite loop */

  while (1)

  {

    TxMessage.Data[0] = test1;

    CAN_Transmit(CAN1, &TxMessage);

  }

}

void CAN1_RX0_IRQHandler(void)

{

  CAN_Receive(CAN1, CAN_FIFO0, &RxMessage);

  STM_EVAL_LEDToggle(RxMessage.Data[0]);

}