#include "sysdef.h"
#define MAX_MAIL_NUM 3
//CAN总线调试:0=运行 1=自环调试
#define CAN_DEBUG 0
//CAN总线波特率:0=250kbps,1=500kbps,2=1Mbps
#define CAN1_BPS 0
unsigned ｃｈａｒ can1_addr = 0;
unsigned short Can1_Tx_Count =0;
unsigned short Can1_Rx_Count =0;
unsigned short Can1_Send_Delay =0;
unsigned ｃｈａｒ Can1_Send_Buf[10]={0xeb,0x90,0x01,0x55,0xAA};
unsigned ｃｈａｒ Can1_Recv_Buf[10]={0};
extern int angle_num ;
extern unsigned int angle_data ;
static u8 CAN_msg_num[MAX_MAIL_NUM]; // 发送邮箱标记
void CAN1_Config_init(void)
{
CAN_InitTypeDef CAN_InitStructure;
CAN_FilterInitTypeDef CAN_FilterInitStructure;
/* CAN register init */
CAN_DeInit(CAN1);
CAN_StructInit(&CAN_InitStructure);
/* CAN cell init */ //36MHz 500Kbps
CAN_InitStructure.CAN_TTCM=DISABLE;//禁止时间触发通信模式
CAN_InitStructure.CAN_ABOM=DISABLE;//软件对CAN_MCR寄存器的INRQ位进行置1随后清0后,一旦硬件检测
//到128次11位连续的隐性位,就退出离线状态
CAN_InitStructure.CAN_AWUM=DISABLE;//睡眠模式通过清除CAN_MCR寄存器的SLEEP位,由软件唤醒
CAN_InitStructure.CAN_NART=DISABLE;//CAN报文是否只发1次,不管发送的结果如何(成功/出错或仲裁丢失)
CAN_InitStructure.CAN_RFLM=DISABLE;//在接收到溢出时FIFO未被锁定,当接收到FIFO报文未被读出,下一个收到的报文会覆盖原有的报文
CAN_InitStructure.CAN_TXFP=DISABLE;//发送的FIFO优先级由报文的标识符来决定
#if CAN_DEBUG
CAN_InitStructure.CAN_Mode= CAN_Mode_LoopBack;
#else
CAN_InitStructure.CAN_Mode= CAN_Mode_Normal;
#endif
//传输波特率
if(CAN1_BPS == 0)
{
CAN_InitStructure.CAN_SJW=CAN_SJW_1tq;//重新同步跳跃宽度1个时间单位
CAN_InitStructure.CAN_BS1=CAN_BS1_12tq;//时间段1为9个时间单位
CAN_InitStructure.CAN_BS2=CAN_BS2_3tq;//时间段2为8个时间单位
CAN_InitStructure.CAN_Prescaler= 9;//36M/(1+12+3)/9= 250kbps
//36M/(1+5+2)/9 = 500kbps
//36M(1+2+1)/9 = 1M
}
else if(CAN1_BPS == 1)
{
CAN_InitStructure.CAN_SJW=CAN_SJW_1tq;//重新同步跳跃宽度1个时间单位
CAN_InitStructure.CAN_BS1=CAN_BS1_5tq;//时间段1为9个时间单位
CAN_InitStructure.CAN_BS2=CAN_BS2_2tq;//时间段2为8个时间单位
CAN_InitStructure.CAN_Prescaler= 9;//36M/(1+12+3)/9= 250kbps
}
else
{
CAN_InitStructure.CAN_SJW=CAN_SJW_1tq;//重新同步跳跃宽度1个时间单位
CAN_InitStructure.CAN_BS1=CAN_BS1_2tq;//时间段1为9个时间单位
CAN_InitStructure.CAN_BS2=CAN_BS2_1tq;//时间段2为8个时间单位
CAN_InitStructure.CAN_Prescaler= 9;//36M/(1+12+3)/9= 250kbps
}
CAN_Init(CAN1,&CAN_InitStructure);
/* CAN filter init */
CAN_FilterInitStructure.CAN_FilterNumber=0; //指定了待初始化的过滤器0
CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask;//指定了过滤器将被初始化到的模式为标识符屏蔽位模式
CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit;;//给出了过滤器位宽1个32位过滤器
CAN_FilterInitStructure.CAN_FilterIdHigh=0x0000;//用来设定过滤器标识符（32位位宽时为其高段位，16位位宽时为第一个）
CAN_FilterInitStructure.CAN_FilterIdLow=0x0000;;//用来设定过滤器标识符（32位位宽时为其低段位，16位位宽时为第二个)
CAN_FilterInitStructure.CAN_FilterMaskIdHigh=0x0000;//用来设定过滤器屏蔽标识符或者过滤器标识符（32位位宽时为其高段位，16位位宽时为第一个)
CAN_FilterInitStructure.CAN_FilterMaskIdLow=0x0000;//用来设定过滤器屏蔽标识符或者过滤器标识符（32位位宽时为其低段位，16位位宽时为第二个)
CAN_FilterInitStructure.CAN_FilterFIFOAssignment=CAN_FIFO0;;//设定了指向过滤器的FIFO0
CAN_FilterInitStructure.CAN_FilterActivation=ENABLE;//使能过滤器
CAN_FilterInit(&CAN_FilterInitStructure);
}
// ***************************************************************
// BaudRate = 1 / NominalBitTime
// NominalBitTime = 1tq + tBS1 + tBS2
// tq = (BRP[9:0] + 1) x tPCLK
// tPCLK = CAN's clock = APB1's clock
// 1Mbps 速率下，采用点的位置在6tq位置处，BS1=5, BS2=2
// 500kbps 速率下，采用点的位置在8tq位置处，BS1=7, BS2=3
// 250kbps 速率下，采用点的位置在14tq位置处，BS1=13, BS2=2
// 125k, 100k, 50k, 20k, 10k 的采用点位置与 250K 相同
// ****************************************************************
void CAN1_Com_init(void)
{
GPIO_InitTypeDef GPIO_InitStruct;
NVIC_InitTypeDef NVIC_InitStructure;
/* Enable CAN RX0 interrupt IRQ channel */
NVIC_InitStructure.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 2;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
NVIC_InitStructure.NVIC_IRQChannel = USB_HP_CAN1_TX_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 2;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
NVIC_InitStructure.NVIC_IRQChannel = CAN1_RX1_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 2;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);
//Can Rx
GPIO_InitStruct.GPIO_Pin = GPIO_Pin_11;
GPIO_InitStruct.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStruct.GPIO_Mode = GPIO_Mode_IPU;
GPIO_Init(GPIOA,&GPIO_InitStruct);
//Can Tx
GPIO_InitStruct.GPIO_Pin = GPIO_Pin_12;
GPIO_InitStruct.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStruct.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_Init(GPIOA,&GPIO_InitStruct);
CAN1_Config_init();
CAN_ITConfig(CAN1,CAN_IT_FMP0 | CAN_IT_FF0 | CAN_IT_FOV0, ENABLE); // fifo0中断
CAN_ITConfig(CAN1,CAN_IT_FMP1 | CAN_IT_FF1 | CAN_IT_FOV1, ENABLE); // fifo1中断
CAN_ITConfig(CAN1,CAN_IT_TME, DISABLE); // 发送中断
CAN_ITConfig(CAN1,CAN_IT_EWG | CAN_IT_EPV | CAN_IT_BOF | CAN_IT_LEC | CAN_IT_ERR | CAN_IT_WKU | CAN_IT_SLK, ENABLE); // ERR中断
// CAN缓存初始化
memset(CAN_msg_num,0,MAX_MAIL_NUM);
}
int CAN1_Tx_msg(CanTxMsg TxMessage)
{
u8 TransmitMailbox = 0;
TransmitMailbox = CAN_Transmit(CAN1,&TxMessage);
if(CAN_NO_MB == TransmitMailbox)
{
//发送失败
return 0;
}
else
{
CAN_msg_num[TransmitMailbox] = 1;
}
CAN_ITConfig(CAN1,CAN_IT_TME, ENABLE);
return 1;
}
u16 angle=0,angle_h=0,angle_l=0;
extern unsigned ｃｈａｒ angle_dir;
int CAN1_Tx_data(void)
{
CanTxMsg TxMessage;
u8 Transmit