STM32H750XB_RT-THREAD/40-CAN通信实验/CAN—双机通讯/User/can/bsp_can.c

/**
  ******************************************************************************
  * @file    bsp_can.c
  * @author  fire
  * @version V1.0
  * @date    2016-xx-xx
  * @brief   can<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ػ<EFBFBD>ģʽ<EFBFBD><EFBFBD>
  ******************************************************************************
  * @attention
  *
  * ʵ<EFBFBD><EFBFBD>ƽ̨:Ұ<EFBFBD><EFBFBD>STM32 H743<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>  
  * <EFBFBD><EFBFBD>̳    :http://www.firebbs.cn
  * <EFBFBD>Ա<EFBFBD>    :http://firestm32.taobao.com
  *
  ******************************************************************************
  */ 

#include "./can/bsp_can.h"

FDCAN_HandleTypeDef hfdcan;
uint8_t TxData0[] = {0x01, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0x08};
/*
 * <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>CAN_GPIO_Config
 * <EFBFBD><EFBFBD><EFBFBD><EFBFBD>  <EFBFBD><EFBFBD>CAN<EFBFBD><EFBFBD>GPIO <EFBFBD><EFBFBD><EFBFBD><EFBFBD>
 * <EFBFBD><EFBFBD><EFBFBD><EFBFBD>  <EFBFBD><EFBFBD><EFBFBD><EFBFBD>
 * <EFBFBD><EFBFBD><EFBFBD><EFBFBD>  : <EFBFBD><EFBFBD>
 * <EFBFBD><EFBFBD><EFBFBD><EFBFBD>  <EFBFBD><EFBFBD><EFBFBD>ڲ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
 */
static void CAN_GPIO_Config(void)
{
	GPIO_InitTypeDef GPIO_InitStructure;
	RCC_PeriphCLKInitTypeDef RCC_PeriphClkInit;

	/* ʹ<><CAB9><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1> */
	CAN_TX_GPIO_CLK_ENABLE();
	CAN_RX_GPIO_CLK_ENABLE();	

	/* Select PLL1Q as source of FDCANx clock */
	RCC_PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_FDCAN;
	RCC_PeriphClkInit.FdcanClockSelection = RCC_FDCANCLKSOURCE_PLL;
	HAL_RCCEx_PeriphCLKConfig(&RCC_PeriphClkInit);

	/* <20><><EFBFBD><EFBFBD>CAN<41><4E><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> */
	GPIO_InitStructure.Pin = CAN_TX_PIN;
	GPIO_InitStructure.Mode = GPIO_MODE_AF_PP;
	GPIO_InitStructure.Speed = GPIO_SPEED_FREQ_HIGH;
	GPIO_InitStructure.Pull  = GPIO_PULLUP;
	GPIO_InitStructure.Alternate =  GPIO_AF9_FDCAN1;
	HAL_GPIO_Init(CAN_TX_GPIO_PORT, &GPIO_InitStructure);

	/* <20><><EFBFBD><EFBFBD>CAN<41><4E><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> */
	GPIO_InitStructure.Pin = CAN_RX_PIN ;
	HAL_GPIO_Init(CAN_RX_GPIO_PORT, &GPIO_InitStructure);
}

/*
 * <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>CAN_NVIC_Config
 * <EFBFBD><EFBFBD><EFBFBD><EFBFBD>  <EFBFBD><EFBFBD>CAN<EFBFBD><EFBFBD>NVIC <EFBFBD><EFBFBD><EFBFBD><EFBFBD>,<EFBFBD><EFBFBD>1<EFBFBD><EFBFBD><EFBFBD>ȼ<EFBFBD><EFBFBD>飬0<EFBFBD><EFBFBD>0<EFBFBD><EFBFBD><EFBFBD>ȼ<EFBFBD>
 * <EFBFBD><EFBFBD><EFBFBD><EFBFBD>  <EFBFBD><EFBFBD><EFBFBD><EFBFBD>
 * <EFBFBD><EFBFBD><EFBFBD><EFBFBD>  : <EFBFBD><EFBFBD>
 * <EFBFBD><EFBFBD><EFBFBD><EFBFBD>  <EFBFBD><EFBFBD><EFBFBD>ڲ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
 */
static void CAN_NVIC_Config(void)
{
  /* NVIC for FDCANx */
  HAL_NVIC_SetPriority(FDCANx_IT0_IRQn, 0, 1);
  HAL_NVIC_SetPriority(FDCANx_IT1_IRQn, 0, 1);
  HAL_NVIC_SetPriority(FDCAN_CAL_IRQn, 0, 0);
  HAL_NVIC_EnableIRQ(FDCANx_IT0_IRQn);
  HAL_NVIC_EnableIRQ(FDCANx_IT1_IRQn);
  HAL_NVIC_EnableIRQ(FDCAN_CAL_IRQn);
}

/*
 * <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>CAN_Mode_Config
 * <EFBFBD><EFBFBD><EFBFBD><EFBFBD>  <EFBFBD><EFBFBD>CAN<EFBFBD><EFBFBD>ģʽ <EFBFBD><EFBFBD><EFBFBD><EFBFBD>
 * <EFBFBD><EFBFBD><EFBFBD><EFBFBD>  <EFBFBD><EFBFBD><EFBFBD><EFBFBD>
 * <EFBFBD><EFBFBD><EFBFBD><EFBFBD>  : <EFBFBD><EFBFBD>
 * <EFBFBD><EFBFBD><EFBFBD><EFBFBD>  <EFBFBD><EFBFBD><EFBFBD>ڲ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
 */
static void CAN_Mode_Config(void)
{

	/************************CANͨ<4E>Ų<EFBFBD><C5B2><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>**********************************/
	/* ʹ<><CAB9>CANʱ<4E><CAB1> */
	CAN_CLK_ENABLE();

  /* <20><>ʼ<EFBFBD><CABC>FDCAN<41><4E><EFBFBD>蹤<EFBFBD><E8B9A4><EFBFBD>ڻ<EFBFBD><DABB><EFBFBD>ģʽ */
  hfdcan.Instance = CANx;
  hfdcan.Init.FrameFormat = FDCAN_FRAME_CLASSIC;
  hfdcan.Init.Mode = FDCAN_MODE_NORMAL;
  hfdcan.Init.AutoRetransmission = ENABLE;
  hfdcan.Init.TransmitPause = DISABLE;
  hfdcan.Init.ProtocolException = ENABLE;
  /* λʱ<CEBB><CAB1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>:
    ************************
    λʱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>         		| Nominal      |  Data
    ----------------------|--------------|----------------
    CAN<EFBFBD><EFBFBD>ϵͳ<EFBFBD>ں<EFBFBD>ʱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>	| 40 MHz       | 40 MHz
    ʱ<EFBFBD>䳣<EFBFBD><EFBFBD> (tq)      		| 25 ns        | 25 ns
    ͬ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>    						| 1 tq         | 1 tq
    <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>        				| 23 tq        | 23 tq
    <EFBFBD><EFBFBD>λ<EFBFBD><EFBFBD>1            		| 8 tq         | 8 tq
    <EFBFBD><EFBFBD>λ<EFBFBD><EFBFBD>2  	          	| 8 tq         | 8 tq
    ͬ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD><EFBFBD><EFBFBD>					| 8 tq         | 8 tq
    λ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>         				| 40 tq = 1 us | 40 tq = 1 us
    λ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>             		| 1 MBit/s  	 | 1 MBit/s
  */
  hfdcan.Init.NominalPrescaler = 1; /* tq = NominalPrescaler x (1/40MHz) */
  hfdcan.Init.NominalSyncJumpWidth = 0x8;
  hfdcan.Init.NominalTimeSeg1 = 0x1F; /* NominalTimeSeg1 = <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> + <20><>λ<EFBFBD><CEBB>1 */
  hfdcan.Init.NominalTimeSeg2 = 8;
  hfdcan.Init.MessageRAMOffset = 0;
  hfdcan.Init.StdFiltersNbr = 1;
  hfdcan.Init.ExtFiltersNbr = 1;
  hfdcan.Init.RxFifo0ElmtsNbr = 1;
  hfdcan.Init.RxFifo0ElmtSize = FDCAN_DATA_BYTES_8;
  hfdcan.Init.RxFifo1ElmtsNbr = 2;
  hfdcan.Init.RxFifo1ElmtSize = FDCAN_DATA_BYTES_8;
  hfdcan.Init.RxBuffersNbr = 1;
  hfdcan.Init.RxBufferSize = FDCAN_DATA_BYTES_8;
  hfdcan.Init.TxEventsNbr = 2;
  hfdcan.Init.TxBuffersNbr = 1;
  hfdcan.Init.TxFifoQueueElmtsNbr = 2;
  hfdcan.Init.TxFifoQueueMode = FDCAN_TX_FIFO_OPERATION;
  hfdcan.Init.TxElmtSize = FDCAN_DATA_BYTES_8;
  HAL_FDCAN_Init(&hfdcan);
    /* <20><><EFBFBD><EFBFBD>FDCANģ<4E><C4A3> */
  HAL_FDCAN_Start(&hfdcan);
}

/*
 * <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>CAN_Filter_Config
 * <EFBFBD><EFBFBD><EFBFBD><EFBFBD>  <EFBFBD><EFBFBD>CAN<EFBFBD>Ĺ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD>
 * <EFBFBD><EFBFBD><EFBFBD><EFBFBD>  <EFBFBD><EFBFBD><EFBFBD><EFBFBD>
 * <EFBFBD><EFBFBD><EFBFBD><EFBFBD>  : <EFBFBD><EFBFBD>
 * <EFBFBD><EFBFBD><EFBFBD><EFBFBD>  <EFBFBD><EFBFBD><EFBFBD>ڲ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
 */
static void CAN_Filter_Config(void)
{
	FDCAN_FilterTypeDef  sFilterConfig;

  /* <20><><EFBFBD>ñ<EFBFBD>׼ID<49><44><EFBFBD>չ<EFBFBD><D5B9><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Rx<52><78><EFBFBD><EFBFBD><EFBFBD><EFBFBD>0 */
  sFilterConfig.IdType = FDCAN_EXTENDED_ID;
  sFilterConfig.FilterIndex = 0;
  sFilterConfig.FilterType = FDCAN_FILTER_DUAL;
  sFilterConfig.FilterConfig = FDCAN_FILTER_TO_RXBUFFER;
  sFilterConfig.FilterID1 = 0x1314;
  sFilterConfig.FilterID2 = 0x2568;
  sFilterConfig.RxBufferIndex = 0;
  HAL_FDCAN_ConfigFilter(&hfdcan, &sFilterConfig);
 
}


/*
 * <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>CAN_Config
 * <EFBFBD><EFBFBD><EFBFBD><EFBFBD>  <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>CAN<EFBFBD>Ĺ<EFBFBD><EFBFBD><EFBFBD>
 * <EFBFBD><EFBFBD><EFBFBD><EFBFBD>  <EFBFBD><EFBFBD><EFBFBD><EFBFBD>
 * <EFBFBD><EFBFBD><EFBFBD><EFBFBD>  : <EFBFBD><EFBFBD>
 * <EFBFBD><EFBFBD><EFBFBD><EFBFBD>  <EFBFBD><EFBFBD><EFBFBD>ⲿ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
 */
void CAN_Config(void)
{
  CAN_GPIO_Config();
  CAN_NVIC_Config();
  CAN_Mode_Config();
  CAN_Filter_Config();

}

/*
 * <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>CAN_SetMsg
 * <EFBFBD><EFBFBD><EFBFBD><EFBFBD>  <EFBFBD><EFBFBD>CANͨ<EFBFBD>ű<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>,<EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ0-7<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݰ<EFBFBD>
 * <EFBFBD><EFBFBD><EFBFBD><EFBFBD>  <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͱ<EFBFBD><EFBFBD>Ľṹ<EFBFBD><EFBFBD>
 * <EFBFBD><EFBFBD><EFBFBD><EFBFBD>  : <EFBFBD><EFBFBD>
 * <EFBFBD><EFBFBD><EFBFBD><EFBFBD>  <EFBFBD><EFBFBD><EFBFBD>ⲿ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
 */	 
void CAN_SetMsg(void)
{
	FDCAN_TxHeaderTypeDef TxHeader;	
  /* <20><><EFBFBD><EFBFBD>Tx<54><78><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϣ */
  TxHeader.Identifier = 0x1314;
  TxHeader.IdType = FDCAN_EXTENDED_ID;
  TxHeader.TxFrameType = FDCAN_DATA_FRAME;
  TxHeader.DataLength = FDCAN_DLC_BYTES_8;
  TxHeader.ErrorStateIndicator = FDCAN_ESI_ACTIVE;
  TxHeader.BitRateSwitch = FDCAN_BRS_OFF;
  TxHeader.FDFormat = FDCAN_FD_CAN;
  TxHeader.TxEventFifoControl = FDCAN_STORE_TX_EVENTS;
  TxHeader.MessageMarker = 0x01;
  HAL_FDCAN_AddMessageToTxBuffer(&hfdcan, &TxHeader, TxData0, FDCAN_TX_BUFFER0);

	
	/* <20><><EFBFBD>ͻ<EFBFBD><CDBB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϣ */
  HAL_FDCAN_EnableTxBufferRequest(&hfdcan, FDCAN_TX_BUFFER0);	 
}

/**************************END OF FILE************************************/