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STM32F103 CAN Polling and Filter Setup

已有 4168 次阅读2010-12-30 10:25

/****************** External 8 MHz ************************************/

/****************** HCLK 72 MHz ************************************/

/****************** PCLK1 36 MHz ************************************/

/****************** PCLK2 72 MHz ************************************/

static void RCC_Config(void)
{

  /* RCC system reset(for debug purpose) */
  RCC_DeInit();

  /* Enable HSE */
  RCC_HSEConfig(RCC_HSE_ON);

  /* Wait till HSE is ready */
  HSEStartUpStatus = RCC_WaitForHSEStartUp();

  if (HSEStartUpStatus == SUCCESS)
  {
    /* Enable Prefetch Buffer */
    FLASH_PrefetchBufferCmd(FLASH_PrefetchBuffer_Enable);

    /* Flash 2 wait state */
    FLASH_SetLatency(FLASH_Latency_2);

    /* HCLK = SYSCLK */
    RCC_HCLKConfig(RCC_SYSCLK_Div1);

    /* PCLK2 = HCLK */
    RCC_PCLK2Config(RCC_HCLK_Div1);

    /* PCLK1 = HCLK/2 */
    RCC_PCLK1Config(RCC_HCLK_Div2);

    /* ADCCLK = PCLK2/6 */
    RCC_ADCCLKConfig(RCC_PCLK2_Div6);


    RCC_PLLConfig(RCC_PLLSource_HSE_Div1, RCC_PLLMul_9);

    /* Enable PLL */
    RCC_PLLCmd(ENABLE);

    /* Wait till PLL is ready */
    while (RCC_GetFlagStatus(RCC_FLAG_PLLRDY) == RESET)
    {}

    /* Select PLL as system clock source */
    RCC_SYSCLKConfig(RCC_SYSCLKSource_PLLCLK);

    /* Wait till PLL is used as system clock source */
    while (RCC_GetSYSCLKSource() != 0x08)
    {}
  }
}

//#define TEST_16BITS_FILTER

/*

MailBox   :

Ext_Frame : EXID[28:21] ||  EXID[20:18] & EXID[17:13] || EXID[12:5] ||  EXID[4:0] & IDE & RTR & 0
Std_Frame : STID[10:3]  ||  STID[2:0]                                             & IDE & RTR & 0

CAN Core check ID and Mask Field by Msg.IDE

if (IDE == 0)
  only Check : STID[10:3 ] ||  STID[2:0] with ID and Mask
else //if (IDE == 1)
  Check All : EXID[28:21] ||  EXID[20:18] & EXID[17:13] || EXID[12:5] ||  EXID[4:0] with ID and Mask

------------------------------------------------------------------------------------------------------
32 Bits Width Mode:
------------------------------------------------------------------------------------------------------
FR1 = ID
FR2 = ID or Mask

EXT_FRAME : EXID[28:21] ||  EXID[20:18] & EXID[17:13] || EXID[12:5] ||  EXID[4:0] & IDE & RTR & 0
          : [----------------------- ID and Mask Check Filed -------------------]
          : 29 Bits ---------------------------------------------------------EXID + IDE + RTR

STD_FRAME : STID[10:3 ] ||  STID[2:0]   &             ||            ||            & IDE & RTR & 0
          : [ID and Mask Check Filed]
          : 11 Bits -------------STID                                             + IDE + RTR
 

------------------------------------------------------------------------------------------------------
16 Bits Width Mode:
------------------------------------------------------------------------------------------------------

FR1.High = ID, FR1.Low = ID or Mask
FR2.High = ID, FR1.Low = ID or Mask

16 Bits   : EXID[28:21] ||  EXID[20:18] & RTR & IDE & EXID[17 : 15]
EXT_FRAME : EXID[28:21] ||  EXID[20:18]               EXID[17 : 15]
          : [ID and Mask Check Filed ]                [Check Filed]

16 Bits   : STID[10:3] ||  STID[2:0] & RTR & IDE
STD_FRAME : STID[10:3] ||  STID[2:0] & RTR & IDE
          : [ID and Mask Check Filed]
          : 11 Bits -------------STID

*/

typedef enum {FAILED = 0, PASSED = !FAILED} TestStatus;
TestStatus CAN_Polling(void);

/*******************************************************************************
* Function Name  : CAN_Polling
* Description    : Configures the CAN and transmit and receive by polling
* Input          : None
* Output         : None
* Return         : PASSED if the reception is well done, FAILED in other case
*******************************************************************************/
TestStatus CAN_Polling(void)
{
  GPIO_InitTypeDef GPIO_InitStructure;
  CAN_InitTypeDef        CAN_InitStructure;
  CAN_FilterInitTypeDef  CAN_FilterInitStructure;
  CanTxMsg TxMessage;
  CanRxMsg RxMessage;
  u32 i = 0;
  u8 TransmitMailbox;

  /* CAN Periph clock enable */
  RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN, ENABLE);

  /* Enable the CAN pins remap to PD0/PD1 */
  GPIO_PinRemapConfig(GPIO_Remap2_CAN,ENABLE);

  /* Configure CAN pin: RX */
  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
  GPIO_Init(GPIOD, &GPIO_InitStructure);

  /* Configure CAN pin: TX */
  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
  GPIO_Init(GPIOD, &GPIO_InitStructure);

  RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOD | RCC_APB2Periph_AFIO , ENABLE);
 
  /* CAN register init */
  CAN_DeInit();
  CAN_StructInit(&CAN_InitStructure);

  /* CAN cell init */
  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_Mode=CAN_Mode_Normal;

  //CAN_InitStructure.CAN_SJW=CAN_SJW_1tq;
  //CAN_InitStructure.CAN_BS1=CAN_BS1_8tq;
  //CAN_InitStructure.CAN_BS2=CAN_BS2_7tq;
  //CAN_InitStructure.CAN_Prescaler=5;        //72MHz/2=36MHz=PCLK1 / 5 => 7200KHz / (1+8+7) => 450KHz

  CAN_InitStructure.CAN_SJW=CAN_SJW_1tq;
  CAN_InitStructure.CAN_BS1=CAN_BS1_10tq;
  CAN_InitStructure.CAN_BS2=CAN_BS2_7tq;
  CAN_InitStructure.CAN_Prescaler=4;          //72MHz/2=36MHz=PCLK1 / 4 => 9000KHz / (1+10+7) => 500KHz

  //CAN_InitStructure.CAN_SJW=CAN_SJW_1tq;
  //CAN_InitStructure.CAN_BS1=CAN_BS1_10tq;
  //CAN_InitStructure.CAN_BS2=CAN_BS2_7tq;
  //CAN_InitStructure.CAN_Prescaler=2;        //72MHz/2=36MHz=PCLK1 / 2 => 18000KHz / (1+10+7) => 1000KHz

  CAN_Init(&CAN_InitStructure);

  /* transmit */
  TxMessage.RTR=CAN_RTR_DATA;
  TxMessage.DLC=8;
  TxMessage.Data[0]=0x01;
  TxMessage.Data[1]=0x23;
  TxMessage.Data[2]=0x45;
  TxMessage.Data[3]=0x67;
  TxMessage.Data[4]=0x89;
  TxMessage.Data[5]=0xAB;
  TxMessage.Data[6]=0xCD;
  TxMessage.Data[7]=0xEF;
 
#ifdef TEST_16BITS_FILTER

  for (i=0; i<3; i++)
  {
    /* CAN filter init */
    CAN_FilterInitStructure.CAN_FilterNumber=i;
    CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask;
    CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_16bit;

    CAN_FilterInitStructure.CAN_FilterIdLow =  0xFFE7;
    CAN_FilterInitStructure.CAN_FilterMaskIdLow=0xFFE7;

    CAN_FilterInitStructure.CAN_FilterIdHigh=  0xFFE7;
    CAN_FilterInitStructure.CAN_FilterMaskIdHigh=0xFFE7;
   
    CAN_FilterInitStructure.CAN_FilterFIFOAssignment=0;   //0x0320 -- Tacho
    CAN_FilterInitStructure.CAN_FilterActivation=ENABLE;
    CAN_FilterInit(&CAN_FilterInitStructure);
  }
 
  /* transmit */
  TxMessage.IDE=CAN_ID_EXT;
 
  TxMessage.ExtId=0x1FFF8000;               //Passed
  TransmitMailbox=CAN_Transmit(&TxMessage);

  TxMessage.ExtId=0x0FFF800;               //Not Passed
  TransmitMailbox=CAN_Transmit(&TxMessage);

  TxMessage.ExtId=0x1FFF8001;               //Passed
  TransmitMailbox=CAN_Transmit(&TxMessage);
 
  TxMessage.ExtId=0x1FFF0000;               //Not Passed   
  TransmitMailbox=CAN_Transmit(&TxMessage);

  TxMessage.IDE=CAN_ID_STD;

  TxMessage.StdId=0x7FF;                    //Passed
  TransmitMailbox=CAN_Transmit(&TxMessage);

  TxMessage.StdId=0x3FF;                    //Not Passed
  TransmitMailbox=CAN_Transmit(&TxMessage);

  TxMessage.StdId=0x7FE;                    //Not Passed
  TransmitMailbox=CAN_Transmit(&TxMessage);
 
#else
 
  for (i=0; i<7; i++)
  {
    /* CAN filter init */
    CAN_FilterInitStructure.CAN_FilterNumber=i;
    CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask;
    CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit;
    CAN_FilterInitStructure.CAN_FilterIdHigh=  ( (0x1FFFFFFF << 3) >> 16);
    CAN_FilterInitStructure.CAN_FilterIdLow =  ( (0x1FFFFFFF << 3) & 0xFFFF);
    CAN_FilterInitStructure.CAN_FilterMaskIdHigh=0xFFFF;
    CAN_FilterInitStructure.CAN_FilterMaskIdLow=0xFFF8;
    CAN_FilterInitStructure.CAN_FilterFIFOAssignment=0;
    CAN_FilterInitStructure.CAN_FilterActivation=ENABLE;
    CAN_FilterInit(&CAN_FilterInitStructure);
  }
 
  /* transmit */
  TxMessage.IDE=CAN_ID_EXT;
 
  TxMessage.ExtId=0x1FFFFFFF;               //Passed
  TransmitMailbox=CAN_Transmit(&TxMessage);

  TxMessage.ExtId=0x1FFFFFFE;               //Not Passed
  TransmitMailbox=CAN_Transmit(&TxMessage);
 
  TxMessage.ExtId=0x0FFFFFFF;               //Not Passed
  TransmitMailbox=CAN_Transmit(&TxMessage);

  TxMessage.IDE=CAN_ID_STD;
 
  TxMessage.StdId=0x7FF;                    //Passed
  TransmitMailbox=CAN_Transmit(&TxMessage);

  TxMessage.StdId=0x3FF;                    //Not Passed
  TransmitMailbox=CAN_Transmit(&TxMessage);

  TxMessage.StdId=0x7FE;                    //Not Passed
  TransmitMailbox=CAN_Transmit(&TxMessage);
 
#endif
 
  /* receive */
  while (CAN_MessagePending(CAN_FIFO0))
    CAN_Receive(CAN_FIFO0, &RxMessage);
 
  RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN, DISABLE);
  return PASSED; /* Test Passed */
}

 

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