canbus驱动备忘、三

STM32F103RBT6单片机使用canbus与mcp2510通信。记录备忘。

1. 将引脚配置成canbus接口

/* Configure CAN pin: RX */
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
    GPIO_Init(GPIOA, &GPIO_InitStructure);
    /* Configure CAN pin: TX */
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
    GPIO_Init(GPIOA, &GPIO_InitStructure);

2.STM32F103RBT6初始化canbus接口配置

void CAN_Configuration(int filterId)
{
  CAN_InitTypeDef        CAN_InitStructure;
  CAN_FilterInitTypeDef  CAN_FilterInitStructure;
// CanTxMsg TxMessage;
// u8 TransmitMailbox;
// u8 i=0;

  /* 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_11tq;
  CAN_InitStructure.CAN_BS2=CAN_BS2_4tq;
  CAN_InitStructure.CAN_Prescaler=18;
  CAN_Init(&CAN_InitStructure);

  /* CAN filter init */
  CAN_FilterInitStructure.CAN_FilterNumber=1;
  CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask;
  CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit;

  CAN_FilterInitStructure.CAN_FilterIdHigh = (((filterId << 3) >> 16) & 0xffff);
  CAN_FilterInitStructure.CAN_FilterIdLow = ((filterId << 3) & 0xFFFF);
  CAN_FilterInitStructure.CAN_FilterMaskIdHigh = ((FILTER_MASK << 3) >> 16) & 0xffff;
  //CAN_FilterInitStructure.CAN_FilterMaskIdHigh = 0x0000;
  CAN_FilterInitStructure.CAN_FilterMaskIdLow = ((FILTER_MASK << 3) & 0xffff);
  //CAN_FilterInitStructure.CAN_FilterMaskIdLow = 0x0000;


  CAN_FilterInitStructure.CAN_FilterFIFOAssignment=CAN_FIFO0;
  CAN_FilterInitStructure.CAN_FilterActivation=ENABLE;
  CAN_FilterInit(&CAN_FilterInitStructure);

  /* CAN FIFO0 and FIFO1 message pending interrupt enable */
  //CAN_ITConfig(CAN_IT_FMP0, ENABLE);
  CAN_ITConfig((CAN_IT_FMP0 | CAN_IT_FMP1), ENABLE);

}

3.中断上下文接收canbus数据

void USB_LP_CAN_RX0_IRQHandler(void)
{
    CanRxMsg RxMessage;
    u8 currSeq;

    while(0 != CAN_MessagePending(CAN_FIFO0))
    {
        //memset(&RxMessage, 0, sizeof(RxMessage));
        CAN_Receive(CAN_FIFO0, &RxMessage);

        g_canRevBuf.len = RxMessage.Data[1];
        currSeq = RxMessage.Data[3];

        /**
        * Note: 1、由于乱序的可能性较高，故而不能用入队列的标准接口
        * 2、当数据接收完成后, 组装成可直接供串口发送的数据
        * 3、
        **/
        memcpy(&g_canRevBuf.buf[currSeq << 2], &RxMessage.Data[4], 4);
        //memset(&g_canRevBuf.ctrl[currSeq << 2], CTRL_CONTI, 4);

        if(0x0 != bitmap_test_set(&bmpRcvCan, currSeq))
        {
            ;/** warning: the frame which specified NO. had been received again **/
        }

        if(bitmap_isfull(&bmpRcvCan, (g_canRevBuf.len + 3) >> 2)) /** 判断数据包结束. currpktSeq从0开始的序号， 加1后就是的1的个数 **/
        {
            bitmap_clean(&bmpRcvCan);
            inq(&g_msgq, CMSG_CANRX);
            /***************************************************************************/
            GPIO_ResetBits(GPIOA, GPIO_Pin_0);
            /***************************************************************************/
            i_flag &= ~(1 << 4);
        }
        else
        {
            /***************************************************************************/
            GPIO_SetBits(GPIOA, GPIO_Pin_0);
            /***************************************************************************/
            i_flag |= (1 << 4);
        }
    }
}

4.向canbus总线发送数据

/*******************************************************************************
 * prototype: int send2can(canFrame_queue_t *dest, X10RevData_t *src)
 *
 * descriptor: 将收到的数据转换成等待发送的canbus数据
 *
 * input: src
 * output: dest
 * return: none
 *
 * Note: the data come from USART2, the format: len + [data ..] + 0xff
 *******************************************************************************/
u8 g_ucCanseq = 0;

int send2can(canFrame_queue_t *dest, const X10RevData_t *src)
{
    int i;
    CanTxMsg TxMessage;
    unsigned char tmpbuf[16];
    unsigned char ucAddr = 0;
    unsigned char ucFunc = 0;
    unsigned int tmpVal;

    /* transmit */
    TxMessage.StdId = 0x0; /** destination **/
    TxMessage.ExtId = (0x80 | (g_channel & 0x7f)) | (TxMessage.StdId << 18); /** source **/
    TxMessage.RTR = CAN_RTR_DATA;
    //TxMessage.IDE = CAN_ID_STD;
    TxMessage.IDE = CAN_ID_EXT;
    TxMessage.DLC = 8;

    TxMessage.Data[0] = 0x80 | (g_channel & 0x7f); /** destination **/
    TxMessage.Data[1] = 16; /** get length first **/

    if((g_ucCanseq + 4) >= 255){g_ucCanseq = 0;} else {g_ucCanseq += 2;}

    /** clear the buff **/
    for(i = 0; i < 16; i++)tmpbuf[i] = 0;

    /** address **/
    if((src->flags & 0x01) == 1)    /** the address is valid **/
    {
        tmpVal = src->addrCode;
        for(i = 0; i < 8; i++)
        {
            ucAddr <<= 1;
            ucAddr |= ((tmpVal & 0x30000) == 0x20000);
            tmpVal <<= 2;
        }
        /** keyCode **/
        tmpbuf[0] = (ucAddr & 0x0f);
        tmpbuf[0] = (key2num(tmpbuf[0]) + 1);
        /** houseCode **/
        tmpbuf[1] = ((ucAddr >> 4) & 0x0f);
        tmpbuf[1] = house2num(tmpbuf[1]);
    }
    else
    {
        //ucAddr = g_destAddr;
        tmpbuf[0] = (g_destAddr & 0x0f);
        tmpbuf[1] = ((g_destAddr >> 4) & 0x0f);
    }

    /** function **/
    tmpVal = src->funcCode;
    for(i = 0; i < 5; i++)
    {
        ucFunc <<= 1;
        ucFunc |= ((tmpVal & 0x300) == 0x200);
        tmpVal <<= 2;
    }

    /** tmpbuf[10]: cmd, it depends on the funcionCode **/
    if((ucFunc == 0x1b) || (ucFunc == 0x1d))    /** 收到状态回复 **/
    {
        tmpbuf[10] = 0x43;
        /** 由于是响应回复, 所以数据帧中的地址应该是源设备地址 **/
        tmpbuf[4] = tmpbuf[0];
        tmpbuf[5] = tmpbuf[1];

        tmpbuf[0] = 0;
        tmpbuf[1] = 0;

        tmpbuf[6] = CDEV_TYPE;
    }
    else if(ucFunc == 0x1f)                /** 收到状态查询(可能以后用得上) **/
    {
        tmpbuf[10] = 0x41;
    }
    else                                /** 收到状态设定(可能以后用得上) **/
    {
        tmpbuf[10] = 0x42;
    }

    tmpbuf[11] = 0x01;            /** protocal **/
    tmpbuf[12] = (ucFunc & 0x1f);
    tmpbuf[15] = makeCrc8(0, tmpbuf, 15);

    for(i = 0; i <= 15;