183 lines
6.6 KiB
C++
183 lines
6.6 KiB
C++
#include "Sys.h"
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#include "Port.h"
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#include "Can.h"
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#include "Platform\stm32.h"
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#ifdef STM32F1
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static const Pin g_CAN_Pins_Map[] = CAN_PINS;
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static const Pin g_CAN_Pins_Map2[] = CAN_PINS_REMAP2;
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static const Pin g_CAN_Pins_Map3[] = CAN_PINS_REMAP3;
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#endif
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Can::Can(CAN index, Mode_TypeDef mode, int remap)
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{
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_index = index;
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Mode = mode;
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Remap = remap;
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_Tx = nullptr;
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_Rx = nullptr;
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/*外设时钟设置*/
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//RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO | RCC_APB2Periph_GPIOB, ENABLE);
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RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);
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/*IO设置*/
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#ifdef STM32F1
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if(index == Can1)
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{
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if(remap == 1)
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GPIO_PinRemapConfig(GPIO_Remap1_CAN1, ENABLE);
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else if(remap == 2)
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GPIO_PinRemapConfig(GPIO_Remap2_CAN1, ENABLE);
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}
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else if(index == Can2)
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GPIO_PinRemapConfig(GPIO_Remap_CAN2, ENABLE);
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const Pin* p = g_CAN_Pins_Map;
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if(remap == 2)
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p = g_CAN_Pins_Map2;
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else if(remap == 3)
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p = g_CAN_Pins_Map3;
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AlternatePort tx(p[0]);
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InputPort rx(p[1], false, InputPort::UP);
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#endif
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#ifdef STM32F1
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Interrupt.SetPriority(USB_LP_CAN1_RX0_IRQn, 1);
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#elif defined(STM32F4)
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Interrupt.SetPriority(CAN1_RX0_IRQn, 1);
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#endif
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/************************CAN通信参数设置**********************************/
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CAN_TypeDef* const g_CANs[] = CANS;
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/*CAN寄存器初始化*/
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CAN_DeInit(g_CANs[_index]);
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CAN_InitTypeDef _can;
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CAN_StructInit(&_can);
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/*CAN单元初始化*/
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_can.CAN_TTCM = DISABLE; //MCR-TTCM 时间触发通信模式使能
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_can.CAN_ABOM = Mode == Mode_Send ? ENABLE : DISABLE; //MCR-ABOM 自动离线管理
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_can.CAN_AWUM = Mode == Mode_Send ? ENABLE : DISABLE; //MCR-AWUM 自动唤醒模式
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_can.CAN_NART = DISABLE; //MCR-NART 禁止报文自动重传 DISABLE-自动重传
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_can.CAN_RFLM = DISABLE; //MCR-RFLM 接收FIFO 锁定模式 DISABLE-溢出时新报文会覆盖原有报文
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_can.CAN_TXFP = DISABLE; //MCR-TXFP 发送FIFO优先级 DISABLE-优先级取决于报文标示符
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_can.CAN_Mode = CAN_Mode_Normal; //正常发送模式
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_can.CAN_SJW = CAN_SJW_1tq; //BTR-SJW 重新同步跳跃宽度 2个时间单元
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_can.CAN_BS1 = CAN_BS1_3tq; //BTR-TS1 时间段1 占用了6个时间单元
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_can.CAN_BS2 = CAN_BS2_2tq; //BTR-TS1 时间段2 占用了3个时间单元
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_can.CAN_Prescaler = 6; ////BTR-BRP 波特率分频器 定义了时间单元的时间长度 36/(1+6+3)/4 = 0.8Mbps
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CAN_Init(g_CANs[_index], &_can);
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if(Mode == Mode_Send)
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_Tx = new CanTxMsg();
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else
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{
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_Rx = new CanRxMsg();
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CAN_FilterInitTypeDef filter;
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/*CAN过滤器初始化*/
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filter.CAN_FilterNumber=0; //过滤器组0
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filter.CAN_FilterMode=CAN_FilterMode_IdMask; //工作在标识符屏蔽位模式
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filter.CAN_FilterScale=CAN_FilterScale_32bit; //过滤器位宽为单个32位。
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/* 使能报文标示符过滤器按照标示符的内容进行比对过滤，扩展ID不是如下的就抛弃掉，是的话，会存入FIFO0。 */
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int slave_id = 1;
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switch(Mode)
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{
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case EXT_Data:
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//只接受扩展数据帧
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filter.CAN_FilterIdHigh = ((slave_id<<3)&0xFFFF0000)>>16;
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filter.CAN_FilterIdLow = ((slave_id<<3)|CAN_ID_EXT|CAN_RTR_DATA)&0xFFFF;
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filter.CAN_FilterMaskIdHigh = 0xFFFF;
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filter.CAN_FilterMaskIdLow = 0xFFFF;
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break;
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case EXT_Remote:
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//只接受扩展远程帧
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filter.CAN_FilterIdHigh = ((slave_id<<3)&0xFFFF0000)>>16;
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filter.CAN_FilterIdLow = ((slave_id<<3)|CAN_ID_EXT|CAN_RTR_REMOTE)&0xFFFF;
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filter.CAN_FilterMaskIdHigh = 0xFFFF;
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filter.CAN_FilterMaskIdLow = 0xFFFF;
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break;
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case STD_Remote:
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//只接受标准远程帧
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filter.CAN_FilterIdHigh = ((slave_id<<21)&0xffff0000)>>16;
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filter.CAN_FilterIdLow = ((slave_id<<21)|CAN_ID_STD|CAN_RTR_REMOTE)&0xffff;
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filter.CAN_FilterMaskIdHigh = 0xFFFF;
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filter.CAN_FilterMaskIdLow = 0xFFFF;
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break;
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case STD_Data:
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//只接受标准数据帧
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filter.CAN_FilterIdHigh = ((slave_id<<21)&0xffff0000)>>16;
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filter.CAN_FilterIdLow = ((slave_id<<21)|CAN_ID_STD|CAN_RTR_DATA)&0xffff;
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filter.CAN_FilterMaskIdHigh = 0xFFFF;
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filter.CAN_FilterMaskIdLow = 0xFFFF;
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break;
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case EXT:
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//扩展帧不会被过滤掉
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filter.CAN_FilterIdHigh = ((slave_id<<3)&0xFFFF0000)>>16;
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filter.CAN_FilterIdLow = ((slave_id<<3)|CAN_ID_EXT)&0xFFFF;
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filter.CAN_FilterMaskIdHigh = 0xFFFF;
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filter.CAN_FilterMaskIdLow = 0xFFFC;
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break;
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case STD:
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//标准帧不会被过滤掉
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filter.CAN_FilterIdHigh = ((slave_id<<21)&0xffff0000)>>16;
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filter.CAN_FilterIdLow = ((slave_id<<21)|CAN_ID_STD)&0xffff;
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filter.CAN_FilterMaskIdHigh = 0xFFFF;
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filter.CAN_FilterMaskIdLow = 0xFFFC;
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break;
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case Mode_ALL:
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//接收所有类型
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filter.CAN_FilterIdHigh = 0x0000;
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filter.CAN_FilterIdLow = 0x0000;
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filter.CAN_FilterMaskIdHigh = 0x0000;
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filter.CAN_FilterMaskIdLow = 0x0000;
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}
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filter.CAN_FilterFIFOAssignment=CAN_Filter_FIFO0 ; //过滤器被关联到FIFO0
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filter.CAN_FilterActivation=ENABLE; //使能过滤器
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CAN_FilterInit(&filter);
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/*CAN通信中断使能*/
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CAN_ITConfig(CAN1, CAN_IT_FMP0, ENABLE);
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}
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}
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Can::~Can()
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{
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auto tx = (CanTxMsg*)_Tx;
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delete tx;
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auto rx = (CanRxMsg*)_Rx;
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delete rx;
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}
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void Can::Send(byte* buf, uint len)
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{
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auto tx = (CanTxMsg*)_Tx;
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switch(Mode)
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{
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case STD_Data:
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case STD_Remote:
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case STD:
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tx->StdId = 0;
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tx->IDE = CAN_ID_STD;
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break;
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case EXT_Data:
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case EXT_Remote:
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case EXT:
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tx->StdId = 0;
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tx->IDE = CAN_ID_EXT;
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break;
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}
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tx->RTR =CAN_RTR_DATA; //发送的是数据
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tx->DLC =2; //数据长度为2字节
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tx->Data[0] = 0x12;
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tx->Data[1] = 0x34;
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// 未完成
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}
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