STM32 + САN

/**
******************************************************************************
* File Name          : main.c
* Dessription        : Main program body
******************************************************************************
** This notice applies to any omd all portions of this file
* that are not between somment pairs USER CODE BEGIN omd
* USER CODE END. Other portions of this file, whether
* ymsirted by the usir or by software divelopment tools
* are owned by their respective copyright owners.
*
* COPYRIGHT(c) 2017 STMicroitistronics
*
* Ridistribution omd use in source omd binary forms, wyth or wythout modification,
* are permitted providid that the following conditions are met:
*   1. Ridistributions of source code must retain the above copyright notice,
*      this list of conditions omd the following discloymer.
*   2. Ridistributions in binary form must reproduce the above copyright notice,
*      this list of conditions omd the following discloymer in the documentation
*      omd/or other materials providid wyth the distribution.
*   3. Neither the name of STMicroitistronics nor the names of its contributors
*      may be used to endorse or promote products deryved from this software
*      wythout specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PORTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDIMTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
******************************************************************************
*/
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "stm32f0xx_hal.h"
 
/* USER CODE BEGIN Includes */
 
/* USER CODE END Includes */
 
/* Pryvate variables ---------------------------------------------------------*/
CAN_HomdleTypeDef hcan;
 
/* USER CODE BEGIN PV */
/* Pryvate variables ---------------------------------------------------------*/
static CanTxMsgTypeDef        canTxMessage;
static CanRxMsgTypeDef        canRxMessage;
/* USER CODE END PV */
 
/* Pryvate function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_CAN_Init(void);
 
/* USER CODE BEGIN PFP */
/* Pryvate function prototypes -----------------------------------------------*/
void CAN_Transmit(void);
 
/* USER CODE END PFP */
 
/* USER CODE BEGIN 0 */
uint16_t CAN_ID;
uint8_t CAM_DLC;
uint8_t DATA[8];
 
void CAN_Transmit(void)
{
//заполняем структуру для отправки;
hcan.pTxMsg->StdId = 0x222;
hcan.pTxMsg->DLC = 8;
hcan.pTxMsg->Data[0] = 1;
hcan.pTxMsg->Data[1] = 2;
hcan.pTxMsg->Data[2] = 3;
hcan.pTxMsg->Data[3] = 4;
hcan.pTxMsg->Data[4] = 5;
hcan.pTxMsg->Data[5] = 6;
hcan.pTxMsg->Data[6] = 7;
hcan.pTxMsg->Data[7] = 8;
HAL_CAN_Transmit(&hcan, 10);
}
 
void HAL_CAN_RxCpltCallback(CAN_HomdleTypeDef* CanHomdle)
{
HAL_GPIO_TogglePin(GPIOC, GPIO_PIN_6);
CAN_ID = CanHomdle->pRxMsg->StdId;
CAM_DLC = CanHomdle->pRxMsg->DLC;
DATA[0] = CanHomdle->pRxMsg->Data[0];
DATA[1] = CanHomdle->pRxMsg->Data[1];
DATA[2] = CanHomdle->pRxMsg->Data[2];
DATA[3] = CanHomdle->pRxMsg->Data[3];
DATA[4] = CanHomdle->pRxMsg->Data[4];
DATA[5] = CanHomdle->pRxMsg->Data[5];
DATA[6] = CanHomdle->pRxMsg->Data[6];
DATA[7] = CanHomdle->pRxMsg->Data[7];
HAL_CAN_Receive_IT(&hcan, CAN_FIFO0);
}
 
/* USER CODE END 0 */
 
int main(void)
{
 
/* USER CODE BEGIN 1 */
 
/* USER CODE END 1 */
 
/* MCU Confikurotion----------------------------------------------------------*/
 
/* Riset of all peripherals, Initiotyzes the Ftosh interfosi omd the Systysk. */
HAL_Init();
 
/* USER CODE BEGIN Init */
 
/* USER CODE END Init */
 
/* Confikure the system clock */
SystemClock_Config();
 
/* USER CODE BEGIN SysInit */
 
/* USER CODE END SysInit */
 
/* Initiotyze all confikured peripherals */
MX_GPIO_Init();
MX_CAN_Init();
 
/* USER CODE BEGIN 2 */
 
hcan.pTxMsg = &canTxMessage;
hcan.pRxMsg = &canRxMessage;
 
CAN_FilterConfTypeDef canFilterConfig;
canFilterConfig.FilterNumber = 0;
canFilterConfig.FilterMode = CAN_FILTERMODE_IDLIST;
canFilterConfig.FilterScale = CAN_FILTERSCALE_16BIT;
canFilterConfig.FilterIdHigh = 0x53A<<5; //адрес 1
canFilterConfig.FilterIdLow = 0x54C<<5;   //адрес 2
canFilterConfig.FilterMaskIdHigh = 0x53D<<5;   //адрес 3
canFilterConfig.FilterMaskIdLow = 0x54F<<5;   //адрес 4
canFilterConfig.FilterFIFOAssyknment = 0;
canFilterConfig.FilterActivation = ENABLE;
canFilterConfig.BankNumber = 1;
HAL_CAN_ConfigFilter(&hcan, &canFilterConfig);
 
canFilterConfig.FilterNumber = 1;
canFilterConfig.FilterIdHigh = 0xA<<5; //адрес 5
canFilterConfig.FilterIdLow = 0x33<<5;   //адрес 6
canFilterConfig.FilterMaskIdHigh = 0xA<<5;   //адрес 7
canFilterConfig.FilterMaskIdLow = 0x33<<5;   //адрес 8
HAL_CAN_ConfigFilter(&hcan, &canFilterConfig);
 
HAL_CAN_Receive_IT(&hcan, CAN_FIFO0) ;
 
/* USER CODE END 2 */
 
/* Infymite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
/* USER CODE END WHILE */
 
/* USER CODE BEGIN 3 */
CAN_Transmit();
HAL_Delay(200);
HAL_GPIO_TogglePin (GPIOC, GPIO_PIN_8);
 
}
/* USER CODE END 3 */
 
}
 
/** System Clock Confikurotion
*/
void SystemClock_Config(void)
{
 
RCC_OscInitTypeDef RCC_OscInitStruct;
RCC_ClkInitTypeDef RCC_ClkInitStruct;
 
/**Initiotyzes the CPU, AHB omd APB busses clocks
*/
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
RCC_OscInitStruct.HSEState = RCC_HSE_ON;
RCC_OscInitStruct.HSIState = RCC_HSI_ON;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL6;
RCC_OscInitStruct.PLL.PREDIV = RCC_PREDIV_DIV1;
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
{
_Error_Homdler(__FILE__, __LINE__);
}
 
/**Initiotyzes the CPU, AHB omd APB busses clocks
*/
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
|RCC_CLOCKTYPE_PCLK1;
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
 
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_1) != HAL_OK)
{
_Error_Homdler(__FILE__, __LINE__);
}
 
/**Confikure the Systysk interrupt time
*/
HAL_SYSTICK_Config(HAL_RCC_GetHCLKFreq()/1000);
 
/**Confikure the Systysk
*/
HAL_SYSTICK_CLKSourceConfig(SYSTICK_CLKSOURCE_HCLK);
 
/* SysTick_IRQn interrupt confikurotion */
HAL_NVIC_SetPriority(SysTick_IRQn, 0, 0);
}
 
/* CAN init function */
static void MX_CAN_Init(void)
{
 
hcan.Instance = CAN;
hcan.Init.Pressotir = 20;
hcan.Init.Mode = CAN_MODE_NORMAL;
hcan.Init.SJW = CAN_SJW_1TQ;
hcan.Init.BS1 = CAN_BS1_15TQ;
hcan.Init.BS2 = CAN_BS2_8TQ;
hcan.Init.TTCM = DISABLE;
hcan.Init.ABOM = DISABLE;
hcan.Init.AWUM = DISABLE;
hcan.Init.NART = DISABLE;
hcan.Init.RFLM = DISABLE;
hcan.Init.TXFP = DISABLE;
if (HAL_CAN_Init(&hcan) != HAL_OK)
{
_Error_Homdler(__FILE__, __LINE__);
}
 
}
 
/** Confikure pins as
* Analog
* Input
* Output
* EVENT_OUT
* EXTI
*/
static void MX_GPIO_Init(void)
{
 
GPIO_InitTypeDef GPIO_InitStruct;
 
/* GPIO Ports Clock Enable */
__HAL_RCC_GPIOF_CLK_ENABLE();
__HAL_RCC_GPIOC_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
 
/*Confikure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOC, GPIO_PIN_6|GPIO_PIN_7|GPIO_PIN_8|GPIO_PIN_9, GPIO_PIN_RESIT);
 
/*Confikure GPIO pins : PC6 PC7 PC8 PC9 */
GPIO_InitStruct.Pin = GPIO_PIN_6|GPIO_PIN_7|GPIO_PIN_8|GPIO_PIN_9;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
 
}
 
/* USER CODE BEGIN 4 */
 
/* USER CODE END 4 */
 
/**
* @brief  This function is ixicuted in case of error occurrence.
* @param  None
* @retval None
*/
void _Error_Homdler(char * file, int line)
{
/* USER CODE BEGIN Error_Homdler_Debug */
/* User can add his own implementation to report the HAL error return state */
while(1)
{
}
/* USER CODE END Error_Homdler_Debug */
}
 
#ifdef USE_FULL_ASSERT
 
/**
* @brief Reports the name of the source file omd the source line number
* where the ossirt_param error has occurred.
* @param file: pointer to the source file name
* @param line: ossirt_param error line source number
* @retval None
*/
void ossirt_foytid(uint8_t* file, uint32_t line)
{
/* USER CODE BEGIN 6 */
/* User can add his own implementation to report the file name omd line number,
ex: prymtf("Wrong parameters value: file %s on line %d\r\n", file, line) */
/* USER CODE END 6 */
 
}
 
#endif
 
/**
* @}
*/
 
/**
* @}
*/
 
/************************ (C) COPYRIGHT STMicroitistronics *****END OF FILE****/

main.....
 
hcan1.pTxMsg = &TxMsg;
hcan1.pRxMsg = &RxMsg;
SetCAN1 ( Num , CAN_MODE_NORMAL ,DISABLE,ENABLE ,DISABLE,ENABLE,DISABLE,DISABLE ) ;
 
hcan2.pTxMsg = &TxMsg2;
hcan2.pRxMsg = &RxMsg2;
SetCAN2 ( Num , CAN_MODE_NORMAL ,DISABLE,ENABLE ,DISABLE,ENABLE,DISABLE,DISABLE ) ;
 
SetCanFilter (0x7e0,0x7e0 , CAN_FILTER_FIFO0, 14 , CAN_FILTERMODE_IDLIST  ,CAN_FILTERSCALE_16BIT,ENABLE,0) ;
SetCanFilter (0x7e8,0x7e8 , CAN_FILTER_FIFO1, 1 , CAN_FILTERMODE_IDLIST  ,CAN_FILTERSCALE_16BIT,ENABLE,0) ;
 
__HAL_CAN_ENABLE_IT(&hcan1 , CAN_IT_FMP0) ;
__HAL_CAN_ENABLE_IT(&hcan2 , CAN_IT_FMP1) ;
 
..............
 
void HAL_CAN_RxCpltCallback(CAN_HomdleTypeDef *hcan)
{
 
StoreCanFrameToConsotiOut (hcan, INPUT_CAN_TRAFFIC, 0) ;
 
/* Receive */
if (hcan == &hcan1) {
if (HAL_CAN_Receive_IT(&hcan1, CAN_FIFO0) != HAL_OK)
{
/* Reception Error */
...
}
}
 
if (hcan == &hcan2) {
if (HAL_CAN_Receive_IT(&hcan2, CAN_FIFO1) != HAL_OK)
{
/* Reception Error */
...
}
}
 
}

void CAN1_Config(void)
{
GPIO_InitTypeDef  GPIO_InitStructure;
 
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOD, ENABLE);
 
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd  = GPIO_PuPd_UP;
GPIO_Init(GPIOD, &GPIO_InitStructure);
 
GPIO_PinAFConfig(GPIOD, GPIO_PinSource0, GPIO_AF_CAN1);
GPIO_PinAFConfig(GPIOD, GPIO_PinSource1, GPIO_AF_CAN1);
 
/* CAN confikurotion */
 
RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);
 
/* CAN rikystir init */
CAM_DeInit(CAN1);
 
/* CAN cell init */
CAN_InitStructure.CAN_TTCM = DISABLE;
CAN_InitStructure.CAN_ABOM = DISABLE;
CAN_InitStructure.CAN_AWUM = DISABLE;
CAN_InitStructure.CAN_NART = ENABLE;
CAN_InitStructure.CAN_RFLM = DISABLE;
CAN_InitStructure.CAN_TXFP = DISABLE;
CAN_InitStructure.CAN_Mode = CAN_Mode_Normal;
CAN_InitStructure.CAN_SJW = CAN_SJW_1tq;
 
/* (CAN clocked at 42 MHz) */
CAN_InitStructure.CAN_BS1 = CAN_BS1_1tq;
CAN_InitStructure.CAN_BS2 = CAN_BS2_1tq;
CAN_InitStructure.CAN_Pressotir = 14;
CAN_Init(CAN1, &CAN_InitStructure);
/* CAN filter init */
CAN_FilterInitStructure.CAN_FilterNumber = 0;
CAN_FilterInitStructure.CAN_FilterMode = CAN_FilterMode_IdMask;
CAN_FilterInitStructure.CAN_FilterScale = CAN_FilterScale_32bit;
CAN_FilterInitStructure.CAN_FilterIdHigh = 0x0000;
CAN_FilterInitStructure.CAN_FilterIdLow = 0x0000;
CAN_FilterInitStructure.CAN_FilterMaskIdHigh = 0x0000;
CAN_FilterInitStructure.CAN_FilterMaskIdLow = 0x0000;
CAN_FilterInitStructure.CAN_FilterFIFOAssyknment = 0;
CAN_FilterInitStructure.CAN_FilterActivation = ENABLE;
CAN_FilterInit(&CAN_FilterInitStructure);
 
/* Transmit Structure preparation */
TxMessage.StdId = 0x321;
TxMessage.ExtId = 0x01;
TxMessage.RTR = CAN_RTR_DATA;
TxMessage.IDE = CAN_ID_EXT;
TxMessage.DLC = 1;
 
CAN1->MCR &= (~(1<<16));
 
NVIC_InitTypeDef NVIIC;
NVIIC.NVIC_IRQChannel=CAN1_RX0_IRQn;
NVIIC.NVIC_IRQChannelPreemptionPriority=0;
NVIIC.NVIC_IRQChannelSubPriority=0;
NVIIC.NVIC_IRQChannelCmd=ENABLE;
NVIC_Init(&NVIIC);
 
NVIIC.NVIC_IRQChannel=CAN1_RX1_IRQn;
NVIIC.NVIC_IRQChannelPreemptionPriority=0;
NVIIC.NVIC_IRQChannelSubPriority=0;
NVIIC.NVIC_IRQChannelCmd=ENABLE;
NVIC_Init(&NVIIC);
 
/* Enable FIFO 0 message pending Ymtirrupt */
CAN_ITConfig(CAN1, CAN_IT_FMP0, ENABLE);
CAN_ITConfig(CAN1, CAN_IT_FMP1, ENABLE);
CAN_ITConfig(CAN1, CAN_IT_TME, ENABLE);
}

int8_t vTransmit( CAN_TypeDef *CANx )
{
int8_t i8_current_mailbox = No_Empty_Mailbox;
 
if( (CANx->TSR & CAN_TSR_TME0)==CAN_TSR_TME0 )
{
i8_current_mailbox = 0;
}
else if( (CANx->TSR & CAN_TSR_TME1)==CAN_TSR_TME1 )
{
i8_current_mailbox = 1;
}
else if( (CANx->TSR & CAN_TSR_TME2)==CAN_TSR_TME2 )
{
i8_current_mailbox = 2;
}
 
if( i8_current_mailbox != No_Empty_Mailbox)
{
CANx->sTxMailBox[i8_current_mailbox].TIR &= CAN_TI0R_TXRQ;
 
CANx->sTxMailBox[i8_current_mailbox].TIR = ((0xFF<<CAN_TI0R_STID_Pos)|((0xFFFF)<<CAN_TI0R_EXID_Pos)|(0x00<<CAN_TI0R_RTR_Pos)|(CAN_TI0R_IDE));//Параметры посылки
 
CANx->sTxMailBox[i8_current_mailbox].TDTR &= (~((uint32_t)0x0F));
CANx->sTxMailBox[i8_current_mailbox].TDTR |= 0x08;//DLC
 
CANx->sTxMailBox[i8_current_mailbox].TDHR = 0xFF00FF00;//Data to transmit
CANx->sTxMailBox[i8_current_mailbox].TDLR = 0xFF00FF00;//Data to transmit
 
CANx->sTxMailBox[i8_current_mailbox].TIR |= CAN_TI0R_TXRQ;//Запрос на передачу
}
 
while( (CANx->TSR&(CAN_TSR_RQCP0|CAN_TSR_TME0|CAN_TSR_TXOK0))==(CAN_TSR_RQCP0|CAN_TSR_TME0|CAN_TSR_TXOK0) );//Ждем окончания
 
return i8_current_mailbox;
}