/**
******************************************************************************
* @file TIM/TIM1_Synchro/main.c
* @author MCD Application Team
* @version V1.0.0
* @date 18-April-2011
* @brief Main program body
******************************************************************************
* @attention
*
* THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS
* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE
* TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY
* DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING
* FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE
* CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS.
*
* <h2><center>© COPYRIGHT 2011 STMicroelectronics</center></h2>
******************************************************************************
*/
/* Includes ------------------------------------------------------------------*/
#include "stm32f2xx.h"
/* Private typedef -----------------------------------------------------------*/
/* Private define ------------------------------------------------------------*/
// #define KEY_PRESSED 0x00
// #define KEY_NOT_PRESSED 0x01
vu32 ret;
#define Uchar unsigned char
#define BOX_DIS_IDENT 0x9555AA01
#define BOX_CTRL_IDENT 0x9555AAB0
typedef enum {FAILED = 0, PASSED = !FAILED} TestStatus;
volatile TestStatus TestRx;
ErrorStatus HSEStartUpStatus;
/* Private macro -------------------------------------------------------------*/
/* Private variables ---------------------------------------------------------*/
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
TIM_BDTRInitTypeDef TIM_BDTRInitStructure;
GPIO_InitTypeDef GPIO_InitStructure;
CAN_InitTypeDef CAN_InitStructure;
CAN_FilterInitTypeDef CAN_FilterInitStructure;
CanTxMsg TxMessage;
CanRxMsg RxMessage;
/* Private function prototypes -----------------------------------------------*/
void TIM1_Config(void);
void TIM1_PWM_Gpio(void);
void TIM2_Config(void);
void TIM2_Gpio(void);
void NVIC_Configuration(void);
void CAN_Config(void);
void Init_RxMes(CanRxMsg *RxMessage);
void can_send_order(Uchar order, Uchar data1, Uchar data2,Uchar data3,Uchar data4); //发送命令参数
/* Private functions ---------------------------------------------------------*/
/**
* @brief Main program
* @param None
* @retval None
*/
int main(void)
{
/*!< At this stage the microcontroller clock setting is already configured,
this is done through SystemInit() function which is called from startup
file (startup_stm32f2xx.s) before to branch to application main.
To reconfigure the default setting of SystemInit() function, refer to
system_stm32f2xx.c file
*/
/* System Clocks Configuration */
SystemInit();
/* GPIOA, GPIOB and GPIOC clocks enable */
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA | RCC_AHB1Periph_GPIOB | RCC_AHB1Periph_GPIOC | RCC_AHB1Periph_GPIOD, ENABLE);
/* TIM1 clock enable */
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);
/*TIM2 clock enablae*/
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2 , ENABLE);
/* CAN Periph clock enable */
// RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN, ENABLE);
/* TIM1 Configuration */
// TIM_Config();
NVIC_Configuration();
TIM1_PWM_Gpio();
TIM1_Config();
TIM2_Gpio();
TIM2_Config();
TIM_CtrlPWMOutputs(TIM1, ENABLE);
u32 i=0;
TIM_ITConfig(TIM2, TIM_IT_Update , ENABLE);//开启计数中断
/* TIM2 enable counter */
TIM_Cmd(TIM2, ENABLE);//开启时钟
while (1)
{
can_send_order(0x1F,0xB0,7,12,0);
for(i=0;i<=0x1ffff;i++);
}
}
/**
* @brief Configures TIM1, TIM3 and TIM4 Pins.
* @param None
* @retval None
*/
void NVIC_Configuration(void)
{
NVIC_InitTypeDef NVIC_InitStructure;
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_0);
/* Enable the TIM2 global Interrupt */
NVIC_InitStructure.NVIC_IRQChannel = TIM2_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
NVIC_InitStructure.NVIC_IRQChannel = CAN1_RX0_IRQn; //先指定CAN1_RX0_IRQn进入中断口
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x0; //阶级0
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x0; //阶层0
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
}
void TIM1_Config()
{
/* TIM1 Peripheral Configuration ----------------------------------------*/
/* Time Base configuration */
TIM_TimeBaseStructure.TIM_Prescaler = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseStructure.TIM_Period = 255;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_RepetitionCounter = 4;
TIM_TimeBaseInit(TIM1, &TIM_TimeBaseStructure);
/* Channel 1 Configuration in PWM mode */
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Enable;
TIM_OCInitStructure.TIM_Pulse = 127;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low;
TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_High;
TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Set;
TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCIdleState_Reset;
TIM_OC1Init(TIM1, &TIM_OCInitStructure);
//启用CCR1寄存器的影子寄存器（直到产生更新事件才更改设置）
TIM_OC1PreloadConfig(TIM1, TIM_OCPreload_Enable);
//通道2 TIM_OC1PreloadConfig
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Enable;
TIM_OCInitStructure.TIM_Pulse = 127;
TIM_OC2Init(TIM1, &TIM_OCInitStructure);
//启用CCR1寄存器的影子寄存器（直到产生更新事件才更改设置）
TIM_OC2PreloadConfig(TIM1, TIM_OCPreload_Enable);
//通道2 TIM_OC1PreloadConfig
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Enable;
TIM_OCInitStructure.TIM_Pulse = 127;
TIM_OC3Init(TIM1, &TIM_OCInitStructure);
//启用CCR1寄存器的影子寄存器（直到产生更新事件才更改设置）
TIM_OC3PreloadConfig(TIM1, TIM_OCPreload_Enable);
/* Automatic Output enable, Break, dead time and lock configuration*/
TIM_BDTRInitStructure.TIM_OSSRState = TIM_OSSRState_Enable;
TIM_BDTRInitStructure.TIM_OSSIState = TIM_OSSIState_Enable;
TIM_BDTRInitStructure.TIM_LOCKLevel = TIM_LOCKLevel_1;
TIM_BDTRInitStructure.TIM_DeadTime = 5;
TIM_BDTRInitStructure.TIM_Break = TIM_Break_Disable;
TIM_BDTRInitStructure.TIM_BreakPolarity = TIM_BreakPolarity_High;
TIM_BDTRInitStructure.TIM_AutomaticOutput = TIM_AutomaticOutput_Disable;
TIM_BDTRConfig(TIM1, &TIM_BDTRInitStructure);
/* Master Mode selection */
TIM_SelectOutputTrigger(TIM1, TIM_TRGOSource_Update);
/* Select the Master Slave Mode */
TIM_SelectMasterSlaveMode(TIM1, TIM_MasterSlaveMode_Enable);
/* TIM1 counter enable */
TIM_Cmd(TIM1, ENABLE);
}
void TIM1_PWM_Gpio(void)
{
/* GPIOA Configuration: TIM1 Channel1 as alternate function push-pull */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init(GPIOA, &GPIO_InitStructure);
/* Connect TIM pins to AF1 */
GPIO_PinAFConfig(GPIOA, GPIO_PinSource8 , GPIO_AF_TIM1);
/* Connect TIM pins to AF2 */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_13 ;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init(GPIOB, &GPIO_InitStructure);
/* Connect TIM pins to AF1 */
GPIO_PinAFConfig(GPIOB, GPIO_PinSource13 , GPIO_AF_TIM1);
//TIM1的channel2通道设置
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init(GPIOA, &GPIO_InitStructure);
GPIO_PinAFConfig(GPIOA, GPIO_PinSource9 , GPIO_AF_TIM1);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_14 ;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init(GPIOB, &GPIO_InitStructure);
/* Connect TIM pins to AF1 */
GPIO_PinAFConfig(GPIOB, GPIO_PinSource14 , GPIO_AF_TIM1);
// GPIO_PinAFConfig(GPIOA, GPIO_PinSource14 , GPIO_AF_TIM1);
//TIM1的channel3通道设置
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init(GPIOA, &GPIO_InitStructure);
GPIO_PinAFConfig(GPIOA, GPIO_PinSource10 , GPIO_AF_TIM1);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_15 ;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init(GPIOB, &GPIO_InitStructure);
/* Connect TIM pins to AF1 */
GPIO_PinAFConfig(GPIOB, GPIO_PinSource15 , GPIO_AF_TIM1);
// GPIO_PinAFConfig(GPIOA, GPIO_PinSource14 , GPIO_AF_TIM1);
}
void TIM2_Config(void)
{
TIM_TimeBaseStructure.TIM_Period = 6000;
TIM_TimeBaseStructure.TIM_Prescaler = 9999;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);
TIM_ClearITPendingBit(TIM2, TIM_IT_Update);
// TIM_ITConfig(TIM2, TIM_IT_Update , ENABLE);//开启计数中断
/* TIM2 enable counter */
//TIM_Cmd(TIM2, ENABLE);//开启时钟
}
void TIM2_Gpio(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
/* 硬件连接 示意图
PA6----->D1
PD12---->D2
PA5----->D3
PA4----->D4
*/
// RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA|RCC_AHB1Periph_GPIOD, ENABLE);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 | GPIO_Pin_5 | GPIO_Pin_6 ;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;//输出模式
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;//推免式 还可以配置为开漏模式 可以作为双向io 比如i2c
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;//扫描频率100m
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;// GPIO_PuPd_NOPULL = 0x00,GPIO_PuPd_UP = 0x01, GPIO_PuPd_DOWN = 0x02 上拉下拉配置
GPIO_Init(GPIOA, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init(GPIOD, &GPIO_InitStructure);
}
void CAN_Config(void)
{
CAN_FilterInitTypeDef CAN_FilterInitStructure;
// CanTxMsg TxMessage;
// CanRxMsg RxMessage;
GPIO_InitTypeDef GPIO_InitStructure;
u32 i = 0,j;
// u8 TransmitMailbox;
/* CAN GPIOs configuration **************************************************/
/* Connect CAN pins to AF9 */ //引脚的复用配置（特殊功能配置）
GPIO_PinAFConfig(GPIOD, GPIO_PinSource0, GPIO_AF_CAN1);
GPIO_PinAFConfig(GPIOD, GPIO_PinSource1, GPIO_AF_CAN1);
/* Configure CAN RX pins */
// GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 ;
// GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN;
//GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
//GPIO_InitStructure.GPIO_OType = GPIO_PuPd_UP;
//GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
//GPIO_Init(GPIOD, &GPIO_InitStructure);
/* Configure CAN TX pins */
//GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1;
//GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
//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);
/* Configure CAN Remap 不需要重影射 */
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);
/* CAN configuration ********************************************************/
/* Enable CAN clock */
RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);
/* CAN register init */
CAN_DeInit(CAN1); //can1寄存器初始化
CAN_StructInit(&CAN_InitStructure);
/* CAN cell init */
CAN_InitStructure.CAN_TTCM = DISABLE; // 禁止 时间触发通信模式
CAN_InitStructure.CAN_ABOM = DISABLE; // 软件对CAN_MCR寄存器的INRQ位进行置1随后清0后，一旦硬件检测
//到128次11位连续的隐性位，就退出离线状态
CAN_InitStructure.CAN_AWUM = DISABLE; // //睡眠模式通过清除CAN_MCR寄存器的SLEEP位，由软件唤醒
CAN_InitStructure.CAN_NART = DISABLE; // 按照CAN标准，DISABLE;CAN报文只被发送1次，不管发送的结果如何（成功、出错或仲裁丢失）
CAN_InitStructure.CAN_RFLM = DISABLE; // 在接收溢出时FIFO未被锁定，当接收FIFO的报文未被读出，下一个收到的报文会覆盖原有
//的报文
CAN_InitStructure.CAN_TXFP = DISABLE; //发送优先级由报文的标示符决定
CAN_InitStructure.CAN_Mode = CAN_Mode_LoopBack; ////CAN硬件工作在正常模式
CAN_InitStructure.CAN_SJW = CAN_SJW_1tq; // 重新同步跳跃宽度1个时间单位
/* CAN Baudrate = 1 MBps (CAN clocked at 30 MHz) */
CAN_InitStructure.CAN_BS1 = CAN_BS1_6tq; // 时间段1为6个时间单位 主要是控制波特率的////////////////////////////////
CAN_InitStructure.CAN_BS2 = CAN_BS2_8tq; // 时间段2为8个时间单位///////////////////////////////////////////////////////////
CAN_InitStructure.CAN_Prescaler = 4; // //(pclk1/((1+8+6)*4)) = 30Mhz/15/4 = 0.5Mhz设定了一个时间单位的长度2
/* 波特率计算方法 */
/* CANbps= Fpclk/((BRP+1)*((Tseg1+1)+(Tseg2+1)+1) 此处计算为 CANbps=36000000/(45*(4+3+1))=100kHz */ //此处Tseg1+1 = CAN_BS1_8tp
/* 配置大方向: Tseg1>=Tseg2 Tseg2>=tq; Tseg2>=2TSJW */
CAN_Init(CAN1, &CAN_InitStructure); //
if (CAN_Init(CAN1,&CAN_InitStructure) == CANINITFAILED)
{
while(1);
/* 初始化时先设置CAN_MCR的初始化位 */
/* 然后查看硬件是否真的设置了CAN_MSR的初始化位来确认是否进入了初始化模式 */
}
CAN_FilterInitStructure.CAN_FilterNumber = 0; //滤波器数值 //指定了待初始化的过滤器0
CAN_FilterInitStructure.CAN_FilterNumber = 14; //滤波器数值
CAN_FilterInitStructure.CAN_FilterMode = CAN_FilterMode_IdMask; //指定了过滤器将被初始化到的模式为标识符屏蔽位模式
CAN_FilterInitStructure.CAN_FilterScale = CAN_FilterScale_32bit; //给出了过滤器位宽1个32位过滤器
//CAN_FilterInitStructure.CAN_FilterIdHigh = 0x0000; //用来设定过滤器标识符（32位位宽时为其高段位，16位位宽时为第一个）
// CAN_FilterInitStructure.CAN_FilterIdLow = 0x0000; //用来设定过滤器标识符（32位位宽时为其低段位，16位位宽时为第二个
CAN_FilterInitStructure.CAN_FilterIdHigh = ((BOX_CTRL_IDENT<<3)&0xFFFF0000)>>16;
CAN_FilterInitStructure.CAN_FilterIdLow = (((BOX_CTRL_IDENT)<<3)&0x0000FFFF) | CAN_ID_EXT;
CAN_FilterInitStructure.CAN_FilterMaskIdHigh = 0x0000; //用来设定过滤器屏蔽标识符或者过滤器标识符（32位位宽时为其高段位，16位位宽时为第一个
CAN_FilterInitStructure.CAN_FilterMaskIdLow = 0x0000; //用来设定过滤器屏蔽标识符或者过滤器标识符（32位位宽时为其低段位，16位位宽时为第二个
CAN_FilterInitStructure.CAN_FilterFIFOAssignment = 0; //设定了指向过滤器的FIFO0
CAN_FilterInitStructure.CAN_FilterActivation = ENABLE; //使能过滤器
CAN_FilterInit(&CAN_FilterInitStructure);
CAN_ITConfig(CAN1, CAN_IT_FMP0, ENABLE); //使能指定的CAN1的邮箱0挂起中断使能中断
/* transmit */
TxMessage.StdId=0x00;
TxMessage.ExtId = 0x9555AAB0;//0x9555AA01;
TxMessage.RTR=CAN_RTR_DATA; //确定传输消息的帧类型
TxMessage.IDE=CAN_ID_EXT; //设定消息标示符的类型
TxMessage.DLC=8;
/* can 接收设置*/
RxMessage.StdId = 0x00;//0x00;
RxMessage.ExtId = 0x9555AAB0;
RxMessage.IDE=CAN_ID_EXT; //使用扩展的ID
RxMessage.DLC=8;
RxMessage.FMI=0; //过滤器匹配编号
for (i = 0;i < 8;i++)
{
RxMessage.Data
= 0x00;
}
// CAN_Receive(CAN_FIFO0, &RxMessage);
/* Enable FIFO 0 message pending Interrupt */
//CAN_ITConfig(CAN1, CAN_IT_FMP0, ENABLE); //使能指定的CAN1的邮箱0挂起中断使能中断
}
/*
void Init_RxMes(CanRxMsg *RxMessage)
{
uint8_t i = 0;
RxMessage->StdId = 0x00;
RxMessage->ExtId = 0x00;
RxMessage->IDE = CAN_ID_STD;
RxMessage->DLC = 0;
RxMessage->FMI = 0;
for (i = 0;i < 8;i++)
{
RxMessage->Data = 0x00;
}
}
*/
void TIM2_IRQHandler(void)
{
if (TIM_GetITStatus(TIM2, TIM_IT_Update) != RESET)
{
TIM_ClearITPendingBit(TIM2, TIM_IT_Update);
/* Pin PC.06 toggling with frequency = 73.24 Hz */
GPIO_WriteBit(GPIOA, GPIO_Pin_4, (BitAction)(1 - GPIO_ReadOutputDataBit(GPIOA, GPIO_Pin_4)));
GPIO_WriteBit(GPIOA, GPIO_Pin_5, (BitAction)(1 - GPIO_ReadOutputDataBit(GPIOA, GPIO_Pin_5)));
GPIO_WriteBit(GPIOA, GPIO_Pin_6, (BitAction)(1 - GPIO_ReadOutputDataBit(GPIOA, GPIO_Pin_6)));
GPIO_WriteBit(GPIOD, GPIO_Pin_12, (BitAction)(1 - GPIO_ReadOutputDataBit(GPIOD, GPIO_Pin_12)));
}
}
void can_send_order(Uchar order, Uchar data1, Uchar data2, Uchar data3,Uchar data4)//加了一个字节？？？？等待？超时？
{
int num;
// CanTxMsg TxMessage;
// TxMessage.Data[0]=0xDE;
// TxMessage.Data[1]=0xCA;
TxMessage.Data[0] = order;
TxMessage.Data[1] = data1;
TxMessage.Data[2] = data2;
TxMessage.Data[3] = data3;
TxMessage.Data[4] = data4;
//TxMessage.Data[5] = CAN_DATA5;
//TxMessage.Data[6] = CAN_DATA6;
//TxMessage.Data[7] = CAN_DATA7;
num = CAN_Transmit(CAN1,&TxMessage); /* 返回这个信息请求发送的邮箱号0,1,2或没有邮箱申请发送no_box */
while (CANTXOK != CAN_TransmitStatus(CAN1,num))
{
}
}
void CAN1_RX0_IRQHandler(void)
{
//uint8_t CanFlag;
//uint16_t CAN_ID;
uint8_t CAN_DATA0,CAN_DATA1,CAN_DATA2,CAN_DATA3,CAN_DATA4,CAN_DATA5,CAN_DATA6,CAN_DATA7;
CanRxMsg RxMessage;
CAN_Receive(CAN1,CAN_FIFO0, &RxMessage); /* 此函数包含释放提出报文了的,在非必要时,不需要自己释放 */
// CAN_ID=RxMessage.StdId;
CAN_DATA0=RxMessage.Data[0];
CAN_DATA1=RxMessage.Data[1];
CAN_DATA2=RxMessage.Data[2];
CAN_DATA3=RxMessage.Data[3];
CAN_DATA4=RxMessage.Data[4];
CAN_DATA5=RxMessage.Data[5];
CAN_DATA6=RxMessage.Data[6];
CAN_DATA7=RxMessage.Data[7];
CAN_ClearITPendingBit(CAN1,CAN_IT_FMP0); /* 清除挂起中断 */
// CanFlag = ENABLE;
}
#ifdef USE_FULL_ASSERT
/**
* @brief Reports the name of the source file and the source line number
* where the assert_param error has occurred.
* @param file: pointer to the source file name
* @param line: assert_param error line source number
* @retval None
*/
void assert_failed(uint8_t* file, uint32_t line)
{
/* User can add his own implementation to report the file name and line number,
ex: printf("Wrong parameters value: file %s on line %d
", file, line) */
while (1)
{}
}
#endif
/**
* @}
*/
/**
* @}
*/
/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/
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