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Can communication experiment between C and C
2022-06-25 00:45:00 【Rodinia lava】
C# Of message Comparison with single chip microcomputer ：
public struct MESSAGESTRUCT
{
public string name; // name
public int id; //ID
public string comment; // explain
public int dlc; // Number of bytes
public string type; //J1939, Wake up the , standard
public Dictionary<string, SIGNALSTRUCT> dicsignal;// Locate the signal according to the signal name
public Kvadblib.MessageHnd mh; // Handle of current message
}
u8 Can_Send_Msg(u8* msg, u8 len)
{
u8 mbox;
u16 i = 0;
CanTxMsg TxMessage;
TxMessage.StdId = 0x12; // Standard Identifier
TxMessage.ExtId = 0x12; // Set identifier extension
TxMessage.IDE = CAN_Id_Standard; // Standard frame
TxMessage.RTR = CAN_RTR_Data; // Data frame
TxMessage.DLC = len; // The length of data to be sent
for (i = 0; i < len; i++)
TxMessage.Data[i] = msg[i];
mbox = CAN_Transmit(CAN1, &TxMessage);
i = 0;
while ((CAN_TransmitStatus(CAN1, mbox) == CAN_TxStatus_Failed) && (i < 0XFFF)) i++; // Wait for the end of sending
if (i >= 0XFFF) return 1;
return 0;
}
typedef struct
{
uint32_t StdId; /*!< Specifies the standard identifier. Standard Identifier This parameter can be a value between 0 to 0x7FF. */
uint32_t ExtId; /*!< Specifies the extended identifier. Set the extension identifier This parameter can be a value between 0 to 0x1FFFFFFF. */
uint8_t IDE; /*!< Specifies the type of identifier for the message that will be transmitted. This parameter can be a value of @ref CAN_identifier_type */
uint8_t RTR; /*!< Specifies the type of frame for the message that will be transmitted. This parameter can be a value of @ref CAN_remote_transmission_request */
uint8_t DLC; /*!< Specifies the length of the frame that will be transmitted. This parameter can be a value between 0 to 8 */
uint8_t Data[8]; /*!< Contains the data to be transmitted. It ranges from 0 to 0xFF. */
}
CanTxMsg;
using canlibCLSNET;
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using System.Windows.Forms;
using static canlibCLSNET.Canlib;
namespace CanDemon
{
public partial class FrmMain : Form
{
public FrmMain()
{
InitializeComponent();
//Canlib.canInitializeLibrary();// Read information , initialization
this.btnRefresh_Click(null, null); // Refresh
this.cmb_Baud.DataSource = new List<string>() {
"125000", "250000", "500000", "1000000" };
this.cmb_Baud.SelectedIndex = 0;
}
private int handle = 0;
private canStatus canStatus;
private int chanelCount = 0; // The channel number
CancellationTokenSource cts = new CancellationTokenSource();
private void btnRefresh_Click(object sender, EventArgs e)
{
canStatus = Canlib.canGetNumberOfChannels(out chanelCount);// obtain can All channels
if (canStatus!= canStatus.canOK)
{
HandleError("canGetNumberOfChannels", canStatus);
}
cmb_Channel.Items.Clear();
for (int i = 0; i < chanelCount; i++)
{
object obj;
// Get channel name ：canCHANNELDATA_CHANNEL_NAME
canStatus status = canGetChannelData(i, canCHANNELDATA_CHANNEL_NAME,out obj);//channel Number ,item Number ,buffer data
string strout = obj.ToString(); // convert to obj type Get channel name
// product ID canCHANNELDATA_CARD_SERIAL_NO
status = canGetChannelData(i, canCHANNELDATA_CARD_SERIAL_NO, out obj);
string strtmp = string.Format(",{0:D6}", obj); // The data length is 6, If it is not enough, fill in the front 0
strout += strtmp;
cmb_Channel.Items.Add(strout);
}
}
private void btnOpen_Click(object sender, EventArgs e)
{
if (this.btnOpen.Text == " open ")
{
// open
handle = canOpenChannel(this.cmb_Channel.SelectedIndex, canOPEN_OVERRIDE_EXCLUSIVE + canOPEN_ACCEPT_VIRTUAL);
// set baud rate
canStatus = canSetBitrate(handle, Convert.ToInt32(this.cmb_Baud.Text));
HandleError("canSetBitrate", canStatus);
//Bus On
canStatus = canBusOn(handle);
if (canStatus != canStatus.canOK)
{
HandleError("canBusOn", canStatus);
return;
}
else
{
// Start thread reading
this.btnOpen.Text = "Close";
Task.Run(async () =>
{
while (!cts.IsCancellationRequested)
{
byte[] buffer = new byte[100];
//out There is no need to define
//dlc length ,flag Sign a
await Task.Delay(500);
canStatus = canRead(handle, out int id, buffer, out int dlc, out int flag, out long time);
if (canStatus != canStatus.canOK)
{
string error = string.Empty;
canGetErrorText(canStatus, out error);
AddInfo("Receive Error:" + error);
}
else
{
// Successfully read
byte[] result = new byte[dlc];
//buffer Copy to reslut
Array.Copy(buffer, 0, result, 0, dlc);
AddInfo("Receive Data:" + time.ToString() + " " + id.ToString() + GetHexStringFromByteArray(result));
}
}
});
}
}
else
{
canClose(handle);
this.btnOpen.Text = "Open";
}
}
private void HandleError(string cmd, canStatus status)
{
if (status != canStatus.canOK) // Error status
{
string error = string.Empty;
canGetErrorText(status, out error);
AddInfo($"{
cmd} Error: {
error}");
}
}
private void AddInfo(string info)
{
if (this.listInfo.InvokeRequired)
{
this.Invoke(new Action(() =>
{
this.listInfo.Items.Add(info);
}));
//this.listInfo.Invoke
}
else
{
this.listInfo.Items.Add(info);
}
}
private string GetHexStringFromByteArray(byte[] b)
{
StringBuilder sb = new StringBuilder();
foreach (var item in b)
{
sb.Append(item.ToString("X") + " ");
}
return sb.ToString().Trim();
}
}
}
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using Kvaser.Kvadblib;
namespace CanDemon
{
public enum canMSGFlag
{
canMsg_Mask = 0x00FF,
canMsg_RTR = 0x0001,
canMsg_STD = 0x0002,
canMsg_EXT = 0x0004,
canMsg_WAKEUP = 0x0008,
canMsg_NERR = 0x0010,
canMsg_ERROR_FRAME = 0x0020,
canMsg_TXACK = 0x0040,
canMsg_TXRQ = 0x0080F,
}
public struct SIGNALSTRUCT
{
public string name; // name
public string comment; // notes
public string unit; // Company
public string encooding; // code
public string type; // type
public double minvaluelimit; // minimum value
public double maxvaluelimit; // Maximum
public double factor; // coefficient
public double offset; // Offset
public int startbit; // Start bit
public int bitlength; // Bit length
public Kvadblib.SignalHnd sh; // Handle to the current signal
}
public struct MESSAGESTRUCT
{
public string name; // name
public int id; //ID
public string comment; // explain
public int dlc; // Number of bytes
public string type; //J1939, Wake up the , standard
public Dictionary<string, SIGNALSTRUCT> dicsignal;// Locate the signal according to the signal name One to many , There are many. signnal
public Kvadblib.MessageHnd mh; // Handle of current message
}
public class canDbcReader
{
Kvadblib.Hnd dh = new Kvadblib.Hnd();
Kvadblib.MessageHnd mh = new Kvadblib.MessageHnd();
Kvadblib.SignalHnd sh = new Kvadblib.SignalHnd();
Kvadblib.Status status;
//08
public Dictionary<int, MESSAGESTRUCT> dicMessage = new Dictionary<int, MESSAGESTRUCT>(); //canDbcReader There are multiple Message
public Dictionary<string, int> dicSigNameID = new Dictionary<string, int>();
public canDbcReader()
{
dh = new Kvadblib.Hnd();
status = Kvadblib.Open(out dh);
}
#region Import dbc file , The relevant data is stored in the structure of the dictionary
public bool ImportDbc(string strDbc)
{
#region Clear the original data
foreach (MESSAGESTRUCT item in dicMessage.Values)
{
item.dicsignal.Clear();
}
dicMessage.Clear();
dicSigNameID.Clear();
#endregion
try
{
// open dbc file
status = Kvadblib.ReadFile(dh, strDbc);
if (status != Kvadblib.Status.OK)
return false;
status = Kvadblib.GetFirstMsg(dh, out mh);
while (status == Kvadblib.Status.OK)// Loop through the message , And the signal below the message
{
MESSAGESTRUCT message = new MESSAGESTRUCT();
message.dicsignal = new Dictionary<string, SIGNALSTRUCT>();
if (!GetMessageInfo(mh, out message))
return false;
dicMessage.Add(message.id, message);
status = Kvadblib.GetNextMsg(dh, out mh);
}
return true;
}
catch
{
return false;
}
}
#endregion
#region According to the signal handle sh Get signal information
private void GetSignalInfo(Kvadblib.SignalHnd sh, out SIGNALSTRUCT sig)
{
SIGNALSTRUCT signal = new SIGNALSTRUCT();
signal.sh = sh; // Signal handle
status = Kvadblib.GetSignalName(sh, out signal.name); // Signal name
status = Kvadblib.GetSignalComment(sh, out signal.comment); // Signal description
status = Kvadblib.GetSignalUnit(sh, out signal.unit); // Signal unit
Kvadblib.SignalEncoding se; // Encoding mode ,inter or motorola
status = Kvadblib.GetSignalEncoding(sh, out se);
if (se == Kvadblib.SignalEncoding.Intel)
signal.encooding = "Inter";
else if (se == Kvadblib.SignalEncoding.Motorola)
signal.encooding = "Motorola";
Kvadblib.SignalType st; // Signal data type
status = Kvadblib.GetSignalRepresentationType(sh, out st);
switch (st)
{
case Kvadblib.SignalType.Signed:
signal.type = "Signed";
break;
case Kvadblib.SignalType.Unsigned:
signal.type = "Unsigned";
break;
case Kvadblib.SignalType.Double:
signal.type = "Double";
break;
case Kvadblib.SignalType.Float:
signal.type = "Float";
break;
case Kvadblib.SignalType.Invalid:
signal.type = "Invalid";
break;
}
status = Kvadblib.GetSignalValueLimits(sh, out signal.minvaluelimit, out signal.maxvaluelimit);// Range of maximum and minimum signal values
status = Kvadblib.GetSignalValueScaling(sh, out signal.factor, out signal.offset);// Factors and offsets
status = Kvadblib.GetSignalValueSize(sh, out signal.startbit, out signal.bitlength);// Start bit , Bit length
sig = signal;
}
#endregion
#region According to the message handle mh Get message information
private bool GetMessageInfo(Kvadblib.MessageHnd mh, out MESSAGESTRUCT msg)
{
MESSAGESTRUCT message = new MESSAGESTRUCT();
message.dicsignal = new Dictionary<string, SIGNALSTRUCT>();
try
{
Kvadblib.MESSAGE km;
status = Kvadblib.GetMsgId(mh, out message.id, out km);//ID And frame type
switch (km)
{
case Kvadblib.MESSAGE.EXT:
message.type = " Expand ";
message.id = message.id & 0x1FFFFFFF;
break;
case Kvadblib.MESSAGE.J1939:
message.type = "J1939";
break;
case Kvadblib.MESSAGE.WAKEUP:
message.type = " Wake up frame ";
break;
default:
message.type = " standard ";
message.id = message.id & 0x1FFFFFFF;
break;
}
status = Kvadblib.GetMsgName(mh, out message.name);// Message name
status = Kvadblib.GetMsgDlc(mh, out message.dlc);// packet length
status = Kvadblib.GetMsgComment(mh, out message.comment);// Message description
message.mh = mh;// Current handle
SIGNALSTRUCT signal = new SIGNALSTRUCT();
Kvadblib.SignalHnd sh = new Kvadblib.SignalHnd();
status = Kvadblib.GetFirstSignal(message.mh, out sh);
while (status == Kvadblib.Status.OK)
{
GetSignalInfo(sh, out signal);
dicSigNameID.Add(signal.name, message.id);
message.dicsignal.Add(signal.name, signal);
status = Kvadblib.GetNextSignal(mh, out sh);
}
msg = message;
return true;
}
catch
{
msg = message;
return false;
}
}
#endregion
#region Fill the message with physical quantity or original value
// Fill the message with the original value of the signal
public bool StoreSignalValueRaw(SIGNALSTRUCT signal, byte[] candata, int length, int raw)
{
status = Kvadblib.StoreSignalValueRaw(signal.sh, candata, candata.Length, raw);
if (status != Kvadblib.Status.OK) return false;
return true;
}
// Fill the message with the physical value of the signal
public bool StoreSignalValuePhys(SIGNALSTRUCT signal, byte[] candata, int length, double phys)
{
status = Kvadblib.StoreSignalValuePhys(signal.sh, candata, candata.Length, phys);
if (status != Kvadblib.Status.OK) return false;
return true;
}
#endregion
#region Acquire physical quantities according to signals and original values
// transformation CAN Data to floating point physical values
public bool GetSignalValueFloat(SIGNALSTRUCT signal, byte[] candata, int length, out double value)
{
status = Kvadblib.GetSignalValueFloat(signal.sh, out value, candata, candata.Length);
if (status != Kvadblib.Status.OK) return false;
return true;
}
// transformation CAN Data to integer physical value
public bool GetSignalValueInteger(SIGNALSTRUCT signal, byte[] candata, int length, out int value)
{
status = Kvadblib.GetSignalValueInteger(signal.sh, out value, candata, candata.Length);
if (status != Kvadblib.Status.OK) return false;
return true;
}
//2 transformation CAN Data to enumerated physical values
public bool GetSignalValueEnum(SIGNALSTRUCT signal, byte[] candata, int length, out string value)
{
status = Kvadblib.GetSignalValueEnum(signal.sh, out value, candata, candata.Length);
if (status != Kvadblib.Status.OK) return false;
return true;
}
#endregion
}
}
namespace AXEBMSPro
{
public enum canMSGFlag
{
canMsg_Mask = 0x00FF,
canMsg_RTR = 0x0001,
canMsg_STD = 0x0002,
canMsg_EXT = 0x0004,
canMsg_WAKEUP = 0x0008,
canMsg_NERR = 0x0010,
canMsg_ERROR_FRAME = 0x0020,
canMsg_TXACK = 0x0040,
canMsg_TXRQ = 0x0080F,
}
public struct SIGNALSTRUCT
{
public string name; // name
public string comment; // notes
public string unit; // Company
public string encooding; // code
public string type; // type
public double minvaluelimit; // minimum value
public double maxvaluelimit; // Maximum
public double factor; // coefficient
public double offset; // Offset
public int startbit; // Start bit
public int bitlength; // Bit length
public Kvadblib.SignalHnd sh; // Handle to the current signal
}
public struct MESSAGESTRUCT
{
public string name; // name
public int id; //ID
public string comment; // explain
public int dlc; // Number of bytes
public string type; //J1939, Wake up the , standard
public Dictionary<string, SIGNALSTRUCT> dicsignal;// Locate the signal according to the signal name
public Kvadblib.MessageHnd mh; // Handle of current message
}
public class canDbcReader
{
Kvadblib.Hnd dh = new Kvadblib.Hnd();
Kvadblib.MessageHnd mh = new Kvadblib.MessageHnd();
Kvadblib.SignalHnd sh = new Kvadblib.SignalHnd();
Kvadblib.Status status;
public Dictionary<int, MESSAGESTRUCT> dicMessage = new Dictionary<int, MESSAGESTRUCT>();
public Dictionary<string, int> dicSigNameID = new Dictionary<string, int>();
public canDbcReader()
{
dh = new Kvadblib.Hnd();
status = Kvadblib.Open(out dh);
}
#region Import dbc file , The relevant data is stored in the structure of the dictionary
public bool ImportDbc(string strDbc)
{
#region Clear the original data
foreach (MESSAGESTRUCT item in dicMessage.Values)
{
item.dicsignal.Clear();
}
dicMessage.Clear();
dicSigNameID.Clear();
#endregion
try
{
// open dbc file
status = Kvadblib.ReadFile(dh, strDbc);
if (status != Kvadblib.Status.OK)
return false;
status = Kvadblib.GetFirstMsg(dh, out mh);
while (status == Kvadblib.Status.OK)// Loop through the message , And the signal below the message
{
MESSAGESTRUCT message = new MESSAGESTRUCT();
message.dicsignal = new Dictionary<string, SIGNALSTRUCT>();
if (!GetMessageInfo(mh, out message))
return false;
dicMessage.Add(message.id, message);
status = Kvadblib.GetNextMsg(dh, out mh);
}
return true;
}
catch
{
return false;
}
}
#endregion
#region According to the signal handle sh Get signal information
private void GetSignalInfo(Kvadblib.SignalHnd sh, out SIGNALSTRUCT sig)
{
SIGNALSTRUCT signal = new SIGNALSTRUCT();
signal.sh = sh; // Signal handle
status = Kvadblib.GetSignalName(sh, out signal.name); // Signal name
status = Kvadblib.GetSignalComment(sh, out signal.comment); // Signal description
status = Kvadblib.GetSignalUnit(sh, out signal.unit); // Signal unit
Kvadblib.SignalEncoding se; // Encoding mode ,inter or motorola
status = Kvadblib.GetSignalEncoding(sh, out se);
if (se == Kvadblib.SignalEncoding.Intel)
signal.encooding = "Inter";
else if (se == Kvadblib.SignalEncoding.Motorola)
signal.encooding = "Motorola";
Kvadblib.SignalType st; // Signal data type
status = Kvadblib.GetSignalRepresentationType(sh, out st);
switch (st)
{
case Kvadblib.SignalType.Signed:
signal.type = "Signed";
break;
case Kvadblib.SignalType.Unsigned:
signal.type = "Unsigned";
break;
case Kvadblib.SignalType.Double:
signal.type = "Double";
break;
case Kvadblib.SignalType.Float:
signal.type = "Float";
break;
case Kvadblib.SignalType.Invalid:
signal.type = "Invalid";
break;
}
status = Kvadblib.GetSignalValueLimits(sh, out signal.minvaluelimit, out signal.maxvaluelimit);// Range of maximum and minimum signal values
status = Kvadblib.GetSignalValueScaling(sh, out signal.factor, out signal.offset);// Factors and offsets
status = Kvadblib.GetSignalValueSize(sh, out signal.startbit, out signal.bitlength);// Start bit , Bit length
sig = signal;
}
#endregion
#region According to the message handle mh Get message information
private bool GetMessageInfo(Kvadblib.MessageHnd mh, out MESSAGESTRUCT msg)
{
MESSAGESTRUCT message = new MESSAGESTRUCT();
message.dicsignal = new Dictionary<string, SIGNALSTRUCT>();
try
{
Kvadblib.MESSAGE km;
status = Kvadblib.GetMsgId(mh, out message.id, out km);//ID And frame type
switch (km)
{
case Kvadblib.MESSAGE.EXT:
message.type = " Expand ";
message.id = message.id & 0x1FFFFFFF;
break;
case Kvadblib.MESSAGE.J1939:
message.type = "J1939";
break;
case Kvadblib.MESSAGE.WAKEUP:
message.type = " Wake up frame ";
break;
default:
message.type = " standard ";
message.id = message.id & 0x1FFFFFFF;
break;
}
status = Kvadblib.GetMsgName(mh, out message.name);// Message name
status = Kvadblib.GetMsgDlc(mh, out message.dlc);// packet length
status = Kvadblib.GetMsgComment(mh, out message.comment);// Message description
message.mh = mh;// Current handle
SIGNALSTRUCT signal = new SIGNALSTRUCT();
Kvadblib.SignalHnd sh = new Kvadblib.SignalHnd();
status = Kvadblib.GetFirstSignal(message.mh, out sh);
while (status == Kvadblib.Status.OK)
{
GetSignalInfo(sh, out signal);
dicSigNameID.Add(signal.name, message.id);
message.dicsignal.Add(signal.name, signal);
status = Kvadblib.GetNextSignal(mh, out sh);
}
msg = message;
return true;
}
catch
{
msg = message;
return false;
}
}
#endregion
#region Fill the message with physical quantity or original value
// Fill the message with the original value of the signal
public bool StoreSignalValueRaw(SIGNALSTRUCT signal, byte[] candata, int length, int raw)
{
status = Kvadblib.StoreSignalValueRaw(signal.sh, candata, candata.Length, raw);
if (status != Kvadblib.Status.OK) return false;
return true;
}
// Fill the message with the physical value of the signal
public bool StoreSignalValuePhys(SIGNALSTRUCT signal, byte[] candata, int length, double phys)
{
status = Kvadblib.StoreSignalValuePhys(signal.sh, candata, candata.Length, phys);
if (status != Kvadblib.Status.OK) return false;
return true;
}
#endregion
#region Acquire physical quantities according to signals and original values
// transformation CAN Data to floating point physical values
public bool GetSignalValueFloat(SIGNALSTRUCT signal, byte[] candata, int length, out double value)
{
status = Kvadblib.GetSignalValueFloat(signal.sh, out value, candata, candata.Length);
if (status != Kvadblib.Status.OK) return false;
return true;
}
// transformation CAN Data to integer physical value
public bool GetSignalValueInteger(SIGNALSTRUCT signal, byte[] candata, int length, out int value)
{
status = Kvadblib.GetSignalValueInteger(signal.sh, out value, candata, candata.Length);
if (status != Kvadblib.Status.OK) return false;
return true;
}
//2 transformation CAN Data to enumerated physical values
public bool GetSignalValueEnum(SIGNALSTRUCT signal, byte[] candata, int length, out string value)
{
status = Kvadblib.GetSignalValueEnum(signal.sh, out value, candata, candata.Length);
if (status != Kvadblib.Status.OK) return false;
return true;
}
#endregion
}
}
C：
#include "led.h"
#include "delay.h"
#include "key.h"
#include "sys.h"
#include "lcd.h"
#include "usart.h"
#include "can.h"
int main(void)
{
u8 key;
u8 i=0,t=0;
u8 cnt=0;
u8 canbuf[8];
u8 res;
u8 mode=CAN_Mode_LoopBack;//CAN Working mode ;CAN_Mode_Normal(0)： Common mode ,CAN_Mode_LoopBack(1)： Loopback mode
delay_init(); // Delay function initialization
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);// Set interrupt priority group to group 2：2 Bit preemption priority ,2 Bit response priority
uart_init(115200); // The serial port is initialized to 115200
LED_Init(); // Initialization and LED Connected hardware interface
LCD_Init(); // initialization LCD
KEY_Init(); // Key initialization
CAN_Mode_Init(CAN_SJW_1tq,CAN_BS2_8tq,CAN_BS1_9tq,4,CAN_Mode_LoopBack);//CAN Initialize loopback mode , Baud rate 500Kbps
POINT_COLOR=RED;// Set the font to red
LCD_ShowString(60,50,200,16,16,"WarShip STM32");
LCD_ShowString(60,70,200,16,16,"CAN TEST");
LCD_ShowString(60,90,200,16,16,"[email protected]");
LCD_ShowString(60,110,200,16,16,"2015/1/15");
LCD_ShowString(60,130,200,16,16,"LoopBack Mode");
LCD_ShowString(60,150,200,16,16,"KEY0:Send WK_UP:Mode");// Display prompt message
POINT_COLOR=BLUE;// Set the font to blue
LCD_ShowString(60,170,200,16,16,"Count:"); // Displays the current count value
LCD_ShowString(60,190,200,16,16,"Send Data:"); // Prompt to send data
LCD_ShowString(60,250,200,16,16,"Receive Data:"); // Prompt received data
while(1)
{
key=KEY_Scan(0);
if(key==KEY0_PRES)//KEY0 Press down , Send data once
{
for(i=0;i<8;i++)
{
canbuf[i]=cnt+i;// Fill the send buffer
if(i<4)LCD_ShowxNum(60+i*32,210,canbuf[i],3,16,0X80); // Display the data
else LCD_ShowxNum(60+(i-4)*32,230,canbuf[i],3,16,0X80); // Display the data
}
res=Can_Send_Msg(canbuf,8);// send out 8 Bytes
if(res)LCD_ShowString(60+80,190,200,16,16,"Failed"); // Prompt send failed
else LCD_ShowString(60+80,190,200,16,16,"OK "); // Prompt sent successfully
}else if(key==WKUP_PRES)//WK_UP Press down , change CAN Working mode of
{
mode=!mode;
CAN_Mode_Init(CAN_SJW_1tq,CAN_BS2_8tq,CAN_BS1_9tq,4,mode);//CAN Normal mode initialization , Baud rate 500Kbps
POINT_COLOR=RED;// Set the font to red
if(mode==0)// Common mode , need 2 A development board
{
LCD_ShowString(60,130,200,16,16,"Nnormal Mode ");
}else // Loopback mode , A development board can be tested .
{
LCD_ShowString(60,130,200,16,16,"LoopBack Mode");
}
POINT_COLOR=BLUE;// Set the font to blue
}
key=Can_Receive_Msg(canbuf);
if(key)// Received data
{
LCD_Fill(60,270,130,310,WHITE);// Clear the previous display
for(i=0;i<key;i++)
{
if(i<4)LCD_ShowxNum(60+i*32,270,canbuf[i],3,16,0X80); // Display the data
else LCD_ShowxNum(60+(i-4)*32,290,canbuf[i],3,16,0X80); // Display the data
}
}
t++;
delay_ms(10);
if(t==20)
{
LED0=!LED0;// Indicates that the system is running
t=0;
cnt++;
LCD_ShowxNum(60+48,170,cnt,3,16,0X80); // Display the data
}
}
}
=========C=
#ifndef __CAN_H
#define __CAN_H
#include "sys.h"
//CAN receive RX0 Interrupt enable
#define CAN_RX0_INT_ENABLE 0 //0, Do not enable ;1, Can make .
//tsjw: Resynchronize jump time units . Range :CAN_SJW_1tq~ CAN_SJW_4tq
//tbs2: Period of time 2 Time unit . Range :CAN_BS2_1tq~CAN_BS2_8tq;
//tbs1: Period of time 1 Time unit . Range :CAN_BS1_1tq ~CAN_BS1_16tq
//brp : Baud rate divider . Range :1~1024; tq=(brp)*tpclk1
// Baud rate =Fpclk1/((tbs1+1+tbs2+1+1)*brp);
//mode:CAN_Mode_Normal, Common mode ;CAN_Mode_LoopBack, Loopback mode ;
//Fpclk1 The clock is set to... During initialization 36M, If you set
//CAN_Mode_Init(CAN_SJW_1tq,CAN_BS2_8tq,CAN_BS1_9tq,4,CAN_Mode_LoopBack);
// Then the baud rate is :36M/((8+9+1)*4)=500Kbps
// Return value :0, initialization OK;
// other , initialization failed ; u8 CAN_Mode_Init(u8 tsjw,u8 tbs2,u8 tbs1,u16 brp,u8 mode)
u8 CAN_Mode_Init(u8 tsjw,u8 tbs2,u8 tbs1,u16 brp,u8 mode);//CAN initialization
u8 Can_Send_Msg(u8* msg,u8 len); // send data
u8 Can_Receive_Msg(u8 *buf); // receive data
#endif
#include "can.h"
#include "led.h"
#include "delay.h"
#include "usart.h"
//CAN initialization
//tsjw: Resynchronize jump time units . Range :CAN_SJW_1tq~ CAN_SJW_4tq
//tbs2: Period of time 2 Time unit . Range :CAN_BS2_1tq~CAN_BS2_8tq;
//tbs1: Period of time 1 Time unit . Range :CAN_BS1_1tq ~CAN_BS1_16tq
//brp : Baud rate divider . Range :1~1024; tq=(brp)*tpclk1
// Baud rate =Fpclk1/((tbs1+1+tbs2+1+1)*brp);
//mode:CAN_Mode_Normal, Common mode ;CAN_Mode_LoopBack, Loopback mode ;
//Fpclk1 The clock is set to... During initialization 36M, If you set CAN_Mode_Init(CAN_SJW_1tq,CAN_BS2_8tq,CAN_BS1_9tq,4,CAN_Mode_LoopBack);
// Then the baud rate is :36M/((8+9+1)*4)=500Kbps
// Return value :0, initialization OK;
// other , initialization failed ;
u8 CAN_Mode_Init(u8 tsjw,u8 tbs2,u8 tbs1,u16 brp,u8 mode)
{
GPIO_InitTypeDef GPIO_InitStructure;
CAN_InitTypeDef CAN_InitStructure;
CAN_FilterInitTypeDef CAN_FilterInitStructure;
#if CAN_RX0_INT_ENABLE
NVIC_InitTypeDef NVIC_InitStructure;
#endif
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);// Can make PORTA The clock
RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);// Can make CAN1 The clock
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; // Reuse push pull
GPIO_Init(GPIOA, &GPIO_InitStructure); // initialization IO
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU; // Pull up input
GPIO_Init(GPIOA, &GPIO_InitStructure); // initialization IO
//CAN Unit setup
CAN_InitStructure.CAN_TTCM=DISABLE; // Non time triggered communication mode
CAN_InitStructure.CAN_ABOM=DISABLE; // Software automatic offline management
CAN_InitStructure.CAN_AWUM=DISABLE; // Sleep mode wakes up through software ( eliminate CAN->MCR Of SLEEP position )
CAN_InitStructure.CAN_NART=ENABLE; // Automatic transmission of messages is prohibited
CAN_InitStructure.CAN_RFLM=DISABLE; // Message not locked , The new covers the old
CAN_InitStructure.CAN_TXFP=DISABLE; // The priority is determined by the message identifier
CAN_InitStructure.CAN_Mode= mode; // Mode setting ： mode:0, Common mode ;1, Loopback mode ;
// set baud rate
CAN_InitStructure.CAN_SJW=tsjw; // Resynchronize jump width (Tsjw) by tsjw+1 Time units CAN_SJW_1tq CAN_SJW_2tq CAN_SJW_3tq CAN_SJW_4tq
CAN_InitStructure.CAN_BS1=tbs1; //Tbs1=tbs1+1 Time units CAN_BS1_1tq ~CAN_BS1_16tq
CAN_InitStructure.CAN_BS2=tbs2; //Tbs2=tbs2+1 Time units CAN_BS2_1tq ~ CAN_BS2_8tq
CAN_InitStructure.CAN_Prescaler=brp; // Division coefficient (Fdiv) by brp+1
CAN_Init(CAN1, &CAN_InitStructure); // initialization CAN1
CAN_FilterInitStructure.CAN_FilterNumber=0; // filter 0
CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask; // Mask bit mode
CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit; //32 A wide
CAN_FilterInitStructure.CAN_FilterIdHigh=0x0000; //32 position ID
CAN_FilterInitStructure.CAN_FilterIdLow=0x0000;
CAN_FilterInitStructure.CAN_FilterMaskIdHigh=0x0000;//32 position MASK
CAN_FilterInitStructure.CAN_FilterMaskIdLow=0x0000;
CAN_FilterInitStructure.CAN_FilterFIFOAssignment=CAN_Filter_FIFO0;// filter 0 Related to FIFO0
CAN_FilterInitStructure.CAN_FilterActivation=ENABLE;// Activate the filter 0
CAN_FilterInit(&CAN_FilterInitStructure); // Filter initialization
#if CAN_RX0_INT_ENABLE
CAN_ITConfig(CAN1,CAN_IT_FMP0,ENABLE); //FIFO0 Message registration interruption allows .
NVIC_InitStructure.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1; // The primary priority is 1
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0; // Secondary priority is 0
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
#endif
return 0;
}
#if CAN_RX0_INT_ENABLE // Can make RX0 interrupt
// Interrupt service function
void USB_LP_CAN1_RX0_IRQHandler(void)
{
CanRxMsg RxMessage;
int i=0;
CAN_Receive(CAN1, 0, &RxMessage);
for(i=0;i<8;i++)
printf("rxbuf[%d]:%d\r\n",i,RxMessage.Data[i]);
}
#endif
//can Send a set of data ( Fixed format :ID by 0X12, Standard frame , Data frame )
//len: Data length ( The maximum is 8)
//msg: Data pointer , The maximum is 8 Bytes .
// Return value :0, success ;
// other , Failure ;
u8 Can_Send_Msg(u8* msg,u8 len)
{
u8 mbox;
u16 i=0;
CanTxMsg TxMessage;
TxMessage.StdId=0x12; // Standard Identifier
TxMessage.ExtId=0x12; // Set identifier extension
TxMessage.IDE=CAN_Id_Standard; // Standard frame
TxMessage.RTR=CAN_RTR_Data; // Data frame
TxMessage.DLC=len; // The length of data to be sent
for(i=0;i<len;i++)
TxMessage.Data[i]=msg[i];
mbox= CAN_Transmit(CAN1, &TxMessage);
i=0;
while((CAN_TransmitStatus(CAN1, mbox)==CAN_TxStatus_Failed)&&(i<0XFFF))i++; // Wait for the end of sending
if(i>=0XFFF)return 1;
return 0;
}
//can Port to receive data query
//buf: Data cache ;
// Return value :0, No data received ;
// other , Length of data received ;
u8 Can_Receive_Msg(u8 *buf)
{
u32 i;
CanRxMsg RxMessage;
if( CAN_MessagePending(CAN1,CAN_FIFO0)==0)return 0; // No data received , immediate withdrawal
CAN_Receive(CAN1, CAN_FIFO0, &RxMessage);// Reading data
for(i=0;i<8;i++)
buf[i]=RxMessage.Data[i];
return RxMessage.DLC;
}
typedef struct
{
uint32_t StdId; /*!< Specifies the standard identifier. This parameter can be a value between 0 to 0x7FF. */
uint32_t ExtId; /*!< Specifies the extended identifier. This parameter can be a value between 0 to 0x1FFFFFFF. */
uint8_t IDE; /*!< Specifies the type of identifier for the message that will be transmitted. This parameter can be a value of @ref CAN_identifier_type */
uint8_t RTR; /*!< Specifies the type of frame for the message that will be transmitted. This parameter can be a value of @ref CAN_remote_transmission_request */
uint8_t DLC; /*!< Specifies the length of the frame that will be transmitted. This parameter can be a value between 0 to 8 */
uint8_t Data[8]; /*!< Contains the data to be transmitted. It ranges from 0 to 0xFF. */
} CanTxMsg;
/** * @brief CAN Rx message structure definition */
typedef struct
{
uint32_t StdId; /*!< Specifies the standard identifier. This parameter can be a value between 0 to 0x7FF. */
uint32_t ExtId; /*!< Specifies the extended identifier. This parameter can be a value between 0 to 0x1FFFFFFF. */
uint8_t IDE; /*!< Specifies the type of identifier for the message that will be received. This parameter can be a value of @ref CAN_identifier_type */
uint8_t RTR; /*!< Specifies the type of frame for the received message. This parameter can be a value of @ref CAN_remote_transmission_request */
uint8_t DLC; /*!< Specifies the length of the frame that will be received. This parameter can be a value between 0 to 8 */
uint8_t Data[8]; /*!< Contains the data to be received. It ranges from 0 to 0xFF. */
uint8_t FMI; /*!< Specifies the index of the filter the message stored in the mailbox passes through. This parameter can be a value between 0 to 0xFF */
} CanRxMsg;
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