/* Includes ------------------------------------------------------------------*/
#include "stm32f10x.h"
#include "stm32_eval.h"
/** @addtogroup STM32F10x_StdPeriph_Examples
* @{
*/
/** @addtogroup CAN_LoopBack
* @{
*/
/* Private define ------------------------------------------------------------*/
#define __CAN1_USED__
/* #define __CAN2_USED__*/ /* Please check that you device is
Connectivity line when using CAN2 */
#ifdef __CAN1_USED__
#define CANx CAN1
#else /*__CAN2_USED__*/
#define CANx CAN2
#endif /* __CAN1_USED__ */
/* Private typedef -----------------------------------------------------------*/
typedef enum {FAILED = 0, PASSED = !FAILED} TestStatus;
/* Private macro -------------------------------------------------------------*/
/* Private variables ---------------------------------------------------------*/
__IO uint32_t ret = 0; /* for return of the interrupt handling */
volatile TestStatus TestRx;
/* Private function prototypes -----------------------------------------------*/
void NVIC_Configuration(void);
TestStatus CAN_Polling(void);
TestStatus CAN_Interrupt(void);
/* 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_stm32f10x_xx.s) before to branch to application main.
To reconfigure the default setting of SystemInit() function, refer to
system_stm32f10x.c file
*/
#ifdef __CAN1_USED__
/* CANx Periph clock enable */
RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);
#else /*__CAN2_USED__*/
/* CAN1 & 2 Periph clock enable */
RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN2, ENABLE);
#endif /* __CAN1_USED__ */
/* NVIC Configuration */
NVIC_Configuration();
/* Configures LED 1..4 */
STM_EVAL_LEDInit(LED1);
STM_EVAL_LEDInit(LED2);
STM_EVAL_LEDInit(LED3);
STM_EVAL_LEDInit(LED4);
/* Turns selected LED Off */
STM_EVAL_LEDOff(LED1);
STM_EVAL_LEDOff(LED2);
STM_EVAL_LEDOff(LED3);
STM_EVAL_LEDOff(LED4);
/* CAN transmit at 125Kb/s and receive by polling in loopback mode */
TestRx = CAN_Polling();
if (TestRx == FAILED)
{
/* Turn on led LD3 */
STM_EVAL_LEDOn(LED3);
}
else
{
/* Turn on led LD1 */
STM_EVAL_LEDOn(LED1);
}
/* CAN transmit at 500Kb/s and receive by interrupt in loopback mode */
TestRx = CAN_Interrupt();
if (TestRx == FAILED)
{
/* Turn on led LD4 */
STM_EVAL_LEDOn(LED4);
}
else
{
/* Turn on led LD2 */
STM_EVAL_LEDOn(LED2);
}
/* Infinite loop */
while (1)
{
}
}
/**
* @brief Configures the CAN, transmit and receive by polling
* @param None
* @retval PASSED if the reception is well done, FAILED in other case
*/
TestStatus CAN_Polling(void)
{
CAN_InitTypeDef CAN_InitStructure;
CAN_FilterInitTypeDef CAN_FilterInitStructure;
CanTxMsg TxMessage;
CanRxMsg RxMessage;
uint32_t i = 0;
uint8_t TransmitMailbox = 0;
/* CAN register init */
CAN_DeInit(CANx);
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;
/* Baudrate = 125kbps*/
CAN_InitStructure.CAN_SJW=CAN_SJW_1tq;
CAN_InitStructure.CAN_BS1=CAN_BS1_2tq;
CAN_InitStructure.CAN_BS2=CAN_BS2_3tq;
CAN_InitStructure.CAN_Prescaler=48;
CAN_Init(CANx, &CAN_InitStructure);
/* CAN filter init */
#ifdef __CAN1_USED__
CAN_FilterInitStructure.CAN_FilterNumber=0;
#else /*__CAN2_USED__*/
CAN_FilterInitStructure.CAN_FilterNumber=14;
#endif /* __CAN1_USED__ */
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_FilterFIFOAssignment=0;
CAN_FilterInitStructure.CAN_FilterActivation=ENABLE;
CAN_FilterInit(&CAN_FilterInitStructure);
/* transmit */
TxMessage.StdId=0x11;
TxMessage.RTR=CAN_RTR_DATA;
TxMessage.IDE=CAN_ID_STD;
TxMessage.DLC=2;
TxMessage.Data[0]=0xCA;
TxMessage.Data[1]=0xFE;
TransmitMailbox=CAN_Transmit(CANx, &TxMessage);
i = 0;
while((CAN_TransmitStatus(CANx, TransmitMailbox) != CANTXOK) && (i != 0xFFFF))
{
i++;
}
i = 0;
while((CAN_MessagePending(CANx, CAN_FIFO0) < 1) && (i != 0xFFFF))
{
i++;
}
/* receive */
RxMessage.StdId=0x00;
RxMessage.IDE=CAN_ID_STD;
RxMessage.DLC=0;
RxMessage.Data[0]=0x00;
RxMessage.Data[1]=0x00;
CAN_Receive(CANx, CAN_FIFO0, &RxMessage);
if (RxMessage.StdId!=0x11)
{
return FAILED;
}
if (RxMessage.IDE!=CAN_ID_STD)
{
return FAILED;
}
if (RxMessage.DLC!=2)
{
return FAILED;
}
if ((RxMessage.Data[0]<<8|RxMessage.Data[1])!=0xCAFE)
{
return FAILED;
}
return PASSED; /* Test Passed */
}
/**
* @brief Configures the CAN, transmit and receive using interrupt.
* @param None
* @retval PASSED if the reception is well done, FAILED in other case
*/
TestStatus CAN_Interrupt(void)
{
CAN_InitTypeDef CAN_InitStructure;
CAN_FilterInitTypeDef CAN_FilterInitStructure;
CanTxMsg TxMessage;
uint32_t i = 0;
/* CAN register init */
CAN_DeInit(CANx);
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_SJW=CAN_SJW_1tq;
/* Baudrate = 500 Kbps */
CAN_InitStructure.CAN_BS1=CAN_BS1_2tq;
CAN_InitStructure.CAN_BS2=CAN_BS2_3tq;
CAN_InitStructure.CAN_Prescaler=12;
CAN_Init(CANx, &CAN_InitStructure);
/* CAN filter init */
#ifdef __CAN1_USED__
CAN_FilterInitStructure.CAN_FilterNumber=1;
#else /*__CAN2_USED__*/
CAN_FilterInitStructure.CAN_FilterNumber=15;
#endif /* __CAN1_USED__ */
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_FilterFIFOAssignment=CAN_FIFO0;
CAN_FilterInitStructure.CAN_FilterActivation=ENABLE;
CAN_FilterInit(&CAN_FilterInitStructure);
/* CAN FIFO0 message pending interrupt enable */
CAN_ITConfig(CANx, CAN_IT_FMP0, ENABLE);
/* transmit 1 message */
TxMessage.StdId=0;
TxMessage.ExtId=0x1234;
TxMessage.IDE=CAN_ID_EXT;
TxMessage.RTR=CAN_RTR_DATA;
TxMessage.DLC=2;
TxMessage.Data[0]=0xDE;
TxMessage.Data[1]=0xCA;
CAN_Transmit(CANx, &TxMessage);
/* initialize the value that will be returned */
ret = 0xFF;
/* receive message with interrupt handling */
i=0;
while((ret == 0xFF) && (i < 0xFFF))
{
i++;
}
if (i == 0xFFF)
{
ret=0;
}
/* disable interrupt handling */
CAN_ITConfig(CANx, CAN_IT_FMP0, DISABLE);
return (TestStatus)ret;
}
/**
* @brief Configures the NVIC and Vector Table base address.
* @param None
* @retval None
*/
void NVIC_Configuration(void)
{
NVIC_InitTypeDef NVIC_InitStructure;
/* Enable CANx RX0 interrupt IRQ channel */
#ifndef STM32F10X_CL
#ifdef __CAN1_USED__
NVIC_InitStructure.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn;
#else /*__CAN2_USED__*/
/* CAN2 is not implemented in the device */
#error "CAN2 is implemented only in Connectivity line devices"
#endif /*__CAN1_USED__*/
#else
#ifdef __CAN1_USED__
NVIC_InitStructure.NVIC_IRQChannel = CAN1_RX0_IRQn;
#else /*__CAN2_USED__*/
NVIC_InitStructure.NVIC_IRQChannel = CAN2_RX0_IRQn;
#endif /*__CAN1_USED__*/
#endif /* STM32F10X_CL*/
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
}
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