Diff: main.cpp

Revision:

1:cac0160da4f7

Parent:

0:3cd0b6cacf45

Child:

2:4472d83236bc

--- a/main.cpp	Mon Mar 20 02:17:40 2017 +0000
+++ b/main.cpp	Tue Mar 21 05:13:15 2017 +0000
@@ -1,63 +1,93 @@
 #include "mbed.h"
 #include "stm32f1xx_hal.h"
 DigitalOut myled(LED1);
-
-CAN_HandleTypeDef hcan1;
+SPI device(PB_15, PB_14, PB_13,NC); // mosi, miso, sclk, ssel
+CAN_HandleTypeDef hcan;
 static CanTxMsgTypeDef        TxMessage;
-static CanRxMsgTypeDef        RxMessage;
+I2C i2c(PB_9, PB_8);
 /* CAN1 init function */
 static void MX_CAN1_Init(void)
 {
-      CAN_FilterConfTypeDef  CAN1_FilerConf;
- __HAL_RCC_GPIOA_CLK_ENABLE();
-  hcan1.Instance = CAN1;
-  hcan1.pTxMsg=&TxMessage;     //发送消息
-  hcan1.Init.Prescaler = 16;
-  hcan1.Init.Mode = CAN_MODE_NORMAL;
-  hcan1.Init.SJW = CAN_SJW_1TQ;
-  hcan1.Init.BS1 = CAN_BS1_1TQ;
-  hcan1.Init.BS2 = CAN_BS2_1TQ;
-  hcan1.Init.TTCM = DISABLE;
-  hcan1.Init.ABOM = DISABLE;
-  hcan1.Init.AWUM = DISABLE;
-  hcan1.Init.NART = DISABLE;
-  hcan1.Init.RFLM = DISABLE;
-  hcan1.Init.TXFP = DISABLE;
-  if (HAL_CAN_Init(&hcan1) != HAL_OK)
+  hcan.Instance = CAN1;
+  hcan.pTxMsg=&TxMessage;     //发送消息
+  hcan.Init.Prescaler = 6;
+  hcan.Init.Mode = CAN_MODE_LOOPBACK;
+  hcan.Init.SJW = CAN_SJW_1TQ;
+  hcan.Init.BS1 = CAN_BS1_8TQ;
+  hcan.Init.BS2 = CAN_BS2_3TQ;
+  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_Handler();
   }
-    CAN1_FilerConf.FilterIdHigh=0X0000;     //32位ID
-    CAN1_FilerConf.FilterIdLow=0X0000;
-    CAN1_FilerConf.FilterMaskIdHigh=0X0000; //32位MASK
-    CAN1_FilerConf.FilterMaskIdLow=0X0000;  
-    CAN1_FilerConf.FilterFIFOAssignment=CAN_FILTER_FIFO0;//过滤器0关联到FIFO0
-    CAN1_FilerConf.FilterNumber=0;          //过滤器0
-    CAN1_FilerConf.FilterMode=CAN_FILTERMODE_IDMASK;
-    CAN1_FilerConf.FilterScale=CAN_FILTERSCALE_32BIT;
-    CAN1_FilerConf.FilterActivation=ENABLE; //激活滤波器0
-    CAN1_FilerConf.BankNumber=14;
-    HAL_CAN_ConfigFilter(&hcan1,&CAN1_FilerConf);
 }
 //       其他,失败;
 uint8_t CAN1_Send_Msg(uint8_t* msg,uint8_t len)
 {   
    uint16_t i=0;
-    hcan1.pTxMsg->StdId=0X12;        //标准标识符
-    hcan1.pTxMsg->ExtId=0x12;        //扩展标识符(29位)
-    hcan1.pTxMsg->IDE=CAN_ID_STD;    //使用标准帧
-    hcan1.pTxMsg->RTR=CAN_RTR_DATA;  //数据帧
-    hcan1.pTxMsg->DLC=len;                
+    hcan.pTxMsg->StdId=0X12;        //标准标识符
+    hcan.pTxMsg->ExtId=0X12;        //扩展标识符(29位)
+    hcan.pTxMsg->IDE=CAN_ID_STD;    //使用标准帧
+    hcan.pTxMsg->RTR=CAN_RTR_DATA;  //数据帧
+    hcan.pTxMsg->DLC=len;                
     for(i=0;i<len;i++)
-    hcan1.pTxMsg->Data[i]=msg[i];
-    if(HAL_CAN_Transmit(&hcan1,10)!=HAL_OK) return 1;     //发送
+    hcan.pTxMsg->Data[i]=msg[i];
+    if(HAL_CAN_Transmit(&hcan,10)!=HAL_OK) return 1;     //发送
     return 0;       
 }
+
+
+
+void HAL_CAN_MspInit(CAN_HandleTypeDef* hcan)
+{
+
+  GPIO_InitTypeDef GPIO_InitStruct;
+  if(hcan->Instance==CAN1)
+  {
+  /* USER CODE BEGIN CAN1_MspInit 0 */
+
+  /* USER CODE END CAN1_MspInit 0 */
+    /* Peripheral clock enable */
+    __HAL_RCC_GPIOA_CLK_ENABLE();
+    __HAL_RCC_CAN1_CLK_ENABLE();
+  
+    /**CAN GPIO Configuration    
+    PA11     ------> CAN_RX
+    PA12     ------> CAN_TX 
+    */
+    GPIO_InitStruct.Pin = GPIO_PIN_11;
+    GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+
+    GPIO_InitStruct.Pin = GPIO_PIN_12;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
+    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+
+  /* USER CODE BEGIN CAN1_MspInit 1 */
+
+  /* USER CODE END CAN1_MspInit 1 */
+  }
+
+
+}
+
 int main() {
+         int address = 0x62;
+        char data[2];
+    
      uint8_t canbuf[8]={1,2,3,4,5,6,7,8};
     MX_CAN1_Init();
     while(1) {
-        CAN1_Send_Msg(canbuf,8);//发送8个字节 
+       CAN1_Send_Msg(canbuf,8);//发送8个字节 
+       i2c.read(address, data, 2);
+       device.write(0x55);
         myled = 1; // LED is ON
         wait(0.2); // 200 ms
         myled = 0; // LED is OFF