309 lines
8.0 KiB
C
309 lines
8.0 KiB
C
/********************************** (C) COPYRIGHT *******************************
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* File Name : main.c
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* Author : WCH
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* Version : V1.0.1
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* Date : 2025/10/27
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* Description : Main program body.
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*********************************************************************************
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* Copyright (c) 2021 Nanjing Qinheng Microelectronics Co., Ltd.
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* Attention: This software (modified or not) and binary are used for
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* microcontroller manufactured by Nanjing Qinheng Microelectronics.
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*******************************************************************************/
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/*
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*@Note
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*CAN time triggered communication mode:
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*CAN_Tx(PB9),CAN_Rx(PB8)
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*In the Extended_Frame, one 32bit filter mask bit communication configuration,
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*the demonstration time triggers the communication mode.
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*
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*/
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#include "debug.h"
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/* CAN Mode Definition */
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#define TX_MODE 0
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#define RX_MODE 1
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/* CAN Communication Mode Selection */
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//#define CAN_MODE TX_MODE
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#define CAN_MODE RX_MODE
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/* Global Variable */
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u8 txbuf[8];
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vu8 tx;
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/*********************************************************************
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* @fn CAN_Mode_Init
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*
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* @brief Initializes CAN communication test mode.
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* Bps =Fpclk1/((tpb1+1+tbs2+1+1)*brp)
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*
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* @param tsjw - CAN synchronisation jump width.
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* tbs2 - CAN time quantum in bit segment 1.
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* tbs1 - CAN time quantum in bit segment 2.
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* brp - Specifies the length of a time quantum.
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* mode - Test mode.
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* CAN_Mode_Normal.
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* CAN_Mode_LoopBack.
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* CAN_Mode_Silent.
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* CAN_Mode_Silent_LoopBack.
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*
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* @return none
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*/
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void CAN_Mode_Init(u8 tsjw, u8 tbs2, u8 tbs1, u16 brp, u8 mode)
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{
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GPIO_InitTypeDef GPIO_InitSturcture = {0};
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CAN_InitTypeDef CAN_InitSturcture = {0};
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CAN_FilterInitTypeDef CAN_FilterInitSturcture = {0};
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NVIC_InitTypeDef NVIC_InitStructure = {0};
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RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO | RCC_APB2Periph_GPIOB, ENABLE);
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RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);
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GPIO_PinRemapConfig(GPIO_Remap1_CAN1, ENABLE);
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GPIO_InitSturcture.GPIO_Pin = GPIO_Pin_9;
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GPIO_InitSturcture.GPIO_Mode = GPIO_Mode_AF_PP;
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GPIO_InitSturcture.GPIO_Speed = GPIO_Speed_50MHz;
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GPIO_Init(GPIOB, &GPIO_InitSturcture);
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GPIO_InitSturcture.GPIO_Pin = GPIO_Pin_8;
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GPIO_InitSturcture.GPIO_Mode = GPIO_Mode_IPU;
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GPIO_Init(GPIOB, &GPIO_InitSturcture);
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CAN_InitSturcture.CAN_TTCM = ENABLE;
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CAN_InitSturcture.CAN_ABOM = DISABLE;
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CAN_InitSturcture.CAN_AWUM = DISABLE;
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CAN_InitSturcture.CAN_NART = ENABLE;
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CAN_InitSturcture.CAN_RFLM = DISABLE;
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CAN_InitSturcture.CAN_TXFP = DISABLE;
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CAN_InitSturcture.CAN_Mode = mode;
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CAN_InitSturcture.CAN_SJW = tsjw;
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CAN_InitSturcture.CAN_BS1 = tbs1;
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CAN_InitSturcture.CAN_BS2 = tbs2;
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CAN_InitSturcture.CAN_Prescaler = brp;
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CAN_Init(CAN1, &CAN_InitSturcture);
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/* identifier/mask mode, One 32-bit filter, ExtId: 0x12124567 */
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CAN_FilterInitSturcture.CAN_FilterNumber = 0;
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CAN_FilterInitSturcture.CAN_FilterMode = CAN_FilterMode_IdMask;
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CAN_FilterInitSturcture.CAN_FilterScale = CAN_FilterScale_32bit;
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CAN_FilterInitSturcture.CAN_FilterIdHigh = 0x9092;
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CAN_FilterInitSturcture.CAN_FilterIdLow = 0x2B3C;
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CAN_FilterInitSturcture.CAN_FilterMaskIdHigh = 0xFFFF;
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CAN_FilterInitSturcture.CAN_FilterMaskIdLow = 0xFFFE;
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CAN_FilterInitSturcture.CAN_FilterFIFOAssignment = CAN_Filter_FIFO0;
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CAN_FilterInitSturcture.CAN_FilterActivation = ENABLE;
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CAN_FilterInit(&CAN_FilterInitSturcture);
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CAN_TTComModeCmd(CAN1, ENABLE);
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#if(CAN_MODE == TX_MODE)
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CAN_ClearITPendingBit(CAN1, CAN_IT_TME);
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NVIC_InitStructure.NVIC_IRQChannel = USB_HP_CAN1_TX_IRQn;
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NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 2;
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NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
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NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
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NVIC_Init(&NVIC_InitStructure);
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CAN_ITConfig(CAN1, CAN_IT_TME, ENABLE);
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#elif(CAN_MODE == RX_MODE)
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CAN_ClearITPendingBit(CAN1, CAN_IT_FMP0);
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NVIC_InitStructure.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn;
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NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;
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NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
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NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
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NVIC_Init(&NVIC_InitStructure);
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CAN_ITConfig(CAN1, CAN_IT_FMP0, ENABLE);
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#endif
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}
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#if(CAN_MODE == TX_MODE)
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/*********************************************************************
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* @fn CAN_Send_Msg
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*
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* @brief CAN Transmit function.
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*
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* @param msg - Transmit data buffer.
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* len - Data length.
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*
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* @return 0 - Send successful.
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* 1 - Send failed.
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*/
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u8 CAN_Send_Msg(u8 *msg, u8 len)
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{
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u8 mbox;
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u16 i = 0;
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CanTxMsg CanTxStructure;
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CanTxStructure.ExtId = 0x12124567;
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CanTxStructure.IDE = CAN_Id_Extended;
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CanTxStructure.RTR = CAN_RTR_Data;
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CanTxStructure.DLC = len;
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for(i = 0; i < len; i++) {
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CanTxStructure.Data[i] = msg[i];
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}
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mbox = CAN_Transmit(CAN1, &CanTxStructure);
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i = 0;
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while((CAN_TransmitStatus(CAN1, mbox) != CAN_TxStatus_Ok) && (i < 0xFFF))
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{
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i++;
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}
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if(i == 0xFFF)
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{
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return 1;
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}
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else
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{
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return 0;
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}
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}
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void USB_HP_CAN1_TX_IRQHandler(void) __attribute__((interrupt("WCH-Interrupt-fast")));
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/*********************************************************************
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* @fn USB_HP_CAN1_TX_IRQHandler
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*
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* @brief This function handles CAN transmit mailboxe Handler.
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*
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* @return none
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*/
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void USB_HP_CAN1_TX_IRQHandler(void)
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{
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u8 i;
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if(CAN_GetITStatus(CAN1, CAN_IT_TME) != RESET)
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{
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printf("Send Success\r\n");
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printf("Send Data:\r\n");
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for(i = 0; i < 8; i++) {
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printf("%02x\r\n", txbuf[i]);
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}
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printf("TDTR:%08x\r\n", CAN1->sTxMailBox[0].TXMDTR);
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}
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CAN_ClearITPendingBit(CAN1, CAN_IT_TME);
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}
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#elif(CAN_MODE == RX_MODE)
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/*********************************************************************
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* @fn CAN_Receive_Msg
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*
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* @brief CAN Receive function.
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*
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* @param buf - Receive data buffer.
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* len - Data length.
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*
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* @return CanRxStructure.DLC - Receive data length.
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*/
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u8 CAN_Receive_Msg(u8 *buf)
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{
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u8 i;
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CanRxMsg CanRxStructure;
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if(CAN_MessagePending(CAN1, CAN_FIFO0) == 0)
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{
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return 0;
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}
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CAN_Receive(CAN1, CAN_FIFO0, &CanRxStructure);
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for(i = 0; i < 8; i++){
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buf[i] = CanRxStructure.Data[i];
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}
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return CanRxStructure.DLC;
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}
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void USB_LP_CAN1_RX0_IRQHandler(void) __attribute__((interrupt("WCH-Interrupt-fast")));
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/*********************************************************************
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* @fn USB_LP_CAN1_RX0_IRQHandler
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*
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* @brief This function handles CAN receive FIFO0 Handler.
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*
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* @return none
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*/
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void USB_LP_CAN1_RX0_IRQHandler(void)
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{
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u8 rx, i;
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u8 rxbuf[8];
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if(CAN_GetITStatus(CAN1, CAN_IT_FMP0) != RESET)
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{
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rx = CAN_Receive_Msg(rxbuf);
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if(rx)
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{
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printf("Receive Data:\r\n");
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for(i = 0; i < 8; i++) {
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printf("%02x\r\n", rxbuf[i]);
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}
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}
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printf("RDTR:%08x\r\n", CAN1->sFIFOMailBox[0].RXMDTR);
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}
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CAN_ClearITPendingBit(CAN1, CAN_IT_FMP0);
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}
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#endif
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/*********************************************************************
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* @fn main
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*
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* @brief Main program.
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*
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* @return none
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*/
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int main(void)
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{
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u8 i = 0;
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u8 cnt = 1;
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NVIC_PriorityGroupConfig(NVIC_PriorityGroup_1);
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SystemCoreClockUpdate();
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Delay_Init();
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USART_Printf_Init(115200);
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printf("SystemClk:%d\r\n", SystemCoreClock);
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printf( "ChipID:%08x\r\n", DBGMCU_GetCHIPID() );
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/* Bps = 250Kbps */
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CAN_Mode_Init(CAN_SJW_1tq, CAN_BS2_5tq, CAN_BS1_6tq, 16, CAN_Mode_Normal);
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#if(CAN_MODE == TX_MODE)
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printf("TX Mode\r\n");
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#elif(CAN_MODE == RX_MODE)
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printf("RX Mode\r\n");
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#endif
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while(1)
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{
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#if(CAN_MODE == TX_MODE)
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for(i = 0; i < 8; i++) {
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txbuf[i] = cnt + i;
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}
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tx = CAN_Send_Msg(txbuf, 8);
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Delay_Ms(1000);
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cnt++;
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#endif
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}
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}
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