CAN BUS

"/******************** (C) COPYRIGHT 2007 STMicroelectronics ********************
* File Name          : main.c
* Author             : MCD Application Team
* Version            : V2.0
* Date               : 12/07/2007
* Description        : Main program body
********************************************************************************
* THE PRESENT SOFTWARE 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 SOFTWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING INFORMATION
* CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS.
*******************************************************************************/

/* Standard include ----------------------------------------------------------*/
#include "91x_lib.h"
/* Include of other module interface headers ---------------------------------*/
/* Local includes ------------------------------------------------------------*/
/* Private typedef -----------------------------------------------------------*/
/* Private define ------------------------------------------------------------*/
/* Private macro -------------------------------------------------------------*/
/* Private variables ---------------------------------------------------------*/
canmsg RxCanMsg;
canmsg CanMsg;

GPIO_InitTypeDef    GPIO_InitStructure;
CAN_InitTypeDef     CAN_InitStructure;

  /* buffer for receive messages */
  canmsg RxCanMsg;

  /* used message object numbers */
  enum {
    CAN_TX_MSGOBJ = 0,
    CAN_RX_MSGOBJ = 1
  };

  /* array of pre-defined transmit messages */
  canmsg TxCanMsg[3] = {
    { CAN_STD_ID,      0x123, 4, { 0x01, 0x02, 0x04, 0x08 } },
    { CAN_STD_ID,      0x321, 4, { 0xAA, 0x55, 0xAA, 0x55 } },
    { CAN_EXT_ID, 0x12345678, 8, { 0x10, 0x11, 0x12, 0x13, 0x14, 0x15, 0x16, 0x17 } }
  };

/* Private functions ---------------------------------------------------------*/
void SCU_Configuration(void)
{
  SCU_MCLKSourceConfig(SCU_MCLK_OSC);
  SCU_PCLKDivisorConfig(SCU_PCLK_Div2);
  SCU_PLLFactorsConfig(128,25,4);
  SCU_PLLCmd(ENABLE);
  SCU_MCLKSourceConfig(SCU_MCLK_PLL);

  SCU_APBPeriphClockConfig(__CAN, ENABLE);
  SCU_APBPeriphClockConfig(__GPIO0, ENABLE);
  SCU_APBPeriphClockConfig(__GPIO1, ENABLE);
  SCU_APBPeriphClockConfig(__GPIO3, ENABLE);
  SCU_APBPeriphClockConfig(__GPIO5, ENABLE);
  SCU_APBPeriphClockConfig(__GPIO9, ENABLE);
  SCU_AHBPeriphClockConfig(__VIC, ENABLE);

  SCU_APBPeriphReset(__CAN, DISABLE);
  SCU_APBPeriphReset(__GPIO0, DISABLE);
  SCU_APBPeriphReset(__GPIO1, DISABLE);
  SCU_APBPeriphReset(__GPIO3, DISABLE);
  SCU_APBPeriphReset(__GPIO5, DISABLE);
  SCU_APBPeriphReset(__GPIO9, DISABLE);
  SCU_AHBPeriphReset(__VIC, DISABLE);

}

void IO_Init(void)
{

/* P5.0 alternate input 1, CAN_RX pin 12*/
GPIO_StructInit(&GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin=GPIO_Pin_0;
GPIO_InitStructure.GPIO_Direction=GPIO_PinInput;
GPIO_InitStructure.GPIO_IPInputConnected=GPIO_IPInputConnected_Enable;
GPIO_InitStructure.GPIO_Alternate=GPIO_InputAlt1;
GPIO_Init(GPIO5,&GPIO_InitStructure);

/* P5.0 alternate output 2, CAN_TX */
GPIO_StructInit(&GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin=GPIO_Pin_0;
GPIO_InitStructure.GPIO_Direction=GPIO_PinOutput;
GPIO_InitStructure.GPIO_Type=GPIO_Type_PushPull;
GPIO_InitStructure.GPIO_IPInputConnected=GPIO_IPInputConnected_Disable;
GPIO_InitStructure.GPIO_Alternate=GPIO_OutputAlt2;
GPIO_Init(GPIO5,&GPIO_InitStructure);

}

void CAN_Com_LoopBack(void)
{
  /* initialize the CAN at a standard bitrate, interrupts disabled */
  CAN_InitStructure.CAN_ConfigParameters=0x0;
  CAN_InitStructure.CAN_Bitrate=CAN_BITRATE_1M;
  CAN_Init(&CAN_InitStructure);

  /* switch into Loopback+Silent mode (self-test) */
  CAN_EnterTestMode(CAN_TESTR_LBACK | CAN_TESTR_SILENT);

  /* configure the message objects */
  CAN_SetUnusedAllMsgObj();
  CAN_SetTxMsgObj(CAN_TX_MSGOBJ, CAN_STD_ID, DISABLE);
  CAN_SetRxMsgObj(CAN_RX_MSGOBJ, CAN_STD_ID, 0, CAN_LAST_STD_ID, TRUE);

  /* Send the pre-defined answer */
  CAN_SendMessage(CAN_TX_MSGOBJ, &TxCanMsg[1]);

  /* wait until end of transmission */
  CAN_WaitEndOfTx();

  /* wait for reception of a data frame */
  while (!CAN_ReceiveMessage(CAN_RX_MSGOBJ, FALSE, &RxCanMsg))
  {
    /*Add Timer*/
  }


  /* Test Received Msg */
  if((RxCanMsg.IdType == CAN_STD_ID)&&(RxCanMsg.Id == 0x321)&&(RxCanMsg.Dlc == 4)
    &&(RxCanMsg.Data[0]==0xAA)&&(RxCanMsg.Data[1]==0x55)&&(RxCanMsg.Data[2]==0xAA)&&(RxCanMsg.Data[3]==0x55)){
    /*Received Msg OK*/
  } else {
    /*Received Msg KO*/
  }

  /* release the message objects */
  CAN_ReleaseTxMessage(CAN_TX_MSGOBJ);
  CAN_ReleaseRxMessage(CAN_RX_MSGOBJ);

  /* switch back into Normal mode */
  CAN_LeaveTestMode();

}


/*******************************************************************************
* Function Name  : main
* Description    : Main program
* Input          : None
* Output         : None
* Return         : None
*******************************************************************************/
int main(void)
{

  SCU_Configuration();/*PCLK=8MHz*/

  IO_Init();


  /* CAN tests */
  CAN_Com_LoopBack();/* send and receive some frame */

  while(1);
}


/******************* (C) COPYRIGHT 2007 STMicroelectronics *****END OF FILE****/