feat: 完成 can 初测

2024-04-13 22:52:03 +08:00
parent d90e5d0e61
commit 2200c58e43
7 changed files with 199 additions and 135 deletions
--- a/project/src/at32f403a_407_int.c
+++ b/project/src/at32f403a_407_int.c
@@ -74,13 +74,13 @@
 */
 void NMI_Handler(void)
 {
-    /* add user code begin NonMaskableInt_IRQ 0 */
+  /* add user code begin NonMaskableInt_IRQ 0 */

-    /* add user code end NonMaskableInt_IRQ 0 */
+  /* add user code end NonMaskableInt_IRQ 0 */

-    /* add user code begin NonMaskableInt_IRQ 1 */
+  /* add user code begin NonMaskableInt_IRQ 1 */

-    /* add user code end NonMaskableInt_IRQ 1 */
+  /* add user code end NonMaskableInt_IRQ 1 */
 }

 /**
@@ -90,15 +90,15 @@ void NMI_Handler(void)
 */
 void HardFault_Handler(void)
 {
-    /* add user code begin HardFault_IRQ 0 */
+  /* add user code begin HardFault_IRQ 0 */

-    /* add user code end HardFault_IRQ 0 */
-    /* go to infinite loop when hard fault exception occurs */
-    while (1) {
-        /* add user code begin W1_HardFault_IRQ 0 */
+  /* add user code end HardFault_IRQ 0 */
+  /* go to infinite loop when hard fault exception occurs */
+  while (1) {
+    /* add user code begin W1_HardFault_IRQ 0 */

-        /* add user code end W1_HardFault_IRQ 0 */
-    }
+    /* add user code end W1_HardFault_IRQ 0 */
+  }
 }

 /**
@@ -108,15 +108,15 @@ void HardFault_Handler(void)
 */
 void MemManage_Handler(void)
 {
-    /* add user code begin MemoryManagement_IRQ 0 */
+  /* add user code begin MemoryManagement_IRQ 0 */

-    /* add user code end MemoryManagement_IRQ 0 */
-    /* go to infinite loop when memory manage exception occurs */
-    while (1) {
-        /* add user code begin W1_MemoryManagement_IRQ 0 */
+  /* add user code end MemoryManagement_IRQ 0 */
+  /* go to infinite loop when memory manage exception occurs */
+  while (1) {
+    /* add user code begin W1_MemoryManagement_IRQ 0 */

-        /* add user code end W1_MemoryManagement_IRQ 0 */
-    }
+    /* add user code end W1_MemoryManagement_IRQ 0 */
+  }
 }

 /**
@@ -126,15 +126,15 @@ void MemManage_Handler(void)
 */
 void BusFault_Handler(void)
 {
-    /* add user code begin BusFault_IRQ 0 */
+  /* add user code begin BusFault_IRQ 0 */

-    /* add user code end BusFault_IRQ 0 */
-    /* go to infinite loop when bus fault exception occurs */
-    while (1) {
-        /* add user code begin W1_BusFault_IRQ 0 */
+  /* add user code end BusFault_IRQ 0 */
+  /* go to infinite loop when bus fault exception occurs */
+  while (1) {
+    /* add user code begin W1_BusFault_IRQ 0 */

-        /* add user code end W1_BusFault_IRQ 0 */
-    }
+    /* add user code end W1_BusFault_IRQ 0 */
+  }
 }

 /**
@@ -144,15 +144,15 @@ void BusFault_Handler(void)
 */
 void UsageFault_Handler(void)
 {
-    /* add user code begin UsageFault_IRQ 0 */
+  /* add user code begin UsageFault_IRQ 0 */

-    /* add user code end UsageFault_IRQ 0 */
-    /* go to infinite loop when usage fault exception occurs */
-    while (1) {
-        /* add user code begin W1_UsageFault_IRQ 0 */
+  /* add user code end UsageFault_IRQ 0 */
+  /* go to infinite loop when usage fault exception occurs */
+  while (1) {
+    /* add user code begin W1_UsageFault_IRQ 0 */

-        /* add user code end W1_UsageFault_IRQ 0 */
-    }
+    /* add user code end W1_UsageFault_IRQ 0 */
+  }
 }

 /**
@@ -162,12 +162,12 @@ void UsageFault_Handler(void)
 */
 void SVC_Handler(void)
 {
-    /* add user code begin SVCall_IRQ 0 */
+  /* add user code begin SVCall_IRQ 0 */

-    /* add user code end SVCall_IRQ 0 */
-    /* add user code begin SVCall_IRQ 1 */
+  /* add user code end SVCall_IRQ 0 */
+  /* add user code begin SVCall_IRQ 1 */

-    /* add user code end SVCall_IRQ 1 */
+  /* add user code end SVCall_IRQ 1 */
 }

 /**
@@ -177,12 +177,12 @@ void SVC_Handler(void)
 */
 void DebugMon_Handler(void)
 {
-    /* add user code begin DebugMonitor_IRQ 0 */
+  /* add user code begin DebugMonitor_IRQ 0 */

-    /* add user code end DebugMonitor_IRQ 0 */
-    /* add user code begin DebugMonitor_IRQ 1 */
+  /* add user code end DebugMonitor_IRQ 0 */
+  /* add user code begin DebugMonitor_IRQ 1 */

-    /* add user code end DebugMonitor_IRQ 1 */
+  /* add user code end DebugMonitor_IRQ 1 */
 }

 /**
@@ -192,12 +192,32 @@ void DebugMon_Handler(void)
 */
 void PendSV_Handler(void)
 {
-    /* add user code begin PendSV_IRQ 0 */
+  /* add user code begin PendSV_IRQ 0 */

-    /* add user code end PendSV_IRQ 0 */
-    /* add user code begin PendSV_IRQ 1 */
+  /* add user code end PendSV_IRQ 0 */
+  /* add user code begin PendSV_IRQ 1 */

-    /* add user code end PendSV_IRQ 1 */
+  /* add user code end PendSV_IRQ 1 */
+}
+
+/**
+ * @brief  this function handles USB Low  Priority or CAN1 RX0 handler.
+ * @param  none
+ * @retval none
+ */
+void USBFS_L_CAN1_RX0_IRQHandler(void)
+{
+  /* add user code begin USBFS_L_CAN1_RX0_IRQ 0 */
+  if (SET == can_flag_get(CAN1, CAN_RF0MN_FLAG)) {
+    can_rx_message_type rx_message_struct;
+    can_message_receive(CAN1, CAN_RX_FIFO0, &rx_message_struct);
+    lwprintf("CAN1 RECV: ID = 0x%X\r\n", rx_message_struct.standard_id);
+    can_flag_clear(CAN1, CAN_RF0MN_FLAG);
+  }
+  /* add user code end USBFS_L_CAN1_RX0_IRQ 0 */
+  /* add user code begin USBFS_L_CAN1_RX0_IRQ 1 */
+
+  /* add user code end USBFS_L_CAN1_RX0_IRQ 1 */
 }

 /**
@@ -207,12 +227,12 @@ void PendSV_Handler(void)
 */
 void USART1_IRQHandler(void)
 {
-    /* add user code begin USART1_IRQ 0 */
+  /* add user code begin USART1_IRQ 0 */

-    /* add user code end USART1_IRQ 0 */
-    /* add user code begin USART1_IRQ 1 */
+  /* add user code end USART1_IRQ 0 */
+  /* add user code begin USART1_IRQ 1 */

-    /* add user code end USART1_IRQ 1 */
+  /* add user code end USART1_IRQ 1 */
 }

 /**
@@ -222,15 +242,15 @@ void USART1_IRQHandler(void)
 */
 void USART2_IRQHandler(void)
 {
-    /* add user code begin USART2_IRQ 0 */
-    if (SET == usart_flag_get(USART2, USART_RDBF_FLAG)) {
-        usart_data_receive(USART2);
-        usart_flag_clear(USART2, USART_RDBF_FLAG);
-    }
-    /* add user code end USART2_IRQ 0 */
-    /* add user code begin USART2_IRQ 1 */
+  /* add user code begin USART2_IRQ 0 */
+  if (SET == usart_flag_get(USART2, USART_RDBF_FLAG)) {
+    usart_data_receive(USART2);
+    usart_flag_clear(USART2, USART_RDBF_FLAG);
+  }
+  /* add user code end USART2_IRQ 0 */
+  /* add user code begin USART2_IRQ 1 */

-    /* add user code end USART2_IRQ 1 */
+  /* add user code end USART2_IRQ 1 */
 }

 /**
@@ -240,12 +260,12 @@ void USART2_IRQHandler(void)
 */
 void USART3_IRQHandler(void)
 {
-    /* add user code begin USART3_IRQ 0 */
+  /* add user code begin USART3_IRQ 0 */

-    /* add user code end USART3_IRQ 0 */
-    /* add user code begin USART3_IRQ 1 */
+  /* add user code end USART3_IRQ 0 */
+  /* add user code begin USART3_IRQ 1 */

-    /* add user code end USART3_IRQ 1 */
+  /* add user code end USART3_IRQ 1 */
 }

 /**
@@ -255,15 +275,39 @@ void USART3_IRQHandler(void)
 */
 void TMR6_GLOBAL_IRQHandler(void)
 {
-    /* add user code begin TMR6_GLOBAL_IRQ 0 */
-    static uint64_t i = 0;
-    if (SET == tmr_flag_get(TMR6, TMR_OVF_FLAG)) {
-        tmr_flag_clear(TMR6, TMR_OVF_FLAG);
-    }
-    /* add user code end TMR6_GLOBAL_IRQ 0 */
-    /* add user code begin TMR6_GLOBAL_IRQ 1 */
+  /* add user code begin TMR6_GLOBAL_IRQ 0 */
+  if (SET == tmr_flag_get(TMR6, TMR_OVF_FLAG)) {
+    tmr_flag_clear(TMR6, TMR_OVF_FLAG);
+  }
+  /* add user code end TMR6_GLOBAL_IRQ 0 */
+  /* add user code begin TMR6_GLOBAL_IRQ 1 */

-    /* add user code end TMR6_GLOBAL_IRQ 1 */
+  /* add user code end TMR6_GLOBAL_IRQ 1 */
+}
+
+/**
+ * @brief  this function handles CAN2 RX0 handler.
+ * @param  none
+ * @retval none
+ */
+void CAN2_RX0_IRQHandler(void)
+{
+  /* add user code begin CAN2_RX0_IRQ 0 */
+  if (SET == can_flag_get(CAN2, CAN_RF0MN_FLAG)) {
+    can_rx_message_type rx_message_struct;
+    can_message_receive(CAN2, CAN_RX_FIFO0, &rx_message_struct);
+    lwprintf("CAN2 RECV: ID = 0x%X\r\n", rx_message_struct.standard_id);
+    lwprintf("---------------------\r\n| ");
+    for (uint8_t i = 0; i < 8; i++) {
+      lwprintf("0x%02X |", rx_message_struct.data[i]);
+    }
+    lwprintf("\r\n---------------------\r\n");
+    can_flag_clear(CAN2, CAN_RF0MN_FLAG);
+  }
+  /* add user code end CAN2_RX0_IRQ 0 */
+  /* add user code begin CAN2_RX0_IRQ 1 */
+
+  /* add user code end CAN2_RX0_IRQ 1 */
 }

 /* add user code begin 1 */
--- a/project/src/at32f403a_407_wk_config.c
+++ b/project/src/at32f403a_407_wk_config.c
@@ -220,10 +220,12 @@ void wk_nvic_config(void)
 {
    nvic_priority_group_config(NVIC_PRIORITY_GROUP_4);

+    nvic_irq_enable(USBFS_L_CAN1_RX0_IRQn, 0, 0);
    nvic_irq_enable(USART1_IRQn, 1, 0);
    nvic_irq_enable(USART2_IRQn, 1, 0);
    nvic_irq_enable(USART3_IRQn, 1, 0);
    nvic_irq_enable(TMR6_GLOBAL_IRQn, 0, 0);
+    nvic_irq_enable(CAN2_RX0_IRQn, 0, 0);
 }

 /**
@@ -741,13 +743,13 @@ void wk_tmr11_init(void)
    gpio_init(GPIOB, &gpio_init_struct);

    /* configure counter settings */
-    tmr_base_init(TMR11, 65535, 0);
+    tmr_base_init(TMR11, 2399, 99);
    tmr_cnt_dir_set(TMR11, TMR_COUNT_UP);
    tmr_clock_source_div_set(TMR11, TMR_CLOCK_DIV1);
    tmr_period_buffer_enable(TMR11, FALSE);

    /* configure channel 1 output settings */
-    tmr_output_struct.oc_mode          = TMR_OUTPUT_CONTROL_OFF;
+    tmr_output_struct.oc_mode          = TMR_OUTPUT_CONTROL_PWM_MODE_A;
    tmr_output_struct.oc_output_state  = TRUE;
    tmr_output_struct.occ_output_state = FALSE;
    tmr_output_struct.oc_polarity      = TMR_OUTPUT_ACTIVE_HIGH;
@@ -758,6 +760,8 @@ void wk_tmr11_init(void)
    tmr_channel_value_set(TMR11, TMR_SELECT_CHANNEL_1, 0);
    tmr_output_channel_buffer_enable(TMR11, TMR_SELECT_CHANNEL_1, FALSE);

+    tmr_output_channel_immediately_set(TMR11, TMR_SELECT_CHANNEL_1, FALSE);
+
    tmr_counter_enable(TMR11, TRUE);

    /* add user code begin tmr11_init 2 */
@@ -910,8 +914,19 @@ void wk_can1_init(void)

    can_filter_init(CAN1, &can_filter_init_struct);

-    /* add user code begin can1_init 2 */
+    /**
+     * Users need to configure CAN1 interrupt functions according to the actual application.
+     * 1. Call the below function to enable the corresponding CAN1 interrupt.
+     *     --can_interrupt_enable(...)
+     * 2. Add the user's interrupt handler code into the below function in the at32f403a_407_int.c file.
+     *     --void USBFS_L_CAN1_RX0_IRQHandler(void)
+     */

+    /*can1 rx0 interrupt config--------------------------------------------------------*/
+    // can_interrupt_enable(CAN1, CAN_RF0MIEN_INT, TRUE);
+
+    /* add user code begin can1_init 2 */
+    can_interrupt_enable(CAN1, CAN_RF0MIEN_INT, TRUE);
    /* add user code end can1_init 2 */
 }

@@ -988,8 +1003,19 @@ void wk_can2_init(void)

    can_filter_init(CAN2, &can_filter_init_struct);

-    /* add user code begin can2_init 2 */
+    /**
+     * Users need to configure CAN2 interrupt functions according to the actual application.
+     * 1. Call the below function to enable the corresponding CAN2 interrupt.
+     *     --can_interrupt_enable(...)
+     * 2. Add the user's interrupt handler code into the below function in the at32f403a_407_int.c file.
+     *     --void CAN2_RX0_IRQHandler(void)
+     */

+    /*can2 rx0 interrupt config--------------------------------------------------------*/
+    // can_interrupt_enable(CAN2, CAN_RF0MIEN_INT, TRUE);
+
+    /* add user code begin can2_init 2 */
+    can_interrupt_enable(CAN2, CAN_RF0MIEN_INT, TRUE);
    /* add user code end can2_init 2 */
 }

--- a/project/src/main.c
+++ b/project/src/main.c
@@ -71,70 +71,70 @@
 */
 int main(void)
 {
-    /* add user code begin 1 */
-    by_debug_init();
-    /* add user code end 1 */
+  /* add user code begin 1 */
+  by_debug_init();
+  /* add user code end 1 */

-    /* system clock config. */
-    wk_system_clock_config();
+  /* system clock config. */
+  wk_system_clock_config();

-    /* config periph clock. */
-    wk_periph_clock_config();
+  /* config periph clock. */
+  wk_periph_clock_config();

-    /* init debug function. */
-    wk_debug_config();
+  /* init debug function. */
+  wk_debug_config();

-    /* nvic config. */
-    wk_nvic_config();
+  /* nvic config. */
+  wk_nvic_config();

-    /* init usart1 function. */
-    wk_usart1_init();
+  /* init usart1 function. */
+  wk_usart1_init();

-    /* init usart2 function. */
-    wk_usart2_init();
+  /* init usart2 function. */
+  wk_usart2_init();

-    /* init usart3 function. */
-    wk_usart3_init();
+  /* init usart3 function. */
+  wk_usart3_init();

-    /* init i2c1 function. */
-    wk_i2c1_init();
+  /* init i2c1 function. */
+  wk_i2c1_init();

-    /* init i2c2 function. */
-    wk_i2c2_init();
+  /* init i2c2 function. */
+  wk_i2c2_init();

-    /* init adc1 function. */
-    wk_adc1_init();
+  /* init adc1 function. */
+  wk_adc1_init();

-    /* init tmr6 function. */
-    wk_tmr6_init();
+  /* init tmr6 function. */
+  wk_tmr6_init();

-    /* init tmr8 function. */
-    wk_tmr8_init();
+  /* init tmr8 function. */
+  wk_tmr8_init();

-    /* init tmr11 function. */
-    wk_tmr11_init();
+  /* init tmr11 function. */
+  wk_tmr11_init();

-    /* init tmr12 function. */
-    wk_tmr12_init();
+  /* init tmr12 function. */
+  wk_tmr12_init();

-    /* init can1 function. */
-    wk_can1_init();
+  /* init can1 function. */
+  wk_can1_init();

-    /* init can2 function. */
-    wk_can2_init();
+  /* init can2 function. */
+  wk_can2_init();

-    /* init gpio function. */
-    wk_gpio_config();
+  /* init gpio function. */
+  wk_gpio_config();

-    /* add user code begin 2 */
-    DWT_Init();
+  /* add user code begin 2 */
+  DWT_Init();

-    lwprintf("init done!\r\n");
-    /* add user code end 2 */
+  lwprintf("init done!\r\n");
+  /* add user code end 2 */

-    while (1) {
-        /* add user code begin 3 */
-        // DWT_Delay(1000000);
-        /* add user code end 3 */
-    }
+  while (1) {
+    /* add user code begin 3 */
+    // DWT_Delay(1000000);
+    /* add user code end 3 */
+  }
 }