Outline ![]()
Files ![]()
loading...
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
/**
******************************************************************************
* @file CAN/CAN_LoopBack/Src/main.c
* @author MCD Application Team
* @brief This example provides a description of how to set a communication
* with the CAN in loopback mode.
******************************************************************************
* @attention
*
* Copyright (c) 2017 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* Includes ------------------------------------------------------------------*/
#include "main.h"
/** @addtogroup STM32F4xx_HAL_Examples
* @{
*/
/** @addtogroup CAN_LoopBack
* @{
*/
/* Private typedef -----------------------------------------------------------*/
/* Private define ------------------------------------------------------------*/
/* Private macro -------------------------------------------------------------*/
/* Private variables ---------------------------------------------------------*/
CAN_HandleTypeDef CanHandle;
CAN_TxHeaderTypeDef TxHeader;
CAN_RxHeaderTypeDef RxHeader;
uint8_t TxData[8];
uint8_t RxData[8];
uint32_t TxMailbox;
/* Private function prototypes -----------------------------------------------*/
static void SystemClock_Config(void);
static void Error_Handler(void);
static HAL_StatusTypeDef CAN_Polling(void);
/* Private functions ---------------------------------------------------------*/
/**
* @brief Main program
* @param None
* @retval None
*/
int main(void)
{
/* STM32F4xx HAL library initialization:
- Configure the Flash prefetch, instruction and Data caches
- Configure the Systick to generate an interrupt each 1 msec
- Set NVIC Group Priority to 4
- Global MSP (MCU Support Package) initialization
*/
HAL_Init();
/* Configure the system clock to 180 MHz */
SystemClock_Config();
/* Configure LED1, LED2 and LED3 */
BSP_LED_Init(LED1);
BSP_LED_Init(LED2);
BSP_LED_Init(LED3);
if(CAN_Polling() == HAL_OK)
{
/* OK: Turn on LED1 */
BSP_LED_On(LED1);
}
else
{
/* KO: Turn on LED2 */
BSP_LED_On(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
*/
HAL_StatusTypeDef CAN_Polling(void)
{
CAN_FilterTypeDef sFilterConfig;
/*##-1- Configure the CAN peripheral #######################################*/
CanHandle.Instance = CANx;
CanHandle.Init.TimeTriggeredMode = DISABLE;
CanHandle.Init.AutoBusOff = DISABLE;
CanHandle.Init.AutoWakeUp = DISABLE;
CanHandle.Init.AutoRetransmission = ENABLE;
CanHandle.Init.ReceiveFifoLocked = DISABLE;
CanHandle.Init.TransmitFifoPriority = DISABLE;
CanHandle.Init.Mode = CAN_MODE_LOOPBACK;
CanHandle.Init.SyncJumpWidth = CAN_SJW_1TQ;
CanHandle.Init.TimeSeg1 = CAN_BS1_6TQ;
CanHandle.Init.TimeSeg2 = CAN_BS2_2TQ;
CanHandle.Init.Prescaler = 5;
if(HAL_CAN_Init(&CanHandle) != HAL_OK)
{
/* Initialization Error */
Error_Handler();
}
/*##-2- Configure the CAN Filter ###########################################*/
sFilterConfig.FilterBank = 0;
sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
sFilterConfig.FilterIdHigh = 0x0000;
sFilterConfig.FilterIdLow = 0x0000;
sFilterConfig.FilterMaskIdHigh = 0x0000;
sFilterConfig.FilterMaskIdLow = 0x0000;
sFilterConfig.FilterFIFOAssignment = CAN_RX_FIFO0;
sFilterConfig.FilterActivation = ENABLE;
sFilterConfig.SlaveStartFilterBank = 14;
if(HAL_CAN_ConfigFilter(&CanHandle, &sFilterConfig) != HAL_OK)
{
/* Filter configuration Error */
Error_Handler();
}
/*##-3- Start the CAN peripheral ###########################################*/
if (HAL_CAN_Start(&CanHandle) != HAL_OK)
{
/* Start Error */
Error_Handler();
}
/*##-4- Start the Transmission process #####################################*/
TxHeader.StdId = 0x11;
TxHeader.RTR = CAN_RTR_DATA;
TxHeader.IDE = CAN_ID_STD;
TxHeader.DLC = 2;
TxHeader.TransmitGlobalTime = DISABLE;
TxData[0] = 0xCA;
TxData[1] = 0xFE;
/* Request transmission */
if(HAL_CAN_AddTxMessage(&CanHandle, &TxHeader, TxData, &TxMailbox) != HAL_OK)
{
/* Transmission request Error */
Error_Handler();
}
/* Wait transmission complete */
while(HAL_CAN_GetTxMailboxesFreeLevel(&CanHandle) != 3) {}
/*##-5- Start the Reception process ########################################*/
if(HAL_CAN_GetRxFifoFillLevel(&CanHandle, CAN_RX_FIFO0) != 1)
{
/* Reception Missing */
Error_Handler();
}
if(HAL_CAN_GetRxMessage(&CanHandle, CAN_RX_FIFO0, &RxHeader, RxData) != HAL_OK)
{
/* Reception Error */
Error_Handler();
}
if((RxHeader.StdId != 0x11) ||
(RxHeader.RTR != CAN_RTR_DATA) ||
(RxHeader.IDE != CAN_ID_STD) ||
(RxHeader.DLC != 2) ||
((RxData[0]<<8 | RxData[1]) != 0xCAFE))
{
/* Rx message Error */
return HAL_ERROR;
}
return HAL_OK; /* Test Passed */
}
/**
* @brief System Clock Configuration
* The system Clock is configured as follow :
* System Clock source = PLL (HSE)
* SYSCLK(Hz) = 180000000
* HCLK(Hz) = 180000000
* AHB Prescaler = 1
* APB1 Prescaler = 4
* APB2 Prescaler = 2
* HSE Frequency(Hz) = 25000000
* PLL_M = 25
* PLL_N = 360
* PLL_P = 2
* PLL_Q = 7
* VDD(V) = 3.3
* Main regulator output voltage = Scale1 mode
* Flash Latency(WS) = 5
* @param None
* @retval None
*/
static void SystemClock_Config(void)
{
RCC_ClkInitTypeDef RCC_ClkInitStruct;
RCC_OscInitTypeDef RCC_OscInitStruct;
/* Enable Power Control clock */
__HAL_RCC_PWR_CLK_ENABLE();
/* The voltage scaling allows optimizing the power consumption when the device is
clocked below the maximum system frequency, to update the voltage scaling value
regarding system frequency refer to product datasheet. */
__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
/* Enable HSE Oscillator and activate PLL with HSE as source */
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
RCC_OscInitStruct.HSEState = RCC_HSE_ON;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
RCC_OscInitStruct.PLL.PLLM = 25;
RCC_OscInitStruct.PLL.PLLN = 360;
RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
RCC_OscInitStruct.PLL.PLLQ = 7;
HAL_RCC_OscConfig(&RCC_OscInitStruct);
/* Activate the Over-Drive mode */
HAL_PWREx_EnableOverDrive();
/* Select PLL as system clock source and configure the HCLK, PCLK1 and PCLK2
clocks dividers */
RCC_ClkInitStruct.ClockType = (RCC_CLOCKTYPE_SYSCLK | RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2);
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;
HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5);
}
/**
* @brief This function is executed in case of error occurrence.
* @param None
* @retval None
*/
static void Error_Handler(void)
{
/* User may add here some code to deal with this error */
/* Turn LED3 on */
BSP_LED_On(LED3);
while(1)
{
}
}
#ifdef USE_FULL_ASSERT
/**
* @brief Reports the name of the source file and the source line number
* where the assert_param error has occurred.
* @param file: pointer to the source file name
* @param line: assert_param error line source number
* @retval None
*/
void assert_failed(char *file, uint32_t line)
{
/* User can add his own implementation to report the file name and line number,
ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
/* Infinite loop */
while (1)
{
}
}
#endif
/**
* @}
*/
/**
* @}
*/
Details ![]()
Show: from Types: Columns: ![]( "Show Project Names")
![]( "Show Locations")
![]( "Show Referring Symbols")
![]( "Show Scope")
This file uses the notable symbols shown below. Click anywhere in the file to view more details.